10.371 * [progress]: [Phase 1 of 3] Setting up. 0.001 * * * [progress]: [1/2] Preparing points 0.085 * * * [progress]: [2/2] Setting up program. 0.089 * [progress]: [Phase 2 of 3] Improving. 0.089 * [simplify]: Simplifying: (* R (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2))))) 0.089 * [simplify]: Sending expressions to egg_math: (* h5 (sqrt (+ (* (* (- h4 h3) (cos (/ (+ h1 h0) h2))) (* (- h4 h3) (cos (/ (+ h1 h0) h2)))) (* (- h1 h0) (- h1 h0))))) 0.133 * * [progress]: iteration 1 / 4 0.133 * * * [progress]: picking best candidate 0.136 * * * * [pick]: Picked # 0.136 * * * [progress]: localizing error 0.181 * * * [progress]: generating rewritten candidates 0.181 * * * * [progress]: [ 1 / 4 ] rewriting at (2 2) 0.295 * * * * [progress]: [ 2 / 4 ] rewriting at (2 2 1 1 2 2) 0.308 * * * * [progress]: [ 3 / 4 ] rewriting at (2 2 1 1 1 2) 0.324 * * * * [progress]: [ 4 / 4 ] rewriting at (2 2 1 1) 0.417 * * * [progress]: generating series expansions 0.417 * * * * [progress]: [ 1 / 4 ] generating series at (2 2) 0.418 * [backup-simplify]: Simplify (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2)))) into (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) 0.418 * [approximate]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in (lambda1 lambda2 phi1 phi2) around 0 0.418 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in phi2 0.418 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in phi2 0.418 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) in phi2 0.418 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 0.418 * [taylor]: Taking taylor expansion of phi2 in phi2 0.418 * [backup-simplify]: Simplify 0 into 0 0.418 * [backup-simplify]: Simplify 1 into 1 0.418 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) in phi2 0.418 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in phi2 0.418 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 0.418 * [taylor]: Taking taylor expansion of lambda2 in phi2 0.418 * [backup-simplify]: Simplify lambda2 into lambda2 0.418 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2 0.418 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 0.418 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 0.418 * [taylor]: Taking taylor expansion of 0.5 in phi2 0.418 * [backup-simplify]: Simplify 0.5 into 0.5 0.418 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 0.418 * [taylor]: Taking taylor expansion of phi2 in phi2 0.418 * [backup-simplify]: Simplify 0 into 0 0.418 * [backup-simplify]: Simplify 1 into 1 0.418 * [taylor]: Taking taylor expansion of phi1 in phi2 0.418 * [backup-simplify]: Simplify phi1 into phi1 0.418 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 0.418 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 0.419 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 0.419 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 0.419 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 0.419 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 0.419 * [backup-simplify]: Simplify (- 0) into 0 0.419 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 0.419 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) in phi2 0.419 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in phi2 0.419 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2 0.419 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 0.419 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 0.419 * [taylor]: Taking taylor expansion of 0.5 in phi2 0.419 * [backup-simplify]: Simplify 0.5 into 0.5 0.419 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 0.419 * [taylor]: Taking taylor expansion of phi2 in phi2 0.419 * [backup-simplify]: Simplify 0 into 0 0.419 * [backup-simplify]: Simplify 1 into 1 0.420 * [taylor]: Taking taylor expansion of phi1 in phi2 0.420 * [backup-simplify]: Simplify phi1 into phi1 0.420 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 0.420 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 0.420 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 0.420 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 0.420 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 0.420 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 0.420 * [backup-simplify]: Simplify (- 0) into 0 0.420 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 0.420 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 0.420 * [taylor]: Taking taylor expansion of lambda1 in phi2 0.420 * [backup-simplify]: Simplify lambda1 into lambda1 0.420 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 0.420 * [taylor]: Taking taylor expansion of phi1 in phi2 0.420 * [backup-simplify]: Simplify phi1 into phi1 0.420 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in phi2 0.420 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi2 0.420 * [taylor]: Taking taylor expansion of 2 in phi2 0.420 * [backup-simplify]: Simplify 2 into 2 0.420 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2 0.420 * [taylor]: Taking taylor expansion of phi2 in phi2 0.420 * [backup-simplify]: Simplify 0 into 0 0.420 * [backup-simplify]: Simplify 1 into 1 0.420 * [taylor]: Taking taylor expansion of phi1 in phi2 0.420 * [backup-simplify]: Simplify phi1 into phi1 0.420 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in phi2 0.420 * [taylor]: Taking taylor expansion of 2 in phi2 0.420 * [backup-simplify]: Simplify 2 into 2 0.420 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in phi2 0.421 * [taylor]: Taking taylor expansion of lambda2 in phi2 0.421 * [backup-simplify]: Simplify lambda2 into lambda2 0.421 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in phi2 0.421 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2 0.421 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 0.421 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 0.421 * [taylor]: Taking taylor expansion of 0.5 in phi2 0.421 * [backup-simplify]: Simplify 0.5 into 0.5 0.421 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 0.421 * [taylor]: Taking taylor expansion of phi2 in phi2 0.421 * [backup-simplify]: Simplify 0 into 0 0.421 * [backup-simplify]: Simplify 1 into 1 0.421 * [taylor]: Taking taylor expansion of phi1 in phi2 0.421 * [backup-simplify]: Simplify phi1 into phi1 0.421 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 0.421 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 0.421 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 0.421 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 0.421 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 0.421 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 0.421 * [backup-simplify]: Simplify (- 0) into 0 0.421 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 0.421 * [taylor]: Taking taylor expansion of lambda1 in phi2 0.421 * [backup-simplify]: Simplify lambda1 into lambda1 0.421 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 0.421 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 0.422 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow (cos (* 0.5 phi1)) 2)) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) 0.422 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 0.422 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 0.422 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) 0.422 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 0.422 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 0.423 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) 0.423 * [backup-simplify]: Simplify (+ 0 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) 0.423 * [backup-simplify]: Simplify (* 0 phi1) into 0 0.424 * [backup-simplify]: Simplify (* 2 0) into 0 0.424 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 0.424 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) lambda1) into (* (pow (cos (* 0.5 phi1)) 2) lambda1) 0.424 * [backup-simplify]: Simplify (* lambda2 (* (pow (cos (* 0.5 phi1)) 2) lambda1)) into (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)) 0.424 * [backup-simplify]: Simplify (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) into (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) 0.424 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) into (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) 0.425 * [backup-simplify]: Simplify (- (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) into (- (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) 0.425 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (- (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))))) into (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) 0.426 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))))) into (sqrt (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))))) 0.426 * [backup-simplify]: Simplify (+ 0) into 0 0.427 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 0.427 * [backup-simplify]: Simplify (+ 1 0) into 1 0.427 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 0.429 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 0.429 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 0.429 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 0.429 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 0.430 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- (* 0.5 (sin (* 0.5 phi1))))) (* (- (* 0.5 (sin (* 0.5 phi1)))) (cos (* 0.5 phi1)))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) 0.430 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 0.430 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))) (* 0 (pow (cos (* 0.5 phi1)) 2))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) 0.430 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 0.430 * [backup-simplify]: Simplify (+ 0) into 0 0.431 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 0.431 * [backup-simplify]: Simplify (+ 1 0) into 1 0.431 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 0.432 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 0.433 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 0.433 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 0.433 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 0.433 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- (* 0.5 (sin (* 0.5 phi1))))) (* (- (* 0.5 (sin (* 0.5 phi1)))) (cos (* 0.5 phi1)))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) 0.433 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (* (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) (pow lambda1 2))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) 0.434 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 0.434 * [backup-simplify]: Simplify (+ (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) 0) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) 0.434 * [backup-simplify]: Simplify (+ (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) into (- (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) 0.435 * [backup-simplify]: Simplify (+ 0 (- (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))))) into (- (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) 0.435 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 0.435 * [backup-simplify]: Simplify (+ (* 2 phi1) (* 0 0)) into (* 2 phi1) 0.436 * [backup-simplify]: Simplify (+ 0) into 0 0.436 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 0.436 * [backup-simplify]: Simplify (+ 1 0) into 1 0.437 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 0.438 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 0.438 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 0.438 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 0.438 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 0.439 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- (* 0.5 (sin (* 0.5 phi1))))) (* (- (* 0.5 (sin (* 0.5 phi1)))) (cos (* 0.5 phi1)))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) 0.439 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (* (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) lambda1)) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1)))) 0.439 * [backup-simplify]: Simplify (+ (* lambda2 (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1))))) (* 0 (* (pow (cos (* 0.5 phi1)) 2) lambda1))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1))))) 0.440 * [backup-simplify]: Simplify (+ (* 2 (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))))) (* 0 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) into (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1))))) 0.440 * [backup-simplify]: Simplify (+ (* 2 phi1) (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))))) into (- (* 2 phi1) (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1))))) 0.440 * [backup-simplify]: Simplify (- (- (* 2 phi1) (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))))) into (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) (* 2 phi1)) 0.441 * [backup-simplify]: Simplify (+ (- (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) (* 2 phi1))) into (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) (* 2 phi1)))) 0.442 * [backup-simplify]: Simplify (/ (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) (* 2 phi1)))) (* 2 (sqrt (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))))))) into (* 1/2 (* (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) (* 2 phi1)))) (sqrt (/ 1 (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))))) 0.442 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in phi1 0.442 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in phi1 0.442 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) in phi1 0.442 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 0.442 * [taylor]: Taking taylor expansion of phi2 in phi1 0.442 * [backup-simplify]: Simplify phi2 into phi2 0.443 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) in phi1 0.443 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in phi1 0.443 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 0.443 * [taylor]: Taking taylor expansion of lambda2 in phi1 0.443 * [backup-simplify]: Simplify lambda2 into lambda2 0.443 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1 0.443 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 0.443 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 0.443 * [taylor]: Taking taylor expansion of 0.5 in phi1 0.443 * [backup-simplify]: Simplify 0.5 into 0.5 0.443 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 0.443 * [taylor]: Taking taylor expansion of phi2 in phi1 0.443 * [backup-simplify]: Simplify phi2 into phi2 0.443 * [taylor]: Taking taylor expansion of phi1 in phi1 0.443 * [backup-simplify]: Simplify 0 into 0 0.443 * [backup-simplify]: Simplify 1 into 1 0.443 * [backup-simplify]: Simplify (+ phi2 0) into phi2 0.443 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 0.443 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 0.443 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 0.443 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 0.443 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 0.443 * [backup-simplify]: Simplify (- 0) into 0 0.443 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 0.443 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) in phi1 0.443 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in phi1 0.444 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1 0.444 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 0.444 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 0.444 * [taylor]: Taking taylor expansion of 0.5 in phi1 0.444 * [backup-simplify]: Simplify 0.5 into 0.5 0.444 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 0.444 * [taylor]: Taking taylor expansion of phi2 in phi1 0.444 * [backup-simplify]: Simplify phi2 into phi2 0.444 * [taylor]: Taking taylor expansion of phi1 in phi1 0.444 * [backup-simplify]: Simplify 0 into 0 0.444 * [backup-simplify]: Simplify 1 into 1 0.444 * [backup-simplify]: Simplify (+ phi2 0) into phi2 0.444 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 0.444 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 0.444 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 0.444 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 0.444 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 0.444 * [backup-simplify]: Simplify (- 0) into 0 0.444 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 0.444 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 0.444 * [taylor]: Taking taylor expansion of lambda1 in phi1 0.444 * [backup-simplify]: Simplify lambda1 into lambda1 0.444 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 0.444 * [taylor]: Taking taylor expansion of phi1 in phi1 0.444 * [backup-simplify]: Simplify 0 into 0 0.444 * [backup-simplify]: Simplify 1 into 1 0.444 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in phi1 0.444 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi1 0.444 * [taylor]: Taking taylor expansion of 2 in phi1 0.444 * [backup-simplify]: Simplify 2 into 2 0.445 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 0.445 * [taylor]: Taking taylor expansion of phi2 in phi1 0.445 * [backup-simplify]: Simplify phi2 into phi2 0.445 * [taylor]: Taking taylor expansion of phi1 in phi1 0.445 * [backup-simplify]: Simplify 0 into 0 0.445 * [backup-simplify]: Simplify 1 into 1 0.445 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in phi1 0.445 * [taylor]: Taking taylor expansion of 2 in phi1 0.445 * [backup-simplify]: Simplify 2 into 2 0.445 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in phi1 0.445 * [taylor]: Taking taylor expansion of lambda2 in phi1 0.445 * [backup-simplify]: Simplify lambda2 into lambda2 0.445 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in phi1 0.445 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1 0.445 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 0.445 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 0.445 * [taylor]: Taking taylor expansion of 0.5 in phi1 0.445 * [backup-simplify]: Simplify 0.5 into 0.5 0.445 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 0.445 * [taylor]: Taking taylor expansion of phi2 in phi1 0.445 * [backup-simplify]: Simplify phi2 into phi2 0.445 * [taylor]: Taking taylor expansion of phi1 in phi1 0.445 * [backup-simplify]: Simplify 0 into 0 0.445 * [backup-simplify]: Simplify 1 into 1 0.445 * [backup-simplify]: Simplify (+ phi2 0) into phi2 0.445 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 0.445 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 0.445 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 0.445 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 0.445 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 0.445 * [backup-simplify]: Simplify (- 0) into 0 0.445 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 0.445 * [taylor]: Taking taylor expansion of lambda1 in phi1 0.446 * [backup-simplify]: Simplify lambda1 into lambda1 0.446 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 0.446 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 0.446 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 0.446 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2)) into (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) 0.446 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 0.446 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 0.446 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) 0.446 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) 0) into (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) 0.447 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2))) into (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2))) 0.447 * [backup-simplify]: Simplify (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)))) into (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (pow phi2 2))) 0.447 * [backup-simplify]: Simplify (* phi2 0) into 0 0.448 * [backup-simplify]: Simplify (* 2 0) into 0 0.448 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 0.448 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi2)) 2) lambda1) into (* (pow (cos (* 0.5 phi2)) 2) lambda1) 0.448 * [backup-simplify]: Simplify (* lambda2 (* (pow (cos (* 0.5 phi2)) 2) lambda1)) into (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)) 0.448 * [backup-simplify]: Simplify (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))) into (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))) 0.448 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) into (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))) 0.449 * [backup-simplify]: Simplify (- (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) into (- (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) 0.449 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (pow phi2 2))) (- (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))))) into (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (pow phi2 2))) (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) 0.450 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (pow phi2 2))) (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))))) into (sqrt (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (pow phi2 2))) (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))))) 0.450 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 0.451 * [backup-simplify]: Simplify (+ 0) into 0 0.451 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 0.451 * [backup-simplify]: Simplify (+ 0 1) into 1 0.452 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5 0.453 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 0.454 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2))) 0.454 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2)))) 0.454 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2)))) 0.454 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) (- (* 0.5 (sin (* 0.5 phi2))))) (* (- (* 0.5 (sin (* 0.5 phi2)))) (cos (* 0.5 phi2)))) into (- (* 1.0 (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))) 0.454 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 0.454 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) (- (* 1.0 (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2)))))) (* 0 (pow (cos (* 0.5 phi2)) 2))) into (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))) 0.455 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 0.455 * [backup-simplify]: Simplify (+ 0) into 0 0.455 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 0.455 * [backup-simplify]: Simplify (+ 0 1) into 1 0.456 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5 0.457 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 0.457 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2))) 0.458 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2)))) 0.458 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2)))) 0.458 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) (- (* 0.5 (sin (* 0.5 phi2))))) (* (- (* 0.5 (sin (* 0.5 phi2)))) (cos (* 0.5 phi2)))) into (- (* 1.0 (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))) 0.458 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) 0) (* (- (* 1.0 (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))) (pow lambda1 2))) into (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2))))) 0.458 * [backup-simplify]: Simplify (+ (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2))))) 0) into (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2))))) 0.459 * [backup-simplify]: Simplify (+ (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))) (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))))) into (- (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2)))))) 0.460 * [backup-simplify]: Simplify (+ 0 (- (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))))) into (- (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2)))))) 0.460 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 0.460 * [backup-simplify]: Simplify (+ (* 2 phi2) (* 0 0)) into (* 2 phi2) 0.460 * [backup-simplify]: Simplify (+ 0) into 0 0.461 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 0.461 * [backup-simplify]: Simplify (+ 0 1) into 1 0.461 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5 0.463 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 0.463 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2))) 0.464 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2)))) 0.464 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2)))) 0.464 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) (- (* 0.5 (sin (* 0.5 phi2))))) (* (- (* 0.5 (sin (* 0.5 phi2)))) (cos (* 0.5 phi2)))) into (- (* 1.0 (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))) 0.464 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) 0) (* (- (* 1.0 (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))) lambda1)) into (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) lambda1)))) 0.464 * [backup-simplify]: Simplify (+ (* lambda2 (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) lambda1))))) (* 0 (* (pow (cos (* 0.5 phi2)) 2) lambda1))) into (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1))))) 0.465 * [backup-simplify]: Simplify (+ (* 2 (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))))) (* 0 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) into (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1))))) 0.465 * [backup-simplify]: Simplify (+ (* 2 phi2) (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))))) into (- (* 2 phi2) (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1))))) 0.465 * [backup-simplify]: Simplify (- (- (* 2 phi2) (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))))) into (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))) (* 2 phi2)) 0.466 * [backup-simplify]: Simplify (+ (- (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2)))))) (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))) (* 2 phi2))) into (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))) (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))) (+ (* 2 phi2) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))))) 0.468 * [backup-simplify]: Simplify (/ (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))) (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))) (+ (* 2 phi2) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))))) (* 2 (sqrt (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (pow phi2 2))) (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))))))) into (* 1/2 (* (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))) (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))) (+ (* 2 phi2) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))))) (sqrt (/ 1 (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (pow phi2 2))) (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))))))) 0.468 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in lambda2 0.468 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in lambda2 0.468 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) in lambda2 0.468 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 0.468 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.468 * [backup-simplify]: Simplify phi2 into phi2 0.468 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) in lambda2 0.468 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda2 0.468 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 0.468 * [taylor]: Taking taylor expansion of lambda2 in lambda2 0.468 * [backup-simplify]: Simplify 0 into 0 0.468 * [backup-simplify]: Simplify 1 into 1 0.468 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 0.468 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 0.468 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 0.468 * [taylor]: Taking taylor expansion of 0.5 in lambda2 0.468 * [backup-simplify]: Simplify 0.5 into 0.5 0.468 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 0.468 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.468 * [backup-simplify]: Simplify phi2 into phi2 0.468 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.468 * [backup-simplify]: Simplify phi1 into phi1 0.468 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 0.468 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 0.468 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 0.468 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 0.468 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 0.468 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 0.469 * [backup-simplify]: Simplify (- 0) into 0 0.469 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 0.469 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) in lambda2 0.469 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in lambda2 0.469 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 0.469 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 0.469 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 0.469 * [taylor]: Taking taylor expansion of 0.5 in lambda2 0.469 * [backup-simplify]: Simplify 0.5 into 0.5 0.469 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 0.469 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.469 * [backup-simplify]: Simplify phi2 into phi2 0.469 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.469 * [backup-simplify]: Simplify phi1 into phi1 0.469 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 0.469 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 0.469 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 0.469 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 0.469 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 0.469 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 0.470 * [backup-simplify]: Simplify (- 0) into 0 0.470 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 0.470 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 0.470 * [taylor]: Taking taylor expansion of lambda1 in lambda2 0.470 * [backup-simplify]: Simplify lambda1 into lambda1 0.470 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 0.470 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.470 * [backup-simplify]: Simplify phi1 into phi1 0.470 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in lambda2 0.470 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda2 0.470 * [taylor]: Taking taylor expansion of 2 in lambda2 0.470 * [backup-simplify]: Simplify 2 into 2 0.470 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 0.470 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.470 * [backup-simplify]: Simplify phi2 into phi2 0.470 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.470 * [backup-simplify]: Simplify phi1 into phi1 0.470 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in lambda2 0.470 * [taylor]: Taking taylor expansion of 2 in lambda2 0.470 * [backup-simplify]: Simplify 2 into 2 0.470 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in lambda2 0.470 * [taylor]: Taking taylor expansion of lambda2 in lambda2 0.470 * [backup-simplify]: Simplify 0 into 0 0.470 * [backup-simplify]: Simplify 1 into 1 0.470 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in lambda2 0.470 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 0.470 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 0.470 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 0.470 * [taylor]: Taking taylor expansion of 0.5 in lambda2 0.470 * [backup-simplify]: Simplify 0.5 into 0.5 0.470 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 0.470 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.470 * [backup-simplify]: Simplify phi2 into phi2 0.470 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.470 * [backup-simplify]: Simplify phi1 into phi1 0.470 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 0.470 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 0.470 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 0.470 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 0.471 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 0.471 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 0.471 * [backup-simplify]: Simplify (- 0) into 0 0.471 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 0.471 * [taylor]: Taking taylor expansion of lambda1 in lambda2 0.471 * [backup-simplify]: Simplify lambda1 into lambda1 0.471 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 0.471 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0.471 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 0.471 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) 0.471 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 0.472 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) into (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) 0.472 * [backup-simplify]: Simplify (+ 0 (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) into (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) 0.472 * [backup-simplify]: Simplify (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) into (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) 0.473 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 0.473 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1)) 0.473 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0.473 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) into (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) 0.473 * [backup-simplify]: Simplify (* 0 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) into 0 0.473 * [backup-simplify]: Simplify (* 2 0) into 0 0.473 * [backup-simplify]: Simplify (+ (* 2 (* phi2 phi1)) 0) into (* 2 (* phi2 phi1)) 0.473 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1))) 0.474 * [backup-simplify]: Simplify (+ (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (- (* 2 (* phi2 phi1)))) into (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1))) 0.474 * [backup-simplify]: Simplify (sqrt (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1)))) into (sqrt (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1)))) 0.475 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 0.475 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 0.475 * [backup-simplify]: Simplify (+ 0) into 0 0.475 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 0.475 * [backup-simplify]: Simplify (+ 0 0) into 0 0.476 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 0.476 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 0.476 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 0.477 * [backup-simplify]: Simplify (- 0) into 0 0.477 * [backup-simplify]: Simplify (+ 0 0) into 0 0.477 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 0.477 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) (* 0 (pow lambda1 2))) into 0 0.477 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 0.483 * [backup-simplify]: Simplify (+ 0 0) into 0 0.484 * [backup-simplify]: Simplify (+ 0 0) into 0 0.484 * [backup-simplify]: Simplify (+ 0 0) into 0 0.484 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 0.485 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0 0.485 * [backup-simplify]: Simplify (+ 0) into 0 0.485 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 0.486 * [backup-simplify]: Simplify (+ 0 0) into 0 0.486 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 0.486 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 0.487 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 0.487 * [backup-simplify]: Simplify (- 0) into 0 0.487 * [backup-simplify]: Simplify (+ 0 0) into 0 0.487 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 0.488 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) (* 0 lambda1)) into 0 0.488 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) 0.488 * [backup-simplify]: Simplify (+ (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) (* 0 0)) into (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) 0.489 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) 0.489 * [backup-simplify]: Simplify (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 0.489 * [backup-simplify]: Simplify (+ 0 (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) into (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 0.490 * [backup-simplify]: Simplify (/ (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (sqrt (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1)))))) into (* -1 (* (sqrt (/ 1 (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1))))) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 0.490 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in lambda1 0.490 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in lambda1 0.490 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) in lambda1 0.490 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 0.490 * [taylor]: Taking taylor expansion of phi2 in lambda1 0.490 * [backup-simplify]: Simplify phi2 into phi2 0.490 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) in lambda1 0.490 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda1 0.490 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 0.490 * [taylor]: Taking taylor expansion of lambda2 in lambda1 0.490 * [backup-simplify]: Simplify lambda2 into lambda2 0.490 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda1 0.490 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 0.490 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 0.490 * [taylor]: Taking taylor expansion of 0.5 in lambda1 0.490 * [backup-simplify]: Simplify 0.5 into 0.5 0.490 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 0.490 * [taylor]: Taking taylor expansion of phi2 in lambda1 0.490 * [backup-simplify]: Simplify phi2 into phi2 0.490 * [taylor]: Taking taylor expansion of phi1 in lambda1 0.490 * [backup-simplify]: Simplify phi1 into phi1 0.490 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 0.490 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 0.490 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 0.490 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 0.491 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 0.491 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 0.491 * [backup-simplify]: Simplify (- 0) into 0 0.491 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 0.491 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) in lambda1 0.491 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in lambda1 0.491 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda1 0.491 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 0.491 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 0.491 * [taylor]: Taking taylor expansion of 0.5 in lambda1 0.491 * [backup-simplify]: Simplify 0.5 into 0.5 0.491 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 0.491 * [taylor]: Taking taylor expansion of phi2 in lambda1 0.491 * [backup-simplify]: Simplify phi2 into phi2 0.491 * [taylor]: Taking taylor expansion of phi1 in lambda1 0.491 * [backup-simplify]: Simplify phi1 into phi1 0.491 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 0.491 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 0.491 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 0.491 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 0.491 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 0.492 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 0.492 * [backup-simplify]: Simplify (- 0) into 0 0.492 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 0.492 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 0.492 * [taylor]: Taking taylor expansion of lambda1 in lambda1 0.492 * [backup-simplify]: Simplify 0 into 0 0.492 * [backup-simplify]: Simplify 1 into 1 0.492 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 0.492 * [taylor]: Taking taylor expansion of phi1 in lambda1 0.492 * [backup-simplify]: Simplify phi1 into phi1 0.492 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in lambda1 0.492 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda1 0.492 * [taylor]: Taking taylor expansion of 2 in lambda1 0.492 * [backup-simplify]: Simplify 2 into 2 0.492 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda1 0.492 * [taylor]: Taking taylor expansion of phi2 in lambda1 0.492 * [backup-simplify]: Simplify phi2 into phi2 0.492 * [taylor]: Taking taylor expansion of phi1 in lambda1 0.492 * [backup-simplify]: Simplify phi1 into phi1 0.492 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in lambda1 0.492 * [taylor]: Taking taylor expansion of 2 in lambda1 0.492 * [backup-simplify]: Simplify 2 into 2 0.492 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in lambda1 0.492 * [taylor]: Taking taylor expansion of lambda2 in lambda1 0.492 * [backup-simplify]: Simplify lambda2 into lambda2 0.492 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in lambda1 0.492 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda1 0.492 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 0.492 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 0.492 * [taylor]: Taking taylor expansion of 0.5 in lambda1 0.492 * [backup-simplify]: Simplify 0.5 into 0.5 0.492 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 0.492 * [taylor]: Taking taylor expansion of phi2 in lambda1 0.492 * [backup-simplify]: Simplify phi2 into phi2 0.492 * [taylor]: Taking taylor expansion of phi1 in lambda1 0.492 * [backup-simplify]: Simplify phi1 into phi1 0.492 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 0.492 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 0.493 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 0.493 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 0.493 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 0.493 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 0.493 * [backup-simplify]: Simplify (- 0) into 0 0.493 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 0.493 * [taylor]: Taking taylor expansion of lambda1 in lambda1 0.493 * [backup-simplify]: Simplify 0 into 0 0.493 * [backup-simplify]: Simplify 1 into 1 0.493 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 0.493 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 0.493 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0.494 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) into (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) 0.494 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 0.494 * [backup-simplify]: Simplify (+ 0 (pow phi1 2)) into (pow phi1 2) 0.494 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (pow phi1 2)) into (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (pow phi1 2)) 0.494 * [backup-simplify]: Simplify (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (pow phi1 2))) into (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) 0.494 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 0.494 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1)) 0.495 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0.495 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) into 0 0.495 * [backup-simplify]: Simplify (* lambda2 0) into 0 0.495 * [backup-simplify]: Simplify (* 2 0) into 0 0.495 * [backup-simplify]: Simplify (+ (* 2 (* phi2 phi1)) 0) into (* 2 (* phi2 phi1)) 0.495 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1))) 0.496 * [backup-simplify]: Simplify (+ (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) (- (* 2 (* phi2 phi1)))) into (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) (* 2 (* phi2 phi1))) 0.496 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) (* 2 (* phi2 phi1)))) into (sqrt (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) (* 2 (* phi2 phi1)))) 0.496 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 0.497 * [backup-simplify]: Simplify (+ 0) into 0 0.497 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 0.497 * [backup-simplify]: Simplify (+ 0 0) into 0 0.497 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 0.498 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 0.498 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 0.498 * [backup-simplify]: Simplify (- 0) into 0 0.499 * [backup-simplify]: Simplify (+ 0 0) into 0 0.499 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 0.499 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 0.499 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) 0) (* 0 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) into 0 0.499 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 0.499 * [backup-simplify]: Simplify (+ 0 0) into 0 0.500 * [backup-simplify]: Simplify (+ 0 0) into 0 0.500 * [backup-simplify]: Simplify (+ 0 0) into 0 0.500 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 0.500 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0 0.500 * [backup-simplify]: Simplify (+ 0) into 0 0.501 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 0.501 * [backup-simplify]: Simplify (+ 0 0) into 0 0.501 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 0.502 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 0.502 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 0.502 * [backup-simplify]: Simplify (- 0) into 0 0.503 * [backup-simplify]: Simplify (+ 0 0) into 0 0.503 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 0.503 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 1) (* 0 0)) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0.504 * [backup-simplify]: Simplify (+ (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* 0 0)) into (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) 0.504 * [backup-simplify]: Simplify (+ (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) (* 0 0)) into (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) 0.504 * [backup-simplify]: Simplify (+ 0 (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) into (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) 0.505 * [backup-simplify]: Simplify (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) 0.505 * [backup-simplify]: Simplify (+ 0 (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) 0.505 * [backup-simplify]: Simplify (/ (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) (* 2 (sqrt (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) (* 2 (* phi2 phi1)))))) into (* -1 (* (sqrt (/ 1 (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) (* 2 (* phi2 phi1))))) (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) 0.506 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in lambda1 0.506 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in lambda1 0.506 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) in lambda1 0.506 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 0.506 * [taylor]: Taking taylor expansion of phi2 in lambda1 0.506 * [backup-simplify]: Simplify phi2 into phi2 0.506 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) in lambda1 0.506 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda1 0.506 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 0.506 * [taylor]: Taking taylor expansion of lambda2 in lambda1 0.506 * [backup-simplify]: Simplify lambda2 into lambda2 0.506 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda1 0.506 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 0.506 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 0.506 * [taylor]: Taking taylor expansion of 0.5 in lambda1 0.506 * [backup-simplify]: Simplify 0.5 into 0.5 0.506 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 0.506 * [taylor]: Taking taylor expansion of phi2 in lambda1 0.506 * [backup-simplify]: Simplify phi2 into phi2 0.506 * [taylor]: Taking taylor expansion of phi1 in lambda1 0.506 * [backup-simplify]: Simplify phi1 into phi1 0.506 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 0.506 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 0.506 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 0.506 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 0.506 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 0.506 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 0.506 * [backup-simplify]: Simplify (- 0) into 0 0.507 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 0.507 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) in lambda1 0.507 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in lambda1 0.507 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda1 0.507 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 0.507 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 0.507 * [taylor]: Taking taylor expansion of 0.5 in lambda1 0.507 * [backup-simplify]: Simplify 0.5 into 0.5 0.507 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 0.507 * [taylor]: Taking taylor expansion of phi2 in lambda1 0.507 * [backup-simplify]: Simplify phi2 into phi2 0.507 * [taylor]: Taking taylor expansion of phi1 in lambda1 0.507 * [backup-simplify]: Simplify phi1 into phi1 0.507 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 0.507 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 0.507 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 0.507 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 0.507 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 0.507 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 0.507 * [backup-simplify]: Simplify (- 0) into 0 0.507 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 0.507 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 0.507 * [taylor]: Taking taylor expansion of lambda1 in lambda1 0.508 * [backup-simplify]: Simplify 0 into 0 0.508 * [backup-simplify]: Simplify 1 into 1 0.508 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 0.508 * [taylor]: Taking taylor expansion of phi1 in lambda1 0.508 * [backup-simplify]: Simplify phi1 into phi1 0.508 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in lambda1 0.508 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda1 0.508 * [taylor]: Taking taylor expansion of 2 in lambda1 0.508 * [backup-simplify]: Simplify 2 into 2 0.508 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda1 0.508 * [taylor]: Taking taylor expansion of phi2 in lambda1 0.508 * [backup-simplify]: Simplify phi2 into phi2 0.508 * [taylor]: Taking taylor expansion of phi1 in lambda1 0.508 * [backup-simplify]: Simplify phi1 into phi1 0.508 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in lambda1 0.508 * [taylor]: Taking taylor expansion of 2 in lambda1 0.508 * [backup-simplify]: Simplify 2 into 2 0.508 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in lambda1 0.508 * [taylor]: Taking taylor expansion of lambda2 in lambda1 0.508 * [backup-simplify]: Simplify lambda2 into lambda2 0.508 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in lambda1 0.508 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda1 0.508 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 0.508 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 0.508 * [taylor]: Taking taylor expansion of 0.5 in lambda1 0.508 * [backup-simplify]: Simplify 0.5 into 0.5 0.508 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 0.508 * [taylor]: Taking taylor expansion of phi2 in lambda1 0.508 * [backup-simplify]: Simplify phi2 into phi2 0.508 * [taylor]: Taking taylor expansion of phi1 in lambda1 0.508 * [backup-simplify]: Simplify phi1 into phi1 0.508 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 0.508 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 0.508 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 0.508 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 0.508 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 0.508 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 0.509 * [backup-simplify]: Simplify (- 0) into 0 0.509 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 0.509 * [taylor]: Taking taylor expansion of lambda1 in lambda1 0.509 * [backup-simplify]: Simplify 0 into 0 0.509 * [backup-simplify]: Simplify 1 into 1 0.509 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 0.509 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 0.509 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0.509 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) into (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) 0.509 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 0.509 * [backup-simplify]: Simplify (+ 0 (pow phi1 2)) into (pow phi1 2) 0.510 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (pow phi1 2)) into (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (pow phi1 2)) 0.510 * [backup-simplify]: Simplify (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (pow phi1 2))) into (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) 0.510 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 0.510 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1)) 0.510 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0.510 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) into 0 0.510 * [backup-simplify]: Simplify (* lambda2 0) into 0 0.511 * [backup-simplify]: Simplify (* 2 0) into 0 0.511 * [backup-simplify]: Simplify (+ (* 2 (* phi2 phi1)) 0) into (* 2 (* phi2 phi1)) 0.511 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1))) 0.511 * [backup-simplify]: Simplify (+ (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) (- (* 2 (* phi2 phi1)))) into (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) (* 2 (* phi2 phi1))) 0.512 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) (* 2 (* phi2 phi1)))) into (sqrt (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) (* 2 (* phi2 phi1)))) 0.512 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 0.512 * [backup-simplify]: Simplify (+ 0) into 0 0.513 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 0.513 * [backup-simplify]: Simplify (+ 0 0) into 0 0.513 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 0.514 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 0.514 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 0.514 * [backup-simplify]: Simplify (- 0) into 0 0.514 * [backup-simplify]: Simplify (+ 0 0) into 0 0.515 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 0.515 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 0.515 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) 0) (* 0 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) into 0 0.515 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 0.515 * [backup-simplify]: Simplify (+ 0 0) into 0 0.515 * [backup-simplify]: Simplify (+ 0 0) into 0 0.516 * [backup-simplify]: Simplify (+ 0 0) into 0 0.516 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 0.516 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0 0.516 * [backup-simplify]: Simplify (+ 0) into 0 0.517 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 0.517 * [backup-simplify]: Simplify (+ 0 0) into 0 0.517 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 0.518 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 0.518 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 0.518 * [backup-simplify]: Simplify (- 0) into 0 0.518 * [backup-simplify]: Simplify (+ 0 0) into 0 0.519 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 0.519 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 1) (* 0 0)) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0.519 * [backup-simplify]: Simplify (+ (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* 0 0)) into (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) 0.520 * [backup-simplify]: Simplify (+ (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) (* 0 0)) into (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) 0.520 * [backup-simplify]: Simplify (+ 0 (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) into (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) 0.521 * [backup-simplify]: Simplify (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) 0.521 * [backup-simplify]: Simplify (+ 0 (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) 0.522 * [backup-simplify]: Simplify (/ (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) (* 2 (sqrt (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) (* 2 (* phi2 phi1)))))) into (* -1 (* (sqrt (/ 1 (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) (* 2 (* phi2 phi1))))) (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) 0.522 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) (* 2 (* phi2 phi1)))) in lambda2 0.522 * [taylor]: Taking taylor expansion of (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) (* 2 (* phi2 phi1))) in lambda2 0.522 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) in lambda2 0.522 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda2 0.522 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 0.522 * [taylor]: Taking taylor expansion of lambda2 in lambda2 0.522 * [backup-simplify]: Simplify 0 into 0 0.522 * [backup-simplify]: Simplify 1 into 1 0.522 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 0.522 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 0.522 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 0.522 * [taylor]: Taking taylor expansion of 0.5 in lambda2 0.522 * [backup-simplify]: Simplify 0.5 into 0.5 0.522 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 0.522 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.522 * [backup-simplify]: Simplify phi2 into phi2 0.522 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.522 * [backup-simplify]: Simplify phi1 into phi1 0.522 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 0.522 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 0.522 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 0.522 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 0.522 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 0.523 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 0.523 * [backup-simplify]: Simplify (- 0) into 0 0.523 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 0.523 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (pow phi2 2)) in lambda2 0.523 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 0.523 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.523 * [backup-simplify]: Simplify phi1 into phi1 0.523 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 0.523 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.523 * [backup-simplify]: Simplify phi2 into phi2 0.523 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda2 0.523 * [taylor]: Taking taylor expansion of 2 in lambda2 0.523 * [backup-simplify]: Simplify 2 into 2 0.523 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 0.523 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.523 * [backup-simplify]: Simplify phi2 into phi2 0.523 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.523 * [backup-simplify]: Simplify phi1 into phi1 0.523 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 0.523 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 0.523 * [backup-simplify]: Simplify (+ (pow phi1 2) (pow phi2 2)) into (+ (pow phi2 2) (pow phi1 2)) 0.524 * [backup-simplify]: Simplify (+ 0 (+ (pow phi2 2) (pow phi1 2))) into (+ (pow phi2 2) (pow phi1 2)) 0.524 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 0.524 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1)) 0.524 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1))) 0.524 * [backup-simplify]: Simplify (+ (+ (pow phi2 2) (pow phi1 2)) (- (* 2 (* phi2 phi1)))) into (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))) 0.524 * [backup-simplify]: Simplify (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))) into (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))) 0.524 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 0.524 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 0.525 * [backup-simplify]: Simplify (+ 0 0) into 0 0.525 * [backup-simplify]: Simplify (+ 0 0) into 0 0.525 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 0.525 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0 0.525 * [backup-simplify]: Simplify (- 0) into 0 0.526 * [backup-simplify]: Simplify (+ 0 0) into 0 0.526 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))))) into 0 0.526 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))) in phi1 0.526 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))) in phi1 0.526 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in phi1 0.526 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 0.526 * [taylor]: Taking taylor expansion of phi2 in phi1 0.526 * [backup-simplify]: Simplify phi2 into phi2 0.526 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 0.526 * [taylor]: Taking taylor expansion of phi1 in phi1 0.526 * [backup-simplify]: Simplify 0 into 0 0.526 * [backup-simplify]: Simplify 1 into 1 0.526 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi1 0.526 * [taylor]: Taking taylor expansion of 2 in phi1 0.526 * [backup-simplify]: Simplify 2 into 2 0.526 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 0.526 * [taylor]: Taking taylor expansion of phi2 in phi1 0.526 * [backup-simplify]: Simplify phi2 into phi2 0.526 * [taylor]: Taking taylor expansion of phi1 in phi1 0.526 * [backup-simplify]: Simplify 0 into 0 0.526 * [backup-simplify]: Simplify 1 into 1 0.526 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 0.526 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 0.526 * [backup-simplify]: Simplify (* phi2 0) into 0 0.527 * [backup-simplify]: Simplify (* 2 0) into 0 0.527 * [backup-simplify]: Simplify (- 0) into 0 0.527 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 0.527 * [backup-simplify]: Simplify (sqrt (pow phi2 2)) into phi2 0.527 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 0.527 * [backup-simplify]: Simplify (+ 0 0) into 0 0.528 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 0.528 * [backup-simplify]: Simplify (+ (* 2 phi2) (* 0 0)) into (* 2 phi2) 0.528 * [backup-simplify]: Simplify (- (* 2 phi2)) into (- (* 2 phi2)) 0.528 * [backup-simplify]: Simplify (+ 0 (- (* 2 phi2))) into (- (* 2 phi2)) 0.528 * [backup-simplify]: Simplify (/ (- (* 2 phi2)) (* 2 (sqrt (pow phi2 2)))) into -1 0.528 * [taylor]: Taking taylor expansion of phi2 in phi2 0.528 * [backup-simplify]: Simplify 0 into 0 0.528 * [backup-simplify]: Simplify 1 into 1 0.528 * [backup-simplify]: Simplify 0 into 0 0.528 * [taylor]: Taking taylor expansion of (* -1 (* (sqrt (/ 1 (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) (* 2 (* phi2 phi1))))) (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) in lambda2 0.528 * [taylor]: Taking taylor expansion of -1 in lambda2 0.528 * [backup-simplify]: Simplify -1 into -1 0.528 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) (* 2 (* phi2 phi1))))) (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) in lambda2 0.528 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) (* 2 (* phi2 phi1))))) in lambda2 0.528 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) (* 2 (* phi2 phi1)))) in lambda2 0.528 * [taylor]: Taking taylor expansion of (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) (* 2 (* phi2 phi1))) in lambda2 0.528 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) in lambda2 0.528 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda2 0.528 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 0.528 * [taylor]: Taking taylor expansion of lambda2 in lambda2 0.528 * [backup-simplify]: Simplify 0 into 0 0.528 * [backup-simplify]: Simplify 1 into 1 0.529 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 0.529 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 0.529 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 0.529 * [taylor]: Taking taylor expansion of 0.5 in lambda2 0.529 * [backup-simplify]: Simplify 0.5 into 0.5 0.529 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 0.529 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.529 * [backup-simplify]: Simplify phi2 into phi2 0.529 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.529 * [backup-simplify]: Simplify phi1 into phi1 0.529 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 0.529 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 0.529 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 0.529 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 0.529 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 0.529 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 0.529 * [backup-simplify]: Simplify (- 0) into 0 0.529 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 0.529 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (pow phi2 2)) in lambda2 0.529 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 0.529 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.529 * [backup-simplify]: Simplify phi1 into phi1 0.529 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 0.529 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.529 * [backup-simplify]: Simplify phi2 into phi2 0.529 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda2 0.529 * [taylor]: Taking taylor expansion of 2 in lambda2 0.530 * [backup-simplify]: Simplify 2 into 2 0.530 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 0.530 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.530 * [backup-simplify]: Simplify phi2 into phi2 0.530 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.530 * [backup-simplify]: Simplify phi1 into phi1 0.530 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 0.530 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 0.530 * [backup-simplify]: Simplify (+ (pow phi1 2) (pow phi2 2)) into (+ (pow phi2 2) (pow phi1 2)) 0.530 * [backup-simplify]: Simplify (+ 0 (+ (pow phi2 2) (pow phi1 2))) into (+ (pow phi2 2) (pow phi1 2)) 0.530 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 0.530 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1)) 0.530 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1))) 0.530 * [backup-simplify]: Simplify (+ (+ (pow phi2 2) (pow phi1 2)) (- (* 2 (* phi2 phi1)))) into (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))) 0.531 * [backup-simplify]: Simplify (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))) into (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))) 0.531 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))))) into (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))))) 0.531 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 0.531 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 0.531 * [backup-simplify]: Simplify (+ 0 0) into 0 0.531 * [backup-simplify]: Simplify (+ 0 0) into 0 0.531 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 0.532 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0 0.532 * [backup-simplify]: Simplify (- 0) into 0 0.532 * [backup-simplify]: Simplify (+ 0 0) into 0 0.533 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))) (/ 0 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))))))) into 0 0.533 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))))))) into 0 0.533 * [taylor]: Taking taylor expansion of (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda2 0.533 * [taylor]: Taking taylor expansion of lambda2 in lambda2 0.533 * [backup-simplify]: Simplify 0 into 0 0.533 * [backup-simplify]: Simplify 1 into 1 0.533 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 0.533 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 0.533 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 0.533 * [taylor]: Taking taylor expansion of 0.5 in lambda2 0.533 * [backup-simplify]: Simplify 0.5 into 0.5 0.533 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 0.533 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.533 * [backup-simplify]: Simplify phi2 into phi2 0.533 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.533 * [backup-simplify]: Simplify phi1 into phi1 0.533 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 0.533 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 0.533 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 0.533 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 0.534 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 0.534 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 0.534 * [backup-simplify]: Simplify (- 0) into 0 0.534 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 0.534 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0.534 * [backup-simplify]: Simplify (* 0 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) into 0 0.534 * [backup-simplify]: Simplify (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))))) 0) into 0 0.535 * [backup-simplify]: Simplify (* -1 0) into 0 0.535 * [taylor]: Taking taylor expansion of 0 in phi1 0.535 * [backup-simplify]: Simplify 0 into 0 0.535 * [taylor]: Taking taylor expansion of 0 in phi2 0.535 * [backup-simplify]: Simplify 0 into 0 0.535 * [backup-simplify]: Simplify 0 into 0 0.535 * [taylor]: Taking taylor expansion of 0 in phi1 0.535 * [backup-simplify]: Simplify 0 into 0 0.535 * [taylor]: Taking taylor expansion of 0 in phi2 0.535 * [backup-simplify]: Simplify 0 into 0 0.535 * [backup-simplify]: Simplify 0 into 0 0.535 * [taylor]: Taking taylor expansion of -1 in phi2 0.535 * [backup-simplify]: Simplify -1 into -1 0.535 * [backup-simplify]: Simplify -1 into -1 0.535 * [backup-simplify]: Simplify 1 into 1 0.535 * [backup-simplify]: Simplify (+ (* phi2 0) (+ (* 0 0) (* 0 phi2))) into 0 0.536 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 0.536 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 1))) into 0 0.537 * [backup-simplify]: Simplify (+ 0 0) into 0 0.537 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ phi2 phi1)))) into 0 0.538 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 0.538 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 0))) into 0 0.538 * [backup-simplify]: Simplify (- 0) into 0 0.538 * [backup-simplify]: Simplify (+ 0 0) into 0 0.539 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ phi2 phi1)))))) into 0 0.539 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda2))) into 0 0.539 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) 0) (+ (* 0 0) (* 0 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) into 0 0.540 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0.540 * [backup-simplify]: Simplify (* 1 1) into 1 0.540 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 1) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0.540 * [backup-simplify]: Simplify (+ (* phi1 0) (+ (* 0 0) (* 0 phi1))) into 0 0.540 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0.541 * [backup-simplify]: Simplify (+ 0 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0.541 * [backup-simplify]: Simplify (+ 0 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0.541 * [backup-simplify]: Simplify (+ (* phi2 0) (+ (* 0 0) (* 0 phi1))) into 0 0.542 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (* phi2 phi1)))) into 0 0.542 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 0.543 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 1))) into 0 0.543 * [backup-simplify]: Simplify (+ 0 0) into 0 0.543 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ phi2 phi1)))) into 0 0.544 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 0.544 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 0))) into 0 0.545 * [backup-simplify]: Simplify (- 0) into 0 0.545 * [backup-simplify]: Simplify (+ 0 0) into 0 0.545 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ phi2 phi1)))))) into 0 0.546 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) (+ (* 0 1) (* 0 0))) into 0 0.546 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* 0 0))) into 0 0.547 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) (* 0 0))) into 0 0.547 * [backup-simplify]: Simplify (+ 0 0) into 0 0.547 * [backup-simplify]: Simplify (- 0) into 0 0.548 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0.549 * [backup-simplify]: Simplify (/ (- (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow (* -1 (* (sqrt (/ 1 (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) (* 2 (* phi2 phi1))))) (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) 2) (+)) (* 2 (sqrt (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) (* 2 (* phi2 phi1)))))) into (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) (* 2 (* phi2 phi1))))) (- (pow (cos (* 0.5 (+ phi2 phi1))) 2) (/ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 4)) (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) (* 2 (* phi2 phi1))))))) 0.550 * [taylor]: Taking taylor expansion of (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) (* 2 (* phi2 phi1))))) (- (pow (cos (* 0.5 (+ phi2 phi1))) 2) (/ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 4)) (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) (* 2 (* phi2 phi1))))))) in lambda2 0.550 * [taylor]: Taking taylor expansion of 1/2 in lambda2 0.550 * [backup-simplify]: Simplify 1/2 into 1/2 0.550 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) (* 2 (* phi2 phi1))))) (- (pow (cos (* 0.5 (+ phi2 phi1))) 2) (/ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 4)) (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) (* 2 (* phi2 phi1)))))) in lambda2 0.550 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) (* 2 (* phi2 phi1))))) in lambda2 0.550 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) (* 2 (* phi2 phi1)))) in lambda2 0.550 * [taylor]: Taking taylor expansion of (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) (* 2 (* phi2 phi1))) in lambda2 0.550 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) in lambda2 0.550 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda2 0.550 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 0.550 * [taylor]: Taking taylor expansion of lambda2 in lambda2 0.550 * [backup-simplify]: Simplify 0 into 0 0.550 * [backup-simplify]: Simplify 1 into 1 0.550 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 0.550 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 0.550 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 0.550 * [taylor]: Taking taylor expansion of 0.5 in lambda2 0.550 * [backup-simplify]: Simplify 0.5 into 0.5 0.550 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 0.550 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.550 * [backup-simplify]: Simplify phi2 into phi2 0.550 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.550 * [backup-simplify]: Simplify phi1 into phi1 0.550 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 0.550 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 0.550 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 0.550 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 0.550 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 0.550 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 0.551 * [backup-simplify]: Simplify (- 0) into 0 0.551 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 0.551 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in lambda2 0.551 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 0.551 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.551 * [backup-simplify]: Simplify phi2 into phi2 0.551 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 0.551 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.551 * [backup-simplify]: Simplify phi1 into phi1 0.551 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda2 0.551 * [taylor]: Taking taylor expansion of 2 in lambda2 0.551 * [backup-simplify]: Simplify 2 into 2 0.551 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 0.551 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.551 * [backup-simplify]: Simplify phi2 into phi2 0.551 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.551 * [backup-simplify]: Simplify phi1 into phi1 0.551 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 0.551 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 0.551 * [backup-simplify]: Simplify (+ (pow phi2 2) (pow phi1 2)) into (+ (pow phi1 2) (pow phi2 2)) 0.551 * [backup-simplify]: Simplify (+ 0 (+ (pow phi1 2) (pow phi2 2))) into (+ (pow phi1 2) (pow phi2 2)) 0.551 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 0.552 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1)) 0.552 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1))) 0.552 * [backup-simplify]: Simplify (+ (+ (pow phi1 2) (pow phi2 2)) (- (* 2 (* phi2 phi1)))) into (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1))) 0.552 * [backup-simplify]: Simplify (/ 1 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1)))) into (/ 1 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1)))) 0.552 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1))))) into (sqrt (/ 1 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1))))) 0.552 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 0.552 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 0.553 * [backup-simplify]: Simplify (+ 0 0) into 0 0.553 * [backup-simplify]: Simplify (+ 0 0) into 0 0.553 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 0.553 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0 0.554 * [backup-simplify]: Simplify (- 0) into 0 0.554 * [backup-simplify]: Simplify (+ 0 0) into 0 0.555 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1)))) (/ 0 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1))))))) into 0 0.555 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1))))))) into 0 0.555 * [taylor]: Taking taylor expansion of (- (pow (cos (* 0.5 (+ phi2 phi1))) 2) (/ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 4)) (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) (* 2 (* phi2 phi1))))) in lambda2 0.555 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 0.555 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 0.555 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 0.555 * [taylor]: Taking taylor expansion of 0.5 in lambda2 0.555 * [backup-simplify]: Simplify 0.5 into 0.5 0.555 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 0.555 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.555 * [backup-simplify]: Simplify phi2 into phi2 0.555 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.555 * [backup-simplify]: Simplify phi1 into phi1 0.555 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 0.555 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 0.555 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 0.555 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 0.555 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 0.556 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 0.556 * [backup-simplify]: Simplify (- 0) into 0 0.556 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 0.556 * [taylor]: Taking taylor expansion of (/ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 4)) (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) (* 2 (* phi2 phi1)))) in lambda2 0.556 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 4)) in lambda2 0.556 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 0.556 * [taylor]: Taking taylor expansion of lambda2 in lambda2 0.556 * [backup-simplify]: Simplify 0 into 0 0.556 * [backup-simplify]: Simplify 1 into 1 0.556 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 4) in lambda2 0.556 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 0.556 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 0.556 * [taylor]: Taking taylor expansion of 0.5 in lambda2 0.556 * [backup-simplify]: Simplify 0.5 into 0.5 0.556 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 0.556 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.556 * [backup-simplify]: Simplify phi2 into phi2 0.556 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.556 * [backup-simplify]: Simplify phi1 into phi1 0.556 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 0.556 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 0.556 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 0.556 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 0.557 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 0.557 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 0.557 * [backup-simplify]: Simplify (- 0) into 0 0.557 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 0.557 * [taylor]: Taking taylor expansion of (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) (* 2 (* phi2 phi1))) in lambda2 0.557 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) in lambda2 0.557 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda2 0.557 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 0.557 * [taylor]: Taking taylor expansion of lambda2 in lambda2 0.557 * [backup-simplify]: Simplify 0 into 0 0.557 * [backup-simplify]: Simplify 1 into 1 0.557 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 0.557 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 0.557 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 0.557 * [taylor]: Taking taylor expansion of 0.5 in lambda2 0.557 * [backup-simplify]: Simplify 0.5 into 0.5 0.557 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 0.557 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.557 * [backup-simplify]: Simplify phi2 into phi2 0.557 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.557 * [backup-simplify]: Simplify phi1 into phi1 0.557 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 0.557 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 0.557 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 0.558 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 0.558 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 0.558 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 0.558 * [backup-simplify]: Simplify (- 0) into 0 0.558 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 0.558 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in lambda2 0.558 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 0.558 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.558 * [backup-simplify]: Simplify phi2 into phi2 0.558 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 0.558 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.558 * [backup-simplify]: Simplify phi1 into phi1 0.558 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda2 0.558 * [taylor]: Taking taylor expansion of 2 in lambda2 0.558 * [backup-simplify]: Simplify 2 into 2 0.558 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 0.558 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.558 * [backup-simplify]: Simplify phi2 into phi2 0.558 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.558 * [backup-simplify]: Simplify phi1 into phi1 0.559 * [backup-simplify]: Simplify (* 1 1) into 1 0.559 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0.559 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) into (pow (cos (* 0.5 (+ phi2 phi1))) 4) 0.559 * [backup-simplify]: Simplify (* 1 (pow (cos (* 0.5 (+ phi2 phi1))) 4)) into (pow (cos (* 0.5 (+ phi2 phi1))) 4) 0.559 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 0.559 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 0.559 * [backup-simplify]: Simplify (+ (pow phi2 2) (pow phi1 2)) into (+ (pow phi1 2) (pow phi2 2)) 0.560 * [backup-simplify]: Simplify (+ 0 (+ (pow phi1 2) (pow phi2 2))) into (+ (pow phi1 2) (pow phi2 2)) 0.560 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 0.560 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1)) 0.560 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1))) 0.560 * [backup-simplify]: Simplify (+ (+ (pow phi1 2) (pow phi2 2)) (- (* 2 (* phi2 phi1)))) into (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1))) 0.560 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ phi2 phi1))) 4) (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1)))) into (/ (pow (cos (* 0.5 (+ phi2 phi1))) 4) (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1)))) 0.560 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0.560 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0.561 * [backup-simplify]: Simplify (* (sqrt (/ 1 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1))))) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) into (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (sqrt (/ 1 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1)))))) 0.561 * [backup-simplify]: Simplify (* 1/2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (sqrt (/ 1 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1))))))) into (* 1/2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (sqrt (/ 1 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1))))))) 0.561 * [taylor]: Taking taylor expansion of (* 1/2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (sqrt (/ 1 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1))))))) in phi1 0.561 * [taylor]: Taking taylor expansion of 1/2 in phi1 0.561 * [backup-simplify]: Simplify 1/2 into 1/2 0.561 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (sqrt (/ 1 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1)))))) in phi1 0.561 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1 0.561 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 0.561 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 0.561 * [taylor]: Taking taylor expansion of 0.5 in phi1 0.561 * [backup-simplify]: Simplify 0.5 into 0.5 0.561 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 0.561 * [taylor]: Taking taylor expansion of phi2 in phi1 0.561 * [backup-simplify]: Simplify phi2 into phi2 0.561 * [taylor]: Taking taylor expansion of phi1 in phi1 0.562 * [backup-simplify]: Simplify 0 into 0 0.562 * [backup-simplify]: Simplify 1 into 1 0.562 * [backup-simplify]: Simplify (+ phi2 0) into phi2 0.562 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 0.562 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 0.562 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 0.562 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 0.562 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 0.562 * [backup-simplify]: Simplify (- 0) into 0 0.562 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 0.562 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1))))) in phi1 0.562 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1)))) in phi1 0.562 * [taylor]: Taking taylor expansion of (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1))) in phi1 0.562 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (pow phi2 2)) in phi1 0.563 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 0.563 * [taylor]: Taking taylor expansion of phi1 in phi1 0.563 * [backup-simplify]: Simplify 0 into 0 0.563 * [backup-simplify]: Simplify 1 into 1 0.563 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 0.563 * [taylor]: Taking taylor expansion of phi2 in phi1 0.563 * [backup-simplify]: Simplify phi2 into phi2 0.563 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi1 0.563 * [taylor]: Taking taylor expansion of 2 in phi1 0.563 * [backup-simplify]: Simplify 2 into 2 0.563 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 0.563 * [taylor]: Taking taylor expansion of phi2 in phi1 0.563 * [backup-simplify]: Simplify phi2 into phi2 0.563 * [taylor]: Taking taylor expansion of phi1 in phi1 0.563 * [backup-simplify]: Simplify 0 into 0 0.563 * [backup-simplify]: Simplify 1 into 1 0.563 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 0.563 * [backup-simplify]: Simplify (+ 0 (pow phi2 2)) into (pow phi2 2) 0.563 * [backup-simplify]: Simplify (* phi2 0) into 0 0.563 * [backup-simplify]: Simplify (* 2 0) into 0 0.564 * [backup-simplify]: Simplify (- 0) into 0 0.564 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 0.564 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 0.564 * [backup-simplify]: Simplify (sqrt (/ 1 (pow phi2 2))) into (/ 1 phi2) 0.564 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 0.564 * [backup-simplify]: Simplify (+ 0 0) into 0 0.565 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 0.565 * [backup-simplify]: Simplify (+ (* 2 phi2) (* 0 0)) into (* 2 phi2) 0.565 * [backup-simplify]: Simplify (- (* 2 phi2)) into (- (* 2 phi2)) 0.565 * [backup-simplify]: Simplify (+ 0 (- (* 2 phi2))) into (- (* 2 phi2)) 0.565 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi2 2)) (/ (- (* 2 phi2)) (pow phi2 2))))) into (* 2 (/ 1 (pow phi2 3))) 0.566 * [backup-simplify]: Simplify (/ (* 2 (/ 1 (pow phi2 3))) (* 2 (sqrt (/ 1 (pow phi2 2))))) into (/ 1 (pow phi2 2)) 0.566 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 0.566 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi2)) 2) (/ 1 phi2)) into (/ (pow (cos (* 0.5 phi2)) 2) phi2) 0.566 * [backup-simplify]: Simplify (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2)) into (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2)) 0.566 * [taylor]: Taking taylor expansion of (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2)) in phi2 0.566 * [taylor]: Taking taylor expansion of 1/2 in phi2 0.566 * [backup-simplify]: Simplify 1/2 into 1/2 0.566 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 phi2)) 2) phi2) in phi2 0.566 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2 0.566 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 0.566 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 0.566 * [taylor]: Taking taylor expansion of 0.5 in phi2 0.566 * [backup-simplify]: Simplify 0.5 into 0.5 0.566 * [taylor]: Taking taylor expansion of phi2 in phi2 0.566 * [backup-simplify]: Simplify 0 into 0 0.566 * [backup-simplify]: Simplify 1 into 1 0.566 * [backup-simplify]: Simplify (* 0.5 0) into 0 0.567 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 0.567 * [taylor]: Taking taylor expansion of phi2 in phi2 0.567 * [backup-simplify]: Simplify 0 into 0 0.567 * [backup-simplify]: Simplify 1 into 1 0.568 * [backup-simplify]: Simplify (* 1 1) into 1 0.568 * [backup-simplify]: Simplify (/ 1 1) into 1 0.568 * [backup-simplify]: Simplify (+ 0) into 0 0.569 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 0.569 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* 1 (/ 0 1)))) into 0 0.569 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 1)) into 0 0.570 * [backup-simplify]: Simplify 0 into 0 0.570 * [backup-simplify]: Simplify (+ 0) into 0 0.571 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 0.571 * [backup-simplify]: Simplify (+ 0 0) into 0 0.572 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 0.572 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 0.573 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 0.573 * [backup-simplify]: Simplify (- 0) into 0 0.573 * [backup-simplify]: Simplify (+ 0 0) into 0 0.573 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 0.574 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0.575 * [backup-simplify]: Simplify (+ (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))))) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* 0 0)) into (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))))) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) 0.576 * [backup-simplify]: Simplify (+ (* -1 (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))))) (pow (cos (* 0.5 (+ phi2 phi1))) 2))) (* 0 0)) into (- (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))))) (pow (cos (* 0.5 (+ phi2 phi1))) 2))) 0.576 * [taylor]: Taking taylor expansion of (- (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))))) (pow (cos (* 0.5 (+ phi2 phi1))) 2))) in phi1 0.576 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))))) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in phi1 0.576 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))))) in phi1 0.576 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))) in phi1 0.576 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))) in phi1 0.576 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in phi1 0.576 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 0.576 * [taylor]: Taking taylor expansion of phi2 in phi1 0.576 * [backup-simplify]: Simplify phi2 into phi2 0.576 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 0.576 * [taylor]: Taking taylor expansion of phi1 in phi1 0.576 * [backup-simplify]: Simplify 0 into 0 0.576 * [backup-simplify]: Simplify 1 into 1 0.576 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi1 0.576 * [taylor]: Taking taylor expansion of 2 in phi1 0.576 * [backup-simplify]: Simplify 2 into 2 0.576 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 0.576 * [taylor]: Taking taylor expansion of phi2 in phi1 0.576 * [backup-simplify]: Simplify phi2 into phi2 0.576 * [taylor]: Taking taylor expansion of phi1 in phi1 0.576 * [backup-simplify]: Simplify 0 into 0 0.576 * [backup-simplify]: Simplify 1 into 1 0.576 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 0.576 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 0.576 * [backup-simplify]: Simplify (* phi2 0) into 0 0.576 * [backup-simplify]: Simplify (* 2 0) into 0 0.577 * [backup-simplify]: Simplify (- 0) into 0 0.577 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 0.577 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 0.577 * [backup-simplify]: Simplify (sqrt (/ 1 (pow phi2 2))) into (/ 1 phi2) 0.577 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 0.577 * [backup-simplify]: Simplify (+ 0 0) into 0 0.578 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 0.578 * [backup-simplify]: Simplify (+ (* 2 phi2) (* 0 0)) into (* 2 phi2) 0.578 * [backup-simplify]: Simplify (- (* 2 phi2)) into (- (* 2 phi2)) 0.578 * [backup-simplify]: Simplify (+ 0 (- (* 2 phi2))) into (- (* 2 phi2)) 0.578 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi2 2)) (/ (- (* 2 phi2)) (pow phi2 2))))) into (* 2 (/ 1 (pow phi2 3))) 0.578 * [backup-simplify]: Simplify (/ (* 2 (/ 1 (pow phi2 3))) (* 2 (sqrt (/ 1 (pow phi2 2))))) into (/ 1 (pow phi2 2)) 0.578 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1 0.578 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 0.578 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 0.578 * [taylor]: Taking taylor expansion of 0.5 in phi1 0.578 * [backup-simplify]: Simplify 0.5 into 0.5 0.578 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 0.579 * [taylor]: Taking taylor expansion of phi2 in phi1 0.579 * [backup-simplify]: Simplify phi2 into phi2 0.579 * [taylor]: Taking taylor expansion of phi1 in phi1 0.579 * [backup-simplify]: Simplify 0 into 0 0.579 * [backup-simplify]: Simplify 1 into 1 0.579 * [backup-simplify]: Simplify (+ phi2 0) into phi2 0.579 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 0.579 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 0.579 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 0.579 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 0.579 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 0.579 * [backup-simplify]: Simplify (- 0) into 0 0.579 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 0.579 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 0.579 * [backup-simplify]: Simplify (* (/ 1 phi2) (pow (cos (* 0.5 phi2)) 2)) into (/ (pow (cos (* 0.5 phi2)) 2) phi2) 0.580 * [backup-simplify]: Simplify (- (/ (pow (cos (* 0.5 phi2)) 2) phi2)) into (- (/ (pow (cos (* 0.5 phi2)) 2) phi2)) 0.580 * [taylor]: Taking taylor expansion of (- (/ (pow (cos (* 0.5 phi2)) 2) phi2)) in phi2 0.580 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 phi2)) 2) phi2) in phi2 0.580 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2 0.580 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 0.580 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 0.580 * [taylor]: Taking taylor expansion of 0.5 in phi2 0.580 * [backup-simplify]: Simplify 0.5 into 0.5 0.580 * [taylor]: Taking taylor expansion of phi2 in phi2 0.580 * [backup-simplify]: Simplify 0 into 0 0.580 * [backup-simplify]: Simplify 1 into 1 0.580 * [backup-simplify]: Simplify (* 0.5 0) into 0 0.581 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 0.581 * [taylor]: Taking taylor expansion of phi2 in phi2 0.581 * [backup-simplify]: Simplify 0 into 0 0.581 * [backup-simplify]: Simplify 1 into 1 0.581 * [backup-simplify]: Simplify (* 1 1) into 1 0.581 * [backup-simplify]: Simplify (/ 1 1) into 1 0.582 * [backup-simplify]: Simplify (+ 0) into 0 0.582 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 0.582 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* 1 (/ 0 1)))) into 0 0.583 * [backup-simplify]: Simplify (- 0) into 0 0.583 * [backup-simplify]: Simplify 0 into 0 0.583 * [backup-simplify]: Simplify (* 1 1) into 1 0.583 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0.583 * [backup-simplify]: Simplify (* 1 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0.583 * [backup-simplify]: Simplify (+ (* phi1 0) (+ (* 0 0) (* 0 phi1))) into 0 0.584 * [backup-simplify]: Simplify (+ (* phi2 0) (+ (* 0 0) (* 0 phi2))) into 0 0.584 * [backup-simplify]: Simplify (+ 0 0) into 0 0.584 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0.584 * [backup-simplify]: Simplify (+ (* phi2 0) (+ (* 0 0) (* 0 phi1))) into 0 0.585 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (* phi2 phi1)))) into 0 0.585 * [backup-simplify]: Simplify (- 0) into 0 0.585 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0.586 * [backup-simplify]: Simplify (/ (- (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow 0 2) (+)) (* 2 (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))))) into (* 1/2 (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))))) (pow (cos (* 0.5 (+ phi2 phi1))) 2))) 0.586 * [taylor]: Taking taylor expansion of (* 1/2 (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))))) (pow (cos (* 0.5 (+ phi2 phi1))) 2))) in phi1 0.586 * [taylor]: Taking taylor expansion of 1/2 in phi1 0.586 * [backup-simplify]: Simplify 1/2 into 1/2 0.586 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))))) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in phi1 0.586 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))))) in phi1 0.586 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))) in phi1 0.586 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))) in phi1 0.586 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in phi1 0.586 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 0.586 * [taylor]: Taking taylor expansion of phi2 in phi1 0.586 * [backup-simplify]: Simplify phi2 into phi2 0.586 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 0.586 * [taylor]: Taking taylor expansion of phi1 in phi1 0.586 * [backup-simplify]: Simplify 0 into 0 0.586 * [backup-simplify]: Simplify 1 into 1 0.586 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi1 0.586 * [taylor]: Taking taylor expansion of 2 in phi1 0.586 * [backup-simplify]: Simplify 2 into 2 0.586 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 0.587 * [taylor]: Taking taylor expansion of phi2 in phi1 0.587 * [backup-simplify]: Simplify phi2 into phi2 0.587 * [taylor]: Taking taylor expansion of phi1 in phi1 0.587 * [backup-simplify]: Simplify 0 into 0 0.587 * [backup-simplify]: Simplify 1 into 1 0.587 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 0.587 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 0.587 * [backup-simplify]: Simplify (* phi2 0) into 0 0.587 * [backup-simplify]: Simplify (* 2 0) into 0 0.587 * [backup-simplify]: Simplify (- 0) into 0 0.587 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 0.587 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 0.588 * [backup-simplify]: Simplify (sqrt (/ 1 (pow phi2 2))) into (/ 1 phi2) 0.588 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 0.592 * [backup-simplify]: Simplify (+ 0 0) into 0 0.593 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 0.593 * [backup-simplify]: Simplify (+ (* 2 phi2) (* 0 0)) into (* 2 phi2) 0.593 * [backup-simplify]: Simplify (- (* 2 phi2)) into (- (* 2 phi2)) 0.593 * [backup-simplify]: Simplify (+ 0 (- (* 2 phi2))) into (- (* 2 phi2)) 0.594 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi2 2)) (/ (- (* 2 phi2)) (pow phi2 2))))) into (* 2 (/ 1 (pow phi2 3))) 0.594 * [backup-simplify]: Simplify (/ (* 2 (/ 1 (pow phi2 3))) (* 2 (sqrt (/ 1 (pow phi2 2))))) into (/ 1 (pow phi2 2)) 0.594 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1 0.594 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 0.594 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 0.594 * [taylor]: Taking taylor expansion of 0.5 in phi1 0.594 * [backup-simplify]: Simplify 0.5 into 0.5 0.594 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 0.594 * [taylor]: Taking taylor expansion of phi2 in phi1 0.594 * [backup-simplify]: Simplify phi2 into phi2 0.594 * [taylor]: Taking taylor expansion of phi1 in phi1 0.594 * [backup-simplify]: Simplify 0 into 0 0.594 * [backup-simplify]: Simplify 1 into 1 0.594 * [backup-simplify]: Simplify (+ phi2 0) into phi2 0.594 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 0.594 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 0.594 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 0.594 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 0.594 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 0.595 * [backup-simplify]: Simplify (- 0) into 0 0.595 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 0.595 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 0.595 * [backup-simplify]: Simplify (* (/ 1 phi2) (pow (cos (* 0.5 phi2)) 2)) into (/ (pow (cos (* 0.5 phi2)) 2) phi2) 0.595 * [backup-simplify]: Simplify (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2)) into (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2)) 0.595 * [taylor]: Taking taylor expansion of (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2)) in phi2 0.595 * [taylor]: Taking taylor expansion of 1/2 in phi2 0.595 * [backup-simplify]: Simplify 1/2 into 1/2 0.595 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 phi2)) 2) phi2) in phi2 0.595 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2 0.595 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 0.595 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 0.595 * [taylor]: Taking taylor expansion of 0.5 in phi2 0.595 * [backup-simplify]: Simplify 0.5 into 0.5 0.595 * [taylor]: Taking taylor expansion of phi2 in phi2 0.595 * [backup-simplify]: Simplify 0 into 0 0.595 * [backup-simplify]: Simplify 1 into 1 0.596 * [backup-simplify]: Simplify (* 0.5 0) into 0 0.597 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 0.597 * [taylor]: Taking taylor expansion of phi2 in phi2 0.597 * [backup-simplify]: Simplify 0 into 0 0.597 * [backup-simplify]: Simplify 1 into 1 0.597 * [backup-simplify]: Simplify (* 1 1) into 1 0.597 * [backup-simplify]: Simplify (/ 1 1) into 1 0.598 * [backup-simplify]: Simplify (+ 0) into 0 0.598 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 0.598 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* 1 (/ 0 1)))) into 0 0.599 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 1)) into 0 0.599 * [backup-simplify]: Simplify 0 into 0 0.599 * [taylor]: Taking taylor expansion of 0 in phi2 0.599 * [backup-simplify]: Simplify 0 into 0 0.599 * [backup-simplify]: Simplify 0 into 0 0.599 * [taylor]: Taking taylor expansion of 0 in phi2 0.599 * [backup-simplify]: Simplify 0 into 0 0.599 * [backup-simplify]: Simplify 0 into 0 0.599 * [backup-simplify]: Simplify (+ (* phi2 0) (+ (* 0 0) (* 0 phi2))) into 0 0.599 * [backup-simplify]: Simplify (* 1 1) into 1 0.600 * [backup-simplify]: Simplify (+ 0 1) into 1 0.600 * [backup-simplify]: Simplify (+ (* phi2 0) (+ (* 0 1) (* 0 0))) into 0 0.601 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 phi2) (* 0 0))) into 0 0.601 * [backup-simplify]: Simplify (- 0) into 0 0.601 * [backup-simplify]: Simplify (+ 1 0) into 1 0.602 * [backup-simplify]: Simplify (/ (- 1 (pow -1 2) (+)) (* 2 phi2)) into 0 0.602 * [taylor]: Taking taylor expansion of 0 in phi2 0.602 * [backup-simplify]: Simplify 0 into 0 0.602 * [backup-simplify]: Simplify 0 into 0 0.602 * [backup-simplify]: Simplify (+ (* 1 (* phi2 (* 1 (* 1 1)))) (* -1 (* 1 (* phi1 (* 1 1))))) into (- phi2 phi1) 0.603 * [backup-simplify]: Simplify (sqrt (+ (* (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (/ (+ (/ 1 phi1) (/ 1 phi2)) 2.0))) (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (/ (+ (/ 1 phi1) (/ 1 phi2)) 2.0)))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))))) into (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) 0.603 * [approximate]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in (lambda1 lambda2 phi1 phi2) around 0 0.603 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in phi2 0.603 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in phi2 0.603 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) in phi2 0.603 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi2 0.603 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 0.603 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 0.603 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 0.603 * [taylor]: Taking taylor expansion of 0.5 in phi2 0.603 * [backup-simplify]: Simplify 0.5 into 0.5 0.603 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 0.603 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 0.603 * [taylor]: Taking taylor expansion of phi1 in phi2 0.603 * [backup-simplify]: Simplify phi1 into phi1 0.603 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.603 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 0.603 * [taylor]: Taking taylor expansion of phi2 in phi2 0.603 * [backup-simplify]: Simplify 0 into 0 0.603 * [backup-simplify]: Simplify 1 into 1 0.604 * [backup-simplify]: Simplify (/ 1 1) into 1 0.604 * [backup-simplify]: Simplify (+ 0 1) into 1 0.604 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 0.604 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.604 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 0.604 * [taylor]: Taking taylor expansion of lambda1 in phi2 0.604 * [backup-simplify]: Simplify lambda1 into lambda1 0.605 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.605 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 0.605 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 0.605 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) in phi2 0.605 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi2 0.605 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 0.605 * [taylor]: Taking taylor expansion of phi2 in phi2 0.605 * [backup-simplify]: Simplify 0 into 0 0.605 * [backup-simplify]: Simplify 1 into 1 0.605 * [backup-simplify]: Simplify (* 1 1) into 1 0.605 * [backup-simplify]: Simplify (/ 1 1) into 1 0.605 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) in phi2 0.606 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in phi2 0.606 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 0.606 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 0.606 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 0.606 * [taylor]: Taking taylor expansion of 0.5 in phi2 0.606 * [backup-simplify]: Simplify 0.5 into 0.5 0.606 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 0.606 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 0.606 * [taylor]: Taking taylor expansion of phi1 in phi2 0.606 * [backup-simplify]: Simplify phi1 into phi1 0.606 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.606 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 0.606 * [taylor]: Taking taylor expansion of phi2 in phi2 0.606 * [backup-simplify]: Simplify 0 into 0 0.606 * [backup-simplify]: Simplify 1 into 1 0.606 * [backup-simplify]: Simplify (/ 1 1) into 1 0.606 * [backup-simplify]: Simplify (+ 0 1) into 1 0.607 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 0.607 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.607 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 0.607 * [taylor]: Taking taylor expansion of lambda2 in phi2 0.607 * [backup-simplify]: Simplify lambda2 into lambda2 0.607 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.607 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 0.607 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 0.607 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi2 0.607 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 0.607 * [taylor]: Taking taylor expansion of phi1 in phi2 0.607 * [backup-simplify]: Simplify phi1 into phi1 0.607 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 0.607 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 0.607 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in phi2 0.607 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi2 0.607 * [taylor]: Taking taylor expansion of 2 in phi2 0.607 * [backup-simplify]: Simplify 2 into 2 0.608 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi2 0.608 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 0.608 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 0.608 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 0.608 * [taylor]: Taking taylor expansion of 0.5 in phi2 0.608 * [backup-simplify]: Simplify 0.5 into 0.5 0.608 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 0.608 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 0.608 * [taylor]: Taking taylor expansion of phi1 in phi2 0.608 * [backup-simplify]: Simplify phi1 into phi1 0.608 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.608 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 0.608 * [taylor]: Taking taylor expansion of phi2 in phi2 0.608 * [backup-simplify]: Simplify 0 into 0 0.608 * [backup-simplify]: Simplify 1 into 1 0.608 * [backup-simplify]: Simplify (/ 1 1) into 1 0.608 * [backup-simplify]: Simplify (+ 0 1) into 1 0.609 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 0.609 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.609 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi2 0.609 * [taylor]: Taking taylor expansion of lambda2 in phi2 0.609 * [backup-simplify]: Simplify lambda2 into lambda2 0.609 * [taylor]: Taking taylor expansion of lambda1 in phi2 0.609 * [backup-simplify]: Simplify lambda1 into lambda1 0.609 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.609 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 0.609 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) 0.609 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi2 0.609 * [taylor]: Taking taylor expansion of 2 in phi2 0.610 * [backup-simplify]: Simplify 2 into 2 0.610 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi2 0.610 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2 0.610 * [taylor]: Taking taylor expansion of phi2 in phi2 0.610 * [backup-simplify]: Simplify 0 into 0 0.610 * [backup-simplify]: Simplify 1 into 1 0.610 * [taylor]: Taking taylor expansion of phi1 in phi2 0.610 * [backup-simplify]: Simplify phi1 into phi1 0.610 * [backup-simplify]: Simplify (* 0 phi1) into 0 0.610 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 0.610 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.610 * [backup-simplify]: Simplify (+ 1 0) into 1 0.611 * [backup-simplify]: Simplify (+ 0 1) into 1 0.611 * [backup-simplify]: Simplify (+ 1 0) into 1 0.611 * [backup-simplify]: Simplify (sqrt 1) into 1 0.612 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 0.612 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 0.612 * [backup-simplify]: Simplify (+ 0 0) into 0 0.612 * [backup-simplify]: Simplify (+ 0 0) into 0 0.613 * [backup-simplify]: Simplify (* 2 (/ 1 phi1)) into (/ 2 phi1) 0.613 * [backup-simplify]: Simplify (+ 0 (/ 2 phi1)) into (* 2 (/ 1 phi1)) 0.613 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi1))) into (- (* 2 (/ 1 phi1))) 0.613 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1))) 0.613 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi1))) (* 2 (sqrt 1))) into (/ -1 phi1) 0.613 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in phi1 0.613 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in phi1 0.614 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) in phi1 0.614 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi1 0.614 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 0.614 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 0.614 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 0.614 * [taylor]: Taking taylor expansion of 0.5 in phi1 0.614 * [backup-simplify]: Simplify 0.5 into 0.5 0.614 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 0.614 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 0.614 * [taylor]: Taking taylor expansion of phi1 in phi1 0.614 * [backup-simplify]: Simplify 0 into 0 0.614 * [backup-simplify]: Simplify 1 into 1 0.614 * [backup-simplify]: Simplify (/ 1 1) into 1 0.614 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 0.614 * [taylor]: Taking taylor expansion of phi2 in phi1 0.614 * [backup-simplify]: Simplify phi2 into phi2 0.614 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.614 * [backup-simplify]: Simplify (+ 1 0) into 1 0.615 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 0.615 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.615 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 0.615 * [taylor]: Taking taylor expansion of lambda1 in phi1 0.615 * [backup-simplify]: Simplify lambda1 into lambda1 0.615 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.615 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 0.615 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 0.615 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) in phi1 0.615 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 0.615 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 0.615 * [taylor]: Taking taylor expansion of phi2 in phi1 0.615 * [backup-simplify]: Simplify phi2 into phi2 0.615 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 0.616 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 0.616 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) in phi1 0.616 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in phi1 0.616 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 0.616 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 0.616 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 0.616 * [taylor]: Taking taylor expansion of 0.5 in phi1 0.616 * [backup-simplify]: Simplify 0.5 into 0.5 0.616 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 0.616 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 0.616 * [taylor]: Taking taylor expansion of phi1 in phi1 0.616 * [backup-simplify]: Simplify 0 into 0 0.616 * [backup-simplify]: Simplify 1 into 1 0.616 * [backup-simplify]: Simplify (/ 1 1) into 1 0.616 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 0.616 * [taylor]: Taking taylor expansion of phi2 in phi1 0.616 * [backup-simplify]: Simplify phi2 into phi2 0.616 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.616 * [backup-simplify]: Simplify (+ 1 0) into 1 0.617 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 0.617 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.617 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 0.617 * [taylor]: Taking taylor expansion of lambda2 in phi1 0.617 * [backup-simplify]: Simplify lambda2 into lambda2 0.617 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.617 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 0.617 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 0.617 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 0.617 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 0.617 * [taylor]: Taking taylor expansion of phi1 in phi1 0.617 * [backup-simplify]: Simplify 0 into 0 0.617 * [backup-simplify]: Simplify 1 into 1 0.618 * [backup-simplify]: Simplify (* 1 1) into 1 0.618 * [backup-simplify]: Simplify (/ 1 1) into 1 0.618 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in phi1 0.618 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi1 0.618 * [taylor]: Taking taylor expansion of 2 in phi1 0.618 * [backup-simplify]: Simplify 2 into 2 0.618 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi1 0.618 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 0.618 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 0.618 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 0.618 * [taylor]: Taking taylor expansion of 0.5 in phi1 0.618 * [backup-simplify]: Simplify 0.5 into 0.5 0.618 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 0.618 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 0.618 * [taylor]: Taking taylor expansion of phi1 in phi1 0.618 * [backup-simplify]: Simplify 0 into 0 0.618 * [backup-simplify]: Simplify 1 into 1 0.618 * [backup-simplify]: Simplify (/ 1 1) into 1 0.618 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 0.618 * [taylor]: Taking taylor expansion of phi2 in phi1 0.618 * [backup-simplify]: Simplify phi2 into phi2 0.618 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.619 * [backup-simplify]: Simplify (+ 1 0) into 1 0.619 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 0.619 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.619 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 0.619 * [taylor]: Taking taylor expansion of lambda2 in phi1 0.619 * [backup-simplify]: Simplify lambda2 into lambda2 0.619 * [taylor]: Taking taylor expansion of lambda1 in phi1 0.619 * [backup-simplify]: Simplify lambda1 into lambda1 0.619 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.619 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 0.620 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) 0.620 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi1 0.620 * [taylor]: Taking taylor expansion of 2 in phi1 0.620 * [backup-simplify]: Simplify 2 into 2 0.620 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi1 0.620 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 0.620 * [taylor]: Taking taylor expansion of phi2 in phi1 0.620 * [backup-simplify]: Simplify phi2 into phi2 0.620 * [taylor]: Taking taylor expansion of phi1 in phi1 0.620 * [backup-simplify]: Simplify 0 into 0 0.620 * [backup-simplify]: Simplify 1 into 1 0.620 * [backup-simplify]: Simplify (* phi2 0) into 0 0.620 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 0.620 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.620 * [backup-simplify]: Simplify (+ 0 1) into 1 0.621 * [backup-simplify]: Simplify (+ 0 1) into 1 0.621 * [backup-simplify]: Simplify (+ 0 1) into 1 0.621 * [backup-simplify]: Simplify (+ 1 0) into 1 0.621 * [backup-simplify]: Simplify (sqrt 1) into 1 0.622 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 0.622 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 0.622 * [backup-simplify]: Simplify (+ 0 0) into 0 0.623 * [backup-simplify]: Simplify (+ 0 0) into 0 0.623 * [backup-simplify]: Simplify (+ 0 0) into 0 0.623 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 0.623 * [backup-simplify]: Simplify (+ 0 (/ 2 phi2)) into (* 2 (/ 1 phi2)) 0.623 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi2))) into (- (* 2 (/ 1 phi2))) 0.623 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 0.623 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi2))) (* 2 (sqrt 1))) into (/ -1 phi2) 0.624 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in lambda2 0.624 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in lambda2 0.624 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) in lambda2 0.624 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda2 0.624 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 0.624 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 0.624 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 0.624 * [taylor]: Taking taylor expansion of 0.5 in lambda2 0.624 * [backup-simplify]: Simplify 0.5 into 0.5 0.624 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 0.624 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 0.624 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.624 * [backup-simplify]: Simplify phi1 into phi1 0.624 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.624 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 0.624 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.624 * [backup-simplify]: Simplify phi2 into phi2 0.624 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.624 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 0.624 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 0.624 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.624 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.624 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.624 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 0.625 * [backup-simplify]: Simplify (- 0) into 0 0.625 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.625 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 0.625 * [taylor]: Taking taylor expansion of lambda1 in lambda2 0.625 * [backup-simplify]: Simplify lambda1 into lambda1 0.625 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.625 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 0.625 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 0.625 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) in lambda2 0.625 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda2 0.625 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 0.626 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.626 * [backup-simplify]: Simplify phi2 into phi2 0.626 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 0.626 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 0.626 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) in lambda2 0.626 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda2 0.626 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 0.626 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 0.626 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 0.626 * [taylor]: Taking taylor expansion of 0.5 in lambda2 0.626 * [backup-simplify]: Simplify 0.5 into 0.5 0.626 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 0.626 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 0.626 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.626 * [backup-simplify]: Simplify phi1 into phi1 0.626 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.626 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 0.626 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.626 * [backup-simplify]: Simplify phi2 into phi2 0.626 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.626 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 0.626 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 0.626 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.626 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.626 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.627 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 0.627 * [backup-simplify]: Simplify (- 0) into 0 0.627 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.627 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 0.627 * [taylor]: Taking taylor expansion of lambda2 in lambda2 0.627 * [backup-simplify]: Simplify 0 into 0 0.627 * [backup-simplify]: Simplify 1 into 1 0.627 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.627 * [backup-simplify]: Simplify (* 1 1) into 1 0.628 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.628 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda2 0.628 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 0.628 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.628 * [backup-simplify]: Simplify phi1 into phi1 0.628 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 0.628 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 0.628 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in lambda2 0.628 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda2 0.628 * [taylor]: Taking taylor expansion of 2 in lambda2 0.628 * [backup-simplify]: Simplify 2 into 2 0.628 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda2 0.628 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 0.628 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 0.628 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 0.628 * [taylor]: Taking taylor expansion of 0.5 in lambda2 0.628 * [backup-simplify]: Simplify 0.5 into 0.5 0.628 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 0.628 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 0.628 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.628 * [backup-simplify]: Simplify phi1 into phi1 0.628 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.628 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 0.628 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.628 * [backup-simplify]: Simplify phi2 into phi2 0.628 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.628 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 0.628 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 0.629 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.629 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.629 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.629 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 0.629 * [backup-simplify]: Simplify (- 0) into 0 0.629 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.629 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda2 0.629 * [taylor]: Taking taylor expansion of lambda2 in lambda2 0.629 * [backup-simplify]: Simplify 0 into 0 0.629 * [backup-simplify]: Simplify 1 into 1 0.629 * [taylor]: Taking taylor expansion of lambda1 in lambda2 0.629 * [backup-simplify]: Simplify lambda1 into lambda1 0.630 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.630 * [backup-simplify]: Simplify (* 0 lambda1) into 0 0.630 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda1)) into lambda1 0.630 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) 0.630 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda2 0.630 * [taylor]: Taking taylor expansion of 2 in lambda2 0.630 * [backup-simplify]: Simplify 2 into 2 0.630 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda2 0.630 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 0.630 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.630 * [backup-simplify]: Simplify phi2 into phi2 0.630 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.630 * [backup-simplify]: Simplify phi1 into phi1 0.630 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 0.630 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 0.630 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.631 * [backup-simplify]: Simplify (+ 0 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.631 * [backup-simplify]: Simplify (+ 0 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.631 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.631 * [backup-simplify]: Simplify (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.631 * [backup-simplify]: Simplify (+ 0) into 0 0.632 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 0.632 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 0.632 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 0.632 * [backup-simplify]: Simplify (+ 0 0) into 0 0.633 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 0.633 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 0.633 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 0.634 * [backup-simplify]: Simplify (- 0) into 0 0.634 * [backup-simplify]: Simplify (+ 0 0) into 0 0.634 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 0.635 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 0.635 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 0.635 * [backup-simplify]: Simplify (+ 0 0) into 0 0.636 * [backup-simplify]: Simplify (+ 0 0) into 0 0.636 * [backup-simplify]: Simplify (+ 0 0) into 0 0.636 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 0.636 * [backup-simplify]: Simplify (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 0) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 0.637 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 0.637 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 0.637 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) (* 2 (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)) 0.637 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in lambda1 0.638 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in lambda1 0.638 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) in lambda1 0.638 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda1 0.638 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 0.638 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 0.638 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 0.638 * [taylor]: Taking taylor expansion of 0.5 in lambda1 0.638 * [backup-simplify]: Simplify 0.5 into 0.5 0.638 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 0.638 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 0.638 * [taylor]: Taking taylor expansion of phi1 in lambda1 0.638 * [backup-simplify]: Simplify phi1 into phi1 0.638 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.638 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 0.638 * [taylor]: Taking taylor expansion of phi2 in lambda1 0.638 * [backup-simplify]: Simplify phi2 into phi2 0.638 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.638 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 0.638 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 0.638 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.638 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.638 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.638 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 0.639 * [backup-simplify]: Simplify (- 0) into 0 0.639 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.639 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 0.639 * [taylor]: Taking taylor expansion of lambda1 in lambda1 0.639 * [backup-simplify]: Simplify 0 into 0 0.639 * [backup-simplify]: Simplify 1 into 1 0.639 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.639 * [backup-simplify]: Simplify (* 1 1) into 1 0.639 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.640 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) in lambda1 0.640 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda1 0.640 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 0.640 * [taylor]: Taking taylor expansion of phi2 in lambda1 0.640 * [backup-simplify]: Simplify phi2 into phi2 0.640 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 0.640 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 0.640 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) in lambda1 0.640 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda1 0.640 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 0.640 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 0.640 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 0.640 * [taylor]: Taking taylor expansion of 0.5 in lambda1 0.640 * [backup-simplify]: Simplify 0.5 into 0.5 0.640 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 0.640 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 0.640 * [taylor]: Taking taylor expansion of phi1 in lambda1 0.640 * [backup-simplify]: Simplify phi1 into phi1 0.640 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.640 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 0.640 * [taylor]: Taking taylor expansion of phi2 in lambda1 0.640 * [backup-simplify]: Simplify phi2 into phi2 0.640 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.640 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 0.640 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 0.640 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.640 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.640 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.641 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 0.641 * [backup-simplify]: Simplify (- 0) into 0 0.641 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.641 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 0.641 * [taylor]: Taking taylor expansion of lambda2 in lambda1 0.641 * [backup-simplify]: Simplify lambda2 into lambda2 0.641 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.641 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 0.641 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 0.642 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda1 0.642 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 0.642 * [taylor]: Taking taylor expansion of phi1 in lambda1 0.642 * [backup-simplify]: Simplify phi1 into phi1 0.642 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 0.642 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 0.642 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in lambda1 0.642 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1 0.642 * [taylor]: Taking taylor expansion of 2 in lambda1 0.642 * [backup-simplify]: Simplify 2 into 2 0.642 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1 0.642 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 0.642 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 0.642 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 0.642 * [taylor]: Taking taylor expansion of 0.5 in lambda1 0.642 * [backup-simplify]: Simplify 0.5 into 0.5 0.642 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 0.642 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 0.642 * [taylor]: Taking taylor expansion of phi1 in lambda1 0.642 * [backup-simplify]: Simplify phi1 into phi1 0.642 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.642 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 0.642 * [taylor]: Taking taylor expansion of phi2 in lambda1 0.642 * [backup-simplify]: Simplify phi2 into phi2 0.642 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.642 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 0.642 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 0.642 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.642 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.643 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.643 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 0.643 * [backup-simplify]: Simplify (- 0) into 0 0.643 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.643 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 0.643 * [taylor]: Taking taylor expansion of lambda2 in lambda1 0.643 * [backup-simplify]: Simplify lambda2 into lambda2 0.643 * [taylor]: Taking taylor expansion of lambda1 in lambda1 0.643 * [backup-simplify]: Simplify 0 into 0 0.643 * [backup-simplify]: Simplify 1 into 1 0.643 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.643 * [backup-simplify]: Simplify (* lambda2 0) into 0 0.644 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 0.644 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) 0.644 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda1 0.644 * [taylor]: Taking taylor expansion of 2 in lambda1 0.644 * [backup-simplify]: Simplify 2 into 2 0.644 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda1 0.644 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda1 0.644 * [taylor]: Taking taylor expansion of phi2 in lambda1 0.644 * [backup-simplify]: Simplify phi2 into phi2 0.644 * [taylor]: Taking taylor expansion of phi1 in lambda1 0.644 * [backup-simplify]: Simplify phi1 into phi1 0.644 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 0.644 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 0.644 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.644 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.645 * [backup-simplify]: Simplify (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.645 * [backup-simplify]: Simplify (+ 0) into 0 0.645 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 0.645 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 0.645 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 0.646 * [backup-simplify]: Simplify (+ 0 0) into 0 0.646 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 0.646 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 0.647 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 0.647 * [backup-simplify]: Simplify (- 0) into 0 0.647 * [backup-simplify]: Simplify (+ 0 0) into 0 0.647 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 0.648 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 0.649 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 0.649 * [backup-simplify]: Simplify (+ 0 0) into 0 0.649 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 0.649 * [backup-simplify]: Simplify (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 0) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 0.650 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 0.650 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 0.650 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) (* 2 (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) 0.650 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in lambda1 0.650 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in lambda1 0.650 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) in lambda1 0.650 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda1 0.650 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 0.650 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 0.651 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 0.651 * [taylor]: Taking taylor expansion of 0.5 in lambda1 0.651 * [backup-simplify]: Simplify 0.5 into 0.5 0.651 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 0.651 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 0.651 * [taylor]: Taking taylor expansion of phi1 in lambda1 0.651 * [backup-simplify]: Simplify phi1 into phi1 0.651 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.651 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 0.651 * [taylor]: Taking taylor expansion of phi2 in lambda1 0.651 * [backup-simplify]: Simplify phi2 into phi2 0.651 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.651 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 0.651 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 0.651 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.651 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.651 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.651 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 0.652 * [backup-simplify]: Simplify (- 0) into 0 0.652 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.652 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 0.652 * [taylor]: Taking taylor expansion of lambda1 in lambda1 0.652 * [backup-simplify]: Simplify 0 into 0 0.652 * [backup-simplify]: Simplify 1 into 1 0.652 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.652 * [backup-simplify]: Simplify (* 1 1) into 1 0.652 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.653 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) in lambda1 0.653 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda1 0.653 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 0.653 * [taylor]: Taking taylor expansion of phi2 in lambda1 0.653 * [backup-simplify]: Simplify phi2 into phi2 0.653 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 0.653 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 0.653 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) in lambda1 0.653 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda1 0.653 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 0.653 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 0.653 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 0.653 * [taylor]: Taking taylor expansion of 0.5 in lambda1 0.653 * [backup-simplify]: Simplify 0.5 into 0.5 0.653 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 0.653 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 0.653 * [taylor]: Taking taylor expansion of phi1 in lambda1 0.653 * [backup-simplify]: Simplify phi1 into phi1 0.653 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.653 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 0.653 * [taylor]: Taking taylor expansion of phi2 in lambda1 0.653 * [backup-simplify]: Simplify phi2 into phi2 0.653 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.653 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 0.653 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 0.653 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.653 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.654 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.654 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 0.654 * [backup-simplify]: Simplify (- 0) into 0 0.654 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.654 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 0.654 * [taylor]: Taking taylor expansion of lambda2 in lambda1 0.654 * [backup-simplify]: Simplify lambda2 into lambda2 0.654 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.654 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 0.655 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 0.655 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda1 0.655 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 0.655 * [taylor]: Taking taylor expansion of phi1 in lambda1 0.655 * [backup-simplify]: Simplify phi1 into phi1 0.655 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 0.655 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 0.655 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in lambda1 0.655 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1 0.655 * [taylor]: Taking taylor expansion of 2 in lambda1 0.655 * [backup-simplify]: Simplify 2 into 2 0.655 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1 0.655 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 0.655 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 0.655 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 0.655 * [taylor]: Taking taylor expansion of 0.5 in lambda1 0.655 * [backup-simplify]: Simplify 0.5 into 0.5 0.655 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 0.655 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 0.655 * [taylor]: Taking taylor expansion of phi1 in lambda1 0.655 * [backup-simplify]: Simplify phi1 into phi1 0.655 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.655 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 0.655 * [taylor]: Taking taylor expansion of phi2 in lambda1 0.655 * [backup-simplify]: Simplify phi2 into phi2 0.655 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.655 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 0.655 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 0.655 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.655 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.656 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.656 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 0.656 * [backup-simplify]: Simplify (- 0) into 0 0.656 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.656 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 0.656 * [taylor]: Taking taylor expansion of lambda2 in lambda1 0.656 * [backup-simplify]: Simplify lambda2 into lambda2 0.656 * [taylor]: Taking taylor expansion of lambda1 in lambda1 0.656 * [backup-simplify]: Simplify 0 into 0 0.656 * [backup-simplify]: Simplify 1 into 1 0.656 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.656 * [backup-simplify]: Simplify (* lambda2 0) into 0 0.657 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 0.657 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) 0.657 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda1 0.657 * [taylor]: Taking taylor expansion of 2 in lambda1 0.657 * [backup-simplify]: Simplify 2 into 2 0.657 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda1 0.657 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda1 0.657 * [taylor]: Taking taylor expansion of phi2 in lambda1 0.657 * [backup-simplify]: Simplify phi2 into phi2 0.657 * [taylor]: Taking taylor expansion of phi1 in lambda1 0.657 * [backup-simplify]: Simplify phi1 into phi1 0.657 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 0.657 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 0.657 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.657 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.658 * [backup-simplify]: Simplify (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.658 * [backup-simplify]: Simplify (+ 0) into 0 0.658 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 0.658 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 0.658 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 0.659 * [backup-simplify]: Simplify (+ 0 0) into 0 0.659 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 0.659 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 0.660 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 0.660 * [backup-simplify]: Simplify (- 0) into 0 0.660 * [backup-simplify]: Simplify (+ 0 0) into 0 0.660 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 0.661 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 0.662 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 0.662 * [backup-simplify]: Simplify (+ 0 0) into 0 0.662 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 0.662 * [backup-simplify]: Simplify (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 0) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 0.663 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 0.663 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 0.663 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) (* 2 (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) 0.664 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 0.664 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 0.664 * [taylor]: Taking taylor expansion of 0.5 in lambda2 0.664 * [backup-simplify]: Simplify 0.5 into 0.5 0.664 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 0.664 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 0.664 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.664 * [backup-simplify]: Simplify phi1 into phi1 0.664 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.664 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 0.664 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.664 * [backup-simplify]: Simplify phi2 into phi2 0.664 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.664 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 0.664 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 0.664 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.664 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.664 * [taylor]: Taking taylor expansion of (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) in lambda2 0.664 * [taylor]: Taking taylor expansion of -1 in lambda2 0.664 * [backup-simplify]: Simplify -1 into -1 0.664 * [taylor]: Taking taylor expansion of (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2) in lambda2 0.664 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 0.664 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 0.664 * [taylor]: Taking taylor expansion of 0.5 in lambda2 0.664 * [backup-simplify]: Simplify 0.5 into 0.5 0.664 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 0.664 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 0.664 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.664 * [backup-simplify]: Simplify phi1 into phi1 0.664 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.664 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 0.664 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.664 * [backup-simplify]: Simplify phi2 into phi2 0.665 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.665 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 0.665 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 0.665 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.665 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.665 * [taylor]: Taking taylor expansion of lambda2 in lambda2 0.665 * [backup-simplify]: Simplify 0 into 0 0.665 * [backup-simplify]: Simplify 1 into 1 0.665 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.665 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 0.665 * [backup-simplify]: Simplify (- 0) into 0 0.665 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.666 * [backup-simplify]: Simplify (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.666 * [backup-simplify]: Simplify (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 0.666 * [taylor]: Taking taylor expansion of (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1 0.666 * [taylor]: Taking taylor expansion of -1 in phi1 0.666 * [backup-simplify]: Simplify -1 into -1 0.666 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 0.666 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 0.666 * [taylor]: Taking taylor expansion of 0.5 in phi1 0.666 * [backup-simplify]: Simplify 0.5 into 0.5 0.666 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 0.666 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 0.666 * [taylor]: Taking taylor expansion of phi1 in phi1 0.666 * [backup-simplify]: Simplify 0 into 0 0.666 * [backup-simplify]: Simplify 1 into 1 0.666 * [backup-simplify]: Simplify (/ 1 1) into 1 0.666 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 0.666 * [taylor]: Taking taylor expansion of phi2 in phi1 0.666 * [backup-simplify]: Simplify phi2 into phi2 0.666 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.667 * [backup-simplify]: Simplify (+ 1 0) into 1 0.667 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 0.667 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.667 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.667 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 0.667 * [backup-simplify]: Simplify (- 0) into 0 0.667 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.668 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 0.668 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 0.668 * [taylor]: Taking taylor expansion of 0.5 in phi1 0.668 * [backup-simplify]: Simplify 0.5 into 0.5 0.668 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 0.668 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 0.668 * [taylor]: Taking taylor expansion of phi1 in phi1 0.668 * [backup-simplify]: Simplify 0 into 0 0.668 * [backup-simplify]: Simplify 1 into 1 0.668 * [backup-simplify]: Simplify (/ 1 1) into 1 0.668 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 0.668 * [taylor]: Taking taylor expansion of phi2 in phi1 0.668 * [backup-simplify]: Simplify phi2 into phi2 0.668 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.668 * [backup-simplify]: Simplify (+ 1 0) into 1 0.669 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 0.669 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.669 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 0.670 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 0.670 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 0.670 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 0.670 * [backup-simplify]: Simplify (+ 0 0) into 0 0.671 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 0.672 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 0.672 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 0.672 * [backup-simplify]: Simplify (- 0) into 0 0.672 * [backup-simplify]: Simplify (+ 0 0) into 0 0.673 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 0.673 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 0.674 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)) (* 0 (/ 0 1)))) into 0 0.675 * [backup-simplify]: Simplify (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) into (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) 0.675 * [backup-simplify]: Simplify (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) into (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) 0.676 * [backup-simplify]: Simplify (+ 0 (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) into (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) 0.676 * [backup-simplify]: Simplify (+ 0) into 0 0.676 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 0.677 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 0.677 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 0.677 * [backup-simplify]: Simplify (+ 0 0) into 0 0.677 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 0.678 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 0.678 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 0.678 * [backup-simplify]: Simplify (- 0) into 0 0.678 * [backup-simplify]: Simplify (+ 0 0) into 0 0.679 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 0.679 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 1) (* 0 0))) into 0 0.679 * [backup-simplify]: Simplify (- (/ 0 lambda2) (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) (/ 0 lambda2)))) into 0 0.680 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into 0 0.680 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi2 phi1))) into (/ 2 (* phi2 phi1)) 0.680 * [backup-simplify]: Simplify (+ 0 (/ 2 (* phi2 phi1))) into (* 2 (/ 1 (* phi2 phi1))) 0.680 * [backup-simplify]: Simplify (- (* 2 (/ 1 (* phi2 phi1)))) into (- (* 2 (/ 1 (* phi2 phi1)))) 0.681 * [backup-simplify]: Simplify (+ (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) (- (* 2 (/ 1 (* phi2 phi1))))) into (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) (* 2 (/ 1 (* phi2 phi1)))) 0.682 * [backup-simplify]: Simplify (/ (- (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) (* 2 (/ 1 (* phi2 phi1)))) (pow (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) 2) (+)) (* 2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 0.682 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda2 0.682 * [taylor]: Taking taylor expansion of 1/2 in lambda2 0.682 * [backup-simplify]: Simplify 1/2 into 1/2 0.682 * [taylor]: Taking taylor expansion of (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda2 0.682 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) in lambda2 0.682 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in lambda2 0.682 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda2 0.682 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 0.682 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.682 * [backup-simplify]: Simplify phi2 into phi2 0.682 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 0.682 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 0.682 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda2 0.682 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 0.682 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.682 * [backup-simplify]: Simplify phi1 into phi1 0.682 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 0.682 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 0.682 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda2 0.682 * [taylor]: Taking taylor expansion of 2 in lambda2 0.682 * [backup-simplify]: Simplify 2 into 2 0.682 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda2 0.682 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 0.682 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.682 * [backup-simplify]: Simplify phi2 into phi2 0.682 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.682 * [backup-simplify]: Simplify phi1 into phi1 0.683 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 0.683 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 0.683 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 0.683 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 0.683 * [taylor]: Taking taylor expansion of 0.5 in lambda2 0.683 * [backup-simplify]: Simplify 0.5 into 0.5 0.683 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 0.683 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 0.683 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.683 * [backup-simplify]: Simplify phi1 into phi1 0.683 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.683 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 0.683 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.683 * [backup-simplify]: Simplify phi2 into phi2 0.683 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.683 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 0.683 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 0.683 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.683 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.683 * [backup-simplify]: Simplify (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) into (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) 0.683 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi2 phi1))) into (/ 2 (* phi2 phi1)) 0.683 * [backup-simplify]: Simplify (- (/ 2 (* phi2 phi1))) into (- (* 2 (/ 1 (* phi2 phi1)))) 0.684 * [backup-simplify]: Simplify (+ (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (- (* 2 (/ 1 (* phi2 phi1))))) into (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) 0.684 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.684 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 0.684 * [backup-simplify]: Simplify (- 0) into 0 0.684 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.685 * [backup-simplify]: Simplify (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 0.685 * [backup-simplify]: Simplify (+ 0) into 0 0.685 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 0.685 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 0.685 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 0.686 * [backup-simplify]: Simplify (+ 0 0) into 0 0.686 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 0.687 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 0.687 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 0.687 * [backup-simplify]: Simplify (- 0) into 0 0.687 * [backup-simplify]: Simplify (+ 0 0) into 0 0.688 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (/ 0 1)))) into 0 0.688 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 0.688 * [taylor]: Taking taylor expansion of 0 in phi1 0.688 * [backup-simplify]: Simplify 0 into 0 0.689 * [backup-simplify]: Simplify (+ 0) into 0 0.689 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 0.689 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 0.689 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 0.689 * [backup-simplify]: Simplify (+ 0 0) into 0 0.690 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 0.690 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 0.691 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 0.691 * [backup-simplify]: Simplify (- 0) into 0 0.691 * [backup-simplify]: Simplify (+ 0 0) into 0 0.691 * [taylor]: Taking taylor expansion of 0 in phi1 0.691 * [backup-simplify]: Simplify 0 into 0 0.691 * [backup-simplify]: Simplify (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 0.691 * [taylor]: Taking taylor expansion of (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 0.691 * [taylor]: Taking taylor expansion of -1 in phi2 0.691 * [backup-simplify]: Simplify -1 into -1 0.691 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 0.691 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 0.691 * [taylor]: Taking taylor expansion of 0.5 in phi2 0.691 * [backup-simplify]: Simplify 0.5 into 0.5 0.691 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 0.691 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 0.691 * [taylor]: Taking taylor expansion of phi1 in phi2 0.691 * [backup-simplify]: Simplify phi1 into phi1 0.691 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.691 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 0.691 * [taylor]: Taking taylor expansion of phi2 in phi2 0.691 * [backup-simplify]: Simplify 0 into 0 0.691 * [backup-simplify]: Simplify 1 into 1 0.692 * [backup-simplify]: Simplify (/ 1 1) into 1 0.696 * [backup-simplify]: Simplify (+ 0 1) into 1 0.697 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 0.697 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.697 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 0.697 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 0.697 * [taylor]: Taking taylor expansion of 0.5 in phi2 0.697 * [backup-simplify]: Simplify 0.5 into 0.5 0.697 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 0.697 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 0.697 * [taylor]: Taking taylor expansion of phi1 in phi2 0.697 * [backup-simplify]: Simplify phi1 into phi1 0.697 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.697 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 0.697 * [taylor]: Taking taylor expansion of phi2 in phi2 0.697 * [backup-simplify]: Simplify 0 into 0 0.697 * [backup-simplify]: Simplify 1 into 1 0.697 * [backup-simplify]: Simplify (/ 1 1) into 1 0.698 * [backup-simplify]: Simplify (+ 0 1) into 1 0.698 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 0.698 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.699 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 0.699 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 0.699 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 0.699 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 0.700 * [backup-simplify]: Simplify (+ 0 0) into 0 0.700 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 0.701 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 0.702 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 0.702 * [backup-simplify]: Simplify (- 0) into 0 0.702 * [backup-simplify]: Simplify (+ 0 0) into 0 0.703 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into 0 0.704 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 0.705 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0 0.705 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 0.705 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi2 2)) (/ 0 (pow phi2 2))))) into 0 0.705 * [backup-simplify]: Simplify (+ 0) into 0 0.706 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 0.706 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 0.706 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 0.706 * [backup-simplify]: Simplify (+ 0 0) into 0 0.706 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 0.707 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 0.707 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 0.707 * [backup-simplify]: Simplify (- 0) into 0 0.708 * [backup-simplify]: Simplify (+ 0 0) into 0 0.708 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 0.708 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 0.708 * [backup-simplify]: Simplify (- (/ 0 (pow lambda2 2)) (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 0 (pow lambda2 2))))) into 0 0.708 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 0.709 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi1 2)) (/ 0 (pow phi1 2))))) into 0 0.709 * [backup-simplify]: Simplify (+ 0 0) into 0 0.709 * [backup-simplify]: Simplify (+ 0 0) into 0 0.709 * [backup-simplify]: Simplify (+ 0 0) into 0 0.710 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 0.710 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 0.710 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 0.710 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 0.711 * [backup-simplify]: Simplify (+ 0 0) into 0 0.711 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 0.712 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 0.712 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 0.712 * [backup-simplify]: Simplify (- 0) into 0 0.713 * [backup-simplify]: Simplify (+ 0 0) into 0 0.713 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 0.714 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (+ (* 0 1) (* 0 0)))) into 0 0.714 * [backup-simplify]: Simplify (- (/ 0 lambda2) (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) (/ 0 lambda2)) (* 0 (/ 0 lambda2)))) into 0 0.715 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) into 0 0.715 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 0.715 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* phi2 phi1)) (/ 0 (* phi2 phi1))))) into 0 0.715 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ 1 (* phi2 phi1)))) into 0 0.715 * [backup-simplify]: Simplify (+ 0 0) into 0 0.716 * [backup-simplify]: Simplify (- 0) into 0 0.716 * [backup-simplify]: Simplify (+ 0 0) into 0 0.717 * [backup-simplify]: Simplify (/ (- 0 (+ (* 2 (* (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))))) (* 2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* 1/2 (/ (- (+ (/ 1 (* lambda2 (pow phi1 2))) (/ 1 (* (pow phi2 2) lambda2))) (* 2 (/ 1 (* phi2 (* lambda2 phi1))))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 0.717 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- (+ (/ 1 (* lambda2 (pow phi1 2))) (/ 1 (* (pow phi2 2) lambda2))) (* 2 (/ 1 (* phi2 (* lambda2 phi1))))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda2 0.717 * [taylor]: Taking taylor expansion of 1/2 in lambda2 0.717 * [backup-simplify]: Simplify 1/2 into 1/2 0.717 * [taylor]: Taking taylor expansion of (/ (- (+ (/ 1 (* lambda2 (pow phi1 2))) (/ 1 (* (pow phi2 2) lambda2))) (* 2 (/ 1 (* phi2 (* lambda2 phi1))))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda2 0.717 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (* lambda2 (pow phi1 2))) (/ 1 (* (pow phi2 2) lambda2))) (* 2 (/ 1 (* phi2 (* lambda2 phi1))))) in lambda2 0.717 * [taylor]: Taking taylor expansion of (+ (/ 1 (* lambda2 (pow phi1 2))) (/ 1 (* (pow phi2 2) lambda2))) in lambda2 0.717 * [taylor]: Taking taylor expansion of (/ 1 (* lambda2 (pow phi1 2))) in lambda2 0.717 * [taylor]: Taking taylor expansion of (* lambda2 (pow phi1 2)) in lambda2 0.717 * [taylor]: Taking taylor expansion of lambda2 in lambda2 0.717 * [backup-simplify]: Simplify 0 into 0 0.717 * [backup-simplify]: Simplify 1 into 1 0.717 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 0.717 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.717 * [backup-simplify]: Simplify phi1 into phi1 0.717 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 0.717 * [backup-simplify]: Simplify (* 0 (pow phi1 2)) into 0 0.717 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 0.717 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow phi1 2))) into (pow phi1 2) 0.718 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 0.718 * [taylor]: Taking taylor expansion of (/ 1 (* (pow phi2 2) lambda2)) in lambda2 0.718 * [taylor]: Taking taylor expansion of (* (pow phi2 2) lambda2) in lambda2 0.718 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 0.718 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.718 * [backup-simplify]: Simplify phi2 into phi2 0.718 * [taylor]: Taking taylor expansion of lambda2 in lambda2 0.718 * [backup-simplify]: Simplify 0 into 0 0.718 * [backup-simplify]: Simplify 1 into 1 0.718 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 0.718 * [backup-simplify]: Simplify (* (pow phi2 2) 0) into 0 0.718 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 0.718 * [backup-simplify]: Simplify (+ (* (pow phi2 2) 1) (* 0 0)) into (pow phi2 2) 0.718 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 0.718 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 (* lambda2 phi1)))) in lambda2 0.718 * [taylor]: Taking taylor expansion of 2 in lambda2 0.718 * [backup-simplify]: Simplify 2 into 2 0.718 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (* lambda2 phi1))) in lambda2 0.718 * [taylor]: Taking taylor expansion of (* phi2 (* lambda2 phi1)) in lambda2 0.718 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.718 * [backup-simplify]: Simplify phi2 into phi2 0.718 * [taylor]: Taking taylor expansion of (* lambda2 phi1) in lambda2 0.718 * [taylor]: Taking taylor expansion of lambda2 in lambda2 0.718 * [backup-simplify]: Simplify 0 into 0 0.718 * [backup-simplify]: Simplify 1 into 1 0.718 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.719 * [backup-simplify]: Simplify phi1 into phi1 0.719 * [backup-simplify]: Simplify (* 0 phi1) into 0 0.719 * [backup-simplify]: Simplify (* phi2 0) into 0 0.719 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 0.719 * [backup-simplify]: Simplify (+ (* phi2 phi1) (* 0 0)) into (* phi2 phi1) 0.719 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 0.719 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 0.719 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 0.719 * [taylor]: Taking taylor expansion of 0.5 in lambda2 0.719 * [backup-simplify]: Simplify 0.5 into 0.5 0.719 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 0.719 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 0.719 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.719 * [backup-simplify]: Simplify phi1 into phi1 0.719 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.719 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 0.719 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.719 * [backup-simplify]: Simplify phi2 into phi2 0.719 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.719 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 0.720 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 0.720 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.720 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.720 * [backup-simplify]: Simplify (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) into (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) 0.720 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi2 phi1))) into (/ 2 (* phi2 phi1)) 0.720 * [backup-simplify]: Simplify (- (/ 2 (* phi2 phi1))) into (- (* 2 (/ 1 (* phi2 phi1)))) 0.720 * [backup-simplify]: Simplify (+ (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (- (* 2 (/ 1 (* phi2 phi1))))) into (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) 0.720 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.721 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 0.721 * [backup-simplify]: Simplify (- 0) into 0 0.721 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.721 * [backup-simplify]: Simplify (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 0.722 * [backup-simplify]: Simplify (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 0.722 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi1 0.722 * [taylor]: Taking taylor expansion of 1/2 in phi1 0.722 * [backup-simplify]: Simplify 1/2 into 1/2 0.722 * [taylor]: Taking taylor expansion of (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1 0.722 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) in phi1 0.722 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in phi1 0.722 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 0.722 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 0.722 * [taylor]: Taking taylor expansion of phi2 in phi1 0.722 * [backup-simplify]: Simplify phi2 into phi2 0.722 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 0.722 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 0.722 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 0.722 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 0.722 * [taylor]: Taking taylor expansion of phi1 in phi1 0.722 * [backup-simplify]: Simplify 0 into 0 0.722 * [backup-simplify]: Simplify 1 into 1 0.722 * [backup-simplify]: Simplify (* 1 1) into 1 0.723 * [backup-simplify]: Simplify (/ 1 1) into 1 0.723 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi1 0.723 * [taylor]: Taking taylor expansion of 2 in phi1 0.723 * [backup-simplify]: Simplify 2 into 2 0.723 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi1 0.723 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 0.723 * [taylor]: Taking taylor expansion of phi2 in phi1 0.723 * [backup-simplify]: Simplify phi2 into phi2 0.723 * [taylor]: Taking taylor expansion of phi1 in phi1 0.723 * [backup-simplify]: Simplify 0 into 0 0.723 * [backup-simplify]: Simplify 1 into 1 0.723 * [backup-simplify]: Simplify (* phi2 0) into 0 0.723 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 0.723 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.723 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 0.723 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 0.723 * [taylor]: Taking taylor expansion of 0.5 in phi1 0.723 * [backup-simplify]: Simplify 0.5 into 0.5 0.723 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 0.723 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 0.723 * [taylor]: Taking taylor expansion of phi1 in phi1 0.723 * [backup-simplify]: Simplify 0 into 0 0.723 * [backup-simplify]: Simplify 1 into 1 0.723 * [backup-simplify]: Simplify (/ 1 1) into 1 0.723 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 0.723 * [taylor]: Taking taylor expansion of phi2 in phi1 0.723 * [backup-simplify]: Simplify phi2 into phi2 0.723 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.724 * [backup-simplify]: Simplify (+ 1 0) into 1 0.724 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 0.724 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.724 * [backup-simplify]: Simplify (+ 0 1) into 1 0.725 * [backup-simplify]: Simplify (+ 1 0) into 1 0.725 * [backup-simplify]: Simplify (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 0.725 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 0.726 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 0.726 * [backup-simplify]: Simplify (+ 0 0) into 0 0.726 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 0.726 * [backup-simplify]: Simplify (- (/ 2 phi2)) into (- (* 2 (/ 1 phi2))) 0.726 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 0.726 * [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)))))))) 0.727 * [backup-simplify]: Simplify (+ (* 1/2 (- (* 2 (/ 1 (* phi2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) (* 0 (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (- (/ 1 (* phi2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) 0.727 * [taylor]: Taking taylor expansion of (- (/ 1 (* phi2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in phi2 0.727 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi2 0.727 * [taylor]: Taking taylor expansion of (* phi2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 0.727 * [taylor]: Taking taylor expansion of phi2 in phi2 0.727 * [backup-simplify]: Simplify 0 into 0 0.727 * [backup-simplify]: Simplify 1 into 1 0.727 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 0.727 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 0.727 * [taylor]: Taking taylor expansion of 0.5 in phi2 0.727 * [backup-simplify]: Simplify 0.5 into 0.5 0.727 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 0.727 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 0.727 * [taylor]: Taking taylor expansion of phi1 in phi2 0.727 * [backup-simplify]: Simplify phi1 into phi1 0.727 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.727 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 0.727 * [taylor]: Taking taylor expansion of phi2 in phi2 0.727 * [backup-simplify]: Simplify 0 into 0 0.727 * [backup-simplify]: Simplify 1 into 1 0.727 * [backup-simplify]: Simplify (/ 1 1) into 1 0.727 * [backup-simplify]: Simplify (+ 0 1) into 1 0.728 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 0.728 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.728 * [backup-simplify]: Simplify (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 0.728 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.728 * [backup-simplify]: Simplify (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 0.729 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 0.729 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 0.729 * [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)))))) 0.729 * [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 0.729 * [taylor]: Taking taylor expansion of 1/2 in phi1 0.729 * [backup-simplify]: Simplify 1/2 into 1/2 0.729 * [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 0.729 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) in phi1 0.729 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in phi1 0.729 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 0.729 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 0.729 * [taylor]: Taking taylor expansion of phi2 in phi1 0.729 * [backup-simplify]: Simplify phi2 into phi2 0.729 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 0.729 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 0.729 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 0.729 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 0.729 * [taylor]: Taking taylor expansion of phi1 in phi1 0.729 * [backup-simplify]: Simplify 0 into 0 0.729 * [backup-simplify]: Simplify 1 into 1 0.730 * [backup-simplify]: Simplify (* 1 1) into 1 0.730 * [backup-simplify]: Simplify (/ 1 1) into 1 0.730 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi1 0.730 * [taylor]: Taking taylor expansion of 2 in phi1 0.730 * [backup-simplify]: Simplify 2 into 2 0.730 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi1 0.730 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 0.730 * [taylor]: Taking taylor expansion of phi2 in phi1 0.730 * [backup-simplify]: Simplify phi2 into phi2 0.730 * [taylor]: Taking taylor expansion of phi1 in phi1 0.730 * [backup-simplify]: Simplify 0 into 0 0.730 * [backup-simplify]: Simplify 1 into 1 0.730 * [backup-simplify]: Simplify (* phi2 0) into 0 0.730 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 0.730 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.730 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 0.730 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 0.731 * [taylor]: Taking taylor expansion of 0.5 in phi1 0.731 * [backup-simplify]: Simplify 0.5 into 0.5 0.731 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 0.731 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 0.731 * [taylor]: Taking taylor expansion of phi1 in phi1 0.731 * [backup-simplify]: Simplify 0 into 0 0.731 * [backup-simplify]: Simplify 1 into 1 0.731 * [backup-simplify]: Simplify (/ 1 1) into 1 0.731 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 0.731 * [taylor]: Taking taylor expansion of phi2 in phi1 0.731 * [backup-simplify]: Simplify phi2 into phi2 0.731 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.731 * [backup-simplify]: Simplify (+ 1 0) into 1 0.731 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 0.732 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.732 * [backup-simplify]: Simplify (+ 0 1) into 1 0.732 * [backup-simplify]: Simplify (+ 1 0) into 1 0.732 * [backup-simplify]: Simplify (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 0.733 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 0.733 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 0.733 * [backup-simplify]: Simplify (+ 0 0) into 0 0.733 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 0.733 * [backup-simplify]: Simplify (- (/ 2 phi2)) into (- (* 2 (/ 1 phi2))) 0.733 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 0.734 * [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)))))))) 0.734 * [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))))))) 0.734 * [taylor]: Taking taylor expansion of (- (/ 1 (* phi2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in phi2 0.734 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi2 0.734 * [taylor]: Taking taylor expansion of (* phi2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 0.734 * [taylor]: Taking taylor expansion of phi2 in phi2 0.734 * [backup-simplify]: Simplify 0 into 0 0.734 * [backup-simplify]: Simplify 1 into 1 0.734 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 0.734 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 0.734 * [taylor]: Taking taylor expansion of 0.5 in phi2 0.734 * [backup-simplify]: Simplify 0.5 into 0.5 0.734 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 0.734 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 0.734 * [taylor]: Taking taylor expansion of phi1 in phi2 0.734 * [backup-simplify]: Simplify phi1 into phi1 0.734 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.734 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 0.734 * [taylor]: Taking taylor expansion of phi2 in phi2 0.734 * [backup-simplify]: Simplify 0 into 0 0.734 * [backup-simplify]: Simplify 1 into 1 0.735 * [backup-simplify]: Simplify (/ 1 1) into 1 0.735 * [backup-simplify]: Simplify (+ 0 1) into 1 0.735 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 0.735 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.735 * [backup-simplify]: Simplify (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 0.736 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.736 * [backup-simplify]: Simplify (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 0.736 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 0.736 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 0.737 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 0.737 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 0.737 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 0.737 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 0.738 * [backup-simplify]: Simplify (+ 0 0) into 0 0.738 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 0.739 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 0.739 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 0.739 * [backup-simplify]: Simplify (- 0) into 0 0.739 * [backup-simplify]: Simplify (+ 0 0) into 0 0.740 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (/ 0 1)) (* 0 (/ 0 1)))) into 0 0.741 * [backup-simplify]: Simplify (+ (* -1 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 0.741 * [taylor]: Taking taylor expansion of 0 in phi1 0.741 * [backup-simplify]: Simplify 0 into 0 0.742 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 0.742 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 0.742 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 0.742 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 0.742 * [backup-simplify]: Simplify (+ 0 0) into 0 0.743 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 0.743 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 0.744 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 0.744 * [backup-simplify]: Simplify (- 0) into 0 0.744 * [backup-simplify]: Simplify (+ 0 0) into 0 0.744 * [taylor]: Taking taylor expansion of 0 in phi1 0.744 * [backup-simplify]: Simplify 0 into 0 0.744 * [taylor]: Taking taylor expansion of 0 in phi2 0.744 * [backup-simplify]: Simplify 0 into 0 0.744 * [taylor]: Taking taylor expansion of 0 in phi2 0.744 * [backup-simplify]: Simplify 0 into 0 0.745 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 0.745 * [taylor]: Taking taylor expansion of 0 in phi2 0.745 * [backup-simplify]: Simplify 0 into 0 0.745 * [taylor]: Taking taylor expansion of 0 in phi2 0.745 * [backup-simplify]: Simplify 0 into 0 0.745 * [backup-simplify]: Simplify (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 0.745 * [backup-simplify]: Simplify (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 0.746 * [backup-simplify]: Simplify (+ (* (* -1 (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2)))))) (* 1 (* 1 (* (/ 1 (/ 1 lambda2)) 1)))) (+ (* (- (/ 1 (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))))) (* (/ 1 (/ 1 phi2)) (* (/ 1 (/ 1 phi1)) (* 1 (/ 1 lambda1))))) (* (- (/ 1 (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))))) (* (/ 1 (/ 1 phi2)) (* (/ 1 (/ 1 phi1)) (* (/ 1 (/ 1 lambda2)) (pow (/ 1 lambda1) 2))))))) into (- (+ (/ (* phi2 (* lambda2 phi1)) (* (cos (* 0.5 (+ phi2 phi1))) (pow lambda1 2))) (+ (/ (* phi2 phi1) (* (cos (* 0.5 (+ phi2 phi1))) lambda1)) (* lambda2 (cos (* 0.5 (+ phi2 phi1))))))) 0.747 * [backup-simplify]: Simplify (sqrt (+ (* (* (- (/ 1 (- lambda1)) (/ 1 (- lambda2))) (cos (/ (+ (/ 1 (- phi1)) (/ 1 (- phi2))) 2.0))) (* (- (/ 1 (- lambda1)) (/ 1 (- lambda2))) (cos (/ (+ (/ 1 (- phi1)) (/ 1 (- phi2))) 2.0)))) (* (- (/ 1 (- phi1)) (/ 1 (- phi2))) (- (/ 1 (- phi1)) (/ 1 (- phi2)))))) into (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) 0.747 * [approximate]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in (lambda1 lambda2 phi1 phi2) around 0 0.747 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in phi2 0.747 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in phi2 0.747 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) in phi2 0.747 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi2 0.747 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 0.747 * [taylor]: Taking taylor expansion of phi2 in phi2 0.747 * [backup-simplify]: Simplify 0 into 0 0.747 * [backup-simplify]: Simplify 1 into 1 0.747 * [backup-simplify]: Simplify (* 1 1) into 1 0.748 * [backup-simplify]: Simplify (/ 1 1) into 1 0.748 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))) in phi2 0.748 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in phi2 0.748 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 0.748 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 0.748 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 0.748 * [taylor]: Taking taylor expansion of -0.5 in phi2 0.748 * [backup-simplify]: Simplify -0.5 into -0.5 0.748 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 0.748 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 0.748 * [taylor]: Taking taylor expansion of phi1 in phi2 0.748 * [backup-simplify]: Simplify phi1 into phi1 0.748 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.748 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 0.748 * [taylor]: Taking taylor expansion of phi2 in phi2 0.748 * [backup-simplify]: Simplify 0 into 0 0.748 * [backup-simplify]: Simplify 1 into 1 0.748 * [backup-simplify]: Simplify (/ 1 1) into 1 0.749 * [backup-simplify]: Simplify (+ 0 1) into 1 0.749 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 0.749 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.749 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 0.749 * [taylor]: Taking taylor expansion of lambda2 in phi2 0.749 * [backup-simplify]: Simplify lambda2 into lambda2 0.749 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.749 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 0.749 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 0.749 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))) in phi2 0.749 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi2 0.749 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 0.750 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 0.750 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 0.750 * [taylor]: Taking taylor expansion of -0.5 in phi2 0.750 * [backup-simplify]: Simplify -0.5 into -0.5 0.750 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 0.750 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 0.750 * [taylor]: Taking taylor expansion of phi1 in phi2 0.750 * [backup-simplify]: Simplify phi1 into phi1 0.750 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.750 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 0.750 * [taylor]: Taking taylor expansion of phi2 in phi2 0.750 * [backup-simplify]: Simplify 0 into 0 0.750 * [backup-simplify]: Simplify 1 into 1 0.750 * [backup-simplify]: Simplify (/ 1 1) into 1 0.750 * [backup-simplify]: Simplify (+ 0 1) into 1 0.750 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 0.751 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.751 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 0.751 * [taylor]: Taking taylor expansion of lambda1 in phi2 0.751 * [backup-simplify]: Simplify lambda1 into lambda1 0.751 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.751 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 0.751 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 0.751 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi2 0.751 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 0.751 * [taylor]: Taking taylor expansion of phi1 in phi2 0.751 * [backup-simplify]: Simplify phi1 into phi1 0.751 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 0.751 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 0.751 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in phi2 0.751 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi2 0.751 * [taylor]: Taking taylor expansion of 2 in phi2 0.751 * [backup-simplify]: Simplify 2 into 2 0.751 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi2 0.751 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 0.751 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 0.751 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 0.751 * [taylor]: Taking taylor expansion of -0.5 in phi2 0.752 * [backup-simplify]: Simplify -0.5 into -0.5 0.752 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 0.752 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 0.752 * [taylor]: Taking taylor expansion of phi1 in phi2 0.752 * [backup-simplify]: Simplify phi1 into phi1 0.752 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.752 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 0.752 * [taylor]: Taking taylor expansion of phi2 in phi2 0.752 * [backup-simplify]: Simplify 0 into 0 0.752 * [backup-simplify]: Simplify 1 into 1 0.752 * [backup-simplify]: Simplify (/ 1 1) into 1 0.752 * [backup-simplify]: Simplify (+ 0 1) into 1 0.752 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 0.753 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.753 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi2 0.753 * [taylor]: Taking taylor expansion of lambda2 in phi2 0.753 * [backup-simplify]: Simplify lambda2 into lambda2 0.753 * [taylor]: Taking taylor expansion of lambda1 in phi2 0.753 * [backup-simplify]: Simplify lambda1 into lambda1 0.753 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.753 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 0.753 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) 0.753 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi2 0.753 * [taylor]: Taking taylor expansion of 2 in phi2 0.753 * [backup-simplify]: Simplify 2 into 2 0.753 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi2 0.753 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2 0.753 * [taylor]: Taking taylor expansion of phi2 in phi2 0.753 * [backup-simplify]: Simplify 0 into 0 0.753 * [backup-simplify]: Simplify 1 into 1 0.753 * [taylor]: Taking taylor expansion of phi1 in phi2 0.753 * [backup-simplify]: Simplify phi1 into phi1 0.753 * [backup-simplify]: Simplify (* 0 phi1) into 0 0.754 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 0.754 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.754 * [backup-simplify]: Simplify (+ 1 0) into 1 0.754 * [backup-simplify]: Simplify (+ 1 0) into 1 0.754 * [backup-simplify]: Simplify (sqrt 1) into 1 0.755 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 0.755 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 0.755 * [backup-simplify]: Simplify (+ 0 0) into 0 0.755 * [backup-simplify]: Simplify (* 2 (/ 1 phi1)) into (/ 2 phi1) 0.755 * [backup-simplify]: Simplify (+ 0 (/ 2 phi1)) into (* 2 (/ 1 phi1)) 0.755 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi1))) into (- (* 2 (/ 1 phi1))) 0.756 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1))) 0.756 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi1))) (* 2 (sqrt 1))) into (/ -1 phi1) 0.756 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in phi1 0.756 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in phi1 0.756 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) in phi1 0.756 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 0.756 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 0.756 * [taylor]: Taking taylor expansion of phi2 in phi1 0.756 * [backup-simplify]: Simplify phi2 into phi2 0.756 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 0.756 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 0.756 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))) in phi1 0.756 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in phi1 0.756 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 0.756 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 0.756 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 0.756 * [taylor]: Taking taylor expansion of -0.5 in phi1 0.756 * [backup-simplify]: Simplify -0.5 into -0.5 0.756 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 0.756 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 0.756 * [taylor]: Taking taylor expansion of phi1 in phi1 0.756 * [backup-simplify]: Simplify 0 into 0 0.756 * [backup-simplify]: Simplify 1 into 1 0.757 * [backup-simplify]: Simplify (/ 1 1) into 1 0.757 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 0.757 * [taylor]: Taking taylor expansion of phi2 in phi1 0.757 * [backup-simplify]: Simplify phi2 into phi2 0.757 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.757 * [backup-simplify]: Simplify (+ 1 0) into 1 0.757 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 0.757 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.757 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 0.757 * [taylor]: Taking taylor expansion of lambda2 in phi1 0.758 * [backup-simplify]: Simplify lambda2 into lambda2 0.758 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.758 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 0.758 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 0.758 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))) in phi1 0.758 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi1 0.758 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 0.758 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 0.758 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 0.758 * [taylor]: Taking taylor expansion of -0.5 in phi1 0.758 * [backup-simplify]: Simplify -0.5 into -0.5 0.758 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 0.758 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 0.758 * [taylor]: Taking taylor expansion of phi1 in phi1 0.758 * [backup-simplify]: Simplify 0 into 0 0.758 * [backup-simplify]: Simplify 1 into 1 0.758 * [backup-simplify]: Simplify (/ 1 1) into 1 0.758 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 0.758 * [taylor]: Taking taylor expansion of phi2 in phi1 0.758 * [backup-simplify]: Simplify phi2 into phi2 0.759 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.759 * [backup-simplify]: Simplify (+ 1 0) into 1 0.759 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 0.759 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.759 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 0.759 * [taylor]: Taking taylor expansion of lambda1 in phi1 0.759 * [backup-simplify]: Simplify lambda1 into lambda1 0.759 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.759 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 0.760 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 0.760 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 0.760 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 0.760 * [taylor]: Taking taylor expansion of phi1 in phi1 0.760 * [backup-simplify]: Simplify 0 into 0 0.760 * [backup-simplify]: Simplify 1 into 1 0.760 * [backup-simplify]: Simplify (* 1 1) into 1 0.760 * [backup-simplify]: Simplify (/ 1 1) into 1 0.760 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in phi1 0.760 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi1 0.760 * [taylor]: Taking taylor expansion of 2 in phi1 0.760 * [backup-simplify]: Simplify 2 into 2 0.760 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi1 0.760 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 0.760 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 0.760 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 0.760 * [taylor]: Taking taylor expansion of -0.5 in phi1 0.760 * [backup-simplify]: Simplify -0.5 into -0.5 0.760 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 0.760 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 0.760 * [taylor]: Taking taylor expansion of phi1 in phi1 0.760 * [backup-simplify]: Simplify 0 into 0 0.760 * [backup-simplify]: Simplify 1 into 1 0.761 * [backup-simplify]: Simplify (/ 1 1) into 1 0.761 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 0.761 * [taylor]: Taking taylor expansion of phi2 in phi1 0.761 * [backup-simplify]: Simplify phi2 into phi2 0.761 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.761 * [backup-simplify]: Simplify (+ 1 0) into 1 0.761 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 0.761 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.761 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 0.762 * [taylor]: Taking taylor expansion of lambda2 in phi1 0.762 * [backup-simplify]: Simplify lambda2 into lambda2 0.762 * [taylor]: Taking taylor expansion of lambda1 in phi1 0.762 * [backup-simplify]: Simplify lambda1 into lambda1 0.762 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.762 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 0.762 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) 0.762 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi1 0.762 * [taylor]: Taking taylor expansion of 2 in phi1 0.762 * [backup-simplify]: Simplify 2 into 2 0.762 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi1 0.762 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 0.762 * [taylor]: Taking taylor expansion of phi2 in phi1 0.762 * [backup-simplify]: Simplify phi2 into phi2 0.762 * [taylor]: Taking taylor expansion of phi1 in phi1 0.762 * [backup-simplify]: Simplify 0 into 0 0.762 * [backup-simplify]: Simplify 1 into 1 0.762 * [backup-simplify]: Simplify (* phi2 0) into 0 0.762 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 0.762 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.763 * [backup-simplify]: Simplify (+ 0 1) into 1 0.763 * [backup-simplify]: Simplify (+ 0 1) into 1 0.763 * [backup-simplify]: Simplify (+ 0 1) into 1 0.763 * [backup-simplify]: Simplify (+ 1 0) into 1 0.764 * [backup-simplify]: Simplify (sqrt 1) into 1 0.764 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 0.765 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 0.765 * [backup-simplify]: Simplify (+ 0 0) into 0 0.765 * [backup-simplify]: Simplify (+ 0 0) into 0 0.765 * [backup-simplify]: Simplify (+ 0 0) into 0 0.765 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 0.766 * [backup-simplify]: Simplify (+ 0 (/ 2 phi2)) into (* 2 (/ 1 phi2)) 0.766 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi2))) into (- (* 2 (/ 1 phi2))) 0.766 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 0.766 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi2))) (* 2 (sqrt 1))) into (/ -1 phi2) 0.766 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in lambda2 0.766 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in lambda2 0.766 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) in lambda2 0.766 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda2 0.766 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 0.766 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.766 * [backup-simplify]: Simplify phi2 into phi2 0.766 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 0.766 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 0.766 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))) in lambda2 0.766 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda2 0.766 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 0.766 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 0.766 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 0.767 * [taylor]: Taking taylor expansion of -0.5 in lambda2 0.767 * [backup-simplify]: Simplify -0.5 into -0.5 0.767 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 0.767 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 0.767 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.767 * [backup-simplify]: Simplify phi1 into phi1 0.767 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.767 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 0.767 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.767 * [backup-simplify]: Simplify phi2 into phi2 0.767 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.767 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 0.767 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 0.767 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.767 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.767 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.767 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 0.767 * [backup-simplify]: Simplify (- 0) into 0 0.768 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.768 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 0.768 * [taylor]: Taking taylor expansion of lambda2 in lambda2 0.768 * [backup-simplify]: Simplify 0 into 0 0.768 * [backup-simplify]: Simplify 1 into 1 0.768 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.768 * [backup-simplify]: Simplify (* 1 1) into 1 0.768 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.768 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))) in lambda2 0.768 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda2 0.768 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 0.768 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 0.768 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 0.768 * [taylor]: Taking taylor expansion of -0.5 in lambda2 0.768 * [backup-simplify]: Simplify -0.5 into -0.5 0.768 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 0.768 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 0.769 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.769 * [backup-simplify]: Simplify phi1 into phi1 0.769 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.769 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 0.769 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.769 * [backup-simplify]: Simplify phi2 into phi2 0.769 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.769 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 0.769 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 0.769 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.769 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.769 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.769 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 0.769 * [backup-simplify]: Simplify (- 0) into 0 0.770 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.770 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 0.770 * [taylor]: Taking taylor expansion of lambda1 in lambda2 0.770 * [backup-simplify]: Simplify lambda1 into lambda1 0.770 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.770 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 0.770 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 0.770 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda2 0.770 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 0.770 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.770 * [backup-simplify]: Simplify phi1 into phi1 0.770 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 0.770 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 0.770 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in lambda2 0.770 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda2 0.770 * [taylor]: Taking taylor expansion of 2 in lambda2 0.770 * [backup-simplify]: Simplify 2 into 2 0.770 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda2 0.770 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 0.770 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 0.770 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 0.770 * [taylor]: Taking taylor expansion of -0.5 in lambda2 0.770 * [backup-simplify]: Simplify -0.5 into -0.5 0.770 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 0.770 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 0.770 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.771 * [backup-simplify]: Simplify phi1 into phi1 0.771 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.771 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 0.771 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.771 * [backup-simplify]: Simplify phi2 into phi2 0.771 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.771 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 0.771 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 0.771 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.771 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.771 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.771 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 0.771 * [backup-simplify]: Simplify (- 0) into 0 0.772 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.772 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda2 0.772 * [taylor]: Taking taylor expansion of lambda2 in lambda2 0.772 * [backup-simplify]: Simplify 0 into 0 0.772 * [backup-simplify]: Simplify 1 into 1 0.772 * [taylor]: Taking taylor expansion of lambda1 in lambda2 0.772 * [backup-simplify]: Simplify lambda1 into lambda1 0.772 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.772 * [backup-simplify]: Simplify (* 0 lambda1) into 0 0.772 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda1)) into lambda1 0.772 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) 0.772 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda2 0.772 * [taylor]: Taking taylor expansion of 2 in lambda2 0.772 * [backup-simplify]: Simplify 2 into 2 0.772 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda2 0.772 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 0.772 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.772 * [backup-simplify]: Simplify phi2 into phi2 0.772 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.772 * [backup-simplify]: Simplify phi1 into phi1 0.773 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 0.773 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 0.773 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.773 * [backup-simplify]: Simplify (+ 0 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.773 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.773 * [backup-simplify]: Simplify (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.774 * [backup-simplify]: Simplify (+ 0) into 0 0.774 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 0.774 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 0.774 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 0.774 * [backup-simplify]: Simplify (+ 0 0) into 0 0.775 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 0.775 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 0.775 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 0.776 * [backup-simplify]: Simplify (- 0) into 0 0.776 * [backup-simplify]: Simplify (+ 0 0) into 0 0.776 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 0.776 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 0.777 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 0.777 * [backup-simplify]: Simplify (+ 0 0) into 0 0.778 * [backup-simplify]: Simplify (+ 0 0) into 0 0.778 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 0.778 * [backup-simplify]: Simplify (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 0) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 0.778 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 0.779 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 0.779 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) (* 2 (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)) 0.779 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in lambda1 0.779 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in lambda1 0.779 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) in lambda1 0.779 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda1 0.779 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 0.779 * [taylor]: Taking taylor expansion of phi2 in lambda1 0.779 * [backup-simplify]: Simplify phi2 into phi2 0.779 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 0.779 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 0.779 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))) in lambda1 0.779 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda1 0.779 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 0.779 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 0.779 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 0.779 * [taylor]: Taking taylor expansion of -0.5 in lambda1 0.780 * [backup-simplify]: Simplify -0.5 into -0.5 0.780 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 0.780 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 0.780 * [taylor]: Taking taylor expansion of phi1 in lambda1 0.780 * [backup-simplify]: Simplify phi1 into phi1 0.780 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.780 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 0.780 * [taylor]: Taking taylor expansion of phi2 in lambda1 0.780 * [backup-simplify]: Simplify phi2 into phi2 0.780 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.780 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 0.780 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 0.780 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.780 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.780 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.780 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 0.780 * [backup-simplify]: Simplify (- 0) into 0 0.781 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.781 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 0.781 * [taylor]: Taking taylor expansion of lambda2 in lambda1 0.781 * [backup-simplify]: Simplify lambda2 into lambda2 0.781 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.781 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 0.781 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 0.781 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))) in lambda1 0.781 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda1 0.781 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 0.781 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 0.781 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 0.781 * [taylor]: Taking taylor expansion of -0.5 in lambda1 0.781 * [backup-simplify]: Simplify -0.5 into -0.5 0.781 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 0.781 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 0.781 * [taylor]: Taking taylor expansion of phi1 in lambda1 0.781 * [backup-simplify]: Simplify phi1 into phi1 0.781 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.781 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 0.781 * [taylor]: Taking taylor expansion of phi2 in lambda1 0.781 * [backup-simplify]: Simplify phi2 into phi2 0.781 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.782 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 0.782 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 0.782 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.782 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.782 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.782 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 0.782 * [backup-simplify]: Simplify (- 0) into 0 0.782 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.782 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 0.782 * [taylor]: Taking taylor expansion of lambda1 in lambda1 0.782 * [backup-simplify]: Simplify 0 into 0 0.782 * [backup-simplify]: Simplify 1 into 1 0.783 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.783 * [backup-simplify]: Simplify (* 1 1) into 1 0.783 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.783 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda1 0.783 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 0.783 * [taylor]: Taking taylor expansion of phi1 in lambda1 0.783 * [backup-simplify]: Simplify phi1 into phi1 0.783 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 0.783 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 0.783 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in lambda1 0.783 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1 0.783 * [taylor]: Taking taylor expansion of 2 in lambda1 0.783 * [backup-simplify]: Simplify 2 into 2 0.783 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1 0.783 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 0.783 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 0.783 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 0.783 * [taylor]: Taking taylor expansion of -0.5 in lambda1 0.783 * [backup-simplify]: Simplify -0.5 into -0.5 0.783 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 0.783 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 0.784 * [taylor]: Taking taylor expansion of phi1 in lambda1 0.784 * [backup-simplify]: Simplify phi1 into phi1 0.784 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.784 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 0.784 * [taylor]: Taking taylor expansion of phi2 in lambda1 0.784 * [backup-simplify]: Simplify phi2 into phi2 0.784 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.784 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 0.784 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 0.784 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.784 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.784 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.784 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 0.784 * [backup-simplify]: Simplify (- 0) into 0 0.785 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.785 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 0.785 * [taylor]: Taking taylor expansion of lambda2 in lambda1 0.785 * [backup-simplify]: Simplify lambda2 into lambda2 0.785 * [taylor]: Taking taylor expansion of lambda1 in lambda1 0.785 * [backup-simplify]: Simplify 0 into 0 0.785 * [backup-simplify]: Simplify 1 into 1 0.785 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.785 * [backup-simplify]: Simplify (* lambda2 0) into 0 0.785 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 0.785 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) 0.785 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda1 0.785 * [taylor]: Taking taylor expansion of 2 in lambda1 0.786 * [backup-simplify]: Simplify 2 into 2 0.786 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda1 0.786 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda1 0.786 * [taylor]: Taking taylor expansion of phi2 in lambda1 0.786 * [backup-simplify]: Simplify phi2 into phi2 0.786 * [taylor]: Taking taylor expansion of phi1 in lambda1 0.786 * [backup-simplify]: Simplify phi1 into phi1 0.786 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 0.786 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 0.786 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.786 * [backup-simplify]: Simplify (+ 0 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.786 * [backup-simplify]: Simplify (+ 0 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.786 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.787 * [backup-simplify]: Simplify (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.787 * [backup-simplify]: Simplify (+ 0) into 0 0.787 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 0.788 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 0.788 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 0.788 * [backup-simplify]: Simplify (+ 0 0) into 0 0.788 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 0.789 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 0.789 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 0.789 * [backup-simplify]: Simplify (- 0) into 0 0.790 * [backup-simplify]: Simplify (+ 0 0) into 0 0.790 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 0.790 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 0.797 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 0.797 * [backup-simplify]: Simplify (+ 0 0) into 0 0.797 * [backup-simplify]: Simplify (+ 0 0) into 0 0.798 * [backup-simplify]: Simplify (+ 0 0) into 0 0.798 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 0.798 * [backup-simplify]: Simplify (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 0) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 0.798 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 0.799 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 0.799 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) (* 2 (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) 0.799 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in lambda1 0.799 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in lambda1 0.799 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) in lambda1 0.799 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda1 0.799 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 0.799 * [taylor]: Taking taylor expansion of phi2 in lambda1 0.799 * [backup-simplify]: Simplify phi2 into phi2 0.800 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 0.800 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 0.800 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))) in lambda1 0.800 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda1 0.800 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 0.800 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 0.800 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 0.800 * [taylor]: Taking taylor expansion of -0.5 in lambda1 0.800 * [backup-simplify]: Simplify -0.5 into -0.5 0.800 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 0.800 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 0.800 * [taylor]: Taking taylor expansion of phi1 in lambda1 0.800 * [backup-simplify]: Simplify phi1 into phi1 0.800 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.800 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 0.800 * [taylor]: Taking taylor expansion of phi2 in lambda1 0.800 * [backup-simplify]: Simplify phi2 into phi2 0.800 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.800 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 0.800 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 0.800 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.800 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.800 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.801 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 0.801 * [backup-simplify]: Simplify (- 0) into 0 0.801 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.801 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 0.801 * [taylor]: Taking taylor expansion of lambda2 in lambda1 0.801 * [backup-simplify]: Simplify lambda2 into lambda2 0.801 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.801 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 0.802 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 0.802 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))) in lambda1 0.802 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda1 0.802 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 0.802 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 0.802 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 0.802 * [taylor]: Taking taylor expansion of -0.5 in lambda1 0.802 * [backup-simplify]: Simplify -0.5 into -0.5 0.802 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 0.802 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 0.802 * [taylor]: Taking taylor expansion of phi1 in lambda1 0.802 * [backup-simplify]: Simplify phi1 into phi1 0.802 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.802 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 0.802 * [taylor]: Taking taylor expansion of phi2 in lambda1 0.802 * [backup-simplify]: Simplify phi2 into phi2 0.802 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.802 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 0.802 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 0.802 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.802 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.802 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.803 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 0.803 * [backup-simplify]: Simplify (- 0) into 0 0.803 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.803 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 0.803 * [taylor]: Taking taylor expansion of lambda1 in lambda1 0.803 * [backup-simplify]: Simplify 0 into 0 0.803 * [backup-simplify]: Simplify 1 into 1 0.803 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.803 * [backup-simplify]: Simplify (* 1 1) into 1 0.804 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.804 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda1 0.804 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 0.804 * [taylor]: Taking taylor expansion of phi1 in lambda1 0.804 * [backup-simplify]: Simplify phi1 into phi1 0.804 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 0.804 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 0.804 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in lambda1 0.804 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1 0.804 * [taylor]: Taking taylor expansion of 2 in lambda1 0.804 * [backup-simplify]: Simplify 2 into 2 0.804 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1 0.804 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 0.804 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 0.804 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 0.804 * [taylor]: Taking taylor expansion of -0.5 in lambda1 0.804 * [backup-simplify]: Simplify -0.5 into -0.5 0.804 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 0.804 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 0.804 * [taylor]: Taking taylor expansion of phi1 in lambda1 0.804 * [backup-simplify]: Simplify phi1 into phi1 0.804 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.804 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 0.804 * [taylor]: Taking taylor expansion of phi2 in lambda1 0.804 * [backup-simplify]: Simplify phi2 into phi2 0.804 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.804 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 0.804 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 0.805 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.805 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.805 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.805 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 0.805 * [backup-simplify]: Simplify (- 0) into 0 0.805 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.805 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 0.805 * [taylor]: Taking taylor expansion of lambda2 in lambda1 0.805 * [backup-simplify]: Simplify lambda2 into lambda2 0.805 * [taylor]: Taking taylor expansion of lambda1 in lambda1 0.805 * [backup-simplify]: Simplify 0 into 0 0.805 * [backup-simplify]: Simplify 1 into 1 0.806 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.806 * [backup-simplify]: Simplify (* lambda2 0) into 0 0.806 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 0.806 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) 0.806 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda1 0.806 * [taylor]: Taking taylor expansion of 2 in lambda1 0.806 * [backup-simplify]: Simplify 2 into 2 0.806 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda1 0.806 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda1 0.806 * [taylor]: Taking taylor expansion of phi2 in lambda1 0.806 * [backup-simplify]: Simplify phi2 into phi2 0.806 * [taylor]: Taking taylor expansion of phi1 in lambda1 0.806 * [backup-simplify]: Simplify phi1 into phi1 0.806 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 0.806 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 0.807 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.807 * [backup-simplify]: Simplify (+ 0 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.807 * [backup-simplify]: Simplify (+ 0 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.807 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.807 * [backup-simplify]: Simplify (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.808 * [backup-simplify]: Simplify (+ 0) into 0 0.808 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 0.808 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 0.808 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 0.808 * [backup-simplify]: Simplify (+ 0 0) into 0 0.809 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 0.809 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 0.810 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 0.810 * [backup-simplify]: Simplify (- 0) into 0 0.810 * [backup-simplify]: Simplify (+ 0 0) into 0 0.810 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 0.811 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 0.811 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 0.812 * [backup-simplify]: Simplify (+ 0 0) into 0 0.812 * [backup-simplify]: Simplify (+ 0 0) into 0 0.812 * [backup-simplify]: Simplify (+ 0 0) into 0 0.812 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 0.813 * [backup-simplify]: Simplify (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 0) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 0.813 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 0.813 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 0.814 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) (* 2 (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) 0.814 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 0.814 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 0.814 * [taylor]: Taking taylor expansion of -0.5 in lambda2 0.814 * [backup-simplify]: Simplify -0.5 into -0.5 0.814 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 0.814 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 0.814 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.814 * [backup-simplify]: Simplify phi1 into phi1 0.814 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.814 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 0.814 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.814 * [backup-simplify]: Simplify phi2 into phi2 0.814 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.814 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 0.814 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 0.814 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.815 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.815 * [taylor]: Taking taylor expansion of (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) in lambda2 0.815 * [taylor]: Taking taylor expansion of -1 in lambda2 0.815 * [backup-simplify]: Simplify -1 into -1 0.815 * [taylor]: Taking taylor expansion of (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2) in lambda2 0.815 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 0.815 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 0.815 * [taylor]: Taking taylor expansion of -0.5 in lambda2 0.815 * [backup-simplify]: Simplify -0.5 into -0.5 0.815 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 0.815 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 0.815 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.815 * [backup-simplify]: Simplify phi1 into phi1 0.815 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.815 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 0.815 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.815 * [backup-simplify]: Simplify phi2 into phi2 0.815 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.815 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 0.815 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 0.815 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.815 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.815 * [taylor]: Taking taylor expansion of lambda2 in lambda2 0.815 * [backup-simplify]: Simplify 0 into 0 0.815 * [backup-simplify]: Simplify 1 into 1 0.815 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.816 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 0.816 * [backup-simplify]: Simplify (- 0) into 0 0.816 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.816 * [backup-simplify]: Simplify (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.816 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 0.816 * [taylor]: Taking taylor expansion of (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1 0.816 * [taylor]: Taking taylor expansion of -1 in phi1 0.816 * [backup-simplify]: Simplify -1 into -1 0.816 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 0.816 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 0.816 * [taylor]: Taking taylor expansion of -0.5 in phi1 0.816 * [backup-simplify]: Simplify -0.5 into -0.5 0.816 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 0.816 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 0.816 * [taylor]: Taking taylor expansion of phi1 in phi1 0.816 * [backup-simplify]: Simplify 0 into 0 0.817 * [backup-simplify]: Simplify 1 into 1 0.817 * [backup-simplify]: Simplify (/ 1 1) into 1 0.817 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 0.817 * [taylor]: Taking taylor expansion of phi2 in phi1 0.817 * [backup-simplify]: Simplify phi2 into phi2 0.817 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.817 * [backup-simplify]: Simplify (+ 1 0) into 1 0.818 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 0.818 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.818 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.818 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 0.818 * [backup-simplify]: Simplify (- 0) into 0 0.818 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.818 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 0.818 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 0.818 * [taylor]: Taking taylor expansion of -0.5 in phi1 0.818 * [backup-simplify]: Simplify -0.5 into -0.5 0.818 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 0.818 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 0.818 * [taylor]: Taking taylor expansion of phi1 in phi1 0.818 * [backup-simplify]: Simplify 0 into 0 0.818 * [backup-simplify]: Simplify 1 into 1 0.819 * [backup-simplify]: Simplify (/ 1 1) into 1 0.819 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 0.819 * [taylor]: Taking taylor expansion of phi2 in phi1 0.819 * [backup-simplify]: Simplify phi2 into phi2 0.819 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.819 * [backup-simplify]: Simplify (+ 1 0) into 1 0.819 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 0.819 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.820 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 0.821 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 0.821 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 0.821 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 0.821 * [backup-simplify]: Simplify (+ 0 0) into 0 0.822 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 0.822 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 0.823 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 0.823 * [backup-simplify]: Simplify (- 0) into 0 0.823 * [backup-simplify]: Simplify (+ 0 0) into 0 0.824 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 0.825 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 0.826 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)) (* 0 (/ 0 1)))) into 0 0.826 * [backup-simplify]: Simplify (+ 0 (/ 1 (pow phi1 2))) into (/ 1 (pow phi1 2)) 0.827 * [backup-simplify]: Simplify (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) into (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) 0.827 * [backup-simplify]: Simplify (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) into (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) 0.828 * [backup-simplify]: Simplify (+ 0) into 0 0.828 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 0.828 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 0.828 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 0.829 * [backup-simplify]: Simplify (+ 0 0) into 0 0.829 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 0.829 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 0.830 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 0.830 * [backup-simplify]: Simplify (- 0) into 0 0.830 * [backup-simplify]: Simplify (+ 0 0) into 0 0.831 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 0.831 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 1) (* 0 0))) into 0 0.831 * [backup-simplify]: Simplify (- (/ 0 lambda2) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) (/ 0 lambda2)))) into 0 0.832 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into 0 0.832 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi2 phi1))) into (/ 2 (* phi2 phi1)) 0.832 * [backup-simplify]: Simplify (+ 0 (/ 2 (* phi2 phi1))) into (* 2 (/ 1 (* phi2 phi1))) 0.832 * [backup-simplify]: Simplify (- (* 2 (/ 1 (* phi2 phi1)))) into (- (* 2 (/ 1 (* phi2 phi1)))) 0.833 * [backup-simplify]: Simplify (+ (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) (- (* 2 (/ 1 (* phi2 phi1))))) into (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) (* 2 (/ 1 (* phi2 phi1)))) 0.834 * [backup-simplify]: Simplify (/ (- (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) (* 2 (/ 1 (* phi2 phi1)))) (pow (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) 2) (+)) (* 2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 0.834 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda2 0.834 * [taylor]: Taking taylor expansion of 1/2 in lambda2 0.834 * [backup-simplify]: Simplify 1/2 into 1/2 0.834 * [taylor]: Taking taylor expansion of (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda2 0.834 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) in lambda2 0.834 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in lambda2 0.834 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda2 0.834 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 0.834 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.834 * [backup-simplify]: Simplify phi2 into phi2 0.834 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 0.834 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 0.834 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda2 0.834 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 0.834 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.834 * [backup-simplify]: Simplify phi1 into phi1 0.834 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 0.834 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 0.835 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda2 0.835 * [taylor]: Taking taylor expansion of 2 in lambda2 0.835 * [backup-simplify]: Simplify 2 into 2 0.835 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda2 0.835 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 0.835 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.835 * [backup-simplify]: Simplify phi2 into phi2 0.835 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.835 * [backup-simplify]: Simplify phi1 into phi1 0.835 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 0.835 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 0.835 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 0.835 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 0.835 * [taylor]: Taking taylor expansion of -0.5 in lambda2 0.835 * [backup-simplify]: Simplify -0.5 into -0.5 0.835 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 0.835 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 0.835 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.835 * [backup-simplify]: Simplify phi1 into phi1 0.835 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.835 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 0.835 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.835 * [backup-simplify]: Simplify phi2 into phi2 0.835 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.835 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 0.835 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 0.835 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.835 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.835 * [backup-simplify]: Simplify (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) into (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) 0.836 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi2 phi1))) into (/ 2 (* phi2 phi1)) 0.836 * [backup-simplify]: Simplify (- (/ 2 (* phi2 phi1))) into (- (* 2 (/ 1 (* phi2 phi1)))) 0.836 * [backup-simplify]: Simplify (+ (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (- (* 2 (/ 1 (* phi2 phi1))))) into (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) 0.836 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.836 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 0.836 * [backup-simplify]: Simplify (- 0) into 0 0.836 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.837 * [backup-simplify]: Simplify (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 0.837 * [backup-simplify]: Simplify (+ 0) into 0 0.837 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 0.838 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 0.838 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 0.838 * [backup-simplify]: Simplify (+ 0 0) into 0 0.838 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 0.839 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 0.839 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 0.839 * [backup-simplify]: Simplify (- 0) into 0 0.839 * [backup-simplify]: Simplify (+ 0 0) into 0 0.840 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (/ 0 1)))) into 0 0.840 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 0.841 * [taylor]: Taking taylor expansion of 0 in phi1 0.841 * [backup-simplify]: Simplify 0 into 0 0.841 * [backup-simplify]: Simplify (+ 0) into 0 0.841 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 0.841 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 0.841 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 0.842 * [backup-simplify]: Simplify (+ 0 0) into 0 0.842 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 0.842 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 0.843 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 0.843 * [backup-simplify]: Simplify (- 0) into 0 0.843 * [backup-simplify]: Simplify (+ 0 0) into 0 0.843 * [taylor]: Taking taylor expansion of 0 in phi1 0.843 * [backup-simplify]: Simplify 0 into 0 0.843 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 0.843 * [taylor]: Taking taylor expansion of (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 0.843 * [taylor]: Taking taylor expansion of -1 in phi2 0.843 * [backup-simplify]: Simplify -1 into -1 0.843 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 0.843 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 0.843 * [taylor]: Taking taylor expansion of -0.5 in phi2 0.843 * [backup-simplify]: Simplify -0.5 into -0.5 0.843 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 0.843 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 0.844 * [taylor]: Taking taylor expansion of phi1 in phi2 0.844 * [backup-simplify]: Simplify phi1 into phi1 0.844 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.844 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 0.844 * [taylor]: Taking taylor expansion of phi2 in phi2 0.844 * [backup-simplify]: Simplify 0 into 0 0.844 * [backup-simplify]: Simplify 1 into 1 0.844 * [backup-simplify]: Simplify (/ 1 1) into 1 0.844 * [backup-simplify]: Simplify (+ 0 1) into 1 0.844 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 0.845 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.845 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 0.845 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 0.845 * [taylor]: Taking taylor expansion of -0.5 in phi2 0.845 * [backup-simplify]: Simplify -0.5 into -0.5 0.845 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 0.845 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 0.845 * [taylor]: Taking taylor expansion of phi1 in phi2 0.845 * [backup-simplify]: Simplify phi1 into phi1 0.845 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.845 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 0.845 * [taylor]: Taking taylor expansion of phi2 in phi2 0.845 * [backup-simplify]: Simplify 0 into 0 0.845 * [backup-simplify]: Simplify 1 into 1 0.845 * [backup-simplify]: Simplify (/ 1 1) into 1 0.845 * [backup-simplify]: Simplify (+ 0 1) into 1 0.846 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 0.846 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.846 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 0.846 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi2 2)) (/ 0 (pow phi2 2))))) into 0 0.846 * [backup-simplify]: Simplify (+ 0) into 0 0.847 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 0.847 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 0.847 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 0.847 * [backup-simplify]: Simplify (+ 0 0) into 0 0.847 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 0.848 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 0.848 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 0.848 * [backup-simplify]: Simplify (- 0) into 0 0.849 * [backup-simplify]: Simplify (+ 0 0) into 0 0.849 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 0.849 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 0.849 * [backup-simplify]: Simplify (- (/ 0 (pow lambda2 2)) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 0 (pow lambda2 2))))) into 0 0.850 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 0.850 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 0.851 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 0.851 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 0.851 * [backup-simplify]: Simplify (+ 0 0) into 0 0.852 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 0.852 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 0.853 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 0.853 * [backup-simplify]: Simplify (- 0) into 0 0.853 * [backup-simplify]: Simplify (+ 0 0) into 0 0.854 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into 0 0.855 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 0.856 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0 0.856 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 0.856 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi1 2)) (/ 0 (pow phi1 2))))) into 0 0.856 * [backup-simplify]: Simplify (+ 0 0) into 0 0.857 * [backup-simplify]: Simplify (+ 0 0) into 0 0.857 * [backup-simplify]: Simplify (+ 0 0) into 0 0.857 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 0.858 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 0.858 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 0.858 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 0.858 * [backup-simplify]: Simplify (+ 0 0) into 0 0.859 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 0.859 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 0.860 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 0.860 * [backup-simplify]: Simplify (- 0) into 0 0.860 * [backup-simplify]: Simplify (+ 0 0) into 0 0.861 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 0.861 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (+ (* 0 1) (* 0 0)))) into 0 0.862 * [backup-simplify]: Simplify (- (/ 0 lambda2) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) (/ 0 lambda2)) (* 0 (/ 0 lambda2)))) into 0 0.862 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) into 0 0.862 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 0.862 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* phi2 phi1)) (/ 0 (* phi2 phi1))))) into 0 0.863 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ 1 (* phi2 phi1)))) into 0 0.863 * [backup-simplify]: Simplify (+ 0 0) into 0 0.863 * [backup-simplify]: Simplify (- 0) into 0 0.863 * [backup-simplify]: Simplify (+ 0 0) into 0 0.865 * [backup-simplify]: Simplify (/ (- 0 (+ (* 2 (* (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))))) (* 2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* 1/2 (/ (- (+ (/ 1 (* lambda2 (pow phi1 2))) (/ 1 (* (pow phi2 2) lambda2))) (* 2 (/ 1 (* phi2 (* lambda2 phi1))))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 0.865 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- (+ (/ 1 (* lambda2 (pow phi1 2))) (/ 1 (* (pow phi2 2) lambda2))) (* 2 (/ 1 (* phi2 (* lambda2 phi1))))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda2 0.865 * [taylor]: Taking taylor expansion of 1/2 in lambda2 0.865 * [backup-simplify]: Simplify 1/2 into 1/2 0.865 * [taylor]: Taking taylor expansion of (/ (- (+ (/ 1 (* lambda2 (pow phi1 2))) (/ 1 (* (pow phi2 2) lambda2))) (* 2 (/ 1 (* phi2 (* lambda2 phi1))))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda2 0.865 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (* lambda2 (pow phi1 2))) (/ 1 (* (pow phi2 2) lambda2))) (* 2 (/ 1 (* phi2 (* lambda2 phi1))))) in lambda2 0.865 * [taylor]: Taking taylor expansion of (+ (/ 1 (* lambda2 (pow phi1 2))) (/ 1 (* (pow phi2 2) lambda2))) in lambda2 0.865 * [taylor]: Taking taylor expansion of (/ 1 (* lambda2 (pow phi1 2))) in lambda2 0.865 * [taylor]: Taking taylor expansion of (* lambda2 (pow phi1 2)) in lambda2 0.865 * [taylor]: Taking taylor expansion of lambda2 in lambda2 0.865 * [backup-simplify]: Simplify 0 into 0 0.865 * [backup-simplify]: Simplify 1 into 1 0.865 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 0.865 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.865 * [backup-simplify]: Simplify phi1 into phi1 0.865 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 0.865 * [backup-simplify]: Simplify (* 0 (pow phi1 2)) into 0 0.865 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 0.865 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow phi1 2))) into (pow phi1 2) 0.865 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 0.865 * [taylor]: Taking taylor expansion of (/ 1 (* (pow phi2 2) lambda2)) in lambda2 0.865 * [taylor]: Taking taylor expansion of (* (pow phi2 2) lambda2) in lambda2 0.865 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 0.865 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.866 * [backup-simplify]: Simplify phi2 into phi2 0.866 * [taylor]: Taking taylor expansion of lambda2 in lambda2 0.866 * [backup-simplify]: Simplify 0 into 0 0.866 * [backup-simplify]: Simplify 1 into 1 0.866 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 0.866 * [backup-simplify]: Simplify (* (pow phi2 2) 0) into 0 0.866 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 0.866 * [backup-simplify]: Simplify (+ (* (pow phi2 2) 1) (* 0 0)) into (pow phi2 2) 0.866 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 0.866 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 (* lambda2 phi1)))) in lambda2 0.866 * [taylor]: Taking taylor expansion of 2 in lambda2 0.866 * [backup-simplify]: Simplify 2 into 2 0.866 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (* lambda2 phi1))) in lambda2 0.866 * [taylor]: Taking taylor expansion of (* phi2 (* lambda2 phi1)) in lambda2 0.866 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.866 * [backup-simplify]: Simplify phi2 into phi2 0.866 * [taylor]: Taking taylor expansion of (* lambda2 phi1) in lambda2 0.866 * [taylor]: Taking taylor expansion of lambda2 in lambda2 0.866 * [backup-simplify]: Simplify 0 into 0 0.866 * [backup-simplify]: Simplify 1 into 1 0.866 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.866 * [backup-simplify]: Simplify phi1 into phi1 0.866 * [backup-simplify]: Simplify (* 0 phi1) into 0 0.866 * [backup-simplify]: Simplify (* phi2 0) into 0 0.867 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 0.867 * [backup-simplify]: Simplify (+ (* phi2 phi1) (* 0 0)) into (* phi2 phi1) 0.867 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 0.867 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 0.867 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 0.867 * [taylor]: Taking taylor expansion of -0.5 in lambda2 0.867 * [backup-simplify]: Simplify -0.5 into -0.5 0.867 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 0.867 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 0.867 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.867 * [backup-simplify]: Simplify phi1 into phi1 0.867 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.867 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 0.867 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.867 * [backup-simplify]: Simplify phi2 into phi2 0.867 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.867 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 0.867 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 0.868 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.868 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.868 * [backup-simplify]: Simplify (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) into (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) 0.868 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi2 phi1))) into (/ 2 (* phi2 phi1)) 0.868 * [backup-simplify]: Simplify (- (/ 2 (* phi2 phi1))) into (- (* 2 (/ 1 (* phi2 phi1)))) 0.868 * [backup-simplify]: Simplify (+ (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (- (* 2 (/ 1 (* phi2 phi1))))) into (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) 0.868 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.868 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 0.869 * [backup-simplify]: Simplify (- 0) into 0 0.869 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.869 * [backup-simplify]: Simplify (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 0.870 * [backup-simplify]: Simplify (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 0.870 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi1 0.870 * [taylor]: Taking taylor expansion of 1/2 in phi1 0.870 * [backup-simplify]: Simplify 1/2 into 1/2 0.870 * [taylor]: Taking taylor expansion of (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1 0.870 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) in phi1 0.870 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in phi1 0.870 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 0.870 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 0.870 * [taylor]: Taking taylor expansion of phi2 in phi1 0.870 * [backup-simplify]: Simplify phi2 into phi2 0.870 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 0.870 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 0.870 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 0.870 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 0.870 * [taylor]: Taking taylor expansion of phi1 in phi1 0.870 * [backup-simplify]: Simplify 0 into 0 0.870 * [backup-simplify]: Simplify 1 into 1 0.870 * [backup-simplify]: Simplify (* 1 1) into 1 0.870 * [backup-simplify]: Simplify (/ 1 1) into 1 0.870 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi1 0.870 * [taylor]: Taking taylor expansion of 2 in phi1 0.871 * [backup-simplify]: Simplify 2 into 2 0.871 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi1 0.871 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 0.871 * [taylor]: Taking taylor expansion of phi2 in phi1 0.871 * [backup-simplify]: Simplify phi2 into phi2 0.871 * [taylor]: Taking taylor expansion of phi1 in phi1 0.871 * [backup-simplify]: Simplify 0 into 0 0.871 * [backup-simplify]: Simplify 1 into 1 0.871 * [backup-simplify]: Simplify (* phi2 0) into 0 0.871 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 0.871 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.871 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 0.871 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 0.871 * [taylor]: Taking taylor expansion of -0.5 in phi1 0.871 * [backup-simplify]: Simplify -0.5 into -0.5 0.871 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 0.871 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 0.871 * [taylor]: Taking taylor expansion of phi1 in phi1 0.871 * [backup-simplify]: Simplify 0 into 0 0.871 * [backup-simplify]: Simplify 1 into 1 0.871 * [backup-simplify]: Simplify (/ 1 1) into 1 0.871 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 0.871 * [taylor]: Taking taylor expansion of phi2 in phi1 0.871 * [backup-simplify]: Simplify phi2 into phi2 0.871 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.872 * [backup-simplify]: Simplify (+ 1 0) into 1 0.872 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 0.872 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.872 * [backup-simplify]: Simplify (+ 0 1) into 1 0.873 * [backup-simplify]: Simplify (+ 1 0) into 1 0.873 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 0.873 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 0.874 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 0.874 * [backup-simplify]: Simplify (+ 0 0) into 0 0.874 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 0.874 * [backup-simplify]: Simplify (- (/ 2 phi2)) into (- (* 2 (/ 1 phi2))) 0.874 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 0.874 * [backup-simplify]: Simplify (- (/ (- (* 2 (/ 1 phi2))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (+ (* (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (/ 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into (- (* 2 (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) 0.875 * [backup-simplify]: Simplify (+ (* 1/2 (- (* 2 (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) (* 0 (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (- (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) 0.875 * [taylor]: Taking taylor expansion of (- (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in phi2 0.875 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi2 0.875 * [taylor]: Taking taylor expansion of (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 0.875 * [taylor]: Taking taylor expansion of phi2 in phi2 0.875 * [backup-simplify]: Simplify 0 into 0 0.875 * [backup-simplify]: Simplify 1 into 1 0.875 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 0.875 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 0.875 * [taylor]: Taking taylor expansion of -0.5 in phi2 0.875 * [backup-simplify]: Simplify -0.5 into -0.5 0.875 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 0.875 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 0.875 * [taylor]: Taking taylor expansion of phi1 in phi2 0.875 * [backup-simplify]: Simplify phi1 into phi1 0.875 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.875 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 0.875 * [taylor]: Taking taylor expansion of phi2 in phi2 0.875 * [backup-simplify]: Simplify 0 into 0 0.875 * [backup-simplify]: Simplify 1 into 1 0.875 * [backup-simplify]: Simplify (/ 1 1) into 1 0.876 * [backup-simplify]: Simplify (+ 0 1) into 1 0.876 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 0.876 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.876 * [backup-simplify]: Simplify (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 0.877 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.877 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 0.877 * [backup-simplify]: Simplify (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 0.877 * [backup-simplify]: Simplify (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 0.877 * [backup-simplify]: Simplify (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 0.877 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi1 0.877 * [taylor]: Taking taylor expansion of 1/2 in phi1 0.877 * [backup-simplify]: Simplify 1/2 into 1/2 0.877 * [taylor]: Taking taylor expansion of (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1 0.877 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) in phi1 0.878 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in phi1 0.878 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 0.878 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 0.878 * [taylor]: Taking taylor expansion of phi2 in phi1 0.878 * [backup-simplify]: Simplify phi2 into phi2 0.878 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 0.878 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 0.878 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 0.878 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 0.878 * [taylor]: Taking taylor expansion of phi1 in phi1 0.878 * [backup-simplify]: Simplify 0 into 0 0.878 * [backup-simplify]: Simplify 1 into 1 0.878 * [backup-simplify]: Simplify (* 1 1) into 1 0.878 * [backup-simplify]: Simplify (/ 1 1) into 1 0.878 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi1 0.878 * [taylor]: Taking taylor expansion of 2 in phi1 0.878 * [backup-simplify]: Simplify 2 into 2 0.878 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi1 0.878 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 0.878 * [taylor]: Taking taylor expansion of phi2 in phi1 0.878 * [backup-simplify]: Simplify phi2 into phi2 0.878 * [taylor]: Taking taylor expansion of phi1 in phi1 0.878 * [backup-simplify]: Simplify 0 into 0 0.878 * [backup-simplify]: Simplify 1 into 1 0.878 * [backup-simplify]: Simplify (* phi2 0) into 0 0.879 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 0.879 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.879 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 0.879 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 0.879 * [taylor]: Taking taylor expansion of -0.5 in phi1 0.879 * [backup-simplify]: Simplify -0.5 into -0.5 0.879 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 0.879 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 0.879 * [taylor]: Taking taylor expansion of phi1 in phi1 0.879 * [backup-simplify]: Simplify 0 into 0 0.879 * [backup-simplify]: Simplify 1 into 1 0.879 * [backup-simplify]: Simplify (/ 1 1) into 1 0.879 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 0.879 * [taylor]: Taking taylor expansion of phi2 in phi1 0.879 * [backup-simplify]: Simplify phi2 into phi2 0.879 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.880 * [backup-simplify]: Simplify (+ 1 0) into 1 0.880 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 0.880 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.880 * [backup-simplify]: Simplify (+ 0 1) into 1 0.880 * [backup-simplify]: Simplify (+ 1 0) into 1 0.881 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 0.881 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 0.881 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 0.882 * [backup-simplify]: Simplify (+ 0 0) into 0 0.882 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 0.882 * [backup-simplify]: Simplify (- (/ 2 phi2)) into (- (* 2 (/ 1 phi2))) 0.882 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 0.882 * [backup-simplify]: Simplify (- (/ (- (* 2 (/ 1 phi2))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (+ (* (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (/ 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into (- (* 2 (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) 0.882 * [backup-simplify]: Simplify (+ (* 1/2 (- (* 2 (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) (* 0 (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (- (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) 0.882 * [taylor]: Taking taylor expansion of (- (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in phi2 0.882 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi2 0.883 * [taylor]: Taking taylor expansion of (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 0.883 * [taylor]: Taking taylor expansion of phi2 in phi2 0.883 * [backup-simplify]: Simplify 0 into 0 0.883 * [backup-simplify]: Simplify 1 into 1 0.883 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 0.883 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 0.883 * [taylor]: Taking taylor expansion of -0.5 in phi2 0.883 * [backup-simplify]: Simplify -0.5 into -0.5 0.883 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 0.883 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 0.883 * [taylor]: Taking taylor expansion of phi1 in phi2 0.883 * [backup-simplify]: Simplify phi1 into phi1 0.883 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.883 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 0.883 * [taylor]: Taking taylor expansion of phi2 in phi2 0.883 * [backup-simplify]: Simplify 0 into 0 0.883 * [backup-simplify]: Simplify 1 into 1 0.883 * [backup-simplify]: Simplify (/ 1 1) into 1 0.883 * [backup-simplify]: Simplify (+ 0 1) into 1 0.884 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 0.884 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.884 * [backup-simplify]: Simplify (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 0.884 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.884 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 0.884 * [backup-simplify]: Simplify (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 0.885 * [backup-simplify]: Simplify (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 0.885 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 0.886 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 0.886 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 0.886 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 0.886 * [backup-simplify]: Simplify (+ 0 0) into 0 0.887 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 0.887 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 0.888 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 0.888 * [backup-simplify]: Simplify (- 0) into 0 0.888 * [backup-simplify]: Simplify (+ 0 0) into 0 0.889 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (/ 0 1)) (* 0 (/ 0 1)))) into 0 0.890 * [backup-simplify]: Simplify (+ (* -1 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 0.890 * [taylor]: Taking taylor expansion of 0 in phi1 0.890 * [backup-simplify]: Simplify 0 into 0 0.890 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 0.891 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 0.891 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 0.891 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 0.891 * [backup-simplify]: Simplify (+ 0 0) into 0 0.892 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 0.892 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 0.893 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 0.893 * [backup-simplify]: Simplify (- 0) into 0 0.893 * [backup-simplify]: Simplify (+ 0 0) into 0 0.893 * [taylor]: Taking taylor expansion of 0 in phi1 0.893 * [backup-simplify]: Simplify 0 into 0 0.893 * [taylor]: Taking taylor expansion of 0 in phi2 0.893 * [backup-simplify]: Simplify 0 into 0 0.893 * [taylor]: Taking taylor expansion of 0 in phi2 0.893 * [backup-simplify]: Simplify 0 into 0 0.894 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 0.894 * [taylor]: Taking taylor expansion of 0 in phi2 0.894 * [backup-simplify]: Simplify 0 into 0 0.894 * [taylor]: Taking taylor expansion of 0 in phi2 0.894 * [backup-simplify]: Simplify 0 into 0 0.894 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 0.894 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 0.895 * [backup-simplify]: Simplify (+ (* (* -1 (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2))))))) (* 1 (* 1 (* (/ 1 (/ 1 (- lambda2))) 1)))) (+ (* (- (/ 1 (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))))) (* (/ 1 (/ 1 (- phi2))) (* (/ 1 (/ 1 (- phi1))) (* 1 (/ 1 (- lambda1)))))) (* (- (/ 1 (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))))) (* (/ 1 (/ 1 (- phi2))) (* (/ 1 (/ 1 (- phi1))) (* (/ 1 (/ 1 (- lambda2))) (pow (/ 1 (- lambda1)) 2))))))) into (+ (/ (* phi2 (* lambda2 phi1)) (* (cos (* 0.5 (+ phi2 phi1))) (pow lambda1 2))) (+ (/ (* phi2 phi1) (* (cos (* 0.5 (+ phi2 phi1))) lambda1)) (* lambda2 (cos (* 0.5 (+ phi2 phi1)))))) 0.895 * * * * [progress]: [ 2 / 4 ] generating series at (2 2 1 1 2 2) 0.895 * [backup-simplify]: Simplify (cos (/ (+ phi1 phi2) 2.0)) into (cos (* 0.5 (+ phi2 phi1))) 0.895 * [approximate]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in (phi1 phi2) around 0 0.895 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 0.895 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 0.895 * [taylor]: Taking taylor expansion of 0.5 in phi2 0.895 * [backup-simplify]: Simplify 0.5 into 0.5 0.895 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 0.895 * [taylor]: Taking taylor expansion of phi2 in phi2 0.895 * [backup-simplify]: Simplify 0 into 0 0.895 * [backup-simplify]: Simplify 1 into 1 0.895 * [taylor]: Taking taylor expansion of phi1 in phi2 0.895 * [backup-simplify]: Simplify phi1 into phi1 0.895 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 0.895 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 0.896 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 0.896 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 0.896 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 0.896 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 0.896 * [taylor]: Taking taylor expansion of 0.5 in phi1 0.896 * [backup-simplify]: Simplify 0.5 into 0.5 0.896 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 0.896 * [taylor]: Taking taylor expansion of phi2 in phi1 0.896 * [backup-simplify]: Simplify phi2 into phi2 0.896 * [taylor]: Taking taylor expansion of phi1 in phi1 0.896 * [backup-simplify]: Simplify 0 into 0 0.896 * [backup-simplify]: Simplify 1 into 1 0.896 * [backup-simplify]: Simplify (+ phi2 0) into phi2 0.896 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 0.896 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 0.896 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 0.896 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 0.896 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 0.896 * [taylor]: Taking taylor expansion of 0.5 in phi1 0.896 * [backup-simplify]: Simplify 0.5 into 0.5 0.896 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 0.896 * [taylor]: Taking taylor expansion of phi2 in phi1 0.896 * [backup-simplify]: Simplify phi2 into phi2 0.896 * [taylor]: Taking taylor expansion of phi1 in phi1 0.896 * [backup-simplify]: Simplify 0 into 0 0.896 * [backup-simplify]: Simplify 1 into 1 0.896 * [backup-simplify]: Simplify (+ phi2 0) into phi2 0.896 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 0.896 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 0.896 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 0.896 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 0.896 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 0.901 * [backup-simplify]: Simplify (- 0) into 0 0.901 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 0.901 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 0.901 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 0.901 * [taylor]: Taking taylor expansion of 0.5 in phi2 0.901 * [backup-simplify]: Simplify 0.5 into 0.5 0.901 * [taylor]: Taking taylor expansion of phi2 in phi2 0.901 * [backup-simplify]: Simplify 0 into 0 0.901 * [backup-simplify]: Simplify 1 into 1 0.902 * [backup-simplify]: Simplify (* 0.5 0) into 0 0.903 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 0.903 * [backup-simplify]: Simplify 1 into 1 0.903 * [backup-simplify]: Simplify (+ 0) into 0 0.903 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 0.903 * [backup-simplify]: Simplify (+ 0 1) into 1 0.904 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5 0.905 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 0.906 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2))) 0.906 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2)))) 0.906 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2)))) 0.906 * [taylor]: Taking taylor expansion of (- (* 0.5 (sin (* 0.5 phi2)))) in phi2 0.906 * [taylor]: Taking taylor expansion of (* 0.5 (sin (* 0.5 phi2))) in phi2 0.906 * [taylor]: Taking taylor expansion of 0.5 in phi2 0.906 * [backup-simplify]: Simplify 0.5 into 0.5 0.906 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2 0.906 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 0.906 * [taylor]: Taking taylor expansion of 0.5 in phi2 0.906 * [backup-simplify]: Simplify 0.5 into 0.5 0.906 * [taylor]: Taking taylor expansion of phi2 in phi2 0.906 * [backup-simplify]: Simplify 0 into 0 0.906 * [backup-simplify]: Simplify 1 into 1 0.906 * [backup-simplify]: Simplify (* 0.5 0) into 0 0.907 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 0.907 * [backup-simplify]: Simplify (* 0.5 0) into 0 0.908 * [backup-simplify]: Simplify (- 0) into 0 0.908 * [backup-simplify]: Simplify 0 into 0 0.908 * [backup-simplify]: Simplify (+ 0) into 0 0.908 * [backup-simplify]: Simplify 0 into 0 0.909 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 0.910 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) (- 0.125)) (+ (* 0 0) (* 0 1))) into (- (* 0.125 (cos (* 0.5 phi2)))) 0.910 * [backup-simplify]: Simplify (+ 0 0) into 0 0.911 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 phi2))) into 0 0.911 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 0.912 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (+ (* 0 0.5) (* 0 0))) into 0 0.912 * [backup-simplify]: Simplify (- 0) into 0 0.912 * [backup-simplify]: Simplify (+ (- (* 0.125 (cos (* 0.5 phi2)))) 0) into (- (* 0.125 (cos (* 0.5 phi2)))) 0.912 * [taylor]: Taking taylor expansion of (- (* 0.125 (cos (* 0.5 phi2)))) in phi2 0.912 * [taylor]: Taking taylor expansion of (* 0.125 (cos (* 0.5 phi2))) in phi2 0.912 * [taylor]: Taking taylor expansion of 0.125 in phi2 0.912 * [backup-simplify]: Simplify 0.125 into 0.125 0.912 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 0.912 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 0.912 * [taylor]: Taking taylor expansion of 0.5 in phi2 0.912 * [backup-simplify]: Simplify 0.5 into 0.5 0.912 * [taylor]: Taking taylor expansion of phi2 in phi2 0.912 * [backup-simplify]: Simplify 0 into 0 0.912 * [backup-simplify]: Simplify 1 into 1 0.913 * [backup-simplify]: Simplify (* 0.5 0) into 0 0.913 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 0.914 * [backup-simplify]: Simplify (* 0.125 1) into 0.125 0.914 * [backup-simplify]: Simplify (- 0.125) into (- 0.125) 0.914 * [backup-simplify]: Simplify (- 0.125) into (- 0.125) 0.916 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 0.917 * [backup-simplify]: Simplify (+ (* 0.5 0.5) (* 0 0)) into 0.25 0.917 * [backup-simplify]: Simplify (- 0.25) into (- 0.25) 0.917 * [backup-simplify]: Simplify (- 0.25) into (- 0.25) 0.918 * [backup-simplify]: Simplify (+ (* (- 0.25) (* phi2 phi1)) (+ (* (- 0.125) (pow (* 1 phi1) 2)) 1)) into (- 1 (+ (* 0.25 (* phi2 phi1)) (* 0.125 (pow phi1 2)))) 0.918 * [backup-simplify]: Simplify (cos (/ (+ (/ 1 phi1) (/ 1 phi2)) 2.0)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.918 * [approximate]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in (phi1 phi2) around 0 0.918 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 0.918 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 0.918 * [taylor]: Taking taylor expansion of 0.5 in phi2 0.918 * [backup-simplify]: Simplify 0.5 into 0.5 0.918 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 0.918 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 0.918 * [taylor]: Taking taylor expansion of phi1 in phi2 0.918 * [backup-simplify]: Simplify phi1 into phi1 0.918 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.918 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 0.918 * [taylor]: Taking taylor expansion of phi2 in phi2 0.918 * [backup-simplify]: Simplify 0 into 0 0.918 * [backup-simplify]: Simplify 1 into 1 0.919 * [backup-simplify]: Simplify (/ 1 1) into 1 0.919 * [backup-simplify]: Simplify (+ 0 1) into 1 0.919 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 0.919 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.919 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 0.919 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 0.919 * [taylor]: Taking taylor expansion of 0.5 in phi1 0.919 * [backup-simplify]: Simplify 0.5 into 0.5 0.919 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 0.919 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 0.919 * [taylor]: Taking taylor expansion of phi1 in phi1 0.919 * [backup-simplify]: Simplify 0 into 0 0.919 * [backup-simplify]: Simplify 1 into 1 0.920 * [backup-simplify]: Simplify (/ 1 1) into 1 0.920 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 0.920 * [taylor]: Taking taylor expansion of phi2 in phi1 0.920 * [backup-simplify]: Simplify phi2 into phi2 0.920 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.920 * [backup-simplify]: Simplify (+ 1 0) into 1 0.920 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 0.920 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.920 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 0.920 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 0.921 * [taylor]: Taking taylor expansion of 0.5 in phi1 0.921 * [backup-simplify]: Simplify 0.5 into 0.5 0.921 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 0.921 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 0.921 * [taylor]: Taking taylor expansion of phi1 in phi1 0.921 * [backup-simplify]: Simplify 0 into 0 0.921 * [backup-simplify]: Simplify 1 into 1 0.921 * [backup-simplify]: Simplify (/ 1 1) into 1 0.921 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 0.921 * [taylor]: Taking taylor expansion of phi2 in phi1 0.921 * [backup-simplify]: Simplify phi2 into phi2 0.921 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.921 * [backup-simplify]: Simplify (+ 1 0) into 1 0.921 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 0.922 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.922 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 0.922 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 0.922 * [taylor]: Taking taylor expansion of 0.5 in phi2 0.922 * [backup-simplify]: Simplify 0.5 into 0.5 0.922 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 0.922 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 0.922 * [taylor]: Taking taylor expansion of phi1 in phi2 0.922 * [backup-simplify]: Simplify phi1 into phi1 0.922 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.922 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 0.922 * [taylor]: Taking taylor expansion of phi2 in phi2 0.922 * [backup-simplify]: Simplify 0 into 0 0.922 * [backup-simplify]: Simplify 1 into 1 0.922 * [backup-simplify]: Simplify (/ 1 1) into 1 0.922 * [backup-simplify]: Simplify (+ 0 1) into 1 0.923 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 0.923 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.923 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.923 * [taylor]: Taking taylor expansion of 0 in phi2 0.923 * [backup-simplify]: Simplify 0 into 0 0.923 * [backup-simplify]: Simplify 0 into 0 0.923 * [backup-simplify]: Simplify 0 into 0 0.923 * [taylor]: Taking taylor expansion of 0 in phi2 0.923 * [backup-simplify]: Simplify 0 into 0 0.923 * [backup-simplify]: Simplify 0 into 0 0.923 * [backup-simplify]: Simplify 0 into 0 0.923 * [backup-simplify]: Simplify 0 into 0 0.923 * [taylor]: Taking taylor expansion of 0 in phi2 0.923 * [backup-simplify]: Simplify 0 into 0 0.923 * [backup-simplify]: Simplify 0 into 0 0.923 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))) into (cos (* 0.5 (+ phi2 phi1))) 0.923 * [backup-simplify]: Simplify (cos (/ (+ (/ 1 (- phi1)) (/ 1 (- phi2))) 2.0)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.923 * [approximate]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in (phi1 phi2) around 0 0.923 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 0.923 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 0.923 * [taylor]: Taking taylor expansion of -0.5 in phi2 0.924 * [backup-simplify]: Simplify -0.5 into -0.5 0.924 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 0.924 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 0.924 * [taylor]: Taking taylor expansion of phi1 in phi2 0.924 * [backup-simplify]: Simplify phi1 into phi1 0.924 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.924 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 0.924 * [taylor]: Taking taylor expansion of phi2 in phi2 0.924 * [backup-simplify]: Simplify 0 into 0 0.924 * [backup-simplify]: Simplify 1 into 1 0.924 * [backup-simplify]: Simplify (/ 1 1) into 1 0.924 * [backup-simplify]: Simplify (+ 0 1) into 1 0.924 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 0.925 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.925 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 0.925 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 0.925 * [taylor]: Taking taylor expansion of -0.5 in phi1 0.925 * [backup-simplify]: Simplify -0.5 into -0.5 0.925 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 0.925 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 0.925 * [taylor]: Taking taylor expansion of phi1 in phi1 0.925 * [backup-simplify]: Simplify 0 into 0 0.925 * [backup-simplify]: Simplify 1 into 1 0.925 * [backup-simplify]: Simplify (/ 1 1) into 1 0.925 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 0.925 * [taylor]: Taking taylor expansion of phi2 in phi1 0.925 * [backup-simplify]: Simplify phi2 into phi2 0.925 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.925 * [backup-simplify]: Simplify (+ 1 0) into 1 0.926 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 0.926 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.926 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 0.926 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 0.926 * [taylor]: Taking taylor expansion of -0.5 in phi1 0.926 * [backup-simplify]: Simplify -0.5 into -0.5 0.926 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 0.926 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 0.926 * [taylor]: Taking taylor expansion of phi1 in phi1 0.926 * [backup-simplify]: Simplify 0 into 0 0.926 * [backup-simplify]: Simplify 1 into 1 0.926 * [backup-simplify]: Simplify (/ 1 1) into 1 0.926 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 0.926 * [taylor]: Taking taylor expansion of phi2 in phi1 0.926 * [backup-simplify]: Simplify phi2 into phi2 0.926 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.926 * [backup-simplify]: Simplify (+ 1 0) into 1 0.927 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 0.927 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.927 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 0.927 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 0.927 * [taylor]: Taking taylor expansion of -0.5 in phi2 0.927 * [backup-simplify]: Simplify -0.5 into -0.5 0.927 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 0.927 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 0.927 * [taylor]: Taking taylor expansion of phi1 in phi2 0.927 * [backup-simplify]: Simplify phi1 into phi1 0.927 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.927 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 0.927 * [taylor]: Taking taylor expansion of phi2 in phi2 0.927 * [backup-simplify]: Simplify 0 into 0 0.927 * [backup-simplify]: Simplify 1 into 1 0.927 * [backup-simplify]: Simplify (/ 1 1) into 1 0.928 * [backup-simplify]: Simplify (+ 0 1) into 1 0.928 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 0.928 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.928 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.928 * [taylor]: Taking taylor expansion of 0 in phi2 0.928 * [backup-simplify]: Simplify 0 into 0 0.928 * [backup-simplify]: Simplify 0 into 0 0.928 * [backup-simplify]: Simplify 0 into 0 0.928 * [taylor]: Taking taylor expansion of 0 in phi2 0.928 * [backup-simplify]: Simplify 0 into 0 0.928 * [backup-simplify]: Simplify 0 into 0 0.928 * [backup-simplify]: Simplify 0 into 0 0.928 * [backup-simplify]: Simplify 0 into 0 0.928 * [taylor]: Taking taylor expansion of 0 in phi2 0.928 * [backup-simplify]: Simplify 0 into 0 0.928 * [backup-simplify]: Simplify 0 into 0 0.928 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))) into (cos (* 0.5 (+ phi2 phi1))) 0.929 * * * * [progress]: [ 3 / 4 ] generating series at (2 2 1 1 1 2) 0.929 * [backup-simplify]: Simplify (cos (/ (+ phi1 phi2) 2.0)) into (cos (* 0.5 (+ phi2 phi1))) 0.929 * [approximate]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in (phi1 phi2) around 0 0.929 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 0.929 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 0.929 * [taylor]: Taking taylor expansion of 0.5 in phi2 0.929 * [backup-simplify]: Simplify 0.5 into 0.5 0.929 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 0.929 * [taylor]: Taking taylor expansion of phi2 in phi2 0.929 * [backup-simplify]: Simplify 0 into 0 0.929 * [backup-simplify]: Simplify 1 into 1 0.929 * [taylor]: Taking taylor expansion of phi1 in phi2 0.929 * [backup-simplify]: Simplify phi1 into phi1 0.929 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 0.929 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 0.929 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 0.929 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 0.929 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 0.929 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 0.929 * [taylor]: Taking taylor expansion of 0.5 in phi1 0.929 * [backup-simplify]: Simplify 0.5 into 0.5 0.929 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 0.929 * [taylor]: Taking taylor expansion of phi2 in phi1 0.929 * [backup-simplify]: Simplify phi2 into phi2 0.929 * [taylor]: Taking taylor expansion of phi1 in phi1 0.929 * [backup-simplify]: Simplify 0 into 0 0.929 * [backup-simplify]: Simplify 1 into 1 0.929 * [backup-simplify]: Simplify (+ phi2 0) into phi2 0.929 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 0.929 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 0.929 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 0.929 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 0.929 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 0.929 * [taylor]: Taking taylor expansion of 0.5 in phi1 0.929 * [backup-simplify]: Simplify 0.5 into 0.5 0.929 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 0.929 * [taylor]: Taking taylor expansion of phi2 in phi1 0.929 * [backup-simplify]: Simplify phi2 into phi2 0.929 * [taylor]: Taking taylor expansion of phi1 in phi1 0.929 * [backup-simplify]: Simplify 0 into 0 0.929 * [backup-simplify]: Simplify 1 into 1 0.930 * [backup-simplify]: Simplify (+ phi2 0) into phi2 0.930 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 0.930 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 0.930 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 0.930 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 0.930 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 0.930 * [backup-simplify]: Simplify (- 0) into 0 0.930 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 0.930 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 0.930 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 0.930 * [taylor]: Taking taylor expansion of 0.5 in phi2 0.930 * [backup-simplify]: Simplify 0.5 into 0.5 0.930 * [taylor]: Taking taylor expansion of phi2 in phi2 0.930 * [backup-simplify]: Simplify 0 into 0 0.930 * [backup-simplify]: Simplify 1 into 1 0.931 * [backup-simplify]: Simplify (* 0.5 0) into 0 0.931 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 0.931 * [backup-simplify]: Simplify 1 into 1 0.932 * [backup-simplify]: Simplify (+ 0) into 0 0.932 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 0.932 * [backup-simplify]: Simplify (+ 0 1) into 1 0.933 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5 0.934 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 0.934 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2))) 0.934 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2)))) 0.934 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2)))) 0.934 * [taylor]: Taking taylor expansion of (- (* 0.5 (sin (* 0.5 phi2)))) in phi2 0.935 * [taylor]: Taking taylor expansion of (* 0.5 (sin (* 0.5 phi2))) in phi2 0.935 * [taylor]: Taking taylor expansion of 0.5 in phi2 0.935 * [backup-simplify]: Simplify 0.5 into 0.5 0.935 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2 0.935 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 0.935 * [taylor]: Taking taylor expansion of 0.5 in phi2 0.935 * [backup-simplify]: Simplify 0.5 into 0.5 0.935 * [taylor]: Taking taylor expansion of phi2 in phi2 0.935 * [backup-simplify]: Simplify 0 into 0 0.935 * [backup-simplify]: Simplify 1 into 1 0.935 * [backup-simplify]: Simplify (* 0.5 0) into 0 0.936 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 0.936 * [backup-simplify]: Simplify (* 0.5 0) into 0 0.936 * [backup-simplify]: Simplify (- 0) into 0 0.936 * [backup-simplify]: Simplify 0 into 0 0.937 * [backup-simplify]: Simplify (+ 0) into 0 0.937 * [backup-simplify]: Simplify 0 into 0 0.938 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 0.939 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) (- 0.125)) (+ (* 0 0) (* 0 1))) into (- (* 0.125 (cos (* 0.5 phi2)))) 0.939 * [backup-simplify]: Simplify (+ 0 0) into 0 0.940 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 phi2))) into 0 0.940 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 0.940 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (+ (* 0 0.5) (* 0 0))) into 0 0.941 * [backup-simplify]: Simplify (- 0) into 0 0.941 * [backup-simplify]: Simplify (+ (- (* 0.125 (cos (* 0.5 phi2)))) 0) into (- (* 0.125 (cos (* 0.5 phi2)))) 0.941 * [taylor]: Taking taylor expansion of (- (* 0.125 (cos (* 0.5 phi2)))) in phi2 0.941 * [taylor]: Taking taylor expansion of (* 0.125 (cos (* 0.5 phi2))) in phi2 0.941 * [taylor]: Taking taylor expansion of 0.125 in phi2 0.941 * [backup-simplify]: Simplify 0.125 into 0.125 0.941 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 0.941 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 0.941 * [taylor]: Taking taylor expansion of 0.5 in phi2 0.941 * [backup-simplify]: Simplify 0.5 into 0.5 0.941 * [taylor]: Taking taylor expansion of phi2 in phi2 0.941 * [backup-simplify]: Simplify 0 into 0 0.941 * [backup-simplify]: Simplify 1 into 1 0.941 * [backup-simplify]: Simplify (* 0.5 0) into 0 0.942 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 0.942 * [backup-simplify]: Simplify (* 0.125 1) into 0.125 0.943 * [backup-simplify]: Simplify (- 0.125) into (- 0.125) 0.943 * [backup-simplify]: Simplify (- 0.125) into (- 0.125) 0.945 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 0.945 * [backup-simplify]: Simplify (+ (* 0.5 0.5) (* 0 0)) into 0.25 0.946 * [backup-simplify]: Simplify (- 0.25) into (- 0.25) 0.946 * [backup-simplify]: Simplify (- 0.25) into (- 0.25) 0.946 * [backup-simplify]: Simplify (+ (* (- 0.25) (* phi2 phi1)) (+ (* (- 0.125) (pow (* 1 phi1) 2)) 1)) into (- 1 (+ (* 0.25 (* phi2 phi1)) (* 0.125 (pow phi1 2)))) 0.947 * [backup-simplify]: Simplify (cos (/ (+ (/ 1 phi1) (/ 1 phi2)) 2.0)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.947 * [approximate]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in (phi1 phi2) around 0 0.947 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 0.947 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 0.947 * [taylor]: Taking taylor expansion of 0.5 in phi2 0.947 * [backup-simplify]: Simplify 0.5 into 0.5 0.947 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 0.947 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 0.947 * [taylor]: Taking taylor expansion of phi1 in phi2 0.947 * [backup-simplify]: Simplify phi1 into phi1 0.947 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.947 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 0.947 * [taylor]: Taking taylor expansion of phi2 in phi2 0.947 * [backup-simplify]: Simplify 0 into 0 0.947 * [backup-simplify]: Simplify 1 into 1 0.947 * [backup-simplify]: Simplify (/ 1 1) into 1 0.947 * [backup-simplify]: Simplify (+ 0 1) into 1 0.948 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 0.948 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.948 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 0.948 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 0.948 * [taylor]: Taking taylor expansion of 0.5 in phi1 0.948 * [backup-simplify]: Simplify 0.5 into 0.5 0.948 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 0.948 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 0.948 * [taylor]: Taking taylor expansion of phi1 in phi1 0.948 * [backup-simplify]: Simplify 0 into 0 0.948 * [backup-simplify]: Simplify 1 into 1 0.948 * [backup-simplify]: Simplify (/ 1 1) into 1 0.948 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 0.948 * [taylor]: Taking taylor expansion of phi2 in phi1 0.948 * [backup-simplify]: Simplify phi2 into phi2 0.948 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.949 * [backup-simplify]: Simplify (+ 1 0) into 1 0.949 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 0.949 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.949 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 0.949 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 0.949 * [taylor]: Taking taylor expansion of 0.5 in phi1 0.949 * [backup-simplify]: Simplify 0.5 into 0.5 0.949 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 0.949 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 0.949 * [taylor]: Taking taylor expansion of phi1 in phi1 0.949 * [backup-simplify]: Simplify 0 into 0 0.949 * [backup-simplify]: Simplify 1 into 1 0.949 * [backup-simplify]: Simplify (/ 1 1) into 1 0.950 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 0.950 * [taylor]: Taking taylor expansion of phi2 in phi1 0.950 * [backup-simplify]: Simplify phi2 into phi2 0.950 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.950 * [backup-simplify]: Simplify (+ 1 0) into 1 0.950 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 0.950 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.950 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 0.950 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 0.950 * [taylor]: Taking taylor expansion of 0.5 in phi2 0.950 * [backup-simplify]: Simplify 0.5 into 0.5 0.950 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 0.950 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 0.950 * [taylor]: Taking taylor expansion of phi1 in phi2 0.950 * [backup-simplify]: Simplify phi1 into phi1 0.950 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.951 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 0.951 * [taylor]: Taking taylor expansion of phi2 in phi2 0.951 * [backup-simplify]: Simplify 0 into 0 0.951 * [backup-simplify]: Simplify 1 into 1 0.951 * [backup-simplify]: Simplify (/ 1 1) into 1 0.951 * [backup-simplify]: Simplify (+ 0 1) into 1 0.951 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 0.951 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.952 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.952 * [taylor]: Taking taylor expansion of 0 in phi2 0.952 * [backup-simplify]: Simplify 0 into 0 0.952 * [backup-simplify]: Simplify 0 into 0 0.952 * [backup-simplify]: Simplify 0 into 0 0.952 * [taylor]: Taking taylor expansion of 0 in phi2 0.952 * [backup-simplify]: Simplify 0 into 0 0.952 * [backup-simplify]: Simplify 0 into 0 0.952 * [backup-simplify]: Simplify 0 into 0 0.952 * [backup-simplify]: Simplify 0 into 0 0.952 * [taylor]: Taking taylor expansion of 0 in phi2 0.952 * [backup-simplify]: Simplify 0 into 0 0.952 * [backup-simplify]: Simplify 0 into 0 0.952 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))) into (cos (* 0.5 (+ phi2 phi1))) 0.952 * [backup-simplify]: Simplify (cos (/ (+ (/ 1 (- phi1)) (/ 1 (- phi2))) 2.0)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.952 * [approximate]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in (phi1 phi2) around 0 0.952 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 0.952 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 0.952 * [taylor]: Taking taylor expansion of -0.5 in phi2 0.952 * [backup-simplify]: Simplify -0.5 into -0.5 0.952 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 0.952 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 0.952 * [taylor]: Taking taylor expansion of phi1 in phi2 0.952 * [backup-simplify]: Simplify phi1 into phi1 0.952 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.952 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 0.952 * [taylor]: Taking taylor expansion of phi2 in phi2 0.952 * [backup-simplify]: Simplify 0 into 0 0.952 * [backup-simplify]: Simplify 1 into 1 0.953 * [backup-simplify]: Simplify (/ 1 1) into 1 0.953 * [backup-simplify]: Simplify (+ 0 1) into 1 0.953 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 0.953 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.953 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 0.953 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 0.953 * [taylor]: Taking taylor expansion of -0.5 in phi1 0.953 * [backup-simplify]: Simplify -0.5 into -0.5 0.953 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 0.953 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 0.953 * [taylor]: Taking taylor expansion of phi1 in phi1 0.953 * [backup-simplify]: Simplify 0 into 0 0.953 * [backup-simplify]: Simplify 1 into 1 0.954 * [backup-simplify]: Simplify (/ 1 1) into 1 0.954 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 0.954 * [taylor]: Taking taylor expansion of phi2 in phi1 0.954 * [backup-simplify]: Simplify phi2 into phi2 0.954 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.954 * [backup-simplify]: Simplify (+ 1 0) into 1 0.954 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 0.954 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.954 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 0.954 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 0.954 * [taylor]: Taking taylor expansion of -0.5 in phi1 0.954 * [backup-simplify]: Simplify -0.5 into -0.5 0.954 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 0.954 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 0.954 * [taylor]: Taking taylor expansion of phi1 in phi1 0.954 * [backup-simplify]: Simplify 0 into 0 0.954 * [backup-simplify]: Simplify 1 into 1 0.955 * [backup-simplify]: Simplify (/ 1 1) into 1 0.955 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 0.955 * [taylor]: Taking taylor expansion of phi2 in phi1 0.955 * [backup-simplify]: Simplify phi2 into phi2 0.955 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.955 * [backup-simplify]: Simplify (+ 1 0) into 1 0.955 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 0.955 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.955 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 0.956 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 0.956 * [taylor]: Taking taylor expansion of -0.5 in phi2 0.956 * [backup-simplify]: Simplify -0.5 into -0.5 0.956 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 0.956 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 0.956 * [taylor]: Taking taylor expansion of phi1 in phi2 0.956 * [backup-simplify]: Simplify phi1 into phi1 0.956 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.956 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 0.956 * [taylor]: Taking taylor expansion of phi2 in phi2 0.956 * [backup-simplify]: Simplify 0 into 0 0.956 * [backup-simplify]: Simplify 1 into 1 0.956 * [backup-simplify]: Simplify (/ 1 1) into 1 0.956 * [backup-simplify]: Simplify (+ 0 1) into 1 0.956 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 0.957 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.957 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.957 * [taylor]: Taking taylor expansion of 0 in phi2 0.957 * [backup-simplify]: Simplify 0 into 0 0.957 * [backup-simplify]: Simplify 0 into 0 0.957 * [backup-simplify]: Simplify 0 into 0 0.957 * [taylor]: Taking taylor expansion of 0 in phi2 0.957 * [backup-simplify]: Simplify 0 into 0 0.957 * [backup-simplify]: Simplify 0 into 0 0.957 * [backup-simplify]: Simplify 0 into 0 0.957 * [backup-simplify]: Simplify 0 into 0 0.957 * [taylor]: Taking taylor expansion of 0 in phi2 0.957 * [backup-simplify]: Simplify 0 into 0 0.957 * [backup-simplify]: Simplify 0 into 0 0.957 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))) into (cos (* 0.5 (+ phi2 phi1))) 0.957 * * * * [progress]: [ 4 / 4 ] generating series at (2 2 1 1) 0.957 * [backup-simplify]: Simplify (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) into (* (pow (- lambda1 lambda2) 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) 0.957 * [approximate]: Taking taylor expansion of (* (pow (- lambda1 lambda2) 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in (lambda1 lambda2 phi1 phi2) around 0 0.957 * [taylor]: Taking taylor expansion of (* (pow (- lambda1 lambda2) 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in phi2 0.958 * [taylor]: Taking taylor expansion of (pow (- lambda1 lambda2) 2) in phi2 0.958 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in phi2 0.958 * [taylor]: Taking taylor expansion of lambda1 in phi2 0.958 * [backup-simplify]: Simplify lambda1 into lambda1 0.958 * [taylor]: Taking taylor expansion of lambda2 in phi2 0.958 * [backup-simplify]: Simplify lambda2 into lambda2 0.958 * [backup-simplify]: Simplify (- lambda2) into (- lambda2) 0.958 * [backup-simplify]: Simplify (+ lambda1 (- lambda2)) into (- lambda1 lambda2) 0.958 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2 0.958 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 0.958 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 0.958 * [taylor]: Taking taylor expansion of 0.5 in phi2 0.958 * [backup-simplify]: Simplify 0.5 into 0.5 0.958 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 0.958 * [taylor]: Taking taylor expansion of phi2 in phi2 0.958 * [backup-simplify]: Simplify 0 into 0 0.958 * [backup-simplify]: Simplify 1 into 1 0.958 * [taylor]: Taking taylor expansion of phi1 in phi2 0.958 * [backup-simplify]: Simplify phi1 into phi1 0.958 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 0.958 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 0.958 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 0.958 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 0.958 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 0.958 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 0.958 * [backup-simplify]: Simplify (- 0) into 0 0.958 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 0.958 * [taylor]: Taking taylor expansion of (* (pow (- lambda1 lambda2) 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in phi1 0.958 * [taylor]: Taking taylor expansion of (pow (- lambda1 lambda2) 2) in phi1 0.959 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in phi1 0.959 * [taylor]: Taking taylor expansion of lambda1 in phi1 0.959 * [backup-simplify]: Simplify lambda1 into lambda1 0.959 * [taylor]: Taking taylor expansion of lambda2 in phi1 0.959 * [backup-simplify]: Simplify lambda2 into lambda2 0.959 * [backup-simplify]: Simplify (- lambda2) into (- lambda2) 0.959 * [backup-simplify]: Simplify (+ lambda1 (- lambda2)) into (- lambda1 lambda2) 0.959 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1 0.959 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 0.959 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 0.959 * [taylor]: Taking taylor expansion of 0.5 in phi1 0.959 * [backup-simplify]: Simplify 0.5 into 0.5 0.959 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 0.959 * [taylor]: Taking taylor expansion of phi2 in phi1 0.959 * [backup-simplify]: Simplify phi2 into phi2 0.959 * [taylor]: Taking taylor expansion of phi1 in phi1 0.959 * [backup-simplify]: Simplify 0 into 0 0.959 * [backup-simplify]: Simplify 1 into 1 0.959 * [backup-simplify]: Simplify (+ phi2 0) into phi2 0.959 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 0.959 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 0.959 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 0.959 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 0.959 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 0.959 * [backup-simplify]: Simplify (- 0) into 0 0.959 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 0.959 * [taylor]: Taking taylor expansion of (* (pow (- lambda1 lambda2) 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda2 0.959 * [taylor]: Taking taylor expansion of (pow (- lambda1 lambda2) 2) in lambda2 0.959 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda2 0.959 * [taylor]: Taking taylor expansion of lambda1 in lambda2 0.959 * [backup-simplify]: Simplify lambda1 into lambda1 0.960 * [taylor]: Taking taylor expansion of lambda2 in lambda2 0.960 * [backup-simplify]: Simplify 0 into 0 0.960 * [backup-simplify]: Simplify 1 into 1 0.960 * [backup-simplify]: Simplify (- 0) into 0 0.960 * [backup-simplify]: Simplify (+ lambda1 0) into lambda1 0.960 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 0.960 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 0.960 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 0.960 * [taylor]: Taking taylor expansion of 0.5 in lambda2 0.960 * [backup-simplify]: Simplify 0.5 into 0.5 0.960 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 0.960 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.960 * [backup-simplify]: Simplify phi2 into phi2 0.960 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.960 * [backup-simplify]: Simplify phi1 into phi1 0.960 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 0.960 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 0.960 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 0.960 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 0.960 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 0.960 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 0.961 * [backup-simplify]: Simplify (- 0) into 0 0.961 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 0.961 * [taylor]: Taking taylor expansion of (* (pow (- lambda1 lambda2) 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda1 0.961 * [taylor]: Taking taylor expansion of (pow (- lambda1 lambda2) 2) in lambda1 0.961 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda1 0.961 * [taylor]: Taking taylor expansion of lambda1 in lambda1 0.961 * [backup-simplify]: Simplify 0 into 0 0.961 * [backup-simplify]: Simplify 1 into 1 0.961 * [taylor]: Taking taylor expansion of lambda2 in lambda1 0.961 * [backup-simplify]: Simplify lambda2 into lambda2 0.961 * [backup-simplify]: Simplify (- lambda2) into (- lambda2) 0.961 * [backup-simplify]: Simplify (+ 0 (- lambda2)) into (- lambda2) 0.961 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda1 0.961 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 0.961 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 0.961 * [taylor]: Taking taylor expansion of 0.5 in lambda1 0.961 * [backup-simplify]: Simplify 0.5 into 0.5 0.961 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 0.961 * [taylor]: Taking taylor expansion of phi2 in lambda1 0.961 * [backup-simplify]: Simplify phi2 into phi2 0.961 * [taylor]: Taking taylor expansion of phi1 in lambda1 0.961 * [backup-simplify]: Simplify phi1 into phi1 0.961 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 0.961 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 0.961 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 0.961 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 0.961 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 0.961 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 0.962 * [backup-simplify]: Simplify (- 0) into 0 0.962 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 0.962 * [taylor]: Taking taylor expansion of (* (pow (- lambda1 lambda2) 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda1 0.962 * [taylor]: Taking taylor expansion of (pow (- lambda1 lambda2) 2) in lambda1 0.962 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda1 0.962 * [taylor]: Taking taylor expansion of lambda1 in lambda1 0.962 * [backup-simplify]: Simplify 0 into 0 0.962 * [backup-simplify]: Simplify 1 into 1 0.962 * [taylor]: Taking taylor expansion of lambda2 in lambda1 0.962 * [backup-simplify]: Simplify lambda2 into lambda2 0.962 * [backup-simplify]: Simplify (- lambda2) into (- lambda2) 0.962 * [backup-simplify]: Simplify (+ 0 (- lambda2)) into (- lambda2) 0.962 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda1 0.962 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 0.962 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 0.962 * [taylor]: Taking taylor expansion of 0.5 in lambda1 0.962 * [backup-simplify]: Simplify 0.5 into 0.5 0.962 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 0.962 * [taylor]: Taking taylor expansion of phi2 in lambda1 0.962 * [backup-simplify]: Simplify phi2 into phi2 0.962 * [taylor]: Taking taylor expansion of phi1 in lambda1 0.962 * [backup-simplify]: Simplify phi1 into phi1 0.962 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 0.962 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 0.962 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 0.962 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 0.962 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 0.962 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 0.963 * [backup-simplify]: Simplify (- 0) into 0 0.963 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 0.963 * [backup-simplify]: Simplify (* (- lambda2) (- lambda2)) into (pow lambda2 2) 0.963 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0.963 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) into (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) 0.963 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda2 0.963 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 0.963 * [taylor]: Taking taylor expansion of lambda2 in lambda2 0.963 * [backup-simplify]: Simplify 0 into 0 0.963 * [backup-simplify]: Simplify 1 into 1 0.963 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 0.963 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 0.963 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 0.963 * [taylor]: Taking taylor expansion of 0.5 in lambda2 0.963 * [backup-simplify]: Simplify 0.5 into 0.5 0.963 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 0.963 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.963 * [backup-simplify]: Simplify phi2 into phi2 0.963 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.963 * [backup-simplify]: Simplify phi1 into phi1 0.963 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 0.963 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 0.964 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 0.964 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 0.964 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 0.964 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 0.964 * [backup-simplify]: Simplify (- 0) into 0 0.964 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 0.964 * [backup-simplify]: Simplify (+ 0) into 0 0.965 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 0.965 * [backup-simplify]: Simplify (+ 0 0) into 0 0.965 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 0.966 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 0.966 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 0.966 * [backup-simplify]: Simplify (- 0) into 0 0.967 * [backup-simplify]: Simplify (+ 0 0) into 0 0.967 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 0.967 * [backup-simplify]: Simplify (- 0) into 0 0.967 * [backup-simplify]: Simplify (+ 1 0) into 1 0.967 * [backup-simplify]: Simplify (+ (* (- lambda2) 1) (* 1 (- lambda2))) into (- (* 2 lambda2)) 0.968 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) 0) (* (- (* 2 lambda2)) (pow (cos (* 0.5 (+ phi2 phi1))) 2))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) 0.968 * [taylor]: Taking taylor expansion of (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) in lambda2 0.968 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) in lambda2 0.968 * [taylor]: Taking taylor expansion of 2 in lambda2 0.968 * [backup-simplify]: Simplify 2 into 2 0.968 * [taylor]: Taking taylor expansion of (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda2 0.968 * [taylor]: Taking taylor expansion of lambda2 in lambda2 0.968 * [backup-simplify]: Simplify 0 into 0 0.968 * [backup-simplify]: Simplify 1 into 1 0.968 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 0.968 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 0.968 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 0.968 * [taylor]: Taking taylor expansion of 0.5 in lambda2 0.968 * [backup-simplify]: Simplify 0.5 into 0.5 0.968 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 0.968 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.968 * [backup-simplify]: Simplify phi2 into phi2 0.968 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.968 * [backup-simplify]: Simplify phi1 into phi1 0.968 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 0.968 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 0.968 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 0.968 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 0.968 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 0.968 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 0.969 * [backup-simplify]: Simplify (- 0) into 0 0.969 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 0.969 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0.969 * [backup-simplify]: Simplify (* 0 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) into 0 0.969 * [backup-simplify]: Simplify (* 2 0) into 0 0.969 * [backup-simplify]: Simplify (- 0) into 0 0.969 * [taylor]: Taking taylor expansion of 0 in phi1 0.969 * [backup-simplify]: Simplify 0 into 0 0.970 * [taylor]: Taking taylor expansion of 0 in phi2 0.970 * [backup-simplify]: Simplify 0 into 0 0.970 * [backup-simplify]: Simplify 0 into 0 0.970 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 0.971 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 1))) into 0 0.971 * [backup-simplify]: Simplify (+ 0 0) into 0 0.971 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ phi2 phi1)))) into 0 0.972 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 0.972 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 0))) into 0 0.972 * [backup-simplify]: Simplify (- 0) into 0 0.973 * [backup-simplify]: Simplify (+ 0 0) into 0 0.973 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ phi2 phi1)))))) into 0 0.973 * [backup-simplify]: Simplify (- 0) into 0 0.973 * [backup-simplify]: Simplify (+ 0 0) into 0 0.974 * [backup-simplify]: Simplify (+ (* (- lambda2) 0) (+ (* 1 1) (* 0 (- lambda2)))) into 1 0.974 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) 0) (+ (* (- (* 2 lambda2)) 0) (* 1 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0.974 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 0.974 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 0.974 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 0.974 * [taylor]: Taking taylor expansion of 0.5 in lambda2 0.974 * [backup-simplify]: Simplify 0.5 into 0.5 0.974 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 0.974 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.974 * [backup-simplify]: Simplify phi2 into phi2 0.974 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.974 * [backup-simplify]: Simplify phi1 into phi1 0.974 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 0.974 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 0.974 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 0.974 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 0.974 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 0.975 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 0.975 * [backup-simplify]: Simplify (- 0) into 0 0.975 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 0.975 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0.975 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1 0.975 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 0.975 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 0.975 * [taylor]: Taking taylor expansion of 0.5 in phi1 0.975 * [backup-simplify]: Simplify 0.5 into 0.5 0.975 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 0.975 * [taylor]: Taking taylor expansion of phi2 in phi1 0.975 * [backup-simplify]: Simplify phi2 into phi2 0.975 * [taylor]: Taking taylor expansion of phi1 in phi1 0.975 * [backup-simplify]: Simplify 0 into 0 0.975 * [backup-simplify]: Simplify 1 into 1 0.975 * [backup-simplify]: Simplify (+ phi2 0) into phi2 0.975 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 0.975 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 0.975 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 0.975 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 0.975 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 0.976 * [backup-simplify]: Simplify (- 0) into 0 0.976 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 0.976 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 0.976 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2 0.976 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 0.976 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 0.976 * [taylor]: Taking taylor expansion of 0.5 in phi2 0.976 * [backup-simplify]: Simplify 0.5 into 0.5 0.976 * [taylor]: Taking taylor expansion of phi2 in phi2 0.976 * [backup-simplify]: Simplify 0 into 0 0.976 * [backup-simplify]: Simplify 1 into 1 0.976 * [backup-simplify]: Simplify (* 0.5 0) into 0 0.977 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 0.977 * [backup-simplify]: Simplify (* 1 1) into 1 0.977 * [backup-simplify]: Simplify 1 into 1 0.978 * [backup-simplify]: Simplify (+ 0) into 0 0.978 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 0.978 * [backup-simplify]: Simplify (+ 0 0) into 0 0.979 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 0.979 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 0.979 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 0.979 * [backup-simplify]: Simplify (- 0) into 0 0.980 * [backup-simplify]: Simplify (+ 0 0) into 0 0.980 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 0.980 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0.981 * [backup-simplify]: Simplify (+ (* 2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* 0 0)) into (* 2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) 0.981 * [backup-simplify]: Simplify (- (* 2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) into (- (* 2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) 0.981 * [taylor]: Taking taylor expansion of (- (* 2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) in phi1 0.981 * [taylor]: Taking taylor expansion of (* 2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in phi1 0.981 * [taylor]: Taking taylor expansion of 2 in phi1 0.981 * [backup-simplify]: Simplify 2 into 2 0.981 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1 0.981 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 0.981 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 0.981 * [taylor]: Taking taylor expansion of 0.5 in phi1 0.981 * [backup-simplify]: Simplify 0.5 into 0.5 0.981 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 0.981 * [taylor]: Taking taylor expansion of phi2 in phi1 0.981 * [backup-simplify]: Simplify phi2 into phi2 0.981 * [taylor]: Taking taylor expansion of phi1 in phi1 0.981 * [backup-simplify]: Simplify 0 into 0 0.981 * [backup-simplify]: Simplify 1 into 1 0.981 * [backup-simplify]: Simplify (+ phi2 0) into phi2 0.981 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 0.981 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 0.981 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 0.981 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 0.981 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 0.982 * [backup-simplify]: Simplify (- 0) into 0 0.982 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 0.982 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 0.982 * [backup-simplify]: Simplify (* 2 (pow (cos (* 0.5 phi2)) 2)) into (* 2 (pow (cos (* 0.5 phi2)) 2)) 0.982 * [backup-simplify]: Simplify (- (* 2 (pow (cos (* 0.5 phi2)) 2))) into (- (* 2 (pow (cos (* 0.5 phi2)) 2))) 0.982 * [taylor]: Taking taylor expansion of (- (* 2 (pow (cos (* 0.5 phi2)) 2))) in phi2 0.982 * [taylor]: Taking taylor expansion of (* 2 (pow (cos (* 0.5 phi2)) 2)) in phi2 0.982 * [taylor]: Taking taylor expansion of 2 in phi2 0.982 * [backup-simplify]: Simplify 2 into 2 0.982 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2 0.982 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 0.982 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 0.982 * [taylor]: Taking taylor expansion of 0.5 in phi2 0.982 * [backup-simplify]: Simplify 0.5 into 0.5 0.982 * [taylor]: Taking taylor expansion of phi2 in phi2 0.982 * [backup-simplify]: Simplify 0 into 0 0.982 * [backup-simplify]: Simplify 1 into 1 0.983 * [backup-simplify]: Simplify (* 0.5 0) into 0 0.983 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 0.984 * [backup-simplify]: Simplify (* 1 1) into 1 0.984 * [backup-simplify]: Simplify (* 2 1) into 2 0.984 * [backup-simplify]: Simplify (- 2) into -2 0.984 * [backup-simplify]: Simplify -2 into -2 0.984 * [backup-simplify]: Simplify (* 1 1) into 1 0.985 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0.985 * [backup-simplify]: Simplify (* 1 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0.985 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1 0.985 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 0.985 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 0.985 * [taylor]: Taking taylor expansion of 0.5 in phi1 0.985 * [backup-simplify]: Simplify 0.5 into 0.5 0.985 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 0.985 * [taylor]: Taking taylor expansion of phi2 in phi1 0.985 * [backup-simplify]: Simplify phi2 into phi2 0.985 * [taylor]: Taking taylor expansion of phi1 in phi1 0.985 * [backup-simplify]: Simplify 0 into 0 0.985 * [backup-simplify]: Simplify 1 into 1 0.985 * [backup-simplify]: Simplify (+ phi2 0) into phi2 0.985 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 0.985 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 0.985 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 0.985 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 0.985 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 0.985 * [backup-simplify]: Simplify (- 0) into 0 0.985 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 0.986 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 0.986 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2 0.986 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 0.986 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 0.986 * [taylor]: Taking taylor expansion of 0.5 in phi2 0.986 * [backup-simplify]: Simplify 0.5 into 0.5 0.986 * [taylor]: Taking taylor expansion of phi2 in phi2 0.986 * [backup-simplify]: Simplify 0 into 0 0.986 * [backup-simplify]: Simplify 1 into 1 0.986 * [backup-simplify]: Simplify (* 0.5 0) into 0 0.987 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 0.987 * [backup-simplify]: Simplify (* 1 1) into 1 0.987 * [backup-simplify]: Simplify 1 into 1 0.987 * [backup-simplify]: Simplify (+ (* 1 (pow (* 1 (* 1 (* lambda2 1))) 2)) (+ (* -2 (* 1 (* 1 (* lambda2 lambda1)))) (* 1 (pow (* 1 (* 1 (* 1 lambda1))) 2)))) into (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) 0.988 * [backup-simplify]: Simplify (* (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (/ (+ (/ 1 phi1) (/ 1 phi2)) 2.0))) (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (/ (+ (/ 1 phi1) (/ 1 phi2)) 2.0)))) into (* (pow (- (/ 1 lambda1) (/ 1 lambda2)) 2) (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) 0.988 * [approximate]: Taking taylor expansion of (* (pow (- (/ 1 lambda1) (/ 1 lambda2)) 2) (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) in (lambda1 lambda2 phi1 phi2) around 0 0.988 * [taylor]: Taking taylor expansion of (* (pow (- (/ 1 lambda1) (/ 1 lambda2)) 2) (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) in phi2 0.988 * [taylor]: Taking taylor expansion of (pow (- (/ 1 lambda1) (/ 1 lambda2)) 2) in phi2 0.988 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in phi2 0.988 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi2 0.988 * [taylor]: Taking taylor expansion of lambda1 in phi2 0.988 * [backup-simplify]: Simplify lambda1 into lambda1 0.988 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 0.988 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi2 0.988 * [taylor]: Taking taylor expansion of lambda2 in phi2 0.988 * [backup-simplify]: Simplify lambda2 into lambda2 0.988 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 0.988 * [backup-simplify]: Simplify (- (/ 1 lambda2)) into (- (/ 1 lambda2)) 0.988 * [backup-simplify]: Simplify (+ (/ 1 lambda1) (- (/ 1 lambda2))) into (- (/ 1 lambda1) (/ 1 lambda2)) 0.988 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 0.988 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 0.988 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 0.988 * [taylor]: Taking taylor expansion of 0.5 in phi2 0.988 * [backup-simplify]: Simplify 0.5 into 0.5 0.988 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 0.988 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 0.988 * [taylor]: Taking taylor expansion of phi1 in phi2 0.988 * [backup-simplify]: Simplify phi1 into phi1 0.988 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.988 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 0.988 * [taylor]: Taking taylor expansion of phi2 in phi2 0.988 * [backup-simplify]: Simplify 0 into 0 0.988 * [backup-simplify]: Simplify 1 into 1 0.989 * [backup-simplify]: Simplify (/ 1 1) into 1 0.989 * [backup-simplify]: Simplify (+ 0 1) into 1 0.989 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 0.989 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.989 * [taylor]: Taking taylor expansion of (* (pow (- (/ 1 lambda1) (/ 1 lambda2)) 2) (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) in phi1 0.989 * [taylor]: Taking taylor expansion of (pow (- (/ 1 lambda1) (/ 1 lambda2)) 2) in phi1 0.989 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in phi1 0.989 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi1 0.989 * [taylor]: Taking taylor expansion of lambda1 in phi1 0.990 * [backup-simplify]: Simplify lambda1 into lambda1 0.990 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 0.990 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi1 0.990 * [taylor]: Taking taylor expansion of lambda2 in phi1 0.990 * [backup-simplify]: Simplify lambda2 into lambda2 0.990 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 0.990 * [backup-simplify]: Simplify (- (/ 1 lambda2)) into (- (/ 1 lambda2)) 0.990 * [backup-simplify]: Simplify (+ (/ 1 lambda1) (- (/ 1 lambda2))) into (- (/ 1 lambda1) (/ 1 lambda2)) 0.990 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 0.990 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 0.990 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 0.990 * [taylor]: Taking taylor expansion of 0.5 in phi1 0.990 * [backup-simplify]: Simplify 0.5 into 0.5 0.990 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 0.990 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 0.990 * [taylor]: Taking taylor expansion of phi1 in phi1 0.990 * [backup-simplify]: Simplify 0 into 0 0.990 * [backup-simplify]: Simplify 1 into 1 0.990 * [backup-simplify]: Simplify (/ 1 1) into 1 0.990 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 0.990 * [taylor]: Taking taylor expansion of phi2 in phi1 0.990 * [backup-simplify]: Simplify phi2 into phi2 0.990 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.991 * [backup-simplify]: Simplify (+ 1 0) into 1 0.991 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 0.991 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.991 * [taylor]: Taking taylor expansion of (* (pow (- (/ 1 lambda1) (/ 1 lambda2)) 2) (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) in lambda2 0.991 * [taylor]: Taking taylor expansion of (pow (- (/ 1 lambda1) (/ 1 lambda2)) 2) in lambda2 0.991 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda2 0.991 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda2 0.991 * [taylor]: Taking taylor expansion of lambda1 in lambda2 0.991 * [backup-simplify]: Simplify lambda1 into lambda1 0.991 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 0.991 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda2 0.991 * [taylor]: Taking taylor expansion of lambda2 in lambda2 0.991 * [backup-simplify]: Simplify 0 into 0 0.991 * [backup-simplify]: Simplify 1 into 1 0.991 * [backup-simplify]: Simplify (/ 1 1) into 1 0.992 * [backup-simplify]: Simplify (- 1) into -1 0.992 * [backup-simplify]: Simplify (+ 0 -1) into -1 0.992 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 0.992 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 0.992 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 0.992 * [taylor]: Taking taylor expansion of 0.5 in lambda2 0.992 * [backup-simplify]: Simplify 0.5 into 0.5 0.992 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 0.992 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 0.992 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.992 * [backup-simplify]: Simplify phi1 into phi1 0.992 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.992 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 0.992 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.992 * [backup-simplify]: Simplify phi2 into phi2 0.992 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.992 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 0.992 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 0.992 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.992 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.993 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.993 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 0.993 * [backup-simplify]: Simplify (- 0) into 0 0.993 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.993 * [taylor]: Taking taylor expansion of (* (pow (- (/ 1 lambda1) (/ 1 lambda2)) 2) (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) in lambda1 0.993 * [taylor]: Taking taylor expansion of (pow (- (/ 1 lambda1) (/ 1 lambda2)) 2) in lambda1 0.993 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda1 0.993 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1 0.993 * [taylor]: Taking taylor expansion of lambda1 in lambda1 0.993 * [backup-simplify]: Simplify 0 into 0 0.993 * [backup-simplify]: Simplify 1 into 1 0.993 * [backup-simplify]: Simplify (/ 1 1) into 1 0.993 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1 0.993 * [taylor]: Taking taylor expansion of lambda2 in lambda1 0.993 * [backup-simplify]: Simplify lambda2 into lambda2 0.993 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 0.994 * [backup-simplify]: Simplify (+ 1 0) into 1 0.994 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 0.994 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 0.994 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 0.994 * [taylor]: Taking taylor expansion of 0.5 in lambda1 0.994 * [backup-simplify]: Simplify 0.5 into 0.5 0.994 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 0.994 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 0.994 * [taylor]: Taking taylor expansion of phi1 in lambda1 0.994 * [backup-simplify]: Simplify phi1 into phi1 0.994 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.994 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 0.994 * [taylor]: Taking taylor expansion of phi2 in lambda1 0.994 * [backup-simplify]: Simplify phi2 into phi2 0.994 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.994 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 0.994 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 0.994 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.994 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.994 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.995 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 0.995 * [backup-simplify]: Simplify (- 0) into 0 0.995 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.995 * [taylor]: Taking taylor expansion of (* (pow (- (/ 1 lambda1) (/ 1 lambda2)) 2) (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) in lambda1 0.995 * [taylor]: Taking taylor expansion of (pow (- (/ 1 lambda1) (/ 1 lambda2)) 2) in lambda1 0.995 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda1 0.995 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1 0.995 * [taylor]: Taking taylor expansion of lambda1 in lambda1 0.995 * [backup-simplify]: Simplify 0 into 0 0.995 * [backup-simplify]: Simplify 1 into 1 0.995 * [backup-simplify]: Simplify (/ 1 1) into 1 0.995 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1 0.995 * [taylor]: Taking taylor expansion of lambda2 in lambda1 0.995 * [backup-simplify]: Simplify lambda2 into lambda2 0.995 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 0.996 * [backup-simplify]: Simplify (+ 1 0) into 1 0.996 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 0.996 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 0.996 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 0.996 * [taylor]: Taking taylor expansion of 0.5 in lambda1 0.996 * [backup-simplify]: Simplify 0.5 into 0.5 0.996 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 0.996 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 0.996 * [taylor]: Taking taylor expansion of phi1 in lambda1 0.996 * [backup-simplify]: Simplify phi1 into phi1 0.996 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.996 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 0.996 * [taylor]: Taking taylor expansion of phi2 in lambda1 0.996 * [backup-simplify]: Simplify phi2 into phi2 0.996 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.996 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 0.996 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 0.996 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.996 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.996 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.997 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 0.997 * [backup-simplify]: Simplify (- 0) into 0 0.997 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.997 * [backup-simplify]: Simplify (* 1 1) into 1 0.997 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.998 * [backup-simplify]: Simplify (* 1 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.998 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 0.998 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 0.998 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 0.998 * [taylor]: Taking taylor expansion of 0.5 in lambda2 0.998 * [backup-simplify]: Simplify 0.5 into 0.5 0.998 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 0.998 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 0.998 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.998 * [backup-simplify]: Simplify phi1 into phi1 0.998 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.998 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 0.998 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.998 * [backup-simplify]: Simplify phi2 into phi2 0.998 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.998 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 0.998 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 0.998 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.998 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.998 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.998 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 1.004 * [backup-simplify]: Simplify (- 0) into 0 1.004 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1.005 * [backup-simplify]: Simplify (+ 0) into 0 1.005 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 1.006 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 1.006 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 1.006 * [backup-simplify]: Simplify (+ 0 0) into 0 1.006 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 1.007 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.007 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 1.008 * [backup-simplify]: Simplify (- 0) into 0 1.008 * [backup-simplify]: Simplify (+ 0 0) into 0 1.008 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 1.009 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 1.009 * [backup-simplify]: Simplify (- (/ 1 lambda2)) into (- (/ 1 lambda2)) 1.009 * [backup-simplify]: Simplify (+ 0 (- (/ 1 lambda2))) into (- (/ 1 lambda2)) 1.009 * [backup-simplify]: Simplify (+ (* 1 (- (/ 1 lambda2))) (* (- (/ 1 lambda2)) 1)) into (- (* 2 (/ 1 lambda2))) 1.010 * [backup-simplify]: Simplify (+ (* 1 0) (* (- (* 2 (/ 1 lambda2))) (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 1.010 * [taylor]: Taking taylor expansion of (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) in lambda2 1.010 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) in lambda2 1.010 * [taylor]: Taking taylor expansion of 2 in lambda2 1.010 * [backup-simplify]: Simplify 2 into 2 1.010 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) in lambda2 1.010 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 1.010 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 1.010 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 1.010 * [taylor]: Taking taylor expansion of 0.5 in lambda2 1.010 * [backup-simplify]: Simplify 0.5 into 0.5 1.010 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 1.010 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 1.010 * [taylor]: Taking taylor expansion of phi1 in lambda2 1.010 * [backup-simplify]: Simplify phi1 into phi1 1.010 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 1.010 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 1.010 * [taylor]: Taking taylor expansion of phi2 in lambda2 1.010 * [backup-simplify]: Simplify phi2 into phi2 1.010 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 1.010 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 1.010 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 1.010 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1.011 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1.011 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1.011 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 1.011 * [backup-simplify]: Simplify (- 0) into 0 1.011 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1.011 * [taylor]: Taking taylor expansion of lambda2 in lambda2 1.011 * [backup-simplify]: Simplify 0 into 0 1.011 * [backup-simplify]: Simplify 1 into 1 1.012 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1.012 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1.012 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 1.013 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 1.013 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 1.013 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 1.013 * [backup-simplify]: Simplify (+ 0 0) into 0 1.014 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 1.015 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 1.015 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 1.016 * [backup-simplify]: Simplify (- 0) into 0 1.016 * [backup-simplify]: Simplify (+ 0 0) into 0 1.016 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 1.017 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)))) into 0 1.017 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)))) into 0 1.017 * [backup-simplify]: Simplify (- 0) into 0 1.017 * [backup-simplify]: Simplify (+ 0 0) into 0 1.018 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* (- (/ 1 lambda2)) (- (/ 1 lambda2))) (* 0 1))) into (/ 1 (pow lambda2 2)) 1.019 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* (- (* 2 (/ 1 lambda2))) 0) (* (/ 1 (pow lambda2 2)) (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 1.019 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda2 1.019 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 1.019 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 1.019 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 1.019 * [taylor]: Taking taylor expansion of 0.5 in lambda2 1.019 * [backup-simplify]: Simplify 0.5 into 0.5 1.019 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 1.019 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 1.019 * [taylor]: Taking taylor expansion of phi1 in lambda2 1.019 * [backup-simplify]: Simplify phi1 into phi1 1.019 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 1.019 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 1.019 * [taylor]: Taking taylor expansion of phi2 in lambda2 1.019 * [backup-simplify]: Simplify phi2 into phi2 1.019 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 1.019 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 1.019 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 1.019 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1.020 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1.020 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1.020 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 1.020 * [backup-simplify]: Simplify (- 0) into 0 1.021 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1.021 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 1.021 * [taylor]: Taking taylor expansion of lambda2 in lambda2 1.021 * [backup-simplify]: Simplify 0 into 0 1.021 * [backup-simplify]: Simplify 1 into 1 1.021 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1.021 * [backup-simplify]: Simplify (* 1 1) into 1 1.022 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1.022 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 1.022 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 1.022 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 1.022 * [taylor]: Taking taylor expansion of 0.5 in phi1 1.022 * [backup-simplify]: Simplify 0.5 into 0.5 1.022 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 1.022 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 1.022 * [taylor]: Taking taylor expansion of phi1 in phi1 1.022 * [backup-simplify]: Simplify 0 into 0 1.022 * [backup-simplify]: Simplify 1 into 1 1.022 * [backup-simplify]: Simplify (/ 1 1) into 1 1.022 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 1.022 * [taylor]: Taking taylor expansion of phi2 in phi1 1.022 * [backup-simplify]: Simplify phi2 into phi2 1.022 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 1.023 * [backup-simplify]: Simplify (+ 1 0) into 1 1.023 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 1.023 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1.023 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1.023 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 1.023 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 1.023 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 1.023 * [taylor]: Taking taylor expansion of 0.5 in phi2 1.023 * [backup-simplify]: Simplify 0.5 into 0.5 1.023 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 1.024 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 1.024 * [taylor]: Taking taylor expansion of phi1 in phi2 1.024 * [backup-simplify]: Simplify phi1 into phi1 1.024 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 1.024 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 1.024 * [taylor]: Taking taylor expansion of phi2 in phi2 1.024 * [backup-simplify]: Simplify 0 into 0 1.024 * [backup-simplify]: Simplify 1 into 1 1.024 * [backup-simplify]: Simplify (/ 1 1) into 1 1.024 * [backup-simplify]: Simplify (+ 0 1) into 1 1.024 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 1.025 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1.025 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1.025 * [backup-simplify]: Simplify (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1.025 * [backup-simplify]: Simplify (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) 1.025 * [backup-simplify]: Simplify (- (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) into (- (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) 1.026 * [taylor]: Taking taylor expansion of (- (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) in phi1 1.026 * [taylor]: Taking taylor expansion of (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) in phi1 1.026 * [taylor]: Taking taylor expansion of 2 in phi1 1.026 * [backup-simplify]: Simplify 2 into 2 1.026 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 1.026 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 1.026 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 1.026 * [taylor]: Taking taylor expansion of 0.5 in phi1 1.026 * [backup-simplify]: Simplify 0.5 into 0.5 1.026 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 1.026 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 1.026 * [taylor]: Taking taylor expansion of phi1 in phi1 1.026 * [backup-simplify]: Simplify 0 into 0 1.026 * [backup-simplify]: Simplify 1 into 1 1.026 * [backup-simplify]: Simplify (/ 1 1) into 1 1.026 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 1.026 * [taylor]: Taking taylor expansion of phi2 in phi1 1.026 * [backup-simplify]: Simplify phi2 into phi2 1.026 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 1.026 * [backup-simplify]: Simplify (+ 1 0) into 1 1.027 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 1.027 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1.027 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1.027 * [backup-simplify]: Simplify (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) 1.027 * [backup-simplify]: Simplify (- (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) into (- (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) 1.027 * [taylor]: Taking taylor expansion of (- (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) in phi2 1.027 * [taylor]: Taking taylor expansion of (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) in phi2 1.027 * [taylor]: Taking taylor expansion of 2 in phi2 1.027 * [backup-simplify]: Simplify 2 into 2 1.027 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 1.027 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 1.027 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 1.027 * [taylor]: Taking taylor expansion of 0.5 in phi2 1.028 * [backup-simplify]: Simplify 0.5 into 0.5 1.028 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 1.028 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 1.028 * [taylor]: Taking taylor expansion of phi1 in phi2 1.028 * [backup-simplify]: Simplify phi1 into phi1 1.028 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 1.028 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 1.028 * [taylor]: Taking taylor expansion of phi2 in phi2 1.028 * [backup-simplify]: Simplify 0 into 0 1.028 * [backup-simplify]: Simplify 1 into 1 1.028 * [backup-simplify]: Simplify (/ 1 1) into 1 1.028 * [backup-simplify]: Simplify (+ 0 1) into 1 1.028 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 1.029 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1.029 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1.029 * [backup-simplify]: Simplify (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) 1.029 * [backup-simplify]: Simplify (- (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) into (- (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) 1.029 * [backup-simplify]: Simplify (- (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) into (- (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) 1.030 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1.030 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 1.030 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 1.030 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 1.030 * [taylor]: Taking taylor expansion of 0.5 in phi1 1.030 * [backup-simplify]: Simplify 0.5 into 0.5 1.030 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 1.030 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 1.030 * [taylor]: Taking taylor expansion of phi1 in phi1 1.030 * [backup-simplify]: Simplify 0 into 0 1.030 * [backup-simplify]: Simplify 1 into 1 1.030 * [backup-simplify]: Simplify (/ 1 1) into 1 1.030 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 1.030 * [taylor]: Taking taylor expansion of phi2 in phi1 1.030 * [backup-simplify]: Simplify phi2 into phi2 1.030 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 1.030 * [backup-simplify]: Simplify (+ 1 0) into 1 1.031 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 1.031 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1.031 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1.031 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 1.031 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 1.031 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 1.031 * [taylor]: Taking taylor expansion of 0.5 in phi2 1.031 * [backup-simplify]: Simplify 0.5 into 0.5 1.031 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 1.031 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 1.031 * [taylor]: Taking taylor expansion of phi1 in phi2 1.031 * [backup-simplify]: Simplify phi1 into phi1 1.031 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 1.031 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 1.031 * [taylor]: Taking taylor expansion of phi2 in phi2 1.031 * [backup-simplify]: Simplify 0 into 0 1.031 * [backup-simplify]: Simplify 1 into 1 1.031 * [backup-simplify]: Simplify (/ 1 1) into 1 1.032 * [backup-simplify]: Simplify (+ 0 1) into 1 1.032 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 1.032 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1.032 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1.032 * [backup-simplify]: Simplify (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1.034 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))) 2) (pow (* 1 (* 1 (* 1 (/ 1 (/ 1 lambda1))))) 2)) (+ (* (- (* 2 (pow (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))) 2))) (* 1 (* 1 (* (/ 1 (/ 1 lambda2)) (/ 1 (/ 1 lambda1)))))) (* (pow (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))) 2) (pow (* 1 (* 1 (* (/ 1 (/ 1 lambda2)) 1))) 2)))) into (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) 1.034 * [backup-simplify]: Simplify (* (* (- (/ 1 (- lambda1)) (/ 1 (- lambda2))) (cos (/ (+ (/ 1 (- phi1)) (/ 1 (- phi2))) 2.0))) (* (- (/ 1 (- lambda1)) (/ 1 (- lambda2))) (cos (/ (+ (/ 1 (- phi1)) (/ 1 (- phi2))) 2.0)))) into (* (pow (- (/ 1 lambda2) (/ 1 lambda1)) 2) (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) 1.034 * [approximate]: Taking taylor expansion of (* (pow (- (/ 1 lambda2) (/ 1 lambda1)) 2) (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) in (lambda1 lambda2 phi1 phi2) around 0 1.034 * [taylor]: Taking taylor expansion of (* (pow (- (/ 1 lambda2) (/ 1 lambda1)) 2) (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) in phi2 1.034 * [taylor]: Taking taylor expansion of (pow (- (/ 1 lambda2) (/ 1 lambda1)) 2) in phi2 1.034 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in phi2 1.034 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi2 1.034 * [taylor]: Taking taylor expansion of lambda2 in phi2 1.034 * [backup-simplify]: Simplify lambda2 into lambda2 1.034 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 1.034 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi2 1.034 * [taylor]: Taking taylor expansion of lambda1 in phi2 1.034 * [backup-simplify]: Simplify lambda1 into lambda1 1.034 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 1.034 * [backup-simplify]: Simplify (- (/ 1 lambda1)) into (- (/ 1 lambda1)) 1.034 * [backup-simplify]: Simplify (+ (/ 1 lambda2) (- (/ 1 lambda1))) into (- (/ 1 lambda2) (/ 1 lambda1)) 1.035 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 1.035 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 1.035 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 1.035 * [taylor]: Taking taylor expansion of -0.5 in phi2 1.035 * [backup-simplify]: Simplify -0.5 into -0.5 1.035 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 1.035 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 1.035 * [taylor]: Taking taylor expansion of phi1 in phi2 1.035 * [backup-simplify]: Simplify phi1 into phi1 1.035 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 1.035 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 1.035 * [taylor]: Taking taylor expansion of phi2 in phi2 1.035 * [backup-simplify]: Simplify 0 into 0 1.035 * [backup-simplify]: Simplify 1 into 1 1.035 * [backup-simplify]: Simplify (/ 1 1) into 1 1.035 * [backup-simplify]: Simplify (+ 0 1) into 1 1.036 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 1.036 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1.036 * [taylor]: Taking taylor expansion of (* (pow (- (/ 1 lambda2) (/ 1 lambda1)) 2) (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) in phi1 1.036 * [taylor]: Taking taylor expansion of (pow (- (/ 1 lambda2) (/ 1 lambda1)) 2) in phi1 1.036 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in phi1 1.036 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi1 1.036 * [taylor]: Taking taylor expansion of lambda2 in phi1 1.036 * [backup-simplify]: Simplify lambda2 into lambda2 1.036 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 1.036 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi1 1.036 * [taylor]: Taking taylor expansion of lambda1 in phi1 1.036 * [backup-simplify]: Simplify lambda1 into lambda1 1.036 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 1.036 * [backup-simplify]: Simplify (- (/ 1 lambda1)) into (- (/ 1 lambda1)) 1.036 * [backup-simplify]: Simplify (+ (/ 1 lambda2) (- (/ 1 lambda1))) into (- (/ 1 lambda2) (/ 1 lambda1)) 1.036 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 1.036 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 1.036 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 1.036 * [taylor]: Taking taylor expansion of -0.5 in phi1 1.036 * [backup-simplify]: Simplify -0.5 into -0.5 1.036 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 1.036 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 1.036 * [taylor]: Taking taylor expansion of phi1 in phi1 1.036 * [backup-simplify]: Simplify 0 into 0 1.036 * [backup-simplify]: Simplify 1 into 1 1.037 * [backup-simplify]: Simplify (/ 1 1) into 1 1.037 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 1.037 * [taylor]: Taking taylor expansion of phi2 in phi1 1.037 * [backup-simplify]: Simplify phi2 into phi2 1.037 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 1.037 * [backup-simplify]: Simplify (+ 1 0) into 1 1.037 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 1.037 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1.037 * [taylor]: Taking taylor expansion of (* (pow (- (/ 1 lambda2) (/ 1 lambda1)) 2) (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) in lambda2 1.037 * [taylor]: Taking taylor expansion of (pow (- (/ 1 lambda2) (/ 1 lambda1)) 2) in lambda2 1.037 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda2 1.037 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda2 1.037 * [taylor]: Taking taylor expansion of lambda2 in lambda2 1.037 * [backup-simplify]: Simplify 0 into 0 1.037 * [backup-simplify]: Simplify 1 into 1 1.038 * [backup-simplify]: Simplify (/ 1 1) into 1 1.038 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda2 1.038 * [taylor]: Taking taylor expansion of lambda1 in lambda2 1.038 * [backup-simplify]: Simplify lambda1 into lambda1 1.038 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 1.038 * [backup-simplify]: Simplify (+ 1 0) into 1 1.038 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 1.038 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 1.038 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 1.038 * [taylor]: Taking taylor expansion of -0.5 in lambda2 1.038 * [backup-simplify]: Simplify -0.5 into -0.5 1.038 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 1.038 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 1.038 * [taylor]: Taking taylor expansion of phi1 in lambda2 1.038 * [backup-simplify]: Simplify phi1 into phi1 1.038 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 1.038 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 1.038 * [taylor]: Taking taylor expansion of phi2 in lambda2 1.038 * [backup-simplify]: Simplify phi2 into phi2 1.038 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 1.038 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 1.038 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 1.039 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1.039 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1.039 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1.039 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 1.039 * [backup-simplify]: Simplify (- 0) into 0 1.039 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1.039 * [taylor]: Taking taylor expansion of (* (pow (- (/ 1 lambda2) (/ 1 lambda1)) 2) (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) in lambda1 1.039 * [taylor]: Taking taylor expansion of (pow (- (/ 1 lambda2) (/ 1 lambda1)) 2) in lambda1 1.039 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda1 1.039 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1 1.039 * [taylor]: Taking taylor expansion of lambda2 in lambda1 1.039 * [backup-simplify]: Simplify lambda2 into lambda2 1.039 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 1.039 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1 1.039 * [taylor]: Taking taylor expansion of lambda1 in lambda1 1.039 * [backup-simplify]: Simplify 0 into 0 1.039 * [backup-simplify]: Simplify 1 into 1 1.040 * [backup-simplify]: Simplify (/ 1 1) into 1 1.040 * [backup-simplify]: Simplify (- 1) into -1 1.040 * [backup-simplify]: Simplify (+ 0 -1) into -1 1.040 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 1.040 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 1.040 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 1.040 * [taylor]: Taking taylor expansion of -0.5 in lambda1 1.040 * [backup-simplify]: Simplify -0.5 into -0.5 1.040 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 1.040 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 1.040 * [taylor]: Taking taylor expansion of phi1 in lambda1 1.040 * [backup-simplify]: Simplify phi1 into phi1 1.040 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 1.040 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 1.040 * [taylor]: Taking taylor expansion of phi2 in lambda1 1.040 * [backup-simplify]: Simplify phi2 into phi2 1.041 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 1.041 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 1.041 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 1.041 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1.041 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1.041 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1.041 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 1.041 * [backup-simplify]: Simplify (- 0) into 0 1.041 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1.041 * [taylor]: Taking taylor expansion of (* (pow (- (/ 1 lambda2) (/ 1 lambda1)) 2) (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) in lambda1 1.041 * [taylor]: Taking taylor expansion of (pow (- (/ 1 lambda2) (/ 1 lambda1)) 2) in lambda1 1.041 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda1 1.042 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1 1.042 * [taylor]: Taking taylor expansion of lambda2 in lambda1 1.042 * [backup-simplify]: Simplify lambda2 into lambda2 1.042 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 1.042 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1 1.042 * [taylor]: Taking taylor expansion of lambda1 in lambda1 1.042 * [backup-simplify]: Simplify 0 into 0 1.042 * [backup-simplify]: Simplify 1 into 1 1.042 * [backup-simplify]: Simplify (/ 1 1) into 1 1.042 * [backup-simplify]: Simplify (- 1) into -1 1.042 * [backup-simplify]: Simplify (+ 0 -1) into -1 1.042 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 1.042 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 1.042 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 1.042 * [taylor]: Taking taylor expansion of -0.5 in lambda1 1.042 * [backup-simplify]: Simplify -0.5 into -0.5 1.042 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 1.042 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 1.043 * [taylor]: Taking taylor expansion of phi1 in lambda1 1.043 * [backup-simplify]: Simplify phi1 into phi1 1.043 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 1.043 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 1.043 * [taylor]: Taking taylor expansion of phi2 in lambda1 1.043 * [backup-simplify]: Simplify phi2 into phi2 1.043 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 1.043 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 1.043 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 1.043 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1.043 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1.043 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1.043 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 1.043 * [backup-simplify]: Simplify (- 0) into 0 1.044 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1.044 * [backup-simplify]: Simplify (* -1 -1) into 1 1.044 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1.044 * [backup-simplify]: Simplify (* 1 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1.044 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 1.044 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 1.044 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 1.044 * [taylor]: Taking taylor expansion of -0.5 in lambda2 1.044 * [backup-simplify]: Simplify -0.5 into -0.5 1.044 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 1.044 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 1.044 * [taylor]: Taking taylor expansion of phi1 in lambda2 1.044 * [backup-simplify]: Simplify phi1 into phi1 1.045 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 1.045 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 1.045 * [taylor]: Taking taylor expansion of phi2 in lambda2 1.045 * [backup-simplify]: Simplify phi2 into phi2 1.045 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 1.045 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 1.045 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 1.045 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1.045 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1.045 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1.045 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 1.045 * [backup-simplify]: Simplify (- 0) into 0 1.045 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1.046 * [backup-simplify]: Simplify (+ 0) into 0 1.046 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 1.046 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 1.046 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 1.047 * [backup-simplify]: Simplify (+ 0 0) into 0 1.047 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 1.047 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.048 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 1.048 * [backup-simplify]: Simplify (- 0) into 0 1.048 * [backup-simplify]: Simplify (+ 0 0) into 0 1.048 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 1.049 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 1.049 * [backup-simplify]: Simplify (- 0) into 0 1.049 * [backup-simplify]: Simplify (+ (/ 1 lambda2) 0) into (/ 1 lambda2) 1.049 * [backup-simplify]: Simplify (+ (* -1 (/ 1 lambda2)) (* (/ 1 lambda2) -1)) into (- (* 2 (/ 1 lambda2))) 1.050 * [backup-simplify]: Simplify (+ (* 1 0) (* (- (* 2 (/ 1 lambda2))) (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 1.050 * [taylor]: Taking taylor expansion of (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) in lambda2 1.050 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) in lambda2 1.050 * [taylor]: Taking taylor expansion of 2 in lambda2 1.050 * [backup-simplify]: Simplify 2 into 2 1.050 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) in lambda2 1.050 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 1.050 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 1.050 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 1.050 * [taylor]: Taking taylor expansion of -0.5 in lambda2 1.050 * [backup-simplify]: Simplify -0.5 into -0.5 1.050 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 1.050 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 1.050 * [taylor]: Taking taylor expansion of phi1 in lambda2 1.050 * [backup-simplify]: Simplify phi1 into phi1 1.050 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 1.050 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 1.050 * [taylor]: Taking taylor expansion of phi2 in lambda2 1.050 * [backup-simplify]: Simplify phi2 into phi2 1.050 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 1.050 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 1.050 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 1.050 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1.051 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1.051 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1.051 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 1.051 * [backup-simplify]: Simplify (- 0) into 0 1.051 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1.051 * [taylor]: Taking taylor expansion of lambda2 in lambda2 1.051 * [backup-simplify]: Simplify 0 into 0 1.051 * [backup-simplify]: Simplify 1 into 1 1.052 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1.052 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1.052 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 1.053 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 1.053 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 1.053 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 1.054 * [backup-simplify]: Simplify (+ 0 0) into 0 1.054 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 1.055 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 1.055 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 1.055 * [backup-simplify]: Simplify (- 0) into 0 1.056 * [backup-simplify]: Simplify (+ 0 0) into 0 1.056 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 1.056 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)))) into 0 1.057 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)))) into 0 1.057 * [backup-simplify]: Simplify (- 0) into 0 1.057 * [backup-simplify]: Simplify (+ 0 0) into 0 1.058 * [backup-simplify]: Simplify (+ (* -1 0) (+ (* (/ 1 lambda2) (/ 1 lambda2)) (* 0 -1))) into (/ 1 (pow lambda2 2)) 1.059 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* (- (* 2 (/ 1 lambda2))) 0) (* (/ 1 (pow lambda2 2)) (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 1.059 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda2 1.059 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 1.059 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 1.059 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 1.059 * [taylor]: Taking taylor expansion of -0.5 in lambda2 1.059 * [backup-simplify]: Simplify -0.5 into -0.5 1.059 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 1.059 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 1.059 * [taylor]: Taking taylor expansion of phi1 in lambda2 1.059 * [backup-simplify]: Simplify phi1 into phi1 1.059 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 1.059 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 1.059 * [taylor]: Taking taylor expansion of phi2 in lambda2 1.059 * [backup-simplify]: Simplify phi2 into phi2 1.059 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 1.059 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 1.059 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 1.059 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1.059 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1.060 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1.060 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 1.060 * [backup-simplify]: Simplify (- 0) into 0 1.060 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1.060 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 1.060 * [taylor]: Taking taylor expansion of lambda2 in lambda2 1.060 * [backup-simplify]: Simplify 0 into 0 1.060 * [backup-simplify]: Simplify 1 into 1 1.060 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1.061 * [backup-simplify]: Simplify (* 1 1) into 1 1.061 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1.061 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 1.061 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 1.061 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 1.061 * [taylor]: Taking taylor expansion of -0.5 in phi1 1.061 * [backup-simplify]: Simplify -0.5 into -0.5 1.061 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 1.061 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 1.061 * [taylor]: Taking taylor expansion of phi1 in phi1 1.061 * [backup-simplify]: Simplify 0 into 0 1.061 * [backup-simplify]: Simplify 1 into 1 1.061 * [backup-simplify]: Simplify (/ 1 1) into 1 1.061 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 1.061 * [taylor]: Taking taylor expansion of phi2 in phi1 1.061 * [backup-simplify]: Simplify phi2 into phi2 1.061 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 1.062 * [backup-simplify]: Simplify (+ 1 0) into 1 1.062 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 1.062 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1.062 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1.062 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 1.062 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 1.062 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 1.062 * [taylor]: Taking taylor expansion of -0.5 in phi2 1.063 * [backup-simplify]: Simplify -0.5 into -0.5 1.063 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 1.063 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 1.063 * [taylor]: Taking taylor expansion of phi1 in phi2 1.063 * [backup-simplify]: Simplify phi1 into phi1 1.063 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 1.063 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 1.063 * [taylor]: Taking taylor expansion of phi2 in phi2 1.063 * [backup-simplify]: Simplify 0 into 0 1.063 * [backup-simplify]: Simplify 1 into 1 1.063 * [backup-simplify]: Simplify (/ 1 1) into 1 1.063 * [backup-simplify]: Simplify (+ 0 1) into 1 1.064 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 1.064 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1.064 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1.064 * [backup-simplify]: Simplify (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1.064 * [backup-simplify]: Simplify (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) 1.065 * [backup-simplify]: Simplify (- (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) into (- (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) 1.065 * [taylor]: Taking taylor expansion of (- (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) in phi1 1.065 * [taylor]: Taking taylor expansion of (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) in phi1 1.065 * [taylor]: Taking taylor expansion of 2 in phi1 1.065 * [backup-simplify]: Simplify 2 into 2 1.065 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 1.065 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 1.065 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 1.065 * [taylor]: Taking taylor expansion of -0.5 in phi1 1.065 * [backup-simplify]: Simplify -0.5 into -0.5 1.065 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 1.065 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 1.065 * [taylor]: Taking taylor expansion of phi1 in phi1 1.065 * [backup-simplify]: Simplify 0 into 0 1.065 * [backup-simplify]: Simplify 1 into 1 1.065 * [backup-simplify]: Simplify (/ 1 1) into 1 1.065 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 1.065 * [taylor]: Taking taylor expansion of phi2 in phi1 1.065 * [backup-simplify]: Simplify phi2 into phi2 1.065 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 1.066 * [backup-simplify]: Simplify (+ 1 0) into 1 1.066 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 1.066 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1.066 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1.067 * [backup-simplify]: Simplify (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) 1.067 * [backup-simplify]: Simplify (- (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) into (- (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) 1.067 * [taylor]: Taking taylor expansion of (- (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) in phi2 1.067 * [taylor]: Taking taylor expansion of (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) in phi2 1.067 * [taylor]: Taking taylor expansion of 2 in phi2 1.067 * [backup-simplify]: Simplify 2 into 2 1.067 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 1.067 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 1.067 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 1.067 * [taylor]: Taking taylor expansion of -0.5 in phi2 1.067 * [backup-simplify]: Simplify -0.5 into -0.5 1.067 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 1.067 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 1.067 * [taylor]: Taking taylor expansion of phi1 in phi2 1.067 * [backup-simplify]: Simplify phi1 into phi1 1.067 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 1.067 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 1.067 * [taylor]: Taking taylor expansion of phi2 in phi2 1.067 * [backup-simplify]: Simplify 0 into 0 1.067 * [backup-simplify]: Simplify 1 into 1 1.067 * [backup-simplify]: Simplify (/ 1 1) into 1 1.068 * [backup-simplify]: Simplify (+ 0 1) into 1 1.068 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 1.068 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1.068 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1.069 * [backup-simplify]: Simplify (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) 1.069 * [backup-simplify]: Simplify (- (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) into (- (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) 1.069 * [backup-simplify]: Simplify (- (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) into (- (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) 1.069 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1.069 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 1.069 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 1.069 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 1.069 * [taylor]: Taking taylor expansion of -0.5 in phi1 1.069 * [backup-simplify]: Simplify -0.5 into -0.5 1.069 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 1.069 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 1.069 * [taylor]: Taking taylor expansion of phi1 in phi1 1.069 * [backup-simplify]: Simplify 0 into 0 1.069 * [backup-simplify]: Simplify 1 into 1 1.070 * [backup-simplify]: Simplify (/ 1 1) into 1 1.070 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 1.070 * [taylor]: Taking taylor expansion of phi2 in phi1 1.070 * [backup-simplify]: Simplify phi2 into phi2 1.070 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 1.070 * [backup-simplify]: Simplify (+ 1 0) into 1 1.070 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 1.071 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1.071 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1.071 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 1.071 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 1.071 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 1.071 * [taylor]: Taking taylor expansion of -0.5 in phi2 1.071 * [backup-simplify]: Simplify -0.5 into -0.5 1.071 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 1.071 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 1.071 * [taylor]: Taking taylor expansion of phi1 in phi2 1.071 * [backup-simplify]: Simplify phi1 into phi1 1.071 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 1.071 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 1.071 * [taylor]: Taking taylor expansion of phi2 in phi2 1.071 * [backup-simplify]: Simplify 0 into 0 1.071 * [backup-simplify]: Simplify 1 into 1 1.071 * [backup-simplify]: Simplify (/ 1 1) into 1 1.072 * [backup-simplify]: Simplify (+ 0 1) into 1 1.072 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 1.072 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1.072 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1.072 * [backup-simplify]: Simplify (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1.074 * [backup-simplify]: Simplify (+ (* (pow (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))) 2) (pow (* 1 (* 1 (* 1 (/ 1 (/ 1 (- lambda1)))))) 2)) (+ (* (- (* 2 (pow (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))) 2))) (* 1 (* 1 (* (/ 1 (/ 1 (- lambda2))) (/ 1 (/ 1 (- lambda1))))))) (* (pow (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))) 2) (pow (* 1 (* 1 (* (/ 1 (/ 1 (- lambda2))) 1))) 2)))) into (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) 1.074 * * * [progress]: simplifying candidates 1.079 * [simplify]: Simplifying: (log (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2))))) (exp (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2))))) (* (cbrt (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2))))) (cbrt (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2)))))) (cbrt (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2))))) (* (* (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 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h3) (cos (/ (+ h1 h0) h2)))) (+ 1 1) (+ 1 1) (+ (+ (log (- h4 h3)) (log (cos (/ (+ h1 h0) h2)))) (+ (log (- h4 h3)) (log (cos (/ (+ h1 h0) h2))))) (+ (+ (log (- h4 h3)) (log (cos (/ (+ h1 h0) h2)))) (log (* (- h4 h3) (cos (/ (+ h1 h0) h2))))) (+ (log (* (- h4 h3) (cos (/ (+ h1 h0) h2)))) (+ (log (- h4 h3)) (log (cos (/ (+ h1 h0) h2))))) (+ (log (* (- h4 h3) (cos (/ (+ h1 h0) h2)))) (log (* (- h4 h3) (cos (/ (+ h1 h0) h2))))) (log (* (* (- h4 h3) (cos (/ (+ h1 h0) h2))) (* (- h4 h3) (cos (/ (+ h1 h0) h2))))) (exp (* (* (- h4 h3) (cos (/ (+ h1 h0) h2))) (* (- h4 h3) (cos (/ (+ h1 h0) h2))))) (* (* (* (* (- h4 h3) (- h4 h3)) (- h4 h3)) (* (* (cos (/ (+ h1 h0) h2)) (cos (/ (+ h1 h0) h2))) (cos (/ (+ h1 h0) h2)))) (* (* (* (- h4 h3) (- h4 h3)) (- h4 h3)) (* (* (cos (/ (+ h1 h0) h2)) (cos (/ (+ h1 h0) h2))) (cos (/ (+ h1 h0) h2))))) (* (* (* (* (- h4 h3) (- h4 h3)) (- h4 h3)) (* (* (cos (/ (+ h1 h0) h2)) (cos (/ (+ h1 h0) h2))) (cos (/ (+ h1 h0) h2)))) (* (* (* (- h4 h3) (cos (/ (+ h1 h0) h2))) (* (- h4 h3) (cos (/ (+ h1 h0) h2)))) (* (- h4 h3) (cos (/ (+ h1 h0) h2))))) (* (* (* (* (- h4 h3) (cos (/ (+ h1 h0) h2))) (* (- h4 h3) (cos (/ (+ h1 h0) h2)))) (* (- h4 h3) (cos (/ (+ h1 h0) h2)))) (* (* (* (- h4 h3) (- h4 h3)) (- h4 h3)) (* (* (cos (/ (+ h1 h0) h2)) (cos (/ (+ h1 h0) h2))) (cos (/ (+ h1 h0) h2))))) (* (* (* (* (- h4 h3) (cos (/ (+ h1 h0) h2))) (* (- h4 h3) (cos (/ (+ h1 h0) h2)))) (* (- h4 h3) (cos (/ (+ h1 h0) h2)))) (* (* (* (- h4 h3) (cos (/ (+ h1 h0) h2))) (* (- h4 h3) (cos (/ (+ h1 h0) h2)))) (* (- h4 h3) (cos (/ (+ h1 h0) h2))))) (* (cbrt (* (* (- h4 h3) (cos (/ (+ h1 h0) h2))) (* (- h4 h3) (cos (/ (+ h1 h0) h2))))) (cbrt (* (* (- h4 h3) (cos (/ (+ h1 h0) h2))) (* (- h4 h3) (cos (/ (+ h1 h0) h2)))))) (cbrt (* (* (- h4 h3) (cos (/ (+ h1 h0) h2))) (* (- h4 h3) (cos (/ (+ h1 h0) h2))))) (* (* (* (* (- h4 h3) (cos (/ (+ h1 h0) h2))) (* (- h4 h3) (cos (/ (+ h1 h0) h2)))) (* (* (- h4 h3) (cos (/ (+ h1 h0) h2))) (* (- h4 h3) (cos (/ (+ h1 h0) h2))))) (* (* (- h4 h3) (cos (/ (+ h1 h0) h2))) (* (- h4 h3) (cos (/ (+ h1 h0) h2))))) (sqrt (* (* (- h4 h3) (cos (/ (+ h1 h0) h2))) (* (- h4 h3) (cos (/ (+ h1 h0) h2))))) (sqrt (* (* (- h4 h3) (cos (/ (+ h1 h0) h2))) (* (- h4 h3) (cos (/ (+ h1 h0) h2))))) (* (* (- (pow h4 3) (pow h3 3)) (cos (/ (+ h1 h0) h2))) (* (- (pow h4 3) (pow h3 3)) (cos (/ (+ h1 h0) h2)))) (* (+ (* h4 h4) (+ (* h3 h3) (* h4 h3))) (+ (* h4 h4) (+ (* h3 h3) (* h4 h3)))) (* (* (- (pow h4 3) (pow h3 3)) (cos (/ (+ h1 h0) h2))) (* (- (* h4 h4) (* h3 h3)) (cos (/ (+ h1 h0) h2)))) (* (+ (* h4 h4) (+ (* h3 h3) (* h4 h3))) (+ h4 h3)) (* (* (- (* h4 h4) (* h3 h3)) (cos (/ (+ h1 h0) h2))) (* (- (pow h4 3) (pow h3 3)) (cos (/ (+ h1 h0) h2)))) (* (+ h4 h3) (+ (* h4 h4) (+ (* h3 h3) (* h4 h3)))) (* (* (- (* h4 h4) (* h3 h3)) (cos (/ (+ h1 h0) h2))) (* (- (* h4 h4) (* h3 h3)) (cos (/ (+ h1 h0) h2)))) (* (+ h4 h3) (+ h4 h3)) (* (- h4 h3) (- h4 h3)) (* (cos (/ (+ h1 h0) h2)) (cos (/ (+ h1 h0) h2))) (* 2 1) (* 2 1) (* 2 1) (* 2 1) (* (* (- h4 h3) (cos (/ (+ h1 h0) h2))) (- h4 h3)) (* (cos (/ (+ h1 h0) h2)) (* (- h4 h3) (cos (/ (+ h1 h0) h2)))) (* (* (- h4 h3) (cos (/ (+ h1 h0) h2))) (* (- (pow h4 3) (pow h3 3)) (cos (/ (+ h1 h0) h2)))) (* (* (- h4 h3) (cos (/ (+ h1 h0) h2))) (* (- (* h4 h4) (* h3 h3)) (cos (/ (+ h1 h0) h2)))) (* (* (- (pow h4 3) (pow h3 3)) (cos (/ (+ h1 h0) h2))) (* (- h4 h3) (cos (/ (+ h1 h0) h2)))) (* (* (- (* h4 h4) (* h3 h3)) (cos (/ (+ h1 h0) h2))) (* (- h4 h3) (cos (/ (+ h1 h0) h2)))) (- h0 h1) (- (+ (/ (* h0 (* h3 h1)) (* (cos (* h5 (+ h0 h1))) (pow h4 2))) (+ (/ (* h0 h1) (* (cos (* h5 (+ h0 h1))) h4)) (* h3 (cos (* h5 (+ h0 h1))))))) (+ (/ (* h0 (* h3 h1)) (* (cos (* h5 (+ h0 h1))) (pow h4 2))) (+ (/ (* h0 h1) (* (cos (* h5 (+ h0 h1))) h4)) (* h3 (cos (* h5 (+ h0 h1)))))) (- 1 (+ (* h7 (* h0 h1)) (* h6 (pow h1 2)))) (cos (* h5 (+ h0 h1))) (cos (* h5 (+ h0 h1))) (- 1 (+ (* h7 (* h0 h1)) (* h6 (pow h1 2)))) (cos (* h5 (+ h0 h1))) (cos (* h5 (+ h0 h1))) (- (+ (pow h4 2) (pow h3 2)) (* 2 (* h3 h4))) (- (+ (* (pow h3 2) (pow (cos (* h5 (+ h0 h1))) 2)) (* (pow (cos (* h5 (+ h0 h1))) 2) (pow h4 2))) (* 2 (* h3 (* (pow (cos (* h5 (+ h0 h1))) 2) h4)))) (- (+ (* (pow h3 2) (pow (cos (* h5 (+ h0 h1))) 2)) (* (pow (cos (* h5 (+ h0 h1))) 2) (pow h4 2))) (* 2 (* h3 (* (pow (cos (* h5 (+ h0 h1))) 2) h4)))) 1.131 * * * [progress]: adding candidates to table 1.630 * * [progress]: iteration 2 / 4 1.630 * * * [progress]: picking best candidate 1.657 * * * * [pick]: Picked # 1.657 * * * [progress]: localizing error 1.692 * * * [progress]: generating rewritten candidates 1.692 * * * * [progress]: [ 1 / 4 ] rewriting at (2 2) 2.194 * * * * [progress]: [ 2 / 4 ] rewriting at (2 2 1 1 2 2 2 1) 2.206 * * * * [progress]: [ 3 / 4 ] rewriting at (2 2 1 1 2 2 1 2 1) 2.219 * * * * [progress]: [ 4 / 4 ] rewriting at (2 2 1 1 2 2 1 1 1) 2.240 * * * [progress]: generating series expansions 2.240 * * * * [progress]: [ 1 / 4 ] generating series at (2 2) 2.241 * [backup-simplify]: Simplify (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (* (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))))) (* (- phi1 phi2) (- phi1 phi2)))) into (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) 2.241 * [approximate]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in (lambda1 lambda2 phi1 phi2) around 0 2.241 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in phi2 2.241 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in phi2 2.241 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) in phi2 2.241 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 2.241 * [taylor]: Taking taylor expansion of phi2 in phi2 2.241 * [backup-simplify]: Simplify 0 into 0 2.241 * [backup-simplify]: Simplify 1 into 1 2.241 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) in phi2 2.241 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in phi2 2.241 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 2.241 * [taylor]: Taking taylor expansion of lambda2 in phi2 2.241 * [backup-simplify]: Simplify lambda2 into lambda2 2.242 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2 2.242 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 2.242 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 2.242 * [taylor]: Taking taylor expansion of 0.5 in phi2 2.242 * [backup-simplify]: Simplify 0.5 into 0.5 2.242 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 2.242 * [taylor]: Taking taylor expansion of phi2 in phi2 2.242 * [backup-simplify]: Simplify 0 into 0 2.242 * [backup-simplify]: Simplify 1 into 1 2.242 * [taylor]: Taking taylor expansion of phi1 in phi2 2.242 * [backup-simplify]: Simplify phi1 into phi1 2.242 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 2.242 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 2.242 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 2.242 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 2.242 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 2.242 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 2.242 * [backup-simplify]: Simplify (- 0) into 0 2.243 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 2.243 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) in phi2 2.243 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in phi2 2.243 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2 2.243 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 2.243 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 2.243 * [taylor]: Taking taylor expansion of 0.5 in phi2 2.243 * [backup-simplify]: Simplify 0.5 into 0.5 2.243 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 2.243 * [taylor]: Taking taylor expansion of phi2 in phi2 2.243 * [backup-simplify]: Simplify 0 into 0 2.243 * [backup-simplify]: Simplify 1 into 1 2.243 * [taylor]: Taking taylor expansion of phi1 in phi2 2.243 * [backup-simplify]: Simplify phi1 into phi1 2.243 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 2.243 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 2.243 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 2.243 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 2.243 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 2.243 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 2.243 * [backup-simplify]: Simplify (- 0) into 0 2.243 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 2.243 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 2.243 * [taylor]: Taking taylor expansion of lambda1 in phi2 2.243 * [backup-simplify]: Simplify lambda1 into lambda1 2.243 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 2.243 * [taylor]: Taking taylor expansion of phi1 in phi2 2.243 * [backup-simplify]: Simplify phi1 into phi1 2.244 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in phi2 2.244 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi2 2.244 * [taylor]: Taking taylor expansion of 2 in phi2 2.244 * [backup-simplify]: Simplify 2 into 2 2.244 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2 2.244 * [taylor]: Taking taylor expansion of phi2 in phi2 2.244 * [backup-simplify]: Simplify 0 into 0 2.244 * [backup-simplify]: Simplify 1 into 1 2.244 * [taylor]: Taking taylor expansion of phi1 in phi2 2.244 * [backup-simplify]: Simplify phi1 into phi1 2.244 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in phi2 2.244 * [taylor]: Taking taylor expansion of 2 in phi2 2.244 * [backup-simplify]: Simplify 2 into 2 2.244 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in phi2 2.244 * [taylor]: Taking taylor expansion of lambda2 in phi2 2.244 * [backup-simplify]: Simplify lambda2 into lambda2 2.244 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in phi2 2.244 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2 2.244 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 2.244 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 2.244 * [taylor]: Taking taylor expansion of 0.5 in phi2 2.244 * [backup-simplify]: Simplify 0.5 into 0.5 2.244 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 2.244 * [taylor]: Taking taylor expansion of phi2 in phi2 2.244 * [backup-simplify]: Simplify 0 into 0 2.244 * [backup-simplify]: Simplify 1 into 1 2.244 * [taylor]: Taking taylor expansion of phi1 in phi2 2.244 * [backup-simplify]: Simplify phi1 into phi1 2.244 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 2.244 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 2.244 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 2.244 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 2.244 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 2.244 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 2.244 * [backup-simplify]: Simplify (- 0) into 0 2.245 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 2.245 * [taylor]: Taking taylor expansion of lambda1 in phi2 2.245 * [backup-simplify]: Simplify lambda1 into lambda1 2.245 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 2.245 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 2.245 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow (cos (* 0.5 phi1)) 2)) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) 2.245 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 2.245 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 2.245 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) 2.245 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 2.245 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 2.246 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) 2.246 * [backup-simplify]: Simplify (+ 0 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) 2.247 * [backup-simplify]: Simplify (* 0 phi1) into 0 2.247 * [backup-simplify]: Simplify (* 2 0) into 0 2.247 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 2.247 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) lambda1) into (* (pow (cos (* 0.5 phi1)) 2) lambda1) 2.247 * [backup-simplify]: Simplify (* lambda2 (* (pow (cos (* 0.5 phi1)) 2) lambda1)) into (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)) 2.247 * [backup-simplify]: Simplify (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) into (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) 2.248 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) into (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) 2.248 * [backup-simplify]: Simplify (- (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) into (- (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) 2.248 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (- (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))))) into (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) 2.249 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))))) into (sqrt (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))))) 2.250 * [backup-simplify]: Simplify (+ 0) into 0 2.250 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 2.250 * [backup-simplify]: Simplify (+ 1 0) into 1 2.250 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 2.252 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 2.253 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 2.253 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 2.253 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 2.253 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- (* 0.5 (sin (* 0.5 phi1))))) (* (- (* 0.5 (sin (* 0.5 phi1)))) (cos (* 0.5 phi1)))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) 2.253 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 2.253 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))) (* 0 (pow (cos (* 0.5 phi1)) 2))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) 2.253 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 2.254 * [backup-simplify]: Simplify (+ 0) into 0 2.254 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 2.254 * [backup-simplify]: Simplify (+ 1 0) into 1 2.255 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 2.256 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 2.256 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 2.256 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 2.256 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 2.257 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- (* 0.5 (sin (* 0.5 phi1))))) (* (- (* 0.5 (sin (* 0.5 phi1)))) (cos (* 0.5 phi1)))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) 2.257 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (* (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) (pow lambda1 2))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) 2.257 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 2.257 * [backup-simplify]: Simplify (+ (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) 0) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) 2.258 * [backup-simplify]: Simplify (+ (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) into (- (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) 2.258 * [backup-simplify]: Simplify (+ 0 (- (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))))) into (- (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) 2.259 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 2.259 * [backup-simplify]: Simplify (+ (* 2 phi1) (* 0 0)) into (* 2 phi1) 2.259 * [backup-simplify]: Simplify (+ 0) into 0 2.260 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 2.260 * [backup-simplify]: Simplify (+ 1 0) into 1 2.260 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 2.262 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 2.262 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 2.262 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 2.262 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 2.262 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- (* 0.5 (sin (* 0.5 phi1))))) (* (- (* 0.5 (sin (* 0.5 phi1)))) (cos (* 0.5 phi1)))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) 2.263 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (* (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) lambda1)) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1)))) 2.263 * [backup-simplify]: Simplify (+ (* lambda2 (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1))))) (* 0 (* (pow (cos (* 0.5 phi1)) 2) lambda1))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1))))) 2.263 * [backup-simplify]: Simplify (+ (* 2 (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))))) (* 0 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) into (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1))))) 2.263 * [backup-simplify]: Simplify (+ (* 2 phi1) (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))))) into (- (* 2 phi1) (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1))))) 2.264 * [backup-simplify]: Simplify (- (- (* 2 phi1) (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))))) into (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) (* 2 phi1)) 2.264 * [backup-simplify]: Simplify (+ (- (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) (* 2 phi1))) into (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) (* 2 phi1)))) 2.266 * [backup-simplify]: Simplify (/ (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) (* 2 phi1)))) (* 2 (sqrt (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))))))) into (* 1/2 (* (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) (* 2 phi1)))) (sqrt (/ 1 (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))))) 2.266 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in phi1 2.266 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in phi1 2.266 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) in phi1 2.266 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 2.266 * [taylor]: Taking taylor expansion of phi2 in phi1 2.266 * [backup-simplify]: Simplify phi2 into phi2 2.266 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) in phi1 2.266 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in phi1 2.266 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 2.266 * [taylor]: Taking taylor expansion of lambda2 in phi1 2.266 * [backup-simplify]: Simplify lambda2 into lambda2 2.266 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1 2.266 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 2.266 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 2.266 * [taylor]: Taking taylor expansion of 0.5 in phi1 2.266 * [backup-simplify]: Simplify 0.5 into 0.5 2.266 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 2.266 * [taylor]: Taking taylor expansion of phi2 in phi1 2.266 * [backup-simplify]: Simplify phi2 into phi2 2.266 * [taylor]: Taking taylor expansion of phi1 in phi1 2.266 * [backup-simplify]: Simplify 0 into 0 2.266 * [backup-simplify]: Simplify 1 into 1 2.266 * [backup-simplify]: Simplify (+ phi2 0) into phi2 2.267 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 2.267 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 2.267 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 2.267 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 2.267 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 2.267 * [backup-simplify]: Simplify (- 0) into 0 2.267 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 2.267 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) in phi1 2.267 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in phi1 2.267 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1 2.267 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 2.267 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 2.267 * [taylor]: Taking taylor expansion of 0.5 in phi1 2.267 * [backup-simplify]: Simplify 0.5 into 0.5 2.267 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 2.267 * [taylor]: Taking taylor expansion of phi2 in phi1 2.267 * [backup-simplify]: Simplify phi2 into phi2 2.267 * [taylor]: Taking taylor expansion of phi1 in phi1 2.267 * [backup-simplify]: Simplify 0 into 0 2.267 * [backup-simplify]: Simplify 1 into 1 2.267 * [backup-simplify]: Simplify (+ phi2 0) into phi2 2.267 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 2.267 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 2.268 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 2.268 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 2.268 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 2.268 * [backup-simplify]: Simplify (- 0) into 0 2.268 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 2.268 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 2.268 * [taylor]: Taking taylor expansion of lambda1 in phi1 2.268 * [backup-simplify]: Simplify lambda1 into lambda1 2.268 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 2.268 * [taylor]: Taking taylor expansion of phi1 in phi1 2.268 * [backup-simplify]: Simplify 0 into 0 2.268 * [backup-simplify]: Simplify 1 into 1 2.268 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in phi1 2.268 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi1 2.268 * [taylor]: Taking taylor expansion of 2 in phi1 2.268 * [backup-simplify]: Simplify 2 into 2 2.268 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 2.268 * [taylor]: Taking taylor expansion of phi2 in phi1 2.268 * [backup-simplify]: Simplify phi2 into phi2 2.268 * [taylor]: Taking taylor expansion of phi1 in phi1 2.268 * [backup-simplify]: Simplify 0 into 0 2.268 * [backup-simplify]: Simplify 1 into 1 2.268 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in phi1 2.268 * [taylor]: Taking taylor expansion of 2 in phi1 2.268 * [backup-simplify]: Simplify 2 into 2 2.268 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in phi1 2.268 * [taylor]: Taking taylor expansion of lambda2 in phi1 2.268 * [backup-simplify]: Simplify lambda2 into lambda2 2.268 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in phi1 2.268 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1 2.268 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 2.268 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 2.268 * [taylor]: Taking taylor expansion of 0.5 in phi1 2.268 * [backup-simplify]: Simplify 0.5 into 0.5 2.268 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 2.268 * [taylor]: Taking taylor expansion of phi2 in phi1 2.268 * [backup-simplify]: Simplify phi2 into phi2 2.269 * [taylor]: Taking taylor expansion of phi1 in phi1 2.269 * [backup-simplify]: Simplify 0 into 0 2.269 * [backup-simplify]: Simplify 1 into 1 2.269 * [backup-simplify]: Simplify (+ phi2 0) into phi2 2.269 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 2.269 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 2.269 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 2.269 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 2.269 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 2.269 * [backup-simplify]: Simplify (- 0) into 0 2.269 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 2.269 * [taylor]: Taking taylor expansion of lambda1 in phi1 2.269 * [backup-simplify]: Simplify lambda1 into lambda1 2.269 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 2.269 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 2.269 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 2.269 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2)) into (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) 2.270 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 2.270 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 2.270 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) 2.270 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) 0) into (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) 2.270 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2))) into (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2))) 2.271 * [backup-simplify]: Simplify (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)))) into (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (pow phi2 2))) 2.271 * [backup-simplify]: Simplify (* phi2 0) into 0 2.271 * [backup-simplify]: Simplify (* 2 0) into 0 2.271 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 2.271 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi2)) 2) lambda1) into (* (pow (cos (* 0.5 phi2)) 2) lambda1) 2.272 * [backup-simplify]: Simplify (* lambda2 (* (pow (cos (* 0.5 phi2)) 2) lambda1)) into (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)) 2.272 * [backup-simplify]: Simplify (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))) into (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))) 2.272 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) into (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))) 2.272 * [backup-simplify]: Simplify (- (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) into (- (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) 2.273 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (pow phi2 2))) (- (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))))) into (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (pow phi2 2))) (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) 2.274 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (pow phi2 2))) (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))))) into (sqrt (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (pow phi2 2))) (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))))) 2.274 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 2.274 * [backup-simplify]: Simplify (+ 0) into 0 2.275 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 2.275 * [backup-simplify]: Simplify (+ 0 1) into 1 2.275 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5 2.277 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 2.277 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2))) 2.277 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2)))) 2.277 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2)))) 2.278 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) (- (* 0.5 (sin (* 0.5 phi2))))) (* (- (* 0.5 (sin (* 0.5 phi2)))) (cos (* 0.5 phi2)))) into (- (* 1.0 (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))) 2.278 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 2.278 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) (- (* 1.0 (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2)))))) (* 0 (pow (cos (* 0.5 phi2)) 2))) into (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))) 2.278 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 2.278 * [backup-simplify]: Simplify (+ 0) into 0 2.279 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 2.279 * [backup-simplify]: Simplify (+ 0 1) into 1 2.279 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5 2.281 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 2.281 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2))) 2.281 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2)))) 2.281 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2)))) 2.281 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) (- (* 0.5 (sin (* 0.5 phi2))))) (* (- (* 0.5 (sin (* 0.5 phi2)))) (cos (* 0.5 phi2)))) into (- (* 1.0 (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))) 2.282 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) 0) (* (- (* 1.0 (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))) (pow lambda1 2))) into (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2))))) 2.282 * [backup-simplify]: Simplify (+ (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2))))) 0) into (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2))))) 2.283 * [backup-simplify]: Simplify (+ (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))) (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))))) into (- (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2)))))) 2.283 * [backup-simplify]: Simplify (+ 0 (- (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))))) into (- (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2)))))) 2.283 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 2.284 * [backup-simplify]: Simplify (+ (* 2 phi2) (* 0 0)) into (* 2 phi2) 2.284 * [backup-simplify]: Simplify (+ 0) into 0 2.285 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 2.285 * [backup-simplify]: Simplify (+ 0 1) into 1 2.285 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5 2.287 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 2.287 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2))) 2.287 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2)))) 2.287 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2)))) 2.287 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) (- (* 0.5 (sin (* 0.5 phi2))))) (* (- (* 0.5 (sin (* 0.5 phi2)))) (cos (* 0.5 phi2)))) into (- (* 1.0 (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))) 2.288 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) 0) (* (- (* 1.0 (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))) lambda1)) into (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) lambda1)))) 2.288 * [backup-simplify]: Simplify (+ (* lambda2 (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) lambda1))))) (* 0 (* (pow (cos (* 0.5 phi2)) 2) lambda1))) into (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1))))) 2.288 * [backup-simplify]: Simplify (+ (* 2 (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))))) (* 0 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) into (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1))))) 2.289 * [backup-simplify]: Simplify (+ (* 2 phi2) (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))))) into (- (* 2 phi2) (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1))))) 2.289 * [backup-simplify]: Simplify (- (- (* 2 phi2) (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))))) into (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))) (* 2 phi2)) 2.290 * [backup-simplify]: Simplify (+ (- (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2)))))) (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))) (* 2 phi2))) into (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))) (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))) (+ (* 2 phi2) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))))) 2.291 * [backup-simplify]: Simplify (/ (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))) (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))) (+ (* 2 phi2) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))))) (* 2 (sqrt (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (pow phi2 2))) (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))))))) into (* 1/2 (* (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))) (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))) (+ (* 2 phi2) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))))) (sqrt (/ 1 (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (pow phi2 2))) (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))))))) 2.291 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in lambda2 2.291 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in lambda2 2.291 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) in lambda2 2.291 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 2.291 * [taylor]: Taking taylor expansion of phi2 in lambda2 2.291 * [backup-simplify]: Simplify phi2 into phi2 2.291 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) in lambda2 2.291 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda2 2.291 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 2.291 * [taylor]: Taking taylor expansion of lambda2 in lambda2 2.291 * [backup-simplify]: Simplify 0 into 0 2.291 * [backup-simplify]: Simplify 1 into 1 2.291 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 2.292 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 2.292 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 2.292 * [taylor]: Taking taylor expansion of 0.5 in lambda2 2.292 * [backup-simplify]: Simplify 0.5 into 0.5 2.292 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 2.292 * [taylor]: Taking taylor expansion of phi2 in lambda2 2.292 * [backup-simplify]: Simplify phi2 into phi2 2.292 * [taylor]: Taking taylor expansion of phi1 in lambda2 2.292 * [backup-simplify]: Simplify phi1 into phi1 2.292 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 2.292 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 2.292 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 2.292 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 2.292 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 2.292 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 2.292 * [backup-simplify]: Simplify (- 0) into 0 2.292 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 2.292 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) in lambda2 2.292 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in lambda2 2.292 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 2.293 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 2.293 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 2.293 * [taylor]: Taking taylor expansion of 0.5 in lambda2 2.293 * [backup-simplify]: Simplify 0.5 into 0.5 2.293 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 2.293 * [taylor]: Taking taylor expansion of phi2 in lambda2 2.293 * [backup-simplify]: Simplify phi2 into phi2 2.293 * [taylor]: Taking taylor expansion of phi1 in lambda2 2.293 * [backup-simplify]: Simplify phi1 into phi1 2.293 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 2.293 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 2.293 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 2.293 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 2.293 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 2.293 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 2.293 * [backup-simplify]: Simplify (- 0) into 0 2.293 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 2.293 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 2.293 * [taylor]: Taking taylor expansion of lambda1 in lambda2 2.293 * [backup-simplify]: Simplify lambda1 into lambda1 2.293 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 2.293 * [taylor]: Taking taylor expansion of phi1 in lambda2 2.294 * [backup-simplify]: Simplify phi1 into phi1 2.294 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in lambda2 2.294 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda2 2.294 * [taylor]: Taking taylor expansion of 2 in lambda2 2.294 * [backup-simplify]: Simplify 2 into 2 2.294 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 2.294 * [taylor]: Taking taylor expansion of phi2 in lambda2 2.294 * [backup-simplify]: Simplify phi2 into phi2 2.294 * [taylor]: Taking taylor expansion of phi1 in lambda2 2.294 * [backup-simplify]: Simplify phi1 into phi1 2.294 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in lambda2 2.294 * [taylor]: Taking taylor expansion of 2 in lambda2 2.294 * [backup-simplify]: Simplify 2 into 2 2.294 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in lambda2 2.294 * [taylor]: Taking taylor expansion of lambda2 in lambda2 2.294 * [backup-simplify]: Simplify 0 into 0 2.294 * [backup-simplify]: Simplify 1 into 1 2.294 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in lambda2 2.294 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 2.294 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 2.294 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 2.294 * [taylor]: Taking taylor expansion of 0.5 in lambda2 2.294 * [backup-simplify]: Simplify 0.5 into 0.5 2.294 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 2.294 * [taylor]: Taking taylor expansion of phi2 in lambda2 2.294 * [backup-simplify]: Simplify phi2 into phi2 2.294 * [taylor]: Taking taylor expansion of phi1 in lambda2 2.294 * [backup-simplify]: Simplify phi1 into phi1 2.294 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 2.294 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 2.294 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 2.294 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 2.294 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 2.294 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 2.295 * [backup-simplify]: Simplify (- 0) into 0 2.295 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 2.295 * [taylor]: Taking taylor expansion of lambda1 in lambda2 2.295 * [backup-simplify]: Simplify lambda1 into lambda1 2.295 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 2.295 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 2.295 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 2.295 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) 2.295 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 2.296 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) into (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) 2.296 * [backup-simplify]: Simplify (+ 0 (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) into (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) 2.296 * [backup-simplify]: Simplify (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) into (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) 2.297 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 2.297 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1)) 2.297 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 2.297 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) into (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) 2.297 * [backup-simplify]: Simplify (* 0 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) into 0 2.303 * [backup-simplify]: Simplify (* 2 0) into 0 2.303 * [backup-simplify]: Simplify (+ (* 2 (* phi2 phi1)) 0) into (* 2 (* phi2 phi1)) 2.303 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1))) 2.304 * [backup-simplify]: Simplify (+ (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (- (* 2 (* phi2 phi1)))) into (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1))) 2.304 * [backup-simplify]: Simplify (sqrt (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1)))) into (sqrt (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1)))) 2.304 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 2.304 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 2.305 * [backup-simplify]: Simplify (+ 0) into 0 2.305 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 2.305 * [backup-simplify]: Simplify (+ 0 0) into 0 2.306 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 2.306 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 2.307 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 2.307 * [backup-simplify]: Simplify (- 0) into 0 2.307 * [backup-simplify]: Simplify (+ 0 0) into 0 2.307 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 2.307 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) (* 0 (pow lambda1 2))) into 0 2.308 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 2.308 * [backup-simplify]: Simplify (+ 0 0) into 0 2.308 * [backup-simplify]: Simplify (+ 0 0) into 0 2.308 * [backup-simplify]: Simplify (+ 0 0) into 0 2.308 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 2.309 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0 2.309 * [backup-simplify]: Simplify (+ 0) into 0 2.309 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 2.309 * [backup-simplify]: Simplify (+ 0 0) into 0 2.310 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 2.310 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 2.311 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 2.311 * [backup-simplify]: Simplify (- 0) into 0 2.311 * [backup-simplify]: Simplify (+ 0 0) into 0 2.311 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 2.311 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) (* 0 lambda1)) into 0 2.312 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) 2.312 * [backup-simplify]: Simplify (+ (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) (* 0 0)) into (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) 2.312 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) 2.313 * [backup-simplify]: Simplify (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 2.313 * [backup-simplify]: Simplify (+ 0 (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) into (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 2.314 * [backup-simplify]: Simplify (/ (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (sqrt (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1)))))) into (* -1 (* (sqrt (/ 1 (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1))))) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 2.314 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in lambda1 2.314 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in lambda1 2.314 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) in lambda1 2.314 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 2.314 * [taylor]: Taking taylor expansion of phi2 in lambda1 2.314 * [backup-simplify]: Simplify phi2 into phi2 2.314 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) in lambda1 2.314 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda1 2.314 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 2.314 * [taylor]: Taking taylor expansion of lambda2 in lambda1 2.314 * [backup-simplify]: Simplify lambda2 into lambda2 2.314 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda1 2.314 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 2.314 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 2.314 * [taylor]: Taking taylor expansion of 0.5 in lambda1 2.314 * [backup-simplify]: Simplify 0.5 into 0.5 2.314 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 2.314 * [taylor]: Taking taylor expansion of phi2 in lambda1 2.314 * [backup-simplify]: Simplify phi2 into phi2 2.314 * [taylor]: Taking taylor expansion of phi1 in lambda1 2.314 * [backup-simplify]: Simplify phi1 into phi1 2.314 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 2.314 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 2.314 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 2.314 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 2.314 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 2.314 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 2.315 * [backup-simplify]: Simplify (- 0) into 0 2.315 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 2.315 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) in lambda1 2.315 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in lambda1 2.315 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda1 2.315 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 2.315 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 2.315 * [taylor]: Taking taylor expansion of 0.5 in lambda1 2.315 * [backup-simplify]: Simplify 0.5 into 0.5 2.315 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 2.315 * [taylor]: Taking taylor expansion of phi2 in lambda1 2.315 * [backup-simplify]: Simplify phi2 into phi2 2.315 * [taylor]: Taking taylor expansion of phi1 in lambda1 2.315 * [backup-simplify]: Simplify phi1 into phi1 2.315 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 2.315 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 2.315 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 2.315 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 2.315 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 2.315 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 2.316 * [backup-simplify]: Simplify (- 0) into 0 2.316 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 2.316 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 2.316 * [taylor]: Taking taylor expansion of lambda1 in lambda1 2.316 * [backup-simplify]: Simplify 0 into 0 2.316 * [backup-simplify]: Simplify 1 into 1 2.316 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 2.316 * [taylor]: Taking taylor expansion of phi1 in lambda1 2.316 * [backup-simplify]: Simplify phi1 into phi1 2.316 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in lambda1 2.316 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda1 2.316 * [taylor]: Taking taylor expansion of 2 in lambda1 2.316 * [backup-simplify]: Simplify 2 into 2 2.316 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda1 2.316 * [taylor]: Taking taylor expansion of phi2 in lambda1 2.316 * [backup-simplify]: Simplify phi2 into phi2 2.316 * [taylor]: Taking taylor expansion of phi1 in lambda1 2.316 * [backup-simplify]: Simplify phi1 into phi1 2.316 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in lambda1 2.316 * [taylor]: Taking taylor expansion of 2 in lambda1 2.316 * [backup-simplify]: Simplify 2 into 2 2.316 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in lambda1 2.316 * [taylor]: Taking taylor expansion of lambda2 in lambda1 2.316 * [backup-simplify]: Simplify lambda2 into lambda2 2.316 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in lambda1 2.316 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda1 2.316 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 2.316 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 2.316 * [taylor]: Taking taylor expansion of 0.5 in lambda1 2.316 * [backup-simplify]: Simplify 0.5 into 0.5 2.316 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 2.316 * [taylor]: Taking taylor expansion of phi2 in lambda1 2.316 * [backup-simplify]: Simplify phi2 into phi2 2.316 * [taylor]: Taking taylor expansion of phi1 in lambda1 2.316 * [backup-simplify]: Simplify phi1 into phi1 2.316 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 2.316 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 2.316 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 2.316 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 2.317 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 2.317 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 2.317 * [backup-simplify]: Simplify (- 0) into 0 2.317 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 2.317 * [taylor]: Taking taylor expansion of lambda1 in lambda1 2.317 * [backup-simplify]: Simplify 0 into 0 2.317 * [backup-simplify]: Simplify 1 into 1 2.317 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 2.317 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 2.317 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 2.317 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) into (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) 2.317 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 2.317 * [backup-simplify]: Simplify (+ 0 (pow phi1 2)) into (pow phi1 2) 2.318 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (pow phi1 2)) into (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (pow phi1 2)) 2.318 * [backup-simplify]: Simplify (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (pow phi1 2))) into (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) 2.318 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 2.318 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1)) 2.318 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 2.318 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) into 0 2.319 * [backup-simplify]: Simplify (* lambda2 0) into 0 2.319 * [backup-simplify]: Simplify (* 2 0) into 0 2.319 * [backup-simplify]: Simplify (+ (* 2 (* phi2 phi1)) 0) into (* 2 (* phi2 phi1)) 2.319 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1))) 2.319 * [backup-simplify]: Simplify (+ (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) (- (* 2 (* phi2 phi1)))) into (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) (* 2 (* phi2 phi1))) 2.320 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) (* 2 (* phi2 phi1)))) into (sqrt (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) (* 2 (* phi2 phi1)))) 2.320 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 2.320 * [backup-simplify]: Simplify (+ 0) into 0 2.321 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 2.321 * [backup-simplify]: Simplify (+ 0 0) into 0 2.321 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 2.322 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 2.322 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 2.322 * [backup-simplify]: Simplify (- 0) into 0 2.322 * [backup-simplify]: Simplify (+ 0 0) into 0 2.323 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 2.323 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 2.323 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) 0) (* 0 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) into 0 2.323 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 2.323 * [backup-simplify]: Simplify (+ 0 0) into 0 2.323 * [backup-simplify]: Simplify (+ 0 0) into 0 2.324 * [backup-simplify]: Simplify (+ 0 0) into 0 2.324 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 2.324 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0 2.324 * [backup-simplify]: Simplify (+ 0) into 0 2.325 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 2.325 * [backup-simplify]: Simplify (+ 0 0) into 0 2.325 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 2.326 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 2.326 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 2.326 * [backup-simplify]: Simplify (- 0) into 0 2.327 * [backup-simplify]: Simplify (+ 0 0) into 0 2.327 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 2.327 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 1) (* 0 0)) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 2.328 * [backup-simplify]: Simplify (+ (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* 0 0)) into (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) 2.328 * [backup-simplify]: Simplify (+ (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) (* 0 0)) into (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) 2.328 * [backup-simplify]: Simplify (+ 0 (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) into (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) 2.328 * [backup-simplify]: Simplify (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) 2.329 * [backup-simplify]: Simplify (+ 0 (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) 2.329 * [backup-simplify]: Simplify (/ (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) (* 2 (sqrt (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) (* 2 (* phi2 phi1)))))) into (* -1 (* (sqrt (/ 1 (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) (* 2 (* phi2 phi1))))) (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) 2.329 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in lambda1 2.329 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in lambda1 2.329 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) in lambda1 2.329 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 2.330 * [taylor]: Taking taylor expansion of phi2 in lambda1 2.330 * [backup-simplify]: Simplify phi2 into phi2 2.330 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) in lambda1 2.330 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda1 2.330 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 2.330 * [taylor]: Taking taylor expansion of lambda2 in lambda1 2.330 * [backup-simplify]: Simplify lambda2 into lambda2 2.330 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda1 2.330 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 2.330 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 2.330 * [taylor]: Taking taylor expansion of 0.5 in lambda1 2.330 * [backup-simplify]: Simplify 0.5 into 0.5 2.330 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 2.330 * [taylor]: Taking taylor expansion of phi2 in lambda1 2.330 * [backup-simplify]: Simplify phi2 into phi2 2.330 * [taylor]: Taking taylor expansion of phi1 in lambda1 2.330 * [backup-simplify]: Simplify phi1 into phi1 2.330 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 2.330 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 2.330 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 2.330 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 2.330 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 2.330 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 2.330 * [backup-simplify]: Simplify (- 0) into 0 2.330 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 2.331 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) in lambda1 2.331 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in lambda1 2.331 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda1 2.331 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 2.331 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 2.331 * [taylor]: Taking taylor expansion of 0.5 in lambda1 2.331 * [backup-simplify]: Simplify 0.5 into 0.5 2.331 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 2.331 * [taylor]: Taking taylor expansion of phi2 in lambda1 2.331 * [backup-simplify]: Simplify phi2 into phi2 2.331 * [taylor]: Taking taylor expansion of phi1 in lambda1 2.331 * [backup-simplify]: Simplify phi1 into phi1 2.331 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 2.331 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 2.331 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 2.331 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 2.331 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 2.331 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 2.331 * [backup-simplify]: Simplify (- 0) into 0 2.331 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 2.331 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 2.331 * [taylor]: Taking taylor expansion of lambda1 in lambda1 2.331 * [backup-simplify]: Simplify 0 into 0 2.331 * [backup-simplify]: Simplify 1 into 1 2.331 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 2.331 * [taylor]: Taking taylor expansion of phi1 in lambda1 2.331 * [backup-simplify]: Simplify phi1 into phi1 2.332 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in lambda1 2.332 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda1 2.332 * [taylor]: Taking taylor expansion of 2 in lambda1 2.332 * [backup-simplify]: Simplify 2 into 2 2.332 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda1 2.332 * [taylor]: Taking taylor expansion of phi2 in lambda1 2.332 * [backup-simplify]: Simplify phi2 into phi2 2.332 * [taylor]: Taking taylor expansion of phi1 in lambda1 2.332 * [backup-simplify]: Simplify phi1 into phi1 2.332 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in lambda1 2.332 * [taylor]: Taking taylor expansion of 2 in lambda1 2.332 * [backup-simplify]: Simplify 2 into 2 2.332 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in lambda1 2.332 * [taylor]: Taking taylor expansion of lambda2 in lambda1 2.332 * [backup-simplify]: Simplify lambda2 into lambda2 2.332 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in lambda1 2.332 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda1 2.332 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 2.332 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 2.332 * [taylor]: Taking taylor expansion of 0.5 in lambda1 2.332 * [backup-simplify]: Simplify 0.5 into 0.5 2.332 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 2.332 * [taylor]: Taking taylor expansion of phi2 in lambda1 2.332 * [backup-simplify]: Simplify phi2 into phi2 2.332 * [taylor]: Taking taylor expansion of phi1 in lambda1 2.332 * [backup-simplify]: Simplify phi1 into phi1 2.332 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 2.332 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 2.332 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 2.332 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 2.332 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 2.332 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 2.333 * [backup-simplify]: Simplify (- 0) into 0 2.333 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 2.333 * [taylor]: Taking taylor expansion of lambda1 in lambda1 2.333 * [backup-simplify]: Simplify 0 into 0 2.333 * [backup-simplify]: Simplify 1 into 1 2.333 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 2.333 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 2.333 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 2.333 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) into (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) 2.333 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 2.333 * [backup-simplify]: Simplify (+ 0 (pow phi1 2)) into (pow phi1 2) 2.333 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (pow phi1 2)) into (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (pow phi1 2)) 2.334 * [backup-simplify]: Simplify (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (pow phi1 2))) into (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) 2.334 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 2.334 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1)) 2.334 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 2.334 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) into 0 2.334 * [backup-simplify]: Simplify (* lambda2 0) into 0 2.335 * [backup-simplify]: Simplify (* 2 0) into 0 2.335 * [backup-simplify]: Simplify (+ (* 2 (* phi2 phi1)) 0) into (* 2 (* phi2 phi1)) 2.335 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1))) 2.335 * [backup-simplify]: Simplify (+ (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) (- (* 2 (* phi2 phi1)))) into (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) (* 2 (* phi2 phi1))) 2.336 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) (* 2 (* phi2 phi1)))) into (sqrt (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) (* 2 (* phi2 phi1)))) 2.336 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 2.336 * [backup-simplify]: Simplify (+ 0) into 0 2.336 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 2.337 * [backup-simplify]: Simplify (+ 0 0) into 0 2.337 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 2.337 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 2.338 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 2.338 * [backup-simplify]: Simplify (- 0) into 0 2.338 * [backup-simplify]: Simplify (+ 0 0) into 0 2.338 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 2.338 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 2.339 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) 0) (* 0 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) into 0 2.339 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 2.339 * [backup-simplify]: Simplify (+ 0 0) into 0 2.339 * [backup-simplify]: Simplify (+ 0 0) into 0 2.339 * [backup-simplify]: Simplify (+ 0 0) into 0 2.339 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 2.340 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0 2.340 * [backup-simplify]: Simplify (+ 0) into 0 2.340 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 2.340 * [backup-simplify]: Simplify (+ 0 0) into 0 2.341 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 2.341 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 2.342 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 2.342 * [backup-simplify]: Simplify (- 0) into 0 2.342 * [backup-simplify]: Simplify (+ 0 0) into 0 2.342 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 2.343 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 1) (* 0 0)) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 2.343 * [backup-simplify]: Simplify (+ (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* 0 0)) into (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) 2.343 * [backup-simplify]: Simplify (+ (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) (* 0 0)) into (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) 2.344 * [backup-simplify]: Simplify (+ 0 (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) into (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) 2.344 * [backup-simplify]: Simplify (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) 2.344 * [backup-simplify]: Simplify (+ 0 (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) 2.345 * [backup-simplify]: Simplify (/ (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) (* 2 (sqrt (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) (* 2 (* phi2 phi1)))))) into (* -1 (* (sqrt (/ 1 (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) (* 2 (* phi2 phi1))))) (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) 2.345 * [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 2.345 * [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 2.345 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) in lambda2 2.345 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda2 2.345 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 2.345 * [taylor]: Taking taylor expansion of lambda2 in lambda2 2.345 * [backup-simplify]: Simplify 0 into 0 2.345 * [backup-simplify]: Simplify 1 into 1 2.345 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 2.345 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 2.345 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 2.345 * [taylor]: Taking taylor expansion of 0.5 in lambda2 2.345 * [backup-simplify]: Simplify 0.5 into 0.5 2.345 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 2.345 * [taylor]: Taking taylor expansion of phi2 in lambda2 2.345 * [backup-simplify]: Simplify phi2 into phi2 2.345 * [taylor]: Taking taylor expansion of phi1 in lambda2 2.345 * [backup-simplify]: Simplify phi1 into phi1 2.345 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 2.345 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 2.345 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 2.345 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 2.345 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 2.346 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 2.346 * [backup-simplify]: Simplify (- 0) into 0 2.346 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 2.346 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (pow phi2 2)) in lambda2 2.346 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 2.346 * [taylor]: Taking taylor expansion of phi1 in lambda2 2.346 * [backup-simplify]: Simplify phi1 into phi1 2.346 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 2.346 * [taylor]: Taking taylor expansion of phi2 in lambda2 2.346 * [backup-simplify]: Simplify phi2 into phi2 2.346 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda2 2.346 * [taylor]: Taking taylor expansion of 2 in lambda2 2.346 * [backup-simplify]: Simplify 2 into 2 2.346 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 2.346 * [taylor]: Taking taylor expansion of phi2 in lambda2 2.346 * [backup-simplify]: Simplify phi2 into phi2 2.346 * [taylor]: Taking taylor expansion of phi1 in lambda2 2.346 * [backup-simplify]: Simplify phi1 into phi1 2.346 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 2.346 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 2.346 * [backup-simplify]: Simplify (+ (pow phi1 2) (pow phi2 2)) into (+ (pow phi2 2) (pow phi1 2)) 2.347 * [backup-simplify]: Simplify (+ 0 (+ (pow phi2 2) (pow phi1 2))) into (+ (pow phi2 2) (pow phi1 2)) 2.347 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 2.347 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1)) 2.347 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1))) 2.347 * [backup-simplify]: Simplify (+ (+ (pow phi2 2) (pow phi1 2)) (- (* 2 (* phi2 phi1)))) into (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))) 2.347 * [backup-simplify]: Simplify (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))) into (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))) 2.347 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 2.347 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 2.347 * [backup-simplify]: Simplify (+ 0 0) into 0 2.348 * [backup-simplify]: Simplify (+ 0 0) into 0 2.348 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 2.348 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0 2.348 * [backup-simplify]: Simplify (- 0) into 0 2.349 * [backup-simplify]: Simplify (+ 0 0) into 0 2.349 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))))) into 0 2.349 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))) in phi1 2.349 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))) in phi1 2.349 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in phi1 2.349 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 2.349 * [taylor]: Taking taylor expansion of phi2 in phi1 2.349 * [backup-simplify]: Simplify phi2 into phi2 2.349 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 2.349 * [taylor]: Taking taylor expansion of phi1 in phi1 2.349 * [backup-simplify]: Simplify 0 into 0 2.349 * [backup-simplify]: Simplify 1 into 1 2.349 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi1 2.349 * [taylor]: Taking taylor expansion of 2 in phi1 2.349 * [backup-simplify]: Simplify 2 into 2 2.349 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 2.349 * [taylor]: Taking taylor expansion of phi2 in phi1 2.349 * [backup-simplify]: Simplify phi2 into phi2 2.349 * [taylor]: Taking taylor expansion of phi1 in phi1 2.349 * [backup-simplify]: Simplify 0 into 0 2.349 * [backup-simplify]: Simplify 1 into 1 2.349 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 2.349 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 2.349 * [backup-simplify]: Simplify (* phi2 0) into 0 2.350 * [backup-simplify]: Simplify (* 2 0) into 0 2.350 * [backup-simplify]: Simplify (- 0) into 0 2.350 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 2.350 * [backup-simplify]: Simplify (sqrt (pow phi2 2)) into phi2 2.350 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 2.350 * [backup-simplify]: Simplify (+ 0 0) into 0 2.351 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 2.351 * [backup-simplify]: Simplify (+ (* 2 phi2) (* 0 0)) into (* 2 phi2) 2.351 * [backup-simplify]: Simplify (- (* 2 phi2)) into (- (* 2 phi2)) 2.351 * [backup-simplify]: Simplify (+ 0 (- (* 2 phi2))) into (- (* 2 phi2)) 2.351 * [backup-simplify]: Simplify (/ (- (* 2 phi2)) (* 2 (sqrt (pow phi2 2)))) into -1 2.351 * [taylor]: Taking taylor expansion of phi2 in phi2 2.351 * [backup-simplify]: Simplify 0 into 0 2.351 * [backup-simplify]: Simplify 1 into 1 2.351 * [backup-simplify]: Simplify 0 into 0 2.351 * [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 2.351 * [taylor]: Taking taylor expansion of -1 in lambda2 2.351 * [backup-simplify]: Simplify -1 into -1 2.351 * [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 2.351 * [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 2.351 * [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 2.351 * [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 2.351 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) in lambda2 2.351 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda2 2.351 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 2.351 * [taylor]: Taking taylor expansion of lambda2 in lambda2 2.351 * [backup-simplify]: Simplify 0 into 0 2.351 * [backup-simplify]: Simplify 1 into 1 2.351 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 2.351 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 2.351 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 2.351 * [taylor]: Taking taylor expansion of 0.5 in lambda2 2.351 * [backup-simplify]: Simplify 0.5 into 0.5 2.351 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 2.351 * [taylor]: Taking taylor expansion of phi2 in lambda2 2.352 * [backup-simplify]: Simplify phi2 into phi2 2.352 * [taylor]: Taking taylor expansion of phi1 in lambda2 2.352 * [backup-simplify]: Simplify phi1 into phi1 2.352 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 2.352 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 2.352 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 2.352 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 2.352 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 2.352 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 2.352 * [backup-simplify]: Simplify (- 0) into 0 2.352 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 2.352 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (pow phi2 2)) in lambda2 2.352 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 2.352 * [taylor]: Taking taylor expansion of phi1 in lambda2 2.352 * [backup-simplify]: Simplify phi1 into phi1 2.352 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 2.352 * [taylor]: Taking taylor expansion of phi2 in lambda2 2.352 * [backup-simplify]: Simplify phi2 into phi2 2.352 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda2 2.352 * [taylor]: Taking taylor expansion of 2 in lambda2 2.352 * [backup-simplify]: Simplify 2 into 2 2.352 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 2.352 * [taylor]: Taking taylor expansion of phi2 in lambda2 2.352 * [backup-simplify]: Simplify phi2 into phi2 2.352 * [taylor]: Taking taylor expansion of phi1 in lambda2 2.352 * [backup-simplify]: Simplify phi1 into phi1 2.353 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 2.353 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 2.353 * [backup-simplify]: Simplify (+ (pow phi1 2) (pow phi2 2)) into (+ (pow phi2 2) (pow phi1 2)) 2.353 * [backup-simplify]: Simplify (+ 0 (+ (pow phi2 2) (pow phi1 2))) into (+ (pow phi2 2) (pow phi1 2)) 2.353 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 2.353 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1)) 2.353 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1))) 2.353 * [backup-simplify]: Simplify (+ (+ (pow phi2 2) (pow phi1 2)) (- (* 2 (* phi2 phi1)))) into (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))) 2.353 * [backup-simplify]: Simplify (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))) into (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))) 2.354 * [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))))) 2.354 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 2.354 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 2.354 * [backup-simplify]: Simplify (+ 0 0) into 0 2.354 * [backup-simplify]: Simplify (+ 0 0) into 0 2.354 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 2.355 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0 2.355 * [backup-simplify]: Simplify (- 0) into 0 2.355 * [backup-simplify]: Simplify (+ 0 0) into 0 2.356 * [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 2.356 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))))))) into 0 2.356 * [taylor]: Taking taylor expansion of (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda2 2.356 * [taylor]: Taking taylor expansion of lambda2 in lambda2 2.356 * [backup-simplify]: Simplify 0 into 0 2.356 * [backup-simplify]: Simplify 1 into 1 2.356 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 2.356 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 2.356 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 2.356 * [taylor]: Taking taylor expansion of 0.5 in lambda2 2.356 * [backup-simplify]: Simplify 0.5 into 0.5 2.356 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 2.356 * [taylor]: Taking taylor expansion of phi2 in lambda2 2.356 * [backup-simplify]: Simplify phi2 into phi2 2.356 * [taylor]: Taking taylor expansion of phi1 in lambda2 2.356 * [backup-simplify]: Simplify phi1 into phi1 2.356 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 2.356 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 2.356 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 2.356 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 2.356 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 2.357 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 2.357 * [backup-simplify]: Simplify (- 0) into 0 2.357 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 2.357 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 2.357 * [backup-simplify]: Simplify (* 0 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) into 0 2.357 * [backup-simplify]: Simplify (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))))) 0) into 0 2.358 * [backup-simplify]: Simplify (* -1 0) into 0 2.358 * [taylor]: Taking taylor expansion of 0 in phi1 2.358 * [backup-simplify]: Simplify 0 into 0 2.358 * [taylor]: Taking taylor expansion of 0 in phi2 2.358 * [backup-simplify]: Simplify 0 into 0 2.358 * [backup-simplify]: Simplify 0 into 0 2.358 * [taylor]: Taking taylor expansion of 0 in phi1 2.358 * [backup-simplify]: Simplify 0 into 0 2.358 * [taylor]: Taking taylor expansion of 0 in phi2 2.358 * [backup-simplify]: Simplify 0 into 0 2.358 * [backup-simplify]: Simplify 0 into 0 2.358 * [taylor]: Taking taylor expansion of -1 in phi2 2.358 * [backup-simplify]: Simplify -1 into -1 2.358 * [backup-simplify]: Simplify -1 into -1 2.358 * [backup-simplify]: Simplify 1 into 1 2.358 * [backup-simplify]: Simplify (+ (* phi2 0) (+ (* 0 0) (* 0 phi2))) into 0 2.359 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 2.359 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 1))) into 0 2.360 * [backup-simplify]: Simplify (+ 0 0) into 0 2.360 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ phi2 phi1)))) into 0 2.361 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 2.361 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 0))) into 0 2.361 * [backup-simplify]: Simplify (- 0) into 0 2.361 * [backup-simplify]: Simplify (+ 0 0) into 0 2.362 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ phi2 phi1)))))) into 0 2.362 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda2))) into 0 2.363 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) 0) (+ (* 0 0) (* 0 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) into 0 2.363 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 2.363 * [backup-simplify]: Simplify (* 1 1) into 1 2.363 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 1) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 2.363 * [backup-simplify]: Simplify (+ (* phi1 0) (+ (* 0 0) (* 0 phi1))) into 0 2.364 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 2.364 * [backup-simplify]: Simplify (+ 0 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 2.364 * [backup-simplify]: Simplify (+ 0 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 2.364 * [backup-simplify]: Simplify (+ (* phi2 0) (+ (* 0 0) (* 0 phi1))) into 0 2.365 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (* phi2 phi1)))) into 0 2.365 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 2.366 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 1))) into 0 2.366 * [backup-simplify]: Simplify (+ 0 0) into 0 2.367 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ phi2 phi1)))) into 0 2.367 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 2.368 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 0))) into 0 2.368 * [backup-simplify]: Simplify (- 0) into 0 2.368 * [backup-simplify]: Simplify (+ 0 0) into 0 2.368 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ phi2 phi1)))))) into 0 2.369 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) (+ (* 0 1) (* 0 0))) into 0 2.369 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* 0 0))) into 0 2.370 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) (* 0 0))) into 0 2.370 * [backup-simplify]: Simplify (+ 0 0) into 0 2.370 * [backup-simplify]: Simplify (- 0) into 0 2.371 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 2.372 * [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))))))) 2.372 * [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 2.373 * [taylor]: Taking taylor expansion of 1/2 in lambda2 2.373 * [backup-simplify]: Simplify 1/2 into 1/2 2.373 * [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 2.373 * [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 2.373 * [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 2.373 * [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 2.373 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) in lambda2 2.373 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda2 2.373 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 2.373 * [taylor]: Taking taylor expansion of lambda2 in lambda2 2.373 * [backup-simplify]: Simplify 0 into 0 2.373 * [backup-simplify]: Simplify 1 into 1 2.373 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 2.373 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 2.373 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 2.373 * [taylor]: Taking taylor expansion of 0.5 in lambda2 2.373 * [backup-simplify]: Simplify 0.5 into 0.5 2.373 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 2.373 * [taylor]: Taking taylor expansion of phi2 in lambda2 2.373 * [backup-simplify]: Simplify phi2 into phi2 2.373 * [taylor]: Taking taylor expansion of phi1 in lambda2 2.373 * [backup-simplify]: Simplify phi1 into phi1 2.373 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 2.373 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 2.373 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 2.373 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 2.373 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 2.373 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 2.374 * [backup-simplify]: Simplify (- 0) into 0 2.374 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 2.374 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in lambda2 2.374 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 2.374 * [taylor]: Taking taylor expansion of phi2 in lambda2 2.374 * [backup-simplify]: Simplify phi2 into phi2 2.374 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 2.374 * [taylor]: Taking taylor expansion of phi1 in lambda2 2.374 * [backup-simplify]: Simplify phi1 into phi1 2.374 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda2 2.374 * [taylor]: Taking taylor expansion of 2 in lambda2 2.374 * [backup-simplify]: Simplify 2 into 2 2.374 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 2.374 * [taylor]: Taking taylor expansion of phi2 in lambda2 2.374 * [backup-simplify]: Simplify phi2 into phi2 2.374 * [taylor]: Taking taylor expansion of phi1 in lambda2 2.374 * [backup-simplify]: Simplify phi1 into phi1 2.374 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 2.374 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 2.374 * [backup-simplify]: Simplify (+ (pow phi2 2) (pow phi1 2)) into (+ (pow phi1 2) (pow phi2 2)) 2.375 * [backup-simplify]: Simplify (+ 0 (+ (pow phi1 2) (pow phi2 2))) into (+ (pow phi1 2) (pow phi2 2)) 2.375 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 2.375 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1)) 2.375 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1))) 2.375 * [backup-simplify]: Simplify (+ (+ (pow phi1 2) (pow phi2 2)) (- (* 2 (* phi2 phi1)))) into (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1))) 2.375 * [backup-simplify]: Simplify (/ 1 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1)))) into (/ 1 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1)))) 2.375 * [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))))) 2.375 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 2.375 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 2.376 * [backup-simplify]: Simplify (+ 0 0) into 0 2.376 * [backup-simplify]: Simplify (+ 0 0) into 0 2.376 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 2.376 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0 2.377 * [backup-simplify]: Simplify (- 0) into 0 2.377 * [backup-simplify]: Simplify (+ 0 0) into 0 2.377 * [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 2.378 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1))))))) into 0 2.378 * [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 2.378 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 2.378 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 2.378 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 2.378 * [taylor]: Taking taylor expansion of 0.5 in lambda2 2.378 * [backup-simplify]: Simplify 0.5 into 0.5 2.378 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 2.378 * [taylor]: Taking taylor expansion of phi2 in lambda2 2.378 * [backup-simplify]: Simplify phi2 into phi2 2.378 * [taylor]: Taking taylor expansion of phi1 in lambda2 2.378 * [backup-simplify]: Simplify phi1 into phi1 2.378 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 2.378 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 2.378 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 2.378 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 2.378 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 2.378 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 2.378 * [backup-simplify]: Simplify (- 0) into 0 2.379 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 2.379 * [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 2.379 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 4)) in lambda2 2.379 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 2.379 * [taylor]: Taking taylor expansion of lambda2 in lambda2 2.379 * [backup-simplify]: Simplify 0 into 0 2.379 * [backup-simplify]: Simplify 1 into 1 2.379 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 4) in lambda2 2.379 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 2.379 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 2.379 * [taylor]: Taking taylor expansion of 0.5 in lambda2 2.379 * [backup-simplify]: Simplify 0.5 into 0.5 2.379 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 2.379 * [taylor]: Taking taylor expansion of phi2 in lambda2 2.379 * [backup-simplify]: Simplify phi2 into phi2 2.379 * [taylor]: Taking taylor expansion of phi1 in lambda2 2.379 * [backup-simplify]: Simplify phi1 into phi1 2.379 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 2.379 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 2.379 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 2.379 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 2.379 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 2.379 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 2.379 * [backup-simplify]: Simplify (- 0) into 0 2.379 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 2.380 * [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 2.380 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) in lambda2 2.380 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda2 2.380 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 2.380 * [taylor]: Taking taylor expansion of lambda2 in lambda2 2.380 * [backup-simplify]: Simplify 0 into 0 2.380 * [backup-simplify]: Simplify 1 into 1 2.380 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 2.380 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 2.380 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 2.380 * [taylor]: Taking taylor expansion of 0.5 in lambda2 2.380 * [backup-simplify]: Simplify 0.5 into 0.5 2.380 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 2.380 * [taylor]: Taking taylor expansion of phi2 in lambda2 2.380 * [backup-simplify]: Simplify phi2 into phi2 2.380 * [taylor]: Taking taylor expansion of phi1 in lambda2 2.380 * [backup-simplify]: Simplify phi1 into phi1 2.380 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 2.380 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 2.380 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 2.380 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 2.380 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 2.380 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 2.380 * [backup-simplify]: Simplify (- 0) into 0 2.380 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 2.381 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in lambda2 2.381 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 2.381 * [taylor]: Taking taylor expansion of phi2 in lambda2 2.381 * [backup-simplify]: Simplify phi2 into phi2 2.381 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 2.381 * [taylor]: Taking taylor expansion of phi1 in lambda2 2.381 * [backup-simplify]: Simplify phi1 into phi1 2.381 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda2 2.381 * [taylor]: Taking taylor expansion of 2 in lambda2 2.381 * [backup-simplify]: Simplify 2 into 2 2.381 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 2.381 * [taylor]: Taking taylor expansion of phi2 in lambda2 2.381 * [backup-simplify]: Simplify phi2 into phi2 2.381 * [taylor]: Taking taylor expansion of phi1 in lambda2 2.381 * [backup-simplify]: Simplify phi1 into phi1 2.381 * [backup-simplify]: Simplify (* 1 1) into 1 2.381 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 2.381 * [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) 2.381 * [backup-simplify]: Simplify (* 1 (pow (cos (* 0.5 (+ phi2 phi1))) 4)) into (pow (cos (* 0.5 (+ phi2 phi1))) 4) 2.382 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 2.382 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 2.382 * [backup-simplify]: Simplify (+ (pow phi2 2) (pow phi1 2)) into (+ (pow phi1 2) (pow phi2 2)) 2.382 * [backup-simplify]: Simplify (+ 0 (+ (pow phi1 2) (pow phi2 2))) into (+ (pow phi1 2) (pow phi2 2)) 2.382 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 2.382 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1)) 2.382 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1))) 2.382 * [backup-simplify]: Simplify (+ (+ (pow phi1 2) (pow phi2 2)) (- (* 2 (* phi2 phi1)))) into (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1))) 2.383 * [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)))) 2.383 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 2.383 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 2.383 * [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)))))) 2.384 * [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))))))) 2.384 * [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 2.384 * [taylor]: Taking taylor expansion of 1/2 in phi1 2.384 * [backup-simplify]: Simplify 1/2 into 1/2 2.384 * [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 2.384 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1 2.384 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 2.384 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 2.384 * [taylor]: Taking taylor expansion of 0.5 in phi1 2.384 * [backup-simplify]: Simplify 0.5 into 0.5 2.384 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 2.384 * [taylor]: Taking taylor expansion of phi2 in phi1 2.384 * [backup-simplify]: Simplify phi2 into phi2 2.384 * [taylor]: Taking taylor expansion of phi1 in phi1 2.384 * [backup-simplify]: Simplify 0 into 0 2.384 * [backup-simplify]: Simplify 1 into 1 2.384 * [backup-simplify]: Simplify (+ phi2 0) into phi2 2.384 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 2.384 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 2.384 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 2.384 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 2.384 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 2.384 * [backup-simplify]: Simplify (- 0) into 0 2.385 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 2.385 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1))))) in phi1 2.385 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1)))) in phi1 2.385 * [taylor]: Taking taylor expansion of (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1))) in phi1 2.385 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (pow phi2 2)) in phi1 2.385 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 2.385 * [taylor]: Taking taylor expansion of phi1 in phi1 2.385 * [backup-simplify]: Simplify 0 into 0 2.385 * [backup-simplify]: Simplify 1 into 1 2.385 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 2.385 * [taylor]: Taking taylor expansion of phi2 in phi1 2.385 * [backup-simplify]: Simplify phi2 into phi2 2.385 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi1 2.385 * [taylor]: Taking taylor expansion of 2 in phi1 2.385 * [backup-simplify]: Simplify 2 into 2 2.385 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 2.385 * [taylor]: Taking taylor expansion of phi2 in phi1 2.385 * [backup-simplify]: Simplify phi2 into phi2 2.385 * [taylor]: Taking taylor expansion of phi1 in phi1 2.385 * [backup-simplify]: Simplify 0 into 0 2.385 * [backup-simplify]: Simplify 1 into 1 2.385 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 2.385 * [backup-simplify]: Simplify (+ 0 (pow phi2 2)) into (pow phi2 2) 2.385 * [backup-simplify]: Simplify (* phi2 0) into 0 2.385 * [backup-simplify]: Simplify (* 2 0) into 0 2.386 * [backup-simplify]: Simplify (- 0) into 0 2.386 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 2.386 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 2.386 * [backup-simplify]: Simplify (sqrt (/ 1 (pow phi2 2))) into (/ 1 phi2) 2.386 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 2.386 * [backup-simplify]: Simplify (+ 0 0) into 0 2.386 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 2.387 * [backup-simplify]: Simplify (+ (* 2 phi2) (* 0 0)) into (* 2 phi2) 2.387 * [backup-simplify]: Simplify (- (* 2 phi2)) into (- (* 2 phi2)) 2.387 * [backup-simplify]: Simplify (+ 0 (- (* 2 phi2))) into (- (* 2 phi2)) 2.387 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi2 2)) (/ (- (* 2 phi2)) (pow phi2 2))))) into (* 2 (/ 1 (pow phi2 3))) 2.387 * [backup-simplify]: Simplify (/ (* 2 (/ 1 (pow phi2 3))) (* 2 (sqrt (/ 1 (pow phi2 2))))) into (/ 1 (pow phi2 2)) 2.387 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 2.387 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi2)) 2) (/ 1 phi2)) into (/ (pow (cos (* 0.5 phi2)) 2) phi2) 2.388 * [backup-simplify]: Simplify (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2)) into (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2)) 2.388 * [taylor]: Taking taylor expansion of (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2)) in phi2 2.388 * [taylor]: Taking taylor expansion of 1/2 in phi2 2.388 * [backup-simplify]: Simplify 1/2 into 1/2 2.388 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 phi2)) 2) phi2) in phi2 2.388 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2 2.388 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 2.388 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 2.388 * [taylor]: Taking taylor expansion of 0.5 in phi2 2.388 * [backup-simplify]: Simplify 0.5 into 0.5 2.388 * [taylor]: Taking taylor expansion of phi2 in phi2 2.388 * [backup-simplify]: Simplify 0 into 0 2.388 * [backup-simplify]: Simplify 1 into 1 2.388 * [backup-simplify]: Simplify (* 0.5 0) into 0 2.389 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 2.389 * [taylor]: Taking taylor expansion of phi2 in phi2 2.389 * [backup-simplify]: Simplify 0 into 0 2.389 * [backup-simplify]: Simplify 1 into 1 2.389 * [backup-simplify]: Simplify (* 1 1) into 1 2.389 * [backup-simplify]: Simplify (/ 1 1) into 1 2.390 * [backup-simplify]: Simplify (+ 0) into 0 2.390 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 2.390 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* 1 (/ 0 1)))) into 0 2.391 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 1)) into 0 2.391 * [backup-simplify]: Simplify 0 into 0 2.391 * [backup-simplify]: Simplify (+ 0) into 0 2.392 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 2.392 * [backup-simplify]: Simplify (+ 0 0) into 0 2.392 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 2.393 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 2.393 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 2.393 * [backup-simplify]: Simplify (- 0) into 0 2.393 * [backup-simplify]: Simplify (+ 0 0) into 0 2.393 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 2.394 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 2.395 * [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)) 2.395 * [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))) 2.395 * [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 2.395 * [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 2.395 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))))) in phi1 2.395 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))) in phi1 2.395 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))) in phi1 2.395 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in phi1 2.395 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 2.395 * [taylor]: Taking taylor expansion of phi2 in phi1 2.395 * [backup-simplify]: Simplify phi2 into phi2 2.395 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 2.395 * [taylor]: Taking taylor expansion of phi1 in phi1 2.396 * [backup-simplify]: Simplify 0 into 0 2.396 * [backup-simplify]: Simplify 1 into 1 2.396 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi1 2.396 * [taylor]: Taking taylor expansion of 2 in phi1 2.396 * [backup-simplify]: Simplify 2 into 2 2.396 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 2.396 * [taylor]: Taking taylor expansion of phi2 in phi1 2.396 * [backup-simplify]: Simplify phi2 into phi2 2.396 * [taylor]: Taking taylor expansion of phi1 in phi1 2.396 * [backup-simplify]: Simplify 0 into 0 2.396 * [backup-simplify]: Simplify 1 into 1 2.396 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 2.396 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 2.396 * [backup-simplify]: Simplify (* phi2 0) into 0 2.396 * [backup-simplify]: Simplify (* 2 0) into 0 2.396 * [backup-simplify]: Simplify (- 0) into 0 2.396 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 2.397 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 2.397 * [backup-simplify]: Simplify (sqrt (/ 1 (pow phi2 2))) into (/ 1 phi2) 2.397 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 2.397 * [backup-simplify]: Simplify (+ 0 0) into 0 2.397 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 2.397 * [backup-simplify]: Simplify (+ (* 2 phi2) (* 0 0)) into (* 2 phi2) 2.398 * [backup-simplify]: Simplify (- (* 2 phi2)) into (- (* 2 phi2)) 2.398 * [backup-simplify]: Simplify (+ 0 (- (* 2 phi2))) into (- (* 2 phi2)) 2.398 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi2 2)) (/ (- (* 2 phi2)) (pow phi2 2))))) into (* 2 (/ 1 (pow phi2 3))) 2.398 * [backup-simplify]: Simplify (/ (* 2 (/ 1 (pow phi2 3))) (* 2 (sqrt (/ 1 (pow phi2 2))))) into (/ 1 (pow phi2 2)) 2.398 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1 2.398 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 2.398 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 2.398 * [taylor]: Taking taylor expansion of 0.5 in phi1 2.398 * [backup-simplify]: Simplify 0.5 into 0.5 2.398 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 2.398 * [taylor]: Taking taylor expansion of phi2 in phi1 2.398 * [backup-simplify]: Simplify phi2 into phi2 2.398 * [taylor]: Taking taylor expansion of phi1 in phi1 2.398 * [backup-simplify]: Simplify 0 into 0 2.398 * [backup-simplify]: Simplify 1 into 1 2.398 * [backup-simplify]: Simplify (+ phi2 0) into phi2 2.398 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 2.398 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 2.398 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 2.398 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 2.399 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 2.399 * [backup-simplify]: Simplify (- 0) into 0 2.399 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 2.399 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 2.399 * [backup-simplify]: Simplify (* (/ 1 phi2) (pow (cos (* 0.5 phi2)) 2)) into (/ (pow (cos (* 0.5 phi2)) 2) phi2) 2.399 * [backup-simplify]: Simplify (- (/ (pow (cos (* 0.5 phi2)) 2) phi2)) into (- (/ (pow (cos (* 0.5 phi2)) 2) phi2)) 2.399 * [taylor]: Taking taylor expansion of (- (/ (pow (cos (* 0.5 phi2)) 2) phi2)) in phi2 2.399 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 phi2)) 2) phi2) in phi2 2.399 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2 2.399 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 2.399 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 2.399 * [taylor]: Taking taylor expansion of 0.5 in phi2 2.399 * [backup-simplify]: Simplify 0.5 into 0.5 2.399 * [taylor]: Taking taylor expansion of phi2 in phi2 2.399 * [backup-simplify]: Simplify 0 into 0 2.399 * [backup-simplify]: Simplify 1 into 1 2.400 * [backup-simplify]: Simplify (* 0.5 0) into 0 2.401 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 2.401 * [taylor]: Taking taylor expansion of phi2 in phi2 2.401 * [backup-simplify]: Simplify 0 into 0 2.401 * [backup-simplify]: Simplify 1 into 1 2.401 * [backup-simplify]: Simplify (* 1 1) into 1 2.401 * [backup-simplify]: Simplify (/ 1 1) into 1 2.401 * [backup-simplify]: Simplify (+ 0) into 0 2.402 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 2.402 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* 1 (/ 0 1)))) into 0 2.402 * [backup-simplify]: Simplify (- 0) into 0 2.402 * [backup-simplify]: Simplify 0 into 0 2.403 * [backup-simplify]: Simplify (* 1 1) into 1 2.403 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 2.403 * [backup-simplify]: Simplify (* 1 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 2.403 * [backup-simplify]: Simplify (+ (* phi1 0) (+ (* 0 0) (* 0 phi1))) into 0 2.403 * [backup-simplify]: Simplify (+ (* phi2 0) (+ (* 0 0) (* 0 phi2))) into 0 2.408 * [backup-simplify]: Simplify (+ 0 0) into 0 2.408 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 2.409 * [backup-simplify]: Simplify (+ (* phi2 0) (+ (* 0 0) (* 0 phi1))) into 0 2.409 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (* phi2 phi1)))) into 0 2.410 * [backup-simplify]: Simplify (- 0) into 0 2.410 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 2.411 * [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))) 2.411 * [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 2.411 * [taylor]: Taking taylor expansion of 1/2 in phi1 2.411 * [backup-simplify]: Simplify 1/2 into 1/2 2.411 * [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 2.411 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))))) in phi1 2.411 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))) in phi1 2.411 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))) in phi1 2.411 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in phi1 2.411 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 2.411 * [taylor]: Taking taylor expansion of phi2 in phi1 2.411 * [backup-simplify]: Simplify phi2 into phi2 2.411 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 2.411 * [taylor]: Taking taylor expansion of phi1 in phi1 2.411 * [backup-simplify]: Simplify 0 into 0 2.411 * [backup-simplify]: Simplify 1 into 1 2.411 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi1 2.411 * [taylor]: Taking taylor expansion of 2 in phi1 2.411 * [backup-simplify]: Simplify 2 into 2 2.411 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 2.411 * [taylor]: Taking taylor expansion of phi2 in phi1 2.411 * [backup-simplify]: Simplify phi2 into phi2 2.411 * [taylor]: Taking taylor expansion of phi1 in phi1 2.411 * [backup-simplify]: Simplify 0 into 0 2.411 * [backup-simplify]: Simplify 1 into 1 2.411 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 2.411 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 2.411 * [backup-simplify]: Simplify (* phi2 0) into 0 2.412 * [backup-simplify]: Simplify (* 2 0) into 0 2.412 * [backup-simplify]: Simplify (- 0) into 0 2.412 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 2.412 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 2.412 * [backup-simplify]: Simplify (sqrt (/ 1 (pow phi2 2))) into (/ 1 phi2) 2.412 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 2.412 * [backup-simplify]: Simplify (+ 0 0) into 0 2.413 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 2.413 * [backup-simplify]: Simplify (+ (* 2 phi2) (* 0 0)) into (* 2 phi2) 2.413 * [backup-simplify]: Simplify (- (* 2 phi2)) into (- (* 2 phi2)) 2.413 * [backup-simplify]: Simplify (+ 0 (- (* 2 phi2))) into (- (* 2 phi2)) 2.413 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi2 2)) (/ (- (* 2 phi2)) (pow phi2 2))))) into (* 2 (/ 1 (pow phi2 3))) 2.414 * [backup-simplify]: Simplify (/ (* 2 (/ 1 (pow phi2 3))) (* 2 (sqrt (/ 1 (pow phi2 2))))) into (/ 1 (pow phi2 2)) 2.414 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1 2.414 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 2.414 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 2.414 * [taylor]: Taking taylor expansion of 0.5 in phi1 2.414 * [backup-simplify]: Simplify 0.5 into 0.5 2.414 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 2.414 * [taylor]: Taking taylor expansion of phi2 in phi1 2.414 * [backup-simplify]: Simplify phi2 into phi2 2.414 * [taylor]: Taking taylor expansion of phi1 in phi1 2.414 * [backup-simplify]: Simplify 0 into 0 2.414 * [backup-simplify]: Simplify 1 into 1 2.414 * [backup-simplify]: Simplify (+ phi2 0) into phi2 2.414 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 2.414 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 2.414 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 2.414 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 2.414 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 2.414 * [backup-simplify]: Simplify (- 0) into 0 2.414 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 2.415 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 2.415 * [backup-simplify]: Simplify (* (/ 1 phi2) (pow (cos (* 0.5 phi2)) 2)) into (/ (pow (cos (* 0.5 phi2)) 2) phi2) 2.415 * [backup-simplify]: Simplify (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2)) into (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2)) 2.415 * [taylor]: Taking taylor expansion of (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2)) in phi2 2.415 * [taylor]: Taking taylor expansion of 1/2 in phi2 2.415 * [backup-simplify]: Simplify 1/2 into 1/2 2.415 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 phi2)) 2) phi2) in phi2 2.415 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2 2.415 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 2.415 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 2.415 * [taylor]: Taking taylor expansion of 0.5 in phi2 2.415 * [backup-simplify]: Simplify 0.5 into 0.5 2.415 * [taylor]: Taking taylor expansion of phi2 in phi2 2.415 * [backup-simplify]: Simplify 0 into 0 2.415 * [backup-simplify]: Simplify 1 into 1 2.415 * [backup-simplify]: Simplify (* 0.5 0) into 0 2.416 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 2.416 * [taylor]: Taking taylor expansion of phi2 in phi2 2.416 * [backup-simplify]: Simplify 0 into 0 2.416 * [backup-simplify]: Simplify 1 into 1 2.416 * [backup-simplify]: Simplify (* 1 1) into 1 2.417 * [backup-simplify]: Simplify (/ 1 1) into 1 2.417 * [backup-simplify]: Simplify (+ 0) into 0 2.417 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 2.418 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* 1 (/ 0 1)))) into 0 2.418 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 1)) into 0 2.418 * [backup-simplify]: Simplify 0 into 0 2.418 * [taylor]: Taking taylor expansion of 0 in phi2 2.418 * [backup-simplify]: Simplify 0 into 0 2.418 * [backup-simplify]: Simplify 0 into 0 2.418 * [taylor]: Taking taylor expansion of 0 in phi2 2.418 * [backup-simplify]: Simplify 0 into 0 2.418 * [backup-simplify]: Simplify 0 into 0 2.419 * [backup-simplify]: Simplify (+ (* phi2 0) (+ (* 0 0) (* 0 phi2))) into 0 2.419 * [backup-simplify]: Simplify (* 1 1) into 1 2.419 * [backup-simplify]: Simplify (+ 0 1) into 1 2.420 * [backup-simplify]: Simplify (+ (* phi2 0) (+ (* 0 1) (* 0 0))) into 0 2.420 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 phi2) (* 0 0))) into 0 2.420 * [backup-simplify]: Simplify (- 0) into 0 2.421 * [backup-simplify]: Simplify (+ 1 0) into 1 2.421 * [backup-simplify]: Simplify (/ (- 1 (pow -1 2) (+)) (* 2 phi2)) into 0 2.421 * [taylor]: Taking taylor expansion of 0 in phi2 2.421 * [backup-simplify]: Simplify 0 into 0 2.421 * [backup-simplify]: Simplify 0 into 0 2.422 * [backup-simplify]: Simplify (+ (* 1 (* phi2 (* 1 (* 1 1)))) (* -1 (* 1 (* phi1 (* 1 1))))) into (- phi2 phi1) 2.423 * [backup-simplify]: Simplify (sqrt (+ (* (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (/ (+ (/ 1 phi1) (/ 1 phi2)) 2.0))) (* (- (/ 1 lambda1) (/ 1 lambda2)) (* (* (cbrt (cos (/ (+ (/ 1 phi1) (/ 1 phi2)) 2.0))) (cbrt (cos (/ (+ (/ 1 phi1) (/ 1 phi2)) 2.0)))) (cbrt (cos (/ (+ (/ 1 phi1) (/ 1 phi2)) 2.0)))))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))))) into (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) 2.423 * [approximate]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in (lambda1 lambda2 phi1 phi2) around 0 2.423 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in phi2 2.423 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in phi2 2.423 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) in phi2 2.423 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi2 2.423 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 2.423 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 2.423 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 2.423 * [taylor]: Taking taylor expansion of 0.5 in phi2 2.423 * [backup-simplify]: Simplify 0.5 into 0.5 2.423 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 2.423 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 2.423 * [taylor]: Taking taylor expansion of phi1 in phi2 2.423 * [backup-simplify]: Simplify phi1 into phi1 2.423 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.423 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 2.423 * [taylor]: Taking taylor expansion of phi2 in phi2 2.423 * [backup-simplify]: Simplify 0 into 0 2.423 * [backup-simplify]: Simplify 1 into 1 2.423 * [backup-simplify]: Simplify (/ 1 1) into 1 2.424 * [backup-simplify]: Simplify (+ 0 1) into 1 2.424 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 2.424 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.424 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 2.424 * [taylor]: Taking taylor expansion of lambda1 in phi2 2.424 * [backup-simplify]: Simplify lambda1 into lambda1 2.424 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.424 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 2.425 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 2.425 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) in phi2 2.425 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi2 2.425 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 2.425 * [taylor]: Taking taylor expansion of phi2 in phi2 2.425 * [backup-simplify]: Simplify 0 into 0 2.425 * [backup-simplify]: Simplify 1 into 1 2.425 * [backup-simplify]: Simplify (* 1 1) into 1 2.426 * [backup-simplify]: Simplify (/ 1 1) into 1 2.426 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) in phi2 2.426 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in phi2 2.426 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 2.426 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 2.426 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 2.426 * [taylor]: Taking taylor expansion of 0.5 in phi2 2.426 * [backup-simplify]: Simplify 0.5 into 0.5 2.426 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 2.426 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 2.426 * [taylor]: Taking taylor expansion of phi1 in phi2 2.426 * [backup-simplify]: Simplify phi1 into phi1 2.426 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.426 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 2.426 * [taylor]: Taking taylor expansion of phi2 in phi2 2.426 * [backup-simplify]: Simplify 0 into 0 2.426 * [backup-simplify]: Simplify 1 into 1 2.426 * [backup-simplify]: Simplify (/ 1 1) into 1 2.426 * [backup-simplify]: Simplify (+ 0 1) into 1 2.427 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 2.427 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.427 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 2.427 * [taylor]: Taking taylor expansion of lambda2 in phi2 2.427 * [backup-simplify]: Simplify lambda2 into lambda2 2.427 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.427 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 2.427 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 2.427 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi2 2.427 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 2.427 * [taylor]: Taking taylor expansion of phi1 in phi2 2.427 * [backup-simplify]: Simplify phi1 into phi1 2.427 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 2.427 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 2.427 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in phi2 2.428 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi2 2.428 * [taylor]: Taking taylor expansion of 2 in phi2 2.428 * [backup-simplify]: Simplify 2 into 2 2.428 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi2 2.428 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 2.428 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 2.428 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 2.428 * [taylor]: Taking taylor expansion of 0.5 in phi2 2.428 * [backup-simplify]: Simplify 0.5 into 0.5 2.428 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 2.428 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 2.428 * [taylor]: Taking taylor expansion of phi1 in phi2 2.428 * [backup-simplify]: Simplify phi1 into phi1 2.428 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.428 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 2.428 * [taylor]: Taking taylor expansion of phi2 in phi2 2.428 * [backup-simplify]: Simplify 0 into 0 2.428 * [backup-simplify]: Simplify 1 into 1 2.428 * [backup-simplify]: Simplify (/ 1 1) into 1 2.428 * [backup-simplify]: Simplify (+ 0 1) into 1 2.429 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 2.429 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.429 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi2 2.429 * [taylor]: Taking taylor expansion of lambda2 in phi2 2.429 * [backup-simplify]: Simplify lambda2 into lambda2 2.429 * [taylor]: Taking taylor expansion of lambda1 in phi2 2.429 * [backup-simplify]: Simplify lambda1 into lambda1 2.429 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.429 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 2.429 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) 2.429 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi2 2.429 * [taylor]: Taking taylor expansion of 2 in phi2 2.429 * [backup-simplify]: Simplify 2 into 2 2.429 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi2 2.429 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2 2.429 * [taylor]: Taking taylor expansion of phi2 in phi2 2.429 * [backup-simplify]: Simplify 0 into 0 2.429 * [backup-simplify]: Simplify 1 into 1 2.429 * [taylor]: Taking taylor expansion of phi1 in phi2 2.429 * [backup-simplify]: Simplify phi1 into phi1 2.429 * [backup-simplify]: Simplify (* 0 phi1) into 0 2.430 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 2.430 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.430 * [backup-simplify]: Simplify (+ 1 0) into 1 2.430 * [backup-simplify]: Simplify (+ 0 1) into 1 2.431 * [backup-simplify]: Simplify (+ 1 0) into 1 2.431 * [backup-simplify]: Simplify (sqrt 1) into 1 2.431 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 2.432 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 2.432 * [backup-simplify]: Simplify (+ 0 0) into 0 2.432 * [backup-simplify]: Simplify (+ 0 0) into 0 2.432 * [backup-simplify]: Simplify (* 2 (/ 1 phi1)) into (/ 2 phi1) 2.432 * [backup-simplify]: Simplify (+ 0 (/ 2 phi1)) into (* 2 (/ 1 phi1)) 2.432 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi1))) into (- (* 2 (/ 1 phi1))) 2.432 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1))) 2.433 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi1))) (* 2 (sqrt 1))) into (/ -1 phi1) 2.433 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in phi1 2.433 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in phi1 2.433 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) in phi1 2.433 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi1 2.433 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 2.433 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 2.433 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 2.433 * [taylor]: Taking taylor expansion of 0.5 in phi1 2.433 * [backup-simplify]: Simplify 0.5 into 0.5 2.433 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 2.433 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 2.433 * [taylor]: Taking taylor expansion of phi1 in phi1 2.433 * [backup-simplify]: Simplify 0 into 0 2.433 * [backup-simplify]: Simplify 1 into 1 2.433 * [backup-simplify]: Simplify (/ 1 1) into 1 2.433 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 2.433 * [taylor]: Taking taylor expansion of phi2 in phi1 2.433 * [backup-simplify]: Simplify phi2 into phi2 2.433 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.434 * [backup-simplify]: Simplify (+ 1 0) into 1 2.434 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 2.434 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.434 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 2.434 * [taylor]: Taking taylor expansion of lambda1 in phi1 2.434 * [backup-simplify]: Simplify lambda1 into lambda1 2.434 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.434 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 2.435 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 2.435 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) in phi1 2.435 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 2.435 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 2.435 * [taylor]: Taking taylor expansion of phi2 in phi1 2.435 * [backup-simplify]: Simplify phi2 into phi2 2.435 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 2.435 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 2.435 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) in phi1 2.435 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in phi1 2.435 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 2.435 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 2.435 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 2.435 * [taylor]: Taking taylor expansion of 0.5 in phi1 2.435 * [backup-simplify]: Simplify 0.5 into 0.5 2.435 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 2.435 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 2.435 * [taylor]: Taking taylor expansion of phi1 in phi1 2.435 * [backup-simplify]: Simplify 0 into 0 2.435 * [backup-simplify]: Simplify 1 into 1 2.435 * [backup-simplify]: Simplify (/ 1 1) into 1 2.435 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 2.435 * [taylor]: Taking taylor expansion of phi2 in phi1 2.435 * [backup-simplify]: Simplify phi2 into phi2 2.435 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.436 * [backup-simplify]: Simplify (+ 1 0) into 1 2.436 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 2.436 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.436 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 2.436 * [taylor]: Taking taylor expansion of lambda2 in phi1 2.436 * [backup-simplify]: Simplify lambda2 into lambda2 2.436 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.436 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 2.437 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 2.437 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 2.437 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 2.437 * [taylor]: Taking taylor expansion of phi1 in phi1 2.437 * [backup-simplify]: Simplify 0 into 0 2.437 * [backup-simplify]: Simplify 1 into 1 2.437 * [backup-simplify]: Simplify (* 1 1) into 1 2.437 * [backup-simplify]: Simplify (/ 1 1) into 1 2.437 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in phi1 2.437 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi1 2.437 * [taylor]: Taking taylor expansion of 2 in phi1 2.437 * [backup-simplify]: Simplify 2 into 2 2.437 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi1 2.437 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 2.437 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 2.437 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 2.437 * [taylor]: Taking taylor expansion of 0.5 in phi1 2.437 * [backup-simplify]: Simplify 0.5 into 0.5 2.437 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 2.437 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 2.437 * [taylor]: Taking taylor expansion of phi1 in phi1 2.437 * [backup-simplify]: Simplify 0 into 0 2.437 * [backup-simplify]: Simplify 1 into 1 2.438 * [backup-simplify]: Simplify (/ 1 1) into 1 2.438 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 2.438 * [taylor]: Taking taylor expansion of phi2 in phi1 2.438 * [backup-simplify]: Simplify phi2 into phi2 2.438 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.438 * [backup-simplify]: Simplify (+ 1 0) into 1 2.438 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 2.438 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.438 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 2.438 * [taylor]: Taking taylor expansion of lambda2 in phi1 2.438 * [backup-simplify]: Simplify lambda2 into lambda2 2.438 * [taylor]: Taking taylor expansion of lambda1 in phi1 2.438 * [backup-simplify]: Simplify lambda1 into lambda1 2.439 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.439 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 2.439 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) 2.439 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi1 2.439 * [taylor]: Taking taylor expansion of 2 in phi1 2.439 * [backup-simplify]: Simplify 2 into 2 2.439 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi1 2.439 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 2.439 * [taylor]: Taking taylor expansion of phi2 in phi1 2.439 * [backup-simplify]: Simplify phi2 into phi2 2.439 * [taylor]: Taking taylor expansion of phi1 in phi1 2.439 * [backup-simplify]: Simplify 0 into 0 2.439 * [backup-simplify]: Simplify 1 into 1 2.439 * [backup-simplify]: Simplify (* phi2 0) into 0 2.439 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 2.439 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.440 * [backup-simplify]: Simplify (+ 0 1) into 1 2.440 * [backup-simplify]: Simplify (+ 0 1) into 1 2.440 * [backup-simplify]: Simplify (+ 0 1) into 1 2.440 * [backup-simplify]: Simplify (+ 1 0) into 1 2.441 * [backup-simplify]: Simplify (sqrt 1) into 1 2.441 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 2.441 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 2.442 * [backup-simplify]: Simplify (+ 0 0) into 0 2.442 * [backup-simplify]: Simplify (+ 0 0) into 0 2.442 * [backup-simplify]: Simplify (+ 0 0) into 0 2.442 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 2.442 * [backup-simplify]: Simplify (+ 0 (/ 2 phi2)) into (* 2 (/ 1 phi2)) 2.442 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi2))) into (- (* 2 (/ 1 phi2))) 2.442 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 2.443 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi2))) (* 2 (sqrt 1))) into (/ -1 phi2) 2.443 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in lambda2 2.443 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in lambda2 2.443 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) in lambda2 2.443 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda2 2.443 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 2.443 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 2.443 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 2.443 * [taylor]: Taking taylor expansion of 0.5 in lambda2 2.443 * [backup-simplify]: Simplify 0.5 into 0.5 2.443 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 2.443 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 2.443 * [taylor]: Taking taylor expansion of phi1 in lambda2 2.443 * [backup-simplify]: Simplify phi1 into phi1 2.443 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.443 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 2.443 * [taylor]: Taking taylor expansion of phi2 in lambda2 2.443 * [backup-simplify]: Simplify phi2 into phi2 2.443 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.443 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 2.443 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 2.443 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.444 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.444 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.444 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 2.444 * [backup-simplify]: Simplify (- 0) into 0 2.444 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.444 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 2.444 * [taylor]: Taking taylor expansion of lambda1 in lambda2 2.444 * [backup-simplify]: Simplify lambda1 into lambda1 2.444 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.444 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 2.445 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 2.445 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) in lambda2 2.445 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda2 2.445 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 2.445 * [taylor]: Taking taylor expansion of phi2 in lambda2 2.445 * [backup-simplify]: Simplify phi2 into phi2 2.445 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 2.445 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 2.445 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) in lambda2 2.445 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda2 2.445 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 2.445 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 2.445 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 2.445 * [taylor]: Taking taylor expansion of 0.5 in lambda2 2.445 * [backup-simplify]: Simplify 0.5 into 0.5 2.445 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 2.445 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 2.445 * [taylor]: Taking taylor expansion of phi1 in lambda2 2.445 * [backup-simplify]: Simplify phi1 into phi1 2.445 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.445 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 2.445 * [taylor]: Taking taylor expansion of phi2 in lambda2 2.445 * [backup-simplify]: Simplify phi2 into phi2 2.445 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.445 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 2.445 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 2.445 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.446 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.446 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.446 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 2.446 * [backup-simplify]: Simplify (- 0) into 0 2.446 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.446 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 2.446 * [taylor]: Taking taylor expansion of lambda2 in lambda2 2.446 * [backup-simplify]: Simplify 0 into 0 2.446 * [backup-simplify]: Simplify 1 into 1 2.446 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.447 * [backup-simplify]: Simplify (* 1 1) into 1 2.447 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.447 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda2 2.447 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 2.447 * [taylor]: Taking taylor expansion of phi1 in lambda2 2.447 * [backup-simplify]: Simplify phi1 into phi1 2.447 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 2.447 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 2.447 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in lambda2 2.447 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda2 2.447 * [taylor]: Taking taylor expansion of 2 in lambda2 2.447 * [backup-simplify]: Simplify 2 into 2 2.447 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda2 2.447 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 2.447 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 2.447 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 2.447 * [taylor]: Taking taylor expansion of 0.5 in lambda2 2.447 * [backup-simplify]: Simplify 0.5 into 0.5 2.447 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 2.447 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 2.447 * [taylor]: Taking taylor expansion of phi1 in lambda2 2.447 * [backup-simplify]: Simplify phi1 into phi1 2.447 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.447 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 2.447 * [taylor]: Taking taylor expansion of phi2 in lambda2 2.447 * [backup-simplify]: Simplify phi2 into phi2 2.447 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.448 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 2.448 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 2.448 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.448 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.448 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.448 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 2.448 * [backup-simplify]: Simplify (- 0) into 0 2.448 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.448 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda2 2.448 * [taylor]: Taking taylor expansion of lambda2 in lambda2 2.448 * [backup-simplify]: Simplify 0 into 0 2.448 * [backup-simplify]: Simplify 1 into 1 2.448 * [taylor]: Taking taylor expansion of lambda1 in lambda2 2.449 * [backup-simplify]: Simplify lambda1 into lambda1 2.449 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.449 * [backup-simplify]: Simplify (* 0 lambda1) into 0 2.449 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda1)) into lambda1 2.449 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) 2.449 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda2 2.449 * [taylor]: Taking taylor expansion of 2 in lambda2 2.449 * [backup-simplify]: Simplify 2 into 2 2.449 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda2 2.449 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 2.449 * [taylor]: Taking taylor expansion of phi2 in lambda2 2.449 * [backup-simplify]: Simplify phi2 into phi2 2.449 * [taylor]: Taking taylor expansion of phi1 in lambda2 2.449 * [backup-simplify]: Simplify phi1 into phi1 2.449 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 2.449 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 2.450 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.450 * [backup-simplify]: Simplify (+ 0 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.450 * [backup-simplify]: Simplify (+ 0 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.450 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.450 * [backup-simplify]: Simplify (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.451 * [backup-simplify]: Simplify (+ 0) into 0 2.451 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 2.451 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 2.451 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 2.451 * [backup-simplify]: Simplify (+ 0 0) into 0 2.452 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 2.452 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 2.453 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 2.453 * [backup-simplify]: Simplify (- 0) into 0 2.453 * [backup-simplify]: Simplify (+ 0 0) into 0 2.453 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 2.454 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 2.454 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 2.455 * [backup-simplify]: Simplify (+ 0 0) into 0 2.455 * [backup-simplify]: Simplify (+ 0 0) into 0 2.455 * [backup-simplify]: Simplify (+ 0 0) into 0 2.455 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 2.455 * [backup-simplify]: Simplify (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 0) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 2.456 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 2.456 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 2.457 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) (* 2 (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)) 2.457 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in lambda1 2.457 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in lambda1 2.457 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) in lambda1 2.457 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda1 2.457 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 2.457 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 2.457 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 2.457 * [taylor]: Taking taylor expansion of 0.5 in lambda1 2.457 * [backup-simplify]: Simplify 0.5 into 0.5 2.457 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 2.457 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 2.457 * [taylor]: Taking taylor expansion of phi1 in lambda1 2.457 * [backup-simplify]: Simplify phi1 into phi1 2.457 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.457 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 2.457 * [taylor]: Taking taylor expansion of phi2 in lambda1 2.457 * [backup-simplify]: Simplify phi2 into phi2 2.457 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.457 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 2.457 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 2.457 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.457 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.457 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.458 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 2.458 * [backup-simplify]: Simplify (- 0) into 0 2.458 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.458 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 2.458 * [taylor]: Taking taylor expansion of lambda1 in lambda1 2.458 * [backup-simplify]: Simplify 0 into 0 2.458 * [backup-simplify]: Simplify 1 into 1 2.458 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.459 * [backup-simplify]: Simplify (* 1 1) into 1 2.459 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.459 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) in lambda1 2.459 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda1 2.459 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 2.459 * [taylor]: Taking taylor expansion of phi2 in lambda1 2.459 * [backup-simplify]: Simplify phi2 into phi2 2.459 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 2.459 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 2.459 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) in lambda1 2.459 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda1 2.459 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 2.459 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 2.459 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 2.459 * [taylor]: Taking taylor expansion of 0.5 in lambda1 2.459 * [backup-simplify]: Simplify 0.5 into 0.5 2.459 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 2.459 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 2.459 * [taylor]: Taking taylor expansion of phi1 in lambda1 2.459 * [backup-simplify]: Simplify phi1 into phi1 2.460 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.460 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 2.460 * [taylor]: Taking taylor expansion of phi2 in lambda1 2.460 * [backup-simplify]: Simplify phi2 into phi2 2.460 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.460 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 2.460 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 2.460 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.460 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.460 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.460 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 2.460 * [backup-simplify]: Simplify (- 0) into 0 2.461 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.461 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 2.461 * [taylor]: Taking taylor expansion of lambda2 in lambda1 2.461 * [backup-simplify]: Simplify lambda2 into lambda2 2.461 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.461 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 2.461 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 2.461 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda1 2.461 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 2.461 * [taylor]: Taking taylor expansion of phi1 in lambda1 2.461 * [backup-simplify]: Simplify phi1 into phi1 2.461 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 2.461 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 2.461 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in lambda1 2.461 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1 2.461 * [taylor]: Taking taylor expansion of 2 in lambda1 2.461 * [backup-simplify]: Simplify 2 into 2 2.461 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1 2.461 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 2.461 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 2.461 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 2.461 * [taylor]: Taking taylor expansion of 0.5 in lambda1 2.461 * [backup-simplify]: Simplify 0.5 into 0.5 2.462 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 2.462 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 2.462 * [taylor]: Taking taylor expansion of phi1 in lambda1 2.462 * [backup-simplify]: Simplify phi1 into phi1 2.462 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.462 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 2.462 * [taylor]: Taking taylor expansion of phi2 in lambda1 2.462 * [backup-simplify]: Simplify phi2 into phi2 2.462 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.462 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 2.462 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 2.462 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.462 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.462 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.462 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 2.463 * [backup-simplify]: Simplify (- 0) into 0 2.463 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.463 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 2.463 * [taylor]: Taking taylor expansion of lambda2 in lambda1 2.463 * [backup-simplify]: Simplify lambda2 into lambda2 2.463 * [taylor]: Taking taylor expansion of lambda1 in lambda1 2.463 * [backup-simplify]: Simplify 0 into 0 2.463 * [backup-simplify]: Simplify 1 into 1 2.463 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.463 * [backup-simplify]: Simplify (* lambda2 0) into 0 2.463 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 2.463 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) 2.463 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda1 2.463 * [taylor]: Taking taylor expansion of 2 in lambda1 2.463 * [backup-simplify]: Simplify 2 into 2 2.464 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda1 2.464 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda1 2.464 * [taylor]: Taking taylor expansion of phi2 in lambda1 2.464 * [backup-simplify]: Simplify phi2 into phi2 2.464 * [taylor]: Taking taylor expansion of phi1 in lambda1 2.464 * [backup-simplify]: Simplify phi1 into phi1 2.464 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 2.464 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 2.464 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.464 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.464 * [backup-simplify]: Simplify (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.464 * [backup-simplify]: Simplify (+ 0) into 0 2.465 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 2.465 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 2.465 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 2.465 * [backup-simplify]: Simplify (+ 0 0) into 0 2.466 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 2.466 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 2.466 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 2.467 * [backup-simplify]: Simplify (- 0) into 0 2.467 * [backup-simplify]: Simplify (+ 0 0) into 0 2.467 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 2.468 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 2.468 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 2.469 * [backup-simplify]: Simplify (+ 0 0) into 0 2.469 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 2.469 * [backup-simplify]: Simplify (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 0) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 2.469 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 2.470 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 2.470 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) (* 2 (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) 2.470 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in lambda1 2.470 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in lambda1 2.470 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) in lambda1 2.470 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda1 2.470 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 2.470 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 2.470 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 2.470 * [taylor]: Taking taylor expansion of 0.5 in lambda1 2.470 * [backup-simplify]: Simplify 0.5 into 0.5 2.470 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 2.470 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 2.470 * [taylor]: Taking taylor expansion of phi1 in lambda1 2.470 * [backup-simplify]: Simplify phi1 into phi1 2.470 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.470 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 2.470 * [taylor]: Taking taylor expansion of phi2 in lambda1 2.470 * [backup-simplify]: Simplify phi2 into phi2 2.470 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.471 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 2.471 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 2.471 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.471 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.471 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.471 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 2.471 * [backup-simplify]: Simplify (- 0) into 0 2.471 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.471 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 2.472 * [taylor]: Taking taylor expansion of lambda1 in lambda1 2.472 * [backup-simplify]: Simplify 0 into 0 2.472 * [backup-simplify]: Simplify 1 into 1 2.472 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.472 * [backup-simplify]: Simplify (* 1 1) into 1 2.472 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.472 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) in lambda1 2.472 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda1 2.472 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 2.472 * [taylor]: Taking taylor expansion of phi2 in lambda1 2.472 * [backup-simplify]: Simplify phi2 into phi2 2.472 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 2.472 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 2.472 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) in lambda1 2.472 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda1 2.472 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 2.473 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 2.473 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 2.473 * [taylor]: Taking taylor expansion of 0.5 in lambda1 2.473 * [backup-simplify]: Simplify 0.5 into 0.5 2.473 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 2.473 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 2.473 * [taylor]: Taking taylor expansion of phi1 in lambda1 2.473 * [backup-simplify]: Simplify phi1 into phi1 2.473 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.473 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 2.473 * [taylor]: Taking taylor expansion of phi2 in lambda1 2.473 * [backup-simplify]: Simplify phi2 into phi2 2.473 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.473 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 2.473 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 2.473 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.473 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.473 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.473 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 2.474 * [backup-simplify]: Simplify (- 0) into 0 2.474 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.474 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 2.474 * [taylor]: Taking taylor expansion of lambda2 in lambda1 2.474 * [backup-simplify]: Simplify lambda2 into lambda2 2.474 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.474 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 2.474 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 2.474 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda1 2.474 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 2.474 * [taylor]: Taking taylor expansion of phi1 in lambda1 2.474 * [backup-simplify]: Simplify phi1 into phi1 2.474 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 2.474 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 2.474 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in lambda1 2.474 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1 2.474 * [taylor]: Taking taylor expansion of 2 in lambda1 2.474 * [backup-simplify]: Simplify 2 into 2 2.474 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1 2.475 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 2.475 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 2.475 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 2.475 * [taylor]: Taking taylor expansion of 0.5 in lambda1 2.475 * [backup-simplify]: Simplify 0.5 into 0.5 2.475 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 2.475 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 2.475 * [taylor]: Taking taylor expansion of phi1 in lambda1 2.475 * [backup-simplify]: Simplify phi1 into phi1 2.475 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.475 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 2.475 * [taylor]: Taking taylor expansion of phi2 in lambda1 2.475 * [backup-simplify]: Simplify phi2 into phi2 2.475 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.475 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 2.475 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 2.475 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.475 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.475 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.476 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 2.476 * [backup-simplify]: Simplify (- 0) into 0 2.476 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.476 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 2.476 * [taylor]: Taking taylor expansion of lambda2 in lambda1 2.476 * [backup-simplify]: Simplify lambda2 into lambda2 2.476 * [taylor]: Taking taylor expansion of lambda1 in lambda1 2.476 * [backup-simplify]: Simplify 0 into 0 2.476 * [backup-simplify]: Simplify 1 into 1 2.476 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.476 * [backup-simplify]: Simplify (* lambda2 0) into 0 2.477 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 2.477 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) 2.477 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda1 2.477 * [taylor]: Taking taylor expansion of 2 in lambda1 2.477 * [backup-simplify]: Simplify 2 into 2 2.477 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda1 2.477 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda1 2.477 * [taylor]: Taking taylor expansion of phi2 in lambda1 2.477 * [backup-simplify]: Simplify phi2 into phi2 2.477 * [taylor]: Taking taylor expansion of phi1 in lambda1 2.477 * [backup-simplify]: Simplify phi1 into phi1 2.477 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 2.477 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 2.477 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.477 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.478 * [backup-simplify]: Simplify (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.478 * [backup-simplify]: Simplify (+ 0) into 0 2.478 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 2.478 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 2.478 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 2.479 * [backup-simplify]: Simplify (+ 0 0) into 0 2.479 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 2.479 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 2.480 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 2.480 * [backup-simplify]: Simplify (- 0) into 0 2.480 * [backup-simplify]: Simplify (+ 0 0) into 0 2.480 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 2.481 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 2.481 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 2.482 * [backup-simplify]: Simplify (+ 0 0) into 0 2.482 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 2.482 * [backup-simplify]: Simplify (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 0) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 2.482 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 2.483 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 2.483 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) (* 2 (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) 2.483 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 2.483 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 2.483 * [taylor]: Taking taylor expansion of 0.5 in lambda2 2.483 * [backup-simplify]: Simplify 0.5 into 0.5 2.483 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 2.483 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 2.483 * [taylor]: Taking taylor expansion of phi1 in lambda2 2.483 * [backup-simplify]: Simplify phi1 into phi1 2.483 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.483 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 2.483 * [taylor]: Taking taylor expansion of phi2 in lambda2 2.483 * [backup-simplify]: Simplify phi2 into phi2 2.484 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.484 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 2.484 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 2.484 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.484 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.484 * [taylor]: Taking taylor expansion of (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) in lambda2 2.484 * [taylor]: Taking taylor expansion of -1 in lambda2 2.484 * [backup-simplify]: Simplify -1 into -1 2.484 * [taylor]: Taking taylor expansion of (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2) in lambda2 2.484 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 2.484 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 2.484 * [taylor]: Taking taylor expansion of 0.5 in lambda2 2.484 * [backup-simplify]: Simplify 0.5 into 0.5 2.484 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 2.484 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 2.484 * [taylor]: Taking taylor expansion of phi1 in lambda2 2.484 * [backup-simplify]: Simplify phi1 into phi1 2.484 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.484 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 2.484 * [taylor]: Taking taylor expansion of phi2 in lambda2 2.484 * [backup-simplify]: Simplify phi2 into phi2 2.484 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.484 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 2.484 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 2.484 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.485 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.485 * [taylor]: Taking taylor expansion of lambda2 in lambda2 2.485 * [backup-simplify]: Simplify 0 into 0 2.485 * [backup-simplify]: Simplify 1 into 1 2.485 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.485 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 2.485 * [backup-simplify]: Simplify (- 0) into 0 2.485 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.485 * [backup-simplify]: Simplify (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.485 * [backup-simplify]: Simplify (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 2.485 * [taylor]: Taking taylor expansion of (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1 2.485 * [taylor]: Taking taylor expansion of -1 in phi1 2.486 * [backup-simplify]: Simplify -1 into -1 2.486 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 2.486 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 2.486 * [taylor]: Taking taylor expansion of 0.5 in phi1 2.486 * [backup-simplify]: Simplify 0.5 into 0.5 2.486 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 2.486 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 2.486 * [taylor]: Taking taylor expansion of phi1 in phi1 2.486 * [backup-simplify]: Simplify 0 into 0 2.486 * [backup-simplify]: Simplify 1 into 1 2.486 * [backup-simplify]: Simplify (/ 1 1) into 1 2.486 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 2.486 * [taylor]: Taking taylor expansion of phi2 in phi1 2.486 * [backup-simplify]: Simplify phi2 into phi2 2.486 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.486 * [backup-simplify]: Simplify (+ 1 0) into 1 2.487 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 2.487 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.487 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.487 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 2.487 * [backup-simplify]: Simplify (- 0) into 0 2.487 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.487 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 2.487 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 2.487 * [taylor]: Taking taylor expansion of 0.5 in phi1 2.487 * [backup-simplify]: Simplify 0.5 into 0.5 2.487 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 2.487 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 2.487 * [taylor]: Taking taylor expansion of phi1 in phi1 2.487 * [backup-simplify]: Simplify 0 into 0 2.487 * [backup-simplify]: Simplify 1 into 1 2.488 * [backup-simplify]: Simplify (/ 1 1) into 1 2.488 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 2.488 * [taylor]: Taking taylor expansion of phi2 in phi1 2.488 * [backup-simplify]: Simplify phi2 into phi2 2.488 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.488 * [backup-simplify]: Simplify (+ 1 0) into 1 2.488 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 2.488 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.489 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 2.489 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 2.490 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 2.490 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 2.490 * [backup-simplify]: Simplify (+ 0 0) into 0 2.490 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 2.491 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 2.491 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 2.492 * [backup-simplify]: Simplify (- 0) into 0 2.492 * [backup-simplify]: Simplify (+ 0 0) into 0 2.492 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 2.493 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 2.494 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)) (* 0 (/ 0 1)))) into 0 2.494 * [backup-simplify]: Simplify (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) into (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) 2.495 * [backup-simplify]: Simplify (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) into (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) 2.495 * [backup-simplify]: Simplify (+ 0 (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) into (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) 2.495 * [backup-simplify]: Simplify (+ 0) into 0 2.496 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 2.496 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 2.496 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 2.496 * [backup-simplify]: Simplify (+ 0 0) into 0 2.497 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 2.497 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 2.497 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 2.498 * [backup-simplify]: Simplify (- 0) into 0 2.498 * [backup-simplify]: Simplify (+ 0 0) into 0 2.498 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 2.498 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 1) (* 0 0))) into 0 2.499 * [backup-simplify]: Simplify (- (/ 0 lambda2) (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) (/ 0 lambda2)))) into 0 2.499 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into 0 2.499 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi2 phi1))) into (/ 2 (* phi2 phi1)) 2.499 * [backup-simplify]: Simplify (+ 0 (/ 2 (* phi2 phi1))) into (* 2 (/ 1 (* phi2 phi1))) 2.499 * [backup-simplify]: Simplify (- (* 2 (/ 1 (* phi2 phi1)))) into (- (* 2 (/ 1 (* phi2 phi1)))) 2.500 * [backup-simplify]: Simplify (+ (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) (- (* 2 (/ 1 (* phi2 phi1))))) into (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) (* 2 (/ 1 (* phi2 phi1)))) 2.501 * [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)))))) 2.501 * [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 2.501 * [taylor]: Taking taylor expansion of 1/2 in lambda2 2.501 * [backup-simplify]: Simplify 1/2 into 1/2 2.501 * [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 2.501 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) in lambda2 2.502 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in lambda2 2.502 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda2 2.502 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 2.502 * [taylor]: Taking taylor expansion of phi2 in lambda2 2.502 * [backup-simplify]: Simplify phi2 into phi2 2.502 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 2.502 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 2.502 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda2 2.502 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 2.502 * [taylor]: Taking taylor expansion of phi1 in lambda2 2.502 * [backup-simplify]: Simplify phi1 into phi1 2.502 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 2.502 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 2.502 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda2 2.502 * [taylor]: Taking taylor expansion of 2 in lambda2 2.502 * [backup-simplify]: Simplify 2 into 2 2.502 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda2 2.502 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 2.502 * [taylor]: Taking taylor expansion of phi2 in lambda2 2.502 * [backup-simplify]: Simplify phi2 into phi2 2.502 * [taylor]: Taking taylor expansion of phi1 in lambda2 2.502 * [backup-simplify]: Simplify phi1 into phi1 2.502 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 2.502 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 2.502 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 2.502 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 2.502 * [taylor]: Taking taylor expansion of 0.5 in lambda2 2.502 * [backup-simplify]: Simplify 0.5 into 0.5 2.502 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 2.502 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 2.502 * [taylor]: Taking taylor expansion of phi1 in lambda2 2.502 * [backup-simplify]: Simplify phi1 into phi1 2.502 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.502 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 2.502 * [taylor]: Taking taylor expansion of phi2 in lambda2 2.502 * [backup-simplify]: Simplify phi2 into phi2 2.502 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.502 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 2.503 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 2.503 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.503 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.503 * [backup-simplify]: Simplify (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) into (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) 2.503 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi2 phi1))) into (/ 2 (* phi2 phi1)) 2.503 * [backup-simplify]: Simplify (- (/ 2 (* phi2 phi1))) into (- (* 2 (/ 1 (* phi2 phi1)))) 2.503 * [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)))) 2.503 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.504 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 2.504 * [backup-simplify]: Simplify (- 0) into 0 2.504 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.504 * [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))))) 2.505 * [backup-simplify]: Simplify (+ 0) into 0 2.505 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 2.505 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 2.505 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 2.505 * [backup-simplify]: Simplify (+ 0 0) into 0 2.506 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 2.506 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 2.507 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 2.507 * [backup-simplify]: Simplify (- 0) into 0 2.507 * [backup-simplify]: Simplify (+ 0 0) into 0 2.512 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (/ 0 1)))) into 0 2.512 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 2.512 * [taylor]: Taking taylor expansion of 0 in phi1 2.512 * [backup-simplify]: Simplify 0 into 0 2.513 * [backup-simplify]: Simplify (+ 0) into 0 2.513 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 2.513 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 2.513 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 2.513 * [backup-simplify]: Simplify (+ 0 0) into 0 2.514 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 2.514 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 2.515 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 2.515 * [backup-simplify]: Simplify (- 0) into 0 2.515 * [backup-simplify]: Simplify (+ 0 0) into 0 2.515 * [taylor]: Taking taylor expansion of 0 in phi1 2.515 * [backup-simplify]: Simplify 0 into 0 2.515 * [backup-simplify]: Simplify (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 2.515 * [taylor]: Taking taylor expansion of (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 2.515 * [taylor]: Taking taylor expansion of -1 in phi2 2.515 * [backup-simplify]: Simplify -1 into -1 2.515 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 2.515 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 2.515 * [taylor]: Taking taylor expansion of 0.5 in phi2 2.515 * [backup-simplify]: Simplify 0.5 into 0.5 2.515 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 2.515 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 2.515 * [taylor]: Taking taylor expansion of phi1 in phi2 2.515 * [backup-simplify]: Simplify phi1 into phi1 2.515 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.515 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 2.515 * [taylor]: Taking taylor expansion of phi2 in phi2 2.515 * [backup-simplify]: Simplify 0 into 0 2.515 * [backup-simplify]: Simplify 1 into 1 2.516 * [backup-simplify]: Simplify (/ 1 1) into 1 2.516 * [backup-simplify]: Simplify (+ 0 1) into 1 2.516 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 2.516 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.516 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 2.516 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 2.516 * [taylor]: Taking taylor expansion of 0.5 in phi2 2.516 * [backup-simplify]: Simplify 0.5 into 0.5 2.516 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 2.516 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 2.516 * [taylor]: Taking taylor expansion of phi1 in phi2 2.517 * [backup-simplify]: Simplify phi1 into phi1 2.517 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.517 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 2.517 * [taylor]: Taking taylor expansion of phi2 in phi2 2.517 * [backup-simplify]: Simplify 0 into 0 2.517 * [backup-simplify]: Simplify 1 into 1 2.517 * [backup-simplify]: Simplify (/ 1 1) into 1 2.517 * [backup-simplify]: Simplify (+ 0 1) into 1 2.517 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 2.517 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.518 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 2.519 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 2.519 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 2.519 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 2.519 * [backup-simplify]: Simplify (+ 0 0) into 0 2.520 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 2.521 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 2.521 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 2.522 * [backup-simplify]: Simplify (- 0) into 0 2.522 * [backup-simplify]: Simplify (+ 0 0) into 0 2.523 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into 0 2.523 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 2.524 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0 2.525 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 2.525 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi2 2)) (/ 0 (pow phi2 2))))) into 0 2.525 * [backup-simplify]: Simplify (+ 0) into 0 2.526 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 2.526 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 2.526 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 2.526 * [backup-simplify]: Simplify (+ 0 0) into 0 2.526 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 2.527 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 2.527 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 2.527 * [backup-simplify]: Simplify (- 0) into 0 2.528 * [backup-simplify]: Simplify (+ 0 0) into 0 2.528 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 2.528 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 2.528 * [backup-simplify]: Simplify (- (/ 0 (pow lambda2 2)) (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 0 (pow lambda2 2))))) into 0 2.528 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 2.529 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi1 2)) (/ 0 (pow phi1 2))))) into 0 2.529 * [backup-simplify]: Simplify (+ 0 0) into 0 2.529 * [backup-simplify]: Simplify (+ 0 0) into 0 2.529 * [backup-simplify]: Simplify (+ 0 0) into 0 2.530 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 2.530 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 2.530 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 2.531 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 2.531 * [backup-simplify]: Simplify (+ 0 0) into 0 2.531 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 2.532 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 2.532 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 2.532 * [backup-simplify]: Simplify (- 0) into 0 2.533 * [backup-simplify]: Simplify (+ 0 0) into 0 2.533 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 2.534 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (+ (* 0 1) (* 0 0)))) into 0 2.534 * [backup-simplify]: Simplify (- (/ 0 lambda2) (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) (/ 0 lambda2)) (* 0 (/ 0 lambda2)))) into 0 2.535 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) into 0 2.535 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 2.535 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* phi2 phi1)) (/ 0 (* phi2 phi1))))) into 0 2.535 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ 1 (* phi2 phi1)))) into 0 2.535 * [backup-simplify]: Simplify (+ 0 0) into 0 2.536 * [backup-simplify]: Simplify (- 0) into 0 2.536 * [backup-simplify]: Simplify (+ 0 0) into 0 2.537 * [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)))))) 2.537 * [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 2.537 * [taylor]: Taking taylor expansion of 1/2 in lambda2 2.537 * [backup-simplify]: Simplify 1/2 into 1/2 2.537 * [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 2.537 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (* lambda2 (pow phi1 2))) (/ 1 (* (pow phi2 2) lambda2))) (* 2 (/ 1 (* phi2 (* lambda2 phi1))))) in lambda2 2.537 * [taylor]: Taking taylor expansion of (+ (/ 1 (* lambda2 (pow phi1 2))) (/ 1 (* (pow phi2 2) lambda2))) in lambda2 2.537 * [taylor]: Taking taylor expansion of (/ 1 (* lambda2 (pow phi1 2))) in lambda2 2.537 * [taylor]: Taking taylor expansion of (* lambda2 (pow phi1 2)) in lambda2 2.537 * [taylor]: Taking taylor expansion of lambda2 in lambda2 2.537 * [backup-simplify]: Simplify 0 into 0 2.537 * [backup-simplify]: Simplify 1 into 1 2.537 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 2.537 * [taylor]: Taking taylor expansion of phi1 in lambda2 2.537 * [backup-simplify]: Simplify phi1 into phi1 2.537 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 2.537 * [backup-simplify]: Simplify (* 0 (pow phi1 2)) into 0 2.537 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 2.537 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow phi1 2))) into (pow phi1 2) 2.538 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 2.538 * [taylor]: Taking taylor expansion of (/ 1 (* (pow phi2 2) lambda2)) in lambda2 2.538 * [taylor]: Taking taylor expansion of (* (pow phi2 2) lambda2) in lambda2 2.538 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 2.538 * [taylor]: Taking taylor expansion of phi2 in lambda2 2.538 * [backup-simplify]: Simplify phi2 into phi2 2.538 * [taylor]: Taking taylor expansion of lambda2 in lambda2 2.538 * [backup-simplify]: Simplify 0 into 0 2.538 * [backup-simplify]: Simplify 1 into 1 2.538 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 2.538 * [backup-simplify]: Simplify (* (pow phi2 2) 0) into 0 2.538 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 2.538 * [backup-simplify]: Simplify (+ (* (pow phi2 2) 1) (* 0 0)) into (pow phi2 2) 2.538 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 2.538 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 (* lambda2 phi1)))) in lambda2 2.538 * [taylor]: Taking taylor expansion of 2 in lambda2 2.538 * [backup-simplify]: Simplify 2 into 2 2.538 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (* lambda2 phi1))) in lambda2 2.538 * [taylor]: Taking taylor expansion of (* phi2 (* lambda2 phi1)) in lambda2 2.538 * [taylor]: Taking taylor expansion of phi2 in lambda2 2.538 * [backup-simplify]: Simplify phi2 into phi2 2.538 * [taylor]: Taking taylor expansion of (* lambda2 phi1) in lambda2 2.538 * [taylor]: Taking taylor expansion of lambda2 in lambda2 2.538 * [backup-simplify]: Simplify 0 into 0 2.539 * [backup-simplify]: Simplify 1 into 1 2.539 * [taylor]: Taking taylor expansion of phi1 in lambda2 2.539 * [backup-simplify]: Simplify phi1 into phi1 2.539 * [backup-simplify]: Simplify (* 0 phi1) into 0 2.539 * [backup-simplify]: Simplify (* phi2 0) into 0 2.539 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 2.539 * [backup-simplify]: Simplify (+ (* phi2 phi1) (* 0 0)) into (* phi2 phi1) 2.539 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 2.539 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 2.539 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 2.539 * [taylor]: Taking taylor expansion of 0.5 in lambda2 2.539 * [backup-simplify]: Simplify 0.5 into 0.5 2.539 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 2.539 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 2.539 * [taylor]: Taking taylor expansion of phi1 in lambda2 2.539 * [backup-simplify]: Simplify phi1 into phi1 2.539 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.539 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 2.539 * [taylor]: Taking taylor expansion of phi2 in lambda2 2.539 * [backup-simplify]: Simplify phi2 into phi2 2.539 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.540 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 2.540 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 2.540 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.540 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.540 * [backup-simplify]: Simplify (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) into (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) 2.540 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi2 phi1))) into (/ 2 (* phi2 phi1)) 2.540 * [backup-simplify]: Simplify (- (/ 2 (* phi2 phi1))) into (- (* 2 (/ 1 (* phi2 phi1)))) 2.540 * [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)))) 2.541 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.541 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 2.541 * [backup-simplify]: Simplify (- 0) into 0 2.541 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.541 * [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))))) 2.542 * [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)))))) 2.542 * [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 2.542 * [taylor]: Taking taylor expansion of 1/2 in phi1 2.542 * [backup-simplify]: Simplify 1/2 into 1/2 2.542 * [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 2.542 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) in phi1 2.542 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in phi1 2.542 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 2.542 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 2.542 * [taylor]: Taking taylor expansion of phi2 in phi1 2.542 * [backup-simplify]: Simplify phi2 into phi2 2.542 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 2.542 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 2.542 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 2.542 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 2.542 * [taylor]: Taking taylor expansion of phi1 in phi1 2.542 * [backup-simplify]: Simplify 0 into 0 2.542 * [backup-simplify]: Simplify 1 into 1 2.542 * [backup-simplify]: Simplify (* 1 1) into 1 2.543 * [backup-simplify]: Simplify (/ 1 1) into 1 2.543 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi1 2.543 * [taylor]: Taking taylor expansion of 2 in phi1 2.543 * [backup-simplify]: Simplify 2 into 2 2.543 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi1 2.543 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 2.543 * [taylor]: Taking taylor expansion of phi2 in phi1 2.543 * [backup-simplify]: Simplify phi2 into phi2 2.543 * [taylor]: Taking taylor expansion of phi1 in phi1 2.543 * [backup-simplify]: Simplify 0 into 0 2.543 * [backup-simplify]: Simplify 1 into 1 2.543 * [backup-simplify]: Simplify (* phi2 0) into 0 2.543 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 2.543 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.543 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 2.543 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 2.543 * [taylor]: Taking taylor expansion of 0.5 in phi1 2.543 * [backup-simplify]: Simplify 0.5 into 0.5 2.543 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 2.543 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 2.543 * [taylor]: Taking taylor expansion of phi1 in phi1 2.543 * [backup-simplify]: Simplify 0 into 0 2.543 * [backup-simplify]: Simplify 1 into 1 2.544 * [backup-simplify]: Simplify (/ 1 1) into 1 2.544 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 2.544 * [taylor]: Taking taylor expansion of phi2 in phi1 2.544 * [backup-simplify]: Simplify phi2 into phi2 2.544 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.544 * [backup-simplify]: Simplify (+ 1 0) into 1 2.544 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 2.544 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.545 * [backup-simplify]: Simplify (+ 0 1) into 1 2.545 * [backup-simplify]: Simplify (+ 1 0) into 1 2.545 * [backup-simplify]: Simplify (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 2.545 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 2.546 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 2.546 * [backup-simplify]: Simplify (+ 0 0) into 0 2.546 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 2.546 * [backup-simplify]: Simplify (- (/ 2 phi2)) into (- (* 2 (/ 1 phi2))) 2.546 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 2.547 * [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)))))))) 2.547 * [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))))))) 2.547 * [taylor]: Taking taylor expansion of (- (/ 1 (* phi2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in phi2 2.547 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi2 2.547 * [taylor]: Taking taylor expansion of (* phi2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 2.547 * [taylor]: Taking taylor expansion of phi2 in phi2 2.547 * [backup-simplify]: Simplify 0 into 0 2.547 * [backup-simplify]: Simplify 1 into 1 2.547 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 2.547 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 2.547 * [taylor]: Taking taylor expansion of 0.5 in phi2 2.547 * [backup-simplify]: Simplify 0.5 into 0.5 2.547 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 2.547 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 2.547 * [taylor]: Taking taylor expansion of phi1 in phi2 2.547 * [backup-simplify]: Simplify phi1 into phi1 2.547 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.547 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 2.547 * [taylor]: Taking taylor expansion of phi2 in phi2 2.547 * [backup-simplify]: Simplify 0 into 0 2.547 * [backup-simplify]: Simplify 1 into 1 2.547 * [backup-simplify]: Simplify (/ 1 1) into 1 2.548 * [backup-simplify]: Simplify (+ 0 1) into 1 2.548 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 2.548 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.548 * [backup-simplify]: Simplify (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 2.549 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.549 * [backup-simplify]: Simplify (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 2.549 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 2.549 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 2.549 * [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)))))) 2.549 * [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 2.549 * [taylor]: Taking taylor expansion of 1/2 in phi1 2.549 * [backup-simplify]: Simplify 1/2 into 1/2 2.549 * [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 2.549 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) in phi1 2.550 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in phi1 2.550 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 2.550 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 2.550 * [taylor]: Taking taylor expansion of phi2 in phi1 2.550 * [backup-simplify]: Simplify phi2 into phi2 2.550 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 2.550 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 2.550 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 2.550 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 2.550 * [taylor]: Taking taylor expansion of phi1 in phi1 2.550 * [backup-simplify]: Simplify 0 into 0 2.550 * [backup-simplify]: Simplify 1 into 1 2.550 * [backup-simplify]: Simplify (* 1 1) into 1 2.550 * [backup-simplify]: Simplify (/ 1 1) into 1 2.550 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi1 2.550 * [taylor]: Taking taylor expansion of 2 in phi1 2.550 * [backup-simplify]: Simplify 2 into 2 2.550 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi1 2.550 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 2.550 * [taylor]: Taking taylor expansion of phi2 in phi1 2.550 * [backup-simplify]: Simplify phi2 into phi2 2.550 * [taylor]: Taking taylor expansion of phi1 in phi1 2.550 * [backup-simplify]: Simplify 0 into 0 2.550 * [backup-simplify]: Simplify 1 into 1 2.551 * [backup-simplify]: Simplify (* phi2 0) into 0 2.551 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 2.551 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.551 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 2.551 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 2.551 * [taylor]: Taking taylor expansion of 0.5 in phi1 2.551 * [backup-simplify]: Simplify 0.5 into 0.5 2.551 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 2.551 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 2.551 * [taylor]: Taking taylor expansion of phi1 in phi1 2.551 * [backup-simplify]: Simplify 0 into 0 2.551 * [backup-simplify]: Simplify 1 into 1 2.551 * [backup-simplify]: Simplify (/ 1 1) into 1 2.551 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 2.551 * [taylor]: Taking taylor expansion of phi2 in phi1 2.551 * [backup-simplify]: Simplify phi2 into phi2 2.551 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.552 * [backup-simplify]: Simplify (+ 1 0) into 1 2.552 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 2.552 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.552 * [backup-simplify]: Simplify (+ 0 1) into 1 2.552 * [backup-simplify]: Simplify (+ 1 0) into 1 2.553 * [backup-simplify]: Simplify (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 2.553 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 2.553 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 2.554 * [backup-simplify]: Simplify (+ 0 0) into 0 2.554 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 2.554 * [backup-simplify]: Simplify (- (/ 2 phi2)) into (- (* 2 (/ 1 phi2))) 2.554 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 2.554 * [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)))))))) 2.555 * [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))))))) 2.555 * [taylor]: Taking taylor expansion of (- (/ 1 (* phi2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in phi2 2.555 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi2 2.555 * [taylor]: Taking taylor expansion of (* phi2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 2.555 * [taylor]: Taking taylor expansion of phi2 in phi2 2.555 * [backup-simplify]: Simplify 0 into 0 2.555 * [backup-simplify]: Simplify 1 into 1 2.555 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 2.555 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 2.555 * [taylor]: Taking taylor expansion of 0.5 in phi2 2.555 * [backup-simplify]: Simplify 0.5 into 0.5 2.555 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 2.555 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 2.555 * [taylor]: Taking taylor expansion of phi1 in phi2 2.555 * [backup-simplify]: Simplify phi1 into phi1 2.555 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.555 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 2.555 * [taylor]: Taking taylor expansion of phi2 in phi2 2.555 * [backup-simplify]: Simplify 0 into 0 2.555 * [backup-simplify]: Simplify 1 into 1 2.555 * [backup-simplify]: Simplify (/ 1 1) into 1 2.556 * [backup-simplify]: Simplify (+ 0 1) into 1 2.556 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 2.556 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.556 * [backup-simplify]: Simplify (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 2.556 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.557 * [backup-simplify]: Simplify (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 2.557 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 2.557 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 2.557 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 2.558 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 2.558 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 2.558 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 2.558 * [backup-simplify]: Simplify (+ 0 0) into 0 2.559 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 2.560 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 2.560 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 2.560 * [backup-simplify]: Simplify (- 0) into 0 2.560 * [backup-simplify]: Simplify (+ 0 0) into 0 2.561 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (/ 0 1)) (* 0 (/ 0 1)))) into 0 2.562 * [backup-simplify]: Simplify (+ (* -1 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 2.562 * [taylor]: Taking taylor expansion of 0 in phi1 2.562 * [backup-simplify]: Simplify 0 into 0 2.563 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 2.563 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 2.563 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 2.563 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 2.564 * [backup-simplify]: Simplify (+ 0 0) into 0 2.564 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 2.565 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 2.565 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 2.565 * [backup-simplify]: Simplify (- 0) into 0 2.565 * [backup-simplify]: Simplify (+ 0 0) into 0 2.565 * [taylor]: Taking taylor expansion of 0 in phi1 2.566 * [backup-simplify]: Simplify 0 into 0 2.566 * [taylor]: Taking taylor expansion of 0 in phi2 2.566 * [backup-simplify]: Simplify 0 into 0 2.566 * [taylor]: Taking taylor expansion of 0 in phi2 2.566 * [backup-simplify]: Simplify 0 into 0 2.566 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 2.566 * [taylor]: Taking taylor expansion of 0 in phi2 2.566 * [backup-simplify]: Simplify 0 into 0 2.566 * [taylor]: Taking taylor expansion of 0 in phi2 2.566 * [backup-simplify]: Simplify 0 into 0 2.566 * [backup-simplify]: Simplify (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 2.566 * [backup-simplify]: Simplify (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 2.567 * [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))))))) 2.569 * [backup-simplify]: Simplify (sqrt (+ (* (* (- (/ 1 (- lambda1)) (/ 1 (- lambda2))) (cos (/ (+ (/ 1 (- phi1)) (/ 1 (- phi2))) 2.0))) (* (- (/ 1 (- lambda1)) (/ 1 (- lambda2))) (* (* (cbrt (cos (/ (+ (/ 1 (- phi1)) (/ 1 (- phi2))) 2.0))) (cbrt (cos (/ (+ (/ 1 (- phi1)) (/ 1 (- phi2))) 2.0)))) (cbrt (cos (/ (+ (/ 1 (- phi1)) (/ 1 (- phi2))) 2.0)))))) (* (- (/ 1 (- phi1)) (/ 1 (- phi2))) (- (/ 1 (- phi1)) (/ 1 (- phi2)))))) into (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) 2.569 * [approximate]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in (lambda1 lambda2 phi1 phi2) around 0 2.569 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in phi2 2.569 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in phi2 2.569 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) in phi2 2.569 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi2 2.569 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 2.569 * [taylor]: Taking taylor expansion of phi2 in phi2 2.569 * [backup-simplify]: Simplify 0 into 0 2.569 * [backup-simplify]: Simplify 1 into 1 2.569 * [backup-simplify]: Simplify (* 1 1) into 1 2.570 * [backup-simplify]: Simplify (/ 1 1) into 1 2.570 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))) in phi2 2.570 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in phi2 2.570 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 2.570 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 2.570 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 2.570 * [taylor]: Taking taylor expansion of -0.5 in phi2 2.570 * [backup-simplify]: Simplify -0.5 into -0.5 2.570 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 2.570 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 2.570 * [taylor]: Taking taylor expansion of phi1 in phi2 2.570 * [backup-simplify]: Simplify phi1 into phi1 2.570 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.570 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 2.570 * [taylor]: Taking taylor expansion of phi2 in phi2 2.570 * [backup-simplify]: Simplify 0 into 0 2.570 * [backup-simplify]: Simplify 1 into 1 2.570 * [backup-simplify]: Simplify (/ 1 1) into 1 2.570 * [backup-simplify]: Simplify (+ 0 1) into 1 2.571 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 2.571 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.571 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 2.571 * [taylor]: Taking taylor expansion of lambda2 in phi2 2.571 * [backup-simplify]: Simplify lambda2 into lambda2 2.571 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.571 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 2.571 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 2.571 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))) in phi2 2.571 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi2 2.571 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 2.571 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 2.571 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 2.571 * [taylor]: Taking taylor expansion of -0.5 in phi2 2.572 * [backup-simplify]: Simplify -0.5 into -0.5 2.572 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 2.572 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 2.572 * [taylor]: Taking taylor expansion of phi1 in phi2 2.572 * [backup-simplify]: Simplify phi1 into phi1 2.572 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.572 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 2.572 * [taylor]: Taking taylor expansion of phi2 in phi2 2.572 * [backup-simplify]: Simplify 0 into 0 2.572 * [backup-simplify]: Simplify 1 into 1 2.572 * [backup-simplify]: Simplify (/ 1 1) into 1 2.572 * [backup-simplify]: Simplify (+ 0 1) into 1 2.573 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 2.573 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.573 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 2.573 * [taylor]: Taking taylor expansion of lambda1 in phi2 2.573 * [backup-simplify]: Simplify lambda1 into lambda1 2.573 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.573 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 2.573 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 2.573 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi2 2.573 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 2.573 * [taylor]: Taking taylor expansion of phi1 in phi2 2.573 * [backup-simplify]: Simplify phi1 into phi1 2.573 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 2.573 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 2.573 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in phi2 2.574 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi2 2.574 * [taylor]: Taking taylor expansion of 2 in phi2 2.574 * [backup-simplify]: Simplify 2 into 2 2.574 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi2 2.574 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 2.574 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 2.574 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 2.574 * [taylor]: Taking taylor expansion of -0.5 in phi2 2.574 * [backup-simplify]: Simplify -0.5 into -0.5 2.574 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 2.574 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 2.574 * [taylor]: Taking taylor expansion of phi1 in phi2 2.574 * [backup-simplify]: Simplify phi1 into phi1 2.574 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.574 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 2.574 * [taylor]: Taking taylor expansion of phi2 in phi2 2.574 * [backup-simplify]: Simplify 0 into 0 2.574 * [backup-simplify]: Simplify 1 into 1 2.574 * [backup-simplify]: Simplify (/ 1 1) into 1 2.574 * [backup-simplify]: Simplify (+ 0 1) into 1 2.575 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 2.575 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.575 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi2 2.575 * [taylor]: Taking taylor expansion of lambda2 in phi2 2.575 * [backup-simplify]: Simplify lambda2 into lambda2 2.575 * [taylor]: Taking taylor expansion of lambda1 in phi2 2.575 * [backup-simplify]: Simplify lambda1 into lambda1 2.575 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.575 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 2.575 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) 2.575 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi2 2.575 * [taylor]: Taking taylor expansion of 2 in phi2 2.575 * [backup-simplify]: Simplify 2 into 2 2.575 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi2 2.575 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2 2.575 * [taylor]: Taking taylor expansion of phi2 in phi2 2.575 * [backup-simplify]: Simplify 0 into 0 2.575 * [backup-simplify]: Simplify 1 into 1 2.575 * [taylor]: Taking taylor expansion of phi1 in phi2 2.575 * [backup-simplify]: Simplify phi1 into phi1 2.575 * [backup-simplify]: Simplify (* 0 phi1) into 0 2.576 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 2.576 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.576 * [backup-simplify]: Simplify (+ 1 0) into 1 2.576 * [backup-simplify]: Simplify (+ 1 0) into 1 2.577 * [backup-simplify]: Simplify (sqrt 1) into 1 2.577 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 2.578 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 2.578 * [backup-simplify]: Simplify (+ 0 0) into 0 2.578 * [backup-simplify]: Simplify (* 2 (/ 1 phi1)) into (/ 2 phi1) 2.578 * [backup-simplify]: Simplify (+ 0 (/ 2 phi1)) into (* 2 (/ 1 phi1)) 2.578 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi1))) into (- (* 2 (/ 1 phi1))) 2.578 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1))) 2.578 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi1))) (* 2 (sqrt 1))) into (/ -1 phi1) 2.578 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in phi1 2.578 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in phi1 2.578 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) in phi1 2.579 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 2.579 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 2.579 * [taylor]: Taking taylor expansion of phi2 in phi1 2.579 * [backup-simplify]: Simplify phi2 into phi2 2.579 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 2.579 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 2.579 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))) in phi1 2.579 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in phi1 2.579 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 2.579 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 2.579 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 2.579 * [taylor]: Taking taylor expansion of -0.5 in phi1 2.579 * [backup-simplify]: Simplify -0.5 into -0.5 2.579 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 2.579 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 2.579 * [taylor]: Taking taylor expansion of phi1 in phi1 2.579 * [backup-simplify]: Simplify 0 into 0 2.579 * [backup-simplify]: Simplify 1 into 1 2.579 * [backup-simplify]: Simplify (/ 1 1) into 1 2.579 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 2.579 * [taylor]: Taking taylor expansion of phi2 in phi1 2.579 * [backup-simplify]: Simplify phi2 into phi2 2.579 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.580 * [backup-simplify]: Simplify (+ 1 0) into 1 2.580 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 2.580 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.580 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 2.580 * [taylor]: Taking taylor expansion of lambda2 in phi1 2.580 * [backup-simplify]: Simplify lambda2 into lambda2 2.580 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.580 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 2.580 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 2.580 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))) in phi1 2.580 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi1 2.581 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 2.581 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 2.581 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 2.581 * [taylor]: Taking taylor expansion of -0.5 in phi1 2.581 * [backup-simplify]: Simplify -0.5 into -0.5 2.581 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 2.581 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 2.581 * [taylor]: Taking taylor expansion of phi1 in phi1 2.581 * [backup-simplify]: Simplify 0 into 0 2.581 * [backup-simplify]: Simplify 1 into 1 2.581 * [backup-simplify]: Simplify (/ 1 1) into 1 2.581 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 2.581 * [taylor]: Taking taylor expansion of phi2 in phi1 2.581 * [backup-simplify]: Simplify phi2 into phi2 2.581 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.581 * [backup-simplify]: Simplify (+ 1 0) into 1 2.582 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 2.582 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.582 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 2.582 * [taylor]: Taking taylor expansion of lambda1 in phi1 2.582 * [backup-simplify]: Simplify lambda1 into lambda1 2.582 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.582 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 2.582 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 2.582 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 2.582 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 2.582 * [taylor]: Taking taylor expansion of phi1 in phi1 2.582 * [backup-simplify]: Simplify 0 into 0 2.582 * [backup-simplify]: Simplify 1 into 1 2.583 * [backup-simplify]: Simplify (* 1 1) into 1 2.583 * [backup-simplify]: Simplify (/ 1 1) into 1 2.583 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in phi1 2.583 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi1 2.583 * [taylor]: Taking taylor expansion of 2 in phi1 2.583 * [backup-simplify]: Simplify 2 into 2 2.583 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi1 2.583 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 2.583 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 2.583 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 2.583 * [taylor]: Taking taylor expansion of -0.5 in phi1 2.583 * [backup-simplify]: Simplify -0.5 into -0.5 2.583 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 2.583 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 2.583 * [taylor]: Taking taylor expansion of phi1 in phi1 2.583 * [backup-simplify]: Simplify 0 into 0 2.583 * [backup-simplify]: Simplify 1 into 1 2.583 * [backup-simplify]: Simplify (/ 1 1) into 1 2.583 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 2.583 * [taylor]: Taking taylor expansion of phi2 in phi1 2.583 * [backup-simplify]: Simplify phi2 into phi2 2.583 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.584 * [backup-simplify]: Simplify (+ 1 0) into 1 2.584 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 2.584 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.584 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 2.584 * [taylor]: Taking taylor expansion of lambda2 in phi1 2.584 * [backup-simplify]: Simplify lambda2 into lambda2 2.584 * [taylor]: Taking taylor expansion of lambda1 in phi1 2.584 * [backup-simplify]: Simplify lambda1 into lambda1 2.584 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.584 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 2.585 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) 2.585 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi1 2.585 * [taylor]: Taking taylor expansion of 2 in phi1 2.585 * [backup-simplify]: Simplify 2 into 2 2.585 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi1 2.585 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 2.585 * [taylor]: Taking taylor expansion of phi2 in phi1 2.585 * [backup-simplify]: Simplify phi2 into phi2 2.585 * [taylor]: Taking taylor expansion of phi1 in phi1 2.585 * [backup-simplify]: Simplify 0 into 0 2.585 * [backup-simplify]: Simplify 1 into 1 2.585 * [backup-simplify]: Simplify (* phi2 0) into 0 2.585 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 2.585 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.585 * [backup-simplify]: Simplify (+ 0 1) into 1 2.586 * [backup-simplify]: Simplify (+ 0 1) into 1 2.586 * [backup-simplify]: Simplify (+ 0 1) into 1 2.586 * [backup-simplify]: Simplify (+ 1 0) into 1 2.586 * [backup-simplify]: Simplify (sqrt 1) into 1 2.587 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 2.587 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 2.587 * [backup-simplify]: Simplify (+ 0 0) into 0 2.588 * [backup-simplify]: Simplify (+ 0 0) into 0 2.588 * [backup-simplify]: Simplify (+ 0 0) into 0 2.588 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 2.588 * [backup-simplify]: Simplify (+ 0 (/ 2 phi2)) into (* 2 (/ 1 phi2)) 2.588 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi2))) into (- (* 2 (/ 1 phi2))) 2.588 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 2.589 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi2))) (* 2 (sqrt 1))) into (/ -1 phi2) 2.589 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in lambda2 2.589 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in lambda2 2.589 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) in lambda2 2.589 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda2 2.589 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 2.589 * [taylor]: Taking taylor expansion of phi2 in lambda2 2.589 * [backup-simplify]: Simplify phi2 into phi2 2.589 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 2.589 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 2.589 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))) in lambda2 2.589 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda2 2.589 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 2.589 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 2.589 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 2.589 * [taylor]: Taking taylor expansion of -0.5 in lambda2 2.589 * [backup-simplify]: Simplify -0.5 into -0.5 2.589 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 2.589 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 2.589 * [taylor]: Taking taylor expansion of phi1 in lambda2 2.589 * [backup-simplify]: Simplify phi1 into phi1 2.589 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.589 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 2.589 * [taylor]: Taking taylor expansion of phi2 in lambda2 2.589 * [backup-simplify]: Simplify phi2 into phi2 2.589 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.589 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 2.589 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 2.589 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.590 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.590 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.590 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 2.590 * [backup-simplify]: Simplify (- 0) into 0 2.590 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.590 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 2.590 * [taylor]: Taking taylor expansion of lambda2 in lambda2 2.590 * [backup-simplify]: Simplify 0 into 0 2.590 * [backup-simplify]: Simplify 1 into 1 2.590 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.591 * [backup-simplify]: Simplify (* 1 1) into 1 2.591 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.591 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))) in lambda2 2.591 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda2 2.591 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 2.591 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 2.591 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 2.591 * [taylor]: Taking taylor expansion of -0.5 in lambda2 2.591 * [backup-simplify]: Simplify -0.5 into -0.5 2.591 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 2.591 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 2.591 * [taylor]: Taking taylor expansion of phi1 in lambda2 2.591 * [backup-simplify]: Simplify phi1 into phi1 2.591 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.591 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 2.591 * [taylor]: Taking taylor expansion of phi2 in lambda2 2.591 * [backup-simplify]: Simplify phi2 into phi2 2.591 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.591 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 2.591 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 2.591 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.592 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.592 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.592 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 2.592 * [backup-simplify]: Simplify (- 0) into 0 2.592 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.592 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 2.592 * [taylor]: Taking taylor expansion of lambda1 in lambda2 2.592 * [backup-simplify]: Simplify lambda1 into lambda1 2.592 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.593 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 2.593 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 2.593 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda2 2.593 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 2.593 * [taylor]: Taking taylor expansion of phi1 in lambda2 2.593 * [backup-simplify]: Simplify phi1 into phi1 2.593 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 2.593 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 2.593 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in lambda2 2.593 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda2 2.593 * [taylor]: Taking taylor expansion of 2 in lambda2 2.593 * [backup-simplify]: Simplify 2 into 2 2.593 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda2 2.593 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 2.593 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 2.593 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 2.593 * [taylor]: Taking taylor expansion of -0.5 in lambda2 2.593 * [backup-simplify]: Simplify -0.5 into -0.5 2.593 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 2.593 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 2.593 * [taylor]: Taking taylor expansion of phi1 in lambda2 2.593 * [backup-simplify]: Simplify phi1 into phi1 2.593 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.593 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 2.593 * [taylor]: Taking taylor expansion of phi2 in lambda2 2.593 * [backup-simplify]: Simplify phi2 into phi2 2.593 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.594 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 2.594 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 2.594 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.594 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.594 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.594 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 2.595 * [backup-simplify]: Simplify (- 0) into 0 2.595 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.595 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda2 2.595 * [taylor]: Taking taylor expansion of lambda2 in lambda2 2.595 * [backup-simplify]: Simplify 0 into 0 2.595 * [backup-simplify]: Simplify 1 into 1 2.595 * [taylor]: Taking taylor expansion of lambda1 in lambda2 2.595 * [backup-simplify]: Simplify lambda1 into lambda1 2.595 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.595 * [backup-simplify]: Simplify (* 0 lambda1) into 0 2.595 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda1)) into lambda1 2.595 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) 2.595 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda2 2.596 * [taylor]: Taking taylor expansion of 2 in lambda2 2.596 * [backup-simplify]: Simplify 2 into 2 2.596 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda2 2.596 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 2.596 * [taylor]: Taking taylor expansion of phi2 in lambda2 2.596 * [backup-simplify]: Simplify phi2 into phi2 2.596 * [taylor]: Taking taylor expansion of phi1 in lambda2 2.596 * [backup-simplify]: Simplify phi1 into phi1 2.596 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 2.596 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 2.596 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.596 * [backup-simplify]: Simplify (+ 0 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.596 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.596 * [backup-simplify]: Simplify (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.597 * [backup-simplify]: Simplify (+ 0) into 0 2.597 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 2.597 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 2.597 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 2.598 * [backup-simplify]: Simplify (+ 0 0) into 0 2.598 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 2.598 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 2.599 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 2.599 * [backup-simplify]: Simplify (- 0) into 0 2.599 * [backup-simplify]: Simplify (+ 0 0) into 0 2.599 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 2.600 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 2.601 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 2.601 * [backup-simplify]: Simplify (+ 0 0) into 0 2.601 * [backup-simplify]: Simplify (+ 0 0) into 0 2.601 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 2.602 * [backup-simplify]: Simplify (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 0) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 2.602 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 2.602 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 2.603 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) (* 2 (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)) 2.603 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in lambda1 2.603 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in lambda1 2.603 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) in lambda1 2.603 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda1 2.603 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 2.603 * [taylor]: Taking taylor expansion of phi2 in lambda1 2.603 * [backup-simplify]: Simplify phi2 into phi2 2.603 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 2.603 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 2.603 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))) in lambda1 2.603 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda1 2.603 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 2.603 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 2.603 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 2.603 * [taylor]: Taking taylor expansion of -0.5 in lambda1 2.603 * [backup-simplify]: Simplify -0.5 into -0.5 2.603 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 2.603 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 2.603 * [taylor]: Taking taylor expansion of phi1 in lambda1 2.603 * [backup-simplify]: Simplify phi1 into phi1 2.603 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.603 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 2.603 * [taylor]: Taking taylor expansion of phi2 in lambda1 2.603 * [backup-simplify]: Simplify phi2 into phi2 2.603 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.603 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 2.603 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 2.604 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.604 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.604 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.604 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 2.604 * [backup-simplify]: Simplify (- 0) into 0 2.604 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.604 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 2.604 * [taylor]: Taking taylor expansion of lambda2 in lambda1 2.604 * [backup-simplify]: Simplify lambda2 into lambda2 2.605 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.605 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 2.605 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 2.605 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))) in lambda1 2.605 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda1 2.605 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 2.605 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 2.605 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 2.605 * [taylor]: Taking taylor expansion of -0.5 in lambda1 2.605 * [backup-simplify]: Simplify -0.5 into -0.5 2.605 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 2.605 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 2.605 * [taylor]: Taking taylor expansion of phi1 in lambda1 2.605 * [backup-simplify]: Simplify phi1 into phi1 2.605 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.605 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 2.605 * [taylor]: Taking taylor expansion of phi2 in lambda1 2.605 * [backup-simplify]: Simplify phi2 into phi2 2.605 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.605 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 2.605 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 2.606 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.606 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.606 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.606 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 2.606 * [backup-simplify]: Simplify (- 0) into 0 2.606 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.606 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 2.606 * [taylor]: Taking taylor expansion of lambda1 in lambda1 2.606 * [backup-simplify]: Simplify 0 into 0 2.606 * [backup-simplify]: Simplify 1 into 1 2.607 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.607 * [backup-simplify]: Simplify (* 1 1) into 1 2.607 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.607 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda1 2.607 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 2.607 * [taylor]: Taking taylor expansion of phi1 in lambda1 2.607 * [backup-simplify]: Simplify phi1 into phi1 2.607 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 2.607 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 2.607 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in lambda1 2.607 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1 2.607 * [taylor]: Taking taylor expansion of 2 in lambda1 2.607 * [backup-simplify]: Simplify 2 into 2 2.607 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1 2.607 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 2.607 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 2.607 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 2.607 * [taylor]: Taking taylor expansion of -0.5 in lambda1 2.607 * [backup-simplify]: Simplify -0.5 into -0.5 2.607 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 2.607 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 2.608 * [taylor]: Taking taylor expansion of phi1 in lambda1 2.608 * [backup-simplify]: Simplify phi1 into phi1 2.608 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.608 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 2.608 * [taylor]: Taking taylor expansion of phi2 in lambda1 2.608 * [backup-simplify]: Simplify phi2 into phi2 2.608 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.608 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 2.608 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 2.608 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.608 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.608 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.608 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 2.608 * [backup-simplify]: Simplify (- 0) into 0 2.609 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.609 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 2.609 * [taylor]: Taking taylor expansion of lambda2 in lambda1 2.609 * [backup-simplify]: Simplify lambda2 into lambda2 2.609 * [taylor]: Taking taylor expansion of lambda1 in lambda1 2.609 * [backup-simplify]: Simplify 0 into 0 2.609 * [backup-simplify]: Simplify 1 into 1 2.609 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.609 * [backup-simplify]: Simplify (* lambda2 0) into 0 2.614 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 2.614 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) 2.614 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda1 2.614 * [taylor]: Taking taylor expansion of 2 in lambda1 2.614 * [backup-simplify]: Simplify 2 into 2 2.614 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda1 2.614 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda1 2.614 * [taylor]: Taking taylor expansion of phi2 in lambda1 2.614 * [backup-simplify]: Simplify phi2 into phi2 2.614 * [taylor]: Taking taylor expansion of phi1 in lambda1 2.614 * [backup-simplify]: Simplify phi1 into phi1 2.614 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 2.614 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 2.615 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.615 * [backup-simplify]: Simplify (+ 0 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.615 * [backup-simplify]: Simplify (+ 0 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.615 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.615 * [backup-simplify]: Simplify (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.616 * [backup-simplify]: Simplify (+ 0) into 0 2.616 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 2.616 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 2.617 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 2.617 * [backup-simplify]: Simplify (+ 0 0) into 0 2.617 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 2.618 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 2.618 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 2.618 * [backup-simplify]: Simplify (- 0) into 0 2.618 * [backup-simplify]: Simplify (+ 0 0) into 0 2.619 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 2.619 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 2.620 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 2.620 * [backup-simplify]: Simplify (+ 0 0) into 0 2.620 * [backup-simplify]: Simplify (+ 0 0) into 0 2.621 * [backup-simplify]: Simplify (+ 0 0) into 0 2.621 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 2.621 * [backup-simplify]: Simplify (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 0) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 2.621 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 2.622 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 2.622 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) (* 2 (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) 2.622 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in lambda1 2.622 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in lambda1 2.622 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) in lambda1 2.622 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda1 2.622 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 2.622 * [taylor]: Taking taylor expansion of phi2 in lambda1 2.622 * [backup-simplify]: Simplify phi2 into phi2 2.622 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 2.622 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 2.622 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))) in lambda1 2.622 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda1 2.623 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 2.623 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 2.623 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 2.623 * [taylor]: Taking taylor expansion of -0.5 in lambda1 2.623 * [backup-simplify]: Simplify -0.5 into -0.5 2.623 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 2.623 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 2.623 * [taylor]: Taking taylor expansion of phi1 in lambda1 2.623 * [backup-simplify]: Simplify phi1 into phi1 2.623 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.623 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 2.623 * [taylor]: Taking taylor expansion of phi2 in lambda1 2.623 * [backup-simplify]: Simplify phi2 into phi2 2.623 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.623 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 2.623 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 2.623 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.623 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.623 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.623 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 2.624 * [backup-simplify]: Simplify (- 0) into 0 2.624 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.624 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 2.624 * [taylor]: Taking taylor expansion of lambda2 in lambda1 2.624 * [backup-simplify]: Simplify lambda2 into lambda2 2.624 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.624 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 2.624 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 2.624 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))) in lambda1 2.624 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda1 2.624 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 2.624 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 2.625 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 2.625 * [taylor]: Taking taylor expansion of -0.5 in lambda1 2.625 * [backup-simplify]: Simplify -0.5 into -0.5 2.625 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 2.625 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 2.625 * [taylor]: Taking taylor expansion of phi1 in lambda1 2.625 * [backup-simplify]: Simplify phi1 into phi1 2.625 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.625 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 2.625 * [taylor]: Taking taylor expansion of phi2 in lambda1 2.625 * [backup-simplify]: Simplify phi2 into phi2 2.625 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.625 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 2.625 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 2.625 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.625 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.625 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.625 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 2.626 * [backup-simplify]: Simplify (- 0) into 0 2.626 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.626 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 2.626 * [taylor]: Taking taylor expansion of lambda1 in lambda1 2.626 * [backup-simplify]: Simplify 0 into 0 2.626 * [backup-simplify]: Simplify 1 into 1 2.626 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.627 * [backup-simplify]: Simplify (* 1 1) into 1 2.627 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.627 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda1 2.627 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 2.627 * [taylor]: Taking taylor expansion of phi1 in lambda1 2.627 * [backup-simplify]: Simplify phi1 into phi1 2.627 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 2.627 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 2.627 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in lambda1 2.627 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1 2.627 * [taylor]: Taking taylor expansion of 2 in lambda1 2.627 * [backup-simplify]: Simplify 2 into 2 2.627 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1 2.627 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 2.627 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 2.627 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 2.627 * [taylor]: Taking taylor expansion of -0.5 in lambda1 2.627 * [backup-simplify]: Simplify -0.5 into -0.5 2.627 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 2.628 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 2.628 * [taylor]: Taking taylor expansion of phi1 in lambda1 2.628 * [backup-simplify]: Simplify phi1 into phi1 2.628 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.628 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 2.628 * [taylor]: Taking taylor expansion of phi2 in lambda1 2.628 * [backup-simplify]: Simplify phi2 into phi2 2.628 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.628 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 2.628 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 2.628 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.628 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.628 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.628 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 2.629 * [backup-simplify]: Simplify (- 0) into 0 2.629 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.629 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 2.629 * [taylor]: Taking taylor expansion of lambda2 in lambda1 2.629 * [backup-simplify]: Simplify lambda2 into lambda2 2.629 * [taylor]: Taking taylor expansion of lambda1 in lambda1 2.629 * [backup-simplify]: Simplify 0 into 0 2.629 * [backup-simplify]: Simplify 1 into 1 2.629 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.629 * [backup-simplify]: Simplify (* lambda2 0) into 0 2.629 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 2.630 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) 2.630 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda1 2.630 * [taylor]: Taking taylor expansion of 2 in lambda1 2.630 * [backup-simplify]: Simplify 2 into 2 2.630 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda1 2.630 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda1 2.630 * [taylor]: Taking taylor expansion of phi2 in lambda1 2.630 * [backup-simplify]: Simplify phi2 into phi2 2.630 * [taylor]: Taking taylor expansion of phi1 in lambda1 2.630 * [backup-simplify]: Simplify phi1 into phi1 2.630 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 2.630 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 2.630 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.630 * [backup-simplify]: Simplify (+ 0 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.630 * [backup-simplify]: Simplify (+ 0 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.631 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.631 * [backup-simplify]: Simplify (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.631 * [backup-simplify]: Simplify (+ 0) into 0 2.631 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 2.632 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 2.632 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 2.632 * [backup-simplify]: Simplify (+ 0 0) into 0 2.632 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 2.633 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 2.633 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 2.633 * [backup-simplify]: Simplify (- 0) into 0 2.634 * [backup-simplify]: Simplify (+ 0 0) into 0 2.634 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 2.634 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 2.635 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 2.635 * [backup-simplify]: Simplify (+ 0 0) into 0 2.636 * [backup-simplify]: Simplify (+ 0 0) into 0 2.636 * [backup-simplify]: Simplify (+ 0 0) into 0 2.636 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 2.636 * [backup-simplify]: Simplify (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 0) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 2.637 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 2.637 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 2.637 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) (* 2 (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) 2.637 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 2.637 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 2.637 * [taylor]: Taking taylor expansion of -0.5 in lambda2 2.637 * [backup-simplify]: Simplify -0.5 into -0.5 2.638 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 2.638 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 2.638 * [taylor]: Taking taylor expansion of phi1 in lambda2 2.638 * [backup-simplify]: Simplify phi1 into phi1 2.638 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.638 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 2.638 * [taylor]: Taking taylor expansion of phi2 in lambda2 2.638 * [backup-simplify]: Simplify phi2 into phi2 2.638 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.638 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 2.638 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 2.638 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.638 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.638 * [taylor]: Taking taylor expansion of (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) in lambda2 2.638 * [taylor]: Taking taylor expansion of -1 in lambda2 2.638 * [backup-simplify]: Simplify -1 into -1 2.638 * [taylor]: Taking taylor expansion of (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2) in lambda2 2.638 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 2.638 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 2.638 * [taylor]: Taking taylor expansion of -0.5 in lambda2 2.638 * [backup-simplify]: Simplify -0.5 into -0.5 2.638 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 2.638 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 2.638 * [taylor]: Taking taylor expansion of phi1 in lambda2 2.638 * [backup-simplify]: Simplify phi1 into phi1 2.638 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.638 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 2.638 * [taylor]: Taking taylor expansion of phi2 in lambda2 2.638 * [backup-simplify]: Simplify phi2 into phi2 2.638 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.638 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 2.639 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 2.639 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.639 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.639 * [taylor]: Taking taylor expansion of lambda2 in lambda2 2.639 * [backup-simplify]: Simplify 0 into 0 2.639 * [backup-simplify]: Simplify 1 into 1 2.639 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.639 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 2.639 * [backup-simplify]: Simplify (- 0) into 0 2.640 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.640 * [backup-simplify]: Simplify (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.640 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 2.640 * [taylor]: Taking taylor expansion of (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1 2.640 * [taylor]: Taking taylor expansion of -1 in phi1 2.640 * [backup-simplify]: Simplify -1 into -1 2.640 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 2.640 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 2.640 * [taylor]: Taking taylor expansion of -0.5 in phi1 2.640 * [backup-simplify]: Simplify -0.5 into -0.5 2.640 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 2.640 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 2.640 * [taylor]: Taking taylor expansion of phi1 in phi1 2.640 * [backup-simplify]: Simplify 0 into 0 2.640 * [backup-simplify]: Simplify 1 into 1 2.640 * [backup-simplify]: Simplify (/ 1 1) into 1 2.640 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 2.640 * [taylor]: Taking taylor expansion of phi2 in phi1 2.640 * [backup-simplify]: Simplify phi2 into phi2 2.640 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.641 * [backup-simplify]: Simplify (+ 1 0) into 1 2.641 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 2.641 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.641 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.641 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 2.642 * [backup-simplify]: Simplify (- 0) into 0 2.642 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.642 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 2.642 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 2.642 * [taylor]: Taking taylor expansion of -0.5 in phi1 2.642 * [backup-simplify]: Simplify -0.5 into -0.5 2.642 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 2.642 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 2.642 * [taylor]: Taking taylor expansion of phi1 in phi1 2.642 * [backup-simplify]: Simplify 0 into 0 2.642 * [backup-simplify]: Simplify 1 into 1 2.642 * [backup-simplify]: Simplify (/ 1 1) into 1 2.642 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 2.642 * [taylor]: Taking taylor expansion of phi2 in phi1 2.642 * [backup-simplify]: Simplify phi2 into phi2 2.642 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.642 * [backup-simplify]: Simplify (+ 1 0) into 1 2.643 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 2.643 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.643 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 2.644 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 2.644 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 2.644 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 2.644 * [backup-simplify]: Simplify (+ 0 0) into 0 2.645 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 2.645 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 2.646 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 2.646 * [backup-simplify]: Simplify (- 0) into 0 2.646 * [backup-simplify]: Simplify (+ 0 0) into 0 2.647 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 2.647 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 2.648 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)) (* 0 (/ 0 1)))) into 0 2.648 * [backup-simplify]: Simplify (+ 0 (/ 1 (pow phi1 2))) into (/ 1 (pow phi1 2)) 2.649 * [backup-simplify]: Simplify (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) into (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) 2.649 * [backup-simplify]: Simplify (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) into (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) 2.650 * [backup-simplify]: Simplify (+ 0) into 0 2.650 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 2.650 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 2.650 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 2.650 * [backup-simplify]: Simplify (+ 0 0) into 0 2.651 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 2.651 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 2.651 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 2.652 * [backup-simplify]: Simplify (- 0) into 0 2.652 * [backup-simplify]: Simplify (+ 0 0) into 0 2.652 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 2.653 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 1) (* 0 0))) into 0 2.653 * [backup-simplify]: Simplify (- (/ 0 lambda2) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) (/ 0 lambda2)))) into 0 2.653 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into 0 2.653 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi2 phi1))) into (/ 2 (* phi2 phi1)) 2.654 * [backup-simplify]: Simplify (+ 0 (/ 2 (* phi2 phi1))) into (* 2 (/ 1 (* phi2 phi1))) 2.654 * [backup-simplify]: Simplify (- (* 2 (/ 1 (* phi2 phi1)))) into (- (* 2 (/ 1 (* phi2 phi1)))) 2.654 * [backup-simplify]: Simplify (+ (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) (- (* 2 (/ 1 (* phi2 phi1))))) into (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) (* 2 (/ 1 (* phi2 phi1)))) 2.655 * [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)))))) 2.656 * [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 2.656 * [taylor]: Taking taylor expansion of 1/2 in lambda2 2.656 * [backup-simplify]: Simplify 1/2 into 1/2 2.656 * [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 2.656 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) in lambda2 2.656 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in lambda2 2.656 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda2 2.656 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 2.656 * [taylor]: Taking taylor expansion of phi2 in lambda2 2.656 * [backup-simplify]: Simplify phi2 into phi2 2.656 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 2.656 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 2.656 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda2 2.656 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 2.656 * [taylor]: Taking taylor expansion of phi1 in lambda2 2.656 * [backup-simplify]: Simplify phi1 into phi1 2.656 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 2.656 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 2.656 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda2 2.656 * [taylor]: Taking taylor expansion of 2 in lambda2 2.656 * [backup-simplify]: Simplify 2 into 2 2.656 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda2 2.656 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 2.656 * [taylor]: Taking taylor expansion of phi2 in lambda2 2.656 * [backup-simplify]: Simplify phi2 into phi2 2.656 * [taylor]: Taking taylor expansion of phi1 in lambda2 2.656 * [backup-simplify]: Simplify phi1 into phi1 2.656 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 2.656 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 2.656 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 2.656 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 2.656 * [taylor]: Taking taylor expansion of -0.5 in lambda2 2.656 * [backup-simplify]: Simplify -0.5 into -0.5 2.656 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 2.656 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 2.656 * [taylor]: Taking taylor expansion of phi1 in lambda2 2.656 * [backup-simplify]: Simplify phi1 into phi1 2.656 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.656 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 2.656 * [taylor]: Taking taylor expansion of phi2 in lambda2 2.657 * [backup-simplify]: Simplify phi2 into phi2 2.657 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.657 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 2.657 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 2.657 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.657 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.657 * [backup-simplify]: Simplify (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) into (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) 2.657 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi2 phi1))) into (/ 2 (* phi2 phi1)) 2.657 * [backup-simplify]: Simplify (- (/ 2 (* phi2 phi1))) into (- (* 2 (/ 1 (* phi2 phi1)))) 2.657 * [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)))) 2.658 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.658 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 2.658 * [backup-simplify]: Simplify (- 0) into 0 2.658 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.659 * [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))))) 2.659 * [backup-simplify]: Simplify (+ 0) into 0 2.659 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 2.659 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 2.659 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 2.660 * [backup-simplify]: Simplify (+ 0 0) into 0 2.660 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 2.661 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 2.661 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 2.661 * [backup-simplify]: Simplify (- 0) into 0 2.661 * [backup-simplify]: Simplify (+ 0 0) into 0 2.662 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (/ 0 1)))) into 0 2.662 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 2.662 * [taylor]: Taking taylor expansion of 0 in phi1 2.662 * [backup-simplify]: Simplify 0 into 0 2.663 * [backup-simplify]: Simplify (+ 0) into 0 2.663 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 2.663 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 2.663 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 2.663 * [backup-simplify]: Simplify (+ 0 0) into 0 2.664 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 2.664 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 2.665 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 2.665 * [backup-simplify]: Simplify (- 0) into 0 2.665 * [backup-simplify]: Simplify (+ 0 0) into 0 2.665 * [taylor]: Taking taylor expansion of 0 in phi1 2.665 * [backup-simplify]: Simplify 0 into 0 2.665 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 2.665 * [taylor]: Taking taylor expansion of (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 2.665 * [taylor]: Taking taylor expansion of -1 in phi2 2.665 * [backup-simplify]: Simplify -1 into -1 2.665 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 2.665 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 2.665 * [taylor]: Taking taylor expansion of -0.5 in phi2 2.665 * [backup-simplify]: Simplify -0.5 into -0.5 2.665 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 2.665 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 2.665 * [taylor]: Taking taylor expansion of phi1 in phi2 2.665 * [backup-simplify]: Simplify phi1 into phi1 2.665 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.666 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 2.666 * [taylor]: Taking taylor expansion of phi2 in phi2 2.666 * [backup-simplify]: Simplify 0 into 0 2.666 * [backup-simplify]: Simplify 1 into 1 2.666 * [backup-simplify]: Simplify (/ 1 1) into 1 2.666 * [backup-simplify]: Simplify (+ 0 1) into 1 2.666 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 2.666 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.667 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 2.667 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 2.667 * [taylor]: Taking taylor expansion of -0.5 in phi2 2.667 * [backup-simplify]: Simplify -0.5 into -0.5 2.667 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 2.667 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 2.667 * [taylor]: Taking taylor expansion of phi1 in phi2 2.667 * [backup-simplify]: Simplify phi1 into phi1 2.667 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.667 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 2.667 * [taylor]: Taking taylor expansion of phi2 in phi2 2.667 * [backup-simplify]: Simplify 0 into 0 2.667 * [backup-simplify]: Simplify 1 into 1 2.667 * [backup-simplify]: Simplify (/ 1 1) into 1 2.667 * [backup-simplify]: Simplify (+ 0 1) into 1 2.668 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 2.668 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.668 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 2.668 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi2 2)) (/ 0 (pow phi2 2))))) into 0 2.668 * [backup-simplify]: Simplify (+ 0) into 0 2.669 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 2.669 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 2.669 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 2.669 * [backup-simplify]: Simplify (+ 0 0) into 0 2.669 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 2.670 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 2.670 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 2.670 * [backup-simplify]: Simplify (- 0) into 0 2.671 * [backup-simplify]: Simplify (+ 0 0) into 0 2.671 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 2.671 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 2.671 * [backup-simplify]: Simplify (- (/ 0 (pow lambda2 2)) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 0 (pow lambda2 2))))) into 0 2.672 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 2.673 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 2.673 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 2.673 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 2.673 * [backup-simplify]: Simplify (+ 0 0) into 0 2.674 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 2.675 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 2.675 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 2.675 * [backup-simplify]: Simplify (- 0) into 0 2.676 * [backup-simplify]: Simplify (+ 0 0) into 0 2.677 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into 0 2.677 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 2.678 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0 2.679 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 2.679 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi1 2)) (/ 0 (pow phi1 2))))) into 0 2.679 * [backup-simplify]: Simplify (+ 0 0) into 0 2.679 * [backup-simplify]: Simplify (+ 0 0) into 0 2.679 * [backup-simplify]: Simplify (+ 0 0) into 0 2.680 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 2.680 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 2.681 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 2.681 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 2.681 * [backup-simplify]: Simplify (+ 0 0) into 0 2.682 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 2.682 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 2.682 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 2.683 * [backup-simplify]: Simplify (- 0) into 0 2.683 * [backup-simplify]: Simplify (+ 0 0) into 0 2.683 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 2.684 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (+ (* 0 1) (* 0 0)))) into 0 2.684 * [backup-simplify]: Simplify (- (/ 0 lambda2) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) (/ 0 lambda2)) (* 0 (/ 0 lambda2)))) into 0 2.685 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) into 0 2.685 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 2.685 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* phi2 phi1)) (/ 0 (* phi2 phi1))))) into 0 2.685 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ 1 (* phi2 phi1)))) into 0 2.686 * [backup-simplify]: Simplify (+ 0 0) into 0 2.686 * [backup-simplify]: Simplify (- 0) into 0 2.686 * [backup-simplify]: Simplify (+ 0 0) into 0 2.687 * [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)))))) 2.687 * [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 2.687 * [taylor]: Taking taylor expansion of 1/2 in lambda2 2.687 * [backup-simplify]: Simplify 1/2 into 1/2 2.687 * [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 2.687 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (* lambda2 (pow phi1 2))) (/ 1 (* (pow phi2 2) lambda2))) (* 2 (/ 1 (* phi2 (* lambda2 phi1))))) in lambda2 2.687 * [taylor]: Taking taylor expansion of (+ (/ 1 (* lambda2 (pow phi1 2))) (/ 1 (* (pow phi2 2) lambda2))) in lambda2 2.687 * [taylor]: Taking taylor expansion of (/ 1 (* lambda2 (pow phi1 2))) in lambda2 2.687 * [taylor]: Taking taylor expansion of (* lambda2 (pow phi1 2)) in lambda2 2.687 * [taylor]: Taking taylor expansion of lambda2 in lambda2 2.687 * [backup-simplify]: Simplify 0 into 0 2.687 * [backup-simplify]: Simplify 1 into 1 2.687 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 2.687 * [taylor]: Taking taylor expansion of phi1 in lambda2 2.687 * [backup-simplify]: Simplify phi1 into phi1 2.687 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 2.687 * [backup-simplify]: Simplify (* 0 (pow phi1 2)) into 0 2.687 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 2.688 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow phi1 2))) into (pow phi1 2) 2.688 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 2.688 * [taylor]: Taking taylor expansion of (/ 1 (* (pow phi2 2) lambda2)) in lambda2 2.688 * [taylor]: Taking taylor expansion of (* (pow phi2 2) lambda2) in lambda2 2.688 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 2.688 * [taylor]: Taking taylor expansion of phi2 in lambda2 2.688 * [backup-simplify]: Simplify phi2 into phi2 2.688 * [taylor]: Taking taylor expansion of lambda2 in lambda2 2.688 * [backup-simplify]: Simplify 0 into 0 2.688 * [backup-simplify]: Simplify 1 into 1 2.688 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 2.688 * [backup-simplify]: Simplify (* (pow phi2 2) 0) into 0 2.688 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 2.689 * [backup-simplify]: Simplify (+ (* (pow phi2 2) 1) (* 0 0)) into (pow phi2 2) 2.689 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 2.689 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 (* lambda2 phi1)))) in lambda2 2.689 * [taylor]: Taking taylor expansion of 2 in lambda2 2.689 * [backup-simplify]: Simplify 2 into 2 2.689 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (* lambda2 phi1))) in lambda2 2.689 * [taylor]: Taking taylor expansion of (* phi2 (* lambda2 phi1)) in lambda2 2.689 * [taylor]: Taking taylor expansion of phi2 in lambda2 2.689 * [backup-simplify]: Simplify phi2 into phi2 2.689 * [taylor]: Taking taylor expansion of (* lambda2 phi1) in lambda2 2.689 * [taylor]: Taking taylor expansion of lambda2 in lambda2 2.689 * [backup-simplify]: Simplify 0 into 0 2.689 * [backup-simplify]: Simplify 1 into 1 2.689 * [taylor]: Taking taylor expansion of phi1 in lambda2 2.689 * [backup-simplify]: Simplify phi1 into phi1 2.689 * [backup-simplify]: Simplify (* 0 phi1) into 0 2.689 * [backup-simplify]: Simplify (* phi2 0) into 0 2.689 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 2.690 * [backup-simplify]: Simplify (+ (* phi2 phi1) (* 0 0)) into (* phi2 phi1) 2.690 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 2.690 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 2.690 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 2.690 * [taylor]: Taking taylor expansion of -0.5 in lambda2 2.690 * [backup-simplify]: Simplify -0.5 into -0.5 2.690 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 2.690 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 2.690 * [taylor]: Taking taylor expansion of phi1 in lambda2 2.690 * [backup-simplify]: Simplify phi1 into phi1 2.690 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.690 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 2.690 * [taylor]: Taking taylor expansion of phi2 in lambda2 2.690 * [backup-simplify]: Simplify phi2 into phi2 2.690 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.690 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 2.690 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 2.691 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.691 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.691 * [backup-simplify]: Simplify (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) into (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) 2.691 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi2 phi1))) into (/ 2 (* phi2 phi1)) 2.691 * [backup-simplify]: Simplify (- (/ 2 (* phi2 phi1))) into (- (* 2 (/ 1 (* phi2 phi1)))) 2.691 * [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)))) 2.691 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.691 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 2.692 * [backup-simplify]: Simplify (- 0) into 0 2.692 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.692 * [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))))) 2.693 * [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)))))) 2.693 * [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 2.693 * [taylor]: Taking taylor expansion of 1/2 in phi1 2.693 * [backup-simplify]: Simplify 1/2 into 1/2 2.693 * [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 2.693 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) in phi1 2.693 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in phi1 2.693 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 2.693 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 2.693 * [taylor]: Taking taylor expansion of phi2 in phi1 2.693 * [backup-simplify]: Simplify phi2 into phi2 2.693 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 2.693 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 2.693 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 2.693 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 2.693 * [taylor]: Taking taylor expansion of phi1 in phi1 2.693 * [backup-simplify]: Simplify 0 into 0 2.693 * [backup-simplify]: Simplify 1 into 1 2.693 * [backup-simplify]: Simplify (* 1 1) into 1 2.694 * [backup-simplify]: Simplify (/ 1 1) into 1 2.694 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi1 2.694 * [taylor]: Taking taylor expansion of 2 in phi1 2.694 * [backup-simplify]: Simplify 2 into 2 2.694 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi1 2.694 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 2.694 * [taylor]: Taking taylor expansion of phi2 in phi1 2.694 * [backup-simplify]: Simplify phi2 into phi2 2.694 * [taylor]: Taking taylor expansion of phi1 in phi1 2.694 * [backup-simplify]: Simplify 0 into 0 2.694 * [backup-simplify]: Simplify 1 into 1 2.694 * [backup-simplify]: Simplify (* phi2 0) into 0 2.694 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 2.694 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.694 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 2.694 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 2.694 * [taylor]: Taking taylor expansion of -0.5 in phi1 2.694 * [backup-simplify]: Simplify -0.5 into -0.5 2.694 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 2.694 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 2.694 * [taylor]: Taking taylor expansion of phi1 in phi1 2.694 * [backup-simplify]: Simplify 0 into 0 2.694 * [backup-simplify]: Simplify 1 into 1 2.695 * [backup-simplify]: Simplify (/ 1 1) into 1 2.695 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 2.695 * [taylor]: Taking taylor expansion of phi2 in phi1 2.695 * [backup-simplify]: Simplify phi2 into phi2 2.695 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.695 * [backup-simplify]: Simplify (+ 1 0) into 1 2.695 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 2.695 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.696 * [backup-simplify]: Simplify (+ 0 1) into 1 2.696 * [backup-simplify]: Simplify (+ 1 0) into 1 2.696 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 2.697 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 2.697 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 2.697 * [backup-simplify]: Simplify (+ 0 0) into 0 2.697 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 2.697 * [backup-simplify]: Simplify (- (/ 2 phi2)) into (- (* 2 (/ 1 phi2))) 2.697 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 2.698 * [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)))))))) 2.698 * [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))))))) 2.698 * [taylor]: Taking taylor expansion of (- (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in phi2 2.698 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi2 2.698 * [taylor]: Taking taylor expansion of (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 2.698 * [taylor]: Taking taylor expansion of phi2 in phi2 2.698 * [backup-simplify]: Simplify 0 into 0 2.699 * [backup-simplify]: Simplify 1 into 1 2.699 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 2.699 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 2.699 * [taylor]: Taking taylor expansion of -0.5 in phi2 2.699 * [backup-simplify]: Simplify -0.5 into -0.5 2.699 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 2.699 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 2.699 * [taylor]: Taking taylor expansion of phi1 in phi2 2.699 * [backup-simplify]: Simplify phi1 into phi1 2.699 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.699 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 2.699 * [taylor]: Taking taylor expansion of phi2 in phi2 2.699 * [backup-simplify]: Simplify 0 into 0 2.699 * [backup-simplify]: Simplify 1 into 1 2.699 * [backup-simplify]: Simplify (/ 1 1) into 1 2.699 * [backup-simplify]: Simplify (+ 0 1) into 1 2.700 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 2.700 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.700 * [backup-simplify]: Simplify (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 2.700 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.700 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 2.700 * [backup-simplify]: Simplify (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 2.701 * [backup-simplify]: Simplify (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 2.701 * [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)))))) 2.701 * [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 2.701 * [taylor]: Taking taylor expansion of 1/2 in phi1 2.701 * [backup-simplify]: Simplify 1/2 into 1/2 2.701 * [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 2.701 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) in phi1 2.701 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in phi1 2.701 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 2.701 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 2.701 * [taylor]: Taking taylor expansion of phi2 in phi1 2.701 * [backup-simplify]: Simplify phi2 into phi2 2.701 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 2.701 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 2.701 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 2.701 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 2.701 * [taylor]: Taking taylor expansion of phi1 in phi1 2.701 * [backup-simplify]: Simplify 0 into 0 2.701 * [backup-simplify]: Simplify 1 into 1 2.702 * [backup-simplify]: Simplify (* 1 1) into 1 2.702 * [backup-simplify]: Simplify (/ 1 1) into 1 2.702 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi1 2.702 * [taylor]: Taking taylor expansion of 2 in phi1 2.702 * [backup-simplify]: Simplify 2 into 2 2.702 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi1 2.702 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 2.702 * [taylor]: Taking taylor expansion of phi2 in phi1 2.702 * [backup-simplify]: Simplify phi2 into phi2 2.702 * [taylor]: Taking taylor expansion of phi1 in phi1 2.702 * [backup-simplify]: Simplify 0 into 0 2.702 * [backup-simplify]: Simplify 1 into 1 2.702 * [backup-simplify]: Simplify (* phi2 0) into 0 2.702 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 2.702 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.702 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 2.703 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 2.703 * [taylor]: Taking taylor expansion of -0.5 in phi1 2.703 * [backup-simplify]: Simplify -0.5 into -0.5 2.703 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 2.703 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 2.703 * [taylor]: Taking taylor expansion of phi1 in phi1 2.703 * [backup-simplify]: Simplify 0 into 0 2.703 * [backup-simplify]: Simplify 1 into 1 2.703 * [backup-simplify]: Simplify (/ 1 1) into 1 2.703 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 2.703 * [taylor]: Taking taylor expansion of phi2 in phi1 2.703 * [backup-simplify]: Simplify phi2 into phi2 2.703 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.703 * [backup-simplify]: Simplify (+ 1 0) into 1 2.704 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 2.704 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.704 * [backup-simplify]: Simplify (+ 0 1) into 1 2.704 * [backup-simplify]: Simplify (+ 1 0) into 1 2.704 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 2.705 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 2.705 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 2.705 * [backup-simplify]: Simplify (+ 0 0) into 0 2.705 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 2.705 * [backup-simplify]: Simplify (- (/ 2 phi2)) into (- (* 2 (/ 1 phi2))) 2.706 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 2.706 * [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)))))))) 2.706 * [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))))))) 2.706 * [taylor]: Taking taylor expansion of (- (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in phi2 2.706 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi2 2.706 * [taylor]: Taking taylor expansion of (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 2.706 * [taylor]: Taking taylor expansion of phi2 in phi2 2.706 * [backup-simplify]: Simplify 0 into 0 2.706 * [backup-simplify]: Simplify 1 into 1 2.706 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 2.706 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 2.706 * [taylor]: Taking taylor expansion of -0.5 in phi2 2.706 * [backup-simplify]: Simplify -0.5 into -0.5 2.706 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 2.706 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 2.706 * [taylor]: Taking taylor expansion of phi1 in phi2 2.706 * [backup-simplify]: Simplify phi1 into phi1 2.707 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.707 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 2.707 * [taylor]: Taking taylor expansion of phi2 in phi2 2.707 * [backup-simplify]: Simplify 0 into 0 2.707 * [backup-simplify]: Simplify 1 into 1 2.707 * [backup-simplify]: Simplify (/ 1 1) into 1 2.707 * [backup-simplify]: Simplify (+ 0 1) into 1 2.707 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 2.707 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.708 * [backup-simplify]: Simplify (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 2.708 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.708 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 2.708 * [backup-simplify]: Simplify (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 2.708 * [backup-simplify]: Simplify (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 2.709 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 2.709 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 2.710 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 2.710 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 2.710 * [backup-simplify]: Simplify (+ 0 0) into 0 2.710 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 2.711 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 2.711 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 2.711 * [backup-simplify]: Simplify (- 0) into 0 2.712 * [backup-simplify]: Simplify (+ 0 0) into 0 2.713 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (/ 0 1)) (* 0 (/ 0 1)))) into 0 2.718 * [backup-simplify]: Simplify (+ (* -1 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 2.718 * [taylor]: Taking taylor expansion of 0 in phi1 2.718 * [backup-simplify]: Simplify 0 into 0 2.719 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 2.719 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 2.719 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 2.719 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 2.720 * [backup-simplify]: Simplify (+ 0 0) into 0 2.720 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 2.721 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 2.721 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 2.721 * [backup-simplify]: Simplify (- 0) into 0 2.722 * [backup-simplify]: Simplify (+ 0 0) into 0 2.722 * [taylor]: Taking taylor expansion of 0 in phi1 2.722 * [backup-simplify]: Simplify 0 into 0 2.722 * [taylor]: Taking taylor expansion of 0 in phi2 2.722 * [backup-simplify]: Simplify 0 into 0 2.722 * [taylor]: Taking taylor expansion of 0 in phi2 2.722 * [backup-simplify]: Simplify 0 into 0 2.722 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 2.722 * [taylor]: Taking taylor expansion of 0 in phi2 2.722 * [backup-simplify]: Simplify 0 into 0 2.722 * [taylor]: Taking taylor expansion of 0 in phi2 2.722 * [backup-simplify]: Simplify 0 into 0 2.722 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 2.722 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 2.724 * [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)))))) 2.724 * * * * [progress]: [ 2 / 4 ] generating series at (2 2 1 1 2 2 2 1) 2.724 * [backup-simplify]: Simplify (cos (/ (+ phi1 phi2) 2.0)) into (cos (* 0.5 (+ phi2 phi1))) 2.724 * [approximate]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in (phi1 phi2) around 0 2.724 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 2.724 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 2.724 * [taylor]: Taking taylor expansion of 0.5 in phi2 2.724 * [backup-simplify]: Simplify 0.5 into 0.5 2.724 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 2.724 * [taylor]: Taking taylor expansion of phi2 in phi2 2.724 * [backup-simplify]: Simplify 0 into 0 2.724 * [backup-simplify]: Simplify 1 into 1 2.724 * [taylor]: Taking taylor expansion of phi1 in phi2 2.724 * [backup-simplify]: Simplify phi1 into phi1 2.724 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 2.724 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 2.724 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 2.724 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 2.724 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 2.724 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 2.724 * [taylor]: Taking taylor expansion of 0.5 in phi1 2.724 * [backup-simplify]: Simplify 0.5 into 0.5 2.724 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 2.724 * [taylor]: Taking taylor expansion of phi2 in phi1 2.724 * [backup-simplify]: Simplify phi2 into phi2 2.724 * [taylor]: Taking taylor expansion of phi1 in phi1 2.724 * [backup-simplify]: Simplify 0 into 0 2.724 * [backup-simplify]: Simplify 1 into 1 2.724 * [backup-simplify]: Simplify (+ phi2 0) into phi2 2.724 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 2.724 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 2.725 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 2.725 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 2.725 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 2.725 * [taylor]: Taking taylor expansion of 0.5 in phi1 2.725 * [backup-simplify]: Simplify 0.5 into 0.5 2.725 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 2.725 * [taylor]: Taking taylor expansion of phi2 in phi1 2.725 * [backup-simplify]: Simplify phi2 into phi2 2.725 * [taylor]: Taking taylor expansion of phi1 in phi1 2.725 * [backup-simplify]: Simplify 0 into 0 2.725 * [backup-simplify]: Simplify 1 into 1 2.725 * [backup-simplify]: Simplify (+ phi2 0) into phi2 2.725 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 2.725 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 2.725 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 2.725 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 2.725 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 2.725 * [backup-simplify]: Simplify (- 0) into 0 2.725 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 2.725 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 2.725 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 2.725 * [taylor]: Taking taylor expansion of 0.5 in phi2 2.725 * [backup-simplify]: Simplify 0.5 into 0.5 2.725 * [taylor]: Taking taylor expansion of phi2 in phi2 2.725 * [backup-simplify]: Simplify 0 into 0 2.725 * [backup-simplify]: Simplify 1 into 1 2.726 * [backup-simplify]: Simplify (* 0.5 0) into 0 2.727 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 2.727 * [backup-simplify]: Simplify 1 into 1 2.727 * [backup-simplify]: Simplify (+ 0) into 0 2.728 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 2.728 * [backup-simplify]: Simplify (+ 0 1) into 1 2.728 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5 2.730 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 2.730 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2))) 2.730 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2)))) 2.730 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2)))) 2.730 * [taylor]: Taking taylor expansion of (- (* 0.5 (sin (* 0.5 phi2)))) in phi2 2.730 * [taylor]: Taking taylor expansion of (* 0.5 (sin (* 0.5 phi2))) in phi2 2.730 * [taylor]: Taking taylor expansion of 0.5 in phi2 2.730 * [backup-simplify]: Simplify 0.5 into 0.5 2.730 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2 2.730 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 2.730 * [taylor]: Taking taylor expansion of 0.5 in phi2 2.730 * [backup-simplify]: Simplify 0.5 into 0.5 2.730 * [taylor]: Taking taylor expansion of phi2 in phi2 2.730 * [backup-simplify]: Simplify 0 into 0 2.730 * [backup-simplify]: Simplify 1 into 1 2.731 * [backup-simplify]: Simplify (* 0.5 0) into 0 2.731 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 2.732 * [backup-simplify]: Simplify (* 0.5 0) into 0 2.732 * [backup-simplify]: Simplify (- 0) into 0 2.732 * [backup-simplify]: Simplify 0 into 0 2.732 * [backup-simplify]: Simplify (+ 0) into 0 2.732 * [backup-simplify]: Simplify 0 into 0 2.734 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 2.735 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) (- 0.125)) (+ (* 0 0) (* 0 1))) into (- (* 0.125 (cos (* 0.5 phi2)))) 2.735 * [backup-simplify]: Simplify (+ 0 0) into 0 2.735 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 phi2))) into 0 2.736 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 2.736 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (+ (* 0 0.5) (* 0 0))) into 0 2.736 * [backup-simplify]: Simplify (- 0) into 0 2.737 * [backup-simplify]: Simplify (+ (- (* 0.125 (cos (* 0.5 phi2)))) 0) into (- (* 0.125 (cos (* 0.5 phi2)))) 2.737 * [taylor]: Taking taylor expansion of (- (* 0.125 (cos (* 0.5 phi2)))) in phi2 2.737 * [taylor]: Taking taylor expansion of (* 0.125 (cos (* 0.5 phi2))) in phi2 2.737 * [taylor]: Taking taylor expansion of 0.125 in phi2 2.737 * [backup-simplify]: Simplify 0.125 into 0.125 2.737 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 2.737 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 2.737 * [taylor]: Taking taylor expansion of 0.5 in phi2 2.737 * [backup-simplify]: Simplify 0.5 into 0.5 2.737 * [taylor]: Taking taylor expansion of phi2 in phi2 2.737 * [backup-simplify]: Simplify 0 into 0 2.737 * [backup-simplify]: Simplify 1 into 1 2.737 * [backup-simplify]: Simplify (* 0.5 0) into 0 2.738 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 2.738 * [backup-simplify]: Simplify (* 0.125 1) into 0.125 2.738 * [backup-simplify]: Simplify (- 0.125) into (- 0.125) 2.739 * [backup-simplify]: Simplify (- 0.125) into (- 0.125) 2.740 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 2.741 * [backup-simplify]: Simplify (+ (* 0.5 0.5) (* 0 0)) into 0.25 2.741 * [backup-simplify]: Simplify (- 0.25) into (- 0.25) 2.741 * [backup-simplify]: Simplify (- 0.25) into (- 0.25) 2.742 * [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)))) 2.742 * [backup-simplify]: Simplify (cos (/ (+ (/ 1 phi1) (/ 1 phi2)) 2.0)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.742 * [approximate]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in (phi1 phi2) around 0 2.742 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 2.742 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 2.742 * [taylor]: Taking taylor expansion of 0.5 in phi2 2.742 * [backup-simplify]: Simplify 0.5 into 0.5 2.742 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 2.742 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 2.742 * [taylor]: Taking taylor expansion of phi1 in phi2 2.742 * [backup-simplify]: Simplify phi1 into phi1 2.742 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.742 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 2.742 * [taylor]: Taking taylor expansion of phi2 in phi2 2.742 * [backup-simplify]: Simplify 0 into 0 2.742 * [backup-simplify]: Simplify 1 into 1 2.743 * [backup-simplify]: Simplify (/ 1 1) into 1 2.743 * [backup-simplify]: Simplify (+ 0 1) into 1 2.743 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 2.743 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.743 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 2.743 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 2.743 * [taylor]: Taking taylor expansion of 0.5 in phi1 2.743 * [backup-simplify]: Simplify 0.5 into 0.5 2.743 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 2.743 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 2.743 * [taylor]: Taking taylor expansion of phi1 in phi1 2.743 * [backup-simplify]: Simplify 0 into 0 2.743 * [backup-simplify]: Simplify 1 into 1 2.744 * [backup-simplify]: Simplify (/ 1 1) into 1 2.744 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 2.744 * [taylor]: Taking taylor expansion of phi2 in phi1 2.744 * [backup-simplify]: Simplify phi2 into phi2 2.744 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.744 * [backup-simplify]: Simplify (+ 1 0) into 1 2.744 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 2.744 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.744 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 2.744 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 2.744 * [taylor]: Taking taylor expansion of 0.5 in phi1 2.744 * [backup-simplify]: Simplify 0.5 into 0.5 2.744 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 2.745 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 2.745 * [taylor]: Taking taylor expansion of phi1 in phi1 2.745 * [backup-simplify]: Simplify 0 into 0 2.745 * [backup-simplify]: Simplify 1 into 1 2.745 * [backup-simplify]: Simplify (/ 1 1) into 1 2.745 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 2.745 * [taylor]: Taking taylor expansion of phi2 in phi1 2.745 * [backup-simplify]: Simplify phi2 into phi2 2.745 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.745 * [backup-simplify]: Simplify (+ 1 0) into 1 2.745 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 2.746 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.746 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 2.746 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 2.746 * [taylor]: Taking taylor expansion of 0.5 in phi2 2.746 * [backup-simplify]: Simplify 0.5 into 0.5 2.746 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 2.746 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 2.746 * [taylor]: Taking taylor expansion of phi1 in phi2 2.746 * [backup-simplify]: Simplify phi1 into phi1 2.746 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.746 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 2.746 * [taylor]: Taking taylor expansion of phi2 in phi2 2.746 * [backup-simplify]: Simplify 0 into 0 2.746 * [backup-simplify]: Simplify 1 into 1 2.746 * [backup-simplify]: Simplify (/ 1 1) into 1 2.746 * [backup-simplify]: Simplify (+ 0 1) into 1 2.747 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 2.747 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.747 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.747 * [taylor]: Taking taylor expansion of 0 in phi2 2.747 * [backup-simplify]: Simplify 0 into 0 2.747 * [backup-simplify]: Simplify 0 into 0 2.747 * [backup-simplify]: Simplify 0 into 0 2.747 * [taylor]: Taking taylor expansion of 0 in phi2 2.747 * [backup-simplify]: Simplify 0 into 0 2.747 * [backup-simplify]: Simplify 0 into 0 2.747 * [backup-simplify]: Simplify 0 into 0 2.747 * [backup-simplify]: Simplify 0 into 0 2.747 * [taylor]: Taking taylor expansion of 0 in phi2 2.747 * [backup-simplify]: Simplify 0 into 0 2.747 * [backup-simplify]: Simplify 0 into 0 2.747 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))) into (cos (* 0.5 (+ phi2 phi1))) 2.747 * [backup-simplify]: Simplify (cos (/ (+ (/ 1 (- phi1)) (/ 1 (- phi2))) 2.0)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.747 * [approximate]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in (phi1 phi2) around 0 2.747 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 2.747 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 2.747 * [taylor]: Taking taylor expansion of -0.5 in phi2 2.747 * [backup-simplify]: Simplify -0.5 into -0.5 2.747 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 2.747 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 2.748 * [taylor]: Taking taylor expansion of phi1 in phi2 2.748 * [backup-simplify]: Simplify phi1 into phi1 2.748 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.748 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 2.748 * [taylor]: Taking taylor expansion of phi2 in phi2 2.748 * [backup-simplify]: Simplify 0 into 0 2.748 * [backup-simplify]: Simplify 1 into 1 2.748 * [backup-simplify]: Simplify (/ 1 1) into 1 2.748 * [backup-simplify]: Simplify (+ 0 1) into 1 2.748 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 2.749 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.749 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 2.749 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 2.749 * [taylor]: Taking taylor expansion of -0.5 in phi1 2.749 * [backup-simplify]: Simplify -0.5 into -0.5 2.749 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 2.749 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 2.749 * [taylor]: Taking taylor expansion of phi1 in phi1 2.749 * [backup-simplify]: Simplify 0 into 0 2.749 * [backup-simplify]: Simplify 1 into 1 2.749 * [backup-simplify]: Simplify (/ 1 1) into 1 2.749 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 2.749 * [taylor]: Taking taylor expansion of phi2 in phi1 2.749 * [backup-simplify]: Simplify phi2 into phi2 2.749 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.749 * [backup-simplify]: Simplify (+ 1 0) into 1 2.750 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 2.750 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.750 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 2.750 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 2.750 * [taylor]: Taking taylor expansion of -0.5 in phi1 2.750 * [backup-simplify]: Simplify -0.5 into -0.5 2.750 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 2.750 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 2.750 * [taylor]: Taking taylor expansion of phi1 in phi1 2.750 * [backup-simplify]: Simplify 0 into 0 2.750 * [backup-simplify]: Simplify 1 into 1 2.750 * [backup-simplify]: Simplify (/ 1 1) into 1 2.750 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 2.750 * [taylor]: Taking taylor expansion of phi2 in phi1 2.750 * [backup-simplify]: Simplify phi2 into phi2 2.750 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.750 * [backup-simplify]: Simplify (+ 1 0) into 1 2.751 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 2.751 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.751 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 2.751 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 2.751 * [taylor]: Taking taylor expansion of -0.5 in phi2 2.751 * [backup-simplify]: Simplify -0.5 into -0.5 2.751 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 2.751 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 2.751 * [taylor]: Taking taylor expansion of phi1 in phi2 2.751 * [backup-simplify]: Simplify phi1 into phi1 2.751 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.751 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 2.751 * [taylor]: Taking taylor expansion of phi2 in phi2 2.751 * [backup-simplify]: Simplify 0 into 0 2.751 * [backup-simplify]: Simplify 1 into 1 2.751 * [backup-simplify]: Simplify (/ 1 1) into 1 2.752 * [backup-simplify]: Simplify (+ 0 1) into 1 2.752 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 2.752 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.752 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.752 * [taylor]: Taking taylor expansion of 0 in phi2 2.752 * [backup-simplify]: Simplify 0 into 0 2.752 * [backup-simplify]: Simplify 0 into 0 2.752 * [backup-simplify]: Simplify 0 into 0 2.752 * [taylor]: Taking taylor expansion of 0 in phi2 2.752 * [backup-simplify]: Simplify 0 into 0 2.752 * [backup-simplify]: Simplify 0 into 0 2.752 * [backup-simplify]: Simplify 0 into 0 2.752 * [backup-simplify]: Simplify 0 into 0 2.752 * [taylor]: Taking taylor expansion of 0 in phi2 2.752 * [backup-simplify]: Simplify 0 into 0 2.752 * [backup-simplify]: Simplify 0 into 0 2.752 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))) into (cos (* 0.5 (+ phi2 phi1))) 2.752 * * * * [progress]: [ 3 / 4 ] generating series at (2 2 1 1 2 2 1 2 1) 2.753 * [backup-simplify]: Simplify (cos (/ (+ phi1 phi2) 2.0)) into (cos (* 0.5 (+ phi2 phi1))) 2.753 * [approximate]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in (phi1 phi2) around 0 2.753 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 2.753 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 2.753 * [taylor]: Taking taylor expansion of 0.5 in phi2 2.753 * [backup-simplify]: Simplify 0.5 into 0.5 2.753 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 2.753 * [taylor]: Taking taylor expansion of phi2 in phi2 2.753 * [backup-simplify]: Simplify 0 into 0 2.753 * [backup-simplify]: Simplify 1 into 1 2.753 * [taylor]: Taking taylor expansion of phi1 in phi2 2.753 * [backup-simplify]: Simplify phi1 into phi1 2.753 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 2.753 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 2.753 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 2.753 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 2.753 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 2.753 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 2.753 * [taylor]: Taking taylor expansion of 0.5 in phi1 2.753 * [backup-simplify]: Simplify 0.5 into 0.5 2.753 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 2.753 * [taylor]: Taking taylor expansion of phi2 in phi1 2.753 * [backup-simplify]: Simplify phi2 into phi2 2.753 * [taylor]: Taking taylor expansion of phi1 in phi1 2.753 * [backup-simplify]: Simplify 0 into 0 2.753 * [backup-simplify]: Simplify 1 into 1 2.753 * [backup-simplify]: Simplify (+ phi2 0) into phi2 2.753 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 2.753 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 2.753 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 2.753 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 2.753 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 2.753 * [taylor]: Taking taylor expansion of 0.5 in phi1 2.753 * [backup-simplify]: Simplify 0.5 into 0.5 2.753 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 2.753 * [taylor]: Taking taylor expansion of phi2 in phi1 2.753 * [backup-simplify]: Simplify phi2 into phi2 2.753 * [taylor]: Taking taylor expansion of phi1 in phi1 2.753 * [backup-simplify]: Simplify 0 into 0 2.753 * [backup-simplify]: Simplify 1 into 1 2.753 * [backup-simplify]: Simplify (+ phi2 0) into phi2 2.753 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 2.754 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 2.754 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 2.754 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 2.754 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 2.754 * [backup-simplify]: Simplify (- 0) into 0 2.754 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 2.754 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 2.754 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 2.754 * [taylor]: Taking taylor expansion of 0.5 in phi2 2.754 * [backup-simplify]: Simplify 0.5 into 0.5 2.754 * [taylor]: Taking taylor expansion of phi2 in phi2 2.754 * [backup-simplify]: Simplify 0 into 0 2.754 * [backup-simplify]: Simplify 1 into 1 2.754 * [backup-simplify]: Simplify (* 0.5 0) into 0 2.755 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 2.755 * [backup-simplify]: Simplify 1 into 1 2.756 * [backup-simplify]: Simplify (+ 0) into 0 2.756 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 2.756 * [backup-simplify]: Simplify (+ 0 1) into 1 2.756 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5 2.758 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 2.758 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2))) 2.758 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2)))) 2.758 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2)))) 2.758 * [taylor]: Taking taylor expansion of (- (* 0.5 (sin (* 0.5 phi2)))) in phi2 2.758 * [taylor]: Taking taylor expansion of (* 0.5 (sin (* 0.5 phi2))) in phi2 2.758 * [taylor]: Taking taylor expansion of 0.5 in phi2 2.758 * [backup-simplify]: Simplify 0.5 into 0.5 2.758 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2 2.758 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 2.758 * [taylor]: Taking taylor expansion of 0.5 in phi2 2.759 * [backup-simplify]: Simplify 0.5 into 0.5 2.759 * [taylor]: Taking taylor expansion of phi2 in phi2 2.759 * [backup-simplify]: Simplify 0 into 0 2.759 * [backup-simplify]: Simplify 1 into 1 2.759 * [backup-simplify]: Simplify (* 0.5 0) into 0 2.760 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 2.760 * [backup-simplify]: Simplify (* 0.5 0) into 0 2.760 * [backup-simplify]: Simplify (- 0) into 0 2.760 * [backup-simplify]: Simplify 0 into 0 2.760 * [backup-simplify]: Simplify (+ 0) into 0 2.761 * [backup-simplify]: Simplify 0 into 0 2.762 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 2.763 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) (- 0.125)) (+ (* 0 0) (* 0 1))) into (- (* 0.125 (cos (* 0.5 phi2)))) 2.763 * [backup-simplify]: Simplify (+ 0 0) into 0 2.764 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 phi2))) into 0 2.764 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 2.765 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (+ (* 0 0.5) (* 0 0))) into 0 2.765 * [backup-simplify]: Simplify (- 0) into 0 2.765 * [backup-simplify]: Simplify (+ (- (* 0.125 (cos (* 0.5 phi2)))) 0) into (- (* 0.125 (cos (* 0.5 phi2)))) 2.765 * [taylor]: Taking taylor expansion of (- (* 0.125 (cos (* 0.5 phi2)))) in phi2 2.765 * [taylor]: Taking taylor expansion of (* 0.125 (cos (* 0.5 phi2))) in phi2 2.765 * [taylor]: Taking taylor expansion of 0.125 in phi2 2.765 * [backup-simplify]: Simplify 0.125 into 0.125 2.765 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 2.765 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 2.765 * [taylor]: Taking taylor expansion of 0.5 in phi2 2.765 * [backup-simplify]: Simplify 0.5 into 0.5 2.765 * [taylor]: Taking taylor expansion of phi2 in phi2 2.765 * [backup-simplify]: Simplify 0 into 0 2.765 * [backup-simplify]: Simplify 1 into 1 2.766 * [backup-simplify]: Simplify (* 0.5 0) into 0 2.767 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 2.767 * [backup-simplify]: Simplify (* 0.125 1) into 0.125 2.767 * [backup-simplify]: Simplify (- 0.125) into (- 0.125) 2.767 * [backup-simplify]: Simplify (- 0.125) into (- 0.125) 2.769 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 2.770 * [backup-simplify]: Simplify (+ (* 0.5 0.5) (* 0 0)) into 0.25 2.770 * [backup-simplify]: Simplify (- 0.25) into (- 0.25) 2.770 * [backup-simplify]: Simplify (- 0.25) into (- 0.25) 2.771 * [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)))) 2.771 * [backup-simplify]: Simplify (cos (/ (+ (/ 1 phi1) (/ 1 phi2)) 2.0)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.771 * [approximate]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in (phi1 phi2) around 0 2.771 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 2.771 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 2.771 * [taylor]: Taking taylor expansion of 0.5 in phi2 2.771 * [backup-simplify]: Simplify 0.5 into 0.5 2.771 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 2.771 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 2.771 * [taylor]: Taking taylor expansion of phi1 in phi2 2.771 * [backup-simplify]: Simplify phi1 into phi1 2.771 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.771 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 2.771 * [taylor]: Taking taylor expansion of phi2 in phi2 2.771 * [backup-simplify]: Simplify 0 into 0 2.771 * [backup-simplify]: Simplify 1 into 1 2.772 * [backup-simplify]: Simplify (/ 1 1) into 1 2.772 * [backup-simplify]: Simplify (+ 0 1) into 1 2.772 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 2.772 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.772 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 2.772 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 2.772 * [taylor]: Taking taylor expansion of 0.5 in phi1 2.772 * [backup-simplify]: Simplify 0.5 into 0.5 2.772 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 2.772 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 2.772 * [taylor]: Taking taylor expansion of phi1 in phi1 2.772 * [backup-simplify]: Simplify 0 into 0 2.772 * [backup-simplify]: Simplify 1 into 1 2.773 * [backup-simplify]: Simplify (/ 1 1) into 1 2.773 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 2.773 * [taylor]: Taking taylor expansion of phi2 in phi1 2.773 * [backup-simplify]: Simplify phi2 into phi2 2.773 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.773 * [backup-simplify]: Simplify (+ 1 0) into 1 2.773 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 2.773 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.773 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 2.773 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 2.773 * [taylor]: Taking taylor expansion of 0.5 in phi1 2.773 * [backup-simplify]: Simplify 0.5 into 0.5 2.774 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 2.774 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 2.774 * [taylor]: Taking taylor expansion of phi1 in phi1 2.774 * [backup-simplify]: Simplify 0 into 0 2.774 * [backup-simplify]: Simplify 1 into 1 2.774 * [backup-simplify]: Simplify (/ 1 1) into 1 2.774 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 2.774 * [taylor]: Taking taylor expansion of phi2 in phi1 2.774 * [backup-simplify]: Simplify phi2 into phi2 2.774 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.774 * [backup-simplify]: Simplify (+ 1 0) into 1 2.774 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 2.775 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.775 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 2.775 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 2.775 * [taylor]: Taking taylor expansion of 0.5 in phi2 2.775 * [backup-simplify]: Simplify 0.5 into 0.5 2.775 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 2.775 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 2.775 * [taylor]: Taking taylor expansion of phi1 in phi2 2.775 * [backup-simplify]: Simplify phi1 into phi1 2.775 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.775 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 2.775 * [taylor]: Taking taylor expansion of phi2 in phi2 2.775 * [backup-simplify]: Simplify 0 into 0 2.775 * [backup-simplify]: Simplify 1 into 1 2.775 * [backup-simplify]: Simplify (/ 1 1) into 1 2.775 * [backup-simplify]: Simplify (+ 0 1) into 1 2.776 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 2.776 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.776 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.776 * [taylor]: Taking taylor expansion of 0 in phi2 2.776 * [backup-simplify]: Simplify 0 into 0 2.776 * [backup-simplify]: Simplify 0 into 0 2.776 * [backup-simplify]: Simplify 0 into 0 2.776 * [taylor]: Taking taylor expansion of 0 in phi2 2.776 * [backup-simplify]: Simplify 0 into 0 2.776 * [backup-simplify]: Simplify 0 into 0 2.776 * [backup-simplify]: Simplify 0 into 0 2.776 * [backup-simplify]: Simplify 0 into 0 2.776 * [taylor]: Taking taylor expansion of 0 in phi2 2.776 * [backup-simplify]: Simplify 0 into 0 2.776 * [backup-simplify]: Simplify 0 into 0 2.776 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))) into (cos (* 0.5 (+ phi2 phi1))) 2.776 * [backup-simplify]: Simplify (cos (/ (+ (/ 1 (- phi1)) (/ 1 (- phi2))) 2.0)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.776 * [approximate]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in (phi1 phi2) around 0 2.776 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 2.776 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 2.776 * [taylor]: Taking taylor expansion of -0.5 in phi2 2.776 * [backup-simplify]: Simplify -0.5 into -0.5 2.776 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 2.777 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 2.777 * [taylor]: Taking taylor expansion of phi1 in phi2 2.777 * [backup-simplify]: Simplify phi1 into phi1 2.777 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.777 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 2.777 * [taylor]: Taking taylor expansion of phi2 in phi2 2.777 * [backup-simplify]: Simplify 0 into 0 2.777 * [backup-simplify]: Simplify 1 into 1 2.777 * [backup-simplify]: Simplify (/ 1 1) into 1 2.777 * [backup-simplify]: Simplify (+ 0 1) into 1 2.778 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 2.778 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.778 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 2.778 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 2.778 * [taylor]: Taking taylor expansion of -0.5 in phi1 2.778 * [backup-simplify]: Simplify -0.5 into -0.5 2.778 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 2.778 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 2.778 * [taylor]: Taking taylor expansion of phi1 in phi1 2.778 * [backup-simplify]: Simplify 0 into 0 2.778 * [backup-simplify]: Simplify 1 into 1 2.778 * [backup-simplify]: Simplify (/ 1 1) into 1 2.778 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 2.778 * [taylor]: Taking taylor expansion of phi2 in phi1 2.778 * [backup-simplify]: Simplify phi2 into phi2 2.778 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.778 * [backup-simplify]: Simplify (+ 1 0) into 1 2.779 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 2.779 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.779 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 2.779 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 2.779 * [taylor]: Taking taylor expansion of -0.5 in phi1 2.779 * [backup-simplify]: Simplify -0.5 into -0.5 2.779 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 2.779 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 2.779 * [taylor]: Taking taylor expansion of phi1 in phi1 2.779 * [backup-simplify]: Simplify 0 into 0 2.779 * [backup-simplify]: Simplify 1 into 1 2.779 * [backup-simplify]: Simplify (/ 1 1) into 1 2.779 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 2.779 * [taylor]: Taking taylor expansion of phi2 in phi1 2.779 * [backup-simplify]: Simplify phi2 into phi2 2.779 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.780 * [backup-simplify]: Simplify (+ 1 0) into 1 2.780 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 2.780 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.780 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 2.780 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 2.780 * [taylor]: Taking taylor expansion of -0.5 in phi2 2.780 * [backup-simplify]: Simplify -0.5 into -0.5 2.780 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 2.780 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 2.780 * [taylor]: Taking taylor expansion of phi1 in phi2 2.780 * [backup-simplify]: Simplify phi1 into phi1 2.780 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.780 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 2.780 * [taylor]: Taking taylor expansion of phi2 in phi2 2.780 * [backup-simplify]: Simplify 0 into 0 2.780 * [backup-simplify]: Simplify 1 into 1 2.781 * [backup-simplify]: Simplify (/ 1 1) into 1 2.781 * [backup-simplify]: Simplify (+ 0 1) into 1 2.781 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 2.781 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.781 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.781 * [taylor]: Taking taylor expansion of 0 in phi2 2.781 * [backup-simplify]: Simplify 0 into 0 2.781 * [backup-simplify]: Simplify 0 into 0 2.781 * [backup-simplify]: Simplify 0 into 0 2.781 * [taylor]: Taking taylor expansion of 0 in phi2 2.781 * [backup-simplify]: Simplify 0 into 0 2.781 * [backup-simplify]: Simplify 0 into 0 2.781 * [backup-simplify]: Simplify 0 into 0 2.781 * [backup-simplify]: Simplify 0 into 0 2.781 * [taylor]: Taking taylor expansion of 0 in phi2 2.782 * [backup-simplify]: Simplify 0 into 0 2.782 * [backup-simplify]: Simplify 0 into 0 2.782 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))) into (cos (* 0.5 (+ phi2 phi1))) 2.782 * * * * [progress]: [ 4 / 4 ] generating series at (2 2 1 1 2 2 1 1 1) 2.782 * [backup-simplify]: Simplify (cos (/ (+ phi1 phi2) 2.0)) into (cos (* 0.5 (+ phi2 phi1))) 2.782 * [approximate]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in (phi1 phi2) around 0 2.782 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 2.782 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 2.782 * [taylor]: Taking taylor expansion of 0.5 in phi2 2.782 * [backup-simplify]: Simplify 0.5 into 0.5 2.782 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 2.782 * [taylor]: Taking taylor expansion of phi2 in phi2 2.782 * [backup-simplify]: Simplify 0 into 0 2.782 * [backup-simplify]: Simplify 1 into 1 2.782 * [taylor]: Taking taylor expansion of phi1 in phi2 2.782 * [backup-simplify]: Simplify phi1 into phi1 2.782 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 2.782 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 2.782 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 2.782 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 2.782 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 2.782 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 2.782 * [taylor]: Taking taylor expansion of 0.5 in phi1 2.782 * [backup-simplify]: Simplify 0.5 into 0.5 2.782 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 2.782 * [taylor]: Taking taylor expansion of phi2 in phi1 2.782 * [backup-simplify]: Simplify phi2 into phi2 2.782 * [taylor]: Taking taylor expansion of phi1 in phi1 2.782 * [backup-simplify]: Simplify 0 into 0 2.782 * [backup-simplify]: Simplify 1 into 1 2.782 * [backup-simplify]: Simplify (+ phi2 0) into phi2 2.782 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 2.782 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 2.782 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 2.783 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 2.783 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 2.783 * [taylor]: Taking taylor expansion of 0.5 in phi1 2.783 * [backup-simplify]: Simplify 0.5 into 0.5 2.783 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 2.783 * [taylor]: Taking taylor expansion of phi2 in phi1 2.783 * [backup-simplify]: Simplify phi2 into phi2 2.783 * [taylor]: Taking taylor expansion of phi1 in phi1 2.783 * [backup-simplify]: Simplify 0 into 0 2.783 * [backup-simplify]: Simplify 1 into 1 2.783 * [backup-simplify]: Simplify (+ phi2 0) into phi2 2.783 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 2.783 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 2.783 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 2.783 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 2.783 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 2.783 * [backup-simplify]: Simplify (- 0) into 0 2.783 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 2.783 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 2.783 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 2.783 * [taylor]: Taking taylor expansion of 0.5 in phi2 2.783 * [backup-simplify]: Simplify 0.5 into 0.5 2.783 * [taylor]: Taking taylor expansion of phi2 in phi2 2.783 * [backup-simplify]: Simplify 0 into 0 2.783 * [backup-simplify]: Simplify 1 into 1 2.784 * [backup-simplify]: Simplify (* 0.5 0) into 0 2.785 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 2.785 * [backup-simplify]: Simplify 1 into 1 2.785 * [backup-simplify]: Simplify (+ 0) into 0 2.785 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 2.785 * [backup-simplify]: Simplify (+ 0 1) into 1 2.786 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5 2.787 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 2.787 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2))) 2.787 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2)))) 2.788 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2)))) 2.788 * [taylor]: Taking taylor expansion of (- (* 0.5 (sin (* 0.5 phi2)))) in phi2 2.788 * [taylor]: Taking taylor expansion of (* 0.5 (sin (* 0.5 phi2))) in phi2 2.788 * [taylor]: Taking taylor expansion of 0.5 in phi2 2.788 * [backup-simplify]: Simplify 0.5 into 0.5 2.788 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2 2.788 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 2.788 * [taylor]: Taking taylor expansion of 0.5 in phi2 2.788 * [backup-simplify]: Simplify 0.5 into 0.5 2.788 * [taylor]: Taking taylor expansion of phi2 in phi2 2.788 * [backup-simplify]: Simplify 0 into 0 2.788 * [backup-simplify]: Simplify 1 into 1 2.788 * [backup-simplify]: Simplify (* 0.5 0) into 0 2.789 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 2.789 * [backup-simplify]: Simplify (* 0.5 0) into 0 2.789 * [backup-simplify]: Simplify (- 0) into 0 2.789 * [backup-simplify]: Simplify 0 into 0 2.790 * [backup-simplify]: Simplify (+ 0) into 0 2.790 * [backup-simplify]: Simplify 0 into 0 2.791 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 2.792 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) (- 0.125)) (+ (* 0 0) (* 0 1))) into (- (* 0.125 (cos (* 0.5 phi2)))) 2.792 * [backup-simplify]: Simplify (+ 0 0) into 0 2.793 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 phi2))) into 0 2.793 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 2.794 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (+ (* 0 0.5) (* 0 0))) into 0 2.794 * [backup-simplify]: Simplify (- 0) into 0 2.794 * [backup-simplify]: Simplify (+ (- (* 0.125 (cos (* 0.5 phi2)))) 0) into (- (* 0.125 (cos (* 0.5 phi2)))) 2.794 * [taylor]: Taking taylor expansion of (- (* 0.125 (cos (* 0.5 phi2)))) in phi2 2.794 * [taylor]: Taking taylor expansion of (* 0.125 (cos (* 0.5 phi2))) in phi2 2.794 * [taylor]: Taking taylor expansion of 0.125 in phi2 2.794 * [backup-simplify]: Simplify 0.125 into 0.125 2.794 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 2.794 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 2.794 * [taylor]: Taking taylor expansion of 0.5 in phi2 2.794 * [backup-simplify]: Simplify 0.5 into 0.5 2.794 * [taylor]: Taking taylor expansion of phi2 in phi2 2.794 * [backup-simplify]: Simplify 0 into 0 2.794 * [backup-simplify]: Simplify 1 into 1 2.794 * [backup-simplify]: Simplify (* 0.5 0) into 0 2.795 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 2.795 * [backup-simplify]: Simplify (* 0.125 1) into 0.125 2.796 * [backup-simplify]: Simplify (- 0.125) into (- 0.125) 2.796 * [backup-simplify]: Simplify (- 0.125) into (- 0.125) 2.797 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 2.798 * [backup-simplify]: Simplify (+ (* 0.5 0.5) (* 0 0)) into 0.25 2.798 * [backup-simplify]: Simplify (- 0.25) into (- 0.25) 2.799 * [backup-simplify]: Simplify (- 0.25) into (- 0.25) 2.799 * [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)))) 2.799 * [backup-simplify]: Simplify (cos (/ (+ (/ 1 phi1) (/ 1 phi2)) 2.0)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.799 * [approximate]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in (phi1 phi2) around 0 2.799 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 2.800 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 2.800 * [taylor]: Taking taylor expansion of 0.5 in phi2 2.800 * [backup-simplify]: Simplify 0.5 into 0.5 2.800 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 2.800 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 2.800 * [taylor]: Taking taylor expansion of phi1 in phi2 2.800 * [backup-simplify]: Simplify phi1 into phi1 2.800 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.800 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 2.800 * [taylor]: Taking taylor expansion of phi2 in phi2 2.800 * [backup-simplify]: Simplify 0 into 0 2.800 * [backup-simplify]: Simplify 1 into 1 2.800 * [backup-simplify]: Simplify (/ 1 1) into 1 2.800 * [backup-simplify]: Simplify (+ 0 1) into 1 2.800 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 2.801 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.801 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 2.801 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 2.801 * [taylor]: Taking taylor expansion of 0.5 in phi1 2.801 * [backup-simplify]: Simplify 0.5 into 0.5 2.801 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 2.801 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 2.801 * [taylor]: Taking taylor expansion of phi1 in phi1 2.801 * [backup-simplify]: Simplify 0 into 0 2.801 * [backup-simplify]: Simplify 1 into 1 2.801 * [backup-simplify]: Simplify (/ 1 1) into 1 2.801 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 2.801 * [taylor]: Taking taylor expansion of phi2 in phi1 2.801 * [backup-simplify]: Simplify phi2 into phi2 2.801 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.801 * [backup-simplify]: Simplify (+ 1 0) into 1 2.802 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 2.802 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.802 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 2.802 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 2.802 * [taylor]: Taking taylor expansion of 0.5 in phi1 2.802 * [backup-simplify]: Simplify 0.5 into 0.5 2.802 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 2.802 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 2.802 * [taylor]: Taking taylor expansion of phi1 in phi1 2.802 * [backup-simplify]: Simplify 0 into 0 2.802 * [backup-simplify]: Simplify 1 into 1 2.802 * [backup-simplify]: Simplify (/ 1 1) into 1 2.802 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 2.802 * [taylor]: Taking taylor expansion of phi2 in phi1 2.802 * [backup-simplify]: Simplify phi2 into phi2 2.802 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.802 * [backup-simplify]: Simplify (+ 1 0) into 1 2.803 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 2.803 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.803 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 2.803 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 2.803 * [taylor]: Taking taylor expansion of 0.5 in phi2 2.803 * [backup-simplify]: Simplify 0.5 into 0.5 2.803 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 2.803 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 2.803 * [taylor]: Taking taylor expansion of phi1 in phi2 2.803 * [backup-simplify]: Simplify phi1 into phi1 2.803 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.803 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 2.803 * [taylor]: Taking taylor expansion of phi2 in phi2 2.803 * [backup-simplify]: Simplify 0 into 0 2.803 * [backup-simplify]: Simplify 1 into 1 2.803 * [backup-simplify]: Simplify (/ 1 1) into 1 2.804 * [backup-simplify]: Simplify (+ 0 1) into 1 2.804 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 2.804 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.804 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.804 * [taylor]: Taking taylor expansion of 0 in phi2 2.804 * [backup-simplify]: Simplify 0 into 0 2.804 * [backup-simplify]: Simplify 0 into 0 2.804 * [backup-simplify]: Simplify 0 into 0 2.804 * [taylor]: Taking taylor expansion of 0 in phi2 2.804 * [backup-simplify]: Simplify 0 into 0 2.804 * [backup-simplify]: Simplify 0 into 0 2.804 * [backup-simplify]: Simplify 0 into 0 2.804 * [backup-simplify]: Simplify 0 into 0 2.804 * [taylor]: Taking taylor expansion of 0 in phi2 2.804 * [backup-simplify]: Simplify 0 into 0 2.804 * [backup-simplify]: Simplify 0 into 0 2.805 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))) into (cos (* 0.5 (+ phi2 phi1))) 2.805 * [backup-simplify]: Simplify (cos (/ (+ (/ 1 (- phi1)) (/ 1 (- phi2))) 2.0)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.805 * [approximate]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in (phi1 phi2) around 0 2.805 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 2.805 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 2.805 * [taylor]: Taking taylor expansion of -0.5 in phi2 2.805 * [backup-simplify]: Simplify -0.5 into -0.5 2.805 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 2.805 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 2.805 * [taylor]: Taking taylor expansion of phi1 in phi2 2.805 * [backup-simplify]: Simplify phi1 into phi1 2.805 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.805 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 2.805 * [taylor]: Taking taylor expansion of phi2 in phi2 2.805 * [backup-simplify]: Simplify 0 into 0 2.805 * [backup-simplify]: Simplify 1 into 1 2.805 * [backup-simplify]: Simplify (/ 1 1) into 1 2.805 * [backup-simplify]: Simplify (+ 0 1) into 1 2.806 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 2.806 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.806 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 2.806 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 2.806 * [taylor]: Taking taylor expansion of -0.5 in phi1 2.806 * [backup-simplify]: Simplify -0.5 into -0.5 2.806 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 2.806 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 2.806 * [taylor]: Taking taylor expansion of phi1 in phi1 2.806 * [backup-simplify]: Simplify 0 into 0 2.806 * [backup-simplify]: Simplify 1 into 1 2.806 * [backup-simplify]: Simplify (/ 1 1) into 1 2.806 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 2.806 * [taylor]: Taking taylor expansion of phi2 in phi1 2.806 * [backup-simplify]: Simplify phi2 into phi2 2.806 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.807 * [backup-simplify]: Simplify (+ 1 0) into 1 2.807 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 2.807 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.807 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 2.807 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 2.807 * [taylor]: Taking taylor expansion of -0.5 in phi1 2.807 * [backup-simplify]: Simplify -0.5 into -0.5 2.807 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 2.807 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 2.807 * [taylor]: Taking taylor expansion of phi1 in phi1 2.807 * [backup-simplify]: Simplify 0 into 0 2.807 * [backup-simplify]: Simplify 1 into 1 2.807 * [backup-simplify]: Simplify (/ 1 1) into 1 2.807 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 2.807 * [taylor]: Taking taylor expansion of phi2 in phi1 2.807 * [backup-simplify]: Simplify phi2 into phi2 2.807 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.808 * [backup-simplify]: Simplify (+ 1 0) into 1 2.808 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 2.808 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.808 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 2.808 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 2.808 * [taylor]: Taking taylor expansion of -0.5 in phi2 2.808 * [backup-simplify]: Simplify -0.5 into -0.5 2.808 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 2.808 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 2.808 * [taylor]: Taking taylor expansion of phi1 in phi2 2.808 * [backup-simplify]: Simplify phi1 into phi1 2.808 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.808 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 2.808 * [taylor]: Taking taylor expansion of phi2 in phi2 2.808 * [backup-simplify]: Simplify 0 into 0 2.808 * [backup-simplify]: Simplify 1 into 1 2.809 * [backup-simplify]: Simplify (/ 1 1) into 1 2.809 * [backup-simplify]: Simplify (+ 0 1) into 1 2.809 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 2.809 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.809 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.809 * [taylor]: Taking taylor expansion of 0 in phi2 2.809 * [backup-simplify]: Simplify 0 into 0 2.810 * [backup-simplify]: Simplify 0 into 0 2.810 * [backup-simplify]: Simplify 0 into 0 2.810 * [taylor]: Taking taylor expansion of 0 in phi2 2.810 * [backup-simplify]: Simplify 0 into 0 2.810 * [backup-simplify]: Simplify 0 into 0 2.810 * [backup-simplify]: Simplify 0 into 0 2.810 * [backup-simplify]: Simplify 0 into 0 2.810 * [taylor]: Taking taylor expansion of 0 in phi2 2.810 * [backup-simplify]: Simplify 0 into 0 2.810 * [backup-simplify]: Simplify 0 into 0 2.810 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))) into (cos (* 0.5 (+ phi2 phi1))) 2.810 * * * [progress]: simplifying candidates 2.818 * [simplify]: Simplifying: (log (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (* (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))))) (* (- phi1 phi2) (- phi1 phi2))))) (exp (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (* (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))))) (* (- phi1 phi2) (- phi1 phi2))))) (* (cbrt (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (* (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))))) (* (- phi1 phi2) (- phi1 phi2))))) (cbrt (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (* (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))))) (* (- phi1 phi2) (- phi1 phi2)))))) (cbrt (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (* (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))))) (* (- phi1 phi2) (- phi1 phi2))))) (* (* (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (* (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))))) (* (- phi1 phi2) (- phi1 phi2)))) (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (* (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))))) (* (- phi1 phi2) (- phi1 phi2))))) (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (* (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))))) (* 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(sqrt (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (* (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))))) (* (- phi1 phi2) (- phi1 phi2))))) (sqrt 1) (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (* (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))))) (* (- phi1 phi2) (- phi1 phi2)))) (sqrt (+ (* (* (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0))) (* (- (pow lambda1 3) (pow lambda2 3)) (* (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))))) (* (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2))) (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2))))) (* (* (+ (* lambda1 lambda1) (+ (* lambda2 lambda2) (* lambda1 lambda2))) (+ (* lambda1 lambda1) (+ (* lambda2 lambda2) (* lambda1 lambda2)))) (* (- (pow phi1 3) (pow 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lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (* (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))) (cbrt (cos (/ (+ phi1 phi2) 2.0))))))) (- (* (* (- phi1 phi2) (- phi1 phi2)) (* (- phi1 phi2) (- phi1 phi2))) (* (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (* (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))))) (* (- phi1 phi2) (- phi1 phi2)))))) (sqrt (- (* (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (* (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))))) (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (* (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))) (cbrt (cos (/ (+ phi1 phi2) 2.0))))))) (* (* (- phi1 phi2) (- phi1 phi2)) (* (- phi1 phi2) (- phi1 phi2))))) (sqrt (- (* (* (- lambda1 lambda2) (cos (/ 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(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))) (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))) (- 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)))))) (- 1 (+ (* 0.25 (* phi2 phi1)) (* 0.125 (pow phi1 2)))) (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1))) (- 1 (+ (* 0.25 (* phi2 phi1)) (* 0.125 (pow phi1 2)))) (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1))) (- 1 (+ (* 0.25 (* phi2 phi1)) (* 0.125 (pow phi1 2)))) (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1))) 2.820 * [simplify]: Sending expressions to egg_math: (log (sqrt (+ (* (* (- h4 h3) (cos (/ (+ h1 h0) h2))) (* (- h4 h3) (* (* (cbrt (cos (/ (+ h1 h0) h2))) (cbrt (cos (/ (+ h1 h0) h2)))) (cbrt (cos (/ (+ h1 h0) h2)))))) (* (- h1 h0) (- h1 h0))))) (exp (sqrt (+ (* (* (- h4 h3) (cos (/ (+ h1 h0) h2))) (* (- h4 h3) (* (* (cbrt (cos (/ (+ h1 h0) h2))) (cbrt (cos (/ (+ h1 h0) h2)))) (cbrt (cos (/ (+ h1 h0) h2)))))) (* (- h1 h0) (- h1 h0))))) (* (cbrt (sqrt (+ (* (* (- h4 h3) (cos (/ (+ h1 h0) h2))) (* (- h4 h3) (* (* (cbrt (cos (/ (+ h1 h0) h2))) (cbrt (cos (/ (+ h1 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h2)))))) (* (* (- h4 h3) (cos (/ (+ h1 h0) h2))) (* (- h4 h3) (* (* (cbrt (cos (/ (+ h1 h0) h2))) (cbrt (cos (/ (+ h1 h0) h2)))) (cbrt (cos (/ (+ h1 h0) h2))))))) (* (* (- h1 h0) (- h1 h0)) (* (- h1 h0) (- h1 h0))))) (sqrt (- (* (* (- h4 h3) (cos (/ (+ h1 h0) h2))) (* (- h4 h3) (* (* (cbrt (cos (/ (+ h1 h0) h2))) (cbrt (cos (/ (+ h1 h0) h2)))) (cbrt (cos (/ (+ h1 h0) h2)))))) (* (- h1 h0) (- h1 h0)))) (/ 1 2) (sqrt (sqrt (+ (* (* (- h4 h3) (cos (/ (+ h1 h0) h2))) (* (- h4 h3) (* (* (cbrt (cos (/ (+ h1 h0) h2))) (cbrt (cos (/ (+ h1 h0) h2)))) (cbrt (cos (/ (+ h1 h0) h2)))))) (* (- h1 h0) (- h1 h0))))) (sqrt (sqrt (+ (* (* (- h4 h3) (cos (/ (+ h1 h0) h2))) (* (- h4 h3) (* (* (cbrt (cos (/ (+ h1 h0) h2))) (cbrt (cos (/ (+ h1 h0) h2)))) (cbrt (cos (/ (+ h1 h0) h2)))))) (* (- h1 h0) (- h1 h0))))) (log (cos (/ (+ h1 h0) h2))) (exp (cos (/ (+ h1 h0) h2))) (* (cbrt (cos (/ (+ h1 h0) h2))) (cbrt (cos (/ (+ h1 h0) h2)))) (cbrt (cos (/ (+ h1 h0) h2))) (* (* (cos (/ (+ h1 h0) h2)) (cos (/ (+ h1 h0) h2))) (cos (/ (+ h1 h0) h2))) (sqrt (cos (/ (+ h1 h0) h2))) (sqrt (cos (/ (+ h1 h0) h2))) (log (cos (/ (+ h1 h0) h2))) (exp (cos (/ (+ h1 h0) h2))) (* (cbrt (cos (/ (+ h1 h0) h2))) (cbrt (cos (/ (+ h1 h0) h2)))) (cbrt (cos (/ (+ h1 h0) h2))) (* (* (cos (/ (+ h1 h0) h2)) (cos (/ (+ h1 h0) h2))) (cos (/ (+ h1 h0) h2))) (sqrt (cos (/ (+ h1 h0) h2))) (sqrt (cos (/ (+ h1 h0) h2))) (log (cos (/ (+ h1 h0) h2))) (exp (cos (/ (+ h1 h0) h2))) (* (cbrt (cos (/ (+ h1 h0) h2))) (cbrt (cos (/ (+ h1 h0) h2)))) (cbrt (cos (/ (+ h1 h0) h2))) (* (* (cos (/ (+ h1 h0) h2)) (cos (/ (+ h1 h0) h2))) (cos (/ (+ h1 h0) h2))) (sqrt (cos (/ (+ h1 h0) h2))) (sqrt (cos (/ (+ h1 h0) h2))) (- h0 h1) (- (+ (/ (* h0 (* h3 h1)) (* (cos (* h5 (+ h0 h1))) (pow h4 2))) (+ (/ (* h0 h1) (* (cos (* h5 (+ h0 h1))) h4)) (* h3 (cos (* h5 (+ h0 h1))))))) (+ (/ (* h0 (* h3 h1)) (* (cos (* h5 (+ h0 h1))) (pow h4 2))) (+ (/ (* h0 h1) (* (cos (* h5 (+ h0 h1))) h4)) (* h3 (cos (* h5 (+ h0 h1)))))) (- 1 (+ (* h7 (* h0 h1)) (* h6 (pow h1 2)))) (cos (* h5 (+ h0 h1))) (cos (* h5 (+ h0 h1))) (- 1 (+ (* h7 (* h0 h1)) (* h6 (pow h1 2)))) (cos (* h5 (+ h0 h1))) (cos (* h5 (+ h0 h1))) (- 1 (+ (* h7 (* h0 h1)) (* h6 (pow h1 2)))) (cos (* h5 (+ h0 h1))) (cos (* h5 (+ h0 h1))) 2.873 * * * [progress]: adding candidates to table 3.525 * * [progress]: iteration 3 / 4 3.525 * * * [progress]: picking best candidate 3.553 * * * * [pick]: Picked # 3.553 * * * [progress]: localizing error 3.593 * * * [progress]: generating rewritten candidates 3.593 * * * * [progress]: [ 1 / 4 ] rewriting at (2 2 2 1) 3.711 * * * * [progress]: [ 2 / 4 ] rewriting at (2 2 1 2 1) 3.822 * * * * [progress]: [ 3 / 4 ] rewriting at (2 2 1 1 1) 3.930 * * * * [progress]: [ 4 / 4 ] rewriting at (2 2 2 1 1 1 2 2) 3.976 * * * [progress]: generating series expansions 3.977 * * * * [progress]: [ 1 / 4 ] generating series at (2 2 2 1) 3.977 * [backup-simplify]: Simplify (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2)))) into (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) 3.977 * [approximate]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in (lambda1 lambda2 phi1 phi2) around 0 3.977 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in phi2 3.977 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in phi2 3.977 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) in phi2 3.977 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 3.977 * [taylor]: Taking taylor expansion of phi2 in phi2 3.977 * [backup-simplify]: Simplify 0 into 0 3.977 * [backup-simplify]: Simplify 1 into 1 3.977 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) in phi2 3.977 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in phi2 3.977 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 3.977 * [taylor]: Taking taylor expansion of lambda2 in phi2 3.978 * [backup-simplify]: Simplify lambda2 into lambda2 3.978 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2 3.978 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 3.978 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 3.978 * [taylor]: Taking taylor expansion of 0.5 in phi2 3.978 * [backup-simplify]: Simplify 0.5 into 0.5 3.978 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 3.978 * [taylor]: Taking taylor expansion of phi2 in phi2 3.978 * [backup-simplify]: Simplify 0 into 0 3.978 * [backup-simplify]: Simplify 1 into 1 3.978 * [taylor]: Taking taylor expansion of phi1 in phi2 3.978 * [backup-simplify]: Simplify phi1 into phi1 3.978 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 3.978 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 3.978 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 3.978 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 3.978 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 3.978 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 3.979 * [backup-simplify]: Simplify (- 0) into 0 3.979 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 3.979 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) in phi2 3.979 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in phi2 3.979 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2 3.979 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 3.979 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 3.979 * [taylor]: Taking taylor expansion of 0.5 in phi2 3.979 * [backup-simplify]: Simplify 0.5 into 0.5 3.979 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 3.979 * [taylor]: Taking taylor expansion of phi2 in phi2 3.979 * [backup-simplify]: Simplify 0 into 0 3.979 * [backup-simplify]: Simplify 1 into 1 3.979 * [taylor]: Taking taylor expansion of phi1 in phi2 3.979 * [backup-simplify]: Simplify phi1 into phi1 3.979 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 3.979 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 3.979 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 3.979 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 3.979 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 3.979 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 3.979 * [backup-simplify]: Simplify (- 0) into 0 3.979 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 3.979 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 3.980 * [taylor]: Taking taylor expansion of lambda1 in phi2 3.980 * [backup-simplify]: Simplify lambda1 into lambda1 3.980 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 3.980 * [taylor]: Taking taylor expansion of phi1 in phi2 3.980 * [backup-simplify]: Simplify phi1 into phi1 3.980 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in phi2 3.980 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi2 3.980 * [taylor]: Taking taylor expansion of 2 in phi2 3.980 * [backup-simplify]: Simplify 2 into 2 3.980 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2 3.980 * [taylor]: Taking taylor expansion of phi2 in phi2 3.980 * [backup-simplify]: Simplify 0 into 0 3.980 * [backup-simplify]: Simplify 1 into 1 3.980 * [taylor]: Taking taylor expansion of phi1 in phi2 3.980 * [backup-simplify]: Simplify phi1 into phi1 3.980 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in phi2 3.980 * [taylor]: Taking taylor expansion of 2 in phi2 3.980 * [backup-simplify]: Simplify 2 into 2 3.980 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in phi2 3.980 * [taylor]: Taking taylor expansion of lambda2 in phi2 3.980 * [backup-simplify]: Simplify lambda2 into lambda2 3.980 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in phi2 3.980 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2 3.980 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 3.980 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 3.980 * [taylor]: Taking taylor expansion of 0.5 in phi2 3.980 * [backup-simplify]: Simplify 0.5 into 0.5 3.980 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 3.980 * [taylor]: Taking taylor expansion of phi2 in phi2 3.980 * [backup-simplify]: Simplify 0 into 0 3.980 * [backup-simplify]: Simplify 1 into 1 3.980 * [taylor]: Taking taylor expansion of phi1 in phi2 3.980 * [backup-simplify]: Simplify phi1 into phi1 3.980 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 3.980 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 3.980 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 3.980 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 3.980 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 3.980 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 3.981 * [backup-simplify]: Simplify (- 0) into 0 3.981 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 3.981 * [taylor]: Taking taylor expansion of lambda1 in phi2 3.981 * [backup-simplify]: Simplify lambda1 into lambda1 3.981 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 3.981 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 3.981 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow (cos (* 0.5 phi1)) 2)) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) 3.981 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 3.981 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 3.981 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) 3.981 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 3.982 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 3.982 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) 3.983 * [backup-simplify]: Simplify (+ 0 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) 3.983 * [backup-simplify]: Simplify (* 0 phi1) into 0 3.983 * [backup-simplify]: Simplify (* 2 0) into 0 3.983 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 3.983 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) lambda1) into (* (pow (cos (* 0.5 phi1)) 2) lambda1) 3.983 * [backup-simplify]: Simplify (* lambda2 (* (pow (cos (* 0.5 phi1)) 2) lambda1)) into (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)) 3.984 * [backup-simplify]: Simplify (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) into (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) 3.984 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) into (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) 3.984 * [backup-simplify]: Simplify (- (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) into (- (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) 3.985 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (- (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))))) into (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) 3.985 * [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))))) 3.986 * [backup-simplify]: Simplify (+ 0) into 0 3.986 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 3.986 * [backup-simplify]: Simplify (+ 1 0) into 1 3.987 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 3.988 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 3.989 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 3.989 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 3.989 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 3.989 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- (* 0.5 (sin (* 0.5 phi1))))) (* (- (* 0.5 (sin (* 0.5 phi1)))) (cos (* 0.5 phi1)))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) 3.989 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 3.989 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))) (* 0 (pow (cos (* 0.5 phi1)) 2))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) 3.990 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 3.990 * [backup-simplify]: Simplify (+ 0) into 0 3.990 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 3.990 * [backup-simplify]: Simplify (+ 1 0) into 1 3.991 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 3.992 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 3.992 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 3.992 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 3.993 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 3.993 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- (* 0.5 (sin (* 0.5 phi1))))) (* (- (* 0.5 (sin (* 0.5 phi1)))) (cos (* 0.5 phi1)))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) 3.993 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (* (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) (pow lambda1 2))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) 3.993 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 3.993 * [backup-simplify]: Simplify (+ (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) 0) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) 3.994 * [backup-simplify]: Simplify (+ (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) into (- (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) 3.995 * [backup-simplify]: Simplify (+ 0 (- (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))))) into (- (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) 3.995 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 3.995 * [backup-simplify]: Simplify (+ (* 2 phi1) (* 0 0)) into (* 2 phi1) 3.996 * [backup-simplify]: Simplify (+ 0) into 0 3.996 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 3.996 * [backup-simplify]: Simplify (+ 1 0) into 1 3.997 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 3.998 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 3.998 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 3.998 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 3.998 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 3.999 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- (* 0.5 (sin (* 0.5 phi1))))) (* (- (* 0.5 (sin (* 0.5 phi1)))) (cos (* 0.5 phi1)))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) 3.999 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (* (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) lambda1)) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1)))) 3.999 * [backup-simplify]: Simplify (+ (* lambda2 (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1))))) (* 0 (* (pow (cos (* 0.5 phi1)) 2) lambda1))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1))))) 4.000 * [backup-simplify]: Simplify (+ (* 2 (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))))) (* 0 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) into (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1))))) 4.000 * [backup-simplify]: Simplify (+ (* 2 phi1) (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))))) into (- (* 2 phi1) (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1))))) 4.000 * [backup-simplify]: Simplify (- (- (* 2 phi1) (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))))) into (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) (* 2 phi1)) 4.001 * [backup-simplify]: Simplify (+ (- (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) (* 2 phi1))) into (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) (* 2 phi1)))) 4.002 * [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)))))))) 4.002 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in phi1 4.002 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in phi1 4.002 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) in phi1 4.003 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 4.003 * [taylor]: Taking taylor expansion of phi2 in phi1 4.003 * [backup-simplify]: Simplify phi2 into phi2 4.003 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) in phi1 4.003 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in phi1 4.003 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 4.003 * [taylor]: Taking taylor expansion of lambda2 in phi1 4.003 * [backup-simplify]: Simplify lambda2 into lambda2 4.003 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1 4.003 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 4.003 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 4.003 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.003 * [backup-simplify]: Simplify 0.5 into 0.5 4.003 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 4.003 * [taylor]: Taking taylor expansion of phi2 in phi1 4.003 * [backup-simplify]: Simplify phi2 into phi2 4.003 * [taylor]: Taking taylor expansion of phi1 in phi1 4.003 * [backup-simplify]: Simplify 0 into 0 4.003 * [backup-simplify]: Simplify 1 into 1 4.003 * [backup-simplify]: Simplify (+ phi2 0) into phi2 4.003 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 4.003 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 4.003 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 4.003 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 4.003 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 4.003 * [backup-simplify]: Simplify (- 0) into 0 4.003 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 4.003 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) in phi1 4.004 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in phi1 4.004 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1 4.004 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 4.004 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 4.004 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.004 * [backup-simplify]: Simplify 0.5 into 0.5 4.004 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 4.004 * [taylor]: Taking taylor expansion of phi2 in phi1 4.004 * [backup-simplify]: Simplify phi2 into phi2 4.004 * [taylor]: Taking taylor expansion of phi1 in phi1 4.004 * [backup-simplify]: Simplify 0 into 0 4.004 * [backup-simplify]: Simplify 1 into 1 4.004 * [backup-simplify]: Simplify (+ phi2 0) into phi2 4.004 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 4.004 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 4.004 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 4.004 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 4.004 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 4.004 * [backup-simplify]: Simplify (- 0) into 0 4.004 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 4.004 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 4.004 * [taylor]: Taking taylor expansion of lambda1 in phi1 4.004 * [backup-simplify]: Simplify lambda1 into lambda1 4.004 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 4.004 * [taylor]: Taking taylor expansion of phi1 in phi1 4.004 * [backup-simplify]: Simplify 0 into 0 4.004 * [backup-simplify]: Simplify 1 into 1 4.004 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in phi1 4.004 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi1 4.005 * [taylor]: Taking taylor expansion of 2 in phi1 4.005 * [backup-simplify]: Simplify 2 into 2 4.005 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 4.005 * [taylor]: Taking taylor expansion of phi2 in phi1 4.005 * [backup-simplify]: Simplify phi2 into phi2 4.005 * [taylor]: Taking taylor expansion of phi1 in phi1 4.005 * [backup-simplify]: Simplify 0 into 0 4.005 * [backup-simplify]: Simplify 1 into 1 4.005 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in phi1 4.005 * [taylor]: Taking taylor expansion of 2 in phi1 4.005 * [backup-simplify]: Simplify 2 into 2 4.005 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in phi1 4.005 * [taylor]: Taking taylor expansion of lambda2 in phi1 4.005 * [backup-simplify]: Simplify lambda2 into lambda2 4.005 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in phi1 4.005 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1 4.005 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 4.005 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 4.005 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.005 * [backup-simplify]: Simplify 0.5 into 0.5 4.005 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 4.005 * [taylor]: Taking taylor expansion of phi2 in phi1 4.005 * [backup-simplify]: Simplify phi2 into phi2 4.005 * [taylor]: Taking taylor expansion of phi1 in phi1 4.005 * [backup-simplify]: Simplify 0 into 0 4.005 * [backup-simplify]: Simplify 1 into 1 4.005 * [backup-simplify]: Simplify (+ phi2 0) into phi2 4.005 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 4.005 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 4.005 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 4.005 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 4.005 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 4.005 * [backup-simplify]: Simplify (- 0) into 0 4.005 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 4.006 * [taylor]: Taking taylor expansion of lambda1 in phi1 4.006 * [backup-simplify]: Simplify lambda1 into lambda1 4.006 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 4.006 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 4.006 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 4.006 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2)) into (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) 4.006 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 4.006 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 4.006 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) 4.006 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) 0) into (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) 4.007 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2))) into (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2))) 4.007 * [backup-simplify]: Simplify (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)))) into (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (pow phi2 2))) 4.007 * [backup-simplify]: Simplify (* phi2 0) into 0 4.008 * [backup-simplify]: Simplify (* 2 0) into 0 4.008 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 4.008 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi2)) 2) lambda1) into (* (pow (cos (* 0.5 phi2)) 2) lambda1) 4.008 * [backup-simplify]: Simplify (* lambda2 (* (pow (cos (* 0.5 phi2)) 2) lambda1)) into (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)) 4.008 * [backup-simplify]: Simplify (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))) into (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))) 4.008 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) into (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))) 4.008 * [backup-simplify]: Simplify (- (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) into (- (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) 4.009 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (pow phi2 2))) (- (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))))) into (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (pow phi2 2))) (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) 4.010 * [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))))) 4.010 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 4.010 * [backup-simplify]: Simplify (+ 0) into 0 4.011 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 4.011 * [backup-simplify]: Simplify (+ 0 1) into 1 4.011 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5 4.013 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 4.013 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2))) 4.013 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2)))) 4.013 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2)))) 4.013 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) (- (* 0.5 (sin (* 0.5 phi2))))) (* (- (* 0.5 (sin (* 0.5 phi2)))) (cos (* 0.5 phi2)))) into (- (* 1.0 (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))) 4.014 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 4.014 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) (- (* 1.0 (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2)))))) (* 0 (pow (cos (* 0.5 phi2)) 2))) into (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))) 4.014 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 4.014 * [backup-simplify]: Simplify (+ 0) into 0 4.014 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 4.015 * [backup-simplify]: Simplify (+ 0 1) into 1 4.015 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5 4.016 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 4.017 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2))) 4.017 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2)))) 4.017 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2)))) 4.017 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) (- (* 0.5 (sin (* 0.5 phi2))))) (* (- (* 0.5 (sin (* 0.5 phi2)))) (cos (* 0.5 phi2)))) into (- (* 1.0 (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))) 4.017 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) 0) (* (- (* 1.0 (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))) (pow lambda1 2))) into (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2))))) 4.018 * [backup-simplify]: Simplify (+ (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2))))) 0) into (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2))))) 4.018 * [backup-simplify]: Simplify (+ (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))) (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))))) into (- (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2)))))) 4.019 * [backup-simplify]: Simplify (+ 0 (- (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))))) into (- (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2)))))) 4.019 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 4.019 * [backup-simplify]: Simplify (+ (* 2 phi2) (* 0 0)) into (* 2 phi2) 4.020 * [backup-simplify]: Simplify (+ 0) into 0 4.020 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 4.020 * [backup-simplify]: Simplify (+ 0 1) into 1 4.021 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5 4.022 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 4.022 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2))) 4.023 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2)))) 4.023 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2)))) 4.023 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) (- (* 0.5 (sin (* 0.5 phi2))))) (* (- (* 0.5 (sin (* 0.5 phi2)))) (cos (* 0.5 phi2)))) into (- (* 1.0 (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))) 4.023 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) 0) (* (- (* 1.0 (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))) lambda1)) into (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) lambda1)))) 4.024 * [backup-simplify]: Simplify (+ (* lambda2 (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) lambda1))))) (* 0 (* (pow (cos (* 0.5 phi2)) 2) lambda1))) into (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1))))) 4.024 * [backup-simplify]: Simplify (+ (* 2 (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))))) (* 0 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) into (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1))))) 4.024 * [backup-simplify]: Simplify (+ (* 2 phi2) (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))))) into (- (* 2 phi2) (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1))))) 4.025 * [backup-simplify]: Simplify (- (- (* 2 phi2) (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))))) into (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))) (* 2 phi2)) 4.025 * [backup-simplify]: Simplify (+ (- (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2)))))) (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))) (* 2 phi2))) into (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))) (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))) (+ (* 2 phi2) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))))) 4.027 * [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)))))))) 4.027 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in lambda2 4.027 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in lambda2 4.027 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) in lambda2 4.027 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 4.027 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.027 * [backup-simplify]: Simplify phi2 into phi2 4.027 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) in lambda2 4.027 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda2 4.027 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 4.027 * [taylor]: Taking taylor expansion of lambda2 in lambda2 4.027 * [backup-simplify]: Simplify 0 into 0 4.027 * [backup-simplify]: Simplify 1 into 1 4.027 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 4.027 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 4.027 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 4.027 * [taylor]: Taking taylor expansion of 0.5 in lambda2 4.027 * [backup-simplify]: Simplify 0.5 into 0.5 4.027 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 4.027 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.027 * [backup-simplify]: Simplify phi2 into phi2 4.027 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.027 * [backup-simplify]: Simplify phi1 into phi1 4.027 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 4.027 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 4.027 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 4.028 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 4.028 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 4.028 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 4.028 * [backup-simplify]: Simplify (- 0) into 0 4.028 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 4.028 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) in lambda2 4.028 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in lambda2 4.028 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 4.028 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 4.028 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 4.028 * [taylor]: Taking taylor expansion of 0.5 in lambda2 4.028 * [backup-simplify]: Simplify 0.5 into 0.5 4.028 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 4.028 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.028 * [backup-simplify]: Simplify phi2 into phi2 4.028 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.028 * [backup-simplify]: Simplify phi1 into phi1 4.028 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 4.028 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 4.028 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 4.029 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 4.029 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 4.029 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 4.029 * [backup-simplify]: Simplify (- 0) into 0 4.029 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 4.029 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 4.029 * [taylor]: Taking taylor expansion of lambda1 in lambda2 4.029 * [backup-simplify]: Simplify lambda1 into lambda1 4.029 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 4.029 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.029 * [backup-simplify]: Simplify phi1 into phi1 4.029 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in lambda2 4.029 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda2 4.029 * [taylor]: Taking taylor expansion of 2 in lambda2 4.029 * [backup-simplify]: Simplify 2 into 2 4.029 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 4.029 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.029 * [backup-simplify]: Simplify phi2 into phi2 4.029 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.029 * [backup-simplify]: Simplify phi1 into phi1 4.029 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in lambda2 4.029 * [taylor]: Taking taylor expansion of 2 in lambda2 4.029 * [backup-simplify]: Simplify 2 into 2 4.029 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in lambda2 4.029 * [taylor]: Taking taylor expansion of lambda2 in lambda2 4.029 * [backup-simplify]: Simplify 0 into 0 4.029 * [backup-simplify]: Simplify 1 into 1 4.029 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in lambda2 4.029 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 4.029 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 4.029 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 4.029 * [taylor]: Taking taylor expansion of 0.5 in lambda2 4.029 * [backup-simplify]: Simplify 0.5 into 0.5 4.030 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 4.030 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.030 * [backup-simplify]: Simplify phi2 into phi2 4.030 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.030 * [backup-simplify]: Simplify phi1 into phi1 4.030 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 4.030 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 4.030 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 4.030 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 4.030 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 4.030 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 4.030 * [backup-simplify]: Simplify (- 0) into 0 4.030 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 4.030 * [taylor]: Taking taylor expansion of lambda1 in lambda2 4.030 * [backup-simplify]: Simplify lambda1 into lambda1 4.030 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 4.030 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 4.031 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 4.031 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) 4.031 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 4.031 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) into (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) 4.031 * [backup-simplify]: Simplify (+ 0 (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) into (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) 4.032 * [backup-simplify]: Simplify (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) into (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) 4.032 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 4.032 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1)) 4.032 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 4.032 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) into (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) 4.032 * [backup-simplify]: Simplify (* 0 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) into 0 4.039 * [backup-simplify]: Simplify (* 2 0) into 0 4.039 * [backup-simplify]: Simplify (+ (* 2 (* phi2 phi1)) 0) into (* 2 (* phi2 phi1)) 4.039 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1))) 4.040 * [backup-simplify]: Simplify (+ (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (- (* 2 (* phi2 phi1)))) into (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1))) 4.041 * [backup-simplify]: Simplify (sqrt (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1)))) into (sqrt (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1)))) 4.041 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 4.041 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 4.041 * [backup-simplify]: Simplify (+ 0) into 0 4.042 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 4.042 * [backup-simplify]: Simplify (+ 0 0) into 0 4.042 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 4.043 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.043 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 4.043 * [backup-simplify]: Simplify (- 0) into 0 4.044 * [backup-simplify]: Simplify (+ 0 0) into 0 4.045 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 4.045 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) (* 0 (pow lambda1 2))) into 0 4.045 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 4.045 * [backup-simplify]: Simplify (+ 0 0) into 0 4.045 * [backup-simplify]: Simplify (+ 0 0) into 0 4.046 * [backup-simplify]: Simplify (+ 0 0) into 0 4.046 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 4.046 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0 4.046 * [backup-simplify]: Simplify (+ 0) into 0 4.046 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 4.047 * [backup-simplify]: Simplify (+ 0 0) into 0 4.047 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 4.047 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.048 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 4.048 * [backup-simplify]: Simplify (- 0) into 0 4.048 * [backup-simplify]: Simplify (+ 0 0) into 0 4.048 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 4.049 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) (* 0 lambda1)) into 0 4.049 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) 4.049 * [backup-simplify]: Simplify (+ (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) (* 0 0)) into (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) 4.050 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) 4.050 * [backup-simplify]: Simplify (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 4.050 * [backup-simplify]: Simplify (+ 0 (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) into (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 4.051 * [backup-simplify]: Simplify (/ (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (sqrt (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1)))))) into (* -1 (* (sqrt (/ 1 (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1))))) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 4.051 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in lambda1 4.051 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in lambda1 4.051 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) in lambda1 4.051 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 4.051 * [taylor]: Taking taylor expansion of phi2 in lambda1 4.051 * [backup-simplify]: Simplify phi2 into phi2 4.051 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) in lambda1 4.051 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda1 4.051 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 4.051 * [taylor]: Taking taylor expansion of lambda2 in lambda1 4.051 * [backup-simplify]: Simplify lambda2 into lambda2 4.051 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda1 4.051 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 4.051 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 4.051 * [taylor]: Taking taylor expansion of 0.5 in lambda1 4.051 * [backup-simplify]: Simplify 0.5 into 0.5 4.051 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 4.051 * [taylor]: Taking taylor expansion of phi2 in lambda1 4.051 * [backup-simplify]: Simplify phi2 into phi2 4.051 * [taylor]: Taking taylor expansion of phi1 in lambda1 4.051 * [backup-simplify]: Simplify phi1 into phi1 4.051 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 4.051 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 4.051 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 4.051 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 4.052 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 4.052 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 4.052 * [backup-simplify]: Simplify (- 0) into 0 4.052 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 4.052 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) in lambda1 4.052 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in lambda1 4.052 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda1 4.052 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 4.052 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 4.052 * [taylor]: Taking taylor expansion of 0.5 in lambda1 4.052 * [backup-simplify]: Simplify 0.5 into 0.5 4.052 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 4.052 * [taylor]: Taking taylor expansion of phi2 in lambda1 4.052 * [backup-simplify]: Simplify phi2 into phi2 4.052 * [taylor]: Taking taylor expansion of phi1 in lambda1 4.052 * [backup-simplify]: Simplify phi1 into phi1 4.052 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 4.052 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 4.052 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 4.052 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 4.052 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 4.053 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 4.053 * [backup-simplify]: Simplify (- 0) into 0 4.053 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 4.053 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 4.053 * [taylor]: Taking taylor expansion of lambda1 in lambda1 4.053 * [backup-simplify]: Simplify 0 into 0 4.053 * [backup-simplify]: Simplify 1 into 1 4.053 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 4.053 * [taylor]: Taking taylor expansion of phi1 in lambda1 4.053 * [backup-simplify]: Simplify phi1 into phi1 4.053 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in lambda1 4.053 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda1 4.053 * [taylor]: Taking taylor expansion of 2 in lambda1 4.053 * [backup-simplify]: Simplify 2 into 2 4.053 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda1 4.053 * [taylor]: Taking taylor expansion of phi2 in lambda1 4.053 * [backup-simplify]: Simplify phi2 into phi2 4.053 * [taylor]: Taking taylor expansion of phi1 in lambda1 4.053 * [backup-simplify]: Simplify phi1 into phi1 4.053 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in lambda1 4.053 * [taylor]: Taking taylor expansion of 2 in lambda1 4.053 * [backup-simplify]: Simplify 2 into 2 4.053 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in lambda1 4.053 * [taylor]: Taking taylor expansion of lambda2 in lambda1 4.053 * [backup-simplify]: Simplify lambda2 into lambda2 4.053 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in lambda1 4.053 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda1 4.053 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 4.053 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 4.053 * [taylor]: Taking taylor expansion of 0.5 in lambda1 4.053 * [backup-simplify]: Simplify 0.5 into 0.5 4.053 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 4.053 * [taylor]: Taking taylor expansion of phi2 in lambda1 4.053 * [backup-simplify]: Simplify phi2 into phi2 4.053 * [taylor]: Taking taylor expansion of phi1 in lambda1 4.053 * [backup-simplify]: Simplify phi1 into phi1 4.053 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 4.053 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 4.054 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 4.054 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 4.054 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 4.054 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 4.054 * [backup-simplify]: Simplify (- 0) into 0 4.054 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 4.054 * [taylor]: Taking taylor expansion of lambda1 in lambda1 4.054 * [backup-simplify]: Simplify 0 into 0 4.054 * [backup-simplify]: Simplify 1 into 1 4.054 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 4.054 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 4.054 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 4.055 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) into (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) 4.055 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 4.055 * [backup-simplify]: Simplify (+ 0 (pow phi1 2)) into (pow phi1 2) 4.055 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (pow phi1 2)) into (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (pow phi1 2)) 4.055 * [backup-simplify]: Simplify (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (pow phi1 2))) into (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) 4.055 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 4.055 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1)) 4.056 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 4.056 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) into 0 4.056 * [backup-simplify]: Simplify (* lambda2 0) into 0 4.056 * [backup-simplify]: Simplify (* 2 0) into 0 4.056 * [backup-simplify]: Simplify (+ (* 2 (* phi2 phi1)) 0) into (* 2 (* phi2 phi1)) 4.056 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1))) 4.057 * [backup-simplify]: Simplify (+ (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) (- (* 2 (* phi2 phi1)))) into (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) (* 2 (* phi2 phi1))) 4.057 * [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)))) 4.057 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 4.057 * [backup-simplify]: Simplify (+ 0) into 0 4.058 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 4.058 * [backup-simplify]: Simplify (+ 0 0) into 0 4.058 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 4.059 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.059 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 4.059 * [backup-simplify]: Simplify (- 0) into 0 4.060 * [backup-simplify]: Simplify (+ 0 0) into 0 4.060 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 4.060 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 4.060 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) 0) (* 0 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) into 0 4.060 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 4.060 * [backup-simplify]: Simplify (+ 0 0) into 0 4.061 * [backup-simplify]: Simplify (+ 0 0) into 0 4.061 * [backup-simplify]: Simplify (+ 0 0) into 0 4.061 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 4.061 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0 4.061 * [backup-simplify]: Simplify (+ 0) into 0 4.062 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 4.062 * [backup-simplify]: Simplify (+ 0 0) into 0 4.062 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 4.063 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.063 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 4.063 * [backup-simplify]: Simplify (- 0) into 0 4.063 * [backup-simplify]: Simplify (+ 0 0) into 0 4.064 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 4.064 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 1) (* 0 0)) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 4.064 * [backup-simplify]: Simplify (+ (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* 0 0)) into (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) 4.065 * [backup-simplify]: Simplify (+ (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) (* 0 0)) into (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) 4.065 * [backup-simplify]: Simplify (+ 0 (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) into (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) 4.065 * [backup-simplify]: Simplify (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) 4.066 * [backup-simplify]: Simplify (+ 0 (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) 4.066 * [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)))) 4.066 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in lambda1 4.066 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in lambda1 4.066 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) in lambda1 4.066 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 4.066 * [taylor]: Taking taylor expansion of phi2 in lambda1 4.066 * [backup-simplify]: Simplify phi2 into phi2 4.066 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) in lambda1 4.066 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda1 4.066 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 4.066 * [taylor]: Taking taylor expansion of lambda2 in lambda1 4.067 * [backup-simplify]: Simplify lambda2 into lambda2 4.067 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda1 4.067 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 4.067 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 4.067 * [taylor]: Taking taylor expansion of 0.5 in lambda1 4.067 * [backup-simplify]: Simplify 0.5 into 0.5 4.067 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 4.067 * [taylor]: Taking taylor expansion of phi2 in lambda1 4.067 * [backup-simplify]: Simplify phi2 into phi2 4.067 * [taylor]: Taking taylor expansion of phi1 in lambda1 4.067 * [backup-simplify]: Simplify phi1 into phi1 4.067 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 4.067 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 4.067 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 4.067 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 4.067 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 4.067 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 4.067 * [backup-simplify]: Simplify (- 0) into 0 4.067 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 4.067 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) in lambda1 4.067 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in lambda1 4.067 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda1 4.067 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 4.067 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 4.067 * [taylor]: Taking taylor expansion of 0.5 in lambda1 4.068 * [backup-simplify]: Simplify 0.5 into 0.5 4.068 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 4.068 * [taylor]: Taking taylor expansion of phi2 in lambda1 4.068 * [backup-simplify]: Simplify phi2 into phi2 4.068 * [taylor]: Taking taylor expansion of phi1 in lambda1 4.068 * [backup-simplify]: Simplify phi1 into phi1 4.068 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 4.068 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 4.068 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 4.068 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 4.068 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 4.068 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 4.068 * [backup-simplify]: Simplify (- 0) into 0 4.068 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 4.068 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 4.068 * [taylor]: Taking taylor expansion of lambda1 in lambda1 4.068 * [backup-simplify]: Simplify 0 into 0 4.068 * [backup-simplify]: Simplify 1 into 1 4.068 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 4.068 * [taylor]: Taking taylor expansion of phi1 in lambda1 4.068 * [backup-simplify]: Simplify phi1 into phi1 4.068 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in lambda1 4.068 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda1 4.068 * [taylor]: Taking taylor expansion of 2 in lambda1 4.068 * [backup-simplify]: Simplify 2 into 2 4.068 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda1 4.068 * [taylor]: Taking taylor expansion of phi2 in lambda1 4.069 * [backup-simplify]: Simplify phi2 into phi2 4.069 * [taylor]: Taking taylor expansion of phi1 in lambda1 4.069 * [backup-simplify]: Simplify phi1 into phi1 4.069 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in lambda1 4.069 * [taylor]: Taking taylor expansion of 2 in lambda1 4.069 * [backup-simplify]: Simplify 2 into 2 4.069 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in lambda1 4.069 * [taylor]: Taking taylor expansion of lambda2 in lambda1 4.069 * [backup-simplify]: Simplify lambda2 into lambda2 4.069 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in lambda1 4.069 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda1 4.069 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 4.069 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 4.069 * [taylor]: Taking taylor expansion of 0.5 in lambda1 4.069 * [backup-simplify]: Simplify 0.5 into 0.5 4.069 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 4.069 * [taylor]: Taking taylor expansion of phi2 in lambda1 4.069 * [backup-simplify]: Simplify phi2 into phi2 4.069 * [taylor]: Taking taylor expansion of phi1 in lambda1 4.069 * [backup-simplify]: Simplify phi1 into phi1 4.069 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 4.069 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 4.069 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 4.069 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 4.069 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 4.069 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 4.069 * [backup-simplify]: Simplify (- 0) into 0 4.069 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 4.069 * [taylor]: Taking taylor expansion of lambda1 in lambda1 4.070 * [backup-simplify]: Simplify 0 into 0 4.070 * [backup-simplify]: Simplify 1 into 1 4.070 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 4.070 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 4.070 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 4.070 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) into (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) 4.070 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 4.070 * [backup-simplify]: Simplify (+ 0 (pow phi1 2)) into (pow phi1 2) 4.070 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (pow phi1 2)) into (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (pow phi1 2)) 4.071 * [backup-simplify]: Simplify (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (pow phi1 2))) into (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) 4.071 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 4.071 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1)) 4.071 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 4.071 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) into 0 4.071 * [backup-simplify]: Simplify (* lambda2 0) into 0 4.071 * [backup-simplify]: Simplify (* 2 0) into 0 4.071 * [backup-simplify]: Simplify (+ (* 2 (* phi2 phi1)) 0) into (* 2 (* phi2 phi1)) 4.072 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1))) 4.072 * [backup-simplify]: Simplify (+ (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) (- (* 2 (* phi2 phi1)))) into (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) (* 2 (* phi2 phi1))) 4.073 * [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)))) 4.073 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 4.073 * [backup-simplify]: Simplify (+ 0) into 0 4.073 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 4.073 * [backup-simplify]: Simplify (+ 0 0) into 0 4.074 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 4.074 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.074 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 4.075 * [backup-simplify]: Simplify (- 0) into 0 4.075 * [backup-simplify]: Simplify (+ 0 0) into 0 4.075 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 4.075 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 4.075 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) 0) (* 0 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) into 0 4.075 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 4.076 * [backup-simplify]: Simplify (+ 0 0) into 0 4.076 * [backup-simplify]: Simplify (+ 0 0) into 0 4.076 * [backup-simplify]: Simplify (+ 0 0) into 0 4.076 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 4.076 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0 4.077 * [backup-simplify]: Simplify (+ 0) into 0 4.077 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 4.077 * [backup-simplify]: Simplify (+ 0 0) into 0 4.078 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 4.078 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.078 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 4.079 * [backup-simplify]: Simplify (- 0) into 0 4.079 * [backup-simplify]: Simplify (+ 0 0) into 0 4.079 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 4.079 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 1) (* 0 0)) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 4.080 * [backup-simplify]: Simplify (+ (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* 0 0)) into (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) 4.080 * [backup-simplify]: Simplify (+ (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) (* 0 0)) into (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) 4.080 * [backup-simplify]: Simplify (+ 0 (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) into (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) 4.081 * [backup-simplify]: Simplify (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) 4.081 * [backup-simplify]: Simplify (+ 0 (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) 4.082 * [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)))) 4.082 * [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 4.082 * [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 4.082 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) in lambda2 4.082 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda2 4.082 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 4.082 * [taylor]: Taking taylor expansion of lambda2 in lambda2 4.082 * [backup-simplify]: Simplify 0 into 0 4.082 * [backup-simplify]: Simplify 1 into 1 4.082 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 4.082 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 4.082 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 4.082 * [taylor]: Taking taylor expansion of 0.5 in lambda2 4.082 * [backup-simplify]: Simplify 0.5 into 0.5 4.082 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 4.082 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.082 * [backup-simplify]: Simplify phi2 into phi2 4.082 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.082 * [backup-simplify]: Simplify phi1 into phi1 4.082 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 4.082 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 4.082 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 4.082 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 4.082 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 4.082 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 4.083 * [backup-simplify]: Simplify (- 0) into 0 4.083 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 4.083 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (pow phi2 2)) in lambda2 4.083 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 4.083 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.083 * [backup-simplify]: Simplify phi1 into phi1 4.083 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 4.083 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.083 * [backup-simplify]: Simplify phi2 into phi2 4.083 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda2 4.083 * [taylor]: Taking taylor expansion of 2 in lambda2 4.083 * [backup-simplify]: Simplify 2 into 2 4.083 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 4.083 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.083 * [backup-simplify]: Simplify phi2 into phi2 4.083 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.083 * [backup-simplify]: Simplify phi1 into phi1 4.083 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 4.083 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 4.083 * [backup-simplify]: Simplify (+ (pow phi1 2) (pow phi2 2)) into (+ (pow phi2 2) (pow phi1 2)) 4.084 * [backup-simplify]: Simplify (+ 0 (+ (pow phi2 2) (pow phi1 2))) into (+ (pow phi2 2) (pow phi1 2)) 4.084 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 4.084 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1)) 4.084 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1))) 4.084 * [backup-simplify]: Simplify (+ (+ (pow phi2 2) (pow phi1 2)) (- (* 2 (* phi2 phi1)))) into (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))) 4.084 * [backup-simplify]: Simplify (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))) into (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))) 4.084 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 4.084 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 4.085 * [backup-simplify]: Simplify (+ 0 0) into 0 4.085 * [backup-simplify]: Simplify (+ 0 0) into 0 4.085 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 4.085 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0 4.085 * [backup-simplify]: Simplify (- 0) into 0 4.086 * [backup-simplify]: Simplify (+ 0 0) into 0 4.086 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))))) into 0 4.086 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))) in phi1 4.086 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))) in phi1 4.086 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in phi1 4.086 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 4.086 * [taylor]: Taking taylor expansion of phi2 in phi1 4.086 * [backup-simplify]: Simplify phi2 into phi2 4.086 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 4.086 * [taylor]: Taking taylor expansion of phi1 in phi1 4.086 * [backup-simplify]: Simplify 0 into 0 4.086 * [backup-simplify]: Simplify 1 into 1 4.086 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi1 4.086 * [taylor]: Taking taylor expansion of 2 in phi1 4.086 * [backup-simplify]: Simplify 2 into 2 4.086 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 4.086 * [taylor]: Taking taylor expansion of phi2 in phi1 4.086 * [backup-simplify]: Simplify phi2 into phi2 4.086 * [taylor]: Taking taylor expansion of phi1 in phi1 4.086 * [backup-simplify]: Simplify 0 into 0 4.086 * [backup-simplify]: Simplify 1 into 1 4.087 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 4.087 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 4.087 * [backup-simplify]: Simplify (* phi2 0) into 0 4.087 * [backup-simplify]: Simplify (* 2 0) into 0 4.087 * [backup-simplify]: Simplify (- 0) into 0 4.087 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 4.087 * [backup-simplify]: Simplify (sqrt (pow phi2 2)) into phi2 4.087 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 4.088 * [backup-simplify]: Simplify (+ 0 0) into 0 4.088 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 4.088 * [backup-simplify]: Simplify (+ (* 2 phi2) (* 0 0)) into (* 2 phi2) 4.088 * [backup-simplify]: Simplify (- (* 2 phi2)) into (- (* 2 phi2)) 4.088 * [backup-simplify]: Simplify (+ 0 (- (* 2 phi2))) into (- (* 2 phi2)) 4.089 * [backup-simplify]: Simplify (/ (- (* 2 phi2)) (* 2 (sqrt (pow phi2 2)))) into -1 4.089 * [taylor]: Taking taylor expansion of phi2 in phi2 4.089 * [backup-simplify]: Simplify 0 into 0 4.089 * [backup-simplify]: Simplify 1 into 1 4.089 * [backup-simplify]: Simplify 0 into 0 4.089 * [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 4.089 * [taylor]: Taking taylor expansion of -1 in lambda2 4.089 * [backup-simplify]: Simplify -1 into -1 4.089 * [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 4.089 * [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 4.089 * [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 4.089 * [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 4.089 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) in lambda2 4.089 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda2 4.089 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 4.089 * [taylor]: Taking taylor expansion of lambda2 in lambda2 4.089 * [backup-simplify]: Simplify 0 into 0 4.089 * [backup-simplify]: Simplify 1 into 1 4.089 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 4.089 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 4.089 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 4.089 * [taylor]: Taking taylor expansion of 0.5 in lambda2 4.089 * [backup-simplify]: Simplify 0.5 into 0.5 4.089 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 4.089 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.089 * [backup-simplify]: Simplify phi2 into phi2 4.089 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.089 * [backup-simplify]: Simplify phi1 into phi1 4.089 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 4.089 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 4.089 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 4.089 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 4.089 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 4.089 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 4.090 * [backup-simplify]: Simplify (- 0) into 0 4.090 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 4.090 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (pow phi2 2)) in lambda2 4.090 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 4.090 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.090 * [backup-simplify]: Simplify phi1 into phi1 4.090 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 4.090 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.090 * [backup-simplify]: Simplify phi2 into phi2 4.090 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda2 4.090 * [taylor]: Taking taylor expansion of 2 in lambda2 4.090 * [backup-simplify]: Simplify 2 into 2 4.090 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 4.090 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.090 * [backup-simplify]: Simplify phi2 into phi2 4.090 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.090 * [backup-simplify]: Simplify phi1 into phi1 4.090 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 4.090 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 4.090 * [backup-simplify]: Simplify (+ (pow phi1 2) (pow phi2 2)) into (+ (pow phi2 2) (pow phi1 2)) 4.090 * [backup-simplify]: Simplify (+ 0 (+ (pow phi2 2) (pow phi1 2))) into (+ (pow phi2 2) (pow phi1 2)) 4.091 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 4.091 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1)) 4.091 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1))) 4.091 * [backup-simplify]: Simplify (+ (+ (pow phi2 2) (pow phi1 2)) (- (* 2 (* phi2 phi1)))) into (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))) 4.091 * [backup-simplify]: Simplify (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))) into (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))) 4.091 * [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))))) 4.091 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 4.091 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 4.092 * [backup-simplify]: Simplify (+ 0 0) into 0 4.092 * [backup-simplify]: Simplify (+ 0 0) into 0 4.092 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 4.092 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0 4.093 * [backup-simplify]: Simplify (- 0) into 0 4.093 * [backup-simplify]: Simplify (+ 0 0) into 0 4.093 * [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 4.094 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))))))) into 0 4.094 * [taylor]: Taking taylor expansion of (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda2 4.094 * [taylor]: Taking taylor expansion of lambda2 in lambda2 4.094 * [backup-simplify]: Simplify 0 into 0 4.094 * [backup-simplify]: Simplify 1 into 1 4.094 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 4.094 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 4.094 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 4.094 * [taylor]: Taking taylor expansion of 0.5 in lambda2 4.094 * [backup-simplify]: Simplify 0.5 into 0.5 4.094 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 4.094 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.094 * [backup-simplify]: Simplify phi2 into phi2 4.094 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.094 * [backup-simplify]: Simplify phi1 into phi1 4.094 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 4.094 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 4.094 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 4.094 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 4.094 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 4.094 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 4.095 * [backup-simplify]: Simplify (- 0) into 0 4.095 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 4.095 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 4.095 * [backup-simplify]: Simplify (* 0 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) into 0 4.095 * [backup-simplify]: Simplify (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))))) 0) into 0 4.096 * [backup-simplify]: Simplify (* -1 0) into 0 4.096 * [taylor]: Taking taylor expansion of 0 in phi1 4.096 * [backup-simplify]: Simplify 0 into 0 4.096 * [taylor]: Taking taylor expansion of 0 in phi2 4.096 * [backup-simplify]: Simplify 0 into 0 4.096 * [backup-simplify]: Simplify 0 into 0 4.096 * [taylor]: Taking taylor expansion of 0 in phi1 4.096 * [backup-simplify]: Simplify 0 into 0 4.096 * [taylor]: Taking taylor expansion of 0 in phi2 4.096 * [backup-simplify]: Simplify 0 into 0 4.096 * [backup-simplify]: Simplify 0 into 0 4.096 * [taylor]: Taking taylor expansion of -1 in phi2 4.096 * [backup-simplify]: Simplify -1 into -1 4.096 * [backup-simplify]: Simplify -1 into -1 4.096 * [backup-simplify]: Simplify 1 into 1 4.096 * [backup-simplify]: Simplify (+ (* phi2 0) (+ (* 0 0) (* 0 phi2))) into 0 4.097 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 4.097 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 1))) into 0 4.098 * [backup-simplify]: Simplify (+ 0 0) into 0 4.098 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ phi2 phi1)))) into 0 4.099 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 4.100 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 0))) into 0 4.100 * [backup-simplify]: Simplify (- 0) into 0 4.100 * [backup-simplify]: Simplify (+ 0 0) into 0 4.101 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ phi2 phi1)))))) into 0 4.101 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda2))) into 0 4.102 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) 0) (+ (* 0 0) (* 0 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) into 0 4.102 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 4.102 * [backup-simplify]: Simplify (* 1 1) into 1 4.102 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 1) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 4.103 * [backup-simplify]: Simplify (+ (* phi1 0) (+ (* 0 0) (* 0 phi1))) into 0 4.103 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 4.103 * [backup-simplify]: Simplify (+ 0 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 4.103 * [backup-simplify]: Simplify (+ 0 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 4.103 * [backup-simplify]: Simplify (+ (* phi2 0) (+ (* 0 0) (* 0 phi1))) into 0 4.104 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (* phi2 phi1)))) into 0 4.104 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 4.105 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 1))) into 0 4.105 * [backup-simplify]: Simplify (+ 0 0) into 0 4.106 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ phi2 phi1)))) into 0 4.106 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 4.106 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 0))) into 0 4.107 * [backup-simplify]: Simplify (- 0) into 0 4.107 * [backup-simplify]: Simplify (+ 0 0) into 0 4.107 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ phi2 phi1)))))) into 0 4.108 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) (+ (* 0 1) (* 0 0))) into 0 4.108 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* 0 0))) into 0 4.109 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) (* 0 0))) into 0 4.109 * [backup-simplify]: Simplify (+ 0 0) into 0 4.109 * [backup-simplify]: Simplify (- 0) into 0 4.109 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 4.111 * [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))))))) 4.111 * [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 4.111 * [taylor]: Taking taylor expansion of 1/2 in lambda2 4.111 * [backup-simplify]: Simplify 1/2 into 1/2 4.111 * [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 4.111 * [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 4.111 * [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 4.111 * [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 4.111 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) in lambda2 4.111 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda2 4.111 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 4.112 * [taylor]: Taking taylor expansion of lambda2 in lambda2 4.112 * [backup-simplify]: Simplify 0 into 0 4.112 * [backup-simplify]: Simplify 1 into 1 4.112 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 4.112 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 4.112 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 4.112 * [taylor]: Taking taylor expansion of 0.5 in lambda2 4.112 * [backup-simplify]: Simplify 0.5 into 0.5 4.112 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 4.112 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.112 * [backup-simplify]: Simplify phi2 into phi2 4.112 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.112 * [backup-simplify]: Simplify phi1 into phi1 4.112 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 4.112 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 4.112 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 4.112 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 4.112 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 4.112 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 4.112 * [backup-simplify]: Simplify (- 0) into 0 4.112 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 4.112 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in lambda2 4.112 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 4.112 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.113 * [backup-simplify]: Simplify phi2 into phi2 4.113 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 4.113 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.113 * [backup-simplify]: Simplify phi1 into phi1 4.113 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda2 4.113 * [taylor]: Taking taylor expansion of 2 in lambda2 4.113 * [backup-simplify]: Simplify 2 into 2 4.113 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 4.113 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.113 * [backup-simplify]: Simplify phi2 into phi2 4.113 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.113 * [backup-simplify]: Simplify phi1 into phi1 4.113 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 4.113 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 4.113 * [backup-simplify]: Simplify (+ (pow phi2 2) (pow phi1 2)) into (+ (pow phi1 2) (pow phi2 2)) 4.113 * [backup-simplify]: Simplify (+ 0 (+ (pow phi1 2) (pow phi2 2))) into (+ (pow phi1 2) (pow phi2 2)) 4.113 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 4.113 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1)) 4.113 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1))) 4.113 * [backup-simplify]: Simplify (+ (+ (pow phi1 2) (pow phi2 2)) (- (* 2 (* phi2 phi1)))) into (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1))) 4.114 * [backup-simplify]: Simplify (/ 1 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1)))) into (/ 1 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1)))) 4.114 * [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))))) 4.114 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 4.114 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 4.114 * [backup-simplify]: Simplify (+ 0 0) into 0 4.115 * [backup-simplify]: Simplify (+ 0 0) into 0 4.115 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 4.115 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0 4.115 * [backup-simplify]: Simplify (- 0) into 0 4.115 * [backup-simplify]: Simplify (+ 0 0) into 0 4.116 * [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 4.116 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1))))))) into 0 4.116 * [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 4.116 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 4.116 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 4.116 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 4.116 * [taylor]: Taking taylor expansion of 0.5 in lambda2 4.116 * [backup-simplify]: Simplify 0.5 into 0.5 4.116 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 4.116 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.116 * [backup-simplify]: Simplify phi2 into phi2 4.116 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.116 * [backup-simplify]: Simplify phi1 into phi1 4.117 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 4.117 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 4.117 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 4.117 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 4.117 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 4.117 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 4.117 * [backup-simplify]: Simplify (- 0) into 0 4.117 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 4.117 * [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 4.117 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 4)) in lambda2 4.117 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 4.117 * [taylor]: Taking taylor expansion of lambda2 in lambda2 4.117 * [backup-simplify]: Simplify 0 into 0 4.117 * [backup-simplify]: Simplify 1 into 1 4.117 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 4) in lambda2 4.117 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 4.117 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 4.117 * [taylor]: Taking taylor expansion of 0.5 in lambda2 4.117 * [backup-simplify]: Simplify 0.5 into 0.5 4.117 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 4.117 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.117 * [backup-simplify]: Simplify phi2 into phi2 4.117 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.117 * [backup-simplify]: Simplify phi1 into phi1 4.118 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 4.118 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 4.118 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 4.118 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 4.118 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 4.118 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 4.118 * [backup-simplify]: Simplify (- 0) into 0 4.118 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 4.118 * [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 4.118 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) in lambda2 4.118 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda2 4.118 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 4.118 * [taylor]: Taking taylor expansion of lambda2 in lambda2 4.118 * [backup-simplify]: Simplify 0 into 0 4.118 * [backup-simplify]: Simplify 1 into 1 4.118 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 4.119 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 4.119 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 4.119 * [taylor]: Taking taylor expansion of 0.5 in lambda2 4.119 * [backup-simplify]: Simplify 0.5 into 0.5 4.119 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 4.119 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.119 * [backup-simplify]: Simplify phi2 into phi2 4.119 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.119 * [backup-simplify]: Simplify phi1 into phi1 4.119 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 4.119 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 4.119 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 4.119 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 4.119 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 4.119 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 4.119 * [backup-simplify]: Simplify (- 0) into 0 4.119 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 4.119 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in lambda2 4.119 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 4.119 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.119 * [backup-simplify]: Simplify phi2 into phi2 4.120 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 4.120 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.120 * [backup-simplify]: Simplify phi1 into phi1 4.120 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda2 4.120 * [taylor]: Taking taylor expansion of 2 in lambda2 4.120 * [backup-simplify]: Simplify 2 into 2 4.120 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 4.120 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.120 * [backup-simplify]: Simplify phi2 into phi2 4.120 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.120 * [backup-simplify]: Simplify phi1 into phi1 4.120 * [backup-simplify]: Simplify (* 1 1) into 1 4.120 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 4.120 * [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) 4.120 * [backup-simplify]: Simplify (* 1 (pow (cos (* 0.5 (+ phi2 phi1))) 4)) into (pow (cos (* 0.5 (+ phi2 phi1))) 4) 4.121 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 4.121 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 4.121 * [backup-simplify]: Simplify (+ (pow phi2 2) (pow phi1 2)) into (+ (pow phi1 2) (pow phi2 2)) 4.121 * [backup-simplify]: Simplify (+ 0 (+ (pow phi1 2) (pow phi2 2))) into (+ (pow phi1 2) (pow phi2 2)) 4.121 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 4.121 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1)) 4.121 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1))) 4.121 * [backup-simplify]: Simplify (+ (+ (pow phi1 2) (pow phi2 2)) (- (* 2 (* phi2 phi1)))) into (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1))) 4.122 * [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)))) 4.122 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 4.122 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 4.122 * [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)))))) 4.123 * [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))))))) 4.123 * [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 4.123 * [taylor]: Taking taylor expansion of 1/2 in phi1 4.123 * [backup-simplify]: Simplify 1/2 into 1/2 4.123 * [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 4.123 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1 4.123 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 4.123 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 4.123 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.123 * [backup-simplify]: Simplify 0.5 into 0.5 4.123 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 4.123 * [taylor]: Taking taylor expansion of phi2 in phi1 4.123 * [backup-simplify]: Simplify phi2 into phi2 4.123 * [taylor]: Taking taylor expansion of phi1 in phi1 4.123 * [backup-simplify]: Simplify 0 into 0 4.123 * [backup-simplify]: Simplify 1 into 1 4.123 * [backup-simplify]: Simplify (+ phi2 0) into phi2 4.123 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 4.123 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 4.123 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 4.123 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 4.123 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 4.123 * [backup-simplify]: Simplify (- 0) into 0 4.123 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 4.124 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1))))) in phi1 4.124 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1)))) in phi1 4.124 * [taylor]: Taking taylor expansion of (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1))) in phi1 4.124 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (pow phi2 2)) in phi1 4.124 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 4.124 * [taylor]: Taking taylor expansion of phi1 in phi1 4.124 * [backup-simplify]: Simplify 0 into 0 4.124 * [backup-simplify]: Simplify 1 into 1 4.124 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 4.124 * [taylor]: Taking taylor expansion of phi2 in phi1 4.124 * [backup-simplify]: Simplify phi2 into phi2 4.124 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi1 4.124 * [taylor]: Taking taylor expansion of 2 in phi1 4.124 * [backup-simplify]: Simplify 2 into 2 4.124 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 4.124 * [taylor]: Taking taylor expansion of phi2 in phi1 4.124 * [backup-simplify]: Simplify phi2 into phi2 4.124 * [taylor]: Taking taylor expansion of phi1 in phi1 4.124 * [backup-simplify]: Simplify 0 into 0 4.124 * [backup-simplify]: Simplify 1 into 1 4.124 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 4.124 * [backup-simplify]: Simplify (+ 0 (pow phi2 2)) into (pow phi2 2) 4.124 * [backup-simplify]: Simplify (* phi2 0) into 0 4.124 * [backup-simplify]: Simplify (* 2 0) into 0 4.125 * [backup-simplify]: Simplify (- 0) into 0 4.125 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 4.125 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 4.125 * [backup-simplify]: Simplify (sqrt (/ 1 (pow phi2 2))) into (/ 1 phi2) 4.125 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 4.125 * [backup-simplify]: Simplify (+ 0 0) into 0 4.125 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 4.126 * [backup-simplify]: Simplify (+ (* 2 phi2) (* 0 0)) into (* 2 phi2) 4.126 * [backup-simplify]: Simplify (- (* 2 phi2)) into (- (* 2 phi2)) 4.126 * [backup-simplify]: Simplify (+ 0 (- (* 2 phi2))) into (- (* 2 phi2)) 4.126 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi2 2)) (/ (- (* 2 phi2)) (pow phi2 2))))) into (* 2 (/ 1 (pow phi2 3))) 4.126 * [backup-simplify]: Simplify (/ (* 2 (/ 1 (pow phi2 3))) (* 2 (sqrt (/ 1 (pow phi2 2))))) into (/ 1 (pow phi2 2)) 4.126 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 4.126 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi2)) 2) (/ 1 phi2)) into (/ (pow (cos (* 0.5 phi2)) 2) phi2) 4.127 * [backup-simplify]: Simplify (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2)) into (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2)) 4.127 * [taylor]: Taking taylor expansion of (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2)) in phi2 4.127 * [taylor]: Taking taylor expansion of 1/2 in phi2 4.127 * [backup-simplify]: Simplify 1/2 into 1/2 4.127 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 phi2)) 2) phi2) in phi2 4.127 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2 4.127 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 4.127 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 4.127 * [taylor]: Taking taylor expansion of 0.5 in phi2 4.127 * [backup-simplify]: Simplify 0.5 into 0.5 4.127 * [taylor]: Taking taylor expansion of phi2 in phi2 4.127 * [backup-simplify]: Simplify 0 into 0 4.127 * [backup-simplify]: Simplify 1 into 1 4.127 * [backup-simplify]: Simplify (* 0.5 0) into 0 4.128 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 4.128 * [taylor]: Taking taylor expansion of phi2 in phi2 4.128 * [backup-simplify]: Simplify 0 into 0 4.128 * [backup-simplify]: Simplify 1 into 1 4.128 * [backup-simplify]: Simplify (* 1 1) into 1 4.129 * [backup-simplify]: Simplify (/ 1 1) into 1 4.129 * [backup-simplify]: Simplify (+ 0) into 0 4.129 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 4.130 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* 1 (/ 0 1)))) into 0 4.130 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 1)) into 0 4.130 * [backup-simplify]: Simplify 0 into 0 4.130 * [backup-simplify]: Simplify (+ 0) into 0 4.131 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 4.131 * [backup-simplify]: Simplify (+ 0 0) into 0 4.131 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 4.132 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.132 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 4.132 * [backup-simplify]: Simplify (- 0) into 0 4.132 * [backup-simplify]: Simplify (+ 0 0) into 0 4.133 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 4.133 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 4.134 * [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)) 4.134 * [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))) 4.134 * [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 4.134 * [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 4.134 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))))) in phi1 4.134 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))) in phi1 4.134 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))) in phi1 4.134 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in phi1 4.134 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 4.134 * [taylor]: Taking taylor expansion of phi2 in phi1 4.134 * [backup-simplify]: Simplify phi2 into phi2 4.135 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 4.135 * [taylor]: Taking taylor expansion of phi1 in phi1 4.135 * [backup-simplify]: Simplify 0 into 0 4.135 * [backup-simplify]: Simplify 1 into 1 4.135 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi1 4.135 * [taylor]: Taking taylor expansion of 2 in phi1 4.135 * [backup-simplify]: Simplify 2 into 2 4.135 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 4.135 * [taylor]: Taking taylor expansion of phi2 in phi1 4.135 * [backup-simplify]: Simplify phi2 into phi2 4.135 * [taylor]: Taking taylor expansion of phi1 in phi1 4.135 * [backup-simplify]: Simplify 0 into 0 4.135 * [backup-simplify]: Simplify 1 into 1 4.135 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 4.135 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 4.135 * [backup-simplify]: Simplify (* phi2 0) into 0 4.135 * [backup-simplify]: Simplify (* 2 0) into 0 4.135 * [backup-simplify]: Simplify (- 0) into 0 4.135 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 4.136 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 4.136 * [backup-simplify]: Simplify (sqrt (/ 1 (pow phi2 2))) into (/ 1 phi2) 4.136 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 4.136 * [backup-simplify]: Simplify (+ 0 0) into 0 4.136 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 4.136 * [backup-simplify]: Simplify (+ (* 2 phi2) (* 0 0)) into (* 2 phi2) 4.137 * [backup-simplify]: Simplify (- (* 2 phi2)) into (- (* 2 phi2)) 4.137 * [backup-simplify]: Simplify (+ 0 (- (* 2 phi2))) into (- (* 2 phi2)) 4.137 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi2 2)) (/ (- (* 2 phi2)) (pow phi2 2))))) into (* 2 (/ 1 (pow phi2 3))) 4.137 * [backup-simplify]: Simplify (/ (* 2 (/ 1 (pow phi2 3))) (* 2 (sqrt (/ 1 (pow phi2 2))))) into (/ 1 (pow phi2 2)) 4.137 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1 4.137 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 4.137 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 4.137 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.137 * [backup-simplify]: Simplify 0.5 into 0.5 4.137 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 4.137 * [taylor]: Taking taylor expansion of phi2 in phi1 4.137 * [backup-simplify]: Simplify phi2 into phi2 4.137 * [taylor]: Taking taylor expansion of phi1 in phi1 4.137 * [backup-simplify]: Simplify 0 into 0 4.137 * [backup-simplify]: Simplify 1 into 1 4.137 * [backup-simplify]: Simplify (+ phi2 0) into phi2 4.137 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 4.137 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 4.137 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 4.137 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 4.138 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 4.138 * [backup-simplify]: Simplify (- 0) into 0 4.138 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 4.138 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 4.138 * [backup-simplify]: Simplify (* (/ 1 phi2) (pow (cos (* 0.5 phi2)) 2)) into (/ (pow (cos (* 0.5 phi2)) 2) phi2) 4.138 * [backup-simplify]: Simplify (- (/ (pow (cos (* 0.5 phi2)) 2) phi2)) into (- (/ (pow (cos (* 0.5 phi2)) 2) phi2)) 4.138 * [taylor]: Taking taylor expansion of (- (/ (pow (cos (* 0.5 phi2)) 2) phi2)) in phi2 4.138 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 phi2)) 2) phi2) in phi2 4.138 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2 4.138 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 4.138 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 4.138 * [taylor]: Taking taylor expansion of 0.5 in phi2 4.138 * [backup-simplify]: Simplify 0.5 into 0.5 4.138 * [taylor]: Taking taylor expansion of phi2 in phi2 4.138 * [backup-simplify]: Simplify 0 into 0 4.138 * [backup-simplify]: Simplify 1 into 1 4.139 * [backup-simplify]: Simplify (* 0.5 0) into 0 4.144 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 4.144 * [taylor]: Taking taylor expansion of phi2 in phi2 4.144 * [backup-simplify]: Simplify 0 into 0 4.144 * [backup-simplify]: Simplify 1 into 1 4.145 * [backup-simplify]: Simplify (* 1 1) into 1 4.145 * [backup-simplify]: Simplify (/ 1 1) into 1 4.145 * [backup-simplify]: Simplify (+ 0) into 0 4.146 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 4.146 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* 1 (/ 0 1)))) into 0 4.146 * [backup-simplify]: Simplify (- 0) into 0 4.146 * [backup-simplify]: Simplify 0 into 0 4.147 * [backup-simplify]: Simplify (* 1 1) into 1 4.147 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 4.147 * [backup-simplify]: Simplify (* 1 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 4.147 * [backup-simplify]: Simplify (+ (* phi1 0) (+ (* 0 0) (* 0 phi1))) into 0 4.148 * [backup-simplify]: Simplify (+ (* phi2 0) (+ (* 0 0) (* 0 phi2))) into 0 4.148 * [backup-simplify]: Simplify (+ 0 0) into 0 4.148 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 4.148 * [backup-simplify]: Simplify (+ (* phi2 0) (+ (* 0 0) (* 0 phi1))) into 0 4.149 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (* phi2 phi1)))) into 0 4.149 * [backup-simplify]: Simplify (- 0) into 0 4.149 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 4.150 * [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))) 4.150 * [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 4.150 * [taylor]: Taking taylor expansion of 1/2 in phi1 4.150 * [backup-simplify]: Simplify 1/2 into 1/2 4.150 * [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 4.150 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))))) in phi1 4.150 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))) in phi1 4.150 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))) in phi1 4.150 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in phi1 4.150 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 4.150 * [taylor]: Taking taylor expansion of phi2 in phi1 4.151 * [backup-simplify]: Simplify phi2 into phi2 4.151 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 4.151 * [taylor]: Taking taylor expansion of phi1 in phi1 4.151 * [backup-simplify]: Simplify 0 into 0 4.151 * [backup-simplify]: Simplify 1 into 1 4.151 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi1 4.151 * [taylor]: Taking taylor expansion of 2 in phi1 4.151 * [backup-simplify]: Simplify 2 into 2 4.151 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 4.151 * [taylor]: Taking taylor expansion of phi2 in phi1 4.151 * [backup-simplify]: Simplify phi2 into phi2 4.151 * [taylor]: Taking taylor expansion of phi1 in phi1 4.151 * [backup-simplify]: Simplify 0 into 0 4.151 * [backup-simplify]: Simplify 1 into 1 4.151 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 4.151 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 4.151 * [backup-simplify]: Simplify (* phi2 0) into 0 4.151 * [backup-simplify]: Simplify (* 2 0) into 0 4.151 * [backup-simplify]: Simplify (- 0) into 0 4.152 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 4.152 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 4.152 * [backup-simplify]: Simplify (sqrt (/ 1 (pow phi2 2))) into (/ 1 phi2) 4.152 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 4.152 * [backup-simplify]: Simplify (+ 0 0) into 0 4.152 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 4.153 * [backup-simplify]: Simplify (+ (* 2 phi2) (* 0 0)) into (* 2 phi2) 4.153 * [backup-simplify]: Simplify (- (* 2 phi2)) into (- (* 2 phi2)) 4.153 * [backup-simplify]: Simplify (+ 0 (- (* 2 phi2))) into (- (* 2 phi2)) 4.153 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi2 2)) (/ (- (* 2 phi2)) (pow phi2 2))))) into (* 2 (/ 1 (pow phi2 3))) 4.153 * [backup-simplify]: Simplify (/ (* 2 (/ 1 (pow phi2 3))) (* 2 (sqrt (/ 1 (pow phi2 2))))) into (/ 1 (pow phi2 2)) 4.153 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1 4.153 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 4.153 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 4.153 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.153 * [backup-simplify]: Simplify 0.5 into 0.5 4.153 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 4.153 * [taylor]: Taking taylor expansion of phi2 in phi1 4.153 * [backup-simplify]: Simplify phi2 into phi2 4.153 * [taylor]: Taking taylor expansion of phi1 in phi1 4.153 * [backup-simplify]: Simplify 0 into 0 4.153 * [backup-simplify]: Simplify 1 into 1 4.153 * [backup-simplify]: Simplify (+ phi2 0) into phi2 4.153 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 4.153 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 4.154 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 4.154 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 4.154 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 4.154 * [backup-simplify]: Simplify (- 0) into 0 4.154 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 4.154 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 4.154 * [backup-simplify]: Simplify (* (/ 1 phi2) (pow (cos (* 0.5 phi2)) 2)) into (/ (pow (cos (* 0.5 phi2)) 2) phi2) 4.154 * [backup-simplify]: Simplify (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2)) into (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2)) 4.154 * [taylor]: Taking taylor expansion of (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2)) in phi2 4.154 * [taylor]: Taking taylor expansion of 1/2 in phi2 4.154 * [backup-simplify]: Simplify 1/2 into 1/2 4.154 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 phi2)) 2) phi2) in phi2 4.154 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2 4.154 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 4.154 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 4.155 * [taylor]: Taking taylor expansion of 0.5 in phi2 4.155 * [backup-simplify]: Simplify 0.5 into 0.5 4.155 * [taylor]: Taking taylor expansion of phi2 in phi2 4.155 * [backup-simplify]: Simplify 0 into 0 4.155 * [backup-simplify]: Simplify 1 into 1 4.155 * [backup-simplify]: Simplify (* 0.5 0) into 0 4.156 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 4.156 * [taylor]: Taking taylor expansion of phi2 in phi2 4.156 * [backup-simplify]: Simplify 0 into 0 4.156 * [backup-simplify]: Simplify 1 into 1 4.156 * [backup-simplify]: Simplify (* 1 1) into 1 4.156 * [backup-simplify]: Simplify (/ 1 1) into 1 4.156 * [backup-simplify]: Simplify (+ 0) into 0 4.157 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 4.157 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* 1 (/ 0 1)))) into 0 4.158 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 1)) into 0 4.158 * [backup-simplify]: Simplify 0 into 0 4.158 * [taylor]: Taking taylor expansion of 0 in phi2 4.158 * [backup-simplify]: Simplify 0 into 0 4.158 * [backup-simplify]: Simplify 0 into 0 4.158 * [taylor]: Taking taylor expansion of 0 in phi2 4.158 * [backup-simplify]: Simplify 0 into 0 4.158 * [backup-simplify]: Simplify 0 into 0 4.158 * [backup-simplify]: Simplify (+ (* phi2 0) (+ (* 0 0) (* 0 phi2))) into 0 4.158 * [backup-simplify]: Simplify (* 1 1) into 1 4.159 * [backup-simplify]: Simplify (+ 0 1) into 1 4.159 * [backup-simplify]: Simplify (+ (* phi2 0) (+ (* 0 1) (* 0 0))) into 0 4.160 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 phi2) (* 0 0))) into 0 4.160 * [backup-simplify]: Simplify (- 0) into 0 4.160 * [backup-simplify]: Simplify (+ 1 0) into 1 4.160 * [backup-simplify]: Simplify (/ (- 1 (pow -1 2) (+)) (* 2 phi2)) into 0 4.161 * [taylor]: Taking taylor expansion of 0 in phi2 4.161 * [backup-simplify]: Simplify 0 into 0 4.161 * [backup-simplify]: Simplify 0 into 0 4.161 * [backup-simplify]: Simplify (+ (* 1 (* phi2 (* 1 (* 1 1)))) (* -1 (* 1 (* phi1 (* 1 1))))) into (- phi2 phi1) 4.162 * [backup-simplify]: Simplify (sqrt (+ (* (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (/ (+ (/ 1 phi1) (/ 1 phi2)) 2.0))) (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (/ (+ (/ 1 phi1) (/ 1 phi2)) 2.0)))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))))) into (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) 4.162 * [approximate]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in (lambda1 lambda2 phi1 phi2) around 0 4.162 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in phi2 4.162 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in phi2 4.162 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) in phi2 4.162 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi2 4.162 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 4.162 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 4.162 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 4.162 * [taylor]: Taking taylor expansion of 0.5 in phi2 4.162 * [backup-simplify]: Simplify 0.5 into 0.5 4.162 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 4.162 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 4.162 * [taylor]: Taking taylor expansion of phi1 in phi2 4.162 * [backup-simplify]: Simplify phi1 into phi1 4.162 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.162 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 4.162 * [taylor]: Taking taylor expansion of phi2 in phi2 4.162 * [backup-simplify]: Simplify 0 into 0 4.162 * [backup-simplify]: Simplify 1 into 1 4.163 * [backup-simplify]: Simplify (/ 1 1) into 1 4.163 * [backup-simplify]: Simplify (+ 0 1) into 1 4.163 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 4.163 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.163 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 4.163 * [taylor]: Taking taylor expansion of lambda1 in phi2 4.163 * [backup-simplify]: Simplify lambda1 into lambda1 4.164 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.164 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 4.164 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 4.164 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) in phi2 4.164 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi2 4.164 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 4.164 * [taylor]: Taking taylor expansion of phi2 in phi2 4.164 * [backup-simplify]: Simplify 0 into 0 4.164 * [backup-simplify]: Simplify 1 into 1 4.164 * [backup-simplify]: Simplify (* 1 1) into 1 4.164 * [backup-simplify]: Simplify (/ 1 1) into 1 4.164 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) in phi2 4.164 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in phi2 4.165 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 4.165 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 4.165 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 4.165 * [taylor]: Taking taylor expansion of 0.5 in phi2 4.165 * [backup-simplify]: Simplify 0.5 into 0.5 4.165 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 4.165 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 4.165 * [taylor]: Taking taylor expansion of phi1 in phi2 4.165 * [backup-simplify]: Simplify phi1 into phi1 4.165 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.165 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 4.165 * [taylor]: Taking taylor expansion of phi2 in phi2 4.165 * [backup-simplify]: Simplify 0 into 0 4.165 * [backup-simplify]: Simplify 1 into 1 4.165 * [backup-simplify]: Simplify (/ 1 1) into 1 4.165 * [backup-simplify]: Simplify (+ 0 1) into 1 4.166 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 4.166 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.166 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 4.166 * [taylor]: Taking taylor expansion of lambda2 in phi2 4.166 * [backup-simplify]: Simplify lambda2 into lambda2 4.166 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.166 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 4.166 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 4.166 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi2 4.166 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 4.166 * [taylor]: Taking taylor expansion of phi1 in phi2 4.166 * [backup-simplify]: Simplify phi1 into phi1 4.166 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 4.166 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 4.166 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in phi2 4.166 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi2 4.166 * [taylor]: Taking taylor expansion of 2 in phi2 4.166 * [backup-simplify]: Simplify 2 into 2 4.166 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi2 4.167 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 4.167 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 4.167 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 4.167 * [taylor]: Taking taylor expansion of 0.5 in phi2 4.167 * [backup-simplify]: Simplify 0.5 into 0.5 4.167 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 4.167 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 4.167 * [taylor]: Taking taylor expansion of phi1 in phi2 4.167 * [backup-simplify]: Simplify phi1 into phi1 4.167 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.167 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 4.167 * [taylor]: Taking taylor expansion of phi2 in phi2 4.167 * [backup-simplify]: Simplify 0 into 0 4.167 * [backup-simplify]: Simplify 1 into 1 4.167 * [backup-simplify]: Simplify (/ 1 1) into 1 4.167 * [backup-simplify]: Simplify (+ 0 1) into 1 4.168 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 4.168 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.168 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi2 4.168 * [taylor]: Taking taylor expansion of lambda2 in phi2 4.168 * [backup-simplify]: Simplify lambda2 into lambda2 4.168 * [taylor]: Taking taylor expansion of lambda1 in phi2 4.168 * [backup-simplify]: Simplify lambda1 into lambda1 4.168 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.168 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 4.168 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) 4.168 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi2 4.168 * [taylor]: Taking taylor expansion of 2 in phi2 4.168 * [backup-simplify]: Simplify 2 into 2 4.168 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi2 4.168 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2 4.168 * [taylor]: Taking taylor expansion of phi2 in phi2 4.168 * [backup-simplify]: Simplify 0 into 0 4.168 * [backup-simplify]: Simplify 1 into 1 4.168 * [taylor]: Taking taylor expansion of phi1 in phi2 4.168 * [backup-simplify]: Simplify phi1 into phi1 4.168 * [backup-simplify]: Simplify (* 0 phi1) into 0 4.169 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 4.169 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.169 * [backup-simplify]: Simplify (+ 1 0) into 1 4.169 * [backup-simplify]: Simplify (+ 0 1) into 1 4.169 * [backup-simplify]: Simplify (+ 1 0) into 1 4.170 * [backup-simplify]: Simplify (sqrt 1) into 1 4.170 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 4.171 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 4.171 * [backup-simplify]: Simplify (+ 0 0) into 0 4.171 * [backup-simplify]: Simplify (+ 0 0) into 0 4.171 * [backup-simplify]: Simplify (* 2 (/ 1 phi1)) into (/ 2 phi1) 4.171 * [backup-simplify]: Simplify (+ 0 (/ 2 phi1)) into (* 2 (/ 1 phi1)) 4.171 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi1))) into (- (* 2 (/ 1 phi1))) 4.171 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1))) 4.172 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi1))) (* 2 (sqrt 1))) into (/ -1 phi1) 4.172 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in phi1 4.172 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in phi1 4.172 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) in phi1 4.172 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi1 4.172 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 4.172 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 4.172 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 4.172 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.172 * [backup-simplify]: Simplify 0.5 into 0.5 4.172 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 4.172 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 4.172 * [taylor]: Taking taylor expansion of phi1 in phi1 4.172 * [backup-simplify]: Simplify 0 into 0 4.172 * [backup-simplify]: Simplify 1 into 1 4.172 * [backup-simplify]: Simplify (/ 1 1) into 1 4.172 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 4.172 * [taylor]: Taking taylor expansion of phi2 in phi1 4.172 * [backup-simplify]: Simplify phi2 into phi2 4.172 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.173 * [backup-simplify]: Simplify (+ 1 0) into 1 4.173 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 4.173 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.173 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 4.173 * [taylor]: Taking taylor expansion of lambda1 in phi1 4.173 * [backup-simplify]: Simplify lambda1 into lambda1 4.173 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.173 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 4.174 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 4.174 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) in phi1 4.174 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 4.174 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 4.174 * [taylor]: Taking taylor expansion of phi2 in phi1 4.174 * [backup-simplify]: Simplify phi2 into phi2 4.174 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 4.174 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 4.174 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) in phi1 4.174 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in phi1 4.174 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 4.174 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 4.174 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 4.174 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.174 * [backup-simplify]: Simplify 0.5 into 0.5 4.174 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 4.174 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 4.174 * [taylor]: Taking taylor expansion of phi1 in phi1 4.174 * [backup-simplify]: Simplify 0 into 0 4.174 * [backup-simplify]: Simplify 1 into 1 4.174 * [backup-simplify]: Simplify (/ 1 1) into 1 4.174 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 4.174 * [taylor]: Taking taylor expansion of phi2 in phi1 4.174 * [backup-simplify]: Simplify phi2 into phi2 4.174 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.175 * [backup-simplify]: Simplify (+ 1 0) into 1 4.175 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 4.175 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.175 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 4.175 * [taylor]: Taking taylor expansion of lambda2 in phi1 4.175 * [backup-simplify]: Simplify lambda2 into lambda2 4.175 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.175 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 4.176 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 4.176 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 4.176 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 4.176 * [taylor]: Taking taylor expansion of phi1 in phi1 4.176 * [backup-simplify]: Simplify 0 into 0 4.176 * [backup-simplify]: Simplify 1 into 1 4.176 * [backup-simplify]: Simplify (* 1 1) into 1 4.176 * [backup-simplify]: Simplify (/ 1 1) into 1 4.176 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in phi1 4.176 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi1 4.176 * [taylor]: Taking taylor expansion of 2 in phi1 4.176 * [backup-simplify]: Simplify 2 into 2 4.176 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi1 4.176 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 4.176 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 4.176 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 4.176 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.176 * [backup-simplify]: Simplify 0.5 into 0.5 4.176 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 4.176 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 4.176 * [taylor]: Taking taylor expansion of phi1 in phi1 4.176 * [backup-simplify]: Simplify 0 into 0 4.176 * [backup-simplify]: Simplify 1 into 1 4.177 * [backup-simplify]: Simplify (/ 1 1) into 1 4.177 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 4.177 * [taylor]: Taking taylor expansion of phi2 in phi1 4.177 * [backup-simplify]: Simplify phi2 into phi2 4.177 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.177 * [backup-simplify]: Simplify (+ 1 0) into 1 4.177 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 4.177 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.177 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 4.177 * [taylor]: Taking taylor expansion of lambda2 in phi1 4.177 * [backup-simplify]: Simplify lambda2 into lambda2 4.177 * [taylor]: Taking taylor expansion of lambda1 in phi1 4.177 * [backup-simplify]: Simplify lambda1 into lambda1 4.178 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.178 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 4.178 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) 4.178 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi1 4.178 * [taylor]: Taking taylor expansion of 2 in phi1 4.178 * [backup-simplify]: Simplify 2 into 2 4.178 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi1 4.178 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 4.178 * [taylor]: Taking taylor expansion of phi2 in phi1 4.178 * [backup-simplify]: Simplify phi2 into phi2 4.178 * [taylor]: Taking taylor expansion of phi1 in phi1 4.178 * [backup-simplify]: Simplify 0 into 0 4.178 * [backup-simplify]: Simplify 1 into 1 4.178 * [backup-simplify]: Simplify (* phi2 0) into 0 4.178 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 4.178 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.179 * [backup-simplify]: Simplify (+ 0 1) into 1 4.179 * [backup-simplify]: Simplify (+ 0 1) into 1 4.179 * [backup-simplify]: Simplify (+ 0 1) into 1 4.179 * [backup-simplify]: Simplify (+ 1 0) into 1 4.180 * [backup-simplify]: Simplify (sqrt 1) into 1 4.180 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 4.180 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 4.181 * [backup-simplify]: Simplify (+ 0 0) into 0 4.181 * [backup-simplify]: Simplify (+ 0 0) into 0 4.181 * [backup-simplify]: Simplify (+ 0 0) into 0 4.181 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 4.181 * [backup-simplify]: Simplify (+ 0 (/ 2 phi2)) into (* 2 (/ 1 phi2)) 4.181 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi2))) into (- (* 2 (/ 1 phi2))) 4.181 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 4.182 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi2))) (* 2 (sqrt 1))) into (/ -1 phi2) 4.182 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in lambda2 4.182 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in lambda2 4.182 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) in lambda2 4.182 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda2 4.182 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 4.182 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 4.182 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 4.182 * [taylor]: Taking taylor expansion of 0.5 in lambda2 4.182 * [backup-simplify]: Simplify 0.5 into 0.5 4.182 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 4.182 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 4.182 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.182 * [backup-simplify]: Simplify phi1 into phi1 4.182 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.182 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 4.182 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.182 * [backup-simplify]: Simplify phi2 into phi2 4.182 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.182 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 4.182 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 4.182 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.183 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.183 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.183 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 4.183 * [backup-simplify]: Simplify (- 0) into 0 4.183 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.183 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 4.183 * [taylor]: Taking taylor expansion of lambda1 in lambda2 4.183 * [backup-simplify]: Simplify lambda1 into lambda1 4.183 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.183 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 4.184 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 4.184 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) in lambda2 4.184 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda2 4.184 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 4.184 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.184 * [backup-simplify]: Simplify phi2 into phi2 4.184 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 4.184 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 4.184 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) in lambda2 4.184 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda2 4.184 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 4.184 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 4.184 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 4.184 * [taylor]: Taking taylor expansion of 0.5 in lambda2 4.184 * [backup-simplify]: Simplify 0.5 into 0.5 4.184 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 4.184 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 4.184 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.184 * [backup-simplify]: Simplify phi1 into phi1 4.184 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.184 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 4.184 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.184 * [backup-simplify]: Simplify phi2 into phi2 4.184 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.184 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 4.184 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 4.185 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.185 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.185 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.185 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 4.185 * [backup-simplify]: Simplify (- 0) into 0 4.185 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.185 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 4.185 * [taylor]: Taking taylor expansion of lambda2 in lambda2 4.185 * [backup-simplify]: Simplify 0 into 0 4.185 * [backup-simplify]: Simplify 1 into 1 4.185 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.186 * [backup-simplify]: Simplify (* 1 1) into 1 4.186 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.186 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda2 4.186 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 4.186 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.186 * [backup-simplify]: Simplify phi1 into phi1 4.186 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 4.186 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 4.186 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in lambda2 4.186 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda2 4.186 * [taylor]: Taking taylor expansion of 2 in lambda2 4.186 * [backup-simplify]: Simplify 2 into 2 4.186 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda2 4.186 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 4.186 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 4.186 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 4.186 * [taylor]: Taking taylor expansion of 0.5 in lambda2 4.186 * [backup-simplify]: Simplify 0.5 into 0.5 4.186 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 4.186 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 4.186 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.186 * [backup-simplify]: Simplify phi1 into phi1 4.186 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.186 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 4.186 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.187 * [backup-simplify]: Simplify phi2 into phi2 4.187 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.187 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 4.187 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 4.187 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.187 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.187 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.187 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 4.187 * [backup-simplify]: Simplify (- 0) into 0 4.187 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.188 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda2 4.188 * [taylor]: Taking taylor expansion of lambda2 in lambda2 4.188 * [backup-simplify]: Simplify 0 into 0 4.188 * [backup-simplify]: Simplify 1 into 1 4.188 * [taylor]: Taking taylor expansion of lambda1 in lambda2 4.188 * [backup-simplify]: Simplify lambda1 into lambda1 4.188 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.188 * [backup-simplify]: Simplify (* 0 lambda1) into 0 4.188 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda1)) into lambda1 4.188 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) 4.188 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda2 4.188 * [taylor]: Taking taylor expansion of 2 in lambda2 4.188 * [backup-simplify]: Simplify 2 into 2 4.188 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda2 4.188 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 4.188 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.188 * [backup-simplify]: Simplify phi2 into phi2 4.188 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.188 * [backup-simplify]: Simplify phi1 into phi1 4.188 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 4.189 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 4.189 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.189 * [backup-simplify]: Simplify (+ 0 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.189 * [backup-simplify]: Simplify (+ 0 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.189 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.189 * [backup-simplify]: Simplify (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.190 * [backup-simplify]: Simplify (+ 0) into 0 4.190 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 4.190 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 4.190 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 4.190 * [backup-simplify]: Simplify (+ 0 0) into 0 4.191 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 4.191 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.192 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 4.192 * [backup-simplify]: Simplify (- 0) into 0 4.192 * [backup-simplify]: Simplify (+ 0 0) into 0 4.192 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 4.193 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 4.193 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 4.194 * [backup-simplify]: Simplify (+ 0 0) into 0 4.194 * [backup-simplify]: Simplify (+ 0 0) into 0 4.194 * [backup-simplify]: Simplify (+ 0 0) into 0 4.194 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 4.195 * [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)) 4.195 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 4.195 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 4.196 * [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)) 4.196 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in lambda1 4.196 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in lambda1 4.196 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) in lambda1 4.196 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda1 4.196 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 4.196 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 4.196 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 4.196 * [taylor]: Taking taylor expansion of 0.5 in lambda1 4.196 * [backup-simplify]: Simplify 0.5 into 0.5 4.196 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 4.196 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 4.196 * [taylor]: Taking taylor expansion of phi1 in lambda1 4.196 * [backup-simplify]: Simplify phi1 into phi1 4.196 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.196 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 4.196 * [taylor]: Taking taylor expansion of phi2 in lambda1 4.196 * [backup-simplify]: Simplify phi2 into phi2 4.196 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.196 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 4.196 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 4.196 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.197 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.197 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.197 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 4.197 * [backup-simplify]: Simplify (- 0) into 0 4.197 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.197 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 4.197 * [taylor]: Taking taylor expansion of lambda1 in lambda1 4.197 * [backup-simplify]: Simplify 0 into 0 4.197 * [backup-simplify]: Simplify 1 into 1 4.197 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.198 * [backup-simplify]: Simplify (* 1 1) into 1 4.198 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.198 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) in lambda1 4.198 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda1 4.198 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 4.198 * [taylor]: Taking taylor expansion of phi2 in lambda1 4.198 * [backup-simplify]: Simplify phi2 into phi2 4.198 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 4.198 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 4.198 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) in lambda1 4.198 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda1 4.198 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 4.198 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 4.198 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 4.198 * [taylor]: Taking taylor expansion of 0.5 in lambda1 4.198 * [backup-simplify]: Simplify 0.5 into 0.5 4.198 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 4.198 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 4.198 * [taylor]: Taking taylor expansion of phi1 in lambda1 4.198 * [backup-simplify]: Simplify phi1 into phi1 4.198 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.198 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 4.198 * [taylor]: Taking taylor expansion of phi2 in lambda1 4.198 * [backup-simplify]: Simplify phi2 into phi2 4.198 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.199 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 4.199 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 4.199 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.199 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.199 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.199 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 4.199 * [backup-simplify]: Simplify (- 0) into 0 4.199 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.199 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 4.199 * [taylor]: Taking taylor expansion of lambda2 in lambda1 4.199 * [backup-simplify]: Simplify lambda2 into lambda2 4.200 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.200 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 4.200 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 4.200 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda1 4.200 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 4.200 * [taylor]: Taking taylor expansion of phi1 in lambda1 4.200 * [backup-simplify]: Simplify phi1 into phi1 4.200 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 4.200 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 4.200 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in lambda1 4.200 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1 4.200 * [taylor]: Taking taylor expansion of 2 in lambda1 4.200 * [backup-simplify]: Simplify 2 into 2 4.200 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1 4.200 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 4.200 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 4.200 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 4.200 * [taylor]: Taking taylor expansion of 0.5 in lambda1 4.200 * [backup-simplify]: Simplify 0.5 into 0.5 4.200 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 4.200 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 4.200 * [taylor]: Taking taylor expansion of phi1 in lambda1 4.200 * [backup-simplify]: Simplify phi1 into phi1 4.200 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.200 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 4.200 * [taylor]: Taking taylor expansion of phi2 in lambda1 4.200 * [backup-simplify]: Simplify phi2 into phi2 4.201 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.201 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 4.201 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 4.201 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.201 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.201 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.201 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 4.201 * [backup-simplify]: Simplify (- 0) into 0 4.201 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.201 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 4.201 * [taylor]: Taking taylor expansion of lambda2 in lambda1 4.201 * [backup-simplify]: Simplify lambda2 into lambda2 4.202 * [taylor]: Taking taylor expansion of lambda1 in lambda1 4.202 * [backup-simplify]: Simplify 0 into 0 4.202 * [backup-simplify]: Simplify 1 into 1 4.202 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.202 * [backup-simplify]: Simplify (* lambda2 0) into 0 4.202 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 4.202 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) 4.202 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda1 4.202 * [taylor]: Taking taylor expansion of 2 in lambda1 4.202 * [backup-simplify]: Simplify 2 into 2 4.202 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda1 4.202 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda1 4.202 * [taylor]: Taking taylor expansion of phi2 in lambda1 4.202 * [backup-simplify]: Simplify phi2 into phi2 4.202 * [taylor]: Taking taylor expansion of phi1 in lambda1 4.202 * [backup-simplify]: Simplify phi1 into phi1 4.202 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 4.202 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 4.203 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.203 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.203 * [backup-simplify]: Simplify (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.203 * [backup-simplify]: Simplify (+ 0) into 0 4.204 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 4.204 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 4.204 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 4.204 * [backup-simplify]: Simplify (+ 0 0) into 0 4.204 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 4.205 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.205 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 4.205 * [backup-simplify]: Simplify (- 0) into 0 4.206 * [backup-simplify]: Simplify (+ 0 0) into 0 4.206 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 4.206 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 4.207 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 4.207 * [backup-simplify]: Simplify (+ 0 0) into 0 4.207 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 4.208 * [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)) 4.208 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 4.208 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 4.209 * [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)) 4.209 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in lambda1 4.209 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in lambda1 4.209 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) in lambda1 4.209 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda1 4.209 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 4.209 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 4.209 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 4.209 * [taylor]: Taking taylor expansion of 0.5 in lambda1 4.209 * [backup-simplify]: Simplify 0.5 into 0.5 4.209 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 4.209 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 4.209 * [taylor]: Taking taylor expansion of phi1 in lambda1 4.209 * [backup-simplify]: Simplify phi1 into phi1 4.209 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.209 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 4.209 * [taylor]: Taking taylor expansion of phi2 in lambda1 4.209 * [backup-simplify]: Simplify phi2 into phi2 4.209 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.209 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 4.209 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 4.209 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.209 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.209 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.210 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 4.210 * [backup-simplify]: Simplify (- 0) into 0 4.210 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.210 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 4.210 * [taylor]: Taking taylor expansion of lambda1 in lambda1 4.210 * [backup-simplify]: Simplify 0 into 0 4.210 * [backup-simplify]: Simplify 1 into 1 4.210 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.210 * [backup-simplify]: Simplify (* 1 1) into 1 4.211 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.211 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) in lambda1 4.211 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda1 4.211 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 4.211 * [taylor]: Taking taylor expansion of phi2 in lambda1 4.211 * [backup-simplify]: Simplify phi2 into phi2 4.211 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 4.211 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 4.211 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) in lambda1 4.211 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda1 4.211 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 4.211 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 4.211 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 4.211 * [taylor]: Taking taylor expansion of 0.5 in lambda1 4.211 * [backup-simplify]: Simplify 0.5 into 0.5 4.211 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 4.211 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 4.211 * [taylor]: Taking taylor expansion of phi1 in lambda1 4.211 * [backup-simplify]: Simplify phi1 into phi1 4.211 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.211 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 4.211 * [taylor]: Taking taylor expansion of phi2 in lambda1 4.211 * [backup-simplify]: Simplify phi2 into phi2 4.211 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.211 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 4.211 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 4.212 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.212 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.212 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.212 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 4.212 * [backup-simplify]: Simplify (- 0) into 0 4.212 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.212 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 4.212 * [taylor]: Taking taylor expansion of lambda2 in lambda1 4.212 * [backup-simplify]: Simplify lambda2 into lambda2 4.213 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.213 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 4.213 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 4.213 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda1 4.213 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 4.213 * [taylor]: Taking taylor expansion of phi1 in lambda1 4.213 * [backup-simplify]: Simplify phi1 into phi1 4.213 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 4.213 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 4.213 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in lambda1 4.213 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1 4.213 * [taylor]: Taking taylor expansion of 2 in lambda1 4.213 * [backup-simplify]: Simplify 2 into 2 4.213 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1 4.213 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 4.213 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 4.213 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 4.213 * [taylor]: Taking taylor expansion of 0.5 in lambda1 4.213 * [backup-simplify]: Simplify 0.5 into 0.5 4.213 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 4.213 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 4.213 * [taylor]: Taking taylor expansion of phi1 in lambda1 4.213 * [backup-simplify]: Simplify phi1 into phi1 4.213 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.213 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 4.213 * [taylor]: Taking taylor expansion of phi2 in lambda1 4.213 * [backup-simplify]: Simplify phi2 into phi2 4.213 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.214 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 4.214 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 4.214 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.214 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.214 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.214 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 4.214 * [backup-simplify]: Simplify (- 0) into 0 4.214 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.214 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 4.214 * [taylor]: Taking taylor expansion of lambda2 in lambda1 4.215 * [backup-simplify]: Simplify lambda2 into lambda2 4.215 * [taylor]: Taking taylor expansion of lambda1 in lambda1 4.215 * [backup-simplify]: Simplify 0 into 0 4.215 * [backup-simplify]: Simplify 1 into 1 4.215 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.215 * [backup-simplify]: Simplify (* lambda2 0) into 0 4.215 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 4.215 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) 4.215 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda1 4.215 * [taylor]: Taking taylor expansion of 2 in lambda1 4.215 * [backup-simplify]: Simplify 2 into 2 4.215 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda1 4.215 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda1 4.215 * [taylor]: Taking taylor expansion of phi2 in lambda1 4.215 * [backup-simplify]: Simplify phi2 into phi2 4.215 * [taylor]: Taking taylor expansion of phi1 in lambda1 4.215 * [backup-simplify]: Simplify phi1 into phi1 4.215 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 4.215 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 4.216 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.216 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.216 * [backup-simplify]: Simplify (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.216 * [backup-simplify]: Simplify (+ 0) into 0 4.217 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 4.217 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 4.217 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 4.217 * [backup-simplify]: Simplify (+ 0 0) into 0 4.217 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 4.218 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.218 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 4.218 * [backup-simplify]: Simplify (- 0) into 0 4.219 * [backup-simplify]: Simplify (+ 0 0) into 0 4.219 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 4.219 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 4.220 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 4.220 * [backup-simplify]: Simplify (+ 0 0) into 0 4.220 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 4.221 * [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)) 4.221 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 4.221 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 4.222 * [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)) 4.222 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 4.222 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 4.222 * [taylor]: Taking taylor expansion of 0.5 in lambda2 4.222 * [backup-simplify]: Simplify 0.5 into 0.5 4.222 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 4.222 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 4.222 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.222 * [backup-simplify]: Simplify phi1 into phi1 4.222 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.222 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 4.222 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.222 * [backup-simplify]: Simplify phi2 into phi2 4.222 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.222 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 4.222 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 4.222 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.222 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.222 * [taylor]: Taking taylor expansion of (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) in lambda2 4.222 * [taylor]: Taking taylor expansion of -1 in lambda2 4.222 * [backup-simplify]: Simplify -1 into -1 4.222 * [taylor]: Taking taylor expansion of (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2) in lambda2 4.222 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 4.222 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 4.222 * [taylor]: Taking taylor expansion of 0.5 in lambda2 4.222 * [backup-simplify]: Simplify 0.5 into 0.5 4.222 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 4.222 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 4.222 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.223 * [backup-simplify]: Simplify phi1 into phi1 4.223 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.223 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 4.223 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.223 * [backup-simplify]: Simplify phi2 into phi2 4.223 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.223 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 4.223 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 4.223 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.223 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.223 * [taylor]: Taking taylor expansion of lambda2 in lambda2 4.223 * [backup-simplify]: Simplify 0 into 0 4.223 * [backup-simplify]: Simplify 1 into 1 4.223 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.223 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 4.224 * [backup-simplify]: Simplify (- 0) into 0 4.224 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.224 * [backup-simplify]: Simplify (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.224 * [backup-simplify]: Simplify (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 4.224 * [taylor]: Taking taylor expansion of (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1 4.224 * [taylor]: Taking taylor expansion of -1 in phi1 4.224 * [backup-simplify]: Simplify -1 into -1 4.224 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 4.224 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 4.224 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.224 * [backup-simplify]: Simplify 0.5 into 0.5 4.224 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 4.225 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 4.225 * [taylor]: Taking taylor expansion of phi1 in phi1 4.225 * [backup-simplify]: Simplify 0 into 0 4.225 * [backup-simplify]: Simplify 1 into 1 4.225 * [backup-simplify]: Simplify (/ 1 1) into 1 4.225 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 4.225 * [taylor]: Taking taylor expansion of phi2 in phi1 4.225 * [backup-simplify]: Simplify phi2 into phi2 4.225 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.225 * [backup-simplify]: Simplify (+ 1 0) into 1 4.225 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 4.226 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.226 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.226 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 4.226 * [backup-simplify]: Simplify (- 0) into 0 4.226 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.226 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 4.226 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 4.226 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.226 * [backup-simplify]: Simplify 0.5 into 0.5 4.226 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 4.226 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 4.226 * [taylor]: Taking taylor expansion of phi1 in phi1 4.226 * [backup-simplify]: Simplify 0 into 0 4.226 * [backup-simplify]: Simplify 1 into 1 4.227 * [backup-simplify]: Simplify (/ 1 1) into 1 4.227 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 4.227 * [taylor]: Taking taylor expansion of phi2 in phi1 4.227 * [backup-simplify]: Simplify phi2 into phi2 4.227 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.227 * [backup-simplify]: Simplify (+ 1 0) into 1 4.227 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 4.227 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.228 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 4.228 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 4.229 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 4.229 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 4.229 * [backup-simplify]: Simplify (+ 0 0) into 0 4.229 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 4.230 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 4.230 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 4.230 * [backup-simplify]: Simplify (- 0) into 0 4.231 * [backup-simplify]: Simplify (+ 0 0) into 0 4.231 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 4.232 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 4.233 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)) (* 0 (/ 0 1)))) into 0 4.233 * [backup-simplify]: Simplify (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) into (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) 4.234 * [backup-simplify]: Simplify (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) into (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) 4.234 * [backup-simplify]: Simplify (+ 0 (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) into (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) 4.234 * [backup-simplify]: Simplify (+ 0) into 0 4.235 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 4.235 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 4.235 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 4.235 * [backup-simplify]: Simplify (+ 0 0) into 0 4.235 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 4.236 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.236 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 4.237 * [backup-simplify]: Simplify (- 0) into 0 4.237 * [backup-simplify]: Simplify (+ 0 0) into 0 4.237 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 4.237 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 1) (* 0 0))) into 0 4.238 * [backup-simplify]: Simplify (- (/ 0 lambda2) (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) (/ 0 lambda2)))) into 0 4.238 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into 0 4.238 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi2 phi1))) into (/ 2 (* phi2 phi1)) 4.238 * [backup-simplify]: Simplify (+ 0 (/ 2 (* phi2 phi1))) into (* 2 (/ 1 (* phi2 phi1))) 4.238 * [backup-simplify]: Simplify (- (* 2 (/ 1 (* phi2 phi1)))) into (- (* 2 (/ 1 (* phi2 phi1)))) 4.239 * [backup-simplify]: Simplify (+ (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) (- (* 2 (/ 1 (* phi2 phi1))))) into (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) (* 2 (/ 1 (* phi2 phi1)))) 4.240 * [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)))))) 4.240 * [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 4.240 * [taylor]: Taking taylor expansion of 1/2 in lambda2 4.240 * [backup-simplify]: Simplify 1/2 into 1/2 4.240 * [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 4.240 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) in lambda2 4.240 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in lambda2 4.240 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda2 4.240 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 4.240 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.240 * [backup-simplify]: Simplify phi2 into phi2 4.240 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 4.240 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 4.240 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda2 4.241 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 4.241 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.241 * [backup-simplify]: Simplify phi1 into phi1 4.241 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 4.241 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 4.241 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda2 4.241 * [taylor]: Taking taylor expansion of 2 in lambda2 4.241 * [backup-simplify]: Simplify 2 into 2 4.241 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda2 4.241 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 4.241 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.241 * [backup-simplify]: Simplify phi2 into phi2 4.241 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.241 * [backup-simplify]: Simplify phi1 into phi1 4.241 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 4.241 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 4.241 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 4.241 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 4.241 * [taylor]: Taking taylor expansion of 0.5 in lambda2 4.241 * [backup-simplify]: Simplify 0.5 into 0.5 4.241 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 4.241 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 4.241 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.241 * [backup-simplify]: Simplify phi1 into phi1 4.241 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.241 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 4.241 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.241 * [backup-simplify]: Simplify phi2 into phi2 4.241 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.241 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 4.241 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 4.241 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.242 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.242 * [backup-simplify]: Simplify (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) into (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) 4.242 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi2 phi1))) into (/ 2 (* phi2 phi1)) 4.242 * [backup-simplify]: Simplify (- (/ 2 (* phi2 phi1))) into (- (* 2 (/ 1 (* phi2 phi1)))) 4.242 * [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)))) 4.242 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.242 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 4.243 * [backup-simplify]: Simplify (- 0) into 0 4.243 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.243 * [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))))) 4.243 * [backup-simplify]: Simplify (+ 0) into 0 4.249 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 4.249 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 4.249 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 4.249 * [backup-simplify]: Simplify (+ 0 0) into 0 4.250 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 4.250 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.251 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 4.251 * [backup-simplify]: Simplify (- 0) into 0 4.251 * [backup-simplify]: Simplify (+ 0 0) into 0 4.252 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (/ 0 1)))) into 0 4.252 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 4.252 * [taylor]: Taking taylor expansion of 0 in phi1 4.252 * [backup-simplify]: Simplify 0 into 0 4.252 * [backup-simplify]: Simplify (+ 0) into 0 4.253 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 4.253 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 4.253 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 4.253 * [backup-simplify]: Simplify (+ 0 0) into 0 4.254 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 4.254 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.254 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 4.255 * [backup-simplify]: Simplify (- 0) into 0 4.255 * [backup-simplify]: Simplify (+ 0 0) into 0 4.255 * [taylor]: Taking taylor expansion of 0 in phi1 4.255 * [backup-simplify]: Simplify 0 into 0 4.255 * [backup-simplify]: Simplify (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 4.255 * [taylor]: Taking taylor expansion of (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 4.255 * [taylor]: Taking taylor expansion of -1 in phi2 4.255 * [backup-simplify]: Simplify -1 into -1 4.255 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 4.255 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 4.255 * [taylor]: Taking taylor expansion of 0.5 in phi2 4.255 * [backup-simplify]: Simplify 0.5 into 0.5 4.255 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 4.255 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 4.255 * [taylor]: Taking taylor expansion of phi1 in phi2 4.255 * [backup-simplify]: Simplify phi1 into phi1 4.255 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.255 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 4.255 * [taylor]: Taking taylor expansion of phi2 in phi2 4.255 * [backup-simplify]: Simplify 0 into 0 4.255 * [backup-simplify]: Simplify 1 into 1 4.256 * [backup-simplify]: Simplify (/ 1 1) into 1 4.256 * [backup-simplify]: Simplify (+ 0 1) into 1 4.256 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 4.256 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.256 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 4.256 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 4.256 * [taylor]: Taking taylor expansion of 0.5 in phi2 4.256 * [backup-simplify]: Simplify 0.5 into 0.5 4.256 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 4.256 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 4.256 * [taylor]: Taking taylor expansion of phi1 in phi2 4.256 * [backup-simplify]: Simplify phi1 into phi1 4.256 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.256 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 4.256 * [taylor]: Taking taylor expansion of phi2 in phi2 4.256 * [backup-simplify]: Simplify 0 into 0 4.256 * [backup-simplify]: Simplify 1 into 1 4.257 * [backup-simplify]: Simplify (/ 1 1) into 1 4.257 * [backup-simplify]: Simplify (+ 0 1) into 1 4.257 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 4.257 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.258 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 4.259 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 4.259 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 4.259 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 4.259 * [backup-simplify]: Simplify (+ 0 0) into 0 4.260 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 4.261 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 4.261 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 4.261 * [backup-simplify]: Simplify (- 0) into 0 4.262 * [backup-simplify]: Simplify (+ 0 0) into 0 4.262 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into 0 4.263 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 4.264 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0 4.264 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 4.264 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi2 2)) (/ 0 (pow phi2 2))))) into 0 4.265 * [backup-simplify]: Simplify (+ 0) into 0 4.265 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 4.265 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 4.265 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 4.266 * [backup-simplify]: Simplify (+ 0 0) into 0 4.266 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 4.266 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.267 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 4.267 * [backup-simplify]: Simplify (- 0) into 0 4.267 * [backup-simplify]: Simplify (+ 0 0) into 0 4.267 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 4.267 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 4.268 * [backup-simplify]: Simplify (- (/ 0 (pow lambda2 2)) (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 0 (pow lambda2 2))))) into 0 4.268 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 4.268 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi1 2)) (/ 0 (pow phi1 2))))) into 0 4.268 * [backup-simplify]: Simplify (+ 0 0) into 0 4.269 * [backup-simplify]: Simplify (+ 0 0) into 0 4.269 * [backup-simplify]: Simplify (+ 0 0) into 0 4.269 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 4.270 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 4.270 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 4.270 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 4.270 * [backup-simplify]: Simplify (+ 0 0) into 0 4.271 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 4.271 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 4.272 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 4.272 * [backup-simplify]: Simplify (- 0) into 0 4.272 * [backup-simplify]: Simplify (+ 0 0) into 0 4.273 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 4.273 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (+ (* 0 1) (* 0 0)))) into 0 4.273 * [backup-simplify]: Simplify (- (/ 0 lambda2) (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) (/ 0 lambda2)) (* 0 (/ 0 lambda2)))) into 0 4.274 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) into 0 4.274 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 4.274 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* phi2 phi1)) (/ 0 (* phi2 phi1))))) into 0 4.275 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ 1 (* phi2 phi1)))) into 0 4.275 * [backup-simplify]: Simplify (+ 0 0) into 0 4.275 * [backup-simplify]: Simplify (- 0) into 0 4.275 * [backup-simplify]: Simplify (+ 0 0) into 0 4.276 * [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)))))) 4.276 * [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 4.276 * [taylor]: Taking taylor expansion of 1/2 in lambda2 4.276 * [backup-simplify]: Simplify 1/2 into 1/2 4.276 * [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 4.276 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (* lambda2 (pow phi1 2))) (/ 1 (* (pow phi2 2) lambda2))) (* 2 (/ 1 (* phi2 (* lambda2 phi1))))) in lambda2 4.276 * [taylor]: Taking taylor expansion of (+ (/ 1 (* lambda2 (pow phi1 2))) (/ 1 (* (pow phi2 2) lambda2))) in lambda2 4.276 * [taylor]: Taking taylor expansion of (/ 1 (* lambda2 (pow phi1 2))) in lambda2 4.276 * [taylor]: Taking taylor expansion of (* lambda2 (pow phi1 2)) in lambda2 4.277 * [taylor]: Taking taylor expansion of lambda2 in lambda2 4.277 * [backup-simplify]: Simplify 0 into 0 4.277 * [backup-simplify]: Simplify 1 into 1 4.277 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 4.277 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.277 * [backup-simplify]: Simplify phi1 into phi1 4.277 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 4.277 * [backup-simplify]: Simplify (* 0 (pow phi1 2)) into 0 4.277 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 4.277 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow phi1 2))) into (pow phi1 2) 4.277 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 4.277 * [taylor]: Taking taylor expansion of (/ 1 (* (pow phi2 2) lambda2)) in lambda2 4.277 * [taylor]: Taking taylor expansion of (* (pow phi2 2) lambda2) in lambda2 4.278 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 4.278 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.278 * [backup-simplify]: Simplify phi2 into phi2 4.278 * [taylor]: Taking taylor expansion of lambda2 in lambda2 4.278 * [backup-simplify]: Simplify 0 into 0 4.278 * [backup-simplify]: Simplify 1 into 1 4.278 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 4.278 * [backup-simplify]: Simplify (* (pow phi2 2) 0) into 0 4.278 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 4.278 * [backup-simplify]: Simplify (+ (* (pow phi2 2) 1) (* 0 0)) into (pow phi2 2) 4.278 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 4.278 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 (* lambda2 phi1)))) in lambda2 4.278 * [taylor]: Taking taylor expansion of 2 in lambda2 4.278 * [backup-simplify]: Simplify 2 into 2 4.278 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (* lambda2 phi1))) in lambda2 4.278 * [taylor]: Taking taylor expansion of (* phi2 (* lambda2 phi1)) in lambda2 4.278 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.278 * [backup-simplify]: Simplify phi2 into phi2 4.278 * [taylor]: Taking taylor expansion of (* lambda2 phi1) in lambda2 4.278 * [taylor]: Taking taylor expansion of lambda2 in lambda2 4.278 * [backup-simplify]: Simplify 0 into 0 4.278 * [backup-simplify]: Simplify 1 into 1 4.278 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.278 * [backup-simplify]: Simplify phi1 into phi1 4.279 * [backup-simplify]: Simplify (* 0 phi1) into 0 4.279 * [backup-simplify]: Simplify (* phi2 0) into 0 4.279 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 4.279 * [backup-simplify]: Simplify (+ (* phi2 phi1) (* 0 0)) into (* phi2 phi1) 4.279 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 4.279 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 4.279 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 4.279 * [taylor]: Taking taylor expansion of 0.5 in lambda2 4.279 * [backup-simplify]: Simplify 0.5 into 0.5 4.279 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 4.279 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 4.279 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.279 * [backup-simplify]: Simplify phi1 into phi1 4.279 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.279 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 4.279 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.279 * [backup-simplify]: Simplify phi2 into phi2 4.279 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.280 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 4.280 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 4.280 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.280 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.280 * [backup-simplify]: Simplify (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) into (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) 4.280 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi2 phi1))) into (/ 2 (* phi2 phi1)) 4.280 * [backup-simplify]: Simplify (- (/ 2 (* phi2 phi1))) into (- (* 2 (/ 1 (* phi2 phi1)))) 4.280 * [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)))) 4.281 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.281 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 4.281 * [backup-simplify]: Simplify (- 0) into 0 4.281 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.281 * [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))))) 4.282 * [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)))))) 4.282 * [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 4.282 * [taylor]: Taking taylor expansion of 1/2 in phi1 4.282 * [backup-simplify]: Simplify 1/2 into 1/2 4.282 * [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 4.282 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) in phi1 4.282 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in phi1 4.282 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 4.282 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 4.282 * [taylor]: Taking taylor expansion of phi2 in phi1 4.282 * [backup-simplify]: Simplify phi2 into phi2 4.282 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 4.282 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 4.282 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 4.282 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 4.282 * [taylor]: Taking taylor expansion of phi1 in phi1 4.282 * [backup-simplify]: Simplify 0 into 0 4.282 * [backup-simplify]: Simplify 1 into 1 4.283 * [backup-simplify]: Simplify (* 1 1) into 1 4.283 * [backup-simplify]: Simplify (/ 1 1) into 1 4.283 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi1 4.283 * [taylor]: Taking taylor expansion of 2 in phi1 4.283 * [backup-simplify]: Simplify 2 into 2 4.283 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi1 4.283 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 4.283 * [taylor]: Taking taylor expansion of phi2 in phi1 4.283 * [backup-simplify]: Simplify phi2 into phi2 4.283 * [taylor]: Taking taylor expansion of phi1 in phi1 4.283 * [backup-simplify]: Simplify 0 into 0 4.283 * [backup-simplify]: Simplify 1 into 1 4.283 * [backup-simplify]: Simplify (* phi2 0) into 0 4.283 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 4.283 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.283 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 4.283 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 4.283 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.283 * [backup-simplify]: Simplify 0.5 into 0.5 4.283 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 4.283 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 4.283 * [taylor]: Taking taylor expansion of phi1 in phi1 4.283 * [backup-simplify]: Simplify 0 into 0 4.284 * [backup-simplify]: Simplify 1 into 1 4.284 * [backup-simplify]: Simplify (/ 1 1) into 1 4.284 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 4.284 * [taylor]: Taking taylor expansion of phi2 in phi1 4.284 * [backup-simplify]: Simplify phi2 into phi2 4.284 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.284 * [backup-simplify]: Simplify (+ 1 0) into 1 4.284 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 4.284 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.285 * [backup-simplify]: Simplify (+ 0 1) into 1 4.285 * [backup-simplify]: Simplify (+ 1 0) into 1 4.285 * [backup-simplify]: Simplify (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 4.286 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 4.286 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 4.286 * [backup-simplify]: Simplify (+ 0 0) into 0 4.286 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 4.286 * [backup-simplify]: Simplify (- (/ 2 phi2)) into (- (* 2 (/ 1 phi2))) 4.286 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 4.287 * [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)))))))) 4.287 * [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))))))) 4.287 * [taylor]: Taking taylor expansion of (- (/ 1 (* phi2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in phi2 4.287 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi2 4.287 * [taylor]: Taking taylor expansion of (* phi2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 4.287 * [taylor]: Taking taylor expansion of phi2 in phi2 4.287 * [backup-simplify]: Simplify 0 into 0 4.287 * [backup-simplify]: Simplify 1 into 1 4.287 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 4.287 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 4.287 * [taylor]: Taking taylor expansion of 0.5 in phi2 4.287 * [backup-simplify]: Simplify 0.5 into 0.5 4.287 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 4.287 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 4.287 * [taylor]: Taking taylor expansion of phi1 in phi2 4.287 * [backup-simplify]: Simplify phi1 into phi1 4.287 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.287 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 4.287 * [taylor]: Taking taylor expansion of phi2 in phi2 4.287 * [backup-simplify]: Simplify 0 into 0 4.287 * [backup-simplify]: Simplify 1 into 1 4.288 * [backup-simplify]: Simplify (/ 1 1) into 1 4.288 * [backup-simplify]: Simplify (+ 0 1) into 1 4.288 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 4.288 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.288 * [backup-simplify]: Simplify (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 4.289 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.289 * [backup-simplify]: Simplify (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 4.289 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 4.289 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 4.290 * [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)))))) 4.290 * [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 4.290 * [taylor]: Taking taylor expansion of 1/2 in phi1 4.290 * [backup-simplify]: Simplify 1/2 into 1/2 4.290 * [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 4.290 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) in phi1 4.290 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in phi1 4.290 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 4.290 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 4.290 * [taylor]: Taking taylor expansion of phi2 in phi1 4.290 * [backup-simplify]: Simplify phi2 into phi2 4.290 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 4.290 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 4.290 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 4.290 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 4.290 * [taylor]: Taking taylor expansion of phi1 in phi1 4.290 * [backup-simplify]: Simplify 0 into 0 4.290 * [backup-simplify]: Simplify 1 into 1 4.290 * [backup-simplify]: Simplify (* 1 1) into 1 4.291 * [backup-simplify]: Simplify (/ 1 1) into 1 4.291 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi1 4.291 * [taylor]: Taking taylor expansion of 2 in phi1 4.291 * [backup-simplify]: Simplify 2 into 2 4.291 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi1 4.291 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 4.291 * [taylor]: Taking taylor expansion of phi2 in phi1 4.291 * [backup-simplify]: Simplify phi2 into phi2 4.291 * [taylor]: Taking taylor expansion of phi1 in phi1 4.291 * [backup-simplify]: Simplify 0 into 0 4.291 * [backup-simplify]: Simplify 1 into 1 4.291 * [backup-simplify]: Simplify (* phi2 0) into 0 4.291 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 4.291 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.291 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 4.291 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 4.291 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.291 * [backup-simplify]: Simplify 0.5 into 0.5 4.291 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 4.291 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 4.291 * [taylor]: Taking taylor expansion of phi1 in phi1 4.291 * [backup-simplify]: Simplify 0 into 0 4.291 * [backup-simplify]: Simplify 1 into 1 4.292 * [backup-simplify]: Simplify (/ 1 1) into 1 4.292 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 4.292 * [taylor]: Taking taylor expansion of phi2 in phi1 4.292 * [backup-simplify]: Simplify phi2 into phi2 4.292 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.292 * [backup-simplify]: Simplify (+ 1 0) into 1 4.292 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 4.292 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.293 * [backup-simplify]: Simplify (+ 0 1) into 1 4.293 * [backup-simplify]: Simplify (+ 1 0) into 1 4.293 * [backup-simplify]: Simplify (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 4.293 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 4.294 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 4.294 * [backup-simplify]: Simplify (+ 0 0) into 0 4.294 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 4.294 * [backup-simplify]: Simplify (- (/ 2 phi2)) into (- (* 2 (/ 1 phi2))) 4.294 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 4.295 * [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)))))))) 4.295 * [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))))))) 4.295 * [taylor]: Taking taylor expansion of (- (/ 1 (* phi2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in phi2 4.295 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi2 4.295 * [taylor]: Taking taylor expansion of (* phi2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 4.295 * [taylor]: Taking taylor expansion of phi2 in phi2 4.295 * [backup-simplify]: Simplify 0 into 0 4.295 * [backup-simplify]: Simplify 1 into 1 4.295 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 4.295 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 4.295 * [taylor]: Taking taylor expansion of 0.5 in phi2 4.295 * [backup-simplify]: Simplify 0.5 into 0.5 4.295 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 4.295 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 4.295 * [taylor]: Taking taylor expansion of phi1 in phi2 4.295 * [backup-simplify]: Simplify phi1 into phi1 4.295 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.295 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 4.295 * [taylor]: Taking taylor expansion of phi2 in phi2 4.295 * [backup-simplify]: Simplify 0 into 0 4.295 * [backup-simplify]: Simplify 1 into 1 4.296 * [backup-simplify]: Simplify (/ 1 1) into 1 4.296 * [backup-simplify]: Simplify (+ 0 1) into 1 4.296 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 4.296 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.296 * [backup-simplify]: Simplify (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 4.297 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.297 * [backup-simplify]: Simplify (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 4.297 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 4.297 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 4.298 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 4.298 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 4.298 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 4.298 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 4.299 * [backup-simplify]: Simplify (+ 0 0) into 0 4.299 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 4.300 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 4.300 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 4.300 * [backup-simplify]: Simplify (- 0) into 0 4.301 * [backup-simplify]: Simplify (+ 0 0) into 0 4.302 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (/ 0 1)) (* 0 (/ 0 1)))) into 0 4.302 * [backup-simplify]: Simplify (+ (* -1 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 4.302 * [taylor]: Taking taylor expansion of 0 in phi1 4.302 * [backup-simplify]: Simplify 0 into 0 4.303 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 4.303 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 4.303 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 4.303 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 4.304 * [backup-simplify]: Simplify (+ 0 0) into 0 4.304 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 4.305 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 4.305 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 4.305 * [backup-simplify]: Simplify (- 0) into 0 4.306 * [backup-simplify]: Simplify (+ 0 0) into 0 4.306 * [taylor]: Taking taylor expansion of 0 in phi1 4.306 * [backup-simplify]: Simplify 0 into 0 4.306 * [taylor]: Taking taylor expansion of 0 in phi2 4.306 * [backup-simplify]: Simplify 0 into 0 4.306 * [taylor]: Taking taylor expansion of 0 in phi2 4.306 * [backup-simplify]: Simplify 0 into 0 4.306 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 4.306 * [taylor]: Taking taylor expansion of 0 in phi2 4.306 * [backup-simplify]: Simplify 0 into 0 4.306 * [taylor]: Taking taylor expansion of 0 in phi2 4.306 * [backup-simplify]: Simplify 0 into 0 4.307 * [backup-simplify]: Simplify (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 4.307 * [backup-simplify]: Simplify (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 4.308 * [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))))))) 4.309 * [backup-simplify]: Simplify (sqrt (+ (* (* (- (/ 1 (- lambda1)) (/ 1 (- lambda2))) (cos (/ (+ (/ 1 (- phi1)) (/ 1 (- phi2))) 2.0))) (* (- (/ 1 (- lambda1)) (/ 1 (- lambda2))) (cos (/ (+ (/ 1 (- phi1)) (/ 1 (- phi2))) 2.0)))) (* (- (/ 1 (- phi1)) (/ 1 (- phi2))) (- (/ 1 (- phi1)) (/ 1 (- phi2)))))) into (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) 4.309 * [approximate]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in (lambda1 lambda2 phi1 phi2) around 0 4.309 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in phi2 4.309 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in phi2 4.309 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) in phi2 4.309 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi2 4.309 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 4.309 * [taylor]: Taking taylor expansion of phi2 in phi2 4.309 * [backup-simplify]: Simplify 0 into 0 4.309 * [backup-simplify]: Simplify 1 into 1 4.309 * [backup-simplify]: Simplify (* 1 1) into 1 4.309 * [backup-simplify]: Simplify (/ 1 1) into 1 4.309 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))) in phi2 4.309 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in phi2 4.309 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 4.310 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 4.310 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 4.310 * [taylor]: Taking taylor expansion of -0.5 in phi2 4.310 * [backup-simplify]: Simplify -0.5 into -0.5 4.310 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 4.310 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 4.310 * [taylor]: Taking taylor expansion of phi1 in phi2 4.310 * [backup-simplify]: Simplify phi1 into phi1 4.310 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.310 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 4.310 * [taylor]: Taking taylor expansion of phi2 in phi2 4.310 * [backup-simplify]: Simplify 0 into 0 4.310 * [backup-simplify]: Simplify 1 into 1 4.310 * [backup-simplify]: Simplify (/ 1 1) into 1 4.310 * [backup-simplify]: Simplify (+ 0 1) into 1 4.311 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 4.311 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.311 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 4.311 * [taylor]: Taking taylor expansion of lambda2 in phi2 4.311 * [backup-simplify]: Simplify lambda2 into lambda2 4.311 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.311 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 4.311 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 4.311 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))) in phi2 4.311 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi2 4.311 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 4.311 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 4.311 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 4.311 * [taylor]: Taking taylor expansion of -0.5 in phi2 4.311 * [backup-simplify]: Simplify -0.5 into -0.5 4.311 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 4.311 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 4.311 * [taylor]: Taking taylor expansion of phi1 in phi2 4.311 * [backup-simplify]: Simplify phi1 into phi1 4.311 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.311 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 4.311 * [taylor]: Taking taylor expansion of phi2 in phi2 4.312 * [backup-simplify]: Simplify 0 into 0 4.312 * [backup-simplify]: Simplify 1 into 1 4.312 * [backup-simplify]: Simplify (/ 1 1) into 1 4.312 * [backup-simplify]: Simplify (+ 0 1) into 1 4.312 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 4.312 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.312 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 4.312 * [taylor]: Taking taylor expansion of lambda1 in phi2 4.312 * [backup-simplify]: Simplify lambda1 into lambda1 4.313 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.313 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 4.313 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 4.313 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi2 4.313 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 4.313 * [taylor]: Taking taylor expansion of phi1 in phi2 4.313 * [backup-simplify]: Simplify phi1 into phi1 4.313 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 4.313 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 4.313 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in phi2 4.313 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi2 4.313 * [taylor]: Taking taylor expansion of 2 in phi2 4.313 * [backup-simplify]: Simplify 2 into 2 4.313 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi2 4.313 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 4.313 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 4.313 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 4.313 * [taylor]: Taking taylor expansion of -0.5 in phi2 4.313 * [backup-simplify]: Simplify -0.5 into -0.5 4.313 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 4.313 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 4.313 * [taylor]: Taking taylor expansion of phi1 in phi2 4.313 * [backup-simplify]: Simplify phi1 into phi1 4.313 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.313 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 4.314 * [taylor]: Taking taylor expansion of phi2 in phi2 4.314 * [backup-simplify]: Simplify 0 into 0 4.314 * [backup-simplify]: Simplify 1 into 1 4.314 * [backup-simplify]: Simplify (/ 1 1) into 1 4.314 * [backup-simplify]: Simplify (+ 0 1) into 1 4.314 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 4.314 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.314 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi2 4.314 * [taylor]: Taking taylor expansion of lambda2 in phi2 4.314 * [backup-simplify]: Simplify lambda2 into lambda2 4.314 * [taylor]: Taking taylor expansion of lambda1 in phi2 4.315 * [backup-simplify]: Simplify lambda1 into lambda1 4.315 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.315 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 4.315 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) 4.315 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi2 4.315 * [taylor]: Taking taylor expansion of 2 in phi2 4.315 * [backup-simplify]: Simplify 2 into 2 4.315 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi2 4.315 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2 4.315 * [taylor]: Taking taylor expansion of phi2 in phi2 4.315 * [backup-simplify]: Simplify 0 into 0 4.315 * [backup-simplify]: Simplify 1 into 1 4.315 * [taylor]: Taking taylor expansion of phi1 in phi2 4.315 * [backup-simplify]: Simplify phi1 into phi1 4.315 * [backup-simplify]: Simplify (* 0 phi1) into 0 4.315 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 4.315 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.316 * [backup-simplify]: Simplify (+ 1 0) into 1 4.316 * [backup-simplify]: Simplify (+ 1 0) into 1 4.316 * [backup-simplify]: Simplify (sqrt 1) into 1 4.317 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 4.317 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 4.317 * [backup-simplify]: Simplify (+ 0 0) into 0 4.317 * [backup-simplify]: Simplify (* 2 (/ 1 phi1)) into (/ 2 phi1) 4.317 * [backup-simplify]: Simplify (+ 0 (/ 2 phi1)) into (* 2 (/ 1 phi1)) 4.317 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi1))) into (- (* 2 (/ 1 phi1))) 4.318 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1))) 4.318 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi1))) (* 2 (sqrt 1))) into (/ -1 phi1) 4.318 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in phi1 4.318 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in phi1 4.318 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) in phi1 4.318 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 4.318 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 4.318 * [taylor]: Taking taylor expansion of phi2 in phi1 4.318 * [backup-simplify]: Simplify phi2 into phi2 4.318 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 4.318 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 4.318 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))) in phi1 4.318 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in phi1 4.318 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 4.318 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 4.318 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 4.318 * [taylor]: Taking taylor expansion of -0.5 in phi1 4.318 * [backup-simplify]: Simplify -0.5 into -0.5 4.318 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 4.318 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 4.318 * [taylor]: Taking taylor expansion of phi1 in phi1 4.318 * [backup-simplify]: Simplify 0 into 0 4.318 * [backup-simplify]: Simplify 1 into 1 4.319 * [backup-simplify]: Simplify (/ 1 1) into 1 4.319 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 4.319 * [taylor]: Taking taylor expansion of phi2 in phi1 4.319 * [backup-simplify]: Simplify phi2 into phi2 4.319 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.319 * [backup-simplify]: Simplify (+ 1 0) into 1 4.319 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 4.319 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.320 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 4.320 * [taylor]: Taking taylor expansion of lambda2 in phi1 4.320 * [backup-simplify]: Simplify lambda2 into lambda2 4.320 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.320 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 4.320 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 4.320 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))) in phi1 4.320 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi1 4.320 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 4.320 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 4.320 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 4.320 * [taylor]: Taking taylor expansion of -0.5 in phi1 4.320 * [backup-simplify]: Simplify -0.5 into -0.5 4.320 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 4.320 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 4.320 * [taylor]: Taking taylor expansion of phi1 in phi1 4.320 * [backup-simplify]: Simplify 0 into 0 4.320 * [backup-simplify]: Simplify 1 into 1 4.321 * [backup-simplify]: Simplify (/ 1 1) into 1 4.321 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 4.321 * [taylor]: Taking taylor expansion of phi2 in phi1 4.321 * [backup-simplify]: Simplify phi2 into phi2 4.321 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.321 * [backup-simplify]: Simplify (+ 1 0) into 1 4.321 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 4.321 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.321 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 4.321 * [taylor]: Taking taylor expansion of lambda1 in phi1 4.321 * [backup-simplify]: Simplify lambda1 into lambda1 4.322 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.322 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 4.322 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 4.322 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 4.322 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 4.322 * [taylor]: Taking taylor expansion of phi1 in phi1 4.322 * [backup-simplify]: Simplify 0 into 0 4.322 * [backup-simplify]: Simplify 1 into 1 4.322 * [backup-simplify]: Simplify (* 1 1) into 1 4.322 * [backup-simplify]: Simplify (/ 1 1) into 1 4.322 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in phi1 4.322 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi1 4.322 * [taylor]: Taking taylor expansion of 2 in phi1 4.322 * [backup-simplify]: Simplify 2 into 2 4.322 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi1 4.323 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 4.323 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 4.323 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 4.323 * [taylor]: Taking taylor expansion of -0.5 in phi1 4.323 * [backup-simplify]: Simplify -0.5 into -0.5 4.323 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 4.323 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 4.323 * [taylor]: Taking taylor expansion of phi1 in phi1 4.323 * [backup-simplify]: Simplify 0 into 0 4.323 * [backup-simplify]: Simplify 1 into 1 4.323 * [backup-simplify]: Simplify (/ 1 1) into 1 4.323 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 4.323 * [taylor]: Taking taylor expansion of phi2 in phi1 4.323 * [backup-simplify]: Simplify phi2 into phi2 4.323 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.323 * [backup-simplify]: Simplify (+ 1 0) into 1 4.324 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 4.324 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.324 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 4.324 * [taylor]: Taking taylor expansion of lambda2 in phi1 4.324 * [backup-simplify]: Simplify lambda2 into lambda2 4.324 * [taylor]: Taking taylor expansion of lambda1 in phi1 4.324 * [backup-simplify]: Simplify lambda1 into lambda1 4.324 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.324 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 4.324 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) 4.324 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi1 4.324 * [taylor]: Taking taylor expansion of 2 in phi1 4.324 * [backup-simplify]: Simplify 2 into 2 4.324 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi1 4.324 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 4.324 * [taylor]: Taking taylor expansion of phi2 in phi1 4.324 * [backup-simplify]: Simplify phi2 into phi2 4.324 * [taylor]: Taking taylor expansion of phi1 in phi1 4.324 * [backup-simplify]: Simplify 0 into 0 4.324 * [backup-simplify]: Simplify 1 into 1 4.324 * [backup-simplify]: Simplify (* phi2 0) into 0 4.325 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 4.325 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.325 * [backup-simplify]: Simplify (+ 0 1) into 1 4.325 * [backup-simplify]: Simplify (+ 0 1) into 1 4.325 * [backup-simplify]: Simplify (+ 0 1) into 1 4.326 * [backup-simplify]: Simplify (+ 1 0) into 1 4.326 * [backup-simplify]: Simplify (sqrt 1) into 1 4.326 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 4.327 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 4.327 * [backup-simplify]: Simplify (+ 0 0) into 0 4.327 * [backup-simplify]: Simplify (+ 0 0) into 0 4.327 * [backup-simplify]: Simplify (+ 0 0) into 0 4.328 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 4.328 * [backup-simplify]: Simplify (+ 0 (/ 2 phi2)) into (* 2 (/ 1 phi2)) 4.328 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi2))) into (- (* 2 (/ 1 phi2))) 4.328 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 4.328 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi2))) (* 2 (sqrt 1))) into (/ -1 phi2) 4.328 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in lambda2 4.328 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in lambda2 4.328 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) in lambda2 4.328 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda2 4.328 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 4.328 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.328 * [backup-simplify]: Simplify phi2 into phi2 4.328 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 4.329 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 4.329 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))) in lambda2 4.329 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda2 4.329 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 4.329 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 4.329 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 4.329 * [taylor]: Taking taylor expansion of -0.5 in lambda2 4.329 * [backup-simplify]: Simplify -0.5 into -0.5 4.329 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 4.329 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 4.329 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.329 * [backup-simplify]: Simplify phi1 into phi1 4.329 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.329 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 4.329 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.329 * [backup-simplify]: Simplify phi2 into phi2 4.329 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.329 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 4.329 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 4.329 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.329 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.329 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.329 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 4.330 * [backup-simplify]: Simplify (- 0) into 0 4.330 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.330 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 4.330 * [taylor]: Taking taylor expansion of lambda2 in lambda2 4.330 * [backup-simplify]: Simplify 0 into 0 4.330 * [backup-simplify]: Simplify 1 into 1 4.330 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.330 * [backup-simplify]: Simplify (* 1 1) into 1 4.330 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.331 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))) in lambda2 4.331 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda2 4.331 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 4.331 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 4.331 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 4.331 * [taylor]: Taking taylor expansion of -0.5 in lambda2 4.331 * [backup-simplify]: Simplify -0.5 into -0.5 4.331 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 4.331 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 4.331 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.331 * [backup-simplify]: Simplify phi1 into phi1 4.331 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.331 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 4.331 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.331 * [backup-simplify]: Simplify phi2 into phi2 4.331 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.331 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 4.331 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 4.331 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.331 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.331 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.331 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 4.332 * [backup-simplify]: Simplify (- 0) into 0 4.332 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.332 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 4.332 * [taylor]: Taking taylor expansion of lambda1 in lambda2 4.332 * [backup-simplify]: Simplify lambda1 into lambda1 4.332 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.332 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 4.332 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 4.332 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda2 4.332 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 4.332 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.332 * [backup-simplify]: Simplify phi1 into phi1 4.332 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 4.333 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 4.333 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in lambda2 4.333 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda2 4.333 * [taylor]: Taking taylor expansion of 2 in lambda2 4.333 * [backup-simplify]: Simplify 2 into 2 4.333 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda2 4.333 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 4.333 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 4.333 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 4.333 * [taylor]: Taking taylor expansion of -0.5 in lambda2 4.333 * [backup-simplify]: Simplify -0.5 into -0.5 4.333 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 4.333 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 4.333 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.333 * [backup-simplify]: Simplify phi1 into phi1 4.333 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.333 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 4.333 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.333 * [backup-simplify]: Simplify phi2 into phi2 4.333 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.333 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 4.333 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 4.333 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.333 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.333 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.333 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 4.334 * [backup-simplify]: Simplify (- 0) into 0 4.334 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.334 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda2 4.334 * [taylor]: Taking taylor expansion of lambda2 in lambda2 4.334 * [backup-simplify]: Simplify 0 into 0 4.334 * [backup-simplify]: Simplify 1 into 1 4.334 * [taylor]: Taking taylor expansion of lambda1 in lambda2 4.334 * [backup-simplify]: Simplify lambda1 into lambda1 4.334 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.334 * [backup-simplify]: Simplify (* 0 lambda1) into 0 4.334 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda1)) into lambda1 4.335 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) 4.335 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda2 4.335 * [taylor]: Taking taylor expansion of 2 in lambda2 4.335 * [backup-simplify]: Simplify 2 into 2 4.335 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda2 4.335 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 4.335 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.335 * [backup-simplify]: Simplify phi2 into phi2 4.335 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.335 * [backup-simplify]: Simplify phi1 into phi1 4.335 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 4.335 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 4.335 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.335 * [backup-simplify]: Simplify (+ 0 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.335 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.336 * [backup-simplify]: Simplify (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.336 * [backup-simplify]: Simplify (+ 0) into 0 4.336 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 4.336 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 4.336 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 4.337 * [backup-simplify]: Simplify (+ 0 0) into 0 4.337 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 4.338 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.338 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 4.338 * [backup-simplify]: Simplify (- 0) into 0 4.338 * [backup-simplify]: Simplify (+ 0 0) into 0 4.339 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 4.339 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 4.340 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 4.340 * [backup-simplify]: Simplify (+ 0 0) into 0 4.340 * [backup-simplify]: Simplify (+ 0 0) into 0 4.341 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 4.341 * [backup-simplify]: Simplify (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 0) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 4.341 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 4.341 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 4.342 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) (* 2 (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)) 4.342 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in lambda1 4.342 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in lambda1 4.342 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) in lambda1 4.342 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda1 4.342 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 4.342 * [taylor]: Taking taylor expansion of phi2 in lambda1 4.342 * [backup-simplify]: Simplify phi2 into phi2 4.342 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 4.342 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 4.342 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))) in lambda1 4.342 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda1 4.342 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 4.342 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 4.342 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 4.342 * [taylor]: Taking taylor expansion of -0.5 in lambda1 4.342 * [backup-simplify]: Simplify -0.5 into -0.5 4.342 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 4.342 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 4.342 * [taylor]: Taking taylor expansion of phi1 in lambda1 4.342 * [backup-simplify]: Simplify phi1 into phi1 4.342 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.342 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 4.342 * [taylor]: Taking taylor expansion of phi2 in lambda1 4.343 * [backup-simplify]: Simplify phi2 into phi2 4.343 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.343 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 4.343 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 4.343 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.343 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.343 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.343 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 4.343 * [backup-simplify]: Simplify (- 0) into 0 4.344 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.344 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 4.344 * [taylor]: Taking taylor expansion of lambda2 in lambda1 4.344 * [backup-simplify]: Simplify lambda2 into lambda2 4.344 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.344 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 4.344 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 4.344 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))) in lambda1 4.344 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda1 4.344 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 4.344 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 4.344 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 4.344 * [taylor]: Taking taylor expansion of -0.5 in lambda1 4.344 * [backup-simplify]: Simplify -0.5 into -0.5 4.344 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 4.344 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 4.344 * [taylor]: Taking taylor expansion of phi1 in lambda1 4.344 * [backup-simplify]: Simplify phi1 into phi1 4.344 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.344 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 4.344 * [taylor]: Taking taylor expansion of phi2 in lambda1 4.344 * [backup-simplify]: Simplify phi2 into phi2 4.344 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.344 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 4.345 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 4.345 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.345 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.345 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.345 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 4.350 * [backup-simplify]: Simplify (- 0) into 0 4.350 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.350 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 4.350 * [taylor]: Taking taylor expansion of lambda1 in lambda1 4.350 * [backup-simplify]: Simplify 0 into 0 4.350 * [backup-simplify]: Simplify 1 into 1 4.350 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.351 * [backup-simplify]: Simplify (* 1 1) into 1 4.351 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.351 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda1 4.351 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 4.351 * [taylor]: Taking taylor expansion of phi1 in lambda1 4.351 * [backup-simplify]: Simplify phi1 into phi1 4.351 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 4.351 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 4.351 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in lambda1 4.351 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1 4.351 * [taylor]: Taking taylor expansion of 2 in lambda1 4.351 * [backup-simplify]: Simplify 2 into 2 4.351 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1 4.352 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 4.352 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 4.352 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 4.352 * [taylor]: Taking taylor expansion of -0.5 in lambda1 4.352 * [backup-simplify]: Simplify -0.5 into -0.5 4.352 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 4.352 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 4.352 * [taylor]: Taking taylor expansion of phi1 in lambda1 4.352 * [backup-simplify]: Simplify phi1 into phi1 4.352 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.352 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 4.352 * [taylor]: Taking taylor expansion of phi2 in lambda1 4.352 * [backup-simplify]: Simplify phi2 into phi2 4.352 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.352 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 4.352 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 4.352 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.352 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.352 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.352 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 4.353 * [backup-simplify]: Simplify (- 0) into 0 4.353 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.353 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 4.353 * [taylor]: Taking taylor expansion of lambda2 in lambda1 4.353 * [backup-simplify]: Simplify lambda2 into lambda2 4.353 * [taylor]: Taking taylor expansion of lambda1 in lambda1 4.353 * [backup-simplify]: Simplify 0 into 0 4.353 * [backup-simplify]: Simplify 1 into 1 4.353 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.353 * [backup-simplify]: Simplify (* lambda2 0) into 0 4.353 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 4.354 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) 4.354 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda1 4.354 * [taylor]: Taking taylor expansion of 2 in lambda1 4.354 * [backup-simplify]: Simplify 2 into 2 4.354 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda1 4.354 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda1 4.354 * [taylor]: Taking taylor expansion of phi2 in lambda1 4.354 * [backup-simplify]: Simplify phi2 into phi2 4.354 * [taylor]: Taking taylor expansion of phi1 in lambda1 4.354 * [backup-simplify]: Simplify phi1 into phi1 4.354 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 4.354 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 4.354 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.354 * [backup-simplify]: Simplify (+ 0 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.354 * [backup-simplify]: Simplify (+ 0 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.355 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.355 * [backup-simplify]: Simplify (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.355 * [backup-simplify]: Simplify (+ 0) into 0 4.355 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 4.356 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 4.356 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 4.356 * [backup-simplify]: Simplify (+ 0 0) into 0 4.357 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 4.357 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.357 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 4.358 * [backup-simplify]: Simplify (- 0) into 0 4.358 * [backup-simplify]: Simplify (+ 0 0) into 0 4.358 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 4.358 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 4.359 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 4.359 * [backup-simplify]: Simplify (+ 0 0) into 0 4.360 * [backup-simplify]: Simplify (+ 0 0) into 0 4.360 * [backup-simplify]: Simplify (+ 0 0) into 0 4.360 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 4.360 * [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)) 4.361 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 4.361 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 4.361 * [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)) 4.361 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in lambda1 4.361 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in lambda1 4.362 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) in lambda1 4.362 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda1 4.362 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 4.362 * [taylor]: Taking taylor expansion of phi2 in lambda1 4.362 * [backup-simplify]: Simplify phi2 into phi2 4.362 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 4.362 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 4.362 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))) in lambda1 4.362 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda1 4.362 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 4.362 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 4.362 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 4.362 * [taylor]: Taking taylor expansion of -0.5 in lambda1 4.362 * [backup-simplify]: Simplify -0.5 into -0.5 4.362 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 4.362 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 4.362 * [taylor]: Taking taylor expansion of phi1 in lambda1 4.362 * [backup-simplify]: Simplify phi1 into phi1 4.362 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.362 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 4.362 * [taylor]: Taking taylor expansion of phi2 in lambda1 4.362 * [backup-simplify]: Simplify phi2 into phi2 4.362 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.362 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 4.362 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 4.362 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.362 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.363 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.363 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 4.363 * [backup-simplify]: Simplify (- 0) into 0 4.363 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.363 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 4.363 * [taylor]: Taking taylor expansion of lambda2 in lambda1 4.363 * [backup-simplify]: Simplify lambda2 into lambda2 4.363 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.363 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 4.364 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 4.364 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))) in lambda1 4.364 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda1 4.364 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 4.364 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 4.364 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 4.364 * [taylor]: Taking taylor expansion of -0.5 in lambda1 4.364 * [backup-simplify]: Simplify -0.5 into -0.5 4.364 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 4.364 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 4.364 * [taylor]: Taking taylor expansion of phi1 in lambda1 4.364 * [backup-simplify]: Simplify phi1 into phi1 4.364 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.364 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 4.364 * [taylor]: Taking taylor expansion of phi2 in lambda1 4.364 * [backup-simplify]: Simplify phi2 into phi2 4.364 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.364 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 4.364 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 4.364 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.364 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.364 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.365 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 4.365 * [backup-simplify]: Simplify (- 0) into 0 4.365 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.365 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 4.365 * [taylor]: Taking taylor expansion of lambda1 in lambda1 4.365 * [backup-simplify]: Simplify 0 into 0 4.365 * [backup-simplify]: Simplify 1 into 1 4.365 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.366 * [backup-simplify]: Simplify (* 1 1) into 1 4.366 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.366 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda1 4.366 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 4.366 * [taylor]: Taking taylor expansion of phi1 in lambda1 4.366 * [backup-simplify]: Simplify phi1 into phi1 4.366 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 4.366 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 4.366 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in lambda1 4.366 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1 4.366 * [taylor]: Taking taylor expansion of 2 in lambda1 4.366 * [backup-simplify]: Simplify 2 into 2 4.366 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1 4.366 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 4.366 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 4.366 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 4.366 * [taylor]: Taking taylor expansion of -0.5 in lambda1 4.366 * [backup-simplify]: Simplify -0.5 into -0.5 4.366 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 4.366 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 4.366 * [taylor]: Taking taylor expansion of phi1 in lambda1 4.366 * [backup-simplify]: Simplify phi1 into phi1 4.366 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.366 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 4.366 * [taylor]: Taking taylor expansion of phi2 in lambda1 4.366 * [backup-simplify]: Simplify phi2 into phi2 4.366 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.367 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 4.367 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 4.367 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.367 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.367 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.367 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 4.367 * [backup-simplify]: Simplify (- 0) into 0 4.367 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.367 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 4.367 * [taylor]: Taking taylor expansion of lambda2 in lambda1 4.367 * [backup-simplify]: Simplify lambda2 into lambda2 4.367 * [taylor]: Taking taylor expansion of lambda1 in lambda1 4.368 * [backup-simplify]: Simplify 0 into 0 4.368 * [backup-simplify]: Simplify 1 into 1 4.368 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.368 * [backup-simplify]: Simplify (* lambda2 0) into 0 4.368 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 4.368 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) 4.368 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda1 4.368 * [taylor]: Taking taylor expansion of 2 in lambda1 4.368 * [backup-simplify]: Simplify 2 into 2 4.368 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda1 4.368 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda1 4.368 * [taylor]: Taking taylor expansion of phi2 in lambda1 4.368 * [backup-simplify]: Simplify phi2 into phi2 4.368 * [taylor]: Taking taylor expansion of phi1 in lambda1 4.368 * [backup-simplify]: Simplify phi1 into phi1 4.368 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 4.368 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 4.369 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.369 * [backup-simplify]: Simplify (+ 0 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.369 * [backup-simplify]: Simplify (+ 0 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.369 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.369 * [backup-simplify]: Simplify (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.370 * [backup-simplify]: Simplify (+ 0) into 0 4.370 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 4.370 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 4.370 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 4.370 * [backup-simplify]: Simplify (+ 0 0) into 0 4.371 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 4.371 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.372 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 4.372 * [backup-simplify]: Simplify (- 0) into 0 4.372 * [backup-simplify]: Simplify (+ 0 0) into 0 4.372 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 4.373 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 4.373 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 4.374 * [backup-simplify]: Simplify (+ 0 0) into 0 4.374 * [backup-simplify]: Simplify (+ 0 0) into 0 4.374 * [backup-simplify]: Simplify (+ 0 0) into 0 4.374 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 4.375 * [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)) 4.375 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 4.375 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 4.376 * [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)) 4.376 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 4.376 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 4.376 * [taylor]: Taking taylor expansion of -0.5 in lambda2 4.376 * [backup-simplify]: Simplify -0.5 into -0.5 4.376 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 4.376 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 4.376 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.376 * [backup-simplify]: Simplify phi1 into phi1 4.376 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.376 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 4.376 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.376 * [backup-simplify]: Simplify phi2 into phi2 4.376 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.376 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 4.376 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 4.376 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.376 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.376 * [taylor]: Taking taylor expansion of (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) in lambda2 4.376 * [taylor]: Taking taylor expansion of -1 in lambda2 4.376 * [backup-simplify]: Simplify -1 into -1 4.377 * [taylor]: Taking taylor expansion of (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2) in lambda2 4.377 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 4.377 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 4.377 * [taylor]: Taking taylor expansion of -0.5 in lambda2 4.377 * [backup-simplify]: Simplify -0.5 into -0.5 4.377 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 4.377 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 4.377 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.377 * [backup-simplify]: Simplify phi1 into phi1 4.377 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.377 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 4.377 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.377 * [backup-simplify]: Simplify phi2 into phi2 4.377 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.377 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 4.377 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 4.377 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.377 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.377 * [taylor]: Taking taylor expansion of lambda2 in lambda2 4.377 * [backup-simplify]: Simplify 0 into 0 4.377 * [backup-simplify]: Simplify 1 into 1 4.377 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.377 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 4.378 * [backup-simplify]: Simplify (- 0) into 0 4.378 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.378 * [backup-simplify]: Simplify (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.378 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 4.378 * [taylor]: Taking taylor expansion of (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1 4.378 * [taylor]: Taking taylor expansion of -1 in phi1 4.378 * [backup-simplify]: Simplify -1 into -1 4.378 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 4.378 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 4.378 * [taylor]: Taking taylor expansion of -0.5 in phi1 4.378 * [backup-simplify]: Simplify -0.5 into -0.5 4.378 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 4.378 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 4.378 * [taylor]: Taking taylor expansion of phi1 in phi1 4.378 * [backup-simplify]: Simplify 0 into 0 4.378 * [backup-simplify]: Simplify 1 into 1 4.378 * [backup-simplify]: Simplify (/ 1 1) into 1 4.379 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 4.379 * [taylor]: Taking taylor expansion of phi2 in phi1 4.379 * [backup-simplify]: Simplify phi2 into phi2 4.379 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.379 * [backup-simplify]: Simplify (+ 1 0) into 1 4.379 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 4.379 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.379 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.379 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 4.380 * [backup-simplify]: Simplify (- 0) into 0 4.380 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.380 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 4.380 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 4.380 * [taylor]: Taking taylor expansion of -0.5 in phi1 4.380 * [backup-simplify]: Simplify -0.5 into -0.5 4.380 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 4.380 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 4.380 * [taylor]: Taking taylor expansion of phi1 in phi1 4.380 * [backup-simplify]: Simplify 0 into 0 4.380 * [backup-simplify]: Simplify 1 into 1 4.380 * [backup-simplify]: Simplify (/ 1 1) into 1 4.380 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 4.380 * [taylor]: Taking taylor expansion of phi2 in phi1 4.380 * [backup-simplify]: Simplify phi2 into phi2 4.380 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.381 * [backup-simplify]: Simplify (+ 1 0) into 1 4.381 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 4.381 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.382 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 4.382 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 4.382 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 4.382 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 4.383 * [backup-simplify]: Simplify (+ 0 0) into 0 4.383 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 4.384 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 4.384 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 4.384 * [backup-simplify]: Simplify (- 0) into 0 4.384 * [backup-simplify]: Simplify (+ 0 0) into 0 4.385 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 4.385 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 4.386 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)) (* 0 (/ 0 1)))) into 0 4.387 * [backup-simplify]: Simplify (+ 0 (/ 1 (pow phi1 2))) into (/ 1 (pow phi1 2)) 4.387 * [backup-simplify]: Simplify (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) into (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) 4.387 * [backup-simplify]: Simplify (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) into (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) 4.388 * [backup-simplify]: Simplify (+ 0) into 0 4.388 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 4.388 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 4.388 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 4.389 * [backup-simplify]: Simplify (+ 0 0) into 0 4.389 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 4.389 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.390 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 4.390 * [backup-simplify]: Simplify (- 0) into 0 4.390 * [backup-simplify]: Simplify (+ 0 0) into 0 4.390 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 4.391 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 1) (* 0 0))) into 0 4.391 * [backup-simplify]: Simplify (- (/ 0 lambda2) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) (/ 0 lambda2)))) into 0 4.392 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into 0 4.392 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi2 phi1))) into (/ 2 (* phi2 phi1)) 4.392 * [backup-simplify]: Simplify (+ 0 (/ 2 (* phi2 phi1))) into (* 2 (/ 1 (* phi2 phi1))) 4.392 * [backup-simplify]: Simplify (- (* 2 (/ 1 (* phi2 phi1)))) into (- (* 2 (/ 1 (* phi2 phi1)))) 4.392 * [backup-simplify]: Simplify (+ (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) (- (* 2 (/ 1 (* phi2 phi1))))) into (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) (* 2 (/ 1 (* phi2 phi1)))) 4.394 * [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)))))) 4.394 * [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 4.394 * [taylor]: Taking taylor expansion of 1/2 in lambda2 4.394 * [backup-simplify]: Simplify 1/2 into 1/2 4.394 * [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 4.394 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) in lambda2 4.394 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in lambda2 4.394 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda2 4.394 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 4.394 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.394 * [backup-simplify]: Simplify phi2 into phi2 4.394 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 4.394 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 4.394 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda2 4.394 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 4.394 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.394 * [backup-simplify]: Simplify phi1 into phi1 4.394 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 4.394 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 4.394 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda2 4.394 * [taylor]: Taking taylor expansion of 2 in lambda2 4.394 * [backup-simplify]: Simplify 2 into 2 4.394 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda2 4.394 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 4.394 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.394 * [backup-simplify]: Simplify phi2 into phi2 4.394 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.394 * [backup-simplify]: Simplify phi1 into phi1 4.394 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 4.394 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 4.394 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 4.394 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 4.394 * [taylor]: Taking taylor expansion of -0.5 in lambda2 4.394 * [backup-simplify]: Simplify -0.5 into -0.5 4.394 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 4.395 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 4.395 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.395 * [backup-simplify]: Simplify phi1 into phi1 4.395 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.395 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 4.395 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.395 * [backup-simplify]: Simplify phi2 into phi2 4.395 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.395 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 4.395 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 4.395 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.395 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.395 * [backup-simplify]: Simplify (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) into (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) 4.395 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi2 phi1))) into (/ 2 (* phi2 phi1)) 4.395 * [backup-simplify]: Simplify (- (/ 2 (* phi2 phi1))) into (- (* 2 (/ 1 (* phi2 phi1)))) 4.396 * [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)))) 4.396 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.396 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 4.396 * [backup-simplify]: Simplify (- 0) into 0 4.396 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.397 * [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))))) 4.397 * [backup-simplify]: Simplify (+ 0) into 0 4.397 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 4.397 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 4.397 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 4.398 * [backup-simplify]: Simplify (+ 0 0) into 0 4.398 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 4.399 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.399 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 4.399 * [backup-simplify]: Simplify (- 0) into 0 4.399 * [backup-simplify]: Simplify (+ 0 0) into 0 4.400 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (/ 0 1)))) into 0 4.400 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 4.400 * [taylor]: Taking taylor expansion of 0 in phi1 4.400 * [backup-simplify]: Simplify 0 into 0 4.401 * [backup-simplify]: Simplify (+ 0) into 0 4.401 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 4.401 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 4.401 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 4.402 * [backup-simplify]: Simplify (+ 0 0) into 0 4.402 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 4.402 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.403 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 4.403 * [backup-simplify]: Simplify (- 0) into 0 4.403 * [backup-simplify]: Simplify (+ 0 0) into 0 4.403 * [taylor]: Taking taylor expansion of 0 in phi1 4.403 * [backup-simplify]: Simplify 0 into 0 4.403 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 4.403 * [taylor]: Taking taylor expansion of (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 4.403 * [taylor]: Taking taylor expansion of -1 in phi2 4.403 * [backup-simplify]: Simplify -1 into -1 4.403 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 4.403 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 4.403 * [taylor]: Taking taylor expansion of -0.5 in phi2 4.403 * [backup-simplify]: Simplify -0.5 into -0.5 4.403 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 4.403 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 4.404 * [taylor]: Taking taylor expansion of phi1 in phi2 4.404 * [backup-simplify]: Simplify phi1 into phi1 4.404 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.404 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 4.404 * [taylor]: Taking taylor expansion of phi2 in phi2 4.404 * [backup-simplify]: Simplify 0 into 0 4.404 * [backup-simplify]: Simplify 1 into 1 4.404 * [backup-simplify]: Simplify (/ 1 1) into 1 4.404 * [backup-simplify]: Simplify (+ 0 1) into 1 4.404 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 4.405 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.405 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 4.405 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 4.405 * [taylor]: Taking taylor expansion of -0.5 in phi2 4.405 * [backup-simplify]: Simplify -0.5 into -0.5 4.405 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 4.405 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 4.405 * [taylor]: Taking taylor expansion of phi1 in phi2 4.405 * [backup-simplify]: Simplify phi1 into phi1 4.405 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.405 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 4.405 * [taylor]: Taking taylor expansion of phi2 in phi2 4.405 * [backup-simplify]: Simplify 0 into 0 4.405 * [backup-simplify]: Simplify 1 into 1 4.405 * [backup-simplify]: Simplify (/ 1 1) into 1 4.405 * [backup-simplify]: Simplify (+ 0 1) into 1 4.406 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 4.406 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.406 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 4.406 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi2 2)) (/ 0 (pow phi2 2))))) into 0 4.407 * [backup-simplify]: Simplify (+ 0) into 0 4.407 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 4.407 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 4.407 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 4.407 * [backup-simplify]: Simplify (+ 0 0) into 0 4.408 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 4.408 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.408 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 4.409 * [backup-simplify]: Simplify (- 0) into 0 4.409 * [backup-simplify]: Simplify (+ 0 0) into 0 4.409 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 4.409 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 4.410 * [backup-simplify]: Simplify (- (/ 0 (pow lambda2 2)) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 0 (pow lambda2 2))))) into 0 4.410 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 4.411 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 4.411 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 4.411 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 4.411 * [backup-simplify]: Simplify (+ 0 0) into 0 4.412 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 4.413 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 4.413 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 4.414 * [backup-simplify]: Simplify (- 0) into 0 4.414 * [backup-simplify]: Simplify (+ 0 0) into 0 4.415 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into 0 4.415 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 4.417 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0 4.417 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 4.417 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi1 2)) (/ 0 (pow phi1 2))))) into 0 4.417 * [backup-simplify]: Simplify (+ 0 0) into 0 4.417 * [backup-simplify]: Simplify (+ 0 0) into 0 4.417 * [backup-simplify]: Simplify (+ 0 0) into 0 4.418 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 4.419 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 4.419 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 4.419 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 4.419 * [backup-simplify]: Simplify (+ 0 0) into 0 4.420 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 4.420 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 4.421 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 4.421 * [backup-simplify]: Simplify (- 0) into 0 4.421 * [backup-simplify]: Simplify (+ 0 0) into 0 4.422 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 4.422 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (+ (* 0 1) (* 0 0)))) into 0 4.422 * [backup-simplify]: Simplify (- (/ 0 lambda2) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) (/ 0 lambda2)) (* 0 (/ 0 lambda2)))) into 0 4.423 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) into 0 4.423 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 4.424 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* phi2 phi1)) (/ 0 (* phi2 phi1))))) into 0 4.424 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ 1 (* phi2 phi1)))) into 0 4.424 * [backup-simplify]: Simplify (+ 0 0) into 0 4.424 * [backup-simplify]: Simplify (- 0) into 0 4.425 * [backup-simplify]: Simplify (+ 0 0) into 0 4.425 * [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)))))) 4.425 * [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 4.426 * [taylor]: Taking taylor expansion of 1/2 in lambda2 4.426 * [backup-simplify]: Simplify 1/2 into 1/2 4.426 * [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 4.426 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (* lambda2 (pow phi1 2))) (/ 1 (* (pow phi2 2) lambda2))) (* 2 (/ 1 (* phi2 (* lambda2 phi1))))) in lambda2 4.426 * [taylor]: Taking taylor expansion of (+ (/ 1 (* lambda2 (pow phi1 2))) (/ 1 (* (pow phi2 2) lambda2))) in lambda2 4.426 * [taylor]: Taking taylor expansion of (/ 1 (* lambda2 (pow phi1 2))) in lambda2 4.426 * [taylor]: Taking taylor expansion of (* lambda2 (pow phi1 2)) in lambda2 4.426 * [taylor]: Taking taylor expansion of lambda2 in lambda2 4.426 * [backup-simplify]: Simplify 0 into 0 4.426 * [backup-simplify]: Simplify 1 into 1 4.426 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 4.426 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.426 * [backup-simplify]: Simplify phi1 into phi1 4.426 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 4.426 * [backup-simplify]: Simplify (* 0 (pow phi1 2)) into 0 4.426 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 4.426 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow phi1 2))) into (pow phi1 2) 4.426 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 4.426 * [taylor]: Taking taylor expansion of (/ 1 (* (pow phi2 2) lambda2)) in lambda2 4.426 * [taylor]: Taking taylor expansion of (* (pow phi2 2) lambda2) in lambda2 4.426 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 4.426 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.426 * [backup-simplify]: Simplify phi2 into phi2 4.426 * [taylor]: Taking taylor expansion of lambda2 in lambda2 4.426 * [backup-simplify]: Simplify 0 into 0 4.427 * [backup-simplify]: Simplify 1 into 1 4.427 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 4.427 * [backup-simplify]: Simplify (* (pow phi2 2) 0) into 0 4.427 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 4.427 * [backup-simplify]: Simplify (+ (* (pow phi2 2) 1) (* 0 0)) into (pow phi2 2) 4.427 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 4.427 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 (* lambda2 phi1)))) in lambda2 4.427 * [taylor]: Taking taylor expansion of 2 in lambda2 4.427 * [backup-simplify]: Simplify 2 into 2 4.427 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (* lambda2 phi1))) in lambda2 4.427 * [taylor]: Taking taylor expansion of (* phi2 (* lambda2 phi1)) in lambda2 4.427 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.427 * [backup-simplify]: Simplify phi2 into phi2 4.427 * [taylor]: Taking taylor expansion of (* lambda2 phi1) in lambda2 4.427 * [taylor]: Taking taylor expansion of lambda2 in lambda2 4.427 * [backup-simplify]: Simplify 0 into 0 4.427 * [backup-simplify]: Simplify 1 into 1 4.427 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.427 * [backup-simplify]: Simplify phi1 into phi1 4.427 * [backup-simplify]: Simplify (* 0 phi1) into 0 4.427 * [backup-simplify]: Simplify (* phi2 0) into 0 4.428 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 4.428 * [backup-simplify]: Simplify (+ (* phi2 phi1) (* 0 0)) into (* phi2 phi1) 4.428 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 4.428 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 4.428 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 4.428 * [taylor]: Taking taylor expansion of -0.5 in lambda2 4.428 * [backup-simplify]: Simplify -0.5 into -0.5 4.428 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 4.428 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 4.428 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.428 * [backup-simplify]: Simplify phi1 into phi1 4.428 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.428 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 4.428 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.428 * [backup-simplify]: Simplify phi2 into phi2 4.428 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.428 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 4.428 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 4.429 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.429 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.429 * [backup-simplify]: Simplify (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) into (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) 4.429 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi2 phi1))) into (/ 2 (* phi2 phi1)) 4.429 * [backup-simplify]: Simplify (- (/ 2 (* phi2 phi1))) into (- (* 2 (/ 1 (* phi2 phi1)))) 4.429 * [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)))) 4.429 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.429 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 4.430 * [backup-simplify]: Simplify (- 0) into 0 4.430 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.430 * [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))))) 4.431 * [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)))))) 4.431 * [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 4.431 * [taylor]: Taking taylor expansion of 1/2 in phi1 4.431 * [backup-simplify]: Simplify 1/2 into 1/2 4.431 * [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 4.431 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) in phi1 4.431 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in phi1 4.431 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 4.431 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 4.431 * [taylor]: Taking taylor expansion of phi2 in phi1 4.431 * [backup-simplify]: Simplify phi2 into phi2 4.431 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 4.431 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 4.431 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 4.431 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 4.431 * [taylor]: Taking taylor expansion of phi1 in phi1 4.431 * [backup-simplify]: Simplify 0 into 0 4.431 * [backup-simplify]: Simplify 1 into 1 4.431 * [backup-simplify]: Simplify (* 1 1) into 1 4.431 * [backup-simplify]: Simplify (/ 1 1) into 1 4.431 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi1 4.431 * [taylor]: Taking taylor expansion of 2 in phi1 4.432 * [backup-simplify]: Simplify 2 into 2 4.432 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi1 4.432 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 4.432 * [taylor]: Taking taylor expansion of phi2 in phi1 4.432 * [backup-simplify]: Simplify phi2 into phi2 4.432 * [taylor]: Taking taylor expansion of phi1 in phi1 4.432 * [backup-simplify]: Simplify 0 into 0 4.432 * [backup-simplify]: Simplify 1 into 1 4.432 * [backup-simplify]: Simplify (* phi2 0) into 0 4.432 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 4.432 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.432 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 4.432 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 4.432 * [taylor]: Taking taylor expansion of -0.5 in phi1 4.432 * [backup-simplify]: Simplify -0.5 into -0.5 4.432 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 4.432 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 4.432 * [taylor]: Taking taylor expansion of phi1 in phi1 4.432 * [backup-simplify]: Simplify 0 into 0 4.432 * [backup-simplify]: Simplify 1 into 1 4.432 * [backup-simplify]: Simplify (/ 1 1) into 1 4.432 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 4.432 * [taylor]: Taking taylor expansion of phi2 in phi1 4.432 * [backup-simplify]: Simplify phi2 into phi2 4.432 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.433 * [backup-simplify]: Simplify (+ 1 0) into 1 4.433 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 4.433 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.433 * [backup-simplify]: Simplify (+ 0 1) into 1 4.434 * [backup-simplify]: Simplify (+ 1 0) into 1 4.434 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 4.434 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 4.435 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 4.435 * [backup-simplify]: Simplify (+ 0 0) into 0 4.435 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 4.435 * [backup-simplify]: Simplify (- (/ 2 phi2)) into (- (* 2 (/ 1 phi2))) 4.435 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 4.435 * [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)))))))) 4.436 * [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))))))) 4.436 * [taylor]: Taking taylor expansion of (- (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in phi2 4.436 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi2 4.436 * [taylor]: Taking taylor expansion of (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 4.436 * [taylor]: Taking taylor expansion of phi2 in phi2 4.436 * [backup-simplify]: Simplify 0 into 0 4.436 * [backup-simplify]: Simplify 1 into 1 4.436 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 4.436 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 4.436 * [taylor]: Taking taylor expansion of -0.5 in phi2 4.436 * [backup-simplify]: Simplify -0.5 into -0.5 4.436 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 4.436 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 4.436 * [taylor]: Taking taylor expansion of phi1 in phi2 4.436 * [backup-simplify]: Simplify phi1 into phi1 4.436 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.436 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 4.436 * [taylor]: Taking taylor expansion of phi2 in phi2 4.436 * [backup-simplify]: Simplify 0 into 0 4.436 * [backup-simplify]: Simplify 1 into 1 4.436 * [backup-simplify]: Simplify (/ 1 1) into 1 4.437 * [backup-simplify]: Simplify (+ 0 1) into 1 4.437 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 4.437 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.437 * [backup-simplify]: Simplify (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 4.437 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.438 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 4.438 * [backup-simplify]: Simplify (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 4.438 * [backup-simplify]: Simplify (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 4.438 * [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)))))) 4.438 * [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 4.439 * [taylor]: Taking taylor expansion of 1/2 in phi1 4.439 * [backup-simplify]: Simplify 1/2 into 1/2 4.439 * [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 4.439 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) in phi1 4.439 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in phi1 4.439 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 4.439 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 4.439 * [taylor]: Taking taylor expansion of phi2 in phi1 4.439 * [backup-simplify]: Simplify phi2 into phi2 4.439 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 4.439 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 4.439 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 4.439 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 4.439 * [taylor]: Taking taylor expansion of phi1 in phi1 4.439 * [backup-simplify]: Simplify 0 into 0 4.439 * [backup-simplify]: Simplify 1 into 1 4.439 * [backup-simplify]: Simplify (* 1 1) into 1 4.439 * [backup-simplify]: Simplify (/ 1 1) into 1 4.439 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi1 4.439 * [taylor]: Taking taylor expansion of 2 in phi1 4.439 * [backup-simplify]: Simplify 2 into 2 4.440 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi1 4.440 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 4.440 * [taylor]: Taking taylor expansion of phi2 in phi1 4.440 * [backup-simplify]: Simplify phi2 into phi2 4.440 * [taylor]: Taking taylor expansion of phi1 in phi1 4.440 * [backup-simplify]: Simplify 0 into 0 4.440 * [backup-simplify]: Simplify 1 into 1 4.440 * [backup-simplify]: Simplify (* phi2 0) into 0 4.440 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 4.440 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.440 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 4.440 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 4.440 * [taylor]: Taking taylor expansion of -0.5 in phi1 4.440 * [backup-simplify]: Simplify -0.5 into -0.5 4.440 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 4.440 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 4.440 * [taylor]: Taking taylor expansion of phi1 in phi1 4.440 * [backup-simplify]: Simplify 0 into 0 4.440 * [backup-simplify]: Simplify 1 into 1 4.440 * [backup-simplify]: Simplify (/ 1 1) into 1 4.440 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 4.440 * [taylor]: Taking taylor expansion of phi2 in phi1 4.440 * [backup-simplify]: Simplify phi2 into phi2 4.440 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.441 * [backup-simplify]: Simplify (+ 1 0) into 1 4.441 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 4.441 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.441 * [backup-simplify]: Simplify (+ 0 1) into 1 4.442 * [backup-simplify]: Simplify (+ 1 0) into 1 4.442 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 4.442 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 4.443 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 4.443 * [backup-simplify]: Simplify (+ 0 0) into 0 4.443 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 4.443 * [backup-simplify]: Simplify (- (/ 2 phi2)) into (- (* 2 (/ 1 phi2))) 4.443 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 4.443 * [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)))))))) 4.444 * [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))))))) 4.444 * [taylor]: Taking taylor expansion of (- (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in phi2 4.444 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi2 4.444 * [taylor]: Taking taylor expansion of (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 4.444 * [taylor]: Taking taylor expansion of phi2 in phi2 4.444 * [backup-simplify]: Simplify 0 into 0 4.444 * [backup-simplify]: Simplify 1 into 1 4.444 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 4.444 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 4.444 * [taylor]: Taking taylor expansion of -0.5 in phi2 4.444 * [backup-simplify]: Simplify -0.5 into -0.5 4.444 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 4.444 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 4.444 * [taylor]: Taking taylor expansion of phi1 in phi2 4.444 * [backup-simplify]: Simplify phi1 into phi1 4.444 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.444 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 4.444 * [taylor]: Taking taylor expansion of phi2 in phi2 4.444 * [backup-simplify]: Simplify 0 into 0 4.444 * [backup-simplify]: Simplify 1 into 1 4.444 * [backup-simplify]: Simplify (/ 1 1) into 1 4.445 * [backup-simplify]: Simplify (+ 0 1) into 1 4.445 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 4.445 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.445 * [backup-simplify]: Simplify (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 4.445 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.446 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 4.446 * [backup-simplify]: Simplify (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 4.446 * [backup-simplify]: Simplify (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 4.446 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 4.447 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 4.447 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 4.447 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 4.447 * [backup-simplify]: Simplify (+ 0 0) into 0 4.453 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 4.454 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 4.454 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 4.454 * [backup-simplify]: Simplify (- 0) into 0 4.455 * [backup-simplify]: Simplify (+ 0 0) into 0 4.455 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (/ 0 1)) (* 0 (/ 0 1)))) into 0 4.456 * [backup-simplify]: Simplify (+ (* -1 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 4.456 * [taylor]: Taking taylor expansion of 0 in phi1 4.456 * [backup-simplify]: Simplify 0 into 0 4.457 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 4.458 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 4.458 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 4.458 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 4.458 * [backup-simplify]: Simplify (+ 0 0) into 0 4.459 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 4.459 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 4.459 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 4.460 * [backup-simplify]: Simplify (- 0) into 0 4.460 * [backup-simplify]: Simplify (+ 0 0) into 0 4.460 * [taylor]: Taking taylor expansion of 0 in phi1 4.460 * [backup-simplify]: Simplify 0 into 0 4.460 * [taylor]: Taking taylor expansion of 0 in phi2 4.460 * [backup-simplify]: Simplify 0 into 0 4.460 * [taylor]: Taking taylor expansion of 0 in phi2 4.460 * [backup-simplify]: Simplify 0 into 0 4.461 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 4.461 * [taylor]: Taking taylor expansion of 0 in phi2 4.461 * [backup-simplify]: Simplify 0 into 0 4.461 * [taylor]: Taking taylor expansion of 0 in phi2 4.461 * [backup-simplify]: Simplify 0 into 0 4.461 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 4.461 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 4.462 * [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)))))) 4.462 * * * * [progress]: [ 2 / 4 ] generating series at (2 2 1 2 1) 4.463 * [backup-simplify]: Simplify (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2)))) into (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) 4.463 * [approximate]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in (lambda1 lambda2 phi1 phi2) around 0 4.463 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in phi2 4.463 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in phi2 4.463 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) in phi2 4.463 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 4.463 * [taylor]: Taking taylor expansion of phi2 in phi2 4.463 * [backup-simplify]: Simplify 0 into 0 4.463 * [backup-simplify]: Simplify 1 into 1 4.463 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) in phi2 4.463 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in phi2 4.463 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 4.463 * [taylor]: Taking taylor expansion of lambda2 in phi2 4.463 * [backup-simplify]: Simplify lambda2 into lambda2 4.463 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2 4.463 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 4.463 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 4.463 * [taylor]: Taking taylor expansion of 0.5 in phi2 4.463 * [backup-simplify]: Simplify 0.5 into 0.5 4.463 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 4.463 * [taylor]: Taking taylor expansion of phi2 in phi2 4.463 * [backup-simplify]: Simplify 0 into 0 4.463 * [backup-simplify]: Simplify 1 into 1 4.463 * [taylor]: Taking taylor expansion of phi1 in phi2 4.463 * [backup-simplify]: Simplify phi1 into phi1 4.463 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 4.463 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 4.463 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 4.463 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 4.463 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 4.463 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 4.464 * [backup-simplify]: Simplify (- 0) into 0 4.464 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 4.464 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) in phi2 4.464 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in phi2 4.464 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2 4.464 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 4.464 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 4.464 * [taylor]: Taking taylor expansion of 0.5 in phi2 4.464 * [backup-simplify]: Simplify 0.5 into 0.5 4.464 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 4.464 * [taylor]: Taking taylor expansion of phi2 in phi2 4.464 * [backup-simplify]: Simplify 0 into 0 4.464 * [backup-simplify]: Simplify 1 into 1 4.464 * [taylor]: Taking taylor expansion of phi1 in phi2 4.464 * [backup-simplify]: Simplify phi1 into phi1 4.464 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 4.464 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 4.464 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 4.464 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 4.464 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 4.464 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 4.465 * [backup-simplify]: Simplify (- 0) into 0 4.465 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 4.465 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 4.465 * [taylor]: Taking taylor expansion of lambda1 in phi2 4.465 * [backup-simplify]: Simplify lambda1 into lambda1 4.465 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 4.465 * [taylor]: Taking taylor expansion of phi1 in phi2 4.465 * [backup-simplify]: Simplify phi1 into phi1 4.465 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in phi2 4.465 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi2 4.465 * [taylor]: Taking taylor expansion of 2 in phi2 4.465 * [backup-simplify]: Simplify 2 into 2 4.465 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2 4.465 * [taylor]: Taking taylor expansion of phi2 in phi2 4.465 * [backup-simplify]: Simplify 0 into 0 4.465 * [backup-simplify]: Simplify 1 into 1 4.465 * [taylor]: Taking taylor expansion of phi1 in phi2 4.465 * [backup-simplify]: Simplify phi1 into phi1 4.465 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in phi2 4.465 * [taylor]: Taking taylor expansion of 2 in phi2 4.465 * [backup-simplify]: Simplify 2 into 2 4.465 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in phi2 4.465 * [taylor]: Taking taylor expansion of lambda2 in phi2 4.465 * [backup-simplify]: Simplify lambda2 into lambda2 4.465 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in phi2 4.465 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2 4.465 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 4.465 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 4.465 * [taylor]: Taking taylor expansion of 0.5 in phi2 4.465 * [backup-simplify]: Simplify 0.5 into 0.5 4.465 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 4.465 * [taylor]: Taking taylor expansion of phi2 in phi2 4.465 * [backup-simplify]: Simplify 0 into 0 4.465 * [backup-simplify]: Simplify 1 into 1 4.465 * [taylor]: Taking taylor expansion of phi1 in phi2 4.465 * [backup-simplify]: Simplify phi1 into phi1 4.465 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 4.465 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 4.465 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 4.465 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 4.465 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 4.465 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 4.466 * [backup-simplify]: Simplify (- 0) into 0 4.466 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 4.466 * [taylor]: Taking taylor expansion of lambda1 in phi2 4.466 * [backup-simplify]: Simplify lambda1 into lambda1 4.466 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 4.466 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 4.466 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow (cos (* 0.5 phi1)) 2)) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) 4.466 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 4.466 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 4.466 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) 4.467 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 4.467 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 4.467 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) 4.468 * [backup-simplify]: Simplify (+ 0 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) 4.468 * [backup-simplify]: Simplify (* 0 phi1) into 0 4.468 * [backup-simplify]: Simplify (* 2 0) into 0 4.468 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 4.468 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) lambda1) into (* (pow (cos (* 0.5 phi1)) 2) lambda1) 4.469 * [backup-simplify]: Simplify (* lambda2 (* (pow (cos (* 0.5 phi1)) 2) lambda1)) into (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)) 4.469 * [backup-simplify]: Simplify (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) into (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) 4.469 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) into (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) 4.469 * [backup-simplify]: Simplify (- (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) into (- (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) 4.470 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (- (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))))) into (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) 4.471 * [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))))) 4.471 * [backup-simplify]: Simplify (+ 0) into 0 4.471 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 4.472 * [backup-simplify]: Simplify (+ 1 0) into 1 4.472 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 4.473 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 4.474 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 4.474 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 4.474 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 4.474 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- (* 0.5 (sin (* 0.5 phi1))))) (* (- (* 0.5 (sin (* 0.5 phi1)))) (cos (* 0.5 phi1)))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) 4.474 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 4.475 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))) (* 0 (pow (cos (* 0.5 phi1)) 2))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) 4.475 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 4.475 * [backup-simplify]: Simplify (+ 0) into 0 4.475 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 4.475 * [backup-simplify]: Simplify (+ 1 0) into 1 4.476 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 4.477 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 4.478 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 4.478 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 4.478 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 4.478 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- (* 0.5 (sin (* 0.5 phi1))))) (* (- (* 0.5 (sin (* 0.5 phi1)))) (cos (* 0.5 phi1)))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) 4.478 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (* (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) (pow lambda1 2))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) 4.478 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 4.479 * [backup-simplify]: Simplify (+ (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) 0) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) 4.479 * [backup-simplify]: Simplify (+ (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) into (- (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) 4.480 * [backup-simplify]: Simplify (+ 0 (- (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))))) into (- (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) 4.480 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 4.480 * [backup-simplify]: Simplify (+ (* 2 phi1) (* 0 0)) into (* 2 phi1) 4.481 * [backup-simplify]: Simplify (+ 0) into 0 4.481 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 4.481 * [backup-simplify]: Simplify (+ 1 0) into 1 4.482 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 4.483 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 4.483 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 4.483 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 4.484 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 4.484 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- (* 0.5 (sin (* 0.5 phi1))))) (* (- (* 0.5 (sin (* 0.5 phi1)))) (cos (* 0.5 phi1)))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) 4.484 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (* (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) lambda1)) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1)))) 4.484 * [backup-simplify]: Simplify (+ (* lambda2 (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1))))) (* 0 (* (pow (cos (* 0.5 phi1)) 2) lambda1))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1))))) 4.485 * [backup-simplify]: Simplify (+ (* 2 (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))))) (* 0 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) into (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1))))) 4.485 * [backup-simplify]: Simplify (+ (* 2 phi1) (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))))) into (- (* 2 phi1) (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1))))) 4.485 * [backup-simplify]: Simplify (- (- (* 2 phi1) (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))))) into (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) (* 2 phi1)) 4.486 * [backup-simplify]: Simplify (+ (- (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) (* 2 phi1))) into (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) (* 2 phi1)))) 4.488 * [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)))))))) 4.488 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in phi1 4.488 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in phi1 4.488 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) in phi1 4.488 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 4.488 * [taylor]: Taking taylor expansion of phi2 in phi1 4.488 * [backup-simplify]: Simplify phi2 into phi2 4.488 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) in phi1 4.488 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in phi1 4.488 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 4.488 * [taylor]: Taking taylor expansion of lambda2 in phi1 4.488 * [backup-simplify]: Simplify lambda2 into lambda2 4.488 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1 4.488 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 4.488 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 4.488 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.488 * [backup-simplify]: Simplify 0.5 into 0.5 4.488 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 4.488 * [taylor]: Taking taylor expansion of phi2 in phi1 4.488 * [backup-simplify]: Simplify phi2 into phi2 4.488 * [taylor]: Taking taylor expansion of phi1 in phi1 4.488 * [backup-simplify]: Simplify 0 into 0 4.488 * [backup-simplify]: Simplify 1 into 1 4.488 * [backup-simplify]: Simplify (+ phi2 0) into phi2 4.488 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 4.488 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 4.488 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 4.488 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 4.488 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 4.489 * [backup-simplify]: Simplify (- 0) into 0 4.489 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 4.489 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) in phi1 4.489 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in phi1 4.489 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1 4.489 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 4.489 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 4.489 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.489 * [backup-simplify]: Simplify 0.5 into 0.5 4.489 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 4.489 * [taylor]: Taking taylor expansion of phi2 in phi1 4.489 * [backup-simplify]: Simplify phi2 into phi2 4.489 * [taylor]: Taking taylor expansion of phi1 in phi1 4.489 * [backup-simplify]: Simplify 0 into 0 4.489 * [backup-simplify]: Simplify 1 into 1 4.489 * [backup-simplify]: Simplify (+ phi2 0) into phi2 4.489 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 4.489 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 4.489 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 4.489 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 4.489 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 4.490 * [backup-simplify]: Simplify (- 0) into 0 4.490 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 4.490 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 4.490 * [taylor]: Taking taylor expansion of lambda1 in phi1 4.490 * [backup-simplify]: Simplify lambda1 into lambda1 4.490 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 4.490 * [taylor]: Taking taylor expansion of phi1 in phi1 4.490 * [backup-simplify]: Simplify 0 into 0 4.490 * [backup-simplify]: Simplify 1 into 1 4.490 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in phi1 4.490 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi1 4.490 * [taylor]: Taking taylor expansion of 2 in phi1 4.490 * [backup-simplify]: Simplify 2 into 2 4.490 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 4.490 * [taylor]: Taking taylor expansion of phi2 in phi1 4.490 * [backup-simplify]: Simplify phi2 into phi2 4.490 * [taylor]: Taking taylor expansion of phi1 in phi1 4.490 * [backup-simplify]: Simplify 0 into 0 4.490 * [backup-simplify]: Simplify 1 into 1 4.490 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in phi1 4.490 * [taylor]: Taking taylor expansion of 2 in phi1 4.490 * [backup-simplify]: Simplify 2 into 2 4.490 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in phi1 4.490 * [taylor]: Taking taylor expansion of lambda2 in phi1 4.490 * [backup-simplify]: Simplify lambda2 into lambda2 4.490 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in phi1 4.490 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1 4.490 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 4.490 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 4.490 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.490 * [backup-simplify]: Simplify 0.5 into 0.5 4.490 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 4.490 * [taylor]: Taking taylor expansion of phi2 in phi1 4.490 * [backup-simplify]: Simplify phi2 into phi2 4.490 * [taylor]: Taking taylor expansion of phi1 in phi1 4.490 * [backup-simplify]: Simplify 0 into 0 4.490 * [backup-simplify]: Simplify 1 into 1 4.490 * [backup-simplify]: Simplify (+ phi2 0) into phi2 4.490 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 4.490 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 4.490 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 4.490 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 4.490 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 4.491 * [backup-simplify]: Simplify (- 0) into 0 4.491 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 4.491 * [taylor]: Taking taylor expansion of lambda1 in phi1 4.491 * [backup-simplify]: Simplify lambda1 into lambda1 4.491 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 4.491 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 4.491 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 4.491 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2)) into (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) 4.491 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 4.491 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 4.491 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) 4.492 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) 0) into (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) 4.492 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2))) into (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2))) 4.493 * [backup-simplify]: Simplify (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)))) into (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (pow phi2 2))) 4.493 * [backup-simplify]: Simplify (* phi2 0) into 0 4.493 * [backup-simplify]: Simplify (* 2 0) into 0 4.493 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 4.493 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi2)) 2) lambda1) into (* (pow (cos (* 0.5 phi2)) 2) lambda1) 4.493 * [backup-simplify]: Simplify (* lambda2 (* (pow (cos (* 0.5 phi2)) 2) lambda1)) into (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)) 4.493 * [backup-simplify]: Simplify (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))) into (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))) 4.494 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) into (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))) 4.494 * [backup-simplify]: Simplify (- (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) into (- (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) 4.495 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (pow phi2 2))) (- (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))))) into (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (pow phi2 2))) (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) 4.495 * [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))))) 4.496 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 4.496 * [backup-simplify]: Simplify (+ 0) into 0 4.496 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 4.497 * [backup-simplify]: Simplify (+ 0 1) into 1 4.497 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5 4.499 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 4.499 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2))) 4.499 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2)))) 4.499 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2)))) 4.500 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) (- (* 0.5 (sin (* 0.5 phi2))))) (* (- (* 0.5 (sin (* 0.5 phi2)))) (cos (* 0.5 phi2)))) into (- (* 1.0 (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))) 4.500 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 4.500 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) (- (* 1.0 (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2)))))) (* 0 (pow (cos (* 0.5 phi2)) 2))) into (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))) 4.500 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 4.500 * [backup-simplify]: Simplify (+ 0) into 0 4.501 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 4.501 * [backup-simplify]: Simplify (+ 0 1) into 1 4.501 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5 4.503 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 4.503 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2))) 4.503 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2)))) 4.503 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2)))) 4.503 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) (- (* 0.5 (sin (* 0.5 phi2))))) (* (- (* 0.5 (sin (* 0.5 phi2)))) (cos (* 0.5 phi2)))) into (- (* 1.0 (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))) 4.504 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) 0) (* (- (* 1.0 (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))) (pow lambda1 2))) into (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2))))) 4.504 * [backup-simplify]: Simplify (+ (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2))))) 0) into (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2))))) 4.505 * [backup-simplify]: Simplify (+ (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))) (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))))) into (- (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2)))))) 4.505 * [backup-simplify]: Simplify (+ 0 (- (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))))) into (- (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2)))))) 4.505 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 4.506 * [backup-simplify]: Simplify (+ (* 2 phi2) (* 0 0)) into (* 2 phi2) 4.506 * [backup-simplify]: Simplify (+ 0) into 0 4.506 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 4.507 * [backup-simplify]: Simplify (+ 0 1) into 1 4.507 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5 4.509 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 4.509 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2))) 4.509 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2)))) 4.509 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2)))) 4.509 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) (- (* 0.5 (sin (* 0.5 phi2))))) (* (- (* 0.5 (sin (* 0.5 phi2)))) (cos (* 0.5 phi2)))) into (- (* 1.0 (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))) 4.510 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) 0) (* (- (* 1.0 (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))) lambda1)) into (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) lambda1)))) 4.510 * [backup-simplify]: Simplify (+ (* lambda2 (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) lambda1))))) (* 0 (* (pow (cos (* 0.5 phi2)) 2) lambda1))) into (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1))))) 4.510 * [backup-simplify]: Simplify (+ (* 2 (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))))) (* 0 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) into (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1))))) 4.511 * [backup-simplify]: Simplify (+ (* 2 phi2) (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))))) into (- (* 2 phi2) (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1))))) 4.511 * [backup-simplify]: Simplify (- (- (* 2 phi2) (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))))) into (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))) (* 2 phi2)) 4.512 * [backup-simplify]: Simplify (+ (- (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2)))))) (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))) (* 2 phi2))) into (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))) (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))) (+ (* 2 phi2) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))))) 4.513 * [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)))))))) 4.514 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in lambda2 4.514 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in lambda2 4.514 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) in lambda2 4.514 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 4.514 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.514 * [backup-simplify]: Simplify phi2 into phi2 4.514 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) in lambda2 4.514 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda2 4.514 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 4.514 * [taylor]: Taking taylor expansion of lambda2 in lambda2 4.514 * [backup-simplify]: Simplify 0 into 0 4.514 * [backup-simplify]: Simplify 1 into 1 4.514 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 4.514 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 4.514 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 4.514 * [taylor]: Taking taylor expansion of 0.5 in lambda2 4.514 * [backup-simplify]: Simplify 0.5 into 0.5 4.514 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 4.514 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.514 * [backup-simplify]: Simplify phi2 into phi2 4.514 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.514 * [backup-simplify]: Simplify phi1 into phi1 4.514 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 4.514 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 4.514 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 4.514 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 4.514 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 4.514 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 4.515 * [backup-simplify]: Simplify (- 0) into 0 4.515 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 4.515 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) in lambda2 4.515 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in lambda2 4.515 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 4.515 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 4.515 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 4.515 * [taylor]: Taking taylor expansion of 0.5 in lambda2 4.515 * [backup-simplify]: Simplify 0.5 into 0.5 4.515 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 4.515 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.515 * [backup-simplify]: Simplify phi2 into phi2 4.515 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.515 * [backup-simplify]: Simplify phi1 into phi1 4.515 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 4.515 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 4.515 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 4.515 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 4.515 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 4.515 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 4.516 * [backup-simplify]: Simplify (- 0) into 0 4.516 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 4.516 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 4.516 * [taylor]: Taking taylor expansion of lambda1 in lambda2 4.516 * [backup-simplify]: Simplify lambda1 into lambda1 4.516 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 4.516 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.516 * [backup-simplify]: Simplify phi1 into phi1 4.516 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in lambda2 4.516 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda2 4.516 * [taylor]: Taking taylor expansion of 2 in lambda2 4.516 * [backup-simplify]: Simplify 2 into 2 4.516 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 4.516 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.516 * [backup-simplify]: Simplify phi2 into phi2 4.516 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.516 * [backup-simplify]: Simplify phi1 into phi1 4.516 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in lambda2 4.516 * [taylor]: Taking taylor expansion of 2 in lambda2 4.516 * [backup-simplify]: Simplify 2 into 2 4.516 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in lambda2 4.516 * [taylor]: Taking taylor expansion of lambda2 in lambda2 4.516 * [backup-simplify]: Simplify 0 into 0 4.516 * [backup-simplify]: Simplify 1 into 1 4.516 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in lambda2 4.516 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 4.516 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 4.516 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 4.516 * [taylor]: Taking taylor expansion of 0.5 in lambda2 4.516 * [backup-simplify]: Simplify 0.5 into 0.5 4.516 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 4.516 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.516 * [backup-simplify]: Simplify phi2 into phi2 4.516 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.516 * [backup-simplify]: Simplify phi1 into phi1 4.516 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 4.516 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 4.516 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 4.516 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 4.517 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 4.517 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 4.517 * [backup-simplify]: Simplify (- 0) into 0 4.517 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 4.517 * [taylor]: Taking taylor expansion of lambda1 in lambda2 4.517 * [backup-simplify]: Simplify lambda1 into lambda1 4.517 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 4.517 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 4.517 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 4.517 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) 4.517 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 4.518 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) into (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) 4.518 * [backup-simplify]: Simplify (+ 0 (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) into (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) 4.518 * [backup-simplify]: Simplify (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) into (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) 4.518 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 4.519 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1)) 4.519 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 4.519 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) into (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) 4.519 * [backup-simplify]: Simplify (* 0 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) into 0 4.519 * [backup-simplify]: Simplify (* 2 0) into 0 4.519 * [backup-simplify]: Simplify (+ (* 2 (* phi2 phi1)) 0) into (* 2 (* phi2 phi1)) 4.520 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1))) 4.520 * [backup-simplify]: Simplify (+ (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (- (* 2 (* phi2 phi1)))) into (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1))) 4.521 * [backup-simplify]: Simplify (sqrt (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1)))) into (sqrt (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1)))) 4.521 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 4.521 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 4.521 * [backup-simplify]: Simplify (+ 0) into 0 4.522 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 4.522 * [backup-simplify]: Simplify (+ 0 0) into 0 4.522 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 4.523 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.523 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 4.524 * [backup-simplify]: Simplify (- 0) into 0 4.524 * [backup-simplify]: Simplify (+ 0 0) into 0 4.524 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 4.524 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) (* 0 (pow lambda1 2))) into 0 4.524 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 4.524 * [backup-simplify]: Simplify (+ 0 0) into 0 4.525 * [backup-simplify]: Simplify (+ 0 0) into 0 4.525 * [backup-simplify]: Simplify (+ 0 0) into 0 4.525 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 4.525 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0 4.526 * [backup-simplify]: Simplify (+ 0) into 0 4.526 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 4.526 * [backup-simplify]: Simplify (+ 0 0) into 0 4.526 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 4.527 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.527 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 4.527 * [backup-simplify]: Simplify (- 0) into 0 4.528 * [backup-simplify]: Simplify (+ 0 0) into 0 4.528 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 4.528 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) (* 0 lambda1)) into 0 4.528 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) 4.529 * [backup-simplify]: Simplify (+ (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) (* 0 0)) into (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) 4.529 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) 4.529 * [backup-simplify]: Simplify (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 4.529 * [backup-simplify]: Simplify (+ 0 (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) into (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 4.530 * [backup-simplify]: Simplify (/ (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (sqrt (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1)))))) into (* -1 (* (sqrt (/ 1 (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1))))) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 4.530 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in lambda1 4.530 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in lambda1 4.530 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) in lambda1 4.530 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 4.530 * [taylor]: Taking taylor expansion of phi2 in lambda1 4.530 * [backup-simplify]: Simplify phi2 into phi2 4.530 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) in lambda1 4.530 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda1 4.530 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 4.530 * [taylor]: Taking taylor expansion of lambda2 in lambda1 4.530 * [backup-simplify]: Simplify lambda2 into lambda2 4.531 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda1 4.531 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 4.531 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 4.531 * [taylor]: Taking taylor expansion of 0.5 in lambda1 4.531 * [backup-simplify]: Simplify 0.5 into 0.5 4.531 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 4.531 * [taylor]: Taking taylor expansion of phi2 in lambda1 4.531 * [backup-simplify]: Simplify phi2 into phi2 4.531 * [taylor]: Taking taylor expansion of phi1 in lambda1 4.531 * [backup-simplify]: Simplify phi1 into phi1 4.531 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 4.531 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 4.531 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 4.531 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 4.531 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 4.531 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 4.531 * [backup-simplify]: Simplify (- 0) into 0 4.531 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 4.531 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) in lambda1 4.531 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in lambda1 4.531 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda1 4.531 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 4.531 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 4.531 * [taylor]: Taking taylor expansion of 0.5 in lambda1 4.532 * [backup-simplify]: Simplify 0.5 into 0.5 4.532 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 4.532 * [taylor]: Taking taylor expansion of phi2 in lambda1 4.532 * [backup-simplify]: Simplify phi2 into phi2 4.532 * [taylor]: Taking taylor expansion of phi1 in lambda1 4.532 * [backup-simplify]: Simplify phi1 into phi1 4.532 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 4.532 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 4.532 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 4.532 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 4.532 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 4.532 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 4.532 * [backup-simplify]: Simplify (- 0) into 0 4.532 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 4.532 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 4.532 * [taylor]: Taking taylor expansion of lambda1 in lambda1 4.532 * [backup-simplify]: Simplify 0 into 0 4.532 * [backup-simplify]: Simplify 1 into 1 4.532 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 4.532 * [taylor]: Taking taylor expansion of phi1 in lambda1 4.532 * [backup-simplify]: Simplify phi1 into phi1 4.532 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in lambda1 4.532 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda1 4.532 * [taylor]: Taking taylor expansion of 2 in lambda1 4.532 * [backup-simplify]: Simplify 2 into 2 4.532 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda1 4.532 * [taylor]: Taking taylor expansion of phi2 in lambda1 4.532 * [backup-simplify]: Simplify phi2 into phi2 4.533 * [taylor]: Taking taylor expansion of phi1 in lambda1 4.533 * [backup-simplify]: Simplify phi1 into phi1 4.533 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in lambda1 4.533 * [taylor]: Taking taylor expansion of 2 in lambda1 4.533 * [backup-simplify]: Simplify 2 into 2 4.533 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in lambda1 4.533 * [taylor]: Taking taylor expansion of lambda2 in lambda1 4.533 * [backup-simplify]: Simplify lambda2 into lambda2 4.533 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in lambda1 4.533 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda1 4.533 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 4.533 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 4.533 * [taylor]: Taking taylor expansion of 0.5 in lambda1 4.533 * [backup-simplify]: Simplify 0.5 into 0.5 4.533 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 4.533 * [taylor]: Taking taylor expansion of phi2 in lambda1 4.533 * [backup-simplify]: Simplify phi2 into phi2 4.533 * [taylor]: Taking taylor expansion of phi1 in lambda1 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 4.533 * [backup-simplify]: Simplify (- 0) into 0 4.533 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 4.533 * [taylor]: Taking taylor expansion of lambda1 in lambda1 4.534 * [backup-simplify]: Simplify 0 into 0 4.534 * [backup-simplify]: Simplify 1 into 1 4.534 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 4.534 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 4.534 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 4.534 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) into (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) 4.534 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 4.534 * [backup-simplify]: Simplify (+ 0 (pow phi1 2)) into (pow phi1 2) 4.534 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (pow phi1 2)) into (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (pow phi1 2)) 4.535 * [backup-simplify]: Simplify (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (pow phi1 2))) into (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) 4.535 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 4.535 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1)) 4.535 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 4.535 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) into 0 4.535 * [backup-simplify]: Simplify (* lambda2 0) into 0 4.535 * [backup-simplify]: Simplify (* 2 0) into 0 4.536 * [backup-simplify]: Simplify (+ (* 2 (* phi2 phi1)) 0) into (* 2 (* phi2 phi1)) 4.536 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1))) 4.536 * [backup-simplify]: Simplify (+ (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) (- (* 2 (* phi2 phi1)))) into (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) (* 2 (* phi2 phi1))) 4.537 * [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)))) 4.537 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 4.537 * [backup-simplify]: Simplify (+ 0) into 0 4.537 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 4.537 * [backup-simplify]: Simplify (+ 0 0) into 0 4.538 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 4.538 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.539 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 4.539 * [backup-simplify]: Simplify (- 0) into 0 4.539 * [backup-simplify]: Simplify (+ 0 0) into 0 4.539 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 4.539 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 4.539 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) 0) (* 0 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) into 0 4.539 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 4.540 * [backup-simplify]: Simplify (+ 0 0) into 0 4.540 * [backup-simplify]: Simplify (+ 0 0) into 0 4.540 * [backup-simplify]: Simplify (+ 0 0) into 0 4.540 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 4.541 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0 4.541 * [backup-simplify]: Simplify (+ 0) into 0 4.541 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 4.541 * [backup-simplify]: Simplify (+ 0 0) into 0 4.542 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 4.542 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.542 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 4.543 * [backup-simplify]: Simplify (- 0) into 0 4.543 * [backup-simplify]: Simplify (+ 0 0) into 0 4.543 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 4.543 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 1) (* 0 0)) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 4.544 * [backup-simplify]: Simplify (+ (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* 0 0)) into (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) 4.544 * [backup-simplify]: Simplify (+ (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) (* 0 0)) into (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) 4.544 * [backup-simplify]: Simplify (+ 0 (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) into (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) 4.545 * [backup-simplify]: Simplify (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) 4.545 * [backup-simplify]: Simplify (+ 0 (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) 4.546 * [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)))) 4.546 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in lambda1 4.546 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in lambda1 4.546 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) in lambda1 4.546 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 4.546 * [taylor]: Taking taylor expansion of phi2 in lambda1 4.546 * [backup-simplify]: Simplify phi2 into phi2 4.546 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) in lambda1 4.546 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda1 4.546 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 4.546 * [taylor]: Taking taylor expansion of lambda2 in lambda1 4.546 * [backup-simplify]: Simplify lambda2 into lambda2 4.546 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda1 4.546 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 4.546 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 4.546 * [taylor]: Taking taylor expansion of 0.5 in lambda1 4.546 * [backup-simplify]: Simplify 0.5 into 0.5 4.546 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 4.546 * [taylor]: Taking taylor expansion of phi2 in lambda1 4.546 * [backup-simplify]: Simplify phi2 into phi2 4.546 * [taylor]: Taking taylor expansion of phi1 in lambda1 4.546 * [backup-simplify]: Simplify phi1 into phi1 4.546 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 4.546 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 4.546 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 4.546 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 4.546 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 4.546 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 4.547 * [backup-simplify]: Simplify (- 0) into 0 4.547 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 4.547 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) in lambda1 4.547 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in lambda1 4.547 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda1 4.547 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 4.547 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 4.547 * [taylor]: Taking taylor expansion of 0.5 in lambda1 4.547 * [backup-simplify]: Simplify 0.5 into 0.5 4.547 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 4.547 * [taylor]: Taking taylor expansion of phi2 in lambda1 4.547 * [backup-simplify]: Simplify phi2 into phi2 4.547 * [taylor]: Taking taylor expansion of phi1 in lambda1 4.547 * [backup-simplify]: Simplify phi1 into phi1 4.547 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 4.547 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 4.547 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 4.547 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 4.547 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 4.547 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 4.547 * [backup-simplify]: Simplify (- 0) into 0 4.548 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 4.548 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 4.548 * [taylor]: Taking taylor expansion of lambda1 in lambda1 4.548 * [backup-simplify]: Simplify 0 into 0 4.548 * [backup-simplify]: Simplify 1 into 1 4.548 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 4.548 * [taylor]: Taking taylor expansion of phi1 in lambda1 4.548 * [backup-simplify]: Simplify phi1 into phi1 4.548 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in lambda1 4.548 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda1 4.548 * [taylor]: Taking taylor expansion of 2 in lambda1 4.548 * [backup-simplify]: Simplify 2 into 2 4.548 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda1 4.548 * [taylor]: Taking taylor expansion of phi2 in lambda1 4.548 * [backup-simplify]: Simplify phi2 into phi2 4.548 * [taylor]: Taking taylor expansion of phi1 in lambda1 4.548 * [backup-simplify]: Simplify phi1 into phi1 4.548 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in lambda1 4.548 * [taylor]: Taking taylor expansion of 2 in lambda1 4.548 * [backup-simplify]: Simplify 2 into 2 4.548 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in lambda1 4.548 * [taylor]: Taking taylor expansion of lambda2 in lambda1 4.548 * [backup-simplify]: Simplify lambda2 into lambda2 4.548 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in lambda1 4.548 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda1 4.548 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 4.548 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 4.548 * [taylor]: Taking taylor expansion of 0.5 in lambda1 4.548 * [backup-simplify]: Simplify 0.5 into 0.5 4.548 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 4.548 * [taylor]: Taking taylor expansion of phi2 in lambda1 4.548 * [backup-simplify]: Simplify phi2 into phi2 4.548 * [taylor]: Taking taylor expansion of phi1 in lambda1 4.548 * [backup-simplify]: Simplify phi1 into phi1 4.548 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 4.548 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 4.548 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 4.548 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 4.548 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 4.548 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 4.549 * [backup-simplify]: Simplify (- 0) into 0 4.549 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 4.549 * [taylor]: Taking taylor expansion of lambda1 in lambda1 4.549 * [backup-simplify]: Simplify 0 into 0 4.549 * [backup-simplify]: Simplify 1 into 1 4.549 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 4.549 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 4.549 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 4.549 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) into (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) 4.549 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 4.549 * [backup-simplify]: Simplify (+ 0 (pow phi1 2)) into (pow phi1 2) 4.550 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (pow phi1 2)) into (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (pow phi1 2)) 4.550 * [backup-simplify]: Simplify (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (pow phi1 2))) into (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) 4.550 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 4.550 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1)) 4.550 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 4.550 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) into 0 4.550 * [backup-simplify]: Simplify (* lambda2 0) into 0 4.551 * [backup-simplify]: Simplify (* 2 0) into 0 4.551 * [backup-simplify]: Simplify (+ (* 2 (* phi2 phi1)) 0) into (* 2 (* phi2 phi1)) 4.551 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1))) 4.551 * [backup-simplify]: Simplify (+ (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) (- (* 2 (* phi2 phi1)))) into (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) (* 2 (* phi2 phi1))) 4.552 * [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)))) 4.552 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 4.556 * [backup-simplify]: Simplify (+ 0) into 0 4.557 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 4.557 * [backup-simplify]: Simplify (+ 0 0) into 0 4.558 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 4.558 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.558 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 4.559 * [backup-simplify]: Simplify (- 0) into 0 4.559 * [backup-simplify]: Simplify (+ 0 0) into 0 4.559 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 4.559 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 4.559 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) 0) (* 0 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) into 0 4.559 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 4.560 * [backup-simplify]: Simplify (+ 0 0) into 0 4.560 * [backup-simplify]: Simplify (+ 0 0) into 0 4.560 * [backup-simplify]: Simplify (+ 0 0) into 0 4.560 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 4.561 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0 4.561 * [backup-simplify]: Simplify (+ 0) into 0 4.561 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 4.561 * [backup-simplify]: Simplify (+ 0 0) into 0 4.562 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 4.562 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.562 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 4.563 * [backup-simplify]: Simplify (- 0) into 0 4.563 * [backup-simplify]: Simplify (+ 0 0) into 0 4.563 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 4.563 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 1) (* 0 0)) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 4.564 * [backup-simplify]: Simplify (+ (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* 0 0)) into (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) 4.564 * [backup-simplify]: Simplify (+ (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) (* 0 0)) into (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) 4.564 * [backup-simplify]: Simplify (+ 0 (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) into (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) 4.565 * [backup-simplify]: Simplify (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) 4.565 * [backup-simplify]: Simplify (+ 0 (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) 4.566 * [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)))) 4.566 * [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 4.566 * [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 4.566 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) in lambda2 4.566 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda2 4.566 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 4.566 * [taylor]: Taking taylor expansion of lambda2 in lambda2 4.566 * [backup-simplify]: Simplify 0 into 0 4.566 * [backup-simplify]: Simplify 1 into 1 4.566 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 4.566 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 4.566 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 4.566 * [taylor]: Taking taylor expansion of 0.5 in lambda2 4.566 * [backup-simplify]: Simplify 0.5 into 0.5 4.566 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 4.566 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.566 * [backup-simplify]: Simplify phi2 into phi2 4.566 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.566 * [backup-simplify]: Simplify phi1 into phi1 4.566 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 4.566 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 4.566 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 4.566 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 4.566 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 4.566 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 4.567 * [backup-simplify]: Simplify (- 0) into 0 4.567 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 4.567 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (pow phi2 2)) in lambda2 4.567 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 4.567 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.567 * [backup-simplify]: Simplify phi1 into phi1 4.567 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 4.567 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.567 * [backup-simplify]: Simplify phi2 into phi2 4.567 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda2 4.567 * [taylor]: Taking taylor expansion of 2 in lambda2 4.567 * [backup-simplify]: Simplify 2 into 2 4.567 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 4.567 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.567 * [backup-simplify]: Simplify phi2 into phi2 4.567 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.567 * [backup-simplify]: Simplify phi1 into phi1 4.567 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 4.567 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 4.567 * [backup-simplify]: Simplify (+ (pow phi1 2) (pow phi2 2)) into (+ (pow phi2 2) (pow phi1 2)) 4.567 * [backup-simplify]: Simplify (+ 0 (+ (pow phi2 2) (pow phi1 2))) into (+ (pow phi2 2) (pow phi1 2)) 4.567 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 4.568 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1)) 4.568 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1))) 4.568 * [backup-simplify]: Simplify (+ (+ (pow phi2 2) (pow phi1 2)) (- (* 2 (* phi2 phi1)))) into (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))) 4.568 * [backup-simplify]: Simplify (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))) into (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))) 4.568 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 4.568 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 4.568 * [backup-simplify]: Simplify (+ 0 0) into 0 4.569 * [backup-simplify]: Simplify (+ 0 0) into 0 4.569 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 4.569 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0 4.569 * [backup-simplify]: Simplify (- 0) into 0 4.569 * [backup-simplify]: Simplify (+ 0 0) into 0 4.570 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))))) into 0 4.570 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))) in phi1 4.570 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))) in phi1 4.570 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in phi1 4.570 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 4.570 * [taylor]: Taking taylor expansion of phi2 in phi1 4.570 * [backup-simplify]: Simplify phi2 into phi2 4.570 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 4.570 * [taylor]: Taking taylor expansion of phi1 in phi1 4.570 * [backup-simplify]: Simplify 0 into 0 4.570 * [backup-simplify]: Simplify 1 into 1 4.570 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi1 4.570 * [taylor]: Taking taylor expansion of 2 in phi1 4.570 * [backup-simplify]: Simplify 2 into 2 4.570 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 4.570 * [taylor]: Taking taylor expansion of phi2 in phi1 4.570 * [backup-simplify]: Simplify phi2 into phi2 4.570 * [taylor]: Taking taylor expansion of phi1 in phi1 4.570 * [backup-simplify]: Simplify 0 into 0 4.570 * [backup-simplify]: Simplify 1 into 1 4.570 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 4.570 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 4.570 * [backup-simplify]: Simplify (* phi2 0) into 0 4.570 * [backup-simplify]: Simplify (* 2 0) into 0 4.571 * [backup-simplify]: Simplify (- 0) into 0 4.571 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 4.571 * [backup-simplify]: Simplify (sqrt (pow phi2 2)) into phi2 4.571 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 4.571 * [backup-simplify]: Simplify (+ 0 0) into 0 4.571 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 4.572 * [backup-simplify]: Simplify (+ (* 2 phi2) (* 0 0)) into (* 2 phi2) 4.572 * [backup-simplify]: Simplify (- (* 2 phi2)) into (- (* 2 phi2)) 4.572 * [backup-simplify]: Simplify (+ 0 (- (* 2 phi2))) into (- (* 2 phi2)) 4.572 * [backup-simplify]: Simplify (/ (- (* 2 phi2)) (* 2 (sqrt (pow phi2 2)))) into -1 4.572 * [taylor]: Taking taylor expansion of phi2 in phi2 4.572 * [backup-simplify]: Simplify 0 into 0 4.572 * [backup-simplify]: Simplify 1 into 1 4.572 * [backup-simplify]: Simplify 0 into 0 4.572 * [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 4.572 * [taylor]: Taking taylor expansion of -1 in lambda2 4.572 * [backup-simplify]: Simplify -1 into -1 4.572 * [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 4.572 * [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 4.572 * [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 4.572 * [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 4.572 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) in lambda2 4.572 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda2 4.572 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 4.572 * [taylor]: Taking taylor expansion of lambda2 in lambda2 4.572 * [backup-simplify]: Simplify 0 into 0 4.572 * [backup-simplify]: Simplify 1 into 1 4.572 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 4.572 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 4.572 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 4.572 * [taylor]: Taking taylor expansion of 0.5 in lambda2 4.572 * [backup-simplify]: Simplify 0.5 into 0.5 4.572 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 4.572 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.572 * [backup-simplify]: Simplify phi2 into phi2 4.572 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.572 * [backup-simplify]: Simplify phi1 into phi1 4.573 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 4.573 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 4.573 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 4.573 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 4.573 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 4.573 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 4.573 * [backup-simplify]: Simplify (- 0) into 0 4.573 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 4.573 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (pow phi2 2)) in lambda2 4.573 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 4.573 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.573 * [backup-simplify]: Simplify phi1 into phi1 4.573 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 4.573 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.573 * [backup-simplify]: Simplify phi2 into phi2 4.573 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda2 4.573 * [taylor]: Taking taylor expansion of 2 in lambda2 4.573 * [backup-simplify]: Simplify 2 into 2 4.573 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 4.573 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.573 * [backup-simplify]: Simplify phi2 into phi2 4.573 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.573 * [backup-simplify]: Simplify phi1 into phi1 4.573 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 4.573 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 4.574 * [backup-simplify]: Simplify (+ (pow phi1 2) (pow phi2 2)) into (+ (pow phi2 2) (pow phi1 2)) 4.574 * [backup-simplify]: Simplify (+ 0 (+ (pow phi2 2) (pow phi1 2))) into (+ (pow phi2 2) (pow phi1 2)) 4.574 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 4.574 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1)) 4.574 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1))) 4.574 * [backup-simplify]: Simplify (+ (+ (pow phi2 2) (pow phi1 2)) (- (* 2 (* phi2 phi1)))) into (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))) 4.574 * [backup-simplify]: Simplify (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))) into (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))) 4.575 * [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))))) 4.575 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 4.575 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 4.575 * [backup-simplify]: Simplify (+ 0 0) into 0 4.575 * [backup-simplify]: Simplify (+ 0 0) into 0 4.575 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 4.576 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0 4.576 * [backup-simplify]: Simplify (- 0) into 0 4.576 * [backup-simplify]: Simplify (+ 0 0) into 0 4.577 * [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 4.577 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))))))) into 0 4.577 * [taylor]: Taking taylor expansion of (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda2 4.577 * [taylor]: Taking taylor expansion of lambda2 in lambda2 4.577 * [backup-simplify]: Simplify 0 into 0 4.577 * [backup-simplify]: Simplify 1 into 1 4.577 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 4.577 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 4.577 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 4.577 * [taylor]: Taking taylor expansion of 0.5 in lambda2 4.577 * [backup-simplify]: Simplify 0.5 into 0.5 4.577 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 4.577 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.577 * [backup-simplify]: Simplify phi2 into phi2 4.577 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.577 * [backup-simplify]: Simplify phi1 into phi1 4.577 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 4.577 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 4.577 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 4.577 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 4.577 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 4.577 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 4.578 * [backup-simplify]: Simplify (- 0) into 0 4.578 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 4.578 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 4.578 * [backup-simplify]: Simplify (* 0 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) into 0 4.578 * [backup-simplify]: Simplify (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))))) 0) into 0 4.579 * [backup-simplify]: Simplify (* -1 0) into 0 4.579 * [taylor]: Taking taylor expansion of 0 in phi1 4.579 * [backup-simplify]: Simplify 0 into 0 4.579 * [taylor]: Taking taylor expansion of 0 in phi2 4.579 * [backup-simplify]: Simplify 0 into 0 4.579 * [backup-simplify]: Simplify 0 into 0 4.579 * [taylor]: Taking taylor expansion of 0 in phi1 4.579 * [backup-simplify]: Simplify 0 into 0 4.579 * [taylor]: Taking taylor expansion of 0 in phi2 4.579 * [backup-simplify]: Simplify 0 into 0 4.579 * [backup-simplify]: Simplify 0 into 0 4.579 * [taylor]: Taking taylor expansion of -1 in phi2 4.579 * [backup-simplify]: Simplify -1 into -1 4.579 * [backup-simplify]: Simplify -1 into -1 4.579 * [backup-simplify]: Simplify 1 into 1 4.579 * [backup-simplify]: Simplify (+ (* phi2 0) (+ (* 0 0) (* 0 phi2))) into 0 4.580 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 4.580 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 1))) into 0 4.580 * [backup-simplify]: Simplify (+ 0 0) into 0 4.581 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ phi2 phi1)))) into 0 4.581 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 4.582 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 0))) into 0 4.582 * [backup-simplify]: Simplify (- 0) into 0 4.582 * [backup-simplify]: Simplify (+ 0 0) into 0 4.583 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ phi2 phi1)))))) into 0 4.583 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda2))) into 0 4.584 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) 0) (+ (* 0 0) (* 0 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) into 0 4.584 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 4.584 * [backup-simplify]: Simplify (* 1 1) into 1 4.584 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 1) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 4.585 * [backup-simplify]: Simplify (+ (* phi1 0) (+ (* 0 0) (* 0 phi1))) into 0 4.585 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 4.585 * [backup-simplify]: Simplify (+ 0 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 4.585 * [backup-simplify]: Simplify (+ 0 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 4.585 * [backup-simplify]: Simplify (+ (* phi2 0) (+ (* 0 0) (* 0 phi1))) into 0 4.586 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (* phi2 phi1)))) into 0 4.586 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 4.587 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 1))) into 0 4.587 * [backup-simplify]: Simplify (+ 0 0) into 0 4.588 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ phi2 phi1)))) into 0 4.588 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 4.588 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 0))) into 0 4.589 * [backup-simplify]: Simplify (- 0) into 0 4.589 * [backup-simplify]: Simplify (+ 0 0) into 0 4.589 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ phi2 phi1)))))) into 0 4.590 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) (+ (* 0 1) (* 0 0))) into 0 4.590 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* 0 0))) into 0 4.591 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) (* 0 0))) into 0 4.591 * [backup-simplify]: Simplify (+ 0 0) into 0 4.591 * [backup-simplify]: Simplify (- 0) into 0 4.591 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 4.593 * [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))))))) 4.593 * [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 4.593 * [taylor]: Taking taylor expansion of 1/2 in lambda2 4.593 * [backup-simplify]: Simplify 1/2 into 1/2 4.593 * [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 4.594 * [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 4.594 * [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 4.594 * [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 4.594 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) in lambda2 4.594 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda2 4.594 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 4.594 * [taylor]: Taking taylor expansion of lambda2 in lambda2 4.594 * [backup-simplify]: Simplify 0 into 0 4.594 * [backup-simplify]: Simplify 1 into 1 4.594 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 4.594 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 4.594 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 4.594 * [taylor]: Taking taylor expansion of 0.5 in lambda2 4.594 * [backup-simplify]: Simplify 0.5 into 0.5 4.594 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 4.594 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.594 * [backup-simplify]: Simplify phi2 into phi2 4.594 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.594 * [backup-simplify]: Simplify phi1 into phi1 4.594 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 4.594 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 4.594 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 4.594 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 4.594 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 4.594 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 4.595 * [backup-simplify]: Simplify (- 0) into 0 4.595 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 4.595 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in lambda2 4.595 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 4.595 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.595 * [backup-simplify]: Simplify phi2 into phi2 4.595 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 4.595 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.595 * [backup-simplify]: Simplify phi1 into phi1 4.595 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda2 4.595 * [taylor]: Taking taylor expansion of 2 in lambda2 4.595 * [backup-simplify]: Simplify 2 into 2 4.595 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 4.595 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.595 * [backup-simplify]: Simplify phi2 into phi2 4.595 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.595 * [backup-simplify]: Simplify phi1 into phi1 4.595 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 4.595 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 4.595 * [backup-simplify]: Simplify (+ (pow phi2 2) (pow phi1 2)) into (+ (pow phi1 2) (pow phi2 2)) 4.595 * [backup-simplify]: Simplify (+ 0 (+ (pow phi1 2) (pow phi2 2))) into (+ (pow phi1 2) (pow phi2 2)) 4.595 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 4.595 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1)) 4.595 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1))) 4.596 * [backup-simplify]: Simplify (+ (+ (pow phi1 2) (pow phi2 2)) (- (* 2 (* phi2 phi1)))) into (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1))) 4.596 * [backup-simplify]: Simplify (/ 1 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1)))) into (/ 1 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1)))) 4.596 * [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))))) 4.596 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 4.596 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 4.597 * [backup-simplify]: Simplify (+ 0 0) into 0 4.597 * [backup-simplify]: Simplify (+ 0 0) into 0 4.597 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 4.597 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0 4.597 * [backup-simplify]: Simplify (- 0) into 0 4.598 * [backup-simplify]: Simplify (+ 0 0) into 0 4.598 * [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 4.598 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1))))))) into 0 4.598 * [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 4.598 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 4.598 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 4.598 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 4.598 * [taylor]: Taking taylor expansion of 0.5 in lambda2 4.598 * [backup-simplify]: Simplify 0.5 into 0.5 4.598 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 4.598 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.599 * [backup-simplify]: Simplify phi2 into phi2 4.599 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.599 * [backup-simplify]: Simplify phi1 into phi1 4.599 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 4.599 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 4.599 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 4.599 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 4.599 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 4.599 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 4.599 * [backup-simplify]: Simplify (- 0) into 0 4.599 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 4.599 * [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 4.599 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 4)) in lambda2 4.599 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 4.599 * [taylor]: Taking taylor expansion of lambda2 in lambda2 4.599 * [backup-simplify]: Simplify 0 into 0 4.599 * [backup-simplify]: Simplify 1 into 1 4.599 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 4) in lambda2 4.599 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 4.599 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 4.599 * [taylor]: Taking taylor expansion of 0.5 in lambda2 4.599 * [backup-simplify]: Simplify 0.5 into 0.5 4.599 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 4.599 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.599 * [backup-simplify]: Simplify phi2 into phi2 4.599 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.599 * [backup-simplify]: Simplify phi1 into phi1 4.600 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 4.600 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 4.600 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 4.600 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 4.600 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 4.600 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 4.600 * [backup-simplify]: Simplify (- 0) into 0 4.600 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 4.600 * [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 4.600 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) in lambda2 4.600 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda2 4.600 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 4.600 * [taylor]: Taking taylor expansion of lambda2 in lambda2 4.600 * [backup-simplify]: Simplify 0 into 0 4.600 * [backup-simplify]: Simplify 1 into 1 4.600 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 4.600 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 4.600 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 4.600 * [taylor]: Taking taylor expansion of 0.5 in lambda2 4.600 * [backup-simplify]: Simplify 0.5 into 0.5 4.600 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 4.600 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.600 * [backup-simplify]: Simplify phi2 into phi2 4.600 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.600 * [backup-simplify]: Simplify phi1 into phi1 4.601 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 4.601 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 4.601 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 4.601 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 4.601 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 4.601 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 4.601 * [backup-simplify]: Simplify (- 0) into 0 4.601 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 4.601 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in lambda2 4.601 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 4.601 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.601 * [backup-simplify]: Simplify phi2 into phi2 4.601 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 4.601 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.601 * [backup-simplify]: Simplify phi1 into phi1 4.601 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda2 4.601 * [taylor]: Taking taylor expansion of 2 in lambda2 4.601 * [backup-simplify]: Simplify 2 into 2 4.601 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 4.601 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.601 * [backup-simplify]: Simplify phi2 into phi2 4.601 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.601 * [backup-simplify]: Simplify phi1 into phi1 4.602 * [backup-simplify]: Simplify (* 1 1) into 1 4.602 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 4.602 * [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) 4.602 * [backup-simplify]: Simplify (* 1 (pow (cos (* 0.5 (+ phi2 phi1))) 4)) into (pow (cos (* 0.5 (+ phi2 phi1))) 4) 4.602 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 4.602 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 4.602 * [backup-simplify]: Simplify (+ (pow phi2 2) (pow phi1 2)) into (+ (pow phi1 2) (pow phi2 2)) 4.603 * [backup-simplify]: Simplify (+ 0 (+ (pow phi1 2) (pow phi2 2))) into (+ (pow phi1 2) (pow phi2 2)) 4.603 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 4.603 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1)) 4.603 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1))) 4.603 * [backup-simplify]: Simplify (+ (+ (pow phi1 2) (pow phi2 2)) (- (* 2 (* phi2 phi1)))) into (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1))) 4.603 * [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)))) 4.603 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 4.604 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 4.604 * [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)))))) 4.604 * [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))))))) 4.604 * [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 4.604 * [taylor]: Taking taylor expansion of 1/2 in phi1 4.604 * [backup-simplify]: Simplify 1/2 into 1/2 4.604 * [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 4.604 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1 4.604 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 4.604 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 4.604 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.604 * [backup-simplify]: Simplify 0.5 into 0.5 4.604 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 4.604 * [taylor]: Taking taylor expansion of phi2 in phi1 4.604 * [backup-simplify]: Simplify phi2 into phi2 4.605 * [taylor]: Taking taylor expansion of phi1 in phi1 4.605 * [backup-simplify]: Simplify 0 into 0 4.605 * [backup-simplify]: Simplify 1 into 1 4.605 * [backup-simplify]: Simplify (+ phi2 0) into phi2 4.605 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 4.605 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 4.605 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 4.605 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 4.605 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 4.605 * [backup-simplify]: Simplify (- 0) into 0 4.605 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 4.605 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1))))) in phi1 4.605 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1)))) in phi1 4.605 * [taylor]: Taking taylor expansion of (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1))) in phi1 4.605 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (pow phi2 2)) in phi1 4.605 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 4.605 * [taylor]: Taking taylor expansion of phi1 in phi1 4.605 * [backup-simplify]: Simplify 0 into 0 4.605 * [backup-simplify]: Simplify 1 into 1 4.605 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 4.605 * [taylor]: Taking taylor expansion of phi2 in phi1 4.605 * [backup-simplify]: Simplify phi2 into phi2 4.605 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi1 4.605 * [taylor]: Taking taylor expansion of 2 in phi1 4.605 * [backup-simplify]: Simplify 2 into 2 4.605 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 4.605 * [taylor]: Taking taylor expansion of phi2 in phi1 4.606 * [backup-simplify]: Simplify phi2 into phi2 4.606 * [taylor]: Taking taylor expansion of phi1 in phi1 4.606 * [backup-simplify]: Simplify 0 into 0 4.606 * [backup-simplify]: Simplify 1 into 1 4.606 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 4.606 * [backup-simplify]: Simplify (+ 0 (pow phi2 2)) into (pow phi2 2) 4.606 * [backup-simplify]: Simplify (* phi2 0) into 0 4.606 * [backup-simplify]: Simplify (* 2 0) into 0 4.606 * [backup-simplify]: Simplify (- 0) into 0 4.606 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 4.606 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 4.607 * [backup-simplify]: Simplify (sqrt (/ 1 (pow phi2 2))) into (/ 1 phi2) 4.607 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 4.607 * [backup-simplify]: Simplify (+ 0 0) into 0 4.607 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 4.607 * [backup-simplify]: Simplify (+ (* 2 phi2) (* 0 0)) into (* 2 phi2) 4.607 * [backup-simplify]: Simplify (- (* 2 phi2)) into (- (* 2 phi2)) 4.608 * [backup-simplify]: Simplify (+ 0 (- (* 2 phi2))) into (- (* 2 phi2)) 4.608 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi2 2)) (/ (- (* 2 phi2)) (pow phi2 2))))) into (* 2 (/ 1 (pow phi2 3))) 4.608 * [backup-simplify]: Simplify (/ (* 2 (/ 1 (pow phi2 3))) (* 2 (sqrt (/ 1 (pow phi2 2))))) into (/ 1 (pow phi2 2)) 4.608 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 4.608 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi2)) 2) (/ 1 phi2)) into (/ (pow (cos (* 0.5 phi2)) 2) phi2) 4.609 * [backup-simplify]: Simplify (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2)) into (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2)) 4.609 * [taylor]: Taking taylor expansion of (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2)) in phi2 4.609 * [taylor]: Taking taylor expansion of 1/2 in phi2 4.609 * [backup-simplify]: Simplify 1/2 into 1/2 4.609 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 phi2)) 2) phi2) in phi2 4.609 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2 4.609 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 4.609 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 4.609 * [taylor]: Taking taylor expansion of 0.5 in phi2 4.609 * [backup-simplify]: Simplify 0.5 into 0.5 4.609 * [taylor]: Taking taylor expansion of phi2 in phi2 4.609 * [backup-simplify]: Simplify 0 into 0 4.609 * [backup-simplify]: Simplify 1 into 1 4.609 * [backup-simplify]: Simplify (* 0.5 0) into 0 4.610 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 4.610 * [taylor]: Taking taylor expansion of phi2 in phi2 4.610 * [backup-simplify]: Simplify 0 into 0 4.610 * [backup-simplify]: Simplify 1 into 1 4.610 * [backup-simplify]: Simplify (* 1 1) into 1 4.610 * [backup-simplify]: Simplify (/ 1 1) into 1 4.611 * [backup-simplify]: Simplify (+ 0) into 0 4.611 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 4.611 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* 1 (/ 0 1)))) into 0 4.612 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 1)) into 0 4.612 * [backup-simplify]: Simplify 0 into 0 4.612 * [backup-simplify]: Simplify (+ 0) into 0 4.613 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 4.613 * [backup-simplify]: Simplify (+ 0 0) into 0 4.613 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 4.614 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.614 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 4.614 * [backup-simplify]: Simplify (- 0) into 0 4.614 * [backup-simplify]: Simplify (+ 0 0) into 0 4.614 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 4.615 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 4.615 * [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)) 4.616 * [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))) 4.616 * [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 4.616 * [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 4.616 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))))) in phi1 4.616 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))) in phi1 4.616 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))) in phi1 4.616 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in phi1 4.616 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 4.616 * [taylor]: Taking taylor expansion of phi2 in phi1 4.616 * [backup-simplify]: Simplify phi2 into phi2 4.616 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 4.616 * [taylor]: Taking taylor expansion of phi1 in phi1 4.616 * [backup-simplify]: Simplify 0 into 0 4.616 * [backup-simplify]: Simplify 1 into 1 4.617 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi1 4.617 * [taylor]: Taking taylor expansion of 2 in phi1 4.617 * [backup-simplify]: Simplify 2 into 2 4.617 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 4.617 * [taylor]: Taking taylor expansion of phi2 in phi1 4.617 * [backup-simplify]: Simplify phi2 into phi2 4.617 * [taylor]: Taking taylor expansion of phi1 in phi1 4.617 * [backup-simplify]: Simplify 0 into 0 4.617 * [backup-simplify]: Simplify 1 into 1 4.617 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 4.617 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 4.617 * [backup-simplify]: Simplify (* phi2 0) into 0 4.617 * [backup-simplify]: Simplify (* 2 0) into 0 4.617 * [backup-simplify]: Simplify (- 0) into 0 4.617 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 4.617 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 4.618 * [backup-simplify]: Simplify (sqrt (/ 1 (pow phi2 2))) into (/ 1 phi2) 4.618 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 4.618 * [backup-simplify]: Simplify (+ 0 0) into 0 4.618 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 4.618 * [backup-simplify]: Simplify (+ (* 2 phi2) (* 0 0)) into (* 2 phi2) 4.618 * [backup-simplify]: Simplify (- (* 2 phi2)) into (- (* 2 phi2)) 4.619 * [backup-simplify]: Simplify (+ 0 (- (* 2 phi2))) into (- (* 2 phi2)) 4.619 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi2 2)) (/ (- (* 2 phi2)) (pow phi2 2))))) into (* 2 (/ 1 (pow phi2 3))) 4.619 * [backup-simplify]: Simplify (/ (* 2 (/ 1 (pow phi2 3))) (* 2 (sqrt (/ 1 (pow phi2 2))))) into (/ 1 (pow phi2 2)) 4.619 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1 4.619 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 4.619 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 4.619 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.619 * [backup-simplify]: Simplify 0.5 into 0.5 4.619 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 4.619 * [taylor]: Taking taylor expansion of phi2 in phi1 4.619 * [backup-simplify]: Simplify phi2 into phi2 4.619 * [taylor]: Taking taylor expansion of phi1 in phi1 4.619 * [backup-simplify]: Simplify 0 into 0 4.619 * [backup-simplify]: Simplify 1 into 1 4.619 * [backup-simplify]: Simplify (+ phi2 0) into phi2 4.619 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 4.619 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 4.619 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 4.619 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 4.619 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 4.620 * [backup-simplify]: Simplify (- 0) into 0 4.620 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 4.620 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 4.620 * [backup-simplify]: Simplify (* (/ 1 phi2) (pow (cos (* 0.5 phi2)) 2)) into (/ (pow (cos (* 0.5 phi2)) 2) phi2) 4.620 * [backup-simplify]: Simplify (- (/ (pow (cos (* 0.5 phi2)) 2) phi2)) into (- (/ (pow (cos (* 0.5 phi2)) 2) phi2)) 4.620 * [taylor]: Taking taylor expansion of (- (/ (pow (cos (* 0.5 phi2)) 2) phi2)) in phi2 4.620 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 phi2)) 2) phi2) in phi2 4.620 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2 4.620 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 4.620 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 4.620 * [taylor]: Taking taylor expansion of 0.5 in phi2 4.620 * [backup-simplify]: Simplify 0.5 into 0.5 4.620 * [taylor]: Taking taylor expansion of phi2 in phi2 4.620 * [backup-simplify]: Simplify 0 into 0 4.620 * [backup-simplify]: Simplify 1 into 1 4.621 * [backup-simplify]: Simplify (* 0.5 0) into 0 4.621 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 4.622 * [taylor]: Taking taylor expansion of phi2 in phi2 4.622 * [backup-simplify]: Simplify 0 into 0 4.622 * [backup-simplify]: Simplify 1 into 1 4.622 * [backup-simplify]: Simplify (* 1 1) into 1 4.622 * [backup-simplify]: Simplify (/ 1 1) into 1 4.622 * [backup-simplify]: Simplify (+ 0) into 0 4.623 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 4.623 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* 1 (/ 0 1)))) into 0 4.623 * [backup-simplify]: Simplify (- 0) into 0 4.623 * [backup-simplify]: Simplify 0 into 0 4.624 * [backup-simplify]: Simplify (* 1 1) into 1 4.624 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 4.624 * [backup-simplify]: Simplify (* 1 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 4.624 * [backup-simplify]: Simplify (+ (* phi1 0) (+ (* 0 0) (* 0 phi1))) into 0 4.624 * [backup-simplify]: Simplify (+ (* phi2 0) (+ (* 0 0) (* 0 phi2))) into 0 4.625 * [backup-simplify]: Simplify (+ 0 0) into 0 4.625 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 4.625 * [backup-simplify]: Simplify (+ (* phi2 0) (+ (* 0 0) (* 0 phi1))) into 0 4.626 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (* phi2 phi1)))) into 0 4.626 * [backup-simplify]: Simplify (- 0) into 0 4.626 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 4.627 * [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))) 4.627 * [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 4.627 * [taylor]: Taking taylor expansion of 1/2 in phi1 4.627 * [backup-simplify]: Simplify 1/2 into 1/2 4.627 * [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 4.627 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))))) in phi1 4.627 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))) in phi1 4.627 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))) in phi1 4.627 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in phi1 4.627 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 4.627 * [taylor]: Taking taylor expansion of phi2 in phi1 4.627 * [backup-simplify]: Simplify phi2 into phi2 4.627 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 4.627 * [taylor]: Taking taylor expansion of phi1 in phi1 4.627 * [backup-simplify]: Simplify 0 into 0 4.627 * [backup-simplify]: Simplify 1 into 1 4.627 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi1 4.627 * [taylor]: Taking taylor expansion of 2 in phi1 4.627 * [backup-simplify]: Simplify 2 into 2 4.627 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 4.627 * [taylor]: Taking taylor expansion of phi2 in phi1 4.627 * [backup-simplify]: Simplify phi2 into phi2 4.627 * [taylor]: Taking taylor expansion of phi1 in phi1 4.627 * [backup-simplify]: Simplify 0 into 0 4.627 * [backup-simplify]: Simplify 1 into 1 4.627 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 4.627 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 4.627 * [backup-simplify]: Simplify (* phi2 0) into 0 4.628 * [backup-simplify]: Simplify (* 2 0) into 0 4.628 * [backup-simplify]: Simplify (- 0) into 0 4.628 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 4.628 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 4.628 * [backup-simplify]: Simplify (sqrt (/ 1 (pow phi2 2))) into (/ 1 phi2) 4.628 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 4.629 * [backup-simplify]: Simplify (+ 0 0) into 0 4.629 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 4.629 * [backup-simplify]: Simplify (+ (* 2 phi2) (* 0 0)) into (* 2 phi2) 4.629 * [backup-simplify]: Simplify (- (* 2 phi2)) into (- (* 2 phi2)) 4.629 * [backup-simplify]: Simplify (+ 0 (- (* 2 phi2))) into (- (* 2 phi2)) 4.629 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi2 2)) (/ (- (* 2 phi2)) (pow phi2 2))))) into (* 2 (/ 1 (pow phi2 3))) 4.630 * [backup-simplify]: Simplify (/ (* 2 (/ 1 (pow phi2 3))) (* 2 (sqrt (/ 1 (pow phi2 2))))) into (/ 1 (pow phi2 2)) 4.630 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1 4.630 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 4.630 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 4.630 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.630 * [backup-simplify]: Simplify 0.5 into 0.5 4.630 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 4.630 * [taylor]: Taking taylor expansion of phi2 in phi1 4.630 * [backup-simplify]: Simplify phi2 into phi2 4.630 * [taylor]: Taking taylor expansion of phi1 in phi1 4.630 * [backup-simplify]: Simplify 0 into 0 4.630 * [backup-simplify]: Simplify 1 into 1 4.630 * [backup-simplify]: Simplify (+ phi2 0) into phi2 4.630 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 4.630 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 4.630 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 4.630 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 4.630 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 4.630 * [backup-simplify]: Simplify (- 0) into 0 4.631 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 4.631 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 4.631 * [backup-simplify]: Simplify (* (/ 1 phi2) (pow (cos (* 0.5 phi2)) 2)) into (/ (pow (cos (* 0.5 phi2)) 2) phi2) 4.631 * [backup-simplify]: Simplify (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2)) into (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2)) 4.631 * [taylor]: Taking taylor expansion of (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2)) in phi2 4.631 * [taylor]: Taking taylor expansion of 1/2 in phi2 4.631 * [backup-simplify]: Simplify 1/2 into 1/2 4.631 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 phi2)) 2) phi2) in phi2 4.631 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2 4.631 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 4.631 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 4.631 * [taylor]: Taking taylor expansion of 0.5 in phi2 4.631 * [backup-simplify]: Simplify 0.5 into 0.5 4.631 * [taylor]: Taking taylor expansion of phi2 in phi2 4.631 * [backup-simplify]: Simplify 0 into 0 4.631 * [backup-simplify]: Simplify 1 into 1 4.631 * [backup-simplify]: Simplify (* 0.5 0) into 0 4.632 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 4.632 * [taylor]: Taking taylor expansion of phi2 in phi2 4.632 * [backup-simplify]: Simplify 0 into 0 4.632 * [backup-simplify]: Simplify 1 into 1 4.633 * [backup-simplify]: Simplify (* 1 1) into 1 4.633 * [backup-simplify]: Simplify (/ 1 1) into 1 4.633 * [backup-simplify]: Simplify (+ 0) into 0 4.633 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 4.634 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* 1 (/ 0 1)))) into 0 4.634 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 1)) into 0 4.634 * [backup-simplify]: Simplify 0 into 0 4.634 * [taylor]: Taking taylor expansion of 0 in phi2 4.634 * [backup-simplify]: Simplify 0 into 0 4.634 * [backup-simplify]: Simplify 0 into 0 4.634 * [taylor]: Taking taylor expansion of 0 in phi2 4.634 * [backup-simplify]: Simplify 0 into 0 4.634 * [backup-simplify]: Simplify 0 into 0 4.635 * [backup-simplify]: Simplify (+ (* phi2 0) (+ (* 0 0) (* 0 phi2))) into 0 4.635 * [backup-simplify]: Simplify (* 1 1) into 1 4.635 * [backup-simplify]: Simplify (+ 0 1) into 1 4.636 * [backup-simplify]: Simplify (+ (* phi2 0) (+ (* 0 1) (* 0 0))) into 0 4.637 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 phi2) (* 0 0))) into 0 4.637 * [backup-simplify]: Simplify (- 0) into 0 4.637 * [backup-simplify]: Simplify (+ 1 0) into 1 4.638 * [backup-simplify]: Simplify (/ (- 1 (pow -1 2) (+)) (* 2 phi2)) into 0 4.638 * [taylor]: Taking taylor expansion of 0 in phi2 4.638 * [backup-simplify]: Simplify 0 into 0 4.638 * [backup-simplify]: Simplify 0 into 0 4.638 * [backup-simplify]: Simplify (+ (* 1 (* phi2 (* 1 (* 1 1)))) (* -1 (* 1 (* phi1 (* 1 1))))) into (- phi2 phi1) 4.639 * [backup-simplify]: Simplify (sqrt (+ (* (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (/ (+ (/ 1 phi1) (/ 1 phi2)) 2.0))) (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (/ (+ (/ 1 phi1) (/ 1 phi2)) 2.0)))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))))) into (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) 4.639 * [approximate]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in (lambda1 lambda2 phi1 phi2) around 0 4.639 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in phi2 4.639 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in phi2 4.639 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) in phi2 4.639 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi2 4.639 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 4.639 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 4.639 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 4.639 * [taylor]: Taking taylor expansion of 0.5 in phi2 4.639 * [backup-simplify]: Simplify 0.5 into 0.5 4.639 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 4.639 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 4.640 * [taylor]: Taking taylor expansion of phi1 in phi2 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 phi2 4.640 * [taylor]: Taking taylor expansion of phi2 in phi2 4.640 * [backup-simplify]: Simplify 0 into 0 4.640 * [backup-simplify]: Simplify 1 into 1 4.640 * [backup-simplify]: Simplify (/ 1 1) into 1 4.640 * [backup-simplify]: Simplify (+ 0 1) into 1 4.640 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 4.641 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.641 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 4.641 * [taylor]: Taking taylor expansion of lambda1 in phi2 4.641 * [backup-simplify]: Simplify lambda1 into lambda1 4.641 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.641 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 4.641 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 4.641 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) in phi2 4.641 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi2 4.641 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 4.641 * [taylor]: Taking taylor expansion of phi2 in phi2 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 * [backup-simplify]: Simplify (/ 1 1) into 1 4.642 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) in phi2 4.642 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in phi2 4.642 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in 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 4.642 * [backup-simplify]: Simplify 0 into 0 4.642 * [backup-simplify]: Simplify 1 into 1 4.642 * [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)))) 4.643 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 4.643 * [taylor]: Taking taylor expansion of lambda2 in phi2 4.643 * [backup-simplify]: Simplify lambda2 into lambda2 4.643 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.643 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 4.643 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 4.643 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi2 4.643 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 4.643 * [taylor]: Taking taylor expansion of phi1 in phi2 4.644 * [backup-simplify]: Simplify phi1 into phi1 4.644 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 4.644 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 4.644 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in phi2 4.644 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi2 4.644 * [taylor]: Taking taylor expansion of 2 in phi2 4.644 * [backup-simplify]: Simplify 2 into 2 4.644 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi2 4.644 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 4.644 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 4.644 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 4.644 * [taylor]: Taking taylor expansion of 0.5 in phi2 4.644 * [backup-simplify]: Simplify 0.5 into 0.5 4.644 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 4.644 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 4.644 * [taylor]: Taking taylor expansion of phi1 in phi2 4.644 * [backup-simplify]: Simplify phi1 into phi1 4.644 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.644 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 4.644 * [taylor]: Taking taylor expansion of phi2 in phi2 4.644 * [backup-simplify]: Simplify 0 into 0 4.644 * [backup-simplify]: Simplify 1 into 1 4.644 * [backup-simplify]: Simplify (/ 1 1) into 1 4.645 * [backup-simplify]: Simplify (+ 0 1) into 1 4.645 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 4.645 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.645 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi2 4.645 * [taylor]: Taking taylor expansion of lambda2 in phi2 4.645 * [backup-simplify]: Simplify lambda2 into lambda2 4.645 * [taylor]: Taking taylor expansion of lambda1 in phi2 4.645 * [backup-simplify]: Simplify lambda1 into lambda1 4.645 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.645 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 4.645 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) 4.645 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi2 4.645 * [taylor]: Taking taylor expansion of 2 in phi2 4.645 * [backup-simplify]: Simplify 2 into 2 4.645 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi2 4.646 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2 4.646 * [taylor]: Taking taylor expansion of phi2 in phi2 4.646 * [backup-simplify]: Simplify 0 into 0 4.646 * [backup-simplify]: Simplify 1 into 1 4.646 * [taylor]: Taking taylor expansion of phi1 in phi2 4.646 * [backup-simplify]: Simplify phi1 into phi1 4.646 * [backup-simplify]: Simplify (* 0 phi1) into 0 4.646 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 4.646 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.646 * [backup-simplify]: Simplify (+ 1 0) into 1 4.646 * [backup-simplify]: Simplify (+ 0 1) into 1 4.647 * [backup-simplify]: Simplify (+ 1 0) into 1 4.647 * [backup-simplify]: Simplify (sqrt 1) into 1 4.647 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 4.648 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 4.648 * [backup-simplify]: Simplify (+ 0 0) into 0 4.648 * [backup-simplify]: Simplify (+ 0 0) into 0 4.648 * [backup-simplify]: Simplify (* 2 (/ 1 phi1)) into (/ 2 phi1) 4.648 * [backup-simplify]: Simplify (+ 0 (/ 2 phi1)) into (* 2 (/ 1 phi1)) 4.648 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi1))) into (- (* 2 (/ 1 phi1))) 4.649 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1))) 4.649 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi1))) (* 2 (sqrt 1))) into (/ -1 phi1) 4.649 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in phi1 4.649 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in phi1 4.649 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) in phi1 4.649 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi1 4.649 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 4.649 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 4.649 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 4.649 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.649 * [backup-simplify]: Simplify 0.5 into 0.5 4.649 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 4.649 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 4.649 * [taylor]: Taking taylor expansion of phi1 in phi1 4.649 * [backup-simplify]: Simplify 0 into 0 4.649 * [backup-simplify]: Simplify 1 into 1 4.649 * [backup-simplify]: Simplify (/ 1 1) into 1 4.649 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 4.649 * [taylor]: Taking taylor expansion of phi2 in phi1 4.650 * [backup-simplify]: Simplify phi2 into phi2 4.650 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.650 * [backup-simplify]: Simplify (+ 1 0) into 1 4.650 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 4.650 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.650 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 4.650 * [taylor]: Taking taylor expansion of lambda1 in phi1 4.650 * [backup-simplify]: Simplify lambda1 into lambda1 4.650 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.650 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 4.651 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 4.651 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) in phi1 4.651 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 4.651 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 4.651 * [taylor]: Taking taylor expansion of phi2 in phi1 4.651 * [backup-simplify]: Simplify phi2 into phi2 4.651 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 4.651 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 4.651 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) in phi1 4.651 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in phi1 4.651 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 4.651 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 4.651 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 4.651 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.651 * [backup-simplify]: Simplify 0.5 into 0.5 4.651 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 4.651 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 4.651 * [taylor]: Taking taylor expansion of phi1 in phi1 4.651 * [backup-simplify]: Simplify 0 into 0 4.651 * [backup-simplify]: Simplify 1 into 1 4.652 * [backup-simplify]: Simplify (/ 1 1) into 1 4.652 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 4.652 * [taylor]: Taking taylor expansion of phi2 in phi1 4.652 * [backup-simplify]: Simplify phi2 into phi2 4.652 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.652 * [backup-simplify]: Simplify (+ 1 0) into 1 4.652 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 4.652 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.652 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 4.652 * [taylor]: Taking taylor expansion of lambda2 in phi1 4.652 * [backup-simplify]: Simplify lambda2 into lambda2 4.653 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.653 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 4.653 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 4.653 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 4.653 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 4.653 * [taylor]: Taking taylor expansion of phi1 in phi1 4.653 * [backup-simplify]: Simplify 0 into 0 4.653 * [backup-simplify]: Simplify 1 into 1 4.653 * [backup-simplify]: Simplify (* 1 1) into 1 4.653 * [backup-simplify]: Simplify (/ 1 1) into 1 4.653 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in phi1 4.654 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi1 4.654 * [taylor]: Taking taylor expansion of 2 in phi1 4.654 * [backup-simplify]: Simplify 2 into 2 4.654 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi1 4.654 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 4.654 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 4.654 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 4.654 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.654 * [backup-simplify]: Simplify 0.5 into 0.5 4.654 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 4.654 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 4.654 * [taylor]: Taking taylor expansion of phi1 in phi1 4.654 * [backup-simplify]: Simplify 0 into 0 4.654 * [backup-simplify]: Simplify 1 into 1 4.654 * [backup-simplify]: Simplify (/ 1 1) into 1 4.654 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 4.654 * [taylor]: Taking taylor expansion of phi2 in phi1 4.654 * [backup-simplify]: Simplify phi2 into phi2 4.654 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.655 * [backup-simplify]: Simplify (+ 1 0) into 1 4.660 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 4.660 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.660 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 4.660 * [taylor]: Taking taylor expansion of lambda2 in phi1 4.660 * [backup-simplify]: Simplify lambda2 into lambda2 4.660 * [taylor]: Taking taylor expansion of lambda1 in phi1 4.660 * [backup-simplify]: Simplify lambda1 into lambda1 4.660 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.660 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 4.661 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) 4.661 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi1 4.661 * [taylor]: Taking taylor expansion of 2 in phi1 4.661 * [backup-simplify]: Simplify 2 into 2 4.661 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi1 4.661 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 4.661 * [taylor]: Taking taylor expansion of phi2 in phi1 4.661 * [backup-simplify]: Simplify phi2 into phi2 4.661 * [taylor]: Taking taylor expansion of phi1 in phi1 4.661 * [backup-simplify]: Simplify 0 into 0 4.661 * [backup-simplify]: Simplify 1 into 1 4.661 * [backup-simplify]: Simplify (* phi2 0) into 0 4.661 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 4.661 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.662 * [backup-simplify]: Simplify (+ 0 1) into 1 4.662 * [backup-simplify]: Simplify (+ 0 1) into 1 4.662 * [backup-simplify]: Simplify (+ 0 1) into 1 4.663 * [backup-simplify]: Simplify (+ 1 0) into 1 4.663 * [backup-simplify]: Simplify (sqrt 1) into 1 4.663 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 4.664 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 4.664 * [backup-simplify]: Simplify (+ 0 0) into 0 4.664 * [backup-simplify]: Simplify (+ 0 0) into 0 4.664 * [backup-simplify]: Simplify (+ 0 0) into 0 4.664 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 4.664 * [backup-simplify]: Simplify (+ 0 (/ 2 phi2)) into (* 2 (/ 1 phi2)) 4.664 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi2))) into (- (* 2 (/ 1 phi2))) 4.665 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 4.665 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi2))) (* 2 (sqrt 1))) into (/ -1 phi2) 4.665 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in lambda2 4.665 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in lambda2 4.665 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) in lambda2 4.665 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda2 4.665 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 4.665 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 4.665 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 4.665 * [taylor]: Taking taylor expansion of 0.5 in lambda2 4.665 * [backup-simplify]: Simplify 0.5 into 0.5 4.665 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 4.665 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 4.665 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.665 * [backup-simplify]: Simplify phi1 into phi1 4.665 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.665 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 4.665 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.665 * [backup-simplify]: Simplify phi2 into phi2 4.665 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.665 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 4.665 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 4.666 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.666 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.666 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.666 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 4.666 * [backup-simplify]: Simplify (- 0) into 0 4.666 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.666 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 4.666 * [taylor]: Taking taylor expansion of lambda1 in lambda2 4.666 * [backup-simplify]: Simplify lambda1 into lambda1 4.667 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.667 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 4.667 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 4.667 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) in lambda2 4.667 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda2 4.667 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 4.667 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.667 * [backup-simplify]: Simplify phi2 into phi2 4.667 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 4.667 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 4.667 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) in lambda2 4.667 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda2 4.667 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 4.667 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 4.667 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 4.667 * [taylor]: Taking taylor expansion of 0.5 in lambda2 4.667 * [backup-simplify]: Simplify 0.5 into 0.5 4.667 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 4.667 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 4.667 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.667 * [backup-simplify]: Simplify phi1 into phi1 4.667 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.667 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 4.667 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.667 * [backup-simplify]: Simplify phi2 into phi2 4.667 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.667 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 4.668 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 4.668 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.668 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.668 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.668 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 4.668 * [backup-simplify]: Simplify (- 0) into 0 4.668 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.668 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 4.668 * [taylor]: Taking taylor expansion of lambda2 in lambda2 4.668 * [backup-simplify]: Simplify 0 into 0 4.668 * [backup-simplify]: Simplify 1 into 1 4.669 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.669 * [backup-simplify]: Simplify (* 1 1) into 1 4.669 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.669 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda2 4.669 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 4.669 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.669 * [backup-simplify]: Simplify phi1 into phi1 4.669 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 4.669 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 4.669 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in lambda2 4.669 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda2 4.669 * [taylor]: Taking taylor expansion of 2 in lambda2 4.669 * [backup-simplify]: Simplify 2 into 2 4.669 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda2 4.669 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 4.669 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 4.669 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 4.669 * [taylor]: Taking taylor expansion of 0.5 in lambda2 4.669 * [backup-simplify]: Simplify 0.5 into 0.5 4.669 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 4.670 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 4.670 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.670 * [backup-simplify]: Simplify phi1 into phi1 4.670 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.670 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 4.670 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.670 * [backup-simplify]: Simplify phi2 into phi2 4.670 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.670 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 4.670 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 4.670 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.670 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.670 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.670 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 4.670 * [backup-simplify]: Simplify (- 0) into 0 4.671 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.671 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda2 4.671 * [taylor]: Taking taylor expansion of lambda2 in lambda2 4.671 * [backup-simplify]: Simplify 0 into 0 4.671 * [backup-simplify]: Simplify 1 into 1 4.671 * [taylor]: Taking taylor expansion of lambda1 in lambda2 4.671 * [backup-simplify]: Simplify lambda1 into lambda1 4.671 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.671 * [backup-simplify]: Simplify (* 0 lambda1) into 0 4.671 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda1)) into lambda1 4.671 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) 4.671 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda2 4.671 * [taylor]: Taking taylor expansion of 2 in lambda2 4.671 * [backup-simplify]: Simplify 2 into 2 4.671 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda2 4.672 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 4.672 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.672 * [backup-simplify]: Simplify phi2 into phi2 4.672 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.672 * [backup-simplify]: Simplify phi1 into phi1 4.672 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 4.672 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 4.672 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.672 * [backup-simplify]: Simplify (+ 0 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.672 * [backup-simplify]: Simplify (+ 0 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.672 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.673 * [backup-simplify]: Simplify (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.673 * [backup-simplify]: Simplify (+ 0) into 0 4.673 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 4.673 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 4.673 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 4.674 * [backup-simplify]: Simplify (+ 0 0) into 0 4.674 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 4.674 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.675 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 4.675 * [backup-simplify]: Simplify (- 0) into 0 4.675 * [backup-simplify]: Simplify (+ 0 0) into 0 4.675 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 4.676 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 4.677 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 4.677 * [backup-simplify]: Simplify (+ 0 0) into 0 4.677 * [backup-simplify]: Simplify (+ 0 0) into 0 4.677 * [backup-simplify]: Simplify (+ 0 0) into 0 4.677 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 4.678 * [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)) 4.678 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 4.678 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 4.679 * [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)) 4.679 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in lambda1 4.679 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in lambda1 4.679 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) in lambda1 4.679 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda1 4.679 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 4.679 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 4.679 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 4.679 * [taylor]: Taking taylor expansion of 0.5 in lambda1 4.679 * [backup-simplify]: Simplify 0.5 into 0.5 4.679 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 4.679 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 4.679 * [taylor]: Taking taylor expansion of phi1 in lambda1 4.679 * [backup-simplify]: Simplify phi1 into phi1 4.679 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.679 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 4.679 * [taylor]: Taking taylor expansion of phi2 in lambda1 4.679 * [backup-simplify]: Simplify phi2 into phi2 4.679 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.679 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 4.679 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 4.679 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.680 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.680 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.680 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 4.680 * [backup-simplify]: Simplify (- 0) into 0 4.680 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.680 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 4.680 * [taylor]: Taking taylor expansion of lambda1 in lambda1 4.680 * [backup-simplify]: Simplify 0 into 0 4.680 * [backup-simplify]: Simplify 1 into 1 4.680 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.681 * [backup-simplify]: Simplify (* 1 1) into 1 4.681 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.681 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) in lambda1 4.681 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda1 4.681 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 4.681 * [taylor]: Taking taylor expansion of phi2 in lambda1 4.681 * [backup-simplify]: Simplify phi2 into phi2 4.681 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 4.681 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 4.681 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) in lambda1 4.681 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda1 4.681 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 4.681 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 4.681 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 4.681 * [taylor]: Taking taylor expansion of 0.5 in lambda1 4.681 * [backup-simplify]: Simplify 0.5 into 0.5 4.681 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 4.681 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 4.681 * [taylor]: Taking taylor expansion of phi1 in lambda1 4.681 * [backup-simplify]: Simplify phi1 into phi1 4.681 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.681 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 4.681 * [taylor]: Taking taylor expansion of phi2 in lambda1 4.681 * [backup-simplify]: Simplify phi2 into phi2 4.681 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.681 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 4.682 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 4.682 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.682 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.682 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.682 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 4.682 * [backup-simplify]: Simplify (- 0) into 0 4.682 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.682 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 4.682 * [taylor]: Taking taylor expansion of lambda2 in lambda1 4.682 * [backup-simplify]: Simplify lambda2 into lambda2 4.683 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.683 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 4.683 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 4.683 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda1 4.683 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 4.683 * [taylor]: Taking taylor expansion of phi1 in lambda1 4.683 * [backup-simplify]: Simplify phi1 into phi1 4.683 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 4.683 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 4.683 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in lambda1 4.683 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1 4.683 * [taylor]: Taking taylor expansion of 2 in lambda1 4.683 * [backup-simplify]: Simplify 2 into 2 4.683 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1 4.683 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 4.683 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 4.683 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 4.683 * [taylor]: Taking taylor expansion of 0.5 in lambda1 4.683 * [backup-simplify]: Simplify 0.5 into 0.5 4.683 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 4.683 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 4.683 * [taylor]: Taking taylor expansion of phi1 in lambda1 4.683 * [backup-simplify]: Simplify phi1 into phi1 4.683 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.683 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 4.683 * [taylor]: Taking taylor expansion of phi2 in lambda1 4.683 * [backup-simplify]: Simplify phi2 into phi2 4.683 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.684 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 4.684 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 4.684 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.684 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.684 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.684 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 4.684 * [backup-simplify]: Simplify (- 0) into 0 4.684 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.684 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 4.684 * [taylor]: Taking taylor expansion of lambda2 in lambda1 4.684 * [backup-simplify]: Simplify lambda2 into lambda2 4.684 * [taylor]: Taking taylor expansion of lambda1 in lambda1 4.684 * [backup-simplify]: Simplify 0 into 0 4.685 * [backup-simplify]: Simplify 1 into 1 4.685 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.685 * [backup-simplify]: Simplify (* lambda2 0) into 0 4.685 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 4.685 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) 4.685 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda1 4.685 * [taylor]: Taking taylor expansion of 2 in lambda1 4.685 * [backup-simplify]: Simplify 2 into 2 4.685 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda1 4.685 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda1 4.685 * [taylor]: Taking taylor expansion of phi2 in lambda1 4.685 * [backup-simplify]: Simplify phi2 into phi2 4.685 * [taylor]: Taking taylor expansion of phi1 in lambda1 4.685 * [backup-simplify]: Simplify phi1 into phi1 4.685 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 4.685 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 4.686 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.686 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.686 * [backup-simplify]: Simplify (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.686 * [backup-simplify]: Simplify (+ 0) into 0 4.687 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 4.687 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 4.687 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 4.687 * [backup-simplify]: Simplify (+ 0 0) into 0 4.687 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 4.688 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.688 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 4.688 * [backup-simplify]: Simplify (- 0) into 0 4.689 * [backup-simplify]: Simplify (+ 0 0) into 0 4.689 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 4.689 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 4.690 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 4.690 * [backup-simplify]: Simplify (+ 0 0) into 0 4.690 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 4.691 * [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)) 4.691 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 4.691 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 4.692 * [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)) 4.692 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in lambda1 4.692 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in lambda1 4.692 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) in lambda1 4.692 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda1 4.692 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 4.692 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 4.692 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 4.692 * [taylor]: Taking taylor expansion of 0.5 in lambda1 4.692 * [backup-simplify]: Simplify 0.5 into 0.5 4.692 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 4.692 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 4.692 * [taylor]: Taking taylor expansion of phi1 in lambda1 4.692 * [backup-simplify]: Simplify phi1 into phi1 4.692 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.692 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 4.692 * [taylor]: Taking taylor expansion of phi2 in lambda1 4.692 * [backup-simplify]: Simplify phi2 into phi2 4.692 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.692 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 4.693 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 4.693 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.693 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.693 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.693 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 4.693 * [backup-simplify]: Simplify (- 0) into 0 4.693 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.693 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 4.693 * [taylor]: Taking taylor expansion of lambda1 in lambda1 4.693 * [backup-simplify]: Simplify 0 into 0 4.693 * [backup-simplify]: Simplify 1 into 1 4.694 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.694 * [backup-simplify]: Simplify (* 1 1) into 1 4.694 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.694 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) in lambda1 4.694 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda1 4.694 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 4.694 * [taylor]: Taking taylor expansion of phi2 in lambda1 4.694 * [backup-simplify]: Simplify phi2 into phi2 4.694 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 4.694 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 4.694 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) in lambda1 4.694 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda1 4.694 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 4.694 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 4.694 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 4.695 * [taylor]: Taking taylor expansion of 0.5 in lambda1 4.695 * [backup-simplify]: Simplify 0.5 into 0.5 4.695 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 4.695 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 4.695 * [taylor]: Taking taylor expansion of phi1 in lambda1 4.695 * [backup-simplify]: Simplify phi1 into phi1 4.695 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.695 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 4.695 * [taylor]: Taking taylor expansion of phi2 in lambda1 4.695 * [backup-simplify]: Simplify phi2 into phi2 4.695 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.695 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 4.695 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 4.695 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.695 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.695 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.695 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 4.696 * [backup-simplify]: Simplify (- 0) into 0 4.696 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.696 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 4.696 * [taylor]: Taking taylor expansion of lambda2 in lambda1 4.696 * [backup-simplify]: Simplify lambda2 into lambda2 4.696 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.696 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 4.696 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 4.696 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda1 4.696 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 4.696 * [taylor]: Taking taylor expansion of phi1 in lambda1 4.696 * [backup-simplify]: Simplify phi1 into phi1 4.696 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 4.696 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 4.696 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in lambda1 4.696 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1 4.696 * [taylor]: Taking taylor expansion of 2 in lambda1 4.697 * [backup-simplify]: Simplify 2 into 2 4.697 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1 4.697 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 4.697 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 4.697 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 4.697 * [taylor]: Taking taylor expansion of 0.5 in lambda1 4.697 * [backup-simplify]: Simplify 0.5 into 0.5 4.697 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 4.697 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 4.697 * [taylor]: Taking taylor expansion of phi1 in lambda1 4.697 * [backup-simplify]: Simplify phi1 into phi1 4.697 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.697 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 4.697 * [taylor]: Taking taylor expansion of phi2 in lambda1 4.697 * [backup-simplify]: Simplify phi2 into phi2 4.697 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.697 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 4.697 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 4.697 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.697 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.697 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.697 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 4.698 * [backup-simplify]: Simplify (- 0) into 0 4.698 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.698 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 4.698 * [taylor]: Taking taylor expansion of lambda2 in lambda1 4.698 * [backup-simplify]: Simplify lambda2 into lambda2 4.698 * [taylor]: Taking taylor expansion of lambda1 in lambda1 4.698 * [backup-simplify]: Simplify 0 into 0 4.698 * [backup-simplify]: Simplify 1 into 1 4.698 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.698 * [backup-simplify]: Simplify (* lambda2 0) into 0 4.699 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 4.699 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) 4.699 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda1 4.699 * [taylor]: Taking taylor expansion of 2 in lambda1 4.699 * [backup-simplify]: Simplify 2 into 2 4.699 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda1 4.699 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda1 4.699 * [taylor]: Taking taylor expansion of phi2 in lambda1 4.699 * [backup-simplify]: Simplify phi2 into phi2 4.699 * [taylor]: Taking taylor expansion of phi1 in lambda1 4.699 * [backup-simplify]: Simplify phi1 into phi1 4.699 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 4.699 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 4.699 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.700 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.700 * [backup-simplify]: Simplify (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.700 * [backup-simplify]: Simplify (+ 0) into 0 4.701 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 4.701 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 4.701 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 4.701 * [backup-simplify]: Simplify (+ 0 0) into 0 4.701 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 4.702 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.702 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 4.702 * [backup-simplify]: Simplify (- 0) into 0 4.703 * [backup-simplify]: Simplify (+ 0 0) into 0 4.703 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 4.703 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 4.704 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 4.704 * [backup-simplify]: Simplify (+ 0 0) into 0 4.704 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 4.705 * [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)) 4.705 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 4.705 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 4.706 * [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)) 4.706 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 4.706 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 4.706 * [taylor]: Taking taylor expansion of 0.5 in lambda2 4.706 * [backup-simplify]: Simplify 0.5 into 0.5 4.706 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 4.706 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 4.706 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.706 * [backup-simplify]: Simplify phi1 into phi1 4.706 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.706 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 4.706 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.706 * [backup-simplify]: Simplify phi2 into phi2 4.706 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.706 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 4.706 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 4.706 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.706 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.706 * [taylor]: Taking taylor expansion of (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) in lambda2 4.706 * [taylor]: Taking taylor expansion of -1 in lambda2 4.706 * [backup-simplify]: Simplify -1 into -1 4.706 * [taylor]: Taking taylor expansion of (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2) in lambda2 4.706 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 4.706 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 4.706 * [taylor]: Taking taylor expansion of 0.5 in lambda2 4.706 * [backup-simplify]: Simplify 0.5 into 0.5 4.706 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 4.706 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 4.706 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.707 * [backup-simplify]: Simplify phi1 into phi1 4.707 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.707 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 4.707 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.707 * [backup-simplify]: Simplify phi2 into phi2 4.707 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.707 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 4.707 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 4.707 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.707 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.707 * [taylor]: Taking taylor expansion of lambda2 in lambda2 4.707 * [backup-simplify]: Simplify 0 into 0 4.707 * [backup-simplify]: Simplify 1 into 1 4.707 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.707 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 4.708 * [backup-simplify]: Simplify (- 0) into 0 4.708 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.708 * [backup-simplify]: Simplify (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.708 * [backup-simplify]: Simplify (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 4.708 * [taylor]: Taking taylor expansion of (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1 4.708 * [taylor]: Taking taylor expansion of -1 in phi1 4.708 * [backup-simplify]: Simplify -1 into -1 4.708 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 4.708 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 4.708 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.708 * [backup-simplify]: Simplify 0.5 into 0.5 4.708 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 4.708 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 4.708 * [taylor]: Taking taylor expansion of phi1 in phi1 4.708 * [backup-simplify]: Simplify 0 into 0 4.708 * [backup-simplify]: Simplify 1 into 1 4.708 * [backup-simplify]: Simplify (/ 1 1) into 1 4.708 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 4.708 * [taylor]: Taking taylor expansion of phi2 in phi1 4.708 * [backup-simplify]: Simplify phi2 into phi2 4.708 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.709 * [backup-simplify]: Simplify (+ 1 0) into 1 4.709 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 4.709 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.709 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.709 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 4.710 * [backup-simplify]: Simplify (- 0) into 0 4.710 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.710 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 4.710 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 4.710 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.710 * [backup-simplify]: Simplify 0.5 into 0.5 4.710 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 4.710 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 4.710 * [taylor]: Taking taylor expansion of phi1 in phi1 4.710 * [backup-simplify]: Simplify 0 into 0 4.710 * [backup-simplify]: Simplify 1 into 1 4.710 * [backup-simplify]: Simplify (/ 1 1) into 1 4.710 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 4.710 * [taylor]: Taking taylor expansion of phi2 in phi1 4.710 * [backup-simplify]: Simplify phi2 into phi2 4.710 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.711 * [backup-simplify]: Simplify (+ 1 0) into 1 4.711 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 4.711 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.711 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 4.712 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 4.712 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 4.712 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 4.712 * [backup-simplify]: Simplify (+ 0 0) into 0 4.713 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 4.713 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 4.714 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 4.714 * [backup-simplify]: Simplify (- 0) into 0 4.714 * [backup-simplify]: Simplify (+ 0 0) into 0 4.715 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 4.715 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 4.716 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)) (* 0 (/ 0 1)))) into 0 4.717 * [backup-simplify]: Simplify (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) into (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) 4.717 * [backup-simplify]: Simplify (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) into (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) 4.718 * [backup-simplify]: Simplify (+ 0 (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) into (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) 4.718 * [backup-simplify]: Simplify (+ 0) into 0 4.719 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 4.719 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 4.719 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 4.719 * [backup-simplify]: Simplify (+ 0 0) into 0 4.719 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 4.720 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.720 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 4.720 * [backup-simplify]: Simplify (- 0) into 0 4.721 * [backup-simplify]: Simplify (+ 0 0) into 0 4.721 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 4.721 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 1) (* 0 0))) into 0 4.722 * [backup-simplify]: Simplify (- (/ 0 lambda2) (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) (/ 0 lambda2)))) into 0 4.722 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into 0 4.722 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi2 phi1))) into (/ 2 (* phi2 phi1)) 4.722 * [backup-simplify]: Simplify (+ 0 (/ 2 (* phi2 phi1))) into (* 2 (/ 1 (* phi2 phi1))) 4.722 * [backup-simplify]: Simplify (- (* 2 (/ 1 (* phi2 phi1)))) into (- (* 2 (/ 1 (* phi2 phi1)))) 4.723 * [backup-simplify]: Simplify (+ (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) (- (* 2 (/ 1 (* phi2 phi1))))) into (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) (* 2 (/ 1 (* phi2 phi1)))) 4.724 * [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)))))) 4.724 * [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 4.724 * [taylor]: Taking taylor expansion of 1/2 in lambda2 4.724 * [backup-simplify]: Simplify 1/2 into 1/2 4.724 * [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 4.724 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) in lambda2 4.724 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in lambda2 4.724 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda2 4.724 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 4.725 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.725 * [backup-simplify]: Simplify phi2 into phi2 4.725 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 4.725 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 4.725 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda2 4.725 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 4.725 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.725 * [backup-simplify]: Simplify phi1 into phi1 4.725 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 4.725 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 4.725 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda2 4.725 * [taylor]: Taking taylor expansion of 2 in lambda2 4.725 * [backup-simplify]: Simplify 2 into 2 4.725 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda2 4.725 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 4.725 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.725 * [backup-simplify]: Simplify phi2 into phi2 4.725 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.725 * [backup-simplify]: Simplify phi1 into phi1 4.725 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 4.725 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 4.725 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 4.725 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 4.725 * [taylor]: Taking taylor expansion of 0.5 in lambda2 4.725 * [backup-simplify]: Simplify 0.5 into 0.5 4.725 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 4.725 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 4.725 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.725 * [backup-simplify]: Simplify phi1 into phi1 4.725 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.725 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 4.725 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.725 * [backup-simplify]: Simplify phi2 into phi2 4.725 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.725 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 4.726 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 4.726 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.726 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.726 * [backup-simplify]: Simplify (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) into (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) 4.726 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi2 phi1))) into (/ 2 (* phi2 phi1)) 4.726 * [backup-simplify]: Simplify (- (/ 2 (* phi2 phi1))) into (- (* 2 (/ 1 (* phi2 phi1)))) 4.726 * [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)))) 4.727 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.727 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 4.727 * [backup-simplify]: Simplify (- 0) into 0 4.727 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.727 * [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))))) 4.728 * [backup-simplify]: Simplify (+ 0) into 0 4.728 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 4.728 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 4.728 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 4.729 * [backup-simplify]: Simplify (+ 0 0) into 0 4.729 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 4.729 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.730 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 4.730 * [backup-simplify]: Simplify (- 0) into 0 4.730 * [backup-simplify]: Simplify (+ 0 0) into 0 4.731 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (/ 0 1)))) into 0 4.731 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 4.731 * [taylor]: Taking taylor expansion of 0 in phi1 4.731 * [backup-simplify]: Simplify 0 into 0 4.732 * [backup-simplify]: Simplify (+ 0) into 0 4.732 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 4.732 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 4.732 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 4.732 * [backup-simplify]: Simplify (+ 0 0) into 0 4.733 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 4.733 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.734 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 4.734 * [backup-simplify]: Simplify (- 0) into 0 4.734 * [backup-simplify]: Simplify (+ 0 0) into 0 4.734 * [taylor]: Taking taylor expansion of 0 in phi1 4.734 * [backup-simplify]: Simplify 0 into 0 4.734 * [backup-simplify]: Simplify (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 4.734 * [taylor]: Taking taylor expansion of (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 4.734 * [taylor]: Taking taylor expansion of -1 in phi2 4.734 * [backup-simplify]: Simplify -1 into -1 4.734 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 4.734 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 4.734 * [taylor]: Taking taylor expansion of 0.5 in phi2 4.734 * [backup-simplify]: Simplify 0.5 into 0.5 4.734 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 4.734 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 4.734 * [taylor]: Taking taylor expansion of phi1 in phi2 4.734 * [backup-simplify]: Simplify phi1 into phi1 4.734 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.734 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 4.734 * [taylor]: Taking taylor expansion of phi2 in phi2 4.734 * [backup-simplify]: Simplify 0 into 0 4.734 * [backup-simplify]: Simplify 1 into 1 4.735 * [backup-simplify]: Simplify (/ 1 1) into 1 4.735 * [backup-simplify]: Simplify (+ 0 1) into 1 4.735 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 4.735 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.735 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 4.735 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 4.735 * [taylor]: Taking taylor expansion of 0.5 in phi2 4.736 * [backup-simplify]: Simplify 0.5 into 0.5 4.736 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 4.736 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 4.736 * [taylor]: Taking taylor expansion of phi1 in phi2 4.736 * [backup-simplify]: Simplify phi1 into phi1 4.736 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.736 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 4.736 * [taylor]: Taking taylor expansion of phi2 in phi2 4.736 * [backup-simplify]: Simplify 0 into 0 4.736 * [backup-simplify]: Simplify 1 into 1 4.736 * [backup-simplify]: Simplify (/ 1 1) into 1 4.736 * [backup-simplify]: Simplify (+ 0 1) into 1 4.736 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 4.737 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.737 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 4.738 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 4.738 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 4.738 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 4.738 * [backup-simplify]: Simplify (+ 0 0) into 0 4.739 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 4.740 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 4.740 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 4.741 * [backup-simplify]: Simplify (- 0) into 0 4.741 * [backup-simplify]: Simplify (+ 0 0) into 0 4.742 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into 0 4.742 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 4.743 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0 4.743 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 4.744 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi2 2)) (/ 0 (pow phi2 2))))) into 0 4.744 * [backup-simplify]: Simplify (+ 0) into 0 4.744 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 4.744 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 4.745 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 4.745 * [backup-simplify]: Simplify (+ 0 0) into 0 4.745 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 4.746 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.746 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 4.746 * [backup-simplify]: Simplify (- 0) into 0 4.746 * [backup-simplify]: Simplify (+ 0 0) into 0 4.747 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 4.747 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 4.747 * [backup-simplify]: Simplify (- (/ 0 (pow lambda2 2)) (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 0 (pow lambda2 2))))) into 0 4.747 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 4.747 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi1 2)) (/ 0 (pow phi1 2))))) into 0 4.748 * [backup-simplify]: Simplify (+ 0 0) into 0 4.748 * [backup-simplify]: Simplify (+ 0 0) into 0 4.748 * [backup-simplify]: Simplify (+ 0 0) into 0 4.749 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 4.749 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 4.749 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 4.749 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 4.749 * [backup-simplify]: Simplify (+ 0 0) into 0 4.750 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 4.751 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 4.751 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 4.751 * [backup-simplify]: Simplify (- 0) into 0 4.751 * [backup-simplify]: Simplify (+ 0 0) into 0 4.752 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 4.752 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (+ (* 0 1) (* 0 0)))) into 0 4.753 * [backup-simplify]: Simplify (- (/ 0 lambda2) (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) (/ 0 lambda2)) (* 0 (/ 0 lambda2)))) into 0 4.753 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) into 0 4.753 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 4.754 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* phi2 phi1)) (/ 0 (* phi2 phi1))))) into 0 4.754 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ 1 (* phi2 phi1)))) into 0 4.754 * [backup-simplify]: Simplify (+ 0 0) into 0 4.754 * [backup-simplify]: Simplify (- 0) into 0 4.755 * [backup-simplify]: Simplify (+ 0 0) into 0 4.755 * [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)))))) 4.756 * [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 4.756 * [taylor]: Taking taylor expansion of 1/2 in lambda2 4.756 * [backup-simplify]: Simplify 1/2 into 1/2 4.756 * [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 4.756 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (* lambda2 (pow phi1 2))) (/ 1 (* (pow phi2 2) lambda2))) (* 2 (/ 1 (* phi2 (* lambda2 phi1))))) in lambda2 4.756 * [taylor]: Taking taylor expansion of (+ (/ 1 (* lambda2 (pow phi1 2))) (/ 1 (* (pow phi2 2) lambda2))) in lambda2 4.756 * [taylor]: Taking taylor expansion of (/ 1 (* lambda2 (pow phi1 2))) in lambda2 4.756 * [taylor]: Taking taylor expansion of (* lambda2 (pow phi1 2)) in lambda2 4.756 * [taylor]: Taking taylor expansion of lambda2 in lambda2 4.756 * [backup-simplify]: Simplify 0 into 0 4.756 * [backup-simplify]: Simplify 1 into 1 4.756 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 4.756 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.756 * [backup-simplify]: Simplify phi1 into phi1 4.756 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 4.756 * [backup-simplify]: Simplify (* 0 (pow phi1 2)) into 0 4.756 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 4.756 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow phi1 2))) into (pow phi1 2) 4.756 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 4.757 * [taylor]: Taking taylor expansion of (/ 1 (* (pow phi2 2) lambda2)) in lambda2 4.757 * [taylor]: Taking taylor expansion of (* (pow phi2 2) lambda2) in lambda2 4.757 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 4.757 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.757 * [backup-simplify]: Simplify phi2 into phi2 4.757 * [taylor]: Taking taylor expansion of lambda2 in lambda2 4.757 * [backup-simplify]: Simplify 0 into 0 4.757 * [backup-simplify]: Simplify 1 into 1 4.757 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 4.757 * [backup-simplify]: Simplify (* (pow phi2 2) 0) into 0 4.757 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 4.757 * [backup-simplify]: Simplify (+ (* (pow phi2 2) 1) (* 0 0)) into (pow phi2 2) 4.757 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 4.757 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 (* lambda2 phi1)))) in lambda2 4.757 * [taylor]: Taking taylor expansion of 2 in lambda2 4.757 * [backup-simplify]: Simplify 2 into 2 4.757 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (* lambda2 phi1))) in lambda2 4.757 * [taylor]: Taking taylor expansion of (* phi2 (* lambda2 phi1)) in lambda2 4.757 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.757 * [backup-simplify]: Simplify phi2 into phi2 4.757 * [taylor]: Taking taylor expansion of (* lambda2 phi1) in lambda2 4.757 * [taylor]: Taking taylor expansion of lambda2 in lambda2 4.757 * [backup-simplify]: Simplify 0 into 0 4.757 * [backup-simplify]: Simplify 1 into 1 4.757 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.757 * [backup-simplify]: Simplify phi1 into phi1 4.757 * [backup-simplify]: Simplify (* 0 phi1) into 0 4.758 * [backup-simplify]: Simplify (* phi2 0) into 0 4.758 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 4.758 * [backup-simplify]: Simplify (+ (* phi2 phi1) (* 0 0)) into (* phi2 phi1) 4.758 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 4.758 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 4.758 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 4.758 * [taylor]: Taking taylor expansion of 0.5 in lambda2 4.758 * [backup-simplify]: Simplify 0.5 into 0.5 4.758 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 4.758 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 4.758 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.758 * [backup-simplify]: Simplify phi1 into phi1 4.758 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.758 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 4.758 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.758 * [backup-simplify]: Simplify phi2 into phi2 4.758 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.758 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 4.759 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 4.759 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.759 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.759 * [backup-simplify]: Simplify (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) into (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) 4.759 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi2 phi1))) into (/ 2 (* phi2 phi1)) 4.759 * [backup-simplify]: Simplify (- (/ 2 (* phi2 phi1))) into (- (* 2 (/ 1 (* phi2 phi1)))) 4.759 * [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)))) 4.759 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.760 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 4.765 * [backup-simplify]: Simplify (- 0) into 0 4.765 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.766 * [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))))) 4.766 * [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)))))) 4.766 * [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 4.766 * [taylor]: Taking taylor expansion of 1/2 in phi1 4.766 * [backup-simplify]: Simplify 1/2 into 1/2 4.766 * [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 4.766 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) in phi1 4.766 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in phi1 4.766 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 4.766 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 4.766 * [taylor]: Taking taylor expansion of phi2 in phi1 4.766 * [backup-simplify]: Simplify phi2 into phi2 4.766 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 4.766 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 4.766 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 4.766 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 4.766 * [taylor]: Taking taylor expansion of phi1 in phi1 4.766 * [backup-simplify]: Simplify 0 into 0 4.766 * [backup-simplify]: Simplify 1 into 1 4.767 * [backup-simplify]: Simplify (* 1 1) into 1 4.767 * [backup-simplify]: Simplify (/ 1 1) into 1 4.767 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi1 4.767 * [taylor]: Taking taylor expansion of 2 in phi1 4.767 * [backup-simplify]: Simplify 2 into 2 4.767 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi1 4.767 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 4.767 * [taylor]: Taking taylor expansion of phi2 in phi1 4.767 * [backup-simplify]: Simplify phi2 into phi2 4.767 * [taylor]: Taking taylor expansion of phi1 in phi1 4.767 * [backup-simplify]: Simplify 0 into 0 4.767 * [backup-simplify]: Simplify 1 into 1 4.767 * [backup-simplify]: Simplify (* phi2 0) into 0 4.768 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 4.768 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.768 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 4.768 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 4.768 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.768 * [backup-simplify]: Simplify 0.5 into 0.5 4.768 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 4.768 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 4.768 * [taylor]: Taking taylor expansion of phi1 in phi1 4.768 * [backup-simplify]: Simplify 0 into 0 4.768 * [backup-simplify]: Simplify 1 into 1 4.768 * [backup-simplify]: Simplify (/ 1 1) into 1 4.768 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 4.768 * [taylor]: Taking taylor expansion of phi2 in phi1 4.768 * [backup-simplify]: Simplify phi2 into phi2 4.768 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.768 * [backup-simplify]: Simplify (+ 1 0) into 1 4.769 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 4.769 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.769 * [backup-simplify]: Simplify (+ 0 1) into 1 4.770 * [backup-simplify]: Simplify (+ 1 0) into 1 4.770 * [backup-simplify]: Simplify (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 4.770 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 4.771 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 4.771 * [backup-simplify]: Simplify (+ 0 0) into 0 4.771 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 4.771 * [backup-simplify]: Simplify (- (/ 2 phi2)) into (- (* 2 (/ 1 phi2))) 4.771 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 4.771 * [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)))))))) 4.772 * [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))))))) 4.772 * [taylor]: Taking taylor expansion of (- (/ 1 (* phi2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in phi2 4.772 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi2 4.772 * [taylor]: Taking taylor expansion of (* phi2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 4.772 * [taylor]: Taking taylor expansion of phi2 in phi2 4.772 * [backup-simplify]: Simplify 0 into 0 4.772 * [backup-simplify]: Simplify 1 into 1 4.772 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 4.772 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 4.772 * [taylor]: Taking taylor expansion of 0.5 in phi2 4.772 * [backup-simplify]: Simplify 0.5 into 0.5 4.772 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 4.772 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 4.772 * [taylor]: Taking taylor expansion of phi1 in phi2 4.772 * [backup-simplify]: Simplify phi1 into phi1 4.772 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.772 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 4.772 * [taylor]: Taking taylor expansion of phi2 in phi2 4.772 * [backup-simplify]: Simplify 0 into 0 4.772 * [backup-simplify]: Simplify 1 into 1 4.772 * [backup-simplify]: Simplify (/ 1 1) into 1 4.773 * [backup-simplify]: Simplify (+ 0 1) into 1 4.773 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 4.773 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.773 * [backup-simplify]: Simplify (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 4.773 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.774 * [backup-simplify]: Simplify (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 4.774 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 4.774 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 4.774 * [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)))))) 4.774 * [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 4.774 * [taylor]: Taking taylor expansion of 1/2 in phi1 4.774 * [backup-simplify]: Simplify 1/2 into 1/2 4.774 * [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 4.774 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) in phi1 4.775 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in phi1 4.775 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 4.775 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 4.775 * [taylor]: Taking taylor expansion of phi2 in phi1 4.775 * [backup-simplify]: Simplify phi2 into phi2 4.775 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 4.775 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 4.775 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 4.775 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 4.775 * [taylor]: Taking taylor expansion of phi1 in phi1 4.775 * [backup-simplify]: Simplify 0 into 0 4.775 * [backup-simplify]: Simplify 1 into 1 4.775 * [backup-simplify]: Simplify (* 1 1) into 1 4.775 * [backup-simplify]: Simplify (/ 1 1) into 1 4.775 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi1 4.775 * [taylor]: Taking taylor expansion of 2 in phi1 4.775 * [backup-simplify]: Simplify 2 into 2 4.775 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi1 4.775 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 4.775 * [taylor]: Taking taylor expansion of phi2 in phi1 4.775 * [backup-simplify]: Simplify phi2 into phi2 4.775 * [taylor]: Taking taylor expansion of phi1 in phi1 4.776 * [backup-simplify]: Simplify 0 into 0 4.776 * [backup-simplify]: Simplify 1 into 1 4.776 * [backup-simplify]: Simplify (* phi2 0) into 0 4.776 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 4.776 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.776 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 4.776 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 4.776 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.776 * [backup-simplify]: Simplify 0.5 into 0.5 4.776 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 4.776 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 4.776 * [taylor]: Taking taylor expansion of phi1 in phi1 4.776 * [backup-simplify]: Simplify 0 into 0 4.776 * [backup-simplify]: Simplify 1 into 1 4.776 * [backup-simplify]: Simplify (/ 1 1) into 1 4.776 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 4.776 * [taylor]: Taking taylor expansion of phi2 in phi1 4.776 * [backup-simplify]: Simplify phi2 into phi2 4.776 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.777 * [backup-simplify]: Simplify (+ 1 0) into 1 4.777 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 4.777 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.777 * [backup-simplify]: Simplify (+ 0 1) into 1 4.778 * [backup-simplify]: Simplify (+ 1 0) into 1 4.778 * [backup-simplify]: Simplify (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 4.778 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 4.779 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 4.779 * [backup-simplify]: Simplify (+ 0 0) into 0 4.779 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 4.779 * [backup-simplify]: Simplify (- (/ 2 phi2)) into (- (* 2 (/ 1 phi2))) 4.779 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 4.779 * [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)))))))) 4.780 * [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))))))) 4.780 * [taylor]: Taking taylor expansion of (- (/ 1 (* phi2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in phi2 4.780 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi2 4.780 * [taylor]: Taking taylor expansion of (* phi2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 4.780 * [taylor]: Taking taylor expansion of phi2 in phi2 4.780 * [backup-simplify]: Simplify 0 into 0 4.780 * [backup-simplify]: Simplify 1 into 1 4.780 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 4.780 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 4.780 * [taylor]: Taking taylor expansion of 0.5 in phi2 4.780 * [backup-simplify]: Simplify 0.5 into 0.5 4.780 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 4.780 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 4.780 * [taylor]: Taking taylor expansion of phi1 in phi2 4.780 * [backup-simplify]: Simplify phi1 into phi1 4.780 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.780 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 4.780 * [taylor]: Taking taylor expansion of phi2 in phi2 4.780 * [backup-simplify]: Simplify 0 into 0 4.780 * [backup-simplify]: Simplify 1 into 1 4.780 * [backup-simplify]: Simplify (/ 1 1) into 1 4.781 * [backup-simplify]: Simplify (+ 0 1) into 1 4.781 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 4.781 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.781 * [backup-simplify]: Simplify (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 4.782 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.782 * [backup-simplify]: Simplify (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 4.782 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 4.782 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 4.783 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 4.783 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 4.783 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 4.783 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 4.784 * [backup-simplify]: Simplify (+ 0 0) into 0 4.784 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 4.785 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 4.785 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 4.785 * [backup-simplify]: Simplify (- 0) into 0 4.785 * [backup-simplify]: Simplify (+ 0 0) into 0 4.786 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (/ 0 1)) (* 0 (/ 0 1)))) into 0 4.787 * [backup-simplify]: Simplify (+ (* -1 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 4.787 * [taylor]: Taking taylor expansion of 0 in phi1 4.787 * [backup-simplify]: Simplify 0 into 0 4.787 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 4.788 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 4.788 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 4.788 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 4.788 * [backup-simplify]: Simplify (+ 0 0) into 0 4.789 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 4.790 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 4.790 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 4.790 * [backup-simplify]: Simplify (- 0) into 0 4.790 * [backup-simplify]: Simplify (+ 0 0) into 0 4.790 * [taylor]: Taking taylor expansion of 0 in phi1 4.790 * [backup-simplify]: Simplify 0 into 0 4.791 * [taylor]: Taking taylor expansion of 0 in phi2 4.791 * [backup-simplify]: Simplify 0 into 0 4.791 * [taylor]: Taking taylor expansion of 0 in phi2 4.791 * [backup-simplify]: Simplify 0 into 0 4.791 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 4.791 * [taylor]: Taking taylor expansion of 0 in phi2 4.791 * [backup-simplify]: Simplify 0 into 0 4.791 * [taylor]: Taking taylor expansion of 0 in phi2 4.791 * [backup-simplify]: Simplify 0 into 0 4.791 * [backup-simplify]: Simplify (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 4.791 * [backup-simplify]: Simplify (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 4.793 * [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))))))) 4.793 * [backup-simplify]: Simplify (sqrt (+ (* (* (- (/ 1 (- lambda1)) (/ 1 (- lambda2))) (cos (/ (+ (/ 1 (- phi1)) (/ 1 (- phi2))) 2.0))) (* (- (/ 1 (- lambda1)) (/ 1 (- lambda2))) (cos (/ (+ (/ 1 (- phi1)) (/ 1 (- phi2))) 2.0)))) (* (- (/ 1 (- phi1)) (/ 1 (- phi2))) (- (/ 1 (- phi1)) (/ 1 (- phi2)))))) into (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) 4.793 * [approximate]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in (lambda1 lambda2 phi1 phi2) around 0 4.793 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in phi2 4.794 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in phi2 4.794 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) in phi2 4.794 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi2 4.794 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 4.794 * [taylor]: Taking taylor expansion of phi2 in phi2 4.794 * [backup-simplify]: Simplify 0 into 0 4.794 * [backup-simplify]: Simplify 1 into 1 4.794 * [backup-simplify]: Simplify (* 1 1) into 1 4.794 * [backup-simplify]: Simplify (/ 1 1) into 1 4.794 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))) in phi2 4.794 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in phi2 4.794 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 4.794 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 4.794 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 4.794 * [taylor]: Taking taylor expansion of -0.5 in phi2 4.794 * [backup-simplify]: Simplify -0.5 into -0.5 4.794 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 4.794 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 4.794 * [taylor]: Taking taylor expansion of phi1 in phi2 4.794 * [backup-simplify]: Simplify phi1 into phi1 4.794 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.795 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 4.795 * [taylor]: Taking taylor expansion of phi2 in phi2 4.795 * [backup-simplify]: Simplify 0 into 0 4.795 * [backup-simplify]: Simplify 1 into 1 4.795 * [backup-simplify]: Simplify (/ 1 1) into 1 4.795 * [backup-simplify]: Simplify (+ 0 1) into 1 4.795 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 4.795 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.795 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 4.795 * [taylor]: Taking taylor expansion of lambda2 in phi2 4.796 * [backup-simplify]: Simplify lambda2 into lambda2 4.796 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.796 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 4.796 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 4.796 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))) in phi2 4.796 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi2 4.796 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 4.796 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 4.796 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 4.796 * [taylor]: Taking taylor expansion of -0.5 in phi2 4.796 * [backup-simplify]: Simplify -0.5 into -0.5 4.796 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 4.796 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 4.796 * [taylor]: Taking taylor expansion of phi1 in phi2 4.796 * [backup-simplify]: Simplify phi1 into phi1 4.796 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.796 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 4.796 * [taylor]: Taking taylor expansion of phi2 in phi2 4.796 * [backup-simplify]: Simplify 0 into 0 4.796 * [backup-simplify]: Simplify 1 into 1 4.797 * [backup-simplify]: Simplify (/ 1 1) into 1 4.797 * [backup-simplify]: Simplify (+ 0 1) into 1 4.797 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 4.797 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.797 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 4.797 * [taylor]: Taking taylor expansion of lambda1 in phi2 4.797 * [backup-simplify]: Simplify lambda1 into lambda1 4.797 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.798 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 4.798 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 4.798 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi2 4.798 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 4.798 * [taylor]: Taking taylor expansion of phi1 in phi2 4.798 * [backup-simplify]: Simplify phi1 into phi1 4.798 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 4.798 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 4.798 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in phi2 4.798 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi2 4.798 * [taylor]: Taking taylor expansion of 2 in phi2 4.798 * [backup-simplify]: Simplify 2 into 2 4.798 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi2 4.798 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 4.798 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 4.798 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 4.798 * [taylor]: Taking taylor expansion of -0.5 in phi2 4.798 * [backup-simplify]: Simplify -0.5 into -0.5 4.798 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 4.798 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 4.798 * [taylor]: Taking taylor expansion of phi1 in phi2 4.798 * [backup-simplify]: Simplify phi1 into phi1 4.798 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.798 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 4.798 * [taylor]: Taking taylor expansion of phi2 in phi2 4.798 * [backup-simplify]: Simplify 0 into 0 4.798 * [backup-simplify]: Simplify 1 into 1 4.799 * [backup-simplify]: Simplify (/ 1 1) into 1 4.799 * [backup-simplify]: Simplify (+ 0 1) into 1 4.799 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 4.799 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.799 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi2 4.799 * [taylor]: Taking taylor expansion of lambda2 in phi2 4.799 * [backup-simplify]: Simplify lambda2 into lambda2 4.799 * [taylor]: Taking taylor expansion of lambda1 in phi2 4.799 * [backup-simplify]: Simplify lambda1 into lambda1 4.799 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.800 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 4.800 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) 4.800 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi2 4.800 * [taylor]: Taking taylor expansion of 2 in phi2 4.800 * [backup-simplify]: Simplify 2 into 2 4.800 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi2 4.800 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2 4.800 * [taylor]: Taking taylor expansion of phi2 in phi2 4.800 * [backup-simplify]: Simplify 0 into 0 4.800 * [backup-simplify]: Simplify 1 into 1 4.800 * [taylor]: Taking taylor expansion of phi1 in phi2 4.800 * [backup-simplify]: Simplify phi1 into phi1 4.800 * [backup-simplify]: Simplify (* 0 phi1) into 0 4.800 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 4.800 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.801 * [backup-simplify]: Simplify (+ 1 0) into 1 4.801 * [backup-simplify]: Simplify (+ 1 0) into 1 4.801 * [backup-simplify]: Simplify (sqrt 1) into 1 4.801 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 4.802 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 4.802 * [backup-simplify]: Simplify (+ 0 0) into 0 4.802 * [backup-simplify]: Simplify (* 2 (/ 1 phi1)) into (/ 2 phi1) 4.802 * [backup-simplify]: Simplify (+ 0 (/ 2 phi1)) into (* 2 (/ 1 phi1)) 4.802 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi1))) into (- (* 2 (/ 1 phi1))) 4.802 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1))) 4.803 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi1))) (* 2 (sqrt 1))) into (/ -1 phi1) 4.803 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in phi1 4.803 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in phi1 4.803 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) in phi1 4.803 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 4.803 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 4.803 * [taylor]: Taking taylor expansion of phi2 in phi1 4.803 * [backup-simplify]: Simplify phi2 into phi2 4.803 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 4.803 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 4.803 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))) in phi1 4.803 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in phi1 4.803 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 4.803 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 4.803 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 4.803 * [taylor]: Taking taylor expansion of -0.5 in phi1 4.803 * [backup-simplify]: Simplify -0.5 into -0.5 4.803 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 4.803 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 4.803 * [taylor]: Taking taylor expansion of phi1 in phi1 4.803 * [backup-simplify]: Simplify 0 into 0 4.803 * [backup-simplify]: Simplify 1 into 1 4.803 * [backup-simplify]: Simplify (/ 1 1) into 1 4.803 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 4.804 * [taylor]: Taking taylor expansion of phi2 in phi1 4.804 * [backup-simplify]: Simplify phi2 into phi2 4.804 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.804 * [backup-simplify]: Simplify (+ 1 0) into 1 4.804 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 4.804 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.804 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 4.804 * [taylor]: Taking taylor expansion of lambda2 in phi1 4.804 * [backup-simplify]: Simplify lambda2 into lambda2 4.804 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.805 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 4.805 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 4.805 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))) in phi1 4.805 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi1 4.805 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 4.805 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 4.805 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 4.805 * [taylor]: Taking taylor expansion of -0.5 in phi1 4.805 * [backup-simplify]: Simplify -0.5 into -0.5 4.805 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 4.805 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 4.805 * [taylor]: Taking taylor expansion of phi1 in phi1 4.805 * [backup-simplify]: Simplify 0 into 0 4.805 * [backup-simplify]: Simplify 1 into 1 4.805 * [backup-simplify]: Simplify (/ 1 1) into 1 4.805 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 4.805 * [taylor]: Taking taylor expansion of phi2 in phi1 4.805 * [backup-simplify]: Simplify phi2 into phi2 4.805 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.806 * [backup-simplify]: Simplify (+ 1 0) into 1 4.806 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 4.806 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.806 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 4.806 * [taylor]: Taking taylor expansion of lambda1 in phi1 4.806 * [backup-simplify]: Simplify lambda1 into lambda1 4.806 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.806 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 4.806 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 4.807 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 4.807 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 4.807 * [taylor]: Taking taylor expansion of phi1 in phi1 4.807 * [backup-simplify]: Simplify 0 into 0 4.807 * [backup-simplify]: Simplify 1 into 1 4.807 * [backup-simplify]: Simplify (* 1 1) into 1 4.807 * [backup-simplify]: Simplify (/ 1 1) into 1 4.807 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in phi1 4.807 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi1 4.807 * [taylor]: Taking taylor expansion of 2 in phi1 4.807 * [backup-simplify]: Simplify 2 into 2 4.807 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi1 4.807 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 4.807 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 4.807 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 4.807 * [taylor]: Taking taylor expansion of -0.5 in phi1 4.807 * [backup-simplify]: Simplify -0.5 into -0.5 4.807 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 4.807 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 4.807 * [taylor]: Taking taylor expansion of phi1 in phi1 4.807 * [backup-simplify]: Simplify 0 into 0 4.807 * [backup-simplify]: Simplify 1 into 1 4.808 * [backup-simplify]: Simplify (/ 1 1) into 1 4.808 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 4.808 * [taylor]: Taking taylor expansion of phi2 in phi1 4.808 * [backup-simplify]: Simplify phi2 into phi2 4.808 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.808 * [backup-simplify]: Simplify (+ 1 0) into 1 4.808 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 4.808 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.808 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 4.808 * [taylor]: Taking taylor expansion of lambda2 in phi1 4.808 * [backup-simplify]: Simplify lambda2 into lambda2 4.808 * [taylor]: Taking taylor expansion of lambda1 in phi1 4.808 * [backup-simplify]: Simplify lambda1 into lambda1 4.809 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.809 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 4.809 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) 4.809 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi1 4.809 * [taylor]: Taking taylor expansion of 2 in phi1 4.809 * [backup-simplify]: Simplify 2 into 2 4.809 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi1 4.809 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 4.809 * [taylor]: Taking taylor expansion of phi2 in phi1 4.809 * [backup-simplify]: Simplify phi2 into phi2 4.809 * [taylor]: Taking taylor expansion of phi1 in phi1 4.809 * [backup-simplify]: Simplify 0 into 0 4.809 * [backup-simplify]: Simplify 1 into 1 4.809 * [backup-simplify]: Simplify (* phi2 0) into 0 4.809 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 4.809 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.810 * [backup-simplify]: Simplify (+ 0 1) into 1 4.810 * [backup-simplify]: Simplify (+ 0 1) into 1 4.810 * [backup-simplify]: Simplify (+ 0 1) into 1 4.810 * [backup-simplify]: Simplify (+ 1 0) into 1 4.811 * [backup-simplify]: Simplify (sqrt 1) into 1 4.811 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 4.811 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 4.812 * [backup-simplify]: Simplify (+ 0 0) into 0 4.812 * [backup-simplify]: Simplify (+ 0 0) into 0 4.812 * [backup-simplify]: Simplify (+ 0 0) into 0 4.812 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 4.812 * [backup-simplify]: Simplify (+ 0 (/ 2 phi2)) into (* 2 (/ 1 phi2)) 4.812 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi2))) into (- (* 2 (/ 1 phi2))) 4.812 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 4.813 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi2))) (* 2 (sqrt 1))) into (/ -1 phi2) 4.813 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in lambda2 4.813 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in lambda2 4.813 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) in lambda2 4.813 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda2 4.813 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 4.813 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.813 * [backup-simplify]: Simplify phi2 into phi2 4.813 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 4.813 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 4.813 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))) in lambda2 4.813 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda2 4.813 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 4.813 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 4.813 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 4.813 * [taylor]: Taking taylor expansion of -0.5 in lambda2 4.813 * [backup-simplify]: Simplify -0.5 into -0.5 4.813 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 4.813 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 4.813 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.813 * [backup-simplify]: Simplify phi1 into phi1 4.813 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.813 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 4.813 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.813 * [backup-simplify]: Simplify phi2 into phi2 4.813 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.814 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 4.814 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 4.814 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.814 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.814 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.814 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 4.814 * [backup-simplify]: Simplify (- 0) into 0 4.814 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.814 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 4.814 * [taylor]: Taking taylor expansion of lambda2 in lambda2 4.814 * [backup-simplify]: Simplify 0 into 0 4.814 * [backup-simplify]: Simplify 1 into 1 4.815 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.815 * [backup-simplify]: Simplify (* 1 1) into 1 4.815 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.815 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))) in lambda2 4.815 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda2 4.815 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 4.815 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 4.815 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 4.815 * [taylor]: Taking taylor expansion of -0.5 in lambda2 4.815 * [backup-simplify]: Simplify -0.5 into -0.5 4.815 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 4.815 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 4.815 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.815 * [backup-simplify]: Simplify phi1 into phi1 4.815 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.815 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 4.815 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.815 * [backup-simplify]: Simplify phi2 into phi2 4.815 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.815 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 4.816 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 4.816 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.816 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.816 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.816 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 4.816 * [backup-simplify]: Simplify (- 0) into 0 4.816 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.816 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 4.816 * [taylor]: Taking taylor expansion of lambda1 in lambda2 4.816 * [backup-simplify]: Simplify lambda1 into lambda1 4.817 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.817 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 4.817 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 4.817 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda2 4.817 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 4.817 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.817 * [backup-simplify]: Simplify phi1 into phi1 4.817 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 4.817 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 4.817 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in lambda2 4.817 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda2 4.817 * [taylor]: Taking taylor expansion of 2 in lambda2 4.817 * [backup-simplify]: Simplify 2 into 2 4.817 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda2 4.817 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 4.817 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 4.817 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 4.817 * [taylor]: Taking taylor expansion of -0.5 in lambda2 4.817 * [backup-simplify]: Simplify -0.5 into -0.5 4.818 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 4.818 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 4.818 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.818 * [backup-simplify]: Simplify phi1 into phi1 4.818 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.818 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 4.818 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.818 * [backup-simplify]: Simplify phi2 into phi2 4.818 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.818 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 4.818 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 4.818 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.818 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.818 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.818 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 4.819 * [backup-simplify]: Simplify (- 0) into 0 4.819 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.819 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda2 4.819 * [taylor]: Taking taylor expansion of lambda2 in lambda2 4.819 * [backup-simplify]: Simplify 0 into 0 4.819 * [backup-simplify]: Simplify 1 into 1 4.819 * [taylor]: Taking taylor expansion of lambda1 in lambda2 4.819 * [backup-simplify]: Simplify lambda1 into lambda1 4.819 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.819 * [backup-simplify]: Simplify (* 0 lambda1) into 0 4.820 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda1)) into lambda1 4.820 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) 4.820 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda2 4.820 * [taylor]: Taking taylor expansion of 2 in lambda2 4.820 * [backup-simplify]: Simplify 2 into 2 4.820 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda2 4.820 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 4.820 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.820 * [backup-simplify]: Simplify phi2 into phi2 4.820 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.820 * [backup-simplify]: Simplify phi1 into phi1 4.820 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 4.820 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 4.820 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.821 * [backup-simplify]: Simplify (+ 0 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.821 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.821 * [backup-simplify]: Simplify (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.821 * [backup-simplify]: Simplify (+ 0) into 0 4.822 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 4.822 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 4.822 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 4.822 * [backup-simplify]: Simplify (+ 0 0) into 0 4.822 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 4.823 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.823 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 4.823 * [backup-simplify]: Simplify (- 0) into 0 4.824 * [backup-simplify]: Simplify (+ 0 0) into 0 4.824 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 4.824 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 4.825 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 4.825 * [backup-simplify]: Simplify (+ 0 0) into 0 4.825 * [backup-simplify]: Simplify (+ 0 0) into 0 4.826 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 4.826 * [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)) 4.826 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 4.826 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 4.827 * [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)) 4.827 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in lambda1 4.827 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in lambda1 4.827 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) in lambda1 4.827 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda1 4.827 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 4.827 * [taylor]: Taking taylor expansion of phi2 in lambda1 4.827 * [backup-simplify]: Simplify phi2 into phi2 4.827 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 4.827 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 4.827 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))) in lambda1 4.827 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda1 4.827 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 4.827 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 4.827 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 4.827 * [taylor]: Taking taylor expansion of -0.5 in lambda1 4.827 * [backup-simplify]: Simplify -0.5 into -0.5 4.827 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 4.827 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 4.827 * [taylor]: Taking taylor expansion of phi1 in lambda1 4.827 * [backup-simplify]: Simplify phi1 into phi1 4.827 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.827 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 4.827 * [taylor]: Taking taylor expansion of phi2 in lambda1 4.827 * [backup-simplify]: Simplify phi2 into phi2 4.828 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.828 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 4.828 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 4.828 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.828 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.828 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.828 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 4.828 * [backup-simplify]: Simplify (- 0) into 0 4.829 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.829 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 4.829 * [taylor]: Taking taylor expansion of lambda2 in lambda1 4.829 * [backup-simplify]: Simplify lambda2 into lambda2 4.829 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.829 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 4.829 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 4.829 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))) in lambda1 4.829 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda1 4.829 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 4.829 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 4.829 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 4.829 * [taylor]: Taking taylor expansion of -0.5 in lambda1 4.829 * [backup-simplify]: Simplify -0.5 into -0.5 4.829 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 4.829 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 4.829 * [taylor]: Taking taylor expansion of phi1 in lambda1 4.829 * [backup-simplify]: Simplify phi1 into phi1 4.829 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.829 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 4.829 * [taylor]: Taking taylor expansion of phi2 in lambda1 4.829 * [backup-simplify]: Simplify phi2 into phi2 4.829 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.829 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 4.830 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 4.830 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.830 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.830 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.830 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 4.830 * [backup-simplify]: Simplify (- 0) into 0 4.830 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.830 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 4.830 * [taylor]: Taking taylor expansion of lambda1 in lambda1 4.830 * [backup-simplify]: Simplify 0 into 0 4.830 * [backup-simplify]: Simplify 1 into 1 4.831 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.831 * [backup-simplify]: Simplify (* 1 1) into 1 4.831 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.831 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda1 4.831 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 4.831 * [taylor]: Taking taylor expansion of phi1 in lambda1 4.831 * [backup-simplify]: Simplify phi1 into phi1 4.831 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 4.831 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 4.831 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in lambda1 4.831 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1 4.831 * [taylor]: Taking taylor expansion of 2 in lambda1 4.831 * [backup-simplify]: Simplify 2 into 2 4.831 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1 4.831 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 4.831 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 4.831 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 4.831 * [taylor]: Taking taylor expansion of -0.5 in lambda1 4.831 * [backup-simplify]: Simplify -0.5 into -0.5 4.831 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 4.831 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 4.831 * [taylor]: Taking taylor expansion of phi1 in lambda1 4.832 * [backup-simplify]: Simplify phi1 into phi1 4.832 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.832 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 4.832 * [taylor]: Taking taylor expansion of phi2 in lambda1 4.832 * [backup-simplify]: Simplify phi2 into phi2 4.832 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.832 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 4.832 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 4.832 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.832 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.832 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.832 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 4.832 * [backup-simplify]: Simplify (- 0) into 0 4.833 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.833 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 4.833 * [taylor]: Taking taylor expansion of lambda2 in lambda1 4.833 * [backup-simplify]: Simplify lambda2 into lambda2 4.833 * [taylor]: Taking taylor expansion of lambda1 in lambda1 4.833 * [backup-simplify]: Simplify 0 into 0 4.833 * [backup-simplify]: Simplify 1 into 1 4.833 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.833 * [backup-simplify]: Simplify (* lambda2 0) into 0 4.833 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 4.833 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) 4.833 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda1 4.833 * [taylor]: Taking taylor expansion of 2 in lambda1 4.833 * [backup-simplify]: Simplify 2 into 2 4.833 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda1 4.833 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda1 4.834 * [taylor]: Taking taylor expansion of phi2 in lambda1 4.834 * [backup-simplify]: Simplify phi2 into phi2 4.834 * [taylor]: Taking taylor expansion of phi1 in lambda1 4.834 * [backup-simplify]: Simplify phi1 into phi1 4.834 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 4.834 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 4.834 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.834 * [backup-simplify]: Simplify (+ 0 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.834 * [backup-simplify]: Simplify (+ 0 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.834 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.835 * [backup-simplify]: Simplify (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.835 * [backup-simplify]: Simplify (+ 0) into 0 4.835 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 4.835 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 4.835 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 4.836 * [backup-simplify]: Simplify (+ 0 0) into 0 4.836 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 4.836 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.837 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 4.837 * [backup-simplify]: Simplify (- 0) into 0 4.837 * [backup-simplify]: Simplify (+ 0 0) into 0 4.837 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 4.838 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 4.839 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 4.839 * [backup-simplify]: Simplify (+ 0 0) into 0 4.839 * [backup-simplify]: Simplify (+ 0 0) into 0 4.839 * [backup-simplify]: Simplify (+ 0 0) into 0 4.839 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 4.840 * [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)) 4.840 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 4.840 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 4.841 * [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)) 4.841 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in lambda1 4.841 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in lambda1 4.841 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) in lambda1 4.841 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda1 4.841 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 4.841 * [taylor]: Taking taylor expansion of phi2 in lambda1 4.841 * [backup-simplify]: Simplify phi2 into phi2 4.841 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 4.841 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 4.841 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))) in lambda1 4.841 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda1 4.841 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 4.841 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 4.841 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 4.841 * [taylor]: Taking taylor expansion of -0.5 in lambda1 4.841 * [backup-simplify]: Simplify -0.5 into -0.5 4.841 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 4.841 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 4.841 * [taylor]: Taking taylor expansion of phi1 in lambda1 4.841 * [backup-simplify]: Simplify phi1 into phi1 4.841 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.841 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 4.841 * [taylor]: Taking taylor expansion of phi2 in lambda1 4.841 * [backup-simplify]: Simplify phi2 into phi2 4.841 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.841 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 4.842 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 4.842 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.842 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.842 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.842 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 4.842 * [backup-simplify]: Simplify (- 0) into 0 4.842 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.842 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 4.842 * [taylor]: Taking taylor expansion of lambda2 in lambda1 4.842 * [backup-simplify]: Simplify lambda2 into lambda2 4.843 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.843 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 4.843 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 4.843 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))) in lambda1 4.843 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda1 4.843 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 4.843 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 4.843 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 4.843 * [taylor]: Taking taylor expansion of -0.5 in lambda1 4.843 * [backup-simplify]: Simplify -0.5 into -0.5 4.843 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 4.843 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 4.843 * [taylor]: Taking taylor expansion of phi1 in lambda1 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 lambda1 4.843 * [taylor]: Taking taylor expansion of phi2 in lambda1 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)))) 4.844 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.844 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.844 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 4.844 * [backup-simplify]: Simplify (- 0) into 0 4.844 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.844 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 4.844 * [taylor]: Taking taylor expansion of lambda1 in lambda1 4.844 * [backup-simplify]: Simplify 0 into 0 4.844 * [backup-simplify]: Simplify 1 into 1 4.844 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.845 * [backup-simplify]: Simplify (* 1 1) into 1 4.845 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.845 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda1 4.845 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 4.845 * [taylor]: Taking taylor expansion of phi1 in lambda1 4.845 * [backup-simplify]: Simplify phi1 into phi1 4.845 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 4.845 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 4.845 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in lambda1 4.845 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1 4.845 * [taylor]: Taking taylor expansion of 2 in lambda1 4.845 * [backup-simplify]: Simplify 2 into 2 4.845 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1 4.845 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 4.845 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 4.845 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 4.845 * [taylor]: Taking taylor expansion of -0.5 in lambda1 4.845 * [backup-simplify]: Simplify -0.5 into -0.5 4.845 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 4.845 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 4.845 * [taylor]: Taking taylor expansion of phi1 in lambda1 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 lambda1 4.845 * [taylor]: Taking taylor expansion of phi2 in lambda1 4.845 * [backup-simplify]: Simplify phi2 into phi2 4.845 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.846 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 4.846 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 4.846 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.846 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.846 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.846 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 4.846 * [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)))) 4.847 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 4.847 * [taylor]: Taking taylor expansion of lambda2 in lambda1 4.847 * [backup-simplify]: Simplify lambda2 into lambda2 4.847 * [taylor]: Taking taylor expansion of lambda1 in lambda1 4.847 * [backup-simplify]: Simplify 0 into 0 4.847 * [backup-simplify]: Simplify 1 into 1 4.847 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.847 * [backup-simplify]: Simplify (* lambda2 0) into 0 4.847 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 4.847 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) 4.847 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda1 4.847 * [taylor]: Taking taylor expansion of 2 in lambda1 4.848 * [backup-simplify]: Simplify 2 into 2 4.848 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda1 4.848 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda1 4.848 * [taylor]: Taking taylor expansion of phi2 in lambda1 4.848 * [backup-simplify]: Simplify phi2 into phi2 4.848 * [taylor]: Taking taylor expansion of phi1 in lambda1 4.848 * [backup-simplify]: Simplify phi1 into phi1 4.848 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 4.848 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 4.848 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.848 * [backup-simplify]: Simplify (+ 0 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.848 * [backup-simplify]: Simplify (+ 0 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.848 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.849 * [backup-simplify]: Simplify (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.849 * [backup-simplify]: Simplify (+ 0) into 0 4.849 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 4.849 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 4.849 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 4.850 * [backup-simplify]: Simplify (+ 0 0) into 0 4.850 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 4.851 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.851 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 4.851 * [backup-simplify]: Simplify (- 0) into 0 4.851 * [backup-simplify]: Simplify (+ 0 0) into 0 4.852 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 4.852 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 4.853 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 4.853 * [backup-simplify]: Simplify (+ 0 0) into 0 4.853 * [backup-simplify]: Simplify (+ 0 0) into 0 4.853 * [backup-simplify]: Simplify (+ 0 0) into 0 4.854 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 4.854 * [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)) 4.854 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 4.854 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 4.855 * [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)) 4.855 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 4.855 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 4.855 * [taylor]: Taking taylor expansion of -0.5 in lambda2 4.855 * [backup-simplify]: Simplify -0.5 into -0.5 4.855 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 4.855 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 4.855 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.855 * [backup-simplify]: Simplify phi1 into phi1 4.855 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.855 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 4.855 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.855 * [backup-simplify]: Simplify phi2 into phi2 4.855 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.855 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 4.855 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 4.855 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.856 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.856 * [taylor]: Taking taylor expansion of (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) in lambda2 4.856 * [taylor]: Taking taylor expansion of -1 in lambda2 4.856 * [backup-simplify]: Simplify -1 into -1 4.856 * [taylor]: Taking taylor expansion of (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2) in lambda2 4.856 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 4.856 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 4.856 * [taylor]: Taking taylor expansion of -0.5 in lambda2 4.856 * [backup-simplify]: Simplify -0.5 into -0.5 4.856 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 4.856 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 4.856 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.856 * [backup-simplify]: Simplify phi1 into phi1 4.856 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.856 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 4.856 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.856 * [backup-simplify]: Simplify phi2 into phi2 4.856 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.856 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 4.856 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 4.856 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.856 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.856 * [taylor]: Taking taylor expansion of lambda2 in lambda2 4.856 * [backup-simplify]: Simplify 0 into 0 4.856 * [backup-simplify]: Simplify 1 into 1 4.856 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.857 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 4.857 * [backup-simplify]: Simplify (- 0) into 0 4.857 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.857 * [backup-simplify]: Simplify (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.857 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 4.857 * [taylor]: Taking taylor expansion of (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1 4.857 * [taylor]: Taking taylor expansion of -1 in phi1 4.857 * [backup-simplify]: Simplify -1 into -1 4.857 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 4.857 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 4.857 * [taylor]: Taking taylor expansion of -0.5 in phi1 4.857 * [backup-simplify]: Simplify -0.5 into -0.5 4.857 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 4.857 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 4.857 * [taylor]: Taking taylor expansion of phi1 in phi1 4.857 * [backup-simplify]: Simplify 0 into 0 4.857 * [backup-simplify]: Simplify 1 into 1 4.858 * [backup-simplify]: Simplify (/ 1 1) into 1 4.858 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 4.858 * [taylor]: Taking taylor expansion of phi2 in phi1 4.858 * [backup-simplify]: Simplify phi2 into phi2 4.858 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.858 * [backup-simplify]: Simplify (+ 1 0) into 1 4.858 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 4.859 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.859 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.859 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 4.859 * [backup-simplify]: Simplify (- 0) into 0 4.859 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.859 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 4.859 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 4.859 * [taylor]: Taking taylor expansion of -0.5 in phi1 4.859 * [backup-simplify]: Simplify -0.5 into -0.5 4.859 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 4.859 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 4.859 * [taylor]: Taking taylor expansion of phi1 in phi1 4.859 * [backup-simplify]: Simplify 0 into 0 4.859 * [backup-simplify]: Simplify 1 into 1 4.860 * [backup-simplify]: Simplify (/ 1 1) into 1 4.860 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 4.860 * [taylor]: Taking taylor expansion of phi2 in phi1 4.860 * [backup-simplify]: Simplify phi2 into phi2 4.860 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.860 * [backup-simplify]: Simplify (+ 1 0) into 1 4.860 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 4.860 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.861 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 4.861 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 4.862 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 4.862 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 4.862 * [backup-simplify]: Simplify (+ 0 0) into 0 4.863 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 4.863 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 4.863 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 4.864 * [backup-simplify]: Simplify (- 0) into 0 4.864 * [backup-simplify]: Simplify (+ 0 0) into 0 4.864 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 4.870 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 4.871 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)) (* 0 (/ 0 1)))) into 0 4.872 * [backup-simplify]: Simplify (+ 0 (/ 1 (pow phi1 2))) into (/ 1 (pow phi1 2)) 4.872 * [backup-simplify]: Simplify (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) into (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) 4.872 * [backup-simplify]: Simplify (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) into (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) 4.873 * [backup-simplify]: Simplify (+ 0) into 0 4.873 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 4.873 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 4.873 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 4.874 * [backup-simplify]: Simplify (+ 0 0) into 0 4.874 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 4.875 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.875 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 4.875 * [backup-simplify]: Simplify (- 0) into 0 4.875 * [backup-simplify]: Simplify (+ 0 0) into 0 4.876 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 4.876 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 1) (* 0 0))) into 0 4.877 * [backup-simplify]: Simplify (- (/ 0 lambda2) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) (/ 0 lambda2)))) into 0 4.877 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into 0 4.877 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi2 phi1))) into (/ 2 (* phi2 phi1)) 4.877 * [backup-simplify]: Simplify (+ 0 (/ 2 (* phi2 phi1))) into (* 2 (/ 1 (* phi2 phi1))) 4.877 * [backup-simplify]: Simplify (- (* 2 (/ 1 (* phi2 phi1)))) into (- (* 2 (/ 1 (* phi2 phi1)))) 4.878 * [backup-simplify]: Simplify (+ (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) (- (* 2 (/ 1 (* phi2 phi1))))) into (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) (* 2 (/ 1 (* phi2 phi1)))) 4.879 * [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)))))) 4.879 * [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 4.879 * [taylor]: Taking taylor expansion of 1/2 in lambda2 4.879 * [backup-simplify]: Simplify 1/2 into 1/2 4.879 * [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 4.879 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) in lambda2 4.879 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in lambda2 4.879 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda2 4.879 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 4.879 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.879 * [backup-simplify]: Simplify phi2 into phi2 4.880 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 4.880 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 4.880 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda2 4.880 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 4.880 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.880 * [backup-simplify]: Simplify phi1 into phi1 4.880 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 4.880 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 4.880 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda2 4.880 * [taylor]: Taking taylor expansion of 2 in lambda2 4.880 * [backup-simplify]: Simplify 2 into 2 4.880 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda2 4.880 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 4.880 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.880 * [backup-simplify]: Simplify phi2 into phi2 4.880 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.880 * [backup-simplify]: Simplify phi1 into phi1 4.880 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 4.880 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 4.880 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 4.880 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 4.880 * [taylor]: Taking taylor expansion of -0.5 in lambda2 4.880 * [backup-simplify]: Simplify -0.5 into -0.5 4.880 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 4.880 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 4.880 * [taylor]: Taking taylor expansion of phi1 in lambda2 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 lambda2 4.880 * [taylor]: Taking taylor expansion of phi2 in lambda2 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))) 4.881 * [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 * [backup-simplify]: Simplify (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) into (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) 4.881 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi2 phi1))) into (/ 2 (* phi2 phi1)) 4.881 * [backup-simplify]: Simplify (- (/ 2 (* phi2 phi1))) into (- (* 2 (/ 1 (* phi2 phi1)))) 4.881 * [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)))) 4.881 * [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 4.882 * [backup-simplify]: Simplify (- 0) into 0 4.882 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.882 * [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))))) 4.883 * [backup-simplify]: Simplify (+ 0) into 0 4.883 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 4.883 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 4.883 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 4.884 * [backup-simplify]: Simplify (+ 0 0) into 0 4.884 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 4.885 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.885 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 4.885 * [backup-simplify]: Simplify (- 0) into 0 4.885 * [backup-simplify]: Simplify (+ 0 0) into 0 4.886 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (/ 0 1)))) into 0 4.886 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 4.886 * [taylor]: Taking taylor expansion of 0 in phi1 4.886 * [backup-simplify]: Simplify 0 into 0 4.887 * [backup-simplify]: Simplify (+ 0) into 0 4.887 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 4.887 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 4.887 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 4.887 * [backup-simplify]: Simplify (+ 0 0) into 0 4.888 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 4.888 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.889 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 4.889 * [backup-simplify]: Simplify (- 0) into 0 4.889 * [backup-simplify]: Simplify (+ 0 0) into 0 4.889 * [taylor]: Taking taylor expansion of 0 in phi1 4.889 * [backup-simplify]: Simplify 0 into 0 4.889 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 4.889 * [taylor]: Taking taylor expansion of (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 4.889 * [taylor]: Taking taylor expansion of -1 in phi2 4.889 * [backup-simplify]: Simplify -1 into -1 4.889 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 4.889 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 4.889 * [taylor]: Taking taylor expansion of -0.5 in phi2 4.889 * [backup-simplify]: Simplify -0.5 into -0.5 4.889 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 4.889 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 4.889 * [taylor]: Taking taylor expansion of phi1 in phi2 4.890 * [backup-simplify]: Simplify phi1 into phi1 4.890 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.890 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 4.890 * [taylor]: Taking taylor expansion of phi2 in phi2 4.890 * [backup-simplify]: Simplify 0 into 0 4.890 * [backup-simplify]: Simplify 1 into 1 4.890 * [backup-simplify]: Simplify (/ 1 1) into 1 4.890 * [backup-simplify]: Simplify (+ 0 1) into 1 4.890 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 4.890 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.891 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 4.891 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 4.891 * [taylor]: Taking taylor expansion of -0.5 in phi2 4.891 * [backup-simplify]: Simplify -0.5 into -0.5 4.891 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 4.891 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 4.891 * [taylor]: Taking taylor expansion of phi1 in phi2 4.891 * [backup-simplify]: Simplify phi1 into phi1 4.891 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.891 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 4.891 * [taylor]: Taking taylor expansion of phi2 in phi2 4.891 * [backup-simplify]: Simplify 0 into 0 4.891 * [backup-simplify]: Simplify 1 into 1 4.891 * [backup-simplify]: Simplify (/ 1 1) into 1 4.891 * [backup-simplify]: Simplify (+ 0 1) into 1 4.892 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 4.892 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.892 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 4.892 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi2 2)) (/ 0 (pow phi2 2))))) into 0 4.892 * [backup-simplify]: Simplify (+ 0) into 0 4.893 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 4.893 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 4.893 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 4.893 * [backup-simplify]: Simplify (+ 0 0) into 0 4.894 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 4.894 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.894 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 4.895 * [backup-simplify]: Simplify (- 0) into 0 4.895 * [backup-simplify]: Simplify (+ 0 0) into 0 4.895 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 4.895 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 4.896 * [backup-simplify]: Simplify (- (/ 0 (pow lambda2 2)) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 0 (pow lambda2 2))))) into 0 4.896 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 4.897 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 4.897 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 4.897 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 4.897 * [backup-simplify]: Simplify (+ 0 0) into 0 4.898 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 4.899 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 4.900 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 4.900 * [backup-simplify]: Simplify (- 0) into 0 4.900 * [backup-simplify]: Simplify (+ 0 0) into 0 4.901 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into 0 4.901 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 4.903 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0 4.903 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 4.903 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi1 2)) (/ 0 (pow phi1 2))))) into 0 4.903 * [backup-simplify]: Simplify (+ 0 0) into 0 4.903 * [backup-simplify]: Simplify (+ 0 0) into 0 4.904 * [backup-simplify]: Simplify (+ 0 0) into 0 4.904 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 4.905 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 4.905 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 4.905 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 4.905 * [backup-simplify]: Simplify (+ 0 0) into 0 4.906 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 4.906 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 4.907 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 4.907 * [backup-simplify]: Simplify (- 0) into 0 4.907 * [backup-simplify]: Simplify (+ 0 0) into 0 4.907 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 4.908 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (+ (* 0 1) (* 0 0)))) into 0 4.908 * [backup-simplify]: Simplify (- (/ 0 lambda2) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) (/ 0 lambda2)) (* 0 (/ 0 lambda2)))) into 0 4.909 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) into 0 4.909 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 4.909 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* phi2 phi1)) (/ 0 (* phi2 phi1))))) into 0 4.909 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ 1 (* phi2 phi1)))) into 0 4.910 * [backup-simplify]: Simplify (+ 0 0) into 0 4.910 * [backup-simplify]: Simplify (- 0) into 0 4.910 * [backup-simplify]: Simplify (+ 0 0) into 0 4.911 * [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)))))) 4.911 * [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 4.911 * [taylor]: Taking taylor expansion of 1/2 in lambda2 4.911 * [backup-simplify]: Simplify 1/2 into 1/2 4.911 * [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 4.911 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (* lambda2 (pow phi1 2))) (/ 1 (* (pow phi2 2) lambda2))) (* 2 (/ 1 (* phi2 (* lambda2 phi1))))) in lambda2 4.911 * [taylor]: Taking taylor expansion of (+ (/ 1 (* lambda2 (pow phi1 2))) (/ 1 (* (pow phi2 2) lambda2))) in lambda2 4.911 * [taylor]: Taking taylor expansion of (/ 1 (* lambda2 (pow phi1 2))) in lambda2 4.911 * [taylor]: Taking taylor expansion of (* lambda2 (pow phi1 2)) in lambda2 4.911 * [taylor]: Taking taylor expansion of lambda2 in lambda2 4.911 * [backup-simplify]: Simplify 0 into 0 4.911 * [backup-simplify]: Simplify 1 into 1 4.911 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 4.911 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.911 * [backup-simplify]: Simplify phi1 into phi1 4.911 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 4.911 * [backup-simplify]: Simplify (* 0 (pow phi1 2)) into 0 4.911 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 4.912 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow phi1 2))) into (pow phi1 2) 4.912 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 4.912 * [taylor]: Taking taylor expansion of (/ 1 (* (pow phi2 2) lambda2)) in lambda2 4.912 * [taylor]: Taking taylor expansion of (* (pow phi2 2) lambda2) in lambda2 4.912 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 4.912 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.912 * [backup-simplify]: Simplify phi2 into phi2 4.912 * [taylor]: Taking taylor expansion of lambda2 in lambda2 4.912 * [backup-simplify]: Simplify 0 into 0 4.912 * [backup-simplify]: Simplify 1 into 1 4.912 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 4.912 * [backup-simplify]: Simplify (* (pow phi2 2) 0) into 0 4.912 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 4.913 * [backup-simplify]: Simplify (+ (* (pow phi2 2) 1) (* 0 0)) into (pow phi2 2) 4.913 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 4.913 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 (* lambda2 phi1)))) in lambda2 4.913 * [taylor]: Taking taylor expansion of 2 in lambda2 4.913 * [backup-simplify]: Simplify 2 into 2 4.913 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (* lambda2 phi1))) in lambda2 4.913 * [taylor]: Taking taylor expansion of (* phi2 (* lambda2 phi1)) in lambda2 4.913 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.913 * [backup-simplify]: Simplify phi2 into phi2 4.913 * [taylor]: Taking taylor expansion of (* lambda2 phi1) in lambda2 4.913 * [taylor]: Taking taylor expansion of lambda2 in lambda2 4.913 * [backup-simplify]: Simplify 0 into 0 4.913 * [backup-simplify]: Simplify 1 into 1 4.913 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.913 * [backup-simplify]: Simplify phi1 into phi1 4.913 * [backup-simplify]: Simplify (* 0 phi1) into 0 4.913 * [backup-simplify]: Simplify (* phi2 0) into 0 4.913 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 4.913 * [backup-simplify]: Simplify (+ (* phi2 phi1) (* 0 0)) into (* phi2 phi1) 4.913 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 4.914 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 4.914 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 4.914 * [taylor]: Taking taylor expansion of -0.5 in lambda2 4.914 * [backup-simplify]: Simplify -0.5 into -0.5 4.914 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 4.914 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 4.914 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.914 * [backup-simplify]: Simplify phi1 into phi1 4.914 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.914 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 4.914 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.914 * [backup-simplify]: Simplify phi2 into phi2 4.914 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.914 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 4.914 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 4.914 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.914 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.914 * [backup-simplify]: Simplify (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) into (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) 4.914 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi2 phi1))) into (/ 2 (* phi2 phi1)) 4.914 * [backup-simplify]: Simplify (- (/ 2 (* phi2 phi1))) into (- (* 2 (/ 1 (* phi2 phi1)))) 4.915 * [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)))) 4.915 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.915 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 4.915 * [backup-simplify]: Simplify (- 0) into 0 4.915 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.916 * [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))))) 4.916 * [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)))))) 4.916 * [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 4.916 * [taylor]: Taking taylor expansion of 1/2 in phi1 4.916 * [backup-simplify]: Simplify 1/2 into 1/2 4.916 * [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 4.916 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) in phi1 4.916 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in phi1 4.916 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 4.916 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 4.916 * [taylor]: Taking taylor expansion of phi2 in phi1 4.916 * [backup-simplify]: Simplify phi2 into phi2 4.916 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 4.916 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 4.916 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 4.916 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 4.916 * [taylor]: Taking taylor expansion of phi1 in phi1 4.916 * [backup-simplify]: Simplify 0 into 0 4.916 * [backup-simplify]: Simplify 1 into 1 4.917 * [backup-simplify]: Simplify (* 1 1) into 1 4.917 * [backup-simplify]: Simplify (/ 1 1) into 1 4.917 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi1 4.917 * [taylor]: Taking taylor expansion of 2 in phi1 4.917 * [backup-simplify]: Simplify 2 into 2 4.917 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi1 4.917 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 4.917 * [taylor]: Taking taylor expansion of phi2 in phi1 4.917 * [backup-simplify]: Simplify phi2 into phi2 4.917 * [taylor]: Taking taylor expansion of phi1 in phi1 4.917 * [backup-simplify]: Simplify 0 into 0 4.917 * [backup-simplify]: Simplify 1 into 1 4.917 * [backup-simplify]: Simplify (* phi2 0) into 0 4.917 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 4.917 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.918 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 4.918 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 4.918 * [taylor]: Taking taylor expansion of -0.5 in phi1 4.918 * [backup-simplify]: Simplify -0.5 into -0.5 4.918 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 4.918 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 4.918 * [taylor]: Taking taylor expansion of phi1 in phi1 4.918 * [backup-simplify]: Simplify 0 into 0 4.918 * [backup-simplify]: Simplify 1 into 1 4.918 * [backup-simplify]: Simplify (/ 1 1) into 1 4.918 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 4.918 * [taylor]: Taking taylor expansion of phi2 in phi1 4.918 * [backup-simplify]: Simplify phi2 into phi2 4.918 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.918 * [backup-simplify]: Simplify (+ 1 0) into 1 4.919 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 4.919 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.919 * [backup-simplify]: Simplify (+ 0 1) into 1 4.919 * [backup-simplify]: Simplify (+ 1 0) into 1 4.919 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 4.920 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 4.920 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 4.920 * [backup-simplify]: Simplify (+ 0 0) into 0 4.920 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 4.921 * [backup-simplify]: Simplify (- (/ 2 phi2)) into (- (* 2 (/ 1 phi2))) 4.921 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 4.921 * [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)))))))) 4.921 * [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))))))) 4.921 * [taylor]: Taking taylor expansion of (- (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in phi2 4.921 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi2 4.921 * [taylor]: Taking taylor expansion of (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 4.921 * [taylor]: Taking taylor expansion of phi2 in phi2 4.921 * [backup-simplify]: Simplify 0 into 0 4.921 * [backup-simplify]: Simplify 1 into 1 4.921 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 4.921 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 4.921 * [taylor]: Taking taylor expansion of -0.5 in phi2 4.921 * [backup-simplify]: Simplify -0.5 into -0.5 4.921 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 4.921 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 4.921 * [taylor]: Taking taylor expansion of phi1 in phi2 4.922 * [backup-simplify]: Simplify phi1 into phi1 4.922 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.922 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 4.922 * [taylor]: Taking taylor expansion of phi2 in phi2 4.922 * [backup-simplify]: Simplify 0 into 0 4.922 * [backup-simplify]: Simplify 1 into 1 4.922 * [backup-simplify]: Simplify (/ 1 1) into 1 4.922 * [backup-simplify]: Simplify (+ 0 1) into 1 4.922 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 4.922 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.923 * [backup-simplify]: Simplify (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 4.923 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.923 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 4.923 * [backup-simplify]: Simplify (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 4.923 * [backup-simplify]: Simplify (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 4.924 * [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)))))) 4.924 * [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 4.924 * [taylor]: Taking taylor expansion of 1/2 in phi1 4.924 * [backup-simplify]: Simplify 1/2 into 1/2 4.924 * [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 4.924 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) in phi1 4.924 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in phi1 4.924 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 4.924 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 4.924 * [taylor]: Taking taylor expansion of phi2 in phi1 4.924 * [backup-simplify]: Simplify phi2 into phi2 4.924 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 4.924 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 4.924 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 4.924 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 4.924 * [taylor]: Taking taylor expansion of phi1 in phi1 4.924 * [backup-simplify]: Simplify 0 into 0 4.924 * [backup-simplify]: Simplify 1 into 1 4.924 * [backup-simplify]: Simplify (* 1 1) into 1 4.925 * [backup-simplify]: Simplify (/ 1 1) into 1 4.925 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi1 4.925 * [taylor]: Taking taylor expansion of 2 in phi1 4.925 * [backup-simplify]: Simplify 2 into 2 4.925 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi1 4.925 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 4.925 * [taylor]: Taking taylor expansion of phi2 in phi1 4.925 * [backup-simplify]: Simplify phi2 into phi2 4.925 * [taylor]: Taking taylor expansion of phi1 in phi1 4.925 * [backup-simplify]: Simplify 0 into 0 4.925 * [backup-simplify]: Simplify 1 into 1 4.925 * [backup-simplify]: Simplify (* phi2 0) into 0 4.925 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 4.925 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.925 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 4.925 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 4.925 * [taylor]: Taking taylor expansion of -0.5 in phi1 4.925 * [backup-simplify]: Simplify -0.5 into -0.5 4.925 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 4.925 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 4.925 * [taylor]: Taking taylor expansion of phi1 in phi1 4.925 * [backup-simplify]: Simplify 0 into 0 4.925 * [backup-simplify]: Simplify 1 into 1 4.926 * [backup-simplify]: Simplify (/ 1 1) into 1 4.926 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 4.926 * [taylor]: Taking taylor expansion of phi2 in phi1 4.926 * [backup-simplify]: Simplify phi2 into phi2 4.926 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.926 * [backup-simplify]: Simplify (+ 1 0) into 1 4.926 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 4.926 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.927 * [backup-simplify]: Simplify (+ 0 1) into 1 4.927 * [backup-simplify]: Simplify (+ 1 0) into 1 4.927 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 4.927 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 4.928 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 4.928 * [backup-simplify]: Simplify (+ 0 0) into 0 4.928 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 4.928 * [backup-simplify]: Simplify (- (/ 2 phi2)) into (- (* 2 (/ 1 phi2))) 4.928 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 4.929 * [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)))))))) 4.929 * [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))))))) 4.929 * [taylor]: Taking taylor expansion of (- (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in phi2 4.929 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi2 4.929 * [taylor]: Taking taylor expansion of (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 4.929 * [taylor]: Taking taylor expansion of phi2 in phi2 4.929 * [backup-simplify]: Simplify 0 into 0 4.929 * [backup-simplify]: Simplify 1 into 1 4.929 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 4.929 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 4.929 * [taylor]: Taking taylor expansion of -0.5 in phi2 4.929 * [backup-simplify]: Simplify -0.5 into -0.5 4.929 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 4.929 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 4.929 * [taylor]: Taking taylor expansion of phi1 in phi2 4.929 * [backup-simplify]: Simplify phi1 into phi1 4.929 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.929 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 4.929 * [taylor]: Taking taylor expansion of phi2 in phi2 4.929 * [backup-simplify]: Simplify 0 into 0 4.929 * [backup-simplify]: Simplify 1 into 1 4.930 * [backup-simplify]: Simplify (/ 1 1) into 1 4.930 * [backup-simplify]: Simplify (+ 0 1) into 1 4.930 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 4.930 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.930 * [backup-simplify]: Simplify (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 4.931 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.931 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 4.931 * [backup-simplify]: Simplify (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 4.931 * [backup-simplify]: Simplify (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 4.932 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 4.932 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 4.932 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 4.932 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 4.933 * [backup-simplify]: Simplify (+ 0 0) into 0 4.933 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 4.934 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 4.934 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 4.934 * [backup-simplify]: Simplify (- 0) into 0 4.935 * [backup-simplify]: Simplify (+ 0 0) into 0 4.935 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (/ 0 1)) (* 0 (/ 0 1)))) into 0 4.936 * [backup-simplify]: Simplify (+ (* -1 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 4.936 * [taylor]: Taking taylor expansion of 0 in phi1 4.936 * [backup-simplify]: Simplify 0 into 0 4.937 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 4.937 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 4.937 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 4.937 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 4.938 * [backup-simplify]: Simplify (+ 0 0) into 0 4.938 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 4.939 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 4.939 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 4.939 * [backup-simplify]: Simplify (- 0) into 0 4.940 * [backup-simplify]: Simplify (+ 0 0) into 0 4.940 * [taylor]: Taking taylor expansion of 0 in phi1 4.940 * [backup-simplify]: Simplify 0 into 0 4.940 * [taylor]: Taking taylor expansion of 0 in phi2 4.940 * [backup-simplify]: Simplify 0 into 0 4.940 * [taylor]: Taking taylor expansion of 0 in phi2 4.940 * [backup-simplify]: Simplify 0 into 0 4.940 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 4.940 * [taylor]: Taking taylor expansion of 0 in phi2 4.940 * [backup-simplify]: Simplify 0 into 0 4.940 * [taylor]: Taking taylor expansion of 0 in phi2 4.940 * [backup-simplify]: Simplify 0 into 0 4.940 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 4.940 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 4.942 * [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)))))) 4.942 * * * * [progress]: [ 3 / 4 ] generating series at (2 2 1 1 1) 4.942 * [backup-simplify]: Simplify (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2)))) into (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) 4.942 * [approximate]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in (lambda1 lambda2 phi1 phi2) around 0 4.942 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in phi2 4.942 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in phi2 4.942 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) in phi2 4.942 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 4.942 * [taylor]: Taking taylor expansion of phi2 in phi2 4.942 * [backup-simplify]: Simplify 0 into 0 4.942 * [backup-simplify]: Simplify 1 into 1 4.942 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) in phi2 4.942 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in phi2 4.942 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 4.942 * [taylor]: Taking taylor expansion of lambda2 in phi2 4.942 * [backup-simplify]: Simplify lambda2 into lambda2 4.942 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2 4.943 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 4.943 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 4.943 * [taylor]: Taking taylor expansion of 0.5 in phi2 4.943 * [backup-simplify]: Simplify 0.5 into 0.5 4.943 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 4.943 * [taylor]: Taking taylor expansion of phi2 in phi2 4.943 * [backup-simplify]: Simplify 0 into 0 4.943 * [backup-simplify]: Simplify 1 into 1 4.943 * [taylor]: Taking taylor expansion of phi1 in phi2 4.943 * [backup-simplify]: Simplify phi1 into phi1 4.943 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 4.943 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 4.943 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 4.943 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 4.943 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 4.943 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 4.943 * [backup-simplify]: Simplify (- 0) into 0 4.943 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 4.943 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) in phi2 4.943 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in phi2 4.943 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2 4.943 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 4.943 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 4.943 * [taylor]: Taking taylor expansion of 0.5 in phi2 4.943 * [backup-simplify]: Simplify 0.5 into 0.5 4.943 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 4.943 * [taylor]: Taking taylor expansion of phi2 in phi2 4.943 * [backup-simplify]: Simplify 0 into 0 4.944 * [backup-simplify]: Simplify 1 into 1 4.944 * [taylor]: Taking taylor expansion of phi1 in phi2 4.944 * [backup-simplify]: Simplify phi1 into phi1 4.944 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 4.944 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 4.944 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 4.944 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 4.944 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 4.944 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 4.944 * [backup-simplify]: Simplify (- 0) into 0 4.944 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 4.944 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 4.944 * [taylor]: Taking taylor expansion of lambda1 in phi2 4.944 * [backup-simplify]: Simplify lambda1 into lambda1 4.944 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 4.944 * [taylor]: Taking taylor expansion of phi1 in phi2 4.944 * [backup-simplify]: Simplify phi1 into phi1 4.944 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in phi2 4.944 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi2 4.944 * [taylor]: Taking taylor expansion of 2 in phi2 4.944 * [backup-simplify]: Simplify 2 into 2 4.944 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2 4.944 * [taylor]: Taking taylor expansion of phi2 in phi2 4.944 * [backup-simplify]: Simplify 0 into 0 4.944 * [backup-simplify]: Simplify 1 into 1 4.944 * [taylor]: Taking taylor expansion of phi1 in phi2 4.944 * [backup-simplify]: Simplify phi1 into phi1 4.944 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in phi2 4.944 * [taylor]: Taking taylor expansion of 2 in phi2 4.944 * [backup-simplify]: Simplify 2 into 2 4.944 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in phi2 4.945 * [taylor]: Taking taylor expansion of lambda2 in phi2 4.945 * [backup-simplify]: Simplify lambda2 into lambda2 4.945 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in phi2 4.945 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2 4.945 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 4.945 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 4.945 * [taylor]: Taking taylor expansion of 0.5 in phi2 4.945 * [backup-simplify]: Simplify 0.5 into 0.5 4.945 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 4.945 * [taylor]: Taking taylor expansion of phi2 in phi2 4.945 * [backup-simplify]: Simplify 0 into 0 4.945 * [backup-simplify]: Simplify 1 into 1 4.945 * [taylor]: Taking taylor expansion of phi1 in phi2 4.945 * [backup-simplify]: Simplify phi1 into phi1 4.945 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 4.945 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 4.945 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 4.945 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 4.945 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 4.945 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 4.945 * [backup-simplify]: Simplify (- 0) into 0 4.945 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 4.945 * [taylor]: Taking taylor expansion of lambda1 in phi2 4.945 * [backup-simplify]: Simplify lambda1 into lambda1 4.945 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 4.945 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 4.946 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow (cos (* 0.5 phi1)) 2)) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) 4.946 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 4.946 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 4.946 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) 4.946 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 4.946 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 4.947 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) 4.947 * [backup-simplify]: Simplify (+ 0 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) 4.947 * [backup-simplify]: Simplify (* 0 phi1) into 0 4.948 * [backup-simplify]: Simplify (* 2 0) into 0 4.948 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 4.948 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) lambda1) into (* (pow (cos (* 0.5 phi1)) 2) lambda1) 4.948 * [backup-simplify]: Simplify (* lambda2 (* (pow (cos (* 0.5 phi1)) 2) lambda1)) into (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)) 4.948 * [backup-simplify]: Simplify (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) into (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) 4.948 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) into (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) 4.949 * [backup-simplify]: Simplify (- (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) into (- (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) 4.949 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (- (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))))) into (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) 4.950 * [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))))) 4.950 * [backup-simplify]: Simplify (+ 0) into 0 4.951 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 4.951 * [backup-simplify]: Simplify (+ 1 0) into 1 4.951 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 4.953 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 4.953 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 4.953 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 4.953 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 4.954 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- (* 0.5 (sin (* 0.5 phi1))))) (* (- (* 0.5 (sin (* 0.5 phi1)))) (cos (* 0.5 phi1)))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) 4.954 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 4.954 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))) (* 0 (pow (cos (* 0.5 phi1)) 2))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) 4.954 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 4.954 * [backup-simplify]: Simplify (+ 0) into 0 4.955 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 4.955 * [backup-simplify]: Simplify (+ 1 0) into 1 4.955 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 4.957 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 4.957 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 4.957 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 4.957 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 4.957 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- (* 0.5 (sin (* 0.5 phi1))))) (* (- (* 0.5 (sin (* 0.5 phi1)))) (cos (* 0.5 phi1)))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) 4.958 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (* (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) (pow lambda1 2))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) 4.958 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 4.958 * [backup-simplify]: Simplify (+ (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) 0) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) 4.959 * [backup-simplify]: Simplify (+ (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) into (- (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) 4.959 * [backup-simplify]: Simplify (+ 0 (- (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))))) into (- (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) 4.959 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 4.960 * [backup-simplify]: Simplify (+ (* 2 phi1) (* 0 0)) into (* 2 phi1) 4.960 * [backup-simplify]: Simplify (+ 0) into 0 4.960 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 4.961 * [backup-simplify]: Simplify (+ 1 0) into 1 4.961 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 4.962 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 4.963 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 4.963 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 4.963 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 4.963 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- (* 0.5 (sin (* 0.5 phi1))))) (* (- (* 0.5 (sin (* 0.5 phi1)))) (cos (* 0.5 phi1)))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) 4.963 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (* (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) lambda1)) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1)))) 4.964 * [backup-simplify]: Simplify (+ (* lambda2 (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1))))) (* 0 (* (pow (cos (* 0.5 phi1)) 2) lambda1))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1))))) 4.964 * [backup-simplify]: Simplify (+ (* 2 (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))))) (* 0 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) into (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1))))) 4.965 * [backup-simplify]: Simplify (+ (* 2 phi1) (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))))) into (- (* 2 phi1) (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1))))) 4.965 * [backup-simplify]: Simplify (- (- (* 2 phi1) (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))))) into (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) (* 2 phi1)) 4.966 * [backup-simplify]: Simplify (+ (- (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) (* 2 phi1))) into (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) (* 2 phi1)))) 4.967 * [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)))))))) 4.967 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in phi1 4.967 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in phi1 4.967 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) in phi1 4.967 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 4.967 * [taylor]: Taking taylor expansion of phi2 in phi1 4.967 * [backup-simplify]: Simplify phi2 into phi2 4.967 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) in phi1 4.967 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in phi1 4.967 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 4.967 * [taylor]: Taking taylor expansion of lambda2 in phi1 4.967 * [backup-simplify]: Simplify lambda2 into lambda2 4.967 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1 4.967 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 4.967 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 4.967 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.968 * [backup-simplify]: Simplify 0.5 into 0.5 4.968 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 4.968 * [taylor]: Taking taylor expansion of phi2 in phi1 4.968 * [backup-simplify]: Simplify phi2 into phi2 4.968 * [taylor]: Taking taylor expansion of phi1 in phi1 4.968 * [backup-simplify]: Simplify 0 into 0 4.968 * [backup-simplify]: Simplify 1 into 1 4.968 * [backup-simplify]: Simplify (+ phi2 0) into phi2 4.968 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 4.968 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 4.968 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 4.968 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 4.968 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 4.973 * [backup-simplify]: Simplify (- 0) into 0 4.973 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 4.973 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) in phi1 4.973 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in phi1 4.973 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1 4.973 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 4.973 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 4.973 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.973 * [backup-simplify]: Simplify 0.5 into 0.5 4.973 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 4.974 * [taylor]: Taking taylor expansion of phi2 in phi1 4.974 * [backup-simplify]: Simplify phi2 into phi2 4.974 * [taylor]: Taking taylor expansion of phi1 in phi1 4.974 * [backup-simplify]: Simplify 0 into 0 4.974 * [backup-simplify]: Simplify 1 into 1 4.974 * [backup-simplify]: Simplify (+ phi2 0) into phi2 4.974 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 4.974 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 4.974 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 4.974 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 4.974 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 4.974 * [backup-simplify]: Simplify (- 0) into 0 4.974 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 4.974 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 4.974 * [taylor]: Taking taylor expansion of lambda1 in phi1 4.974 * [backup-simplify]: Simplify lambda1 into lambda1 4.974 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 4.974 * [taylor]: Taking taylor expansion of phi1 in phi1 4.975 * [backup-simplify]: Simplify 0 into 0 4.975 * [backup-simplify]: Simplify 1 into 1 4.975 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in phi1 4.975 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi1 4.975 * [taylor]: Taking taylor expansion of 2 in phi1 4.975 * [backup-simplify]: Simplify 2 into 2 4.975 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 4.975 * [taylor]: Taking taylor expansion of phi2 in phi1 4.975 * [backup-simplify]: Simplify phi2 into phi2 4.975 * [taylor]: Taking taylor expansion of phi1 in phi1 4.975 * [backup-simplify]: Simplify 0 into 0 4.975 * [backup-simplify]: Simplify 1 into 1 4.975 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in phi1 4.975 * [taylor]: Taking taylor expansion of 2 in phi1 4.975 * [backup-simplify]: Simplify 2 into 2 4.975 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in phi1 4.975 * [taylor]: Taking taylor expansion of lambda2 in phi1 4.975 * [backup-simplify]: Simplify lambda2 into lambda2 4.975 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in phi1 4.975 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1 4.975 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 4.975 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 4.975 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.975 * [backup-simplify]: Simplify 0.5 into 0.5 4.975 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 4.975 * [taylor]: Taking taylor expansion of phi2 in phi1 4.975 * [backup-simplify]: Simplify phi2 into phi2 4.975 * [taylor]: Taking taylor expansion of phi1 in phi1 4.975 * [backup-simplify]: Simplify 0 into 0 4.975 * [backup-simplify]: Simplify 1 into 1 4.975 * [backup-simplify]: Simplify (+ phi2 0) into phi2 4.975 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 4.975 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 4.975 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 4.975 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 4.975 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 4.976 * [backup-simplify]: Simplify (- 0) into 0 4.976 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 4.976 * [taylor]: Taking taylor expansion of lambda1 in phi1 4.976 * [backup-simplify]: Simplify lambda1 into lambda1 4.976 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 4.976 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 4.976 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 4.976 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2)) into (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) 4.976 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 4.976 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 4.976 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) 4.977 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) 0) into (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) 4.977 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2))) into (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2))) 4.977 * [backup-simplify]: Simplify (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)))) into (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (pow phi2 2))) 4.977 * [backup-simplify]: Simplify (* phi2 0) into 0 4.978 * [backup-simplify]: Simplify (* 2 0) into 0 4.978 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 4.978 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi2)) 2) lambda1) into (* (pow (cos (* 0.5 phi2)) 2) lambda1) 4.978 * [backup-simplify]: Simplify (* lambda2 (* (pow (cos (* 0.5 phi2)) 2) lambda1)) into (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)) 4.978 * [backup-simplify]: Simplify (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))) into (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))) 4.978 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) into (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))) 4.979 * [backup-simplify]: Simplify (- (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) into (- (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) 4.979 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (pow phi2 2))) (- (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))))) into (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (pow phi2 2))) (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) 4.980 * [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))))) 4.981 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 4.981 * [backup-simplify]: Simplify (+ 0) into 0 4.981 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 4.981 * [backup-simplify]: Simplify (+ 0 1) into 1 4.982 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5 4.983 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 4.984 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2))) 4.984 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2)))) 4.984 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2)))) 4.984 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) (- (* 0.5 (sin (* 0.5 phi2))))) (* (- (* 0.5 (sin (* 0.5 phi2)))) (cos (* 0.5 phi2)))) into (- (* 1.0 (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))) 4.984 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 4.984 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) (- (* 1.0 (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2)))))) (* 0 (pow (cos (* 0.5 phi2)) 2))) into (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))) 4.984 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 4.985 * [backup-simplify]: Simplify (+ 0) into 0 4.985 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 4.985 * [backup-simplify]: Simplify (+ 0 1) into 1 4.986 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5 4.987 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 4.987 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2))) 4.987 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2)))) 4.987 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2)))) 4.988 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) (- (* 0.5 (sin (* 0.5 phi2))))) (* (- (* 0.5 (sin (* 0.5 phi2)))) (cos (* 0.5 phi2)))) into (- (* 1.0 (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))) 4.988 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) 0) (* (- (* 1.0 (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))) (pow lambda1 2))) into (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2))))) 4.988 * [backup-simplify]: Simplify (+ (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2))))) 0) into (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2))))) 4.989 * [backup-simplify]: Simplify (+ (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))) (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))))) into (- (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2)))))) 4.990 * [backup-simplify]: Simplify (+ 0 (- (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))))) into (- (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2)))))) 4.990 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 4.991 * [backup-simplify]: Simplify (+ (* 2 phi2) (* 0 0)) into (* 2 phi2) 4.991 * [backup-simplify]: Simplify (+ 0) into 0 4.991 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 4.991 * [backup-simplify]: Simplify (+ 0 1) into 1 4.992 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5 4.993 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 4.994 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2))) 4.994 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2)))) 4.994 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2)))) 4.994 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) (- (* 0.5 (sin (* 0.5 phi2))))) (* (- (* 0.5 (sin (* 0.5 phi2)))) (cos (* 0.5 phi2)))) into (- (* 1.0 (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))) 4.994 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) 0) (* (- (* 1.0 (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))) lambda1)) into (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) lambda1)))) 4.995 * [backup-simplify]: Simplify (+ (* lambda2 (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) lambda1))))) (* 0 (* (pow (cos (* 0.5 phi2)) 2) lambda1))) into (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1))))) 4.995 * [backup-simplify]: Simplify (+ (* 2 (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))))) (* 0 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) into (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1))))) 4.995 * [backup-simplify]: Simplify (+ (* 2 phi2) (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))))) into (- (* 2 phi2) (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1))))) 4.996 * [backup-simplify]: Simplify (- (- (* 2 phi2) (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))))) into (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))) (* 2 phi2)) 4.996 * [backup-simplify]: Simplify (+ (- (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2)))))) (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))) (* 2 phi2))) into (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))) (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))) (+ (* 2 phi2) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))))) 4.998 * [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)))))))) 4.998 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in lambda2 4.998 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in lambda2 4.998 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) in lambda2 4.998 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 4.998 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.998 * [backup-simplify]: Simplify phi2 into phi2 4.998 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) in lambda2 4.998 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda2 4.998 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 4.998 * [taylor]: Taking taylor expansion of lambda2 in lambda2 4.998 * [backup-simplify]: Simplify 0 into 0 4.998 * [backup-simplify]: Simplify 1 into 1 4.998 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 4.998 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 4.998 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 4.998 * [taylor]: Taking taylor expansion of 0.5 in lambda2 4.998 * [backup-simplify]: Simplify 0.5 into 0.5 4.998 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 4.998 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.998 * [backup-simplify]: Simplify phi2 into phi2 4.998 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.998 * [backup-simplify]: Simplify phi1 into phi1 4.998 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 4.998 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 4.999 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 4.999 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 4.999 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 4.999 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 4.999 * [backup-simplify]: Simplify (- 0) into 0 4.999 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 4.999 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) in lambda2 4.999 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in lambda2 4.999 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 4.999 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 4.999 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 4.999 * [taylor]: Taking taylor expansion of 0.5 in lambda2 4.999 * [backup-simplify]: Simplify 0.5 into 0.5 4.999 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 4.999 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.999 * [backup-simplify]: Simplify phi2 into phi2 4.999 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.999 * [backup-simplify]: Simplify phi1 into phi1 5.000 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 5.000 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 5.000 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 5.000 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 5.000 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 5.000 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 5.000 * [backup-simplify]: Simplify (- 0) into 0 5.000 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 5.000 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 5.000 * [taylor]: Taking taylor expansion of lambda1 in lambda2 5.000 * [backup-simplify]: Simplify lambda1 into lambda1 5.000 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 5.000 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.000 * [backup-simplify]: Simplify phi1 into phi1 5.000 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in lambda2 5.000 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda2 5.000 * [taylor]: Taking taylor expansion of 2 in lambda2 5.000 * [backup-simplify]: Simplify 2 into 2 5.001 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 5.001 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.001 * [backup-simplify]: Simplify phi2 into phi2 5.001 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.001 * [backup-simplify]: Simplify phi1 into phi1 5.001 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in lambda2 5.001 * [taylor]: Taking taylor expansion of 2 in lambda2 5.001 * [backup-simplify]: Simplify 2 into 2 5.001 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in lambda2 5.001 * [taylor]: Taking taylor expansion of lambda2 in lambda2 5.001 * [backup-simplify]: Simplify 0 into 0 5.001 * [backup-simplify]: Simplify 1 into 1 5.001 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in lambda2 5.001 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 5.001 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 5.001 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 5.001 * [taylor]: Taking taylor expansion of 0.5 in lambda2 5.001 * [backup-simplify]: Simplify 0.5 into 0.5 5.001 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 5.001 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.001 * [backup-simplify]: Simplify phi2 into phi2 5.001 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.001 * [backup-simplify]: Simplify phi1 into phi1 5.001 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 5.001 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 5.001 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 5.001 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 5.001 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 5.001 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 5.001 * [backup-simplify]: Simplify (- 0) into 0 5.002 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 5.002 * [taylor]: Taking taylor expansion of lambda1 in lambda2 5.002 * [backup-simplify]: Simplify lambda1 into lambda1 5.002 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 5.002 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 5.002 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 5.002 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) 5.002 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 5.002 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) into (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) 5.003 * [backup-simplify]: Simplify (+ 0 (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) into (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) 5.003 * [backup-simplify]: Simplify (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) into (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) 5.003 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 5.003 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1)) 5.003 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 5.003 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) into (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) 5.004 * [backup-simplify]: Simplify (* 0 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) into 0 5.004 * [backup-simplify]: Simplify (* 2 0) into 0 5.004 * [backup-simplify]: Simplify (+ (* 2 (* phi2 phi1)) 0) into (* 2 (* phi2 phi1)) 5.004 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1))) 5.005 * [backup-simplify]: Simplify (+ (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (- (* 2 (* phi2 phi1)))) into (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1))) 5.005 * [backup-simplify]: Simplify (sqrt (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1)))) into (sqrt (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1)))) 5.005 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 5.005 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 5.006 * [backup-simplify]: Simplify (+ 0) into 0 5.006 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 5.006 * [backup-simplify]: Simplify (+ 0 0) into 0 5.007 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 5.007 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.007 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 5.008 * [backup-simplify]: Simplify (- 0) into 0 5.008 * [backup-simplify]: Simplify (+ 0 0) into 0 5.008 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 5.008 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) (* 0 (pow lambda1 2))) into 0 5.008 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 5.008 * [backup-simplify]: Simplify (+ 0 0) into 0 5.009 * [backup-simplify]: Simplify (+ 0 0) into 0 5.009 * [backup-simplify]: Simplify (+ 0 0) into 0 5.009 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 5.009 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0 5.010 * [backup-simplify]: Simplify (+ 0) into 0 5.010 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 5.010 * [backup-simplify]: Simplify (+ 0 0) into 0 5.010 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 5.011 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.011 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 5.012 * [backup-simplify]: Simplify (- 0) into 0 5.012 * [backup-simplify]: Simplify (+ 0 0) into 0 5.012 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 5.012 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) (* 0 lambda1)) into 0 5.013 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) 5.013 * [backup-simplify]: Simplify (+ (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) (* 0 0)) into (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) 5.013 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) 5.013 * [backup-simplify]: Simplify (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 5.014 * [backup-simplify]: Simplify (+ 0 (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) into (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 5.015 * [backup-simplify]: Simplify (/ (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (sqrt (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1)))))) into (* -1 (* (sqrt (/ 1 (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1))))) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 5.015 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in lambda1 5.015 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in lambda1 5.015 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) in lambda1 5.015 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 5.015 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.015 * [backup-simplify]: Simplify phi2 into phi2 5.015 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) in lambda1 5.015 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda1 5.015 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 5.015 * [taylor]: Taking taylor expansion of lambda2 in lambda1 5.015 * [backup-simplify]: Simplify lambda2 into lambda2 5.015 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda1 5.015 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 5.015 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 5.015 * [taylor]: Taking taylor expansion of 0.5 in lambda1 5.015 * [backup-simplify]: Simplify 0.5 into 0.5 5.015 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 5.015 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.015 * [backup-simplify]: Simplify phi2 into phi2 5.015 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.015 * [backup-simplify]: Simplify phi1 into phi1 5.015 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 5.015 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 5.015 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 5.015 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 5.015 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 5.015 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 5.016 * [backup-simplify]: Simplify (- 0) into 0 5.016 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 5.016 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) in lambda1 5.016 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in lambda1 5.016 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda1 5.016 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 5.016 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 5.016 * [taylor]: Taking taylor expansion of 0.5 in lambda1 5.016 * [backup-simplify]: Simplify 0.5 into 0.5 5.016 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 5.016 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.016 * [backup-simplify]: Simplify phi2 into phi2 5.016 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.016 * [backup-simplify]: Simplify phi1 into phi1 5.016 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 5.016 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 5.016 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 5.016 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 5.016 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 5.016 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 5.017 * [backup-simplify]: Simplify (- 0) into 0 5.017 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 5.017 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 5.017 * [taylor]: Taking taylor expansion of lambda1 in lambda1 5.017 * [backup-simplify]: Simplify 0 into 0 5.017 * [backup-simplify]: Simplify 1 into 1 5.017 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 5.017 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.017 * [backup-simplify]: Simplify phi1 into phi1 5.017 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in lambda1 5.017 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda1 5.017 * [taylor]: Taking taylor expansion of 2 in lambda1 5.017 * [backup-simplify]: Simplify 2 into 2 5.017 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda1 5.017 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.017 * [backup-simplify]: Simplify phi2 into phi2 5.017 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.017 * [backup-simplify]: Simplify phi1 into phi1 5.017 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in lambda1 5.017 * [taylor]: Taking taylor expansion of 2 in lambda1 5.017 * [backup-simplify]: Simplify 2 into 2 5.017 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in lambda1 5.017 * [taylor]: Taking taylor expansion of lambda2 in lambda1 5.017 * [backup-simplify]: Simplify lambda2 into lambda2 5.017 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in lambda1 5.017 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda1 5.017 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 5.017 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 5.017 * [taylor]: Taking taylor expansion of 0.5 in lambda1 5.017 * [backup-simplify]: Simplify 0.5 into 0.5 5.017 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 5.017 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.017 * [backup-simplify]: Simplify phi2 into phi2 5.017 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.017 * [backup-simplify]: Simplify phi1 into phi1 5.017 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 5.017 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 5.017 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 5.017 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 5.017 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 5.018 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 5.018 * [backup-simplify]: Simplify (- 0) into 0 5.018 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 5.018 * [taylor]: Taking taylor expansion of lambda1 in lambda1 5.018 * [backup-simplify]: Simplify 0 into 0 5.018 * [backup-simplify]: Simplify 1 into 1 5.018 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 5.018 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 5.018 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 5.018 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) into (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) 5.018 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 5.019 * [backup-simplify]: Simplify (+ 0 (pow phi1 2)) into (pow phi1 2) 5.019 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (pow phi1 2)) into (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (pow phi1 2)) 5.019 * [backup-simplify]: Simplify (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (pow phi1 2))) into (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) 5.019 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 5.019 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1)) 5.019 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 5.020 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) into 0 5.020 * [backup-simplify]: Simplify (* lambda2 0) into 0 5.020 * [backup-simplify]: Simplify (* 2 0) into 0 5.020 * [backup-simplify]: Simplify (+ (* 2 (* phi2 phi1)) 0) into (* 2 (* phi2 phi1)) 5.020 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1))) 5.021 * [backup-simplify]: Simplify (+ (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) (- (* 2 (* phi2 phi1)))) into (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) (* 2 (* phi2 phi1))) 5.021 * [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)))) 5.021 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 5.021 * [backup-simplify]: Simplify (+ 0) into 0 5.022 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 5.022 * [backup-simplify]: Simplify (+ 0 0) into 0 5.022 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 5.023 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.023 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 5.023 * [backup-simplify]: Simplify (- 0) into 0 5.024 * [backup-simplify]: Simplify (+ 0 0) into 0 5.024 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 5.024 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 5.024 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) 0) (* 0 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) into 0 5.024 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 5.024 * [backup-simplify]: Simplify (+ 0 0) into 0 5.025 * [backup-simplify]: Simplify (+ 0 0) into 0 5.025 * [backup-simplify]: Simplify (+ 0 0) into 0 5.025 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 5.025 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0 5.025 * [backup-simplify]: Simplify (+ 0) into 0 5.026 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 5.026 * [backup-simplify]: Simplify (+ 0 0) into 0 5.026 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 5.027 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.027 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 5.027 * [backup-simplify]: Simplify (- 0) into 0 5.028 * [backup-simplify]: Simplify (+ 0 0) into 0 5.028 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 5.028 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 1) (* 0 0)) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 5.029 * [backup-simplify]: Simplify (+ (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* 0 0)) into (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) 5.029 * [backup-simplify]: Simplify (+ (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) (* 0 0)) into (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) 5.029 * [backup-simplify]: Simplify (+ 0 (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) into (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) 5.029 * [backup-simplify]: Simplify (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) 5.030 * [backup-simplify]: Simplify (+ 0 (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) 5.031 * [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)))) 5.031 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in lambda1 5.031 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in lambda1 5.031 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) in lambda1 5.031 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 5.031 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.031 * [backup-simplify]: Simplify phi2 into phi2 5.031 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) in lambda1 5.031 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda1 5.031 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 5.031 * [taylor]: Taking taylor expansion of lambda2 in lambda1 5.031 * [backup-simplify]: Simplify lambda2 into lambda2 5.031 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda1 5.031 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 5.031 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 5.031 * [taylor]: Taking taylor expansion of 0.5 in lambda1 5.031 * [backup-simplify]: Simplify 0.5 into 0.5 5.031 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 5.031 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.031 * [backup-simplify]: Simplify phi2 into phi2 5.031 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.031 * [backup-simplify]: Simplify phi1 into phi1 5.031 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 5.031 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 5.031 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 5.031 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 5.031 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 5.031 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 5.032 * [backup-simplify]: Simplify (- 0) into 0 5.032 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 5.032 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) in lambda1 5.032 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in lambda1 5.032 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda1 5.032 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 5.032 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 5.032 * [taylor]: Taking taylor expansion of 0.5 in lambda1 5.032 * [backup-simplify]: Simplify 0.5 into 0.5 5.032 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 5.032 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.032 * [backup-simplify]: Simplify phi2 into phi2 5.032 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.032 * [backup-simplify]: Simplify phi1 into phi1 5.032 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 5.032 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 5.032 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 5.032 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 5.032 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 5.033 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 5.033 * [backup-simplify]: Simplify (- 0) into 0 5.033 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 5.033 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 5.033 * [taylor]: Taking taylor expansion of lambda1 in lambda1 5.033 * [backup-simplify]: Simplify 0 into 0 5.033 * [backup-simplify]: Simplify 1 into 1 5.033 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 5.033 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.033 * [backup-simplify]: Simplify phi1 into phi1 5.033 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in lambda1 5.033 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda1 5.033 * [taylor]: Taking taylor expansion of 2 in lambda1 5.033 * [backup-simplify]: Simplify 2 into 2 5.033 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda1 5.033 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.033 * [backup-simplify]: Simplify phi2 into phi2 5.033 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.033 * [backup-simplify]: Simplify phi1 into phi1 5.033 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in lambda1 5.033 * [taylor]: Taking taylor expansion of 2 in lambda1 5.033 * [backup-simplify]: Simplify 2 into 2 5.033 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in lambda1 5.033 * [taylor]: Taking taylor expansion of lambda2 in lambda1 5.033 * [backup-simplify]: Simplify lambda2 into lambda2 5.033 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in lambda1 5.033 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda1 5.033 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 5.033 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 5.033 * [taylor]: Taking taylor expansion of 0.5 in lambda1 5.033 * [backup-simplify]: Simplify 0.5 into 0.5 5.033 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 5.033 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.033 * [backup-simplify]: Simplify phi2 into phi2 5.033 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.033 * [backup-simplify]: Simplify phi1 into phi1 5.033 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 5.033 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 5.034 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 5.034 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 5.034 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 5.034 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 5.034 * [backup-simplify]: Simplify (- 0) into 0 5.034 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 5.034 * [taylor]: Taking taylor expansion of lambda1 in lambda1 5.034 * [backup-simplify]: Simplify 0 into 0 5.034 * [backup-simplify]: Simplify 1 into 1 5.034 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 5.034 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 5.034 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 5.035 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) into (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) 5.035 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 5.035 * [backup-simplify]: Simplify (+ 0 (pow phi1 2)) into (pow phi1 2) 5.035 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (pow phi1 2)) into (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (pow phi1 2)) 5.035 * [backup-simplify]: Simplify (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (pow phi1 2))) into (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) 5.035 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 5.036 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1)) 5.036 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 5.036 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) into 0 5.036 * [backup-simplify]: Simplify (* lambda2 0) into 0 5.036 * [backup-simplify]: Simplify (* 2 0) into 0 5.036 * [backup-simplify]: Simplify (+ (* 2 (* phi2 phi1)) 0) into (* 2 (* phi2 phi1)) 5.036 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1))) 5.037 * [backup-simplify]: Simplify (+ (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) (- (* 2 (* phi2 phi1)))) into (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) (* 2 (* phi2 phi1))) 5.037 * [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)))) 5.037 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 5.038 * [backup-simplify]: Simplify (+ 0) into 0 5.038 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 5.038 * [backup-simplify]: Simplify (+ 0 0) into 0 5.039 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 5.039 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.039 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 5.040 * [backup-simplify]: Simplify (- 0) into 0 5.040 * [backup-simplify]: Simplify (+ 0 0) into 0 5.040 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 5.040 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 5.040 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) 0) (* 0 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) into 0 5.041 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 5.041 * [backup-simplify]: Simplify (+ 0 0) into 0 5.041 * [backup-simplify]: Simplify (+ 0 0) into 0 5.041 * [backup-simplify]: Simplify (+ 0 0) into 0 5.041 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 5.042 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0 5.042 * [backup-simplify]: Simplify (+ 0) into 0 5.042 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 5.042 * [backup-simplify]: Simplify (+ 0 0) into 0 5.043 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 5.043 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.043 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 5.044 * [backup-simplify]: Simplify (- 0) into 0 5.044 * [backup-simplify]: Simplify (+ 0 0) into 0 5.044 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 5.045 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 1) (* 0 0)) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 5.045 * [backup-simplify]: Simplify (+ (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* 0 0)) into (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) 5.045 * [backup-simplify]: Simplify (+ (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) (* 0 0)) into (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) 5.046 * [backup-simplify]: Simplify (+ 0 (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) into (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) 5.046 * [backup-simplify]: Simplify (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) 5.046 * [backup-simplify]: Simplify (+ 0 (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) 5.047 * [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)))) 5.047 * [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 5.047 * [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 5.047 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) in lambda2 5.047 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda2 5.047 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 5.047 * [taylor]: Taking taylor expansion of lambda2 in lambda2 5.047 * [backup-simplify]: Simplify 0 into 0 5.047 * [backup-simplify]: Simplify 1 into 1 5.047 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 5.047 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 5.047 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 5.047 * [taylor]: Taking taylor expansion of 0.5 in lambda2 5.047 * [backup-simplify]: Simplify 0.5 into 0.5 5.047 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 5.047 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.047 * [backup-simplify]: Simplify phi2 into phi2 5.047 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.047 * [backup-simplify]: Simplify phi1 into phi1 5.047 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 5.047 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 5.047 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 5.047 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 5.047 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 5.048 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 5.048 * [backup-simplify]: Simplify (- 0) into 0 5.048 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 5.048 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (pow phi2 2)) in lambda2 5.048 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 5.048 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.048 * [backup-simplify]: Simplify phi1 into phi1 5.048 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 5.048 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.048 * [backup-simplify]: Simplify phi2 into phi2 5.048 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda2 5.048 * [taylor]: Taking taylor expansion of 2 in lambda2 5.048 * [backup-simplify]: Simplify 2 into 2 5.048 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 5.048 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.048 * [backup-simplify]: Simplify phi2 into phi2 5.048 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.048 * [backup-simplify]: Simplify phi1 into phi1 5.048 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 5.048 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 5.048 * [backup-simplify]: Simplify (+ (pow phi1 2) (pow phi2 2)) into (+ (pow phi2 2) (pow phi1 2)) 5.049 * [backup-simplify]: Simplify (+ 0 (+ (pow phi2 2) (pow phi1 2))) into (+ (pow phi2 2) (pow phi1 2)) 5.049 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 5.049 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1)) 5.049 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1))) 5.049 * [backup-simplify]: Simplify (+ (+ (pow phi2 2) (pow phi1 2)) (- (* 2 (* phi2 phi1)))) into (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))) 5.049 * [backup-simplify]: Simplify (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))) into (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))) 5.049 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 5.049 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 5.050 * [backup-simplify]: Simplify (+ 0 0) into 0 5.050 * [backup-simplify]: Simplify (+ 0 0) into 0 5.050 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 5.050 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0 5.050 * [backup-simplify]: Simplify (- 0) into 0 5.051 * [backup-simplify]: Simplify (+ 0 0) into 0 5.051 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))))) into 0 5.051 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))) in phi1 5.051 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))) in phi1 5.051 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in phi1 5.051 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 5.051 * [taylor]: Taking taylor expansion of phi2 in phi1 5.051 * [backup-simplify]: Simplify phi2 into phi2 5.051 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 5.051 * [taylor]: Taking taylor expansion of phi1 in phi1 5.051 * [backup-simplify]: Simplify 0 into 0 5.051 * [backup-simplify]: Simplify 1 into 1 5.051 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi1 5.051 * [taylor]: Taking taylor expansion of 2 in phi1 5.051 * [backup-simplify]: Simplify 2 into 2 5.051 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 5.051 * [taylor]: Taking taylor expansion of phi2 in phi1 5.051 * [backup-simplify]: Simplify phi2 into phi2 5.051 * [taylor]: Taking taylor expansion of phi1 in phi1 5.051 * [backup-simplify]: Simplify 0 into 0 5.051 * [backup-simplify]: Simplify 1 into 1 5.051 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 5.051 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 5.051 * [backup-simplify]: Simplify (* phi2 0) into 0 5.052 * [backup-simplify]: Simplify (* 2 0) into 0 5.052 * [backup-simplify]: Simplify (- 0) into 0 5.052 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 5.052 * [backup-simplify]: Simplify (sqrt (pow phi2 2)) into phi2 5.052 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 5.052 * [backup-simplify]: Simplify (+ 0 0) into 0 5.053 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 5.053 * [backup-simplify]: Simplify (+ (* 2 phi2) (* 0 0)) into (* 2 phi2) 5.053 * [backup-simplify]: Simplify (- (* 2 phi2)) into (- (* 2 phi2)) 5.053 * [backup-simplify]: Simplify (+ 0 (- (* 2 phi2))) into (- (* 2 phi2)) 5.053 * [backup-simplify]: Simplify (/ (- (* 2 phi2)) (* 2 (sqrt (pow phi2 2)))) into -1 5.053 * [taylor]: Taking taylor expansion of phi2 in phi2 5.053 * [backup-simplify]: Simplify 0 into 0 5.053 * [backup-simplify]: Simplify 1 into 1 5.053 * [backup-simplify]: Simplify 0 into 0 5.053 * [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 5.053 * [taylor]: Taking taylor expansion of -1 in lambda2 5.053 * [backup-simplify]: Simplify -1 into -1 5.053 * [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 5.053 * [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 5.053 * [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 5.053 * [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 5.054 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) in lambda2 5.054 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda2 5.054 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 5.054 * [taylor]: Taking taylor expansion of lambda2 in lambda2 5.054 * [backup-simplify]: Simplify 0 into 0 5.054 * [backup-simplify]: Simplify 1 into 1 5.054 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 5.054 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 5.054 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 5.054 * [taylor]: Taking taylor expansion of 0.5 in lambda2 5.054 * [backup-simplify]: Simplify 0.5 into 0.5 5.054 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 5.054 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.054 * [backup-simplify]: Simplify phi2 into phi2 5.054 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.054 * [backup-simplify]: Simplify phi1 into phi1 5.054 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 5.054 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 5.054 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 5.054 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 5.054 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 5.054 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 5.054 * [backup-simplify]: Simplify (- 0) into 0 5.054 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 5.054 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (pow phi2 2)) in lambda2 5.054 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 5.055 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.055 * [backup-simplify]: Simplify phi1 into phi1 5.055 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 5.055 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.055 * [backup-simplify]: Simplify phi2 into phi2 5.055 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda2 5.055 * [taylor]: Taking taylor expansion of 2 in lambda2 5.055 * [backup-simplify]: Simplify 2 into 2 5.055 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 5.055 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.055 * [backup-simplify]: Simplify phi2 into phi2 5.055 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.055 * [backup-simplify]: Simplify phi1 into phi1 5.055 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 5.055 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 5.055 * [backup-simplify]: Simplify (+ (pow phi1 2) (pow phi2 2)) into (+ (pow phi2 2) (pow phi1 2)) 5.055 * [backup-simplify]: Simplify (+ 0 (+ (pow phi2 2) (pow phi1 2))) into (+ (pow phi2 2) (pow phi1 2)) 5.055 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 5.055 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1)) 5.055 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1))) 5.055 * [backup-simplify]: Simplify (+ (+ (pow phi2 2) (pow phi1 2)) (- (* 2 (* phi2 phi1)))) into (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))) 5.056 * [backup-simplify]: Simplify (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))) into (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))) 5.056 * [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))))) 5.056 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 5.056 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 5.056 * [backup-simplify]: Simplify (+ 0 0) into 0 5.057 * [backup-simplify]: Simplify (+ 0 0) into 0 5.057 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 5.057 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0 5.057 * [backup-simplify]: Simplify (- 0) into 0 5.057 * [backup-simplify]: Simplify (+ 0 0) into 0 5.058 * [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 5.058 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))))))) into 0 5.058 * [taylor]: Taking taylor expansion of (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda2 5.058 * [taylor]: Taking taylor expansion of lambda2 in lambda2 5.058 * [backup-simplify]: Simplify 0 into 0 5.058 * [backup-simplify]: Simplify 1 into 1 5.058 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 5.058 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 5.058 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 5.058 * [taylor]: Taking taylor expansion of 0.5 in lambda2 5.058 * [backup-simplify]: Simplify 0.5 into 0.5 5.058 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 5.058 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.058 * [backup-simplify]: Simplify phi2 into phi2 5.058 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.058 * [backup-simplify]: Simplify phi1 into phi1 5.058 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 5.059 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 5.059 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 5.059 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 5.059 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 5.059 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 5.059 * [backup-simplify]: Simplify (- 0) into 0 5.059 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 5.059 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 5.059 * [backup-simplify]: Simplify (* 0 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) into 0 5.060 * [backup-simplify]: Simplify (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))))) 0) into 0 5.060 * [backup-simplify]: Simplify (* -1 0) into 0 5.060 * [taylor]: Taking taylor expansion of 0 in phi1 5.060 * [backup-simplify]: Simplify 0 into 0 5.060 * [taylor]: Taking taylor expansion of 0 in phi2 5.060 * [backup-simplify]: Simplify 0 into 0 5.060 * [backup-simplify]: Simplify 0 into 0 5.060 * [taylor]: Taking taylor expansion of 0 in phi1 5.060 * [backup-simplify]: Simplify 0 into 0 5.060 * [taylor]: Taking taylor expansion of 0 in phi2 5.060 * [backup-simplify]: Simplify 0 into 0 5.060 * [backup-simplify]: Simplify 0 into 0 5.060 * [taylor]: Taking taylor expansion of -1 in phi2 5.060 * [backup-simplify]: Simplify -1 into -1 5.060 * [backup-simplify]: Simplify -1 into -1 5.060 * [backup-simplify]: Simplify 1 into 1 5.061 * [backup-simplify]: Simplify (+ (* phi2 0) (+ (* 0 0) (* 0 phi2))) into 0 5.061 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.062 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 1))) into 0 5.062 * [backup-simplify]: Simplify (+ 0 0) into 0 5.063 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ phi2 phi1)))) into 0 5.063 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.063 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 0))) into 0 5.064 * [backup-simplify]: Simplify (- 0) into 0 5.064 * [backup-simplify]: Simplify (+ 0 0) into 0 5.064 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ phi2 phi1)))))) into 0 5.064 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda2))) into 0 5.065 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) 0) (+ (* 0 0) (* 0 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) into 0 5.065 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 5.065 * [backup-simplify]: Simplify (* 1 1) into 1 5.065 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 1) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 5.066 * [backup-simplify]: Simplify (+ (* phi1 0) (+ (* 0 0) (* 0 phi1))) into 0 5.066 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 5.066 * [backup-simplify]: Simplify (+ 0 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 5.066 * [backup-simplify]: Simplify (+ 0 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 5.067 * [backup-simplify]: Simplify (+ (* phi2 0) (+ (* 0 0) (* 0 phi1))) into 0 5.067 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (* phi2 phi1)))) into 0 5.068 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.068 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 1))) into 0 5.068 * [backup-simplify]: Simplify (+ 0 0) into 0 5.069 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ phi2 phi1)))) into 0 5.069 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.070 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 0))) into 0 5.070 * [backup-simplify]: Simplify (- 0) into 0 5.070 * [backup-simplify]: Simplify (+ 0 0) into 0 5.070 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ phi2 phi1)))))) into 0 5.071 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) (+ (* 0 1) (* 0 0))) into 0 5.071 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* 0 0))) into 0 5.072 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) (* 0 0))) into 0 5.072 * [backup-simplify]: Simplify (+ 0 0) into 0 5.073 * [backup-simplify]: Simplify (- 0) into 0 5.073 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 5.074 * [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))))))) 5.075 * [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 5.075 * [taylor]: Taking taylor expansion of 1/2 in lambda2 5.075 * [backup-simplify]: Simplify 1/2 into 1/2 5.075 * [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 5.075 * [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 5.075 * [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 5.075 * [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 5.075 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) in lambda2 5.075 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda2 5.075 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 5.075 * [taylor]: Taking taylor expansion of lambda2 in lambda2 5.075 * [backup-simplify]: Simplify 0 into 0 5.075 * [backup-simplify]: Simplify 1 into 1 5.075 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 5.075 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 5.075 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 5.075 * [taylor]: Taking taylor expansion of 0.5 in lambda2 5.075 * [backup-simplify]: Simplify 0.5 into 0.5 5.075 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 5.075 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.075 * [backup-simplify]: Simplify phi2 into phi2 5.075 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.075 * [backup-simplify]: Simplify phi1 into phi1 5.075 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 5.075 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 5.075 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 5.075 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 5.075 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 5.075 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 5.080 * [backup-simplify]: Simplify (- 0) into 0 5.081 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 5.081 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in lambda2 5.081 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 5.081 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.081 * [backup-simplify]: Simplify phi2 into phi2 5.081 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 5.081 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.081 * [backup-simplify]: Simplify phi1 into phi1 5.081 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda2 5.081 * [taylor]: Taking taylor expansion of 2 in lambda2 5.081 * [backup-simplify]: Simplify 2 into 2 5.081 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 5.081 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.081 * [backup-simplify]: Simplify phi2 into phi2 5.081 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.081 * [backup-simplify]: Simplify phi1 into phi1 5.081 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 5.081 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 5.081 * [backup-simplify]: Simplify (+ (pow phi2 2) (pow phi1 2)) into (+ (pow phi1 2) (pow phi2 2)) 5.082 * [backup-simplify]: Simplify (+ 0 (+ (pow phi1 2) (pow phi2 2))) into (+ (pow phi1 2) (pow phi2 2)) 5.082 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 5.082 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1)) 5.082 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1))) 5.082 * [backup-simplify]: Simplify (+ (+ (pow phi1 2) (pow phi2 2)) (- (* 2 (* phi2 phi1)))) into (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1))) 5.082 * [backup-simplify]: Simplify (/ 1 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1)))) into (/ 1 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1)))) 5.082 * [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))))) 5.083 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 5.083 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 5.083 * [backup-simplify]: Simplify (+ 0 0) into 0 5.083 * [backup-simplify]: Simplify (+ 0 0) into 0 5.083 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 5.084 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0 5.084 * [backup-simplify]: Simplify (- 0) into 0 5.085 * [backup-simplify]: Simplify (+ 0 0) into 0 5.085 * [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 5.085 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1))))))) into 0 5.085 * [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 5.085 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 5.085 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 5.085 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 5.085 * [taylor]: Taking taylor expansion of 0.5 in lambda2 5.085 * [backup-simplify]: Simplify 0.5 into 0.5 5.086 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 5.086 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.086 * [backup-simplify]: Simplify phi2 into phi2 5.086 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.086 * [backup-simplify]: Simplify phi1 into phi1 5.086 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 5.086 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 5.086 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 5.086 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 5.086 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 5.086 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 5.086 * [backup-simplify]: Simplify (- 0) into 0 5.086 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 5.086 * [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 5.086 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 4)) in lambda2 5.086 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 5.086 * [taylor]: Taking taylor expansion of lambda2 in lambda2 5.086 * [backup-simplify]: Simplify 0 into 0 5.086 * [backup-simplify]: Simplify 1 into 1 5.086 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 4) in lambda2 5.086 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 5.086 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 5.086 * [taylor]: Taking taylor expansion of 0.5 in lambda2 5.087 * [backup-simplify]: Simplify 0.5 into 0.5 5.087 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 5.087 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.087 * [backup-simplify]: Simplify phi2 into phi2 5.087 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.087 * [backup-simplify]: Simplify phi1 into phi1 5.087 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 5.087 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 5.087 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 5.087 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 5.087 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 5.087 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 5.087 * [backup-simplify]: Simplify (- 0) into 0 5.087 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 5.087 * [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 5.087 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) in lambda2 5.087 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda2 5.087 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 5.087 * [taylor]: Taking taylor expansion of lambda2 in lambda2 5.087 * [backup-simplify]: Simplify 0 into 0 5.087 * [backup-simplify]: Simplify 1 into 1 5.087 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 5.087 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 5.087 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 5.087 * [taylor]: Taking taylor expansion of 0.5 in lambda2 5.088 * [backup-simplify]: Simplify 0.5 into 0.5 5.088 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 5.088 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.088 * [backup-simplify]: Simplify phi2 into phi2 5.088 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.088 * [backup-simplify]: Simplify phi1 into phi1 5.088 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 5.088 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 5.088 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 5.088 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 5.088 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 5.088 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 5.088 * [backup-simplify]: Simplify (- 0) into 0 5.088 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 5.088 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in lambda2 5.088 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 5.088 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.088 * [backup-simplify]: Simplify phi2 into phi2 5.088 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 5.088 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.088 * [backup-simplify]: Simplify phi1 into phi1 5.088 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda2 5.088 * [taylor]: Taking taylor expansion of 2 in lambda2 5.088 * [backup-simplify]: Simplify 2 into 2 5.089 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 5.089 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.089 * [backup-simplify]: Simplify phi2 into phi2 5.089 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.089 * [backup-simplify]: Simplify phi1 into phi1 5.089 * [backup-simplify]: Simplify (* 1 1) into 1 5.089 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 5.089 * [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) 5.089 * [backup-simplify]: Simplify (* 1 (pow (cos (* 0.5 (+ phi2 phi1))) 4)) into (pow (cos (* 0.5 (+ phi2 phi1))) 4) 5.089 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 5.089 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 5.090 * [backup-simplify]: Simplify (+ (pow phi2 2) (pow phi1 2)) into (+ (pow phi1 2) (pow phi2 2)) 5.090 * [backup-simplify]: Simplify (+ 0 (+ (pow phi1 2) (pow phi2 2))) into (+ (pow phi1 2) (pow phi2 2)) 5.090 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 5.090 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1)) 5.090 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1))) 5.090 * [backup-simplify]: Simplify (+ (+ (pow phi1 2) (pow phi2 2)) (- (* 2 (* phi2 phi1)))) into (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1))) 5.090 * [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)))) 5.091 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 5.091 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 5.091 * [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)))))) 5.091 * [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))))))) 5.092 * [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 5.092 * [taylor]: Taking taylor expansion of 1/2 in phi1 5.092 * [backup-simplify]: Simplify 1/2 into 1/2 5.092 * [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 5.092 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1 5.092 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 5.092 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 5.092 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.092 * [backup-simplify]: Simplify 0.5 into 0.5 5.092 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 5.092 * [taylor]: Taking taylor expansion of phi2 in phi1 5.092 * [backup-simplify]: Simplify phi2 into phi2 5.092 * [taylor]: Taking taylor expansion of phi1 in phi1 5.092 * [backup-simplify]: Simplify 0 into 0 5.092 * [backup-simplify]: Simplify 1 into 1 5.092 * [backup-simplify]: Simplify (+ phi2 0) into phi2 5.092 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 5.092 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 5.092 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 5.092 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 5.092 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 5.092 * [backup-simplify]: Simplify (- 0) into 0 5.093 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 5.093 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1))))) in phi1 5.093 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1)))) in phi1 5.093 * [taylor]: Taking taylor expansion of (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1))) in phi1 5.093 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (pow phi2 2)) in phi1 5.093 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 5.093 * [taylor]: Taking taylor expansion of phi1 in phi1 5.093 * [backup-simplify]: Simplify 0 into 0 5.093 * [backup-simplify]: Simplify 1 into 1 5.093 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 5.093 * [taylor]: Taking taylor expansion of phi2 in phi1 5.093 * [backup-simplify]: Simplify phi2 into phi2 5.093 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi1 5.093 * [taylor]: Taking taylor expansion of 2 in phi1 5.093 * [backup-simplify]: Simplify 2 into 2 5.093 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 5.093 * [taylor]: Taking taylor expansion of phi2 in phi1 5.093 * [backup-simplify]: Simplify phi2 into phi2 5.093 * [taylor]: Taking taylor expansion of phi1 in phi1 5.093 * [backup-simplify]: Simplify 0 into 0 5.093 * [backup-simplify]: Simplify 1 into 1 5.093 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 5.093 * [backup-simplify]: Simplify (+ 0 (pow phi2 2)) into (pow phi2 2) 5.093 * [backup-simplify]: Simplify (* phi2 0) into 0 5.093 * [backup-simplify]: Simplify (* 2 0) into 0 5.094 * [backup-simplify]: Simplify (- 0) into 0 5.094 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 5.094 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 5.094 * [backup-simplify]: Simplify (sqrt (/ 1 (pow phi2 2))) into (/ 1 phi2) 5.094 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 5.094 * [backup-simplify]: Simplify (+ 0 0) into 0 5.094 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 5.095 * [backup-simplify]: Simplify (+ (* 2 phi2) (* 0 0)) into (* 2 phi2) 5.095 * [backup-simplify]: Simplify (- (* 2 phi2)) into (- (* 2 phi2)) 5.095 * [backup-simplify]: Simplify (+ 0 (- (* 2 phi2))) into (- (* 2 phi2)) 5.095 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi2 2)) (/ (- (* 2 phi2)) (pow phi2 2))))) into (* 2 (/ 1 (pow phi2 3))) 5.095 * [backup-simplify]: Simplify (/ (* 2 (/ 1 (pow phi2 3))) (* 2 (sqrt (/ 1 (pow phi2 2))))) into (/ 1 (pow phi2 2)) 5.095 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 5.096 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi2)) 2) (/ 1 phi2)) into (/ (pow (cos (* 0.5 phi2)) 2) phi2) 5.096 * [backup-simplify]: Simplify (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2)) into (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2)) 5.096 * [taylor]: Taking taylor expansion of (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2)) in phi2 5.096 * [taylor]: Taking taylor expansion of 1/2 in phi2 5.096 * [backup-simplify]: Simplify 1/2 into 1/2 5.096 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 phi2)) 2) phi2) in phi2 5.096 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2 5.096 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 5.096 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 5.096 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.096 * [backup-simplify]: Simplify 0.5 into 0.5 5.096 * [taylor]: Taking taylor expansion of phi2 in phi2 5.096 * [backup-simplify]: Simplify 0 into 0 5.096 * [backup-simplify]: Simplify 1 into 1 5.096 * [backup-simplify]: Simplify (* 0.5 0) into 0 5.097 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 5.097 * [taylor]: Taking taylor expansion of phi2 in phi2 5.097 * [backup-simplify]: Simplify 0 into 0 5.097 * [backup-simplify]: Simplify 1 into 1 5.097 * [backup-simplify]: Simplify (* 1 1) into 1 5.098 * [backup-simplify]: Simplify (/ 1 1) into 1 5.098 * [backup-simplify]: Simplify (+ 0) into 0 5.098 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 5.099 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* 1 (/ 0 1)))) into 0 5.099 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 1)) into 0 5.099 * [backup-simplify]: Simplify 0 into 0 5.099 * [backup-simplify]: Simplify (+ 0) into 0 5.100 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 5.100 * [backup-simplify]: Simplify (+ 0 0) into 0 5.100 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 5.101 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.101 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 5.101 * [backup-simplify]: Simplify (- 0) into 0 5.102 * [backup-simplify]: Simplify (+ 0 0) into 0 5.102 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 5.102 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 5.103 * [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)) 5.104 * [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))) 5.104 * [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 5.104 * [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 5.104 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))))) in phi1 5.104 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))) in phi1 5.104 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))) in phi1 5.104 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in phi1 5.104 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 5.104 * [taylor]: Taking taylor expansion of phi2 in phi1 5.104 * [backup-simplify]: Simplify phi2 into phi2 5.104 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 5.104 * [taylor]: Taking taylor expansion of phi1 in phi1 5.104 * [backup-simplify]: Simplify 0 into 0 5.104 * [backup-simplify]: Simplify 1 into 1 5.104 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi1 5.104 * [taylor]: Taking taylor expansion of 2 in phi1 5.104 * [backup-simplify]: Simplify 2 into 2 5.104 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 5.104 * [taylor]: Taking taylor expansion of phi2 in phi1 5.104 * [backup-simplify]: Simplify phi2 into phi2 5.104 * [taylor]: Taking taylor expansion of phi1 in phi1 5.104 * [backup-simplify]: Simplify 0 into 0 5.104 * [backup-simplify]: Simplify 1 into 1 5.104 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 5.104 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 5.104 * [backup-simplify]: Simplify (* phi2 0) into 0 5.104 * [backup-simplify]: Simplify (* 2 0) into 0 5.105 * [backup-simplify]: Simplify (- 0) into 0 5.105 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 5.105 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 5.105 * [backup-simplify]: Simplify (sqrt (/ 1 (pow phi2 2))) into (/ 1 phi2) 5.105 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 5.105 * [backup-simplify]: Simplify (+ 0 0) into 0 5.106 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 5.106 * [backup-simplify]: Simplify (+ (* 2 phi2) (* 0 0)) into (* 2 phi2) 5.106 * [backup-simplify]: Simplify (- (* 2 phi2)) into (- (* 2 phi2)) 5.106 * [backup-simplify]: Simplify (+ 0 (- (* 2 phi2))) into (- (* 2 phi2)) 5.106 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi2 2)) (/ (- (* 2 phi2)) (pow phi2 2))))) into (* 2 (/ 1 (pow phi2 3))) 5.106 * [backup-simplify]: Simplify (/ (* 2 (/ 1 (pow phi2 3))) (* 2 (sqrt (/ 1 (pow phi2 2))))) into (/ 1 (pow phi2 2)) 5.106 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1 5.106 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 5.106 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 5.106 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.106 * [backup-simplify]: Simplify 0.5 into 0.5 5.106 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 5.106 * [taylor]: Taking taylor expansion of phi2 in phi1 5.107 * [backup-simplify]: Simplify phi2 into phi2 5.107 * [taylor]: Taking taylor expansion of phi1 in phi1 5.107 * [backup-simplify]: Simplify 0 into 0 5.107 * [backup-simplify]: Simplify 1 into 1 5.107 * [backup-simplify]: Simplify (+ phi2 0) into phi2 5.107 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 5.107 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 5.107 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 5.107 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 5.107 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 5.107 * [backup-simplify]: Simplify (- 0) into 0 5.107 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 5.107 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 5.107 * [backup-simplify]: Simplify (* (/ 1 phi2) (pow (cos (* 0.5 phi2)) 2)) into (/ (pow (cos (* 0.5 phi2)) 2) phi2) 5.108 * [backup-simplify]: Simplify (- (/ (pow (cos (* 0.5 phi2)) 2) phi2)) into (- (/ (pow (cos (* 0.5 phi2)) 2) phi2)) 5.108 * [taylor]: Taking taylor expansion of (- (/ (pow (cos (* 0.5 phi2)) 2) phi2)) in phi2 5.108 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 phi2)) 2) phi2) in phi2 5.108 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2 5.108 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 5.108 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 5.108 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.108 * [backup-simplify]: Simplify 0.5 into 0.5 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 5.108 * [backup-simplify]: Simplify (* 0.5 0) into 0 5.109 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 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 * [backup-simplify]: Simplify (/ 1 1) into 1 5.110 * [backup-simplify]: Simplify (+ 0) into 0 5.110 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 5.111 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* 1 (/ 0 1)))) into 0 5.111 * [backup-simplify]: Simplify (- 0) into 0 5.111 * [backup-simplify]: Simplify 0 into 0 5.111 * [backup-simplify]: Simplify (* 1 1) into 1 5.111 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 5.111 * [backup-simplify]: Simplify (* 1 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 5.112 * [backup-simplify]: Simplify (+ (* phi1 0) (+ (* 0 0) (* 0 phi1))) into 0 5.112 * [backup-simplify]: Simplify (+ (* phi2 0) (+ (* 0 0) (* 0 phi2))) into 0 5.112 * [backup-simplify]: Simplify (+ 0 0) into 0 5.112 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 5.113 * [backup-simplify]: Simplify (+ (* phi2 0) (+ (* 0 0) (* 0 phi1))) into 0 5.113 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (* phi2 phi1)))) into 0 5.113 * [backup-simplify]: Simplify (- 0) into 0 5.114 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 5.114 * [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))) 5.115 * [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 5.115 * [taylor]: Taking taylor expansion of 1/2 in phi1 5.115 * [backup-simplify]: Simplify 1/2 into 1/2 5.115 * [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 5.115 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))))) in phi1 5.115 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))) in phi1 5.115 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))) in phi1 5.115 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in phi1 5.115 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 5.115 * [taylor]: Taking taylor expansion of phi2 in phi1 5.115 * [backup-simplify]: Simplify phi2 into phi2 5.115 * [taylor]: Taking taylor expansion of (pow phi1 2) 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 5.115 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi1 5.115 * [taylor]: Taking taylor expansion of 2 in phi1 5.115 * [backup-simplify]: Simplify 2 into 2 5.115 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 5.115 * [taylor]: Taking taylor expansion of phi2 in phi1 5.115 * [backup-simplify]: Simplify phi2 into phi2 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 5.115 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 5.115 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 5.115 * [backup-simplify]: Simplify (* phi2 0) into 0 5.115 * [backup-simplify]: Simplify (* 2 0) into 0 5.116 * [backup-simplify]: Simplify (- 0) into 0 5.116 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 5.116 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 5.116 * [backup-simplify]: Simplify (sqrt (/ 1 (pow phi2 2))) into (/ 1 phi2) 5.116 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 5.116 * [backup-simplify]: Simplify (+ 0 0) into 0 5.116 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 5.117 * [backup-simplify]: Simplify (+ (* 2 phi2) (* 0 0)) into (* 2 phi2) 5.117 * [backup-simplify]: Simplify (- (* 2 phi2)) into (- (* 2 phi2)) 5.117 * [backup-simplify]: Simplify (+ 0 (- (* 2 phi2))) into (- (* 2 phi2)) 5.117 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi2 2)) (/ (- (* 2 phi2)) (pow phi2 2))))) into (* 2 (/ 1 (pow phi2 3))) 5.117 * [backup-simplify]: Simplify (/ (* 2 (/ 1 (pow phi2 3))) (* 2 (sqrt (/ 1 (pow phi2 2))))) into (/ 1 (pow phi2 2)) 5.117 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1 5.117 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 5.117 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) 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 (+ phi2 phi1) in phi1 5.118 * [taylor]: Taking taylor expansion of phi2 in phi1 5.118 * [backup-simplify]: Simplify phi2 into phi2 5.118 * [taylor]: Taking taylor expansion of phi1 in phi1 5.118 * [backup-simplify]: Simplify 0 into 0 5.118 * [backup-simplify]: Simplify 1 into 1 5.118 * [backup-simplify]: Simplify (+ phi2 0) into phi2 5.118 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 5.118 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 5.118 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 5.118 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 5.118 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 5.118 * [backup-simplify]: Simplify (- 0) into 0 5.118 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 5.118 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 5.118 * [backup-simplify]: Simplify (* (/ 1 phi2) (pow (cos (* 0.5 phi2)) 2)) into (/ (pow (cos (* 0.5 phi2)) 2) phi2) 5.119 * [backup-simplify]: Simplify (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2)) into (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2)) 5.119 * [taylor]: Taking taylor expansion of (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2)) in phi2 5.119 * [taylor]: Taking taylor expansion of 1/2 in phi2 5.119 * [backup-simplify]: Simplify 1/2 into 1/2 5.119 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 phi2)) 2) phi2) in phi2 5.119 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2 5.119 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 5.119 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 5.119 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.119 * [backup-simplify]: Simplify 0.5 into 0.5 5.119 * [taylor]: Taking taylor expansion of phi2 in phi2 5.119 * [backup-simplify]: Simplify 0 into 0 5.119 * [backup-simplify]: Simplify 1 into 1 5.119 * [backup-simplify]: Simplify (* 0.5 0) into 0 5.120 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 5.120 * [taylor]: Taking taylor expansion of phi2 in phi2 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 1) into 1 5.121 * [backup-simplify]: Simplify (+ 0) into 0 5.121 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 5.122 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* 1 (/ 0 1)))) into 0 5.122 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 1)) into 0 5.122 * [backup-simplify]: Simplify 0 into 0 5.122 * [taylor]: Taking taylor expansion of 0 in phi2 5.122 * [backup-simplify]: Simplify 0 into 0 5.122 * [backup-simplify]: Simplify 0 into 0 5.122 * [taylor]: Taking taylor expansion of 0 in phi2 5.122 * [backup-simplify]: Simplify 0 into 0 5.122 * [backup-simplify]: Simplify 0 into 0 5.123 * [backup-simplify]: Simplify (+ (* phi2 0) (+ (* 0 0) (* 0 phi2))) into 0 5.123 * [backup-simplify]: Simplify (* 1 1) into 1 5.123 * [backup-simplify]: Simplify (+ 0 1) into 1 5.123 * [backup-simplify]: Simplify (+ (* phi2 0) (+ (* 0 1) (* 0 0))) into 0 5.124 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 phi2) (* 0 0))) into 0 5.124 * [backup-simplify]: Simplify (- 0) into 0 5.124 * [backup-simplify]: Simplify (+ 1 0) into 1 5.125 * [backup-simplify]: Simplify (/ (- 1 (pow -1 2) (+)) (* 2 phi2)) into 0 5.125 * [taylor]: Taking taylor expansion of 0 in phi2 5.125 * [backup-simplify]: Simplify 0 into 0 5.125 * [backup-simplify]: Simplify 0 into 0 5.126 * [backup-simplify]: Simplify (+ (* 1 (* phi2 (* 1 (* 1 1)))) (* -1 (* 1 (* phi1 (* 1 1))))) into (- phi2 phi1) 5.126 * [backup-simplify]: Simplify (sqrt (+ (* (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (/ (+ (/ 1 phi1) (/ 1 phi2)) 2.0))) (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (/ (+ (/ 1 phi1) (/ 1 phi2)) 2.0)))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))))) into (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) 5.127 * [approximate]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in (lambda1 lambda2 phi1 phi2) around 0 5.127 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in phi2 5.127 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in phi2 5.127 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) in phi2 5.127 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi2 5.127 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 5.127 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 5.127 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 5.127 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.127 * [backup-simplify]: Simplify 0.5 into 0.5 5.127 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 5.127 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 5.127 * [taylor]: Taking taylor expansion of phi1 in phi2 5.127 * [backup-simplify]: Simplify phi1 into phi1 5.127 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.127 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 5.127 * [taylor]: Taking taylor expansion of phi2 in phi2 5.127 * [backup-simplify]: Simplify 0 into 0 5.127 * [backup-simplify]: Simplify 1 into 1 5.127 * [backup-simplify]: Simplify (/ 1 1) into 1 5.128 * [backup-simplify]: Simplify (+ 0 1) into 1 5.128 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 5.128 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.128 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 5.128 * [taylor]: Taking taylor expansion of lambda1 in phi2 5.128 * [backup-simplify]: Simplify lambda1 into lambda1 5.128 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.128 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 5.129 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 5.129 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) in phi2 5.129 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi2 5.129 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 5.129 * [taylor]: Taking taylor expansion of phi2 in phi2 5.129 * [backup-simplify]: Simplify 0 into 0 5.129 * [backup-simplify]: Simplify 1 into 1 5.129 * [backup-simplify]: Simplify (* 1 1) into 1 5.129 * [backup-simplify]: Simplify (/ 1 1) into 1 5.129 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) in phi2 5.129 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in phi2 5.129 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 5.129 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 5.129 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 5.129 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.129 * [backup-simplify]: Simplify 0.5 into 0.5 5.129 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 5.129 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 5.129 * [taylor]: Taking taylor expansion of phi1 in phi2 5.130 * [backup-simplify]: Simplify phi1 into phi1 5.130 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.130 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 5.130 * [taylor]: Taking taylor expansion of phi2 in phi2 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 * [backup-simplify]: Simplify (+ 0 1) into 1 5.130 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 5.130 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.131 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 5.131 * [taylor]: Taking taylor expansion of lambda2 in phi2 5.131 * [backup-simplify]: Simplify lambda2 into lambda2 5.131 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.131 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 5.131 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 5.131 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi2 5.131 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 5.131 * [taylor]: Taking taylor expansion of phi1 in phi2 5.131 * [backup-simplify]: Simplify phi1 into phi1 5.131 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 5.132 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 5.132 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in phi2 5.132 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi2 5.132 * [taylor]: Taking taylor expansion of 2 in phi2 5.132 * [backup-simplify]: Simplify 2 into 2 5.132 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi2 5.132 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 5.132 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 5.132 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 5.132 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.132 * [backup-simplify]: Simplify 0.5 into 0.5 5.132 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 5.132 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 5.132 * [taylor]: Taking taylor expansion of phi1 in phi2 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) in phi2 5.132 * [taylor]: Taking taylor expansion of phi2 in phi2 5.132 * [backup-simplify]: Simplify 0 into 0 5.132 * [backup-simplify]: Simplify 1 into 1 5.132 * [backup-simplify]: Simplify (/ 1 1) into 1 5.132 * [backup-simplify]: Simplify (+ 0 1) into 1 5.133 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 5.133 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.133 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi2 5.133 * [taylor]: Taking taylor expansion of lambda2 in phi2 5.133 * [backup-simplify]: Simplify lambda2 into lambda2 5.133 * [taylor]: Taking taylor expansion of lambda1 in phi2 5.133 * [backup-simplify]: Simplify lambda1 into lambda1 5.133 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.133 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 5.133 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) 5.133 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi2 5.133 * [taylor]: Taking taylor expansion of 2 in phi2 5.133 * [backup-simplify]: Simplify 2 into 2 5.133 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi2 5.133 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2 5.133 * [taylor]: Taking taylor expansion of phi2 in phi2 5.133 * [backup-simplify]: Simplify 0 into 0 5.133 * [backup-simplify]: Simplify 1 into 1 5.133 * [taylor]: Taking taylor expansion of phi1 in phi2 5.134 * [backup-simplify]: Simplify phi1 into phi1 5.134 * [backup-simplify]: Simplify (* 0 phi1) into 0 5.134 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 5.134 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.134 * [backup-simplify]: Simplify (+ 1 0) into 1 5.134 * [backup-simplify]: Simplify (+ 0 1) into 1 5.135 * [backup-simplify]: Simplify (+ 1 0) into 1 5.135 * [backup-simplify]: Simplify (sqrt 1) into 1 5.135 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 5.136 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 5.136 * [backup-simplify]: Simplify (+ 0 0) into 0 5.136 * [backup-simplify]: Simplify (+ 0 0) into 0 5.136 * [backup-simplify]: Simplify (* 2 (/ 1 phi1)) into (/ 2 phi1) 5.136 * [backup-simplify]: Simplify (+ 0 (/ 2 phi1)) into (* 2 (/ 1 phi1)) 5.136 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi1))) into (- (* 2 (/ 1 phi1))) 5.136 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1))) 5.137 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi1))) (* 2 (sqrt 1))) into (/ -1 phi1) 5.137 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in phi1 5.137 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in phi1 5.137 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) in phi1 5.137 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi1 5.137 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 5.137 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 5.137 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 5.137 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.137 * [backup-simplify]: Simplify 0.5 into 0.5 5.137 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 5.137 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.137 * [taylor]: Taking taylor expansion of phi1 in phi1 5.137 * [backup-simplify]: Simplify 0 into 0 5.137 * [backup-simplify]: Simplify 1 into 1 5.137 * [backup-simplify]: Simplify (/ 1 1) into 1 5.137 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 5.137 * [taylor]: Taking taylor expansion of phi2 in phi1 5.138 * [backup-simplify]: Simplify phi2 into phi2 5.138 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.138 * [backup-simplify]: Simplify (+ 1 0) into 1 5.138 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 5.138 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.138 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 5.138 * [taylor]: Taking taylor expansion of lambda1 in phi1 5.138 * [backup-simplify]: Simplify lambda1 into lambda1 5.139 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.139 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 5.139 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 5.139 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) in phi1 5.139 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 5.139 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 5.139 * [taylor]: Taking taylor expansion of phi2 in phi1 5.139 * [backup-simplify]: Simplify phi2 into phi2 5.139 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 5.139 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 5.139 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) in phi1 5.139 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in phi1 5.139 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 5.139 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 5.139 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 5.139 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.139 * [backup-simplify]: Simplify 0.5 into 0.5 5.139 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 5.139 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.139 * [taylor]: Taking taylor expansion of phi1 in phi1 5.139 * [backup-simplify]: Simplify 0 into 0 5.139 * [backup-simplify]: Simplify 1 into 1 5.140 * [backup-simplify]: Simplify (/ 1 1) into 1 5.140 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 5.140 * [taylor]: Taking taylor expansion of phi2 in phi1 5.140 * [backup-simplify]: Simplify phi2 into phi2 5.140 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.140 * [backup-simplify]: Simplify (+ 1 0) into 1 5.140 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 5.140 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.140 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 5.140 * [taylor]: Taking taylor expansion of lambda2 in phi1 5.140 * [backup-simplify]: Simplify lambda2 into lambda2 5.141 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.141 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 5.141 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 5.141 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 5.141 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 5.141 * [taylor]: Taking taylor expansion of phi1 in phi1 5.141 * [backup-simplify]: Simplify 0 into 0 5.141 * [backup-simplify]: Simplify 1 into 1 5.141 * [backup-simplify]: Simplify (* 1 1) into 1 5.141 * [backup-simplify]: Simplify (/ 1 1) into 1 5.141 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in phi1 5.142 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi1 5.142 * [taylor]: Taking taylor expansion of 2 in phi1 5.142 * [backup-simplify]: Simplify 2 into 2 5.142 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi1 5.142 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 5.142 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 5.142 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 5.142 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.142 * [backup-simplify]: Simplify 0.5 into 0.5 5.142 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 5.142 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.142 * [taylor]: Taking taylor expansion of phi1 in phi1 5.142 * [backup-simplify]: Simplify 0 into 0 5.142 * [backup-simplify]: Simplify 1 into 1 5.142 * [backup-simplify]: Simplify (/ 1 1) into 1 5.142 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 5.142 * [taylor]: Taking taylor expansion of phi2 in phi1 5.142 * [backup-simplify]: Simplify phi2 into phi2 5.142 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.142 * [backup-simplify]: Simplify (+ 1 0) into 1 5.143 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 5.143 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.143 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 5.143 * [taylor]: Taking taylor expansion of lambda2 in phi1 5.143 * [backup-simplify]: Simplify lambda2 into lambda2 5.143 * [taylor]: Taking taylor expansion of lambda1 in phi1 5.143 * [backup-simplify]: Simplify lambda1 into lambda1 5.143 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.143 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 5.143 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) 5.143 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi1 5.143 * [taylor]: Taking taylor expansion of 2 in phi1 5.143 * [backup-simplify]: Simplify 2 into 2 5.143 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi1 5.143 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 5.143 * [taylor]: Taking taylor expansion of phi2 in phi1 5.143 * [backup-simplify]: Simplify phi2 into phi2 5.143 * [taylor]: Taking taylor expansion of phi1 in phi1 5.144 * [backup-simplify]: Simplify 0 into 0 5.144 * [backup-simplify]: Simplify 1 into 1 5.144 * [backup-simplify]: Simplify (* phi2 0) into 0 5.144 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 5.144 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.144 * [backup-simplify]: Simplify (+ 0 1) into 1 5.144 * [backup-simplify]: Simplify (+ 0 1) into 1 5.145 * [backup-simplify]: Simplify (+ 0 1) into 1 5.145 * [backup-simplify]: Simplify (+ 1 0) into 1 5.145 * [backup-simplify]: Simplify (sqrt 1) into 1 5.146 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 5.146 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 5.146 * [backup-simplify]: Simplify (+ 0 0) into 0 5.147 * [backup-simplify]: Simplify (+ 0 0) into 0 5.147 * [backup-simplify]: Simplify (+ 0 0) into 0 5.147 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 5.147 * [backup-simplify]: Simplify (+ 0 (/ 2 phi2)) into (* 2 (/ 1 phi2)) 5.147 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi2))) into (- (* 2 (/ 1 phi2))) 5.147 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 5.147 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi2))) (* 2 (sqrt 1))) into (/ -1 phi2) 5.147 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in lambda2 5.148 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in lambda2 5.148 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) in lambda2 5.148 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda2 5.148 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 5.148 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 5.148 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 5.148 * [taylor]: Taking taylor expansion of 0.5 in lambda2 5.148 * [backup-simplify]: Simplify 0.5 into 0.5 5.148 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 5.148 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 5.148 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.148 * [backup-simplify]: Simplify phi1 into phi1 5.148 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.148 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 5.148 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.148 * [backup-simplify]: Simplify phi2 into phi2 5.148 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.148 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.148 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.148 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.148 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.148 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.148 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.149 * [backup-simplify]: Simplify (- 0) into 0 5.149 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.149 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 5.149 * [taylor]: Taking taylor expansion of lambda1 in lambda2 5.149 * [backup-simplify]: Simplify lambda1 into lambda1 5.149 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.149 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 5.149 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 5.149 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) in lambda2 5.149 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda2 5.149 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 5.149 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.150 * [backup-simplify]: Simplify phi2 into phi2 5.150 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 5.150 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 5.150 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) in lambda2 5.150 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda2 5.150 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 5.150 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 5.150 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 5.150 * [taylor]: Taking taylor expansion of 0.5 in lambda2 5.150 * [backup-simplify]: Simplify 0.5 into 0.5 5.150 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 5.150 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 5.150 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.150 * [backup-simplify]: Simplify phi1 into phi1 5.150 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.150 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 5.150 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.150 * [backup-simplify]: Simplify phi2 into phi2 5.150 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.150 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.150 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.150 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.150 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.150 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.151 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.151 * [backup-simplify]: Simplify (- 0) into 0 5.151 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.151 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 5.151 * [taylor]: Taking taylor expansion of lambda2 in lambda2 5.151 * [backup-simplify]: Simplify 0 into 0 5.151 * [backup-simplify]: Simplify 1 into 1 5.151 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.152 * [backup-simplify]: Simplify (* 1 1) into 1 5.152 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.152 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda2 5.152 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 5.152 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.152 * [backup-simplify]: Simplify phi1 into phi1 5.152 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 5.152 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 5.152 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in lambda2 5.152 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda2 5.152 * [taylor]: Taking taylor expansion of 2 in lambda2 5.152 * [backup-simplify]: Simplify 2 into 2 5.152 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda2 5.152 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 5.152 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 5.152 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 5.152 * [taylor]: Taking taylor expansion of 0.5 in lambda2 5.152 * [backup-simplify]: Simplify 0.5 into 0.5 5.152 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 5.152 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 5.152 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.152 * [backup-simplify]: Simplify phi1 into phi1 5.152 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.152 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 5.152 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.152 * [backup-simplify]: Simplify phi2 into phi2 5.152 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.152 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.153 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.153 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.153 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.153 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.153 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.153 * [backup-simplify]: Simplify (- 0) into 0 5.153 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.153 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda2 5.153 * [taylor]: Taking taylor expansion of lambda2 in lambda2 5.153 * [backup-simplify]: Simplify 0 into 0 5.153 * [backup-simplify]: Simplify 1 into 1 5.153 * [taylor]: Taking taylor expansion of lambda1 in lambda2 5.154 * [backup-simplify]: Simplify lambda1 into lambda1 5.154 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.154 * [backup-simplify]: Simplify (* 0 lambda1) into 0 5.154 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda1)) into lambda1 5.154 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) 5.154 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda2 5.154 * [taylor]: Taking taylor expansion of 2 in lambda2 5.154 * [backup-simplify]: Simplify 2 into 2 5.154 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda2 5.154 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 5.154 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.154 * [backup-simplify]: Simplify phi2 into phi2 5.154 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.154 * [backup-simplify]: Simplify phi1 into phi1 5.154 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 5.154 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 5.155 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.155 * [backup-simplify]: Simplify (+ 0 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.155 * [backup-simplify]: Simplify (+ 0 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.155 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.155 * [backup-simplify]: Simplify (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.156 * [backup-simplify]: Simplify (+ 0) into 0 5.156 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 5.156 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 5.156 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 5.157 * [backup-simplify]: Simplify (+ 0 0) into 0 5.157 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 5.158 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.158 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 5.158 * [backup-simplify]: Simplify (- 0) into 0 5.158 * [backup-simplify]: Simplify (+ 0 0) into 0 5.159 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 5.159 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 5.160 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 5.160 * [backup-simplify]: Simplify (+ 0 0) into 0 5.160 * [backup-simplify]: Simplify (+ 0 0) into 0 5.160 * [backup-simplify]: Simplify (+ 0 0) into 0 5.161 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 5.161 * [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)) 5.161 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 5.162 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 5.162 * [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)) 5.162 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in lambda1 5.162 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in lambda1 5.162 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) in lambda1 5.162 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda1 5.162 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 5.162 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 5.162 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 5.162 * [taylor]: Taking taylor expansion of 0.5 in lambda1 5.162 * [backup-simplify]: Simplify 0.5 into 0.5 5.162 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 5.162 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 5.162 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.162 * [backup-simplify]: Simplify phi1 into phi1 5.162 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.162 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 5.162 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.163 * [backup-simplify]: Simplify phi2 into phi2 5.163 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.163 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.163 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.163 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.163 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.163 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.163 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.164 * [backup-simplify]: Simplify (- 0) into 0 5.164 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.164 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 5.164 * [taylor]: Taking taylor expansion of lambda1 in lambda1 5.164 * [backup-simplify]: Simplify 0 into 0 5.164 * [backup-simplify]: Simplify 1 into 1 5.164 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.164 * [backup-simplify]: Simplify (* 1 1) into 1 5.164 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.164 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) in lambda1 5.164 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda1 5.164 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 5.165 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.165 * [backup-simplify]: Simplify phi2 into phi2 5.165 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 5.165 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 5.165 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) in lambda1 5.165 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda1 5.165 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 5.165 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 5.165 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 5.165 * [taylor]: Taking taylor expansion of 0.5 in lambda1 5.165 * [backup-simplify]: Simplify 0.5 into 0.5 5.165 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 5.165 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 5.165 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.165 * [backup-simplify]: Simplify phi1 into phi1 5.165 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.165 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 5.165 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.165 * [backup-simplify]: Simplify phi2 into phi2 5.165 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.165 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.165 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.165 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.165 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.165 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.166 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.166 * [backup-simplify]: Simplify (- 0) into 0 5.166 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.166 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 5.166 * [taylor]: Taking taylor expansion of lambda2 in lambda1 5.166 * [backup-simplify]: Simplify lambda2 into lambda2 5.166 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.166 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 5.167 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 5.167 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda1 5.167 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 5.167 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.167 * [backup-simplify]: Simplify phi1 into phi1 5.167 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 5.167 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 5.167 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in lambda1 5.167 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1 5.167 * [taylor]: Taking taylor expansion of 2 in lambda1 5.167 * [backup-simplify]: Simplify 2 into 2 5.167 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1 5.167 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 5.167 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 5.167 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 5.167 * [taylor]: Taking taylor expansion of 0.5 in lambda1 5.167 * [backup-simplify]: Simplify 0.5 into 0.5 5.167 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 5.167 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 5.167 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.167 * [backup-simplify]: Simplify phi1 into phi1 5.167 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.167 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 5.167 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.167 * [backup-simplify]: Simplify phi2 into phi2 5.167 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.167 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.167 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.167 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.167 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.168 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.168 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.168 * [backup-simplify]: Simplify (- 0) into 0 5.168 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.168 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 5.168 * [taylor]: Taking taylor expansion of lambda2 in lambda1 5.168 * [backup-simplify]: Simplify lambda2 into lambda2 5.168 * [taylor]: Taking taylor expansion of lambda1 in lambda1 5.168 * [backup-simplify]: Simplify 0 into 0 5.168 * [backup-simplify]: Simplify 1 into 1 5.168 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.169 * [backup-simplify]: Simplify (* lambda2 0) into 0 5.169 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 5.169 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) 5.169 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda1 5.169 * [taylor]: Taking taylor expansion of 2 in lambda1 5.169 * [backup-simplify]: Simplify 2 into 2 5.169 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda1 5.169 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda1 5.169 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.169 * [backup-simplify]: Simplify phi2 into phi2 5.169 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.169 * [backup-simplify]: Simplify phi1 into phi1 5.169 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 5.169 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 5.169 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.170 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.170 * [backup-simplify]: Simplify (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.170 * [backup-simplify]: Simplify (+ 0) into 0 5.171 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 5.171 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 5.171 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 5.171 * [backup-simplify]: Simplify (+ 0 0) into 0 5.171 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 5.172 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.172 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 5.172 * [backup-simplify]: Simplify (- 0) into 0 5.173 * [backup-simplify]: Simplify (+ 0 0) into 0 5.173 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 5.173 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 5.174 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 5.174 * [backup-simplify]: Simplify (+ 0 0) into 0 5.175 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 5.175 * [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))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 5.175 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 5.176 * [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 (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in lambda1 5.176 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in lambda1 5.176 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) in lambda1 5.176 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda1 5.176 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 5.176 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 5.176 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 5.176 * [taylor]: Taking taylor expansion of 0.5 in lambda1 5.176 * [backup-simplify]: Simplify 0.5 into 0.5 5.176 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 5.176 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 5.176 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.176 * [backup-simplify]: Simplify phi1 into phi1 5.176 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.176 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 5.176 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.176 * [backup-simplify]: Simplify phi2 into phi2 5.176 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.176 * [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))) 5.177 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.177 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.177 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.177 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.177 * [backup-simplify]: Simplify (- 0) into 0 5.178 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.178 * [taylor]: Taking taylor expansion of (pow lambda1 2) 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 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.178 * [backup-simplify]: Simplify (* 1 1) into 1 5.178 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.178 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) in lambda1 5.178 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda1 5.178 * [taylor]: Taking taylor expansion of (pow phi2 2) 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 (* phi2 phi2) into (pow phi2 2) 5.179 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 5.179 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) in lambda1 5.179 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda1 5.179 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 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)))) 5.179 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.180 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.180 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.180 * [backup-simplify]: Simplify (- 0) into 0 5.180 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.180 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 5.180 * [taylor]: Taking taylor expansion of lambda2 in lambda1 5.180 * [backup-simplify]: Simplify lambda2 into lambda2 5.180 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.180 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 5.181 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 5.181 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda1 5.181 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 5.181 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.181 * [backup-simplify]: Simplify phi1 into phi1 5.181 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 5.181 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 5.181 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in lambda1 5.181 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1 5.181 * [taylor]: Taking taylor expansion of 2 in lambda1 5.181 * [backup-simplify]: Simplify 2 into 2 5.181 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1 5.181 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 5.181 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 5.181 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 5.181 * [taylor]: Taking taylor expansion of 0.5 in lambda1 5.181 * [backup-simplify]: Simplify 0.5 into 0.5 5.181 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 5.181 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 5.181 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.181 * [backup-simplify]: Simplify phi1 into phi1 5.181 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.181 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 5.181 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.181 * [backup-simplify]: Simplify phi2 into phi2 5.182 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.182 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.182 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.182 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.182 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.182 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.182 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.183 * [backup-simplify]: Simplify (- 0) into 0 5.183 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.183 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 5.183 * [taylor]: Taking taylor expansion of lambda2 in lambda1 5.183 * [backup-simplify]: Simplify lambda2 into lambda2 5.183 * [taylor]: Taking taylor expansion of lambda1 in lambda1 5.183 * [backup-simplify]: Simplify 0 into 0 5.183 * [backup-simplify]: Simplify 1 into 1 5.183 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.183 * [backup-simplify]: Simplify (* lambda2 0) into 0 5.184 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 5.184 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) 5.184 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda1 5.184 * [taylor]: Taking taylor expansion of 2 in lambda1 5.184 * [backup-simplify]: Simplify 2 into 2 5.184 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda1 5.184 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda1 5.184 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.184 * [backup-simplify]: Simplify phi2 into phi2 5.184 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.184 * [backup-simplify]: Simplify phi1 into phi1 5.184 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 5.184 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 5.184 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.184 * [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)))) 5.185 * [backup-simplify]: Simplify (+ 0) into 0 5.185 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 5.185 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 5.185 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 5.186 * [backup-simplify]: Simplify (+ 0 0) into 0 5.186 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 5.187 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.187 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 5.187 * [backup-simplify]: Simplify (- 0) into 0 5.187 * [backup-simplify]: Simplify (+ 0 0) into 0 5.188 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 5.194 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 5.195 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 5.195 * [backup-simplify]: Simplify (+ 0 0) into 0 5.196 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 5.196 * [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)) 5.196 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 5.196 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 5.197 * [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)) 5.197 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 5.197 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 5.197 * [taylor]: Taking taylor expansion of 0.5 in lambda2 5.197 * [backup-simplify]: Simplify 0.5 into 0.5 5.197 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 5.197 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 5.197 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.197 * [backup-simplify]: Simplify phi1 into phi1 5.197 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.197 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 5.197 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.197 * [backup-simplify]: Simplify phi2 into phi2 5.197 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.197 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.197 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.198 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.198 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.198 * [taylor]: Taking taylor expansion of (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) in lambda2 5.198 * [taylor]: Taking taylor expansion of -1 in lambda2 5.198 * [backup-simplify]: Simplify -1 into -1 5.198 * [taylor]: Taking taylor expansion of (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2) in lambda2 5.198 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 5.198 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 5.198 * [taylor]: Taking taylor expansion of 0.5 in lambda2 5.198 * [backup-simplify]: Simplify 0.5 into 0.5 5.198 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 5.198 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 5.198 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.198 * [backup-simplify]: Simplify phi1 into phi1 5.198 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.198 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 5.198 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.198 * [backup-simplify]: Simplify phi2 into phi2 5.198 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.198 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.198 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.198 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.198 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.198 * [taylor]: Taking taylor expansion of lambda2 in lambda2 5.198 * [backup-simplify]: Simplify 0 into 0 5.198 * [backup-simplify]: Simplify 1 into 1 5.198 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.199 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.199 * [backup-simplify]: Simplify (- 0) into 0 5.199 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.199 * [backup-simplify]: Simplify (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.199 * [backup-simplify]: Simplify (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 5.199 * [taylor]: Taking taylor expansion of (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1 5.199 * [taylor]: Taking taylor expansion of -1 in phi1 5.199 * [backup-simplify]: Simplify -1 into -1 5.199 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 5.199 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 5.199 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.199 * [backup-simplify]: Simplify 0.5 into 0.5 5.199 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 5.200 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.200 * [taylor]: Taking taylor expansion of phi1 in phi1 5.200 * [backup-simplify]: Simplify 0 into 0 5.200 * [backup-simplify]: Simplify 1 into 1 5.200 * [backup-simplify]: Simplify (/ 1 1) into 1 5.200 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 5.200 * [taylor]: Taking taylor expansion of phi2 in phi1 5.200 * [backup-simplify]: Simplify phi2 into phi2 5.200 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.200 * [backup-simplify]: Simplify (+ 1 0) into 1 5.201 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 5.201 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.201 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.201 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.201 * [backup-simplify]: Simplify (- 0) into 0 5.201 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.201 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 5.201 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 5.201 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.201 * [backup-simplify]: Simplify 0.5 into 0.5 5.201 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 5.201 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.201 * [taylor]: Taking taylor expansion of phi1 in phi1 5.201 * [backup-simplify]: Simplify 0 into 0 5.201 * [backup-simplify]: Simplify 1 into 1 5.202 * [backup-simplify]: Simplify (/ 1 1) into 1 5.202 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 5.202 * [taylor]: Taking taylor expansion of phi2 in phi1 5.202 * [backup-simplify]: Simplify phi2 into phi2 5.202 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.202 * [backup-simplify]: Simplify (+ 1 0) into 1 5.202 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 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 (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.204 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 5.204 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 5.204 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 5.204 * [backup-simplify]: Simplify (+ 0 0) into 0 5.205 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 5.206 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.206 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 5.206 * [backup-simplify]: Simplify (- 0) into 0 5.206 * [backup-simplify]: Simplify (+ 0 0) into 0 5.207 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 5.207 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 5.208 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)) (* 0 (/ 0 1)))) into 0 5.209 * [backup-simplify]: Simplify (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) into (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) 5.209 * [backup-simplify]: Simplify (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) into (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) 5.210 * [backup-simplify]: Simplify (+ 0 (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) into (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) 5.210 * [backup-simplify]: Simplify (+ 0) into 0 5.211 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 5.211 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 5.211 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 5.211 * [backup-simplify]: Simplify (+ 0 0) into 0 5.211 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 5.212 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.212 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 5.212 * [backup-simplify]: Simplify (- 0) into 0 5.213 * [backup-simplify]: Simplify (+ 0 0) into 0 5.213 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 5.213 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 1) (* 0 0))) into 0 5.214 * [backup-simplify]: Simplify (- (/ 0 lambda2) (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) (/ 0 lambda2)))) into 0 5.214 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into 0 5.214 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi2 phi1))) into (/ 2 (* phi2 phi1)) 5.214 * [backup-simplify]: Simplify (+ 0 (/ 2 (* phi2 phi1))) into (* 2 (/ 1 (* phi2 phi1))) 5.214 * [backup-simplify]: Simplify (- (* 2 (/ 1 (* phi2 phi1)))) into (- (* 2 (/ 1 (* phi2 phi1)))) 5.215 * [backup-simplify]: Simplify (+ (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) (- (* 2 (/ 1 (* phi2 phi1))))) into (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) (* 2 (/ 1 (* phi2 phi1)))) 5.216 * [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)))))) 5.216 * [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 5.216 * [taylor]: Taking taylor expansion of 1/2 in lambda2 5.216 * [backup-simplify]: Simplify 1/2 into 1/2 5.216 * [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 5.216 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) in lambda2 5.217 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in lambda2 5.217 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda2 5.217 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 5.217 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.217 * [backup-simplify]: Simplify phi2 into phi2 5.217 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 5.217 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 5.217 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda2 5.217 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 5.217 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.217 * [backup-simplify]: Simplify phi1 into phi1 5.217 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 5.217 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 5.217 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda2 5.217 * [taylor]: Taking taylor expansion of 2 in lambda2 5.217 * [backup-simplify]: Simplify 2 into 2 5.217 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda2 5.217 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 5.217 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.217 * [backup-simplify]: Simplify phi2 into phi2 5.217 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.217 * [backup-simplify]: Simplify phi1 into phi1 5.217 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 5.217 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 5.217 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 5.217 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 5.217 * [taylor]: Taking taylor expansion of 0.5 in lambda2 5.217 * [backup-simplify]: Simplify 0.5 into 0.5 5.217 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 5.217 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 5.217 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.217 * [backup-simplify]: Simplify phi1 into phi1 5.217 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.217 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 5.217 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.217 * [backup-simplify]: Simplify phi2 into phi2 5.217 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.217 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.218 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.218 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.218 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.218 * [backup-simplify]: Simplify (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) into (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) 5.218 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi2 phi1))) into (/ 2 (* phi2 phi1)) 5.218 * [backup-simplify]: Simplify (- (/ 2 (* phi2 phi1))) into (- (* 2 (/ 1 (* phi2 phi1)))) 5.218 * [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)))) 5.218 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.219 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.219 * [backup-simplify]: Simplify (- 0) into 0 5.219 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.219 * [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))))) 5.220 * [backup-simplify]: Simplify (+ 0) into 0 5.220 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 5.220 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 5.220 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 5.221 * [backup-simplify]: Simplify (+ 0 0) into 0 5.221 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 5.222 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.222 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 5.222 * [backup-simplify]: Simplify (- 0) into 0 5.223 * [backup-simplify]: Simplify (+ 0 0) into 0 5.223 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (/ 0 1)))) into 0 5.224 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 5.224 * [taylor]: Taking taylor expansion of 0 in phi1 5.224 * [backup-simplify]: Simplify 0 into 0 5.224 * [backup-simplify]: Simplify (+ 0) into 0 5.224 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 5.224 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 5.225 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 5.225 * [backup-simplify]: Simplify (+ 0 0) into 0 5.225 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 5.226 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.226 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 5.226 * [backup-simplify]: Simplify (- 0) into 0 5.227 * [backup-simplify]: Simplify (+ 0 0) into 0 5.227 * [taylor]: Taking taylor expansion of 0 in phi1 5.227 * [backup-simplify]: Simplify 0 into 0 5.227 * [backup-simplify]: Simplify (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 5.227 * [taylor]: Taking taylor expansion of (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 5.227 * [taylor]: Taking taylor expansion of -1 in phi2 5.227 * [backup-simplify]: Simplify -1 into -1 5.227 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 5.227 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 5.227 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.227 * [backup-simplify]: Simplify 0.5 into 0.5 5.227 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 5.227 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 5.227 * [taylor]: Taking taylor expansion of phi1 in phi2 5.227 * [backup-simplify]: Simplify phi1 into phi1 5.227 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.227 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 5.227 * [taylor]: Taking taylor expansion of phi2 in phi2 5.227 * [backup-simplify]: Simplify 0 into 0 5.227 * [backup-simplify]: Simplify 1 into 1 5.227 * [backup-simplify]: Simplify (/ 1 1) into 1 5.228 * [backup-simplify]: Simplify (+ 0 1) into 1 5.228 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 5.228 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.228 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 5.228 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 5.228 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.228 * [backup-simplify]: Simplify 0.5 into 0.5 5.228 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 5.228 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 5.228 * [taylor]: Taking taylor expansion of phi1 in phi2 5.228 * [backup-simplify]: Simplify phi1 into phi1 5.228 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.228 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 5.228 * [taylor]: Taking taylor expansion of phi2 in phi2 5.228 * [backup-simplify]: Simplify 0 into 0 5.228 * [backup-simplify]: Simplify 1 into 1 5.229 * [backup-simplify]: Simplify (/ 1 1) into 1 5.229 * [backup-simplify]: Simplify (+ 0 1) into 1 5.229 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 5.229 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.230 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 5.231 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 5.231 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 5.231 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 5.231 * [backup-simplify]: Simplify (+ 0 0) into 0 5.232 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 5.233 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 5.234 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 5.234 * [backup-simplify]: Simplify (- 0) into 0 5.234 * [backup-simplify]: Simplify (+ 0 0) into 0 5.235 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into 0 5.236 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 5.237 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0 5.237 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 5.237 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi2 2)) (/ 0 (pow phi2 2))))) into 0 5.238 * [backup-simplify]: Simplify (+ 0) into 0 5.238 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 5.238 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 5.238 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 5.238 * [backup-simplify]: Simplify (+ 0 0) into 0 5.239 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 5.239 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.240 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 5.240 * [backup-simplify]: Simplify (- 0) into 0 5.240 * [backup-simplify]: Simplify (+ 0 0) into 0 5.240 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 5.240 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 5.241 * [backup-simplify]: Simplify (- (/ 0 (pow lambda2 2)) (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 0 (pow lambda2 2))))) into 0 5.241 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 5.241 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi1 2)) (/ 0 (pow phi1 2))))) into 0 5.241 * [backup-simplify]: Simplify (+ 0 0) into 0 5.241 * [backup-simplify]: Simplify (+ 0 0) into 0 5.242 * [backup-simplify]: Simplify (+ 0 0) into 0 5.242 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.243 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 5.243 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 5.243 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 5.243 * [backup-simplify]: Simplify (+ 0 0) into 0 5.244 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 5.244 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.245 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 5.245 * [backup-simplify]: Simplify (- 0) into 0 5.245 * [backup-simplify]: Simplify (+ 0 0) into 0 5.245 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 5.246 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (+ (* 0 1) (* 0 0)))) into 0 5.246 * [backup-simplify]: Simplify (- (/ 0 lambda2) (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) (/ 0 lambda2)) (* 0 (/ 0 lambda2)))) into 0 5.247 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) into 0 5.247 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 5.247 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* phi2 phi1)) (/ 0 (* phi2 phi1))))) into 0 5.247 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ 1 (* phi2 phi1)))) into 0 5.248 * [backup-simplify]: Simplify (+ 0 0) into 0 5.248 * [backup-simplify]: Simplify (- 0) into 0 5.248 * [backup-simplify]: Simplify (+ 0 0) into 0 5.249 * [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)))))) 5.249 * [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 5.249 * [taylor]: Taking taylor expansion of 1/2 in lambda2 5.249 * [backup-simplify]: Simplify 1/2 into 1/2 5.249 * [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 5.249 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (* lambda2 (pow phi1 2))) (/ 1 (* (pow phi2 2) lambda2))) (* 2 (/ 1 (* phi2 (* lambda2 phi1))))) in lambda2 5.249 * [taylor]: Taking taylor expansion of (+ (/ 1 (* lambda2 (pow phi1 2))) (/ 1 (* (pow phi2 2) lambda2))) in lambda2 5.249 * [taylor]: Taking taylor expansion of (/ 1 (* lambda2 (pow phi1 2))) in lambda2 5.249 * [taylor]: Taking taylor expansion of (* lambda2 (pow phi1 2)) in lambda2 5.249 * [taylor]: Taking taylor expansion of lambda2 in lambda2 5.249 * [backup-simplify]: Simplify 0 into 0 5.249 * [backup-simplify]: Simplify 1 into 1 5.249 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 5.249 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.249 * [backup-simplify]: Simplify phi1 into phi1 5.249 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 5.250 * [backup-simplify]: Simplify (* 0 (pow phi1 2)) into 0 5.250 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 5.250 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow phi1 2))) into (pow phi1 2) 5.250 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 5.250 * [taylor]: Taking taylor expansion of (/ 1 (* (pow phi2 2) lambda2)) in lambda2 5.250 * [taylor]: Taking taylor expansion of (* (pow phi2 2) lambda2) in lambda2 5.250 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 5.250 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.250 * [backup-simplify]: Simplify phi2 into phi2 5.250 * [taylor]: Taking taylor expansion of lambda2 in lambda2 5.250 * [backup-simplify]: Simplify 0 into 0 5.250 * [backup-simplify]: Simplify 1 into 1 5.250 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 5.250 * [backup-simplify]: Simplify (* (pow phi2 2) 0) into 0 5.250 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 5.251 * [backup-simplify]: Simplify (+ (* (pow phi2 2) 1) (* 0 0)) into (pow phi2 2) 5.251 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 5.251 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 (* lambda2 phi1)))) in lambda2 5.251 * [taylor]: Taking taylor expansion of 2 in lambda2 5.251 * [backup-simplify]: Simplify 2 into 2 5.251 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (* lambda2 phi1))) in lambda2 5.251 * [taylor]: Taking taylor expansion of (* phi2 (* lambda2 phi1)) in lambda2 5.251 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.251 * [backup-simplify]: Simplify phi2 into phi2 5.251 * [taylor]: Taking taylor expansion of (* lambda2 phi1) in lambda2 5.251 * [taylor]: Taking taylor expansion of lambda2 in lambda2 5.251 * [backup-simplify]: Simplify 0 into 0 5.251 * [backup-simplify]: Simplify 1 into 1 5.251 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.251 * [backup-simplify]: Simplify phi1 into phi1 5.251 * [backup-simplify]: Simplify (* 0 phi1) into 0 5.251 * [backup-simplify]: Simplify (* phi2 0) into 0 5.251 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 5.252 * [backup-simplify]: Simplify (+ (* phi2 phi1) (* 0 0)) into (* phi2 phi1) 5.252 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 5.252 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 5.252 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 5.252 * [taylor]: Taking taylor expansion of 0.5 in lambda2 5.252 * [backup-simplify]: Simplify 0.5 into 0.5 5.252 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 5.252 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 5.252 * [taylor]: Taking taylor expansion of phi1 in lambda2 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 lambda2 5.252 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.252 * [backup-simplify]: Simplify phi2 into phi2 5.252 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.252 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.252 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.252 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.252 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.252 * [backup-simplify]: Simplify (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) into (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) 5.253 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi2 phi1))) into (/ 2 (* phi2 phi1)) 5.253 * [backup-simplify]: Simplify (- (/ 2 (* phi2 phi1))) into (- (* 2 (/ 1 (* phi2 phi1)))) 5.253 * [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)))) 5.253 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.253 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.253 * [backup-simplify]: Simplify (- 0) into 0 5.254 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.254 * [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))))) 5.254 * [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)))))) 5.254 * [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 5.254 * [taylor]: Taking taylor expansion of 1/2 in phi1 5.255 * [backup-simplify]: Simplify 1/2 into 1/2 5.255 * [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 5.255 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) in phi1 5.255 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in phi1 5.255 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 5.255 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 5.255 * [taylor]: Taking taylor expansion of phi2 in phi1 5.255 * [backup-simplify]: Simplify phi2 into phi2 5.255 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 5.255 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 5.255 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 5.255 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 5.255 * [taylor]: Taking taylor expansion of phi1 in phi1 5.255 * [backup-simplify]: Simplify 0 into 0 5.255 * [backup-simplify]: Simplify 1 into 1 5.255 * [backup-simplify]: Simplify (* 1 1) into 1 5.256 * [backup-simplify]: Simplify (/ 1 1) into 1 5.256 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi1 5.256 * [taylor]: Taking taylor expansion of 2 in phi1 5.256 * [backup-simplify]: Simplify 2 into 2 5.256 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi1 5.256 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 5.256 * [taylor]: Taking taylor expansion of phi2 in phi1 5.256 * [backup-simplify]: Simplify phi2 into phi2 5.256 * [taylor]: Taking taylor expansion of phi1 in phi1 5.256 * [backup-simplify]: Simplify 0 into 0 5.256 * [backup-simplify]: Simplify 1 into 1 5.256 * [backup-simplify]: Simplify (* phi2 0) into 0 5.256 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 5.256 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.256 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 5.256 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 5.256 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.256 * [backup-simplify]: Simplify 0.5 into 0.5 5.257 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 5.257 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.257 * [taylor]: Taking taylor expansion of phi1 in phi1 5.257 * [backup-simplify]: Simplify 0 into 0 5.257 * [backup-simplify]: Simplify 1 into 1 5.257 * [backup-simplify]: Simplify (/ 1 1) into 1 5.257 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 5.257 * [taylor]: Taking taylor expansion of phi2 in phi1 5.257 * [backup-simplify]: Simplify phi2 into phi2 5.257 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.257 * [backup-simplify]: Simplify (+ 1 0) into 1 5.258 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 5.258 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.258 * [backup-simplify]: Simplify (+ 0 1) into 1 5.259 * [backup-simplify]: Simplify (+ 1 0) into 1 5.259 * [backup-simplify]: Simplify (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 5.259 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 5.260 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 5.260 * [backup-simplify]: Simplify (+ 0 0) into 0 5.260 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 5.260 * [backup-simplify]: Simplify (- (/ 2 phi2)) into (- (* 2 (/ 1 phi2))) 5.260 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 5.261 * [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)))))))) 5.261 * [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))))))) 5.261 * [taylor]: Taking taylor expansion of (- (/ 1 (* phi2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in phi2 5.261 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi2 5.261 * [taylor]: Taking taylor expansion of (* phi2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 5.261 * [taylor]: Taking taylor expansion of phi2 in phi2 5.261 * [backup-simplify]: Simplify 0 into 0 5.261 * [backup-simplify]: Simplify 1 into 1 5.261 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 5.261 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 5.261 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.261 * [backup-simplify]: Simplify 0.5 into 0.5 5.261 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 5.261 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 5.261 * [taylor]: Taking taylor expansion of phi1 in phi2 5.261 * [backup-simplify]: Simplify phi1 into phi1 5.261 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.261 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 5.262 * [taylor]: Taking taylor expansion of phi2 in phi2 5.262 * [backup-simplify]: Simplify 0 into 0 5.262 * [backup-simplify]: Simplify 1 into 1 5.262 * [backup-simplify]: Simplify (/ 1 1) into 1 5.262 * [backup-simplify]: Simplify (+ 0 1) into 1 5.263 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 5.263 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.263 * [backup-simplify]: Simplify (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 5.263 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.263 * [backup-simplify]: Simplify (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 5.263 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 5.264 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 5.264 * [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)))))) 5.264 * [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 5.264 * [taylor]: Taking taylor expansion of 1/2 in phi1 5.264 * [backup-simplify]: Simplify 1/2 into 1/2 5.264 * [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 5.264 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) in phi1 5.264 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in phi1 5.264 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 5.264 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 5.264 * [taylor]: Taking taylor expansion of phi2 in phi1 5.264 * [backup-simplify]: Simplify phi2 into phi2 5.264 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 5.264 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 5.264 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 5.264 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 5.264 * [taylor]: Taking taylor expansion of phi1 in phi1 5.264 * [backup-simplify]: Simplify 0 into 0 5.264 * [backup-simplify]: Simplify 1 into 1 5.265 * [backup-simplify]: Simplify (* 1 1) into 1 5.265 * [backup-simplify]: Simplify (/ 1 1) into 1 5.265 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi1 5.265 * [taylor]: Taking taylor expansion of 2 in phi1 5.265 * [backup-simplify]: Simplify 2 into 2 5.265 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi1 5.265 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 5.265 * [taylor]: Taking taylor expansion of phi2 in phi1 5.265 * [backup-simplify]: Simplify phi2 into phi2 5.265 * [taylor]: Taking taylor expansion of phi1 in phi1 5.265 * [backup-simplify]: Simplify 0 into 0 5.265 * [backup-simplify]: Simplify 1 into 1 5.265 * [backup-simplify]: Simplify (* phi2 0) into 0 5.265 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 5.265 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.265 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 5.265 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 5.266 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.266 * [backup-simplify]: Simplify 0.5 into 0.5 5.266 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 5.266 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.266 * [taylor]: Taking taylor expansion of phi1 in phi1 5.266 * [backup-simplify]: Simplify 0 into 0 5.266 * [backup-simplify]: Simplify 1 into 1 5.266 * [backup-simplify]: Simplify (/ 1 1) into 1 5.266 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 5.266 * [taylor]: Taking taylor expansion of phi2 in phi1 5.266 * [backup-simplify]: Simplify phi2 into phi2 5.266 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.266 * [backup-simplify]: Simplify (+ 1 0) into 1 5.266 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 5.267 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.267 * [backup-simplify]: Simplify (+ 0 1) into 1 5.267 * [backup-simplify]: Simplify (+ 1 0) into 1 5.267 * [backup-simplify]: Simplify (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 5.268 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 5.268 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 5.268 * [backup-simplify]: Simplify (+ 0 0) into 0 5.268 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 5.268 * [backup-simplify]: Simplify (- (/ 2 phi2)) into (- (* 2 (/ 1 phi2))) 5.268 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 5.269 * [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)))))))) 5.269 * [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))))))) 5.269 * [taylor]: Taking taylor expansion of (- (/ 1 (* phi2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in phi2 5.269 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi2 5.269 * [taylor]: Taking taylor expansion of (* phi2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 5.269 * [taylor]: Taking taylor expansion of phi2 in phi2 5.269 * [backup-simplify]: Simplify 0 into 0 5.269 * [backup-simplify]: Simplify 1 into 1 5.269 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 5.269 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 5.269 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.269 * [backup-simplify]: Simplify 0.5 into 0.5 5.269 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 5.269 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 5.269 * [taylor]: Taking taylor expansion of phi1 in phi2 5.269 * [backup-simplify]: Simplify phi1 into phi1 5.269 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.269 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 5.269 * [taylor]: Taking taylor expansion of phi2 in phi2 5.269 * [backup-simplify]: Simplify 0 into 0 5.270 * [backup-simplify]: Simplify 1 into 1 5.270 * [backup-simplify]: Simplify (/ 1 1) into 1 5.270 * [backup-simplify]: Simplify (+ 0 1) into 1 5.270 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 5.270 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.270 * [backup-simplify]: Simplify (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 5.271 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.271 * [backup-simplify]: Simplify (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 5.271 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 5.271 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 5.272 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.272 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 5.272 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 5.273 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 5.273 * [backup-simplify]: Simplify (+ 0 0) into 0 5.273 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 5.274 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.274 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 5.274 * [backup-simplify]: Simplify (- 0) into 0 5.275 * [backup-simplify]: Simplify (+ 0 0) into 0 5.276 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (/ 0 1)) (* 0 (/ 0 1)))) into 0 5.276 * [backup-simplify]: Simplify (+ (* -1 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 5.276 * [taylor]: Taking taylor expansion of 0 in phi1 5.276 * [backup-simplify]: Simplify 0 into 0 5.277 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.277 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 5.277 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 5.277 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 5.278 * [backup-simplify]: Simplify (+ 0 0) into 0 5.278 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 5.279 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.279 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 5.279 * [backup-simplify]: Simplify (- 0) into 0 5.280 * [backup-simplify]: Simplify (+ 0 0) into 0 5.280 * [taylor]: Taking taylor expansion of 0 in phi1 5.280 * [backup-simplify]: Simplify 0 into 0 5.280 * [taylor]: Taking taylor expansion of 0 in phi2 5.280 * [backup-simplify]: Simplify 0 into 0 5.280 * [taylor]: Taking taylor expansion of 0 in phi2 5.280 * [backup-simplify]: Simplify 0 into 0 5.280 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 5.280 * [taylor]: Taking taylor expansion of 0 in phi2 5.280 * [backup-simplify]: Simplify 0 into 0 5.280 * [taylor]: Taking taylor expansion of 0 in phi2 5.280 * [backup-simplify]: Simplify 0 into 0 5.280 * [backup-simplify]: Simplify (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 5.280 * [backup-simplify]: Simplify (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 5.281 * [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))))))) 5.282 * [backup-simplify]: Simplify (sqrt (+ (* (* (- (/ 1 (- lambda1)) (/ 1 (- lambda2))) (cos (/ (+ (/ 1 (- phi1)) (/ 1 (- phi2))) 2.0))) (* (- (/ 1 (- lambda1)) (/ 1 (- lambda2))) (cos (/ (+ (/ 1 (- phi1)) (/ 1 (- phi2))) 2.0)))) (* (- (/ 1 (- phi1)) (/ 1 (- phi2))) (- (/ 1 (- phi1)) (/ 1 (- phi2)))))) into (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) 5.283 * [approximate]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in (lambda1 lambda2 phi1 phi2) around 0 5.283 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in phi2 5.283 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in phi2 5.283 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) in phi2 5.283 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi2 5.283 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 5.283 * [taylor]: Taking taylor expansion of phi2 in phi2 5.283 * [backup-simplify]: Simplify 0 into 0 5.283 * [backup-simplify]: Simplify 1 into 1 5.283 * [backup-simplify]: Simplify (* 1 1) into 1 5.283 * [backup-simplify]: Simplify (/ 1 1) into 1 5.283 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))) in phi2 5.283 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in phi2 5.283 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 5.283 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 5.283 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 5.283 * [taylor]: Taking taylor expansion of -0.5 in phi2 5.283 * [backup-simplify]: Simplify -0.5 into -0.5 5.283 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 5.283 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 5.283 * [taylor]: Taking taylor expansion of phi1 in phi2 5.283 * [backup-simplify]: Simplify phi1 into phi1 5.284 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.284 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 5.284 * [taylor]: Taking taylor expansion of phi2 in phi2 5.284 * [backup-simplify]: Simplify 0 into 0 5.284 * [backup-simplify]: Simplify 1 into 1 5.284 * [backup-simplify]: Simplify (/ 1 1) into 1 5.284 * [backup-simplify]: Simplify (+ 0 1) into 1 5.284 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 5.284 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.284 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 5.284 * [taylor]: Taking taylor expansion of lambda2 in phi2 5.285 * [backup-simplify]: Simplify lambda2 into lambda2 5.285 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.285 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 5.285 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 5.285 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))) in phi2 5.285 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi2 5.285 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 5.285 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 5.285 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 5.285 * [taylor]: Taking taylor expansion of -0.5 in phi2 5.285 * [backup-simplify]: Simplify -0.5 into -0.5 5.285 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 5.285 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 5.285 * [taylor]: Taking taylor expansion of phi1 in phi2 5.285 * [backup-simplify]: Simplify phi1 into phi1 5.285 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.285 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 5.285 * [taylor]: Taking taylor expansion of phi2 in phi2 5.285 * [backup-simplify]: Simplify 0 into 0 5.285 * [backup-simplify]: Simplify 1 into 1 5.286 * [backup-simplify]: Simplify (/ 1 1) into 1 5.286 * [backup-simplify]: Simplify (+ 0 1) into 1 5.286 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 5.286 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.286 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 5.286 * [taylor]: Taking taylor expansion of lambda1 in phi2 5.286 * [backup-simplify]: Simplify lambda1 into lambda1 5.286 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.286 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 5.287 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 5.287 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi2 5.287 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 5.287 * [taylor]: Taking taylor expansion of phi1 in phi2 5.287 * [backup-simplify]: Simplify phi1 into phi1 5.287 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 5.287 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 5.287 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in phi2 5.287 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi2 5.287 * [taylor]: Taking taylor expansion of 2 in phi2 5.287 * [backup-simplify]: Simplify 2 into 2 5.287 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi2 5.287 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 5.287 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 5.287 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 5.287 * [taylor]: Taking taylor expansion of -0.5 in phi2 5.287 * [backup-simplify]: Simplify -0.5 into -0.5 5.287 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 5.287 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 5.287 * [taylor]: Taking taylor expansion of phi1 in phi2 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 phi2 5.287 * [taylor]: Taking taylor expansion of phi2 in phi2 5.287 * [backup-simplify]: Simplify 0 into 0 5.287 * [backup-simplify]: Simplify 1 into 1 5.288 * [backup-simplify]: Simplify (/ 1 1) into 1 5.288 * [backup-simplify]: Simplify (+ 0 1) into 1 5.288 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 5.288 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.288 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi2 5.288 * [taylor]: Taking taylor expansion of lambda2 in phi2 5.288 * [backup-simplify]: Simplify lambda2 into lambda2 5.288 * [taylor]: Taking taylor expansion of lambda1 in phi2 5.288 * [backup-simplify]: Simplify lambda1 into lambda1 5.288 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.288 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 5.289 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) 5.289 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi2 5.289 * [taylor]: Taking taylor expansion of 2 in phi2 5.289 * [backup-simplify]: Simplify 2 into 2 5.289 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi2 5.289 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2 5.289 * [taylor]: Taking taylor expansion of phi2 in phi2 5.289 * [backup-simplify]: Simplify 0 into 0 5.289 * [backup-simplify]: Simplify 1 into 1 5.289 * [taylor]: Taking taylor expansion of phi1 in phi2 5.289 * [backup-simplify]: Simplify phi1 into phi1 5.289 * [backup-simplify]: Simplify (* 0 phi1) into 0 5.289 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 5.289 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.289 * [backup-simplify]: Simplify (+ 1 0) into 1 5.290 * [backup-simplify]: Simplify (+ 1 0) into 1 5.290 * [backup-simplify]: Simplify (sqrt 1) into 1 5.290 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 5.291 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 5.291 * [backup-simplify]: Simplify (+ 0 0) into 0 5.291 * [backup-simplify]: Simplify (* 2 (/ 1 phi1)) into (/ 2 phi1) 5.291 * [backup-simplify]: Simplify (+ 0 (/ 2 phi1)) into (* 2 (/ 1 phi1)) 5.291 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi1))) into (- (* 2 (/ 1 phi1))) 5.291 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1))) 5.292 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi1))) (* 2 (sqrt 1))) into (/ -1 phi1) 5.292 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in phi1 5.292 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in phi1 5.292 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) in phi1 5.292 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 5.292 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 5.292 * [taylor]: Taking taylor expansion of phi2 in phi1 5.292 * [backup-simplify]: Simplify phi2 into phi2 5.292 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 5.292 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 5.292 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))) in phi1 5.292 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in phi1 5.292 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 5.292 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 5.292 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 5.292 * [taylor]: Taking taylor expansion of -0.5 in phi1 5.292 * [backup-simplify]: Simplify -0.5 into -0.5 5.292 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 5.292 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.292 * [taylor]: Taking taylor expansion of phi1 in phi1 5.292 * [backup-simplify]: Simplify 0 into 0 5.292 * [backup-simplify]: Simplify 1 into 1 5.292 * [backup-simplify]: Simplify (/ 1 1) into 1 5.293 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 5.293 * [taylor]: Taking taylor expansion of phi2 in phi1 5.293 * [backup-simplify]: Simplify phi2 into phi2 5.293 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.293 * [backup-simplify]: Simplify (+ 1 0) into 1 5.293 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 5.293 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.293 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 5.293 * [taylor]: Taking taylor expansion of lambda2 in phi1 5.293 * [backup-simplify]: Simplify lambda2 into lambda2 5.294 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.294 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 5.294 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 5.294 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))) in phi1 5.294 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi1 5.294 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 5.294 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 5.294 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 5.294 * [taylor]: Taking taylor expansion of -0.5 in phi1 5.294 * [backup-simplify]: Simplify -0.5 into -0.5 5.294 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 5.294 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.294 * [taylor]: Taking taylor expansion of phi1 in phi1 5.294 * [backup-simplify]: Simplify 0 into 0 5.294 * [backup-simplify]: Simplify 1 into 1 5.299 * [backup-simplify]: Simplify (/ 1 1) into 1 5.299 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 5.299 * [taylor]: Taking taylor expansion of phi2 in phi1 5.299 * [backup-simplify]: Simplify phi2 into phi2 5.299 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.300 * [backup-simplify]: Simplify (+ 1 0) into 1 5.300 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 5.300 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.300 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 5.300 * [taylor]: Taking taylor expansion of lambda1 in phi1 5.300 * [backup-simplify]: Simplify lambda1 into lambda1 5.300 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.300 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 5.301 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 5.301 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 5.301 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 5.301 * [taylor]: Taking taylor expansion of phi1 in phi1 5.301 * [backup-simplify]: Simplify 0 into 0 5.301 * [backup-simplify]: Simplify 1 into 1 5.301 * [backup-simplify]: Simplify (* 1 1) into 1 5.301 * [backup-simplify]: Simplify (/ 1 1) into 1 5.301 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in phi1 5.301 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi1 5.301 * [taylor]: Taking taylor expansion of 2 in phi1 5.301 * [backup-simplify]: Simplify 2 into 2 5.301 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi1 5.301 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 5.301 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 5.301 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 5.301 * [taylor]: Taking taylor expansion of -0.5 in phi1 5.301 * [backup-simplify]: Simplify -0.5 into -0.5 5.301 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 5.301 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.301 * [taylor]: Taking taylor expansion of phi1 in phi1 5.301 * [backup-simplify]: Simplify 0 into 0 5.301 * [backup-simplify]: Simplify 1 into 1 5.302 * [backup-simplify]: Simplify (/ 1 1) into 1 5.302 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 5.302 * [taylor]: Taking taylor expansion of phi2 in phi1 5.302 * [backup-simplify]: Simplify phi2 into phi2 5.302 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.302 * [backup-simplify]: Simplify (+ 1 0) into 1 5.302 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 5.302 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.303 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 5.303 * [taylor]: Taking taylor expansion of lambda2 in phi1 5.303 * [backup-simplify]: Simplify lambda2 into lambda2 5.303 * [taylor]: Taking taylor expansion of lambda1 in phi1 5.303 * [backup-simplify]: Simplify lambda1 into lambda1 5.303 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.303 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 5.303 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) 5.303 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi1 5.303 * [taylor]: Taking taylor expansion of 2 in phi1 5.303 * [backup-simplify]: Simplify 2 into 2 5.303 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi1 5.303 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 5.303 * [taylor]: Taking taylor expansion of phi2 in phi1 5.303 * [backup-simplify]: Simplify phi2 into phi2 5.303 * [taylor]: Taking taylor expansion of phi1 in phi1 5.303 * [backup-simplify]: Simplify 0 into 0 5.303 * [backup-simplify]: Simplify 1 into 1 5.303 * [backup-simplify]: Simplify (* phi2 0) into 0 5.303 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 5.304 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.304 * [backup-simplify]: Simplify (+ 0 1) into 1 5.304 * [backup-simplify]: Simplify (+ 0 1) into 1 5.304 * [backup-simplify]: Simplify (+ 0 1) into 1 5.305 * [backup-simplify]: Simplify (+ 1 0) into 1 5.305 * [backup-simplify]: Simplify (sqrt 1) into 1 5.305 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 5.306 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 5.306 * [backup-simplify]: Simplify (+ 0 0) into 0 5.306 * [backup-simplify]: Simplify (+ 0 0) into 0 5.306 * [backup-simplify]: Simplify (+ 0 0) into 0 5.306 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 5.306 * [backup-simplify]: Simplify (+ 0 (/ 2 phi2)) into (* 2 (/ 1 phi2)) 5.306 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi2))) into (- (* 2 (/ 1 phi2))) 5.307 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 5.307 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi2))) (* 2 (sqrt 1))) into (/ -1 phi2) 5.307 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in lambda2 5.307 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in lambda2 5.307 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) in lambda2 5.307 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda2 5.307 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 5.307 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.307 * [backup-simplify]: Simplify phi2 into phi2 5.307 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 5.307 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 5.307 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))) in lambda2 5.307 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda2 5.307 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 5.307 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 5.307 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 5.307 * [taylor]: Taking taylor expansion of -0.5 in lambda2 5.307 * [backup-simplify]: Simplify -0.5 into -0.5 5.307 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 5.307 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 5.307 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.307 * [backup-simplify]: Simplify phi1 into phi1 5.308 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.308 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 5.308 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.308 * [backup-simplify]: Simplify phi2 into phi2 5.308 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.308 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.308 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.308 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.308 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.308 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.308 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.308 * [backup-simplify]: Simplify (- 0) into 0 5.309 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.309 * [taylor]: Taking taylor expansion of (pow lambda2 2) 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 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.309 * [backup-simplify]: Simplify (* 1 1) into 1 5.309 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.309 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))) in lambda2 5.309 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda2 5.309 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 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 5.310 * [backup-simplify]: Simplify phi1 into phi1 5.310 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.310 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 5.310 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.310 * [backup-simplify]: Simplify phi2 into phi2 5.310 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.310 * [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 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.310 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.310 * [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 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 5.311 * [taylor]: Taking taylor expansion of lambda1 in lambda2 5.311 * [backup-simplify]: Simplify lambda1 into lambda1 5.311 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.311 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 5.311 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 5.311 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda2 5.311 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 5.311 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.311 * [backup-simplify]: Simplify phi1 into phi1 5.311 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 5.311 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 5.311 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in lambda2 5.311 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda2 5.311 * [taylor]: Taking taylor expansion of 2 in lambda2 5.311 * [backup-simplify]: Simplify 2 into 2 5.311 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda2 5.311 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 5.311 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 5.311 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 5.311 * [taylor]: Taking taylor expansion of -0.5 in lambda2 5.311 * [backup-simplify]: Simplify -0.5 into -0.5 5.312 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 5.312 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 5.312 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.312 * [backup-simplify]: Simplify phi1 into phi1 5.312 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.312 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 5.312 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.312 * [backup-simplify]: Simplify phi2 into phi2 5.312 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.312 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.312 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.312 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.312 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.312 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.312 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.313 * [backup-simplify]: Simplify (- 0) into 0 5.313 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.313 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda2 5.313 * [taylor]: Taking taylor expansion of lambda2 in lambda2 5.313 * [backup-simplify]: Simplify 0 into 0 5.313 * [backup-simplify]: Simplify 1 into 1 5.313 * [taylor]: Taking taylor expansion of lambda1 in lambda2 5.313 * [backup-simplify]: Simplify lambda1 into lambda1 5.313 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.313 * [backup-simplify]: Simplify (* 0 lambda1) into 0 5.313 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda1)) into lambda1 5.313 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) 5.313 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda2 5.313 * [taylor]: Taking taylor expansion of 2 in lambda2 5.313 * [backup-simplify]: Simplify 2 into 2 5.313 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda2 5.314 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 5.314 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.314 * [backup-simplify]: Simplify phi2 into phi2 5.314 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.314 * [backup-simplify]: Simplify phi1 into phi1 5.314 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 5.314 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 5.314 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.314 * [backup-simplify]: Simplify (+ 0 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.314 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.314 * [backup-simplify]: Simplify (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.315 * [backup-simplify]: Simplify (+ 0) into 0 5.315 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 5.315 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 5.315 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 5.315 * [backup-simplify]: Simplify (+ 0 0) into 0 5.316 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 5.316 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.317 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 5.317 * [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 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 5.318 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 5.318 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 5.318 * [backup-simplify]: Simplify (+ 0 0) into 0 5.319 * [backup-simplify]: Simplify (+ 0 0) into 0 5.319 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 5.319 * [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)) 5.319 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 5.320 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 5.320 * [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)) 5.320 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in lambda1 5.320 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in lambda1 5.320 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) in lambda1 5.320 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda1 5.320 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 5.320 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.320 * [backup-simplify]: Simplify phi2 into phi2 5.320 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 5.321 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 5.321 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))) in lambda1 5.321 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda1 5.321 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 5.321 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 5.321 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 5.321 * [taylor]: Taking taylor expansion of -0.5 in lambda1 5.321 * [backup-simplify]: Simplify -0.5 into -0.5 5.321 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 5.321 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 5.321 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.321 * [backup-simplify]: Simplify phi1 into phi1 5.321 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.321 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 5.321 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.321 * [backup-simplify]: Simplify phi2 into phi2 5.321 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.321 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.321 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.321 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.321 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.321 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.321 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.322 * [backup-simplify]: Simplify (- 0) into 0 5.322 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.322 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 5.322 * [taylor]: Taking taylor expansion of lambda2 in lambda1 5.322 * [backup-simplify]: Simplify lambda2 into lambda2 5.322 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.322 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 5.322 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 5.322 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))) in lambda1 5.322 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda1 5.322 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 5.322 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 5.322 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 5.322 * [taylor]: Taking taylor expansion of -0.5 in lambda1 5.323 * [backup-simplify]: Simplify -0.5 into -0.5 5.323 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 5.323 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 5.323 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.323 * [backup-simplify]: Simplify phi1 into phi1 5.323 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.323 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 5.323 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.323 * [backup-simplify]: Simplify phi2 into phi2 5.323 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.323 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.323 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.323 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.323 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.323 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.323 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.324 * [backup-simplify]: Simplify (- 0) into 0 5.324 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.324 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 5.324 * [taylor]: Taking taylor expansion of lambda1 in lambda1 5.324 * [backup-simplify]: Simplify 0 into 0 5.324 * [backup-simplify]: Simplify 1 into 1 5.324 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.324 * [backup-simplify]: Simplify (* 1 1) into 1 5.324 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.324 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda1 5.324 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 5.324 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.324 * [backup-simplify]: Simplify phi1 into phi1 5.325 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 5.325 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 5.325 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in lambda1 5.325 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1 5.325 * [taylor]: Taking taylor expansion of 2 in lambda1 5.325 * [backup-simplify]: Simplify 2 into 2 5.325 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1 5.325 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 5.325 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 5.325 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 5.325 * [taylor]: Taking taylor expansion of -0.5 in lambda1 5.325 * [backup-simplify]: Simplify -0.5 into -0.5 5.325 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 5.325 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 5.325 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.325 * [backup-simplify]: Simplify phi1 into phi1 5.325 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.325 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 5.325 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.325 * [backup-simplify]: Simplify phi2 into phi2 5.325 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.325 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.325 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.325 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.325 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.326 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.326 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.326 * [backup-simplify]: Simplify (- 0) into 0 5.326 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.326 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 5.326 * [taylor]: Taking taylor expansion of lambda2 in lambda1 5.326 * [backup-simplify]: Simplify lambda2 into lambda2 5.326 * [taylor]: Taking taylor expansion of lambda1 in lambda1 5.326 * [backup-simplify]: Simplify 0 into 0 5.326 * [backup-simplify]: Simplify 1 into 1 5.326 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.326 * [backup-simplify]: Simplify (* lambda2 0) into 0 5.327 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 5.327 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) 5.327 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda1 5.327 * [taylor]: Taking taylor expansion of 2 in lambda1 5.327 * [backup-simplify]: Simplify 2 into 2 5.327 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda1 5.327 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda1 5.327 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.327 * [backup-simplify]: Simplify phi2 into phi2 5.327 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.327 * [backup-simplify]: Simplify phi1 into phi1 5.327 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 5.327 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 5.327 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.328 * [backup-simplify]: Simplify (+ 0 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.328 * [backup-simplify]: Simplify (+ 0 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.328 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.328 * [backup-simplify]: Simplify (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.328 * [backup-simplify]: Simplify (+ 0) into 0 5.329 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 5.329 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 5.329 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 5.329 * [backup-simplify]: Simplify (+ 0 0) into 0 5.330 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 5.330 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.330 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 5.331 * [backup-simplify]: Simplify (- 0) into 0 5.331 * [backup-simplify]: Simplify (+ 0 0) into 0 5.331 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 5.331 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 5.332 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 5.333 * [backup-simplify]: Simplify (+ 0 0) into 0 5.333 * [backup-simplify]: Simplify (+ 0 0) into 0 5.333 * [backup-simplify]: Simplify (+ 0 0) into 0 5.333 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 5.334 * [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)) 5.334 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 5.334 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 5.335 * [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)) 5.335 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in lambda1 5.335 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in lambda1 5.335 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) in lambda1 5.335 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda1 5.335 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 5.335 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.335 * [backup-simplify]: Simplify phi2 into phi2 5.335 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 5.335 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 5.335 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))) in lambda1 5.335 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda1 5.335 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 5.335 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 5.335 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 5.335 * [taylor]: Taking taylor expansion of -0.5 in lambda1 5.335 * [backup-simplify]: Simplify -0.5 into -0.5 5.335 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 5.335 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 5.335 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.335 * [backup-simplify]: Simplify phi1 into phi1 5.335 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.335 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 5.335 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.335 * [backup-simplify]: Simplify phi2 into phi2 5.335 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.335 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.335 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.335 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.336 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.336 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.336 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.336 * [backup-simplify]: Simplify (- 0) into 0 5.336 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.336 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 5.336 * [taylor]: Taking taylor expansion of lambda2 in lambda1 5.336 * [backup-simplify]: Simplify lambda2 into lambda2 5.336 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.336 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 5.337 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 5.337 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))) in lambda1 5.337 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda1 5.337 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 5.337 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 5.337 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 5.337 * [taylor]: Taking taylor expansion of -0.5 in lambda1 5.337 * [backup-simplify]: Simplify -0.5 into -0.5 5.337 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 5.337 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 5.337 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.337 * [backup-simplify]: Simplify phi1 into phi1 5.337 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.337 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 5.337 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.337 * [backup-simplify]: Simplify phi2 into phi2 5.337 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.337 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.337 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.337 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.337 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.338 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.338 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.338 * [backup-simplify]: Simplify (- 0) into 0 5.338 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.338 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 5.338 * [taylor]: Taking taylor expansion of lambda1 in lambda1 5.338 * [backup-simplify]: Simplify 0 into 0 5.338 * [backup-simplify]: Simplify 1 into 1 5.338 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.339 * [backup-simplify]: Simplify (* 1 1) into 1 5.339 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.339 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda1 5.339 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 5.339 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.339 * [backup-simplify]: Simplify phi1 into phi1 5.339 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 5.339 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 5.339 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in lambda1 5.339 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1 5.339 * [taylor]: Taking taylor expansion of 2 in lambda1 5.339 * [backup-simplify]: Simplify 2 into 2 5.339 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1 5.339 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 5.339 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 5.339 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 5.339 * [taylor]: Taking taylor expansion of -0.5 in lambda1 5.339 * [backup-simplify]: Simplify -0.5 into -0.5 5.339 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 5.339 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 5.339 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.339 * [backup-simplify]: Simplify phi1 into phi1 5.339 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.339 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 5.339 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.339 * [backup-simplify]: Simplify phi2 into phi2 5.339 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.339 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.339 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.340 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.340 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.340 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.340 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.340 * [backup-simplify]: Simplify (- 0) into 0 5.340 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.340 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 5.340 * [taylor]: Taking taylor expansion of lambda2 in lambda1 5.340 * [backup-simplify]: Simplify lambda2 into lambda2 5.340 * [taylor]: Taking taylor expansion of lambda1 in lambda1 5.340 * [backup-simplify]: Simplify 0 into 0 5.340 * [backup-simplify]: Simplify 1 into 1 5.341 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.341 * [backup-simplify]: Simplify (* lambda2 0) into 0 5.341 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 5.341 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) 5.341 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda1 5.341 * [taylor]: Taking taylor expansion of 2 in lambda1 5.341 * [backup-simplify]: Simplify 2 into 2 5.341 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda1 5.341 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda1 5.341 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.341 * [backup-simplify]: Simplify phi2 into phi2 5.341 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.341 * [backup-simplify]: Simplify phi1 into phi1 5.341 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 5.341 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 5.342 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.342 * [backup-simplify]: Simplify (+ 0 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.342 * [backup-simplify]: Simplify (+ 0 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.342 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.342 * [backup-simplify]: Simplify (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.343 * [backup-simplify]: Simplify (+ 0) into 0 5.343 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 5.343 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 5.343 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 5.343 * [backup-simplify]: Simplify (+ 0 0) into 0 5.344 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 5.344 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.345 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 5.345 * [backup-simplify]: Simplify (- 0) into 0 5.345 * [backup-simplify]: Simplify (+ 0 0) into 0 5.345 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 5.346 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 5.346 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 5.347 * [backup-simplify]: Simplify (+ 0 0) into 0 5.347 * [backup-simplify]: Simplify (+ 0 0) into 0 5.347 * [backup-simplify]: Simplify (+ 0 0) into 0 5.347 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 5.347 * [backup-simplify]: Simplify (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 0) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 5.348 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 5.348 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 5.348 * [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)) 5.349 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 5.349 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 5.349 * [taylor]: Taking taylor expansion of -0.5 in lambda2 5.349 * [backup-simplify]: Simplify -0.5 into -0.5 5.349 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 5.349 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 5.349 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.349 * [backup-simplify]: Simplify phi1 into phi1 5.349 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.349 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 5.349 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.349 * [backup-simplify]: Simplify phi2 into phi2 5.349 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.349 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.349 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.349 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.349 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.349 * [taylor]: Taking taylor expansion of (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) in lambda2 5.349 * [taylor]: Taking taylor expansion of -1 in lambda2 5.349 * [backup-simplify]: Simplify -1 into -1 5.349 * [taylor]: Taking taylor expansion of (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2) in lambda2 5.349 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 5.349 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 5.349 * [taylor]: Taking taylor expansion of -0.5 in lambda2 5.349 * [backup-simplify]: Simplify -0.5 into -0.5 5.349 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 5.349 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 5.349 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.349 * [backup-simplify]: Simplify phi1 into phi1 5.349 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.349 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 5.349 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.350 * [backup-simplify]: Simplify phi2 into phi2 5.350 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.350 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.350 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.350 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.350 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.350 * [taylor]: Taking taylor expansion of lambda2 in lambda2 5.350 * [backup-simplify]: Simplify 0 into 0 5.350 * [backup-simplify]: Simplify 1 into 1 5.350 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.350 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.350 * [backup-simplify]: Simplify (- 0) into 0 5.351 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.351 * [backup-simplify]: Simplify (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.351 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 5.351 * [taylor]: Taking taylor expansion of (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1 5.351 * [taylor]: Taking taylor expansion of -1 in phi1 5.351 * [backup-simplify]: Simplify -1 into -1 5.351 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 5.351 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 5.351 * [taylor]: Taking taylor expansion of -0.5 in phi1 5.351 * [backup-simplify]: Simplify -0.5 into -0.5 5.351 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 5.351 * [taylor]: Taking taylor expansion of (/ 1 phi1) 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 * [backup-simplify]: Simplify (/ 1 1) into 1 5.351 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 5.351 * [taylor]: Taking taylor expansion of phi2 in phi1 5.351 * [backup-simplify]: Simplify phi2 into phi2 5.351 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.352 * [backup-simplify]: Simplify (+ 1 0) into 1 5.352 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 5.352 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.352 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.352 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.353 * [backup-simplify]: Simplify (- 0) into 0 5.353 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.353 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 5.353 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 5.353 * [taylor]: Taking taylor expansion of -0.5 in phi1 5.353 * [backup-simplify]: Simplify -0.5 into -0.5 5.353 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 5.353 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.353 * [taylor]: Taking taylor expansion of phi1 in phi1 5.353 * [backup-simplify]: Simplify 0 into 0 5.353 * [backup-simplify]: Simplify 1 into 1 5.353 * [backup-simplify]: Simplify (/ 1 1) into 1 5.353 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 5.353 * [taylor]: Taking taylor expansion of phi2 in phi1 5.353 * [backup-simplify]: Simplify phi2 into phi2 5.353 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.353 * [backup-simplify]: Simplify (+ 1 0) into 1 5.354 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 5.354 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.354 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.355 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 5.355 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 5.355 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 5.355 * [backup-simplify]: Simplify (+ 0 0) into 0 5.356 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 5.356 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.357 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 5.357 * [backup-simplify]: Simplify (- 0) into 0 5.357 * [backup-simplify]: Simplify (+ 0 0) into 0 5.358 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 5.358 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 5.359 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)) (* 0 (/ 0 1)))) into 0 5.359 * [backup-simplify]: Simplify (+ 0 (/ 1 (pow phi1 2))) into (/ 1 (pow phi1 2)) 5.360 * [backup-simplify]: Simplify (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) into (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) 5.360 * [backup-simplify]: Simplify (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) into (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) 5.361 * [backup-simplify]: Simplify (+ 0) into 0 5.361 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 5.361 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 5.361 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 5.361 * [backup-simplify]: Simplify (+ 0 0) into 0 5.362 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 5.362 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.363 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 5.363 * [backup-simplify]: Simplify (- 0) into 0 5.363 * [backup-simplify]: Simplify (+ 0 0) into 0 5.363 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 5.364 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 1) (* 0 0))) into 0 5.364 * [backup-simplify]: Simplify (- (/ 0 lambda2) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) (/ 0 lambda2)))) into 0 5.364 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into 0 5.365 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi2 phi1))) into (/ 2 (* phi2 phi1)) 5.365 * [backup-simplify]: Simplify (+ 0 (/ 2 (* phi2 phi1))) into (* 2 (/ 1 (* phi2 phi1))) 5.365 * [backup-simplify]: Simplify (- (* 2 (/ 1 (* phi2 phi1)))) into (- (* 2 (/ 1 (* phi2 phi1)))) 5.365 * [backup-simplify]: Simplify (+ (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) (- (* 2 (/ 1 (* phi2 phi1))))) into (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) (* 2 (/ 1 (* phi2 phi1)))) 5.366 * [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)))))) 5.367 * [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 5.367 * [taylor]: Taking taylor expansion of 1/2 in lambda2 5.367 * [backup-simplify]: Simplify 1/2 into 1/2 5.367 * [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 5.367 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) in lambda2 5.367 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in lambda2 5.367 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda2 5.367 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 5.367 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.367 * [backup-simplify]: Simplify phi2 into phi2 5.367 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 5.367 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 5.367 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda2 5.367 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 5.367 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.367 * [backup-simplify]: Simplify phi1 into phi1 5.367 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 5.367 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 5.367 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda2 5.367 * [taylor]: Taking taylor expansion of 2 in lambda2 5.367 * [backup-simplify]: Simplify 2 into 2 5.367 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda2 5.367 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 5.367 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.367 * [backup-simplify]: Simplify phi2 into phi2 5.367 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.367 * [backup-simplify]: Simplify phi1 into phi1 5.367 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 5.367 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 5.367 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 5.367 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 5.367 * [taylor]: Taking taylor expansion of -0.5 in lambda2 5.367 * [backup-simplify]: Simplify -0.5 into -0.5 5.367 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 5.367 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 5.367 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.367 * [backup-simplify]: Simplify phi1 into phi1 5.367 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.367 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 5.367 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.368 * [backup-simplify]: Simplify phi2 into phi2 5.368 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.368 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.368 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.368 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.368 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.368 * [backup-simplify]: Simplify (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) into (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) 5.368 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi2 phi1))) into (/ 2 (* phi2 phi1)) 5.368 * [backup-simplify]: Simplify (- (/ 2 (* phi2 phi1))) into (- (* 2 (/ 1 (* phi2 phi1)))) 5.368 * [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)))) 5.369 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.369 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.369 * [backup-simplify]: Simplify (- 0) into 0 5.369 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.369 * [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))))) 5.370 * [backup-simplify]: Simplify (+ 0) into 0 5.370 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 5.370 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 5.371 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 5.371 * [backup-simplify]: Simplify (+ 0 0) into 0 5.371 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 5.372 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.372 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 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 1) (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (/ 0 1)))) into 0 5.373 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 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 (+ 0) into 0 5.374 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 5.374 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 5.374 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 5.374 * [backup-simplify]: Simplify (+ 0 0) into 0 5.375 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 5.375 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.376 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 5.376 * [backup-simplify]: Simplify (- 0) into 0 5.376 * [backup-simplify]: Simplify (+ 0 0) into 0 5.376 * [taylor]: Taking taylor expansion of 0 in phi1 5.376 * [backup-simplify]: Simplify 0 into 0 5.376 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 5.376 * [taylor]: Taking taylor expansion of (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 5.376 * [taylor]: Taking taylor expansion of -1 in phi2 5.376 * [backup-simplify]: Simplify -1 into -1 5.376 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 5.376 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 5.376 * [taylor]: Taking taylor expansion of -0.5 in phi2 5.376 * [backup-simplify]: Simplify -0.5 into -0.5 5.376 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 5.376 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 5.376 * [taylor]: Taking taylor expansion of phi1 in phi2 5.376 * [backup-simplify]: Simplify phi1 into phi1 5.376 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.376 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 5.376 * [taylor]: Taking taylor expansion of phi2 in phi2 5.376 * [backup-simplify]: Simplify 0 into 0 5.376 * [backup-simplify]: Simplify 1 into 1 5.377 * [backup-simplify]: Simplify (/ 1 1) into 1 5.377 * [backup-simplify]: Simplify (+ 0 1) into 1 5.377 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 5.377 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.377 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 5.377 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 5.377 * [taylor]: Taking taylor expansion of -0.5 in phi2 5.377 * [backup-simplify]: Simplify -0.5 into -0.5 5.377 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 5.377 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 5.378 * [taylor]: Taking taylor expansion of phi1 in phi2 5.378 * [backup-simplify]: Simplify phi1 into phi1 5.378 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.378 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 5.378 * [taylor]: Taking taylor expansion of phi2 in phi2 5.378 * [backup-simplify]: Simplify 0 into 0 5.378 * [backup-simplify]: Simplify 1 into 1 5.378 * [backup-simplify]: Simplify (/ 1 1) into 1 5.378 * [backup-simplify]: Simplify (+ 0 1) into 1 5.378 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 5.378 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.379 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 5.379 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi2 2)) (/ 0 (pow phi2 2))))) into 0 5.379 * [backup-simplify]: Simplify (+ 0) into 0 5.379 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 5.380 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 5.380 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 5.380 * [backup-simplify]: Simplify (+ 0 0) into 0 5.380 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 5.381 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.381 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 5.381 * [backup-simplify]: Simplify (- 0) into 0 5.381 * [backup-simplify]: Simplify (+ 0 0) into 0 5.382 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 5.382 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 5.382 * [backup-simplify]: Simplify (- (/ 0 (pow lambda2 2)) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 0 (pow lambda2 2))))) into 0 5.383 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 5.383 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 5.384 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 5.384 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 5.384 * [backup-simplify]: Simplify (+ 0 0) into 0 5.385 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 5.386 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 5.386 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 5.386 * [backup-simplify]: Simplify (- 0) into 0 5.387 * [backup-simplify]: Simplify (+ 0 0) into 0 5.387 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into 0 5.388 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 5.389 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0 5.389 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 5.389 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi1 2)) (/ 0 (pow phi1 2))))) into 0 5.390 * [backup-simplify]: Simplify (+ 0 0) into 0 5.390 * [backup-simplify]: Simplify (+ 0 0) into 0 5.390 * [backup-simplify]: Simplify (+ 0 0) into 0 5.391 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.391 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 5.391 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 5.391 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 5.391 * [backup-simplify]: Simplify (+ 0 0) into 0 5.392 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 5.392 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.393 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 5.393 * [backup-simplify]: Simplify (- 0) into 0 5.393 * [backup-simplify]: Simplify (+ 0 0) into 0 5.394 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 5.394 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (+ (* 0 1) (* 0 0)))) into 0 5.395 * [backup-simplify]: Simplify (- (/ 0 lambda2) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) (/ 0 lambda2)) (* 0 (/ 0 lambda2)))) into 0 5.395 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) into 0 5.395 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 5.395 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* phi2 phi1)) (/ 0 (* phi2 phi1))))) into 0 5.396 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ 1 (* phi2 phi1)))) into 0 5.396 * [backup-simplify]: Simplify (+ 0 0) into 0 5.396 * [backup-simplify]: Simplify (- 0) into 0 5.401 * [backup-simplify]: Simplify (+ 0 0) into 0 5.402 * [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)))))) 5.402 * [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 5.402 * [taylor]: Taking taylor expansion of 1/2 in lambda2 5.402 * [backup-simplify]: Simplify 1/2 into 1/2 5.402 * [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 5.402 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (* lambda2 (pow phi1 2))) (/ 1 (* (pow phi2 2) lambda2))) (* 2 (/ 1 (* phi2 (* lambda2 phi1))))) in lambda2 5.402 * [taylor]: Taking taylor expansion of (+ (/ 1 (* lambda2 (pow phi1 2))) (/ 1 (* (pow phi2 2) lambda2))) in lambda2 5.402 * [taylor]: Taking taylor expansion of (/ 1 (* lambda2 (pow phi1 2))) in lambda2 5.402 * [taylor]: Taking taylor expansion of (* lambda2 (pow phi1 2)) in lambda2 5.402 * [taylor]: Taking taylor expansion of lambda2 in lambda2 5.402 * [backup-simplify]: Simplify 0 into 0 5.402 * [backup-simplify]: Simplify 1 into 1 5.402 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 5.402 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.402 * [backup-simplify]: Simplify phi1 into phi1 5.402 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 5.402 * [backup-simplify]: Simplify (* 0 (pow phi1 2)) into 0 5.402 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 5.403 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow phi1 2))) into (pow phi1 2) 5.403 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 5.403 * [taylor]: Taking taylor expansion of (/ 1 (* (pow phi2 2) lambda2)) in lambda2 5.403 * [taylor]: Taking taylor expansion of (* (pow phi2 2) lambda2) in lambda2 5.403 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 5.403 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.403 * [backup-simplify]: Simplify phi2 into phi2 5.403 * [taylor]: Taking taylor expansion of lambda2 in lambda2 5.403 * [backup-simplify]: Simplify 0 into 0 5.403 * [backup-simplify]: Simplify 1 into 1 5.403 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 5.403 * [backup-simplify]: Simplify (* (pow phi2 2) 0) into 0 5.403 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 5.404 * [backup-simplify]: Simplify (+ (* (pow phi2 2) 1) (* 0 0)) into (pow phi2 2) 5.404 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 5.404 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 (* lambda2 phi1)))) in lambda2 5.404 * [taylor]: Taking taylor expansion of 2 in lambda2 5.404 * [backup-simplify]: Simplify 2 into 2 5.404 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (* lambda2 phi1))) in lambda2 5.404 * [taylor]: Taking taylor expansion of (* phi2 (* lambda2 phi1)) in lambda2 5.404 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.404 * [backup-simplify]: Simplify phi2 into phi2 5.404 * [taylor]: Taking taylor expansion of (* lambda2 phi1) in lambda2 5.404 * [taylor]: Taking taylor expansion of lambda2 in lambda2 5.404 * [backup-simplify]: Simplify 0 into 0 5.404 * [backup-simplify]: Simplify 1 into 1 5.404 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.404 * [backup-simplify]: Simplify phi1 into phi1 5.404 * [backup-simplify]: Simplify (* 0 phi1) into 0 5.404 * [backup-simplify]: Simplify (* phi2 0) into 0 5.404 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 5.405 * [backup-simplify]: Simplify (+ (* phi2 phi1) (* 0 0)) into (* phi2 phi1) 5.405 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 5.405 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 5.405 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 5.405 * [taylor]: Taking taylor expansion of -0.5 in lambda2 5.405 * [backup-simplify]: Simplify -0.5 into -0.5 5.405 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 5.405 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 5.405 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.405 * [backup-simplify]: Simplify phi1 into phi1 5.405 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.405 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 5.405 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.405 * [backup-simplify]: Simplify phi2 into phi2 5.405 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.405 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.405 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.405 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.405 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.406 * [backup-simplify]: Simplify (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) into (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) 5.406 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi2 phi1))) into (/ 2 (* phi2 phi1)) 5.406 * [backup-simplify]: Simplify (- (/ 2 (* phi2 phi1))) into (- (* 2 (/ 1 (* phi2 phi1)))) 5.406 * [backup-simplify]: Simplify (+ (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (- (* 2 (/ 1 (* phi2 phi1))))) into (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) 5.406 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.406 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.406 * [backup-simplify]: Simplify (- 0) into 0 5.407 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.407 * [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))))) 5.408 * [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)))))) 5.408 * [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 5.408 * [taylor]: Taking taylor expansion of 1/2 in phi1 5.408 * [backup-simplify]: Simplify 1/2 into 1/2 5.408 * [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 5.408 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) in phi1 5.408 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in phi1 5.408 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 5.408 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 5.408 * [taylor]: Taking taylor expansion of phi2 in phi1 5.408 * [backup-simplify]: Simplify phi2 into phi2 5.408 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 5.408 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 5.408 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 5.408 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 5.408 * [taylor]: Taking taylor expansion of phi1 in phi1 5.408 * [backup-simplify]: Simplify 0 into 0 5.408 * [backup-simplify]: Simplify 1 into 1 5.408 * [backup-simplify]: Simplify (* 1 1) into 1 5.409 * [backup-simplify]: Simplify (/ 1 1) into 1 5.409 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi1 5.409 * [taylor]: Taking taylor expansion of 2 in phi1 5.409 * [backup-simplify]: Simplify 2 into 2 5.409 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi1 5.409 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 5.409 * [taylor]: Taking taylor expansion of phi2 in phi1 5.409 * [backup-simplify]: Simplify phi2 into phi2 5.409 * [taylor]: Taking taylor expansion of phi1 in phi1 5.409 * [backup-simplify]: Simplify 0 into 0 5.409 * [backup-simplify]: Simplify 1 into 1 5.409 * [backup-simplify]: Simplify (* phi2 0) into 0 5.409 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 5.409 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.409 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 5.409 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 5.409 * [taylor]: Taking taylor expansion of -0.5 in phi1 5.409 * [backup-simplify]: Simplify -0.5 into -0.5 5.409 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 5.409 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.409 * [taylor]: Taking taylor expansion of phi1 in phi1 5.409 * [backup-simplify]: Simplify 0 into 0 5.409 * [backup-simplify]: Simplify 1 into 1 5.409 * [backup-simplify]: Simplify (/ 1 1) into 1 5.409 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 5.409 * [taylor]: Taking taylor expansion of phi2 in phi1 5.410 * [backup-simplify]: Simplify phi2 into phi2 5.410 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.410 * [backup-simplify]: Simplify (+ 1 0) into 1 5.410 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 5.410 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.410 * [backup-simplify]: Simplify (+ 0 1) into 1 5.411 * [backup-simplify]: Simplify (+ 1 0) into 1 5.411 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 5.411 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 5.412 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 5.412 * [backup-simplify]: Simplify (+ 0 0) into 0 5.412 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 5.412 * [backup-simplify]: Simplify (- (/ 2 phi2)) into (- (* 2 (/ 1 phi2))) 5.412 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 5.413 * [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)))))))) 5.413 * [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))))))) 5.413 * [taylor]: Taking taylor expansion of (- (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in phi2 5.413 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi2 5.413 * [taylor]: Taking taylor expansion of (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 5.413 * [taylor]: Taking taylor expansion of phi2 in phi2 5.413 * [backup-simplify]: Simplify 0 into 0 5.413 * [backup-simplify]: Simplify 1 into 1 5.413 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 5.413 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 5.413 * [taylor]: Taking taylor expansion of -0.5 in phi2 5.413 * [backup-simplify]: Simplify -0.5 into -0.5 5.413 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 5.413 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 5.413 * [taylor]: Taking taylor expansion of phi1 in phi2 5.413 * [backup-simplify]: Simplify phi1 into phi1 5.413 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.413 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 5.413 * [taylor]: Taking taylor expansion of phi2 in phi2 5.413 * [backup-simplify]: Simplify 0 into 0 5.413 * [backup-simplify]: Simplify 1 into 1 5.413 * [backup-simplify]: Simplify (/ 1 1) into 1 5.414 * [backup-simplify]: Simplify (+ 0 1) into 1 5.414 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 5.414 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.414 * [backup-simplify]: Simplify (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 5.415 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.415 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 5.415 * [backup-simplify]: Simplify (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 5.415 * [backup-simplify]: Simplify (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 5.416 * [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)))))) 5.416 * [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 5.416 * [taylor]: Taking taylor expansion of 1/2 in phi1 5.416 * [backup-simplify]: Simplify 1/2 into 1/2 5.416 * [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 5.416 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) in phi1 5.416 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in phi1 5.416 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 5.416 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 5.416 * [taylor]: Taking taylor expansion of phi2 in phi1 5.416 * [backup-simplify]: Simplify phi2 into phi2 5.416 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 5.416 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 5.416 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 5.416 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 5.416 * [taylor]: Taking taylor expansion of phi1 in phi1 5.416 * [backup-simplify]: Simplify 0 into 0 5.416 * [backup-simplify]: Simplify 1 into 1 5.416 * [backup-simplify]: Simplify (* 1 1) into 1 5.417 * [backup-simplify]: Simplify (/ 1 1) into 1 5.417 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi1 5.417 * [taylor]: Taking taylor expansion of 2 in phi1 5.417 * [backup-simplify]: Simplify 2 into 2 5.417 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi1 5.417 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 5.417 * [taylor]: Taking taylor expansion of phi2 in phi1 5.417 * [backup-simplify]: Simplify phi2 into phi2 5.417 * [taylor]: Taking taylor expansion of phi1 in phi1 5.417 * [backup-simplify]: Simplify 0 into 0 5.417 * [backup-simplify]: Simplify 1 into 1 5.417 * [backup-simplify]: Simplify (* phi2 0) into 0 5.417 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 5.417 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.417 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 5.417 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 5.417 * [taylor]: Taking taylor expansion of -0.5 in phi1 5.417 * [backup-simplify]: Simplify -0.5 into -0.5 5.417 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 5.417 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.417 * [taylor]: Taking taylor expansion of phi1 in phi1 5.417 * [backup-simplify]: Simplify 0 into 0 5.417 * [backup-simplify]: Simplify 1 into 1 5.418 * [backup-simplify]: Simplify (/ 1 1) into 1 5.418 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 5.418 * [taylor]: Taking taylor expansion of phi2 in phi1 5.418 * [backup-simplify]: Simplify phi2 into phi2 5.418 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.418 * [backup-simplify]: Simplify (+ 1 0) into 1 5.418 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 5.418 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.419 * [backup-simplify]: Simplify (+ 0 1) into 1 5.419 * [backup-simplify]: Simplify (+ 1 0) into 1 5.419 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 5.419 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 5.420 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 5.420 * [backup-simplify]: Simplify (+ 0 0) into 0 5.420 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 5.420 * [backup-simplify]: Simplify (- (/ 2 phi2)) into (- (* 2 (/ 1 phi2))) 5.420 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 5.421 * [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)))))))) 5.421 * [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))))))) 5.421 * [taylor]: Taking taylor expansion of (- (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in phi2 5.421 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi2 5.421 * [taylor]: Taking taylor expansion of (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 5.421 * [taylor]: Taking taylor expansion of phi2 in phi2 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 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 5.421 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 5.421 * [taylor]: Taking taylor expansion of -0.5 in phi2 5.421 * [backup-simplify]: Simplify -0.5 into -0.5 5.421 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 5.421 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 5.421 * [taylor]: Taking taylor expansion of phi1 in phi2 5.421 * [backup-simplify]: Simplify phi1 into phi1 5.421 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.421 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 5.421 * [taylor]: Taking taylor expansion of phi2 in phi2 5.421 * [backup-simplify]: Simplify 0 into 0 5.421 * [backup-simplify]: Simplify 1 into 1 5.422 * [backup-simplify]: Simplify (/ 1 1) into 1 5.422 * [backup-simplify]: Simplify (+ 0 1) into 1 5.422 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 5.422 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.422 * [backup-simplify]: Simplify (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 5.423 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.423 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 5.423 * [backup-simplify]: Simplify (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 5.423 * [backup-simplify]: Simplify (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 5.424 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.424 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 5.424 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 5.424 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 5.425 * [backup-simplify]: Simplify (+ 0 0) into 0 5.425 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 5.426 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.426 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 5.426 * [backup-simplify]: Simplify (- 0) into 0 5.427 * [backup-simplify]: Simplify (+ 0 0) into 0 5.427 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (/ 0 1)) (* 0 (/ 0 1)))) into 0 5.428 * [backup-simplify]: Simplify (+ (* -1 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 5.428 * [taylor]: Taking taylor expansion of 0 in phi1 5.428 * [backup-simplify]: Simplify 0 into 0 5.429 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.429 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 5.429 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 5.429 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 5.430 * [backup-simplify]: Simplify (+ 0 0) into 0 5.430 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 5.431 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.431 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 5.431 * [backup-simplify]: Simplify (- 0) into 0 5.431 * [backup-simplify]: Simplify (+ 0 0) into 0 5.431 * [taylor]: Taking taylor expansion of 0 in phi1 5.431 * [backup-simplify]: Simplify 0 into 0 5.432 * [taylor]: Taking taylor expansion of 0 in phi2 5.432 * [backup-simplify]: Simplify 0 into 0 5.432 * [taylor]: Taking taylor expansion of 0 in phi2 5.432 * [backup-simplify]: Simplify 0 into 0 5.432 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 5.432 * [taylor]: Taking taylor expansion of 0 in phi2 5.432 * [backup-simplify]: Simplify 0 into 0 5.432 * [taylor]: Taking taylor expansion of 0 in phi2 5.432 * [backup-simplify]: Simplify 0 into 0 5.432 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 5.432 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 5.434 * [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)))))) 5.434 * * * * [progress]: [ 4 / 4 ] generating series at (2 2 2 1 1 1 2 2) 5.434 * [backup-simplify]: Simplify (cos (/ (+ phi1 phi2) 2.0)) into (cos (* 0.5 (+ phi2 phi1))) 5.434 * [approximate]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in (phi1 phi2) around 0 5.434 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 5.434 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 5.434 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.434 * [backup-simplify]: Simplify 0.5 into 0.5 5.434 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 5.434 * [taylor]: Taking taylor expansion of phi2 in phi2 5.434 * [backup-simplify]: Simplify 0 into 0 5.434 * [backup-simplify]: Simplify 1 into 1 5.434 * [taylor]: Taking taylor expansion of phi1 in phi2 5.434 * [backup-simplify]: Simplify phi1 into phi1 5.434 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 5.434 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 5.434 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 5.434 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 5.434 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 5.434 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 5.434 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.434 * [backup-simplify]: Simplify 0.5 into 0.5 5.434 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 5.434 * [taylor]: Taking taylor expansion of phi2 in phi1 5.434 * [backup-simplify]: Simplify phi2 into phi2 5.434 * [taylor]: Taking taylor expansion of phi1 in phi1 5.434 * [backup-simplify]: Simplify 0 into 0 5.434 * [backup-simplify]: Simplify 1 into 1 5.434 * [backup-simplify]: Simplify (+ phi2 0) into phi2 5.434 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 5.435 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 5.435 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 5.435 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 5.435 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 5.435 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.435 * [backup-simplify]: Simplify 0.5 into 0.5 5.435 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 5.435 * [taylor]: Taking taylor expansion of phi2 in phi1 5.435 * [backup-simplify]: Simplify phi2 into phi2 5.435 * [taylor]: Taking taylor expansion of phi1 in phi1 5.435 * [backup-simplify]: Simplify 0 into 0 5.435 * [backup-simplify]: Simplify 1 into 1 5.435 * [backup-simplify]: Simplify (+ phi2 0) into phi2 5.435 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 5.435 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 5.435 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 5.435 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 5.435 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 5.435 * [backup-simplify]: Simplify (- 0) into 0 5.435 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 5.435 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 5.435 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 5.435 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.436 * [backup-simplify]: Simplify 0.5 into 0.5 5.436 * [taylor]: Taking taylor expansion of phi2 in phi2 5.436 * [backup-simplify]: Simplify 0 into 0 5.436 * [backup-simplify]: Simplify 1 into 1 5.436 * [backup-simplify]: Simplify (* 0.5 0) into 0 5.437 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 5.437 * [backup-simplify]: Simplify 1 into 1 5.437 * [backup-simplify]: Simplify (+ 0) into 0 5.437 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 5.438 * [backup-simplify]: Simplify (+ 0 1) into 1 5.438 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5 5.439 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 5.440 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2))) 5.440 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2)))) 5.440 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2)))) 5.440 * [taylor]: Taking taylor expansion of (- (* 0.5 (sin (* 0.5 phi2)))) in phi2 5.440 * [taylor]: Taking taylor expansion of (* 0.5 (sin (* 0.5 phi2))) in phi2 5.440 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.440 * [backup-simplify]: Simplify 0.5 into 0.5 5.440 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2 5.440 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 5.440 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.440 * [backup-simplify]: Simplify 0.5 into 0.5 5.440 * [taylor]: Taking taylor expansion of phi2 in phi2 5.440 * [backup-simplify]: Simplify 0 into 0 5.440 * [backup-simplify]: Simplify 1 into 1 5.440 * [backup-simplify]: Simplify (* 0.5 0) into 0 5.441 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 5.441 * [backup-simplify]: Simplify (* 0.5 0) into 0 5.442 * [backup-simplify]: Simplify (- 0) into 0 5.442 * [backup-simplify]: Simplify 0 into 0 5.442 * [backup-simplify]: Simplify (+ 0) into 0 5.442 * [backup-simplify]: Simplify 0 into 0 5.444 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 5.444 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) (- 0.125)) (+ (* 0 0) (* 0 1))) into (- (* 0.125 (cos (* 0.5 phi2)))) 5.445 * [backup-simplify]: Simplify (+ 0 0) into 0 5.445 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 phi2))) into 0 5.446 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.446 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (+ (* 0 0.5) (* 0 0))) into 0 5.447 * [backup-simplify]: Simplify (- 0) into 0 5.447 * [backup-simplify]: Simplify (+ (- (* 0.125 (cos (* 0.5 phi2)))) 0) into (- (* 0.125 (cos (* 0.5 phi2)))) 5.447 * [taylor]: Taking taylor expansion of (- (* 0.125 (cos (* 0.5 phi2)))) in phi2 5.447 * [taylor]: Taking taylor expansion of (* 0.125 (cos (* 0.5 phi2))) in phi2 5.447 * [taylor]: Taking taylor expansion of 0.125 in phi2 5.447 * [backup-simplify]: Simplify 0.125 into 0.125 5.447 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 5.447 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 5.447 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.447 * [backup-simplify]: Simplify 0.5 into 0.5 5.447 * [taylor]: Taking taylor expansion of phi2 in phi2 5.447 * [backup-simplify]: Simplify 0 into 0 5.447 * [backup-simplify]: Simplify 1 into 1 5.447 * [backup-simplify]: Simplify (* 0.5 0) into 0 5.448 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 5.448 * [backup-simplify]: Simplify (* 0.125 1) into 0.125 5.449 * [backup-simplify]: Simplify (- 0.125) into (- 0.125) 5.449 * [backup-simplify]: Simplify (- 0.125) into (- 0.125) 5.450 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 5.451 * [backup-simplify]: Simplify (+ (* 0.5 0.5) (* 0 0)) into 0.25 5.451 * [backup-simplify]: Simplify (- 0.25) into (- 0.25) 5.451 * [backup-simplify]: Simplify (- 0.25) into (- 0.25) 5.452 * [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)))) 5.452 * [backup-simplify]: Simplify (cos (/ (+ (/ 1 phi1) (/ 1 phi2)) 2.0)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.452 * [approximate]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in (phi1 phi2) around 0 5.452 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 5.452 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 5.452 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.452 * [backup-simplify]: Simplify 0.5 into 0.5 5.452 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 5.453 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 5.453 * [taylor]: Taking taylor expansion of phi1 in phi2 5.453 * [backup-simplify]: Simplify phi1 into phi1 5.453 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.453 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 5.453 * [taylor]: Taking taylor expansion of phi2 in phi2 5.453 * [backup-simplify]: Simplify 0 into 0 5.453 * [backup-simplify]: Simplify 1 into 1 5.453 * [backup-simplify]: Simplify (/ 1 1) into 1 5.453 * [backup-simplify]: Simplify (+ 0 1) into 1 5.453 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 5.454 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.454 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 5.454 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 5.454 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.454 * [backup-simplify]: Simplify 0.5 into 0.5 5.454 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 5.454 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.454 * [taylor]: Taking taylor expansion of phi1 in phi1 5.454 * [backup-simplify]: Simplify 0 into 0 5.454 * [backup-simplify]: Simplify 1 into 1 5.454 * [backup-simplify]: Simplify (/ 1 1) into 1 5.454 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 5.454 * [taylor]: Taking taylor expansion of phi2 in phi1 5.454 * [backup-simplify]: Simplify phi2 into phi2 5.454 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.454 * [backup-simplify]: Simplify (+ 1 0) into 1 5.455 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 5.455 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.455 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 5.455 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 5.455 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.455 * [backup-simplify]: Simplify 0.5 into 0.5 5.455 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 5.455 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.455 * [taylor]: Taking taylor expansion of phi1 in phi1 5.455 * [backup-simplify]: Simplify 0 into 0 5.455 * [backup-simplify]: Simplify 1 into 1 5.455 * [backup-simplify]: Simplify (/ 1 1) into 1 5.455 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 5.455 * [taylor]: Taking taylor expansion of phi2 in phi1 5.455 * [backup-simplify]: Simplify phi2 into phi2 5.455 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.456 * [backup-simplify]: Simplify (+ 1 0) into 1 5.456 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 5.456 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.456 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 5.456 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 5.456 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.456 * [backup-simplify]: Simplify 0.5 into 0.5 5.456 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 5.456 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 5.456 * [taylor]: Taking taylor expansion of phi1 in phi2 5.456 * [backup-simplify]: Simplify phi1 into phi1 5.456 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.456 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 5.456 * [taylor]: Taking taylor expansion of phi2 in phi2 5.456 * [backup-simplify]: Simplify 0 into 0 5.456 * [backup-simplify]: Simplify 1 into 1 5.457 * [backup-simplify]: Simplify (/ 1 1) into 1 5.457 * [backup-simplify]: Simplify (+ 0 1) into 1 5.457 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 5.457 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.457 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.458 * [taylor]: Taking taylor expansion of 0 in phi2 5.458 * [backup-simplify]: Simplify 0 into 0 5.458 * [backup-simplify]: Simplify 0 into 0 5.458 * [backup-simplify]: Simplify 0 into 0 5.458 * [taylor]: Taking taylor expansion of 0 in phi2 5.458 * [backup-simplify]: Simplify 0 into 0 5.458 * [backup-simplify]: Simplify 0 into 0 5.458 * [backup-simplify]: Simplify 0 into 0 5.458 * [backup-simplify]: Simplify 0 into 0 5.458 * [taylor]: Taking taylor expansion of 0 in phi2 5.458 * [backup-simplify]: Simplify 0 into 0 5.458 * [backup-simplify]: Simplify 0 into 0 5.458 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))) into (cos (* 0.5 (+ phi2 phi1))) 5.458 * [backup-simplify]: Simplify (cos (/ (+ (/ 1 (- phi1)) (/ 1 (- phi2))) 2.0)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.458 * [approximate]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in (phi1 phi2) around 0 5.458 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 5.458 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 5.458 * [taylor]: Taking taylor expansion of -0.5 in phi2 5.458 * [backup-simplify]: Simplify -0.5 into -0.5 5.458 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 5.458 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 5.458 * [taylor]: Taking taylor expansion of phi1 in phi2 5.458 * [backup-simplify]: Simplify phi1 into phi1 5.458 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.458 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 5.458 * [taylor]: Taking taylor expansion of phi2 in phi2 5.458 * [backup-simplify]: Simplify 0 into 0 5.458 * [backup-simplify]: Simplify 1 into 1 5.458 * [backup-simplify]: Simplify (/ 1 1) into 1 5.459 * [backup-simplify]: Simplify (+ 0 1) into 1 5.459 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 5.459 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.459 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 5.459 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 5.459 * [taylor]: Taking taylor expansion of -0.5 in phi1 5.459 * [backup-simplify]: Simplify -0.5 into -0.5 5.459 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 5.459 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.459 * [taylor]: Taking taylor expansion of phi1 in phi1 5.459 * [backup-simplify]: Simplify 0 into 0 5.460 * [backup-simplify]: Simplify 1 into 1 5.460 * [backup-simplify]: Simplify (/ 1 1) into 1 5.460 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 5.460 * [taylor]: Taking taylor expansion of phi2 in phi1 5.460 * [backup-simplify]: Simplify phi2 into phi2 5.460 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.460 * [backup-simplify]: Simplify (+ 1 0) into 1 5.460 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 5.461 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.461 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 5.461 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 5.461 * [taylor]: Taking taylor expansion of -0.5 in phi1 5.461 * [backup-simplify]: Simplify -0.5 into -0.5 5.461 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 5.461 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.461 * [taylor]: Taking taylor expansion of phi1 in phi1 5.461 * [backup-simplify]: Simplify 0 into 0 5.461 * [backup-simplify]: Simplify 1 into 1 5.461 * [backup-simplify]: Simplify (/ 1 1) into 1 5.461 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 5.461 * [taylor]: Taking taylor expansion of phi2 in phi1 5.461 * [backup-simplify]: Simplify phi2 into phi2 5.461 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.461 * [backup-simplify]: Simplify (+ 1 0) into 1 5.462 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 5.462 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.462 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 5.462 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 5.462 * [taylor]: Taking taylor expansion of -0.5 in phi2 5.462 * [backup-simplify]: Simplify -0.5 into -0.5 5.462 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 5.462 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 5.462 * [taylor]: Taking taylor expansion of phi1 in phi2 5.462 * [backup-simplify]: Simplify phi1 into phi1 5.462 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.462 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 5.462 * [taylor]: Taking taylor expansion of phi2 in phi2 5.462 * [backup-simplify]: Simplify 0 into 0 5.462 * [backup-simplify]: Simplify 1 into 1 5.462 * [backup-simplify]: Simplify (/ 1 1) into 1 5.462 * [backup-simplify]: Simplify (+ 0 1) into 1 5.463 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 5.463 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.463 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.463 * [taylor]: Taking taylor expansion of 0 in phi2 5.463 * [backup-simplify]: Simplify 0 into 0 5.463 * [backup-simplify]: Simplify 0 into 0 5.463 * [backup-simplify]: Simplify 0 into 0 5.463 * [taylor]: Taking taylor expansion of 0 in phi2 5.463 * [backup-simplify]: Simplify 0 into 0 5.463 * [backup-simplify]: Simplify 0 into 0 5.463 * [backup-simplify]: Simplify 0 into 0 5.463 * [backup-simplify]: Simplify 0 into 0 5.463 * [taylor]: Taking taylor expansion of 0 in phi2 5.463 * [backup-simplify]: Simplify 0 into 0 5.463 * [backup-simplify]: Simplify 0 into 0 5.463 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))) into (cos (* 0.5 (+ phi2 phi1))) 5.463 * * * [progress]: simplifying candidates 5.472 * [simplify]: Simplifying: (log (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2))))) (exp (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2))))) (* (cbrt (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2))))) (cbrt (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2)))))) (cbrt (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2))))) (* (* (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2)))) (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2))))) (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2))))) (sqrt (* (cbrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2)))) (cbrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2)))))) (sqrt (cbrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2))))) (sqrt (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2))))) (sqrt (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2))))) (sqrt 1) (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2)))) (sqrt (+ (* (* (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0))) (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0)))) (* (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2))) (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2))))) (* (* (+ (* lambda1 lambda1) (+ (* lambda2 lambda2) (* lambda1 lambda2))) (+ (* lambda1 lambda1) (+ (* lambda2 lambda2) (* lambda1 lambda2)))) (* (- (pow phi1 3) (pow phi2 3)) (- (pow phi1 3) (pow phi2 3)))))) (sqrt (* (* (+ (* lambda1 lambda1) (+ (* lambda2 lambda2) (* lambda1 lambda2))) (+ (* lambda1 lambda1) (+ (* lambda2 lambda2) (* lambda1 lambda2)))) (* (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2))) (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2)))))) (sqrt (+ (* (* (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0))) (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0)))) (* (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2))) (+ phi1 phi2))) (* (* (+ (* lambda1 lambda1) (+ (* lambda2 lambda2) (* lambda1 lambda2))) (+ (* lambda1 lambda1) (+ (* lambda2 lambda2) (* lambda1 lambda2)))) (* (- (pow phi1 3) (pow phi2 3)) (- (* phi1 phi1) (* phi2 phi2)))))) (sqrt (* (* (+ (* lambda1 lambda1) (+ (* lambda2 lambda2) (* lambda1 lambda2))) (+ (* lambda1 lambda1) (+ (* lambda2 lambda2) (* lambda1 lambda2)))) (* (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2))) (+ phi1 phi2)))) (sqrt (+ (* (* (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0))) (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0)))) (* (+ phi1 phi2) (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2))))) (* (* (+ (* lambda1 lambda1) (+ (* lambda2 lambda2) (* lambda1 lambda2))) (+ (* lambda1 lambda1) (+ (* lambda2 lambda2) (* lambda1 lambda2)))) (* (- (* phi1 phi1) (* phi2 phi2)) (- (pow phi1 3) (pow phi2 3)))))) (sqrt (* (* (+ (* lambda1 lambda1) (+ (* lambda2 lambda2) (* lambda1 lambda2))) (+ (* lambda1 lambda1) (+ (* lambda2 lambda2) (* lambda1 lambda2)))) (* (+ phi1 phi2) (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2)))))) (sqrt (+ (* (* (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0))) (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0)))) (* (+ phi1 phi2) (+ phi1 phi2))) (* (* (+ (* lambda1 lambda1) (+ (* lambda2 lambda2) (* lambda1 lambda2))) (+ (* lambda1 lambda1) (+ (* lambda2 lambda2) (* lambda1 lambda2)))) (* (- (* phi1 phi1) (* phi2 phi2)) (- (* phi1 phi1) (* phi2 phi2)))))) (sqrt (* (* (+ (* lambda1 lambda1) (+ (* lambda2 lambda2) (* lambda1 lambda2))) (+ (* lambda1 lambda1) (+ (* lambda2 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(sqrt (+ (* (* (* (- (* h4 h4) (* h3 h3)) (cos (/ (+ h1 h0) h2))) (* (- h4 h3) (cos (/ (+ h1 h0) h2)))) (* (+ (* h1 h1) (+ (* h0 h0) (* h1 h0))) (+ h1 h0))) (* (+ h4 h3) (* (- (pow h1 3) (pow h0 3)) (- (* h1 h1) (* h0 h0)))))) (sqrt (* (+ h4 h3) (* (+ (* h1 h1) (+ (* h0 h0) (* h1 h0))) (+ h1 h0)))) (sqrt (+ (* (* (* (- (* h4 h4) (* h3 h3)) (cos (/ (+ h1 h0) h2))) (* (- h4 h3) (cos (/ (+ h1 h0) h2)))) (* (+ h1 h0) (+ (* h1 h1) (+ (* h0 h0) (* h1 h0))))) (* (+ h4 h3) (* (- (* h1 h1) (* h0 h0)) (- (pow h1 3) (pow h0 3)))))) (sqrt (* (+ h4 h3) (* (+ h1 h0) (+ (* h1 h1) (+ (* h0 h0) (* h1 h0)))))) (sqrt (+ (* (* (* (- (* h4 h4) (* h3 h3)) (cos (/ (+ h1 h0) h2))) (* (- h4 h3) (cos (/ (+ h1 h0) h2)))) (* (+ h1 h0) (+ h1 h0))) (* (+ h4 h3) (* (- (* h1 h1) (* h0 h0)) (- (* h1 h1) (* h0 h0)))))) (sqrt (* (+ h4 h3) (* (+ h1 h0) (+ h1 h0)))) (sqrt (+ (* (* (* (- (* h4 h4) (* h3 h3)) (cos (/ (+ h1 h0) h2))) (* (- h4 h3) (cos (/ (+ h1 h0) h2)))) (+ (* h1 h1) (+ (* h0 h0) (* h1 h0)))) (* (+ h4 h3) (* (- h1 h0) (- (pow h1 3) (pow h0 3)))))) (sqrt (* (+ h4 h3) (+ (* h1 h1) (+ (* h0 h0) (* h1 h0))))) (sqrt (+ (* (* (* (- (* h4 h4) (* h3 h3)) (cos (/ (+ h1 h0) h2))) (* (- h4 h3) (cos (/ (+ h1 h0) h2)))) (+ h1 h0)) (* (+ h4 h3) (* (- h1 h0) (- (* h1 h1) (* h0 h0)))))) (sqrt (* (+ h4 h3) (+ h1 h0))) (sqrt (+ (* (* (* (- (* h4 h4) (* h3 h3)) (cos (/ (+ h1 h0) h2))) (* (- h4 h3) (cos (/ (+ h1 h0) h2)))) (+ (* h1 h1) (+ (* h0 h0) (* h1 h0)))) (* (+ h4 h3) (* (- (pow h1 3) (pow h0 3)) (- h1 h0))))) (sqrt (* (+ h4 h3) (+ (* h1 h1) (+ (* h0 h0) (* h1 h0))))) (sqrt (+ (* (* (* (- (* h4 h4) (* h3 h3)) (cos (/ (+ h1 h0) h2))) (* (- h4 h3) (cos (/ (+ h1 h0) h2)))) (+ h1 h0)) (* (+ h4 h3) (* (- (* h1 h1) (* h0 h0)) (- h1 h0))))) (sqrt (* (+ h4 h3) (+ h1 h0))) (sqrt (+ (pow (* (* (- h4 h3) (cos (/ (+ h1 h0) h2))) (* (- h4 h3) (cos (/ (+ h1 h0) h2)))) 3) (pow (* (- h1 h0) (- h1 h0)) 3))) (sqrt (+ (* (* (* (- h4 h3) (cos (/ (+ h1 h0) h2))) (* (- h4 h3) (cos (/ (+ h1 h0) h2)))) (* (* (- h4 h3) (cos (/ (+ h1 h0) h2))) (* (- h4 h3) (cos (/ (+ h1 h0) h2))))) (- (* (* (- h1 h0) (- h1 h0)) (* (- h1 h0) (- h1 h0))) (* (* (* (- h4 h3) (cos (/ (+ h1 h0) h2))) (* (- h4 h3) (cos (/ (+ h1 h0) h2)))) (* (- h1 h0) (- h1 h0)))))) (sqrt (- (* (* (* (- h4 h3) (cos (/ (+ h1 h0) h2))) (* (- h4 h3) (cos (/ (+ h1 h0) h2)))) (* (* (- h4 h3) (cos (/ (+ h1 h0) h2))) (* (- h4 h3) (cos (/ (+ h1 h0) h2))))) (* (* (- h1 h0) (- h1 h0)) (* (- h1 h0) (- h1 h0))))) (sqrt (- (* (* (- h4 h3) (cos (/ (+ h1 h0) h2))) (* (- h4 h3) (cos (/ (+ h1 h0) h2)))) (* (- h1 h0) (- h1 h0)))) (/ 1 2) (sqrt (sqrt (+ (* (* (- h4 h3) (cos (/ (+ h1 h0) h2))) (* (- h4 h3) (cos (/ (+ h1 h0) h2)))) (* (- h1 h0) (- h1 h0))))) (sqrt (sqrt (+ (* (* (- h4 h3) (cos (/ (+ h1 h0) h2))) (* (- h4 h3) (cos (/ (+ h1 h0) h2)))) (* (- h1 h0) (- h1 h0))))) (log (cos (/ (+ h1 h0) h2))) (exp (cos (/ (+ h1 h0) h2))) (* (cbrt (cos (/ (+ h1 h0) h2))) (cbrt (cos (/ (+ h1 h0) h2)))) (cbrt (cos (/ (+ h1 h0) h2))) (* (* (cos (/ (+ h1 h0) h2)) (cos (/ (+ h1 h0) h2))) (cos (/ (+ h1 h0) h2))) (sqrt (cos (/ (+ h1 h0) h2))) (sqrt (cos (/ (+ h1 h0) h2))) (- h0 h1) (- (+ (/ (* h0 (* h3 h1)) (* (cos (* h5 (+ h0 h1))) (pow h4 2))) (+ (/ (* h0 h1) (* (cos (* h5 (+ h0 h1))) h4)) (* h3 (cos (* h5 (+ h0 h1))))))) (+ (/ (* h0 (* h3 h1)) (* (cos (* h5 (+ h0 h1))) (pow h4 2))) (+ (/ (* h0 h1) (* (cos (* h5 (+ h0 h1))) h4)) (* h3 (cos (* h5 (+ h0 h1)))))) (- h0 h1) (- (+ (/ (* h0 (* h3 h1)) (* (cos (* h5 (+ h0 h1))) (pow h4 2))) (+ (/ (* h0 h1) (* (cos (* h5 (+ h0 h1))) h4)) (* h3 (cos (* h5 (+ h0 h1))))))) (+ (/ (* h0 (* h3 h1)) (* (cos (* h5 (+ h0 h1))) (pow h4 2))) (+ (/ (* h0 h1) (* (cos (* h5 (+ h0 h1))) h4)) (* h3 (cos (* h5 (+ h0 h1)))))) (- h0 h1) (- (+ (/ (* h0 (* h3 h1)) (* (cos (* h5 (+ h0 h1))) (pow h4 2))) (+ (/ (* h0 h1) (* (cos (* h5 (+ h0 h1))) h4)) (* h3 (cos (* h5 (+ h0 h1))))))) (+ (/ (* h0 (* h3 h1)) (* (cos (* h5 (+ h0 h1))) (pow h4 2))) (+ (/ (* h0 h1) (* (cos (* h5 (+ h0 h1))) h4)) (* h3 (cos (* h5 (+ h0 h1)))))) (- 1 (+ (* h7 (* h0 h1)) (* h6 (pow h1 2)))) (cos (* h5 (+ h0 h1))) (cos (* h5 (+ h0 h1))) 5.567 * * * [progress]: adding candidates to table 6.826 * * [progress]: iteration 4 / 4 6.827 * * * [progress]: picking best candidate 6.853 * * * * [pick]: Picked # 6.853 * * * [progress]: localizing error 6.889 * * * [progress]: generating rewritten candidates 6.889 * * * * [progress]: [ 1 / 4 ] rewriting at (2 2 1 1) 7.408 * * * * [progress]: [ 2 / 4 ] rewriting at (2 2) 7.795 * * * * [progress]: [ 3 / 4 ] rewriting at (2 2 1 1 1 1 2 2 2 1) 7.807 * * * * [progress]: [ 4 / 4 ] rewriting at (2 2 1 1 1 1 2 2 1 2 1) 7.839 * * * [progress]: generating series expansions 7.839 * * * * [progress]: [ 1 / 4 ] generating series at (2 2 1 1) 7.841 * [backup-simplify]: Simplify (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (* (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))))) (* (- phi1 phi2) (- phi1 phi2)))) into (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) 7.841 * [approximate]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in (lambda1 lambda2 phi1 phi2) around 0 7.841 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in phi2 7.841 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in phi2 7.841 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) in phi2 7.841 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 7.841 * [taylor]: Taking taylor expansion of phi2 in phi2 7.841 * [backup-simplify]: Simplify 0 into 0 7.841 * [backup-simplify]: Simplify 1 into 1 7.841 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) in phi2 7.841 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in phi2 7.841 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 7.841 * [taylor]: Taking taylor expansion of lambda2 in phi2 7.841 * [backup-simplify]: Simplify lambda2 into lambda2 7.841 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2 7.841 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 7.841 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 7.841 * [taylor]: Taking taylor expansion of 0.5 in phi2 7.841 * [backup-simplify]: Simplify 0.5 into 0.5 7.841 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 7.841 * [taylor]: Taking taylor expansion of phi2 in phi2 7.841 * [backup-simplify]: Simplify 0 into 0 7.841 * [backup-simplify]: Simplify 1 into 1 7.841 * [taylor]: Taking taylor expansion of phi1 in phi2 7.841 * [backup-simplify]: Simplify phi1 into phi1 7.841 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 7.841 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 7.841 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 7.841 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 7.842 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 7.842 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 7.842 * [backup-simplify]: Simplify (- 0) into 0 7.842 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 7.842 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) in phi2 7.842 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in phi2 7.842 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2 7.842 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 7.842 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 7.842 * [taylor]: Taking taylor expansion of 0.5 in phi2 7.842 * [backup-simplify]: Simplify 0.5 into 0.5 7.842 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 7.842 * [taylor]: Taking taylor expansion of phi2 in phi2 7.842 * [backup-simplify]: Simplify 0 into 0 7.842 * [backup-simplify]: Simplify 1 into 1 7.842 * [taylor]: Taking taylor expansion of phi1 in phi2 7.842 * [backup-simplify]: Simplify phi1 into phi1 7.842 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 7.842 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 7.843 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 7.843 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 7.843 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 7.843 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 7.843 * [backup-simplify]: Simplify (- 0) into 0 7.843 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 7.843 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 7.843 * [taylor]: Taking taylor expansion of lambda1 in phi2 7.843 * [backup-simplify]: Simplify lambda1 into lambda1 7.843 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 7.843 * [taylor]: Taking taylor expansion of phi1 in phi2 7.843 * [backup-simplify]: Simplify phi1 into phi1 7.843 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in phi2 7.843 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi2 7.843 * [taylor]: Taking taylor expansion of 2 in phi2 7.843 * [backup-simplify]: Simplify 2 into 2 7.843 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2 7.843 * [taylor]: Taking taylor expansion of phi2 in phi2 7.843 * [backup-simplify]: Simplify 0 into 0 7.843 * [backup-simplify]: Simplify 1 into 1 7.843 * [taylor]: Taking taylor expansion of phi1 in phi2 7.843 * [backup-simplify]: Simplify phi1 into phi1 7.843 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in phi2 7.843 * [taylor]: Taking taylor expansion of 2 in phi2 7.843 * [backup-simplify]: Simplify 2 into 2 7.843 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in phi2 7.843 * [taylor]: Taking taylor expansion of lambda2 in phi2 7.843 * [backup-simplify]: Simplify lambda2 into lambda2 7.843 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in phi2 7.843 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2 7.843 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 7.843 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 7.843 * [taylor]: Taking taylor expansion of 0.5 in phi2 7.843 * [backup-simplify]: Simplify 0.5 into 0.5 7.844 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 7.844 * [taylor]: Taking taylor expansion of phi2 in phi2 7.844 * [backup-simplify]: Simplify 0 into 0 7.844 * [backup-simplify]: Simplify 1 into 1 7.844 * [taylor]: Taking taylor expansion of phi1 in phi2 7.844 * [backup-simplify]: Simplify phi1 into phi1 7.844 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 7.844 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 7.844 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 7.844 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 7.844 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 7.844 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 7.844 * [backup-simplify]: Simplify (- 0) into 0 7.844 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 7.844 * [taylor]: Taking taylor expansion of lambda1 in phi2 7.844 * [backup-simplify]: Simplify lambda1 into lambda1 7.844 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 7.844 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 7.845 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow (cos (* 0.5 phi1)) 2)) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) 7.845 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 7.845 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 7.845 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) 7.845 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 7.845 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 7.846 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) 7.846 * [backup-simplify]: Simplify (+ 0 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) 7.846 * [backup-simplify]: Simplify (* 0 phi1) into 0 7.847 * [backup-simplify]: Simplify (* 2 0) into 0 7.847 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 7.847 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) lambda1) into (* (pow (cos (* 0.5 phi1)) 2) lambda1) 7.847 * [backup-simplify]: Simplify (* lambda2 (* (pow (cos (* 0.5 phi1)) 2) lambda1)) into (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)) 7.847 * [backup-simplify]: Simplify (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) into (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) 7.847 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) into (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) 7.847 * [backup-simplify]: Simplify (- (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) into (- (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) 7.848 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (- (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))))) into (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) 7.849 * [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))))) 7.849 * [backup-simplify]: Simplify (+ 0) into 0 7.850 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 7.850 * [backup-simplify]: Simplify (+ 1 0) into 1 7.850 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 7.852 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 7.852 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 7.852 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 7.852 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 7.852 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- (* 0.5 (sin (* 0.5 phi1))))) (* (- (* 0.5 (sin (* 0.5 phi1)))) (cos (* 0.5 phi1)))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) 7.852 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 7.853 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))) (* 0 (pow (cos (* 0.5 phi1)) 2))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) 7.853 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 7.853 * [backup-simplify]: Simplify (+ 0) into 0 7.853 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 7.854 * [backup-simplify]: Simplify (+ 1 0) into 1 7.854 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 7.855 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 7.856 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 7.856 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 7.856 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 7.856 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- (* 0.5 (sin (* 0.5 phi1))))) (* (- (* 0.5 (sin (* 0.5 phi1)))) (cos (* 0.5 phi1)))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) 7.856 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (* (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) (pow lambda1 2))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) 7.857 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 7.857 * [backup-simplify]: Simplify (+ (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) 0) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) 7.857 * [backup-simplify]: Simplify (+ (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) into (- (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) 7.864 * [backup-simplify]: Simplify (+ 0 (- (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))))) into (- (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) 7.865 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 7.865 * [backup-simplify]: Simplify (+ (* 2 phi1) (* 0 0)) into (* 2 phi1) 7.865 * [backup-simplify]: Simplify (+ 0) into 0 7.866 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 7.866 * [backup-simplify]: Simplify (+ 1 0) into 1 7.866 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 7.868 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 7.868 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 7.868 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 7.868 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 7.868 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- (* 0.5 (sin (* 0.5 phi1))))) (* (- (* 0.5 (sin (* 0.5 phi1)))) (cos (* 0.5 phi1)))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) 7.869 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (* (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) lambda1)) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1)))) 7.869 * [backup-simplify]: Simplify (+ (* lambda2 (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1))))) (* 0 (* (pow (cos (* 0.5 phi1)) 2) lambda1))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1))))) 7.869 * [backup-simplify]: Simplify (+ (* 2 (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))))) (* 0 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) into (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1))))) 7.870 * [backup-simplify]: Simplify (+ (* 2 phi1) (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))))) into (- (* 2 phi1) (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1))))) 7.870 * [backup-simplify]: Simplify (- (- (* 2 phi1) (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))))) into (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) (* 2 phi1)) 7.871 * [backup-simplify]: Simplify (+ (- (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) (* 2 phi1))) into (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) (* 2 phi1)))) 7.872 * [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)))))))) 7.872 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in phi1 7.872 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in phi1 7.872 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) in phi1 7.872 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 7.872 * [taylor]: Taking taylor expansion of phi2 in phi1 7.872 * [backup-simplify]: Simplify phi2 into phi2 7.872 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) in phi1 7.872 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in phi1 7.872 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 7.872 * [taylor]: Taking taylor expansion of lambda2 in phi1 7.872 * [backup-simplify]: Simplify lambda2 into lambda2 7.872 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1 7.872 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 7.873 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 7.873 * [taylor]: Taking taylor expansion of 0.5 in phi1 7.873 * [backup-simplify]: Simplify 0.5 into 0.5 7.873 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 7.873 * [taylor]: Taking taylor expansion of phi2 in phi1 7.873 * [backup-simplify]: Simplify phi2 into phi2 7.873 * [taylor]: Taking taylor expansion of phi1 in phi1 7.873 * [backup-simplify]: Simplify 0 into 0 7.873 * [backup-simplify]: Simplify 1 into 1 7.873 * [backup-simplify]: Simplify (+ phi2 0) into phi2 7.873 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 7.873 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 7.873 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 7.873 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 7.873 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 7.873 * [backup-simplify]: Simplify (- 0) into 0 7.873 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 7.873 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) in phi1 7.873 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in phi1 7.873 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1 7.873 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 7.873 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 7.873 * [taylor]: Taking taylor expansion of 0.5 in phi1 7.873 * [backup-simplify]: Simplify 0.5 into 0.5 7.873 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 7.874 * [taylor]: Taking taylor expansion of phi2 in phi1 7.874 * [backup-simplify]: Simplify phi2 into phi2 7.874 * [taylor]: Taking taylor expansion of phi1 in phi1 7.874 * [backup-simplify]: Simplify 0 into 0 7.874 * [backup-simplify]: Simplify 1 into 1 7.874 * [backup-simplify]: Simplify (+ phi2 0) into phi2 7.874 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 7.874 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 7.874 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 7.874 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 7.874 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 7.874 * [backup-simplify]: Simplify (- 0) into 0 7.874 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 7.874 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 7.874 * [taylor]: Taking taylor expansion of lambda1 in phi1 7.874 * [backup-simplify]: Simplify lambda1 into lambda1 7.874 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 7.874 * [taylor]: Taking taylor expansion of phi1 in phi1 7.874 * [backup-simplify]: Simplify 0 into 0 7.874 * [backup-simplify]: Simplify 1 into 1 7.874 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in phi1 7.874 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi1 7.874 * [taylor]: Taking taylor expansion of 2 in phi1 7.874 * [backup-simplify]: Simplify 2 into 2 7.874 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 7.874 * [taylor]: Taking taylor expansion of phi2 in phi1 7.874 * [backup-simplify]: Simplify phi2 into phi2 7.874 * [taylor]: Taking taylor expansion of phi1 in phi1 7.874 * [backup-simplify]: Simplify 0 into 0 7.874 * [backup-simplify]: Simplify 1 into 1 7.874 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in phi1 7.874 * [taylor]: Taking taylor expansion of 2 in phi1 7.874 * [backup-simplify]: Simplify 2 into 2 7.875 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in phi1 7.875 * [taylor]: Taking taylor expansion of lambda2 in phi1 7.875 * [backup-simplify]: Simplify lambda2 into lambda2 7.875 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in phi1 7.875 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1 7.875 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 7.875 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 7.875 * [taylor]: Taking taylor expansion of 0.5 in phi1 7.875 * [backup-simplify]: Simplify 0.5 into 0.5 7.875 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 7.875 * [taylor]: Taking taylor expansion of phi2 in phi1 7.875 * [backup-simplify]: Simplify phi2 into phi2 7.875 * [taylor]: Taking taylor expansion of phi1 in phi1 7.875 * [backup-simplify]: Simplify 0 into 0 7.875 * [backup-simplify]: Simplify 1 into 1 7.875 * [backup-simplify]: Simplify (+ phi2 0) into phi2 7.875 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 7.875 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 7.875 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 7.875 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 7.875 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 7.875 * [backup-simplify]: Simplify (- 0) into 0 7.875 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 7.875 * [taylor]: Taking taylor expansion of lambda1 in phi1 7.875 * [backup-simplify]: Simplify lambda1 into lambda1 7.875 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 7.875 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 7.876 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 7.876 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2)) into (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) 7.876 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 7.876 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 7.876 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) 7.876 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) 0) into (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) 7.877 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2))) into (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2))) 7.877 * [backup-simplify]: Simplify (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)))) into (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (pow phi2 2))) 7.877 * [backup-simplify]: Simplify (* phi2 0) into 0 7.877 * [backup-simplify]: Simplify (* 2 0) into 0 7.878 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 7.878 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi2)) 2) lambda1) into (* (pow (cos (* 0.5 phi2)) 2) lambda1) 7.878 * [backup-simplify]: Simplify (* lambda2 (* (pow (cos (* 0.5 phi2)) 2) lambda1)) into (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)) 7.878 * [backup-simplify]: Simplify (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))) into (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))) 7.878 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) into (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))) 7.878 * [backup-simplify]: Simplify (- (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) into (- (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) 7.879 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (pow phi2 2))) (- (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))))) into (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (pow phi2 2))) (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) 7.880 * [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))))) 7.880 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 7.880 * [backup-simplify]: Simplify (+ 0) into 0 7.881 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 7.881 * [backup-simplify]: Simplify (+ 0 1) into 1 7.881 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5 7.883 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 7.883 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2))) 7.883 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2)))) 7.883 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2)))) 7.883 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) (- (* 0.5 (sin (* 0.5 phi2))))) (* (- (* 0.5 (sin (* 0.5 phi2)))) (cos (* 0.5 phi2)))) into (- (* 1.0 (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))) 7.883 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 7.884 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) (- (* 1.0 (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2)))))) (* 0 (pow (cos (* 0.5 phi2)) 2))) into (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))) 7.884 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 7.884 * [backup-simplify]: Simplify (+ 0) into 0 7.885 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 7.885 * [backup-simplify]: Simplify (+ 0 1) into 1 7.885 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5 7.887 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 7.887 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2))) 7.887 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2)))) 7.887 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2)))) 7.888 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) (- (* 0.5 (sin (* 0.5 phi2))))) (* (- (* 0.5 (sin (* 0.5 phi2)))) (cos (* 0.5 phi2)))) into (- (* 1.0 (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))) 7.888 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) 0) (* (- (* 1.0 (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))) (pow lambda1 2))) into (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2))))) 7.888 * [backup-simplify]: Simplify (+ (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2))))) 0) into (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2))))) 7.889 * [backup-simplify]: Simplify (+ (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))) (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))))) into (- (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2)))))) 7.889 * [backup-simplify]: Simplify (+ 0 (- (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))))) into (- (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2)))))) 7.890 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 7.890 * [backup-simplify]: Simplify (+ (* 2 phi2) (* 0 0)) into (* 2 phi2) 7.890 * [backup-simplify]: Simplify (+ 0) into 0 7.891 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 7.891 * [backup-simplify]: Simplify (+ 0 1) into 1 7.891 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5 7.893 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 7.894 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2))) 7.894 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2)))) 7.894 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2)))) 7.894 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) (- (* 0.5 (sin (* 0.5 phi2))))) (* (- (* 0.5 (sin (* 0.5 phi2)))) (cos (* 0.5 phi2)))) into (- (* 1.0 (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))) 7.894 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) 0) (* (- (* 1.0 (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))) lambda1)) into (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) lambda1)))) 7.895 * [backup-simplify]: Simplify (+ (* lambda2 (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) lambda1))))) (* 0 (* (pow (cos (* 0.5 phi2)) 2) lambda1))) into (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1))))) 7.895 * [backup-simplify]: Simplify (+ (* 2 (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))))) (* 0 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) into (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1))))) 7.895 * [backup-simplify]: Simplify (+ (* 2 phi2) (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))))) into (- (* 2 phi2) (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1))))) 7.895 * [backup-simplify]: Simplify (- (- (* 2 phi2) (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))))) into (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))) (* 2 phi2)) 7.896 * [backup-simplify]: Simplify (+ (- (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2)))))) (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))) (* 2 phi2))) into (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))) (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))) (+ (* 2 phi2) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))))) 7.898 * [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)))))))) 7.898 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in lambda2 7.898 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in lambda2 7.898 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) in lambda2 7.898 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 7.898 * [taylor]: Taking taylor expansion of phi2 in lambda2 7.898 * [backup-simplify]: Simplify phi2 into phi2 7.898 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) in lambda2 7.898 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda2 7.898 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 7.898 * [taylor]: Taking taylor expansion of lambda2 in lambda2 7.898 * [backup-simplify]: Simplify 0 into 0 7.898 * [backup-simplify]: Simplify 1 into 1 7.898 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 7.898 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 7.898 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 7.898 * [taylor]: Taking taylor expansion of 0.5 in lambda2 7.898 * [backup-simplify]: Simplify 0.5 into 0.5 7.898 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 7.898 * [taylor]: Taking taylor expansion of phi2 in lambda2 7.898 * [backup-simplify]: Simplify phi2 into phi2 7.898 * [taylor]: Taking taylor expansion of phi1 in lambda2 7.898 * [backup-simplify]: Simplify phi1 into phi1 7.898 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 7.899 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 7.899 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 7.899 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 7.899 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 7.899 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 7.899 * [backup-simplify]: Simplify (- 0) into 0 7.899 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 7.899 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) in lambda2 7.899 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in lambda2 7.899 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 7.899 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 7.899 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 7.899 * [taylor]: Taking taylor expansion of 0.5 in lambda2 7.899 * [backup-simplify]: Simplify 0.5 into 0.5 7.899 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 7.899 * [taylor]: Taking taylor expansion of phi2 in lambda2 7.900 * [backup-simplify]: Simplify phi2 into phi2 7.900 * [taylor]: Taking taylor expansion of phi1 in lambda2 7.900 * [backup-simplify]: Simplify phi1 into phi1 7.900 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 7.900 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 7.900 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 7.900 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 7.900 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 7.900 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 7.900 * [backup-simplify]: Simplify (- 0) into 0 7.900 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 7.900 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 7.900 * [taylor]: Taking taylor expansion of lambda1 in lambda2 7.900 * [backup-simplify]: Simplify lambda1 into lambda1 7.900 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 7.900 * [taylor]: Taking taylor expansion of phi1 in lambda2 7.900 * [backup-simplify]: Simplify phi1 into phi1 7.900 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in lambda2 7.900 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda2 7.900 * [taylor]: Taking taylor expansion of 2 in lambda2 7.900 * [backup-simplify]: Simplify 2 into 2 7.900 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 7.900 * [taylor]: Taking taylor expansion of phi2 in lambda2 7.901 * [backup-simplify]: Simplify phi2 into phi2 7.901 * [taylor]: Taking taylor expansion of phi1 in lambda2 7.901 * [backup-simplify]: Simplify phi1 into phi1 7.901 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in lambda2 7.901 * [taylor]: Taking taylor expansion of 2 in lambda2 7.901 * [backup-simplify]: Simplify 2 into 2 7.901 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in lambda2 7.901 * [taylor]: Taking taylor expansion of lambda2 in lambda2 7.901 * [backup-simplify]: Simplify 0 into 0 7.901 * [backup-simplify]: Simplify 1 into 1 7.901 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in lambda2 7.901 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 7.901 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 7.901 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 7.901 * [taylor]: Taking taylor expansion of 0.5 in lambda2 7.901 * [backup-simplify]: Simplify 0.5 into 0.5 7.901 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 7.901 * [taylor]: Taking taylor expansion of phi2 in lambda2 7.901 * [backup-simplify]: Simplify phi2 into phi2 7.901 * [taylor]: Taking taylor expansion of phi1 in lambda2 7.901 * [backup-simplify]: Simplify phi1 into phi1 7.901 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 7.901 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 7.901 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 7.901 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 7.901 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 7.901 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 7.901 * [backup-simplify]: Simplify (- 0) into 0 7.902 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 7.902 * [taylor]: Taking taylor expansion of lambda1 in lambda2 7.902 * [backup-simplify]: Simplify lambda1 into lambda1 7.902 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 7.902 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 7.902 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 7.902 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) 7.902 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 7.902 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) into (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) 7.903 * [backup-simplify]: Simplify (+ 0 (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) into (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) 7.903 * [backup-simplify]: Simplify (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) into (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) 7.903 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 7.903 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1)) 7.903 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 7.903 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) into (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) 7.904 * [backup-simplify]: Simplify (* 0 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) into 0 7.904 * [backup-simplify]: Simplify (* 2 0) into 0 7.904 * [backup-simplify]: Simplify (+ (* 2 (* phi2 phi1)) 0) into (* 2 (* phi2 phi1)) 7.904 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1))) 7.905 * [backup-simplify]: Simplify (+ (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (- (* 2 (* phi2 phi1)))) into (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1))) 7.905 * [backup-simplify]: Simplify (sqrt (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1)))) into (sqrt (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1)))) 7.905 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 7.905 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 7.906 * [backup-simplify]: Simplify (+ 0) into 0 7.906 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 7.906 * [backup-simplify]: Simplify (+ 0 0) into 0 7.907 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 7.907 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 7.907 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 7.908 * [backup-simplify]: Simplify (- 0) into 0 7.908 * [backup-simplify]: Simplify (+ 0 0) into 0 7.908 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 7.908 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) (* 0 (pow lambda1 2))) into 0 7.908 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 7.909 * [backup-simplify]: Simplify (+ 0 0) into 0 7.909 * [backup-simplify]: Simplify (+ 0 0) into 0 7.909 * [backup-simplify]: Simplify (+ 0 0) into 0 7.909 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 7.909 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0 7.910 * [backup-simplify]: Simplify (+ 0) into 0 7.910 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 7.910 * [backup-simplify]: Simplify (+ 0 0) into 0 7.910 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 7.911 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 7.911 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 7.911 * [backup-simplify]: Simplify (- 0) into 0 7.912 * [backup-simplify]: Simplify (+ 0 0) into 0 7.912 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 7.912 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) (* 0 lambda1)) into 0 7.913 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) 7.913 * [backup-simplify]: Simplify (+ (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) (* 0 0)) into (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) 7.913 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) 7.913 * [backup-simplify]: Simplify (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 7.914 * [backup-simplify]: Simplify (+ 0 (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) into (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 7.915 * [backup-simplify]: Simplify (/ (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (sqrt (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1)))))) into (* -1 (* (sqrt (/ 1 (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1))))) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 7.915 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in lambda1 7.915 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in lambda1 7.915 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) in lambda1 7.915 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 7.915 * [taylor]: Taking taylor expansion of phi2 in lambda1 7.915 * [backup-simplify]: Simplify phi2 into phi2 7.915 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) in lambda1 7.915 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda1 7.915 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 7.915 * [taylor]: Taking taylor expansion of lambda2 in lambda1 7.915 * [backup-simplify]: Simplify lambda2 into lambda2 7.915 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda1 7.915 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 7.915 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 7.915 * [taylor]: Taking taylor expansion of 0.5 in lambda1 7.915 * [backup-simplify]: Simplify 0.5 into 0.5 7.915 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 7.915 * [taylor]: Taking taylor expansion of phi2 in lambda1 7.915 * [backup-simplify]: Simplify phi2 into phi2 7.915 * [taylor]: Taking taylor expansion of phi1 in lambda1 7.915 * [backup-simplify]: Simplify phi1 into phi1 7.916 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 7.916 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 7.916 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 7.916 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 7.916 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 7.916 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 7.916 * [backup-simplify]: Simplify (- 0) into 0 7.917 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 7.917 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) in lambda1 7.917 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in lambda1 7.917 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda1 7.917 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 7.917 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 7.917 * [taylor]: Taking taylor expansion of 0.5 in lambda1 7.917 * [backup-simplify]: Simplify 0.5 into 0.5 7.917 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 7.917 * [taylor]: Taking taylor expansion of phi2 in lambda1 7.917 * [backup-simplify]: Simplify phi2 into phi2 7.917 * [taylor]: Taking taylor expansion of phi1 in lambda1 7.917 * [backup-simplify]: Simplify phi1 into phi1 7.917 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 7.917 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 7.917 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 7.917 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 7.917 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 7.917 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 7.918 * [backup-simplify]: Simplify (- 0) into 0 7.918 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 7.918 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 7.918 * [taylor]: Taking taylor expansion of lambda1 in lambda1 7.918 * [backup-simplify]: Simplify 0 into 0 7.918 * [backup-simplify]: Simplify 1 into 1 7.918 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 7.918 * [taylor]: Taking taylor expansion of phi1 in lambda1 7.918 * [backup-simplify]: Simplify phi1 into phi1 7.918 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in lambda1 7.918 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda1 7.918 * [taylor]: Taking taylor expansion of 2 in lambda1 7.918 * [backup-simplify]: Simplify 2 into 2 7.918 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda1 7.918 * [taylor]: Taking taylor expansion of phi2 in lambda1 7.918 * [backup-simplify]: Simplify phi2 into phi2 7.918 * [taylor]: Taking taylor expansion of phi1 in lambda1 7.918 * [backup-simplify]: Simplify phi1 into phi1 7.918 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in lambda1 7.918 * [taylor]: Taking taylor expansion of 2 in lambda1 7.918 * [backup-simplify]: Simplify 2 into 2 7.918 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in lambda1 7.918 * [taylor]: Taking taylor expansion of lambda2 in lambda1 7.918 * [backup-simplify]: Simplify lambda2 into lambda2 7.918 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in lambda1 7.918 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda1 7.918 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 7.918 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 7.918 * [taylor]: Taking taylor expansion of 0.5 in lambda1 7.918 * [backup-simplify]: Simplify 0.5 into 0.5 7.918 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 7.918 * [taylor]: Taking taylor expansion of phi2 in lambda1 7.918 * [backup-simplify]: Simplify phi2 into phi2 7.918 * [taylor]: Taking taylor expansion of phi1 in lambda1 7.918 * [backup-simplify]: Simplify phi1 into phi1 7.918 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 7.918 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 7.918 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 7.918 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 7.919 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 7.919 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 7.919 * [backup-simplify]: Simplify (- 0) into 0 7.919 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 7.919 * [taylor]: Taking taylor expansion of lambda1 in lambda1 7.919 * [backup-simplify]: Simplify 0 into 0 7.919 * [backup-simplify]: Simplify 1 into 1 7.919 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 7.919 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 7.919 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 7.920 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) into (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) 7.920 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 7.920 * [backup-simplify]: Simplify (+ 0 (pow phi1 2)) into (pow phi1 2) 7.920 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (pow phi1 2)) into (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (pow phi1 2)) 7.921 * [backup-simplify]: Simplify (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (pow phi1 2))) into (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) 7.921 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 7.921 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1)) 7.921 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 7.921 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) into 0 7.921 * [backup-simplify]: Simplify (* lambda2 0) into 0 7.921 * [backup-simplify]: Simplify (* 2 0) into 0 7.921 * [backup-simplify]: Simplify (+ (* 2 (* phi2 phi1)) 0) into (* 2 (* phi2 phi1)) 7.922 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1))) 7.922 * [backup-simplify]: Simplify (+ (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) (- (* 2 (* phi2 phi1)))) into (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) (* 2 (* phi2 phi1))) 7.923 * [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)))) 7.923 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 7.923 * [backup-simplify]: Simplify (+ 0) into 0 7.923 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 7.923 * [backup-simplify]: Simplify (+ 0 0) into 0 7.924 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 7.924 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 7.925 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 7.925 * [backup-simplify]: Simplify (- 0) into 0 7.925 * [backup-simplify]: Simplify (+ 0 0) into 0 7.925 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 7.925 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 7.925 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) 0) (* 0 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) into 0 7.925 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 7.926 * [backup-simplify]: Simplify (+ 0 0) into 0 7.926 * [backup-simplify]: Simplify (+ 0 0) into 0 7.926 * [backup-simplify]: Simplify (+ 0 0) into 0 7.926 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 7.926 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0 7.927 * [backup-simplify]: Simplify (+ 0) into 0 7.927 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 7.927 * [backup-simplify]: Simplify (+ 0 0) into 0 7.928 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 7.928 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 7.928 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 7.929 * [backup-simplify]: Simplify (- 0) into 0 7.929 * [backup-simplify]: Simplify (+ 0 0) into 0 7.929 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 7.929 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 1) (* 0 0)) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 7.930 * [backup-simplify]: Simplify (+ (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* 0 0)) into (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) 7.930 * [backup-simplify]: Simplify (+ (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) (* 0 0)) into (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) 7.930 * [backup-simplify]: Simplify (+ 0 (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) into (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) 7.931 * [backup-simplify]: Simplify (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) 7.931 * [backup-simplify]: Simplify (+ 0 (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) 7.932 * [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)))) 7.932 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in lambda1 7.932 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in lambda1 7.932 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) in lambda1 7.932 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 7.932 * [taylor]: Taking taylor expansion of phi2 in lambda1 7.932 * [backup-simplify]: Simplify phi2 into phi2 7.932 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) in lambda1 7.932 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda1 7.932 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 7.932 * [taylor]: Taking taylor expansion of lambda2 in lambda1 7.932 * [backup-simplify]: Simplify lambda2 into lambda2 7.932 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda1 7.932 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 7.932 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 7.932 * [taylor]: Taking taylor expansion of 0.5 in lambda1 7.932 * [backup-simplify]: Simplify 0.5 into 0.5 7.932 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 7.932 * [taylor]: Taking taylor expansion of phi2 in lambda1 7.932 * [backup-simplify]: Simplify phi2 into phi2 7.932 * [taylor]: Taking taylor expansion of phi1 in lambda1 7.932 * [backup-simplify]: Simplify phi1 into phi1 7.932 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 7.932 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 7.932 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 7.932 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 7.932 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 7.932 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 7.933 * [backup-simplify]: Simplify (- 0) into 0 7.933 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 7.933 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) in lambda1 7.933 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in lambda1 7.933 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda1 7.933 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 7.933 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 7.933 * [taylor]: Taking taylor expansion of 0.5 in lambda1 7.933 * [backup-simplify]: Simplify 0.5 into 0.5 7.933 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 7.933 * [taylor]: Taking taylor expansion of phi2 in lambda1 7.933 * [backup-simplify]: Simplify phi2 into phi2 7.933 * [taylor]: Taking taylor expansion of phi1 in lambda1 7.933 * [backup-simplify]: Simplify phi1 into phi1 7.933 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 7.933 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 7.933 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 7.933 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 7.933 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 7.933 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 7.934 * [backup-simplify]: Simplify (- 0) into 0 7.934 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 7.934 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 7.934 * [taylor]: Taking taylor expansion of lambda1 in lambda1 7.934 * [backup-simplify]: Simplify 0 into 0 7.934 * [backup-simplify]: Simplify 1 into 1 7.934 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 7.934 * [taylor]: Taking taylor expansion of phi1 in lambda1 7.934 * [backup-simplify]: Simplify phi1 into phi1 7.934 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in lambda1 7.934 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda1 7.934 * [taylor]: Taking taylor expansion of 2 in lambda1 7.934 * [backup-simplify]: Simplify 2 into 2 7.934 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda1 7.934 * [taylor]: Taking taylor expansion of phi2 in lambda1 7.934 * [backup-simplify]: Simplify phi2 into phi2 7.934 * [taylor]: Taking taylor expansion of phi1 in lambda1 7.934 * [backup-simplify]: Simplify phi1 into phi1 7.934 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in lambda1 7.934 * [taylor]: Taking taylor expansion of 2 in lambda1 7.934 * [backup-simplify]: Simplify 2 into 2 7.934 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in lambda1 7.934 * [taylor]: Taking taylor expansion of lambda2 in lambda1 7.934 * [backup-simplify]: Simplify lambda2 into lambda2 7.934 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in lambda1 7.934 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda1 7.934 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 7.934 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 7.934 * [taylor]: Taking taylor expansion of 0.5 in lambda1 7.934 * [backup-simplify]: Simplify 0.5 into 0.5 7.934 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 7.934 * [taylor]: Taking taylor expansion of phi2 in lambda1 7.934 * [backup-simplify]: Simplify phi2 into phi2 7.934 * [taylor]: Taking taylor expansion of phi1 in lambda1 7.934 * [backup-simplify]: Simplify phi1 into phi1 7.934 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 7.934 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 7.934 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 7.934 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 7.935 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 7.935 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 7.935 * [backup-simplify]: Simplify (- 0) into 0 7.935 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 7.935 * [taylor]: Taking taylor expansion of lambda1 in lambda1 7.935 * [backup-simplify]: Simplify 0 into 0 7.935 * [backup-simplify]: Simplify 1 into 1 7.935 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 7.935 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 7.935 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 7.935 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) into (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) 7.935 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 7.936 * [backup-simplify]: Simplify (+ 0 (pow phi1 2)) into (pow phi1 2) 7.936 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (pow phi1 2)) into (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (pow phi1 2)) 7.936 * [backup-simplify]: Simplify (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (pow phi1 2))) into (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) 7.936 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 7.936 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1)) 7.936 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 7.937 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) into 0 7.937 * [backup-simplify]: Simplify (* lambda2 0) into 0 7.937 * [backup-simplify]: Simplify (* 2 0) into 0 7.937 * [backup-simplify]: Simplify (+ (* 2 (* phi2 phi1)) 0) into (* 2 (* phi2 phi1)) 7.937 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1))) 7.938 * [backup-simplify]: Simplify (+ (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) (- (* 2 (* phi2 phi1)))) into (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) (* 2 (* phi2 phi1))) 7.938 * [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)))) 7.938 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 7.938 * [backup-simplify]: Simplify (+ 0) into 0 7.939 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 7.939 * [backup-simplify]: Simplify (+ 0 0) into 0 7.939 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 7.940 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 7.940 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 7.940 * [backup-simplify]: Simplify (- 0) into 0 7.940 * [backup-simplify]: Simplify (+ 0 0) into 0 7.941 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 7.941 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 7.941 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) 0) (* 0 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) into 0 7.941 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 7.941 * [backup-simplify]: Simplify (+ 0 0) into 0 7.941 * [backup-simplify]: Simplify (+ 0 0) into 0 7.942 * [backup-simplify]: Simplify (+ 0 0) into 0 7.942 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 7.942 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0 7.942 * [backup-simplify]: Simplify (+ 0) into 0 7.943 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 7.943 * [backup-simplify]: Simplify (+ 0 0) into 0 7.943 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 7.944 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 7.944 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 7.944 * [backup-simplify]: Simplify (- 0) into 0 7.944 * [backup-simplify]: Simplify (+ 0 0) into 0 7.945 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 7.945 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 1) (* 0 0)) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 7.945 * [backup-simplify]: Simplify (+ (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* 0 0)) into (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) 7.946 * [backup-simplify]: Simplify (+ (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) (* 0 0)) into (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) 7.946 * [backup-simplify]: Simplify (+ 0 (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) into (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) 7.946 * [backup-simplify]: Simplify (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) 7.946 * [backup-simplify]: Simplify (+ 0 (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) 7.947 * [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)))) 7.947 * [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 7.947 * [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 7.947 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) in lambda2 7.947 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda2 7.947 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 7.947 * [taylor]: Taking taylor expansion of lambda2 in lambda2 7.947 * [backup-simplify]: Simplify 0 into 0 7.947 * [backup-simplify]: Simplify 1 into 1 7.947 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 7.948 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 7.948 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 7.948 * [taylor]: Taking taylor expansion of 0.5 in lambda2 7.948 * [backup-simplify]: Simplify 0.5 into 0.5 7.948 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 7.948 * [taylor]: Taking taylor expansion of phi2 in lambda2 7.948 * [backup-simplify]: Simplify phi2 into phi2 7.948 * [taylor]: Taking taylor expansion of phi1 in lambda2 7.948 * [backup-simplify]: Simplify phi1 into phi1 7.948 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 7.948 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 7.948 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 7.948 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 7.948 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 7.948 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 7.948 * [backup-simplify]: Simplify (- 0) into 0 7.948 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 7.948 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (pow phi2 2)) in lambda2 7.948 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 7.948 * [taylor]: Taking taylor expansion of phi1 in lambda2 7.948 * [backup-simplify]: Simplify phi1 into phi1 7.948 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 7.948 * [taylor]: Taking taylor expansion of phi2 in lambda2 7.949 * [backup-simplify]: Simplify phi2 into phi2 7.949 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda2 7.949 * [taylor]: Taking taylor expansion of 2 in lambda2 7.949 * [backup-simplify]: Simplify 2 into 2 7.949 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 7.949 * [taylor]: Taking taylor expansion of phi2 in lambda2 7.949 * [backup-simplify]: Simplify phi2 into phi2 7.949 * [taylor]: Taking taylor expansion of phi1 in lambda2 7.949 * [backup-simplify]: Simplify phi1 into phi1 7.949 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 7.949 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 7.949 * [backup-simplify]: Simplify (+ (pow phi1 2) (pow phi2 2)) into (+ (pow phi2 2) (pow phi1 2)) 7.949 * [backup-simplify]: Simplify (+ 0 (+ (pow phi2 2) (pow phi1 2))) into (+ (pow phi2 2) (pow phi1 2)) 7.949 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 7.949 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1)) 7.949 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1))) 7.949 * [backup-simplify]: Simplify (+ (+ (pow phi2 2) (pow phi1 2)) (- (* 2 (* phi2 phi1)))) into (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))) 7.950 * [backup-simplify]: Simplify (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))) into (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))) 7.950 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 7.950 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 7.950 * [backup-simplify]: Simplify (+ 0 0) into 0 7.950 * [backup-simplify]: Simplify (+ 0 0) into 0 7.950 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 7.951 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0 7.951 * [backup-simplify]: Simplify (- 0) into 0 7.951 * [backup-simplify]: Simplify (+ 0 0) into 0 7.951 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))))) into 0 7.951 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))) in phi1 7.951 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))) in phi1 7.951 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in phi1 7.951 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 7.951 * [taylor]: Taking taylor expansion of phi2 in phi1 7.951 * [backup-simplify]: Simplify phi2 into phi2 7.951 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 7.951 * [taylor]: Taking taylor expansion of phi1 in phi1 7.951 * [backup-simplify]: Simplify 0 into 0 7.951 * [backup-simplify]: Simplify 1 into 1 7.952 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi1 7.952 * [taylor]: Taking taylor expansion of 2 in phi1 7.952 * [backup-simplify]: Simplify 2 into 2 7.952 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 7.952 * [taylor]: Taking taylor expansion of phi2 in phi1 7.952 * [backup-simplify]: Simplify phi2 into phi2 7.952 * [taylor]: Taking taylor expansion of phi1 in phi1 7.952 * [backup-simplify]: Simplify 0 into 0 7.952 * [backup-simplify]: Simplify 1 into 1 7.952 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 7.952 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 7.952 * [backup-simplify]: Simplify (* phi2 0) into 0 7.952 * [backup-simplify]: Simplify (* 2 0) into 0 7.952 * [backup-simplify]: Simplify (- 0) into 0 7.952 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 7.952 * [backup-simplify]: Simplify (sqrt (pow phi2 2)) into phi2 7.953 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 7.953 * [backup-simplify]: Simplify (+ 0 0) into 0 7.953 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 7.953 * [backup-simplify]: Simplify (+ (* 2 phi2) (* 0 0)) into (* 2 phi2) 7.953 * [backup-simplify]: Simplify (- (* 2 phi2)) into (- (* 2 phi2)) 7.953 * [backup-simplify]: Simplify (+ 0 (- (* 2 phi2))) into (- (* 2 phi2)) 7.954 * [backup-simplify]: Simplify (/ (- (* 2 phi2)) (* 2 (sqrt (pow phi2 2)))) into -1 7.954 * [taylor]: Taking taylor expansion of phi2 in phi2 7.954 * [backup-simplify]: Simplify 0 into 0 7.954 * [backup-simplify]: Simplify 1 into 1 7.954 * [backup-simplify]: Simplify 0 into 0 7.954 * [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 7.954 * [taylor]: Taking taylor expansion of -1 in lambda2 7.954 * [backup-simplify]: Simplify -1 into -1 7.954 * [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 7.954 * [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 7.954 * [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 7.954 * [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 7.954 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) in lambda2 7.954 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda2 7.954 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 7.954 * [taylor]: Taking taylor expansion of lambda2 in lambda2 7.954 * [backup-simplify]: Simplify 0 into 0 7.954 * [backup-simplify]: Simplify 1 into 1 7.954 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 7.954 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 7.954 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 7.954 * [taylor]: Taking taylor expansion of 0.5 in lambda2 7.954 * [backup-simplify]: Simplify 0.5 into 0.5 7.954 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 7.954 * [taylor]: Taking taylor expansion of phi2 in lambda2 7.954 * [backup-simplify]: Simplify phi2 into phi2 7.954 * [taylor]: Taking taylor expansion of phi1 in lambda2 7.954 * [backup-simplify]: Simplify phi1 into phi1 7.954 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 7.954 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 7.954 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 7.954 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 7.954 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 7.954 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 7.955 * [backup-simplify]: Simplify (- 0) into 0 7.955 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 7.955 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (pow phi2 2)) in lambda2 7.955 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 7.955 * [taylor]: Taking taylor expansion of phi1 in lambda2 7.955 * [backup-simplify]: Simplify phi1 into phi1 7.955 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 7.955 * [taylor]: Taking taylor expansion of phi2 in lambda2 7.955 * [backup-simplify]: Simplify phi2 into phi2 7.955 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda2 7.955 * [taylor]: Taking taylor expansion of 2 in lambda2 7.955 * [backup-simplify]: Simplify 2 into 2 7.955 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 7.955 * [taylor]: Taking taylor expansion of phi2 in lambda2 7.955 * [backup-simplify]: Simplify phi2 into phi2 7.955 * [taylor]: Taking taylor expansion of phi1 in lambda2 7.955 * [backup-simplify]: Simplify phi1 into phi1 7.955 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 7.955 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 7.955 * [backup-simplify]: Simplify (+ (pow phi1 2) (pow phi2 2)) into (+ (pow phi2 2) (pow phi1 2)) 7.955 * [backup-simplify]: Simplify (+ 0 (+ (pow phi2 2) (pow phi1 2))) into (+ (pow phi2 2) (pow phi1 2)) 7.955 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 7.955 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1)) 7.956 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1))) 7.956 * [backup-simplify]: Simplify (+ (+ (pow phi2 2) (pow phi1 2)) (- (* 2 (* phi2 phi1)))) into (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))) 7.956 * [backup-simplify]: Simplify (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))) into (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))) 7.956 * [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))))) 7.956 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 7.956 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 7.957 * [backup-simplify]: Simplify (+ 0 0) into 0 7.957 * [backup-simplify]: Simplify (+ 0 0) into 0 7.957 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 7.957 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0 7.957 * [backup-simplify]: Simplify (- 0) into 0 7.958 * [backup-simplify]: Simplify (+ 0 0) into 0 7.958 * [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 7.958 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))))))) into 0 7.958 * [taylor]: Taking taylor expansion of (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda2 7.958 * [taylor]: Taking taylor expansion of lambda2 in lambda2 7.959 * [backup-simplify]: Simplify 0 into 0 7.959 * [backup-simplify]: Simplify 1 into 1 7.959 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 7.959 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 7.959 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 7.959 * [taylor]: Taking taylor expansion of 0.5 in lambda2 7.959 * [backup-simplify]: Simplify 0.5 into 0.5 7.959 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 7.959 * [taylor]: Taking taylor expansion of phi2 in lambda2 7.959 * [backup-simplify]: Simplify phi2 into phi2 7.959 * [taylor]: Taking taylor expansion of phi1 in lambda2 7.959 * [backup-simplify]: Simplify phi1 into phi1 7.959 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 7.959 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 7.959 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 7.959 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 7.959 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 7.959 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 7.959 * [backup-simplify]: Simplify (- 0) into 0 7.959 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 7.960 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 7.960 * [backup-simplify]: Simplify (* 0 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) into 0 7.960 * [backup-simplify]: Simplify (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))))) 0) into 0 7.960 * [backup-simplify]: Simplify (* -1 0) into 0 7.960 * [taylor]: Taking taylor expansion of 0 in phi1 7.960 * [backup-simplify]: Simplify 0 into 0 7.960 * [taylor]: Taking taylor expansion of 0 in phi2 7.960 * [backup-simplify]: Simplify 0 into 0 7.960 * [backup-simplify]: Simplify 0 into 0 7.960 * [taylor]: Taking taylor expansion of 0 in phi1 7.960 * [backup-simplify]: Simplify 0 into 0 7.960 * [taylor]: Taking taylor expansion of 0 in phi2 7.960 * [backup-simplify]: Simplify 0 into 0 7.960 * [backup-simplify]: Simplify 0 into 0 7.960 * [taylor]: Taking taylor expansion of -1 in phi2 7.960 * [backup-simplify]: Simplify -1 into -1 7.960 * [backup-simplify]: Simplify -1 into -1 7.961 * [backup-simplify]: Simplify 1 into 1 7.961 * [backup-simplify]: Simplify (+ (* phi2 0) (+ (* 0 0) (* 0 phi2))) into 0 7.961 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 7.962 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 1))) into 0 7.962 * [backup-simplify]: Simplify (+ 0 0) into 0 7.963 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ phi2 phi1)))) into 0 7.963 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 7.963 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 0))) into 0 7.964 * [backup-simplify]: Simplify (- 0) into 0 7.964 * [backup-simplify]: Simplify (+ 0 0) into 0 7.964 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ phi2 phi1)))))) into 0 7.964 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda2))) into 0 7.969 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) 0) (+ (* 0 0) (* 0 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) into 0 7.969 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 7.970 * [backup-simplify]: Simplify (* 1 1) into 1 7.970 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 1) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 7.970 * [backup-simplify]: Simplify (+ (* phi1 0) (+ (* 0 0) (* 0 phi1))) into 0 7.970 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 7.971 * [backup-simplify]: Simplify (+ 0 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 7.971 * [backup-simplify]: Simplify (+ 0 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 7.971 * [backup-simplify]: Simplify (+ (* phi2 0) (+ (* 0 0) (* 0 phi1))) into 0 7.972 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (* phi2 phi1)))) into 0 7.972 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 7.973 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 1))) into 0 7.973 * [backup-simplify]: Simplify (+ 0 0) into 0 7.973 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ phi2 phi1)))) into 0 7.974 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 7.974 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 0))) into 0 7.974 * [backup-simplify]: Simplify (- 0) into 0 7.975 * [backup-simplify]: Simplify (+ 0 0) into 0 7.975 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ phi2 phi1)))))) into 0 7.975 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) (+ (* 0 1) (* 0 0))) into 0 7.976 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* 0 0))) into 0 7.977 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) (* 0 0))) into 0 7.977 * [backup-simplify]: Simplify (+ 0 0) into 0 7.977 * [backup-simplify]: Simplify (- 0) into 0 7.977 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 7.979 * [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))))))) 7.979 * [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 7.979 * [taylor]: Taking taylor expansion of 1/2 in lambda2 7.979 * [backup-simplify]: Simplify 1/2 into 1/2 7.979 * [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 7.979 * [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 7.979 * [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 7.979 * [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 7.979 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) in lambda2 7.979 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda2 7.979 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 7.979 * [taylor]: Taking taylor expansion of lambda2 in lambda2 7.979 * [backup-simplify]: Simplify 0 into 0 7.979 * [backup-simplify]: Simplify 1 into 1 7.979 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 7.979 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 7.979 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 7.979 * [taylor]: Taking taylor expansion of 0.5 in lambda2 7.979 * [backup-simplify]: Simplify 0.5 into 0.5 7.979 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 7.979 * [taylor]: Taking taylor expansion of phi2 in lambda2 7.979 * [backup-simplify]: Simplify phi2 into phi2 7.979 * [taylor]: Taking taylor expansion of phi1 in lambda2 7.979 * [backup-simplify]: Simplify phi1 into phi1 7.979 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 7.980 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 7.980 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 7.980 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 7.980 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 7.980 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 7.980 * [backup-simplify]: Simplify (- 0) into 0 7.980 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 7.980 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in lambda2 7.980 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 7.980 * [taylor]: Taking taylor expansion of phi2 in lambda2 7.980 * [backup-simplify]: Simplify phi2 into phi2 7.980 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 7.980 * [taylor]: Taking taylor expansion of phi1 in lambda2 7.980 * [backup-simplify]: Simplify phi1 into phi1 7.980 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda2 7.980 * [taylor]: Taking taylor expansion of 2 in lambda2 7.980 * [backup-simplify]: Simplify 2 into 2 7.980 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 7.980 * [taylor]: Taking taylor expansion of phi2 in lambda2 7.980 * [backup-simplify]: Simplify phi2 into phi2 7.980 * [taylor]: Taking taylor expansion of phi1 in lambda2 7.980 * [backup-simplify]: Simplify phi1 into phi1 7.980 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 7.981 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 7.981 * [backup-simplify]: Simplify (+ (pow phi2 2) (pow phi1 2)) into (+ (pow phi1 2) (pow phi2 2)) 7.981 * [backup-simplify]: Simplify (+ 0 (+ (pow phi1 2) (pow phi2 2))) into (+ (pow phi1 2) (pow phi2 2)) 7.981 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 7.981 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1)) 7.981 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1))) 7.981 * [backup-simplify]: Simplify (+ (+ (pow phi1 2) (pow phi2 2)) (- (* 2 (* phi2 phi1)))) into (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1))) 7.981 * [backup-simplify]: Simplify (/ 1 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1)))) into (/ 1 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1)))) 7.982 * [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))))) 7.982 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 7.982 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 7.982 * [backup-simplify]: Simplify (+ 0 0) into 0 7.982 * [backup-simplify]: Simplify (+ 0 0) into 0 7.982 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 7.983 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0 7.983 * [backup-simplify]: Simplify (- 0) into 0 7.983 * [backup-simplify]: Simplify (+ 0 0) into 0 7.984 * [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 7.984 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1))))))) into 0 7.984 * [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 7.984 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 7.984 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 7.984 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 7.984 * [taylor]: Taking taylor expansion of 0.5 in lambda2 7.984 * [backup-simplify]: Simplify 0.5 into 0.5 7.984 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 7.984 * [taylor]: Taking taylor expansion of phi2 in lambda2 7.984 * [backup-simplify]: Simplify phi2 into phi2 7.984 * [taylor]: Taking taylor expansion of phi1 in lambda2 7.984 * [backup-simplify]: Simplify phi1 into phi1 7.984 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 7.984 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 7.984 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 7.984 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 7.985 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 7.985 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 7.985 * [backup-simplify]: Simplify (- 0) into 0 7.985 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 7.985 * [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 7.985 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 4)) in lambda2 7.985 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 7.985 * [taylor]: Taking taylor expansion of lambda2 in lambda2 7.985 * [backup-simplify]: Simplify 0 into 0 7.985 * [backup-simplify]: Simplify 1 into 1 7.985 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 4) in lambda2 7.985 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 7.985 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 7.985 * [taylor]: Taking taylor expansion of 0.5 in lambda2 7.985 * [backup-simplify]: Simplify 0.5 into 0.5 7.985 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 7.985 * [taylor]: Taking taylor expansion of phi2 in lambda2 7.985 * [backup-simplify]: Simplify phi2 into phi2 7.985 * [taylor]: Taking taylor expansion of phi1 in lambda2 7.985 * [backup-simplify]: Simplify phi1 into phi1 7.986 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 7.986 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 7.986 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 7.986 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 7.986 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 7.986 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 7.986 * [backup-simplify]: Simplify (- 0) into 0 7.986 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 7.986 * [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 7.986 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) in lambda2 7.986 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda2 7.986 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 7.986 * [taylor]: Taking taylor expansion of lambda2 in lambda2 7.986 * [backup-simplify]: Simplify 0 into 0 7.986 * [backup-simplify]: Simplify 1 into 1 7.986 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 7.986 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 7.986 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 7.986 * [taylor]: Taking taylor expansion of 0.5 in lambda2 7.986 * [backup-simplify]: Simplify 0.5 into 0.5 7.986 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 7.987 * [taylor]: Taking taylor expansion of phi2 in lambda2 7.987 * [backup-simplify]: Simplify phi2 into phi2 7.987 * [taylor]: Taking taylor expansion of phi1 in lambda2 7.987 * [backup-simplify]: Simplify phi1 into phi1 7.987 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 7.987 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 7.987 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 7.987 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 7.987 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 7.987 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 7.987 * [backup-simplify]: Simplify (- 0) into 0 7.987 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 7.987 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in lambda2 7.987 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 7.987 * [taylor]: Taking taylor expansion of phi2 in lambda2 7.987 * [backup-simplify]: Simplify phi2 into phi2 7.987 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 7.987 * [taylor]: Taking taylor expansion of phi1 in lambda2 7.987 * [backup-simplify]: Simplify phi1 into phi1 7.987 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda2 7.987 * [taylor]: Taking taylor expansion of 2 in lambda2 7.987 * [backup-simplify]: Simplify 2 into 2 7.987 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 7.987 * [taylor]: Taking taylor expansion of phi2 in lambda2 7.987 * [backup-simplify]: Simplify phi2 into phi2 7.987 * [taylor]: Taking taylor expansion of phi1 in lambda2 7.987 * [backup-simplify]: Simplify phi1 into phi1 7.988 * [backup-simplify]: Simplify (* 1 1) into 1 7.988 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 7.988 * [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) 7.989 * [backup-simplify]: Simplify (* 1 (pow (cos (* 0.5 (+ phi2 phi1))) 4)) into (pow (cos (* 0.5 (+ phi2 phi1))) 4) 7.989 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 7.989 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 7.989 * [backup-simplify]: Simplify (+ (pow phi2 2) (pow phi1 2)) into (+ (pow phi1 2) (pow phi2 2)) 7.989 * [backup-simplify]: Simplify (+ 0 (+ (pow phi1 2) (pow phi2 2))) into (+ (pow phi1 2) (pow phi2 2)) 7.989 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 7.989 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1)) 7.989 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1))) 7.989 * [backup-simplify]: Simplify (+ (+ (pow phi1 2) (pow phi2 2)) (- (* 2 (* phi2 phi1)))) into (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1))) 7.990 * [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)))) 7.990 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 7.990 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 7.990 * [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)))))) 7.991 * [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))))))) 7.991 * [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 7.991 * [taylor]: Taking taylor expansion of 1/2 in phi1 7.991 * [backup-simplify]: Simplify 1/2 into 1/2 7.991 * [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 7.991 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1 7.991 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 7.991 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 7.991 * [taylor]: Taking taylor expansion of 0.5 in phi1 7.991 * [backup-simplify]: Simplify 0.5 into 0.5 7.991 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 7.991 * [taylor]: Taking taylor expansion of phi2 in phi1 7.991 * [backup-simplify]: Simplify phi2 into phi2 7.991 * [taylor]: Taking taylor expansion of phi1 in phi1 7.991 * [backup-simplify]: Simplify 0 into 0 7.991 * [backup-simplify]: Simplify 1 into 1 7.991 * [backup-simplify]: Simplify (+ phi2 0) into phi2 7.991 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 7.991 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 7.991 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 7.991 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 7.991 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 7.992 * [backup-simplify]: Simplify (- 0) into 0 7.992 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 7.992 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1))))) in phi1 7.992 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1)))) in phi1 7.992 * [taylor]: Taking taylor expansion of (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1))) in phi1 7.992 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (pow phi2 2)) in phi1 7.992 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 7.992 * [taylor]: Taking taylor expansion of phi1 in phi1 7.992 * [backup-simplify]: Simplify 0 into 0 7.992 * [backup-simplify]: Simplify 1 into 1 7.992 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 7.992 * [taylor]: Taking taylor expansion of phi2 in phi1 7.992 * [backup-simplify]: Simplify phi2 into phi2 7.992 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi1 7.992 * [taylor]: Taking taylor expansion of 2 in phi1 7.992 * [backup-simplify]: Simplify 2 into 2 7.992 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 7.992 * [taylor]: Taking taylor expansion of phi2 in phi1 7.992 * [backup-simplify]: Simplify phi2 into phi2 7.992 * [taylor]: Taking taylor expansion of phi1 in phi1 7.992 * [backup-simplify]: Simplify 0 into 0 7.992 * [backup-simplify]: Simplify 1 into 1 7.992 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 7.992 * [backup-simplify]: Simplify (+ 0 (pow phi2 2)) into (pow phi2 2) 7.992 * [backup-simplify]: Simplify (* phi2 0) into 0 7.993 * [backup-simplify]: Simplify (* 2 0) into 0 7.993 * [backup-simplify]: Simplify (- 0) into 0 7.993 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 7.993 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 7.993 * [backup-simplify]: Simplify (sqrt (/ 1 (pow phi2 2))) into (/ 1 phi2) 7.993 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 7.993 * [backup-simplify]: Simplify (+ 0 0) into 0 7.994 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 7.994 * [backup-simplify]: Simplify (+ (* 2 phi2) (* 0 0)) into (* 2 phi2) 7.994 * [backup-simplify]: Simplify (- (* 2 phi2)) into (- (* 2 phi2)) 7.994 * [backup-simplify]: Simplify (+ 0 (- (* 2 phi2))) into (- (* 2 phi2)) 7.994 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi2 2)) (/ (- (* 2 phi2)) (pow phi2 2))))) into (* 2 (/ 1 (pow phi2 3))) 7.995 * [backup-simplify]: Simplify (/ (* 2 (/ 1 (pow phi2 3))) (* 2 (sqrt (/ 1 (pow phi2 2))))) into (/ 1 (pow phi2 2)) 7.995 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 7.995 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi2)) 2) (/ 1 phi2)) into (/ (pow (cos (* 0.5 phi2)) 2) phi2) 7.995 * [backup-simplify]: Simplify (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2)) into (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2)) 7.995 * [taylor]: Taking taylor expansion of (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2)) in phi2 7.995 * [taylor]: Taking taylor expansion of 1/2 in phi2 7.995 * [backup-simplify]: Simplify 1/2 into 1/2 7.995 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 phi2)) 2) phi2) in phi2 7.995 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2 7.995 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 7.995 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 7.995 * [taylor]: Taking taylor expansion of 0.5 in phi2 7.995 * [backup-simplify]: Simplify 0.5 into 0.5 7.995 * [taylor]: Taking taylor expansion of phi2 in phi2 7.995 * [backup-simplify]: Simplify 0 into 0 7.995 * [backup-simplify]: Simplify 1 into 1 7.995 * [backup-simplify]: Simplify (* 0.5 0) into 0 7.996 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 7.996 * [taylor]: Taking taylor expansion of phi2 in phi2 7.996 * [backup-simplify]: Simplify 0 into 0 7.996 * [backup-simplify]: Simplify 1 into 1 7.997 * [backup-simplify]: Simplify (* 1 1) into 1 7.997 * [backup-simplify]: Simplify (/ 1 1) into 1 7.997 * [backup-simplify]: Simplify (+ 0) into 0 7.997 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 7.998 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* 1 (/ 0 1)))) into 0 7.998 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 1)) into 0 7.998 * [backup-simplify]: Simplify 0 into 0 7.999 * [backup-simplify]: Simplify (+ 0) into 0 7.999 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 7.999 * [backup-simplify]: Simplify (+ 0 0) into 0 7.999 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 8.000 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 8.000 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 8.000 * [backup-simplify]: Simplify (- 0) into 0 8.001 * [backup-simplify]: Simplify (+ 0 0) into 0 8.001 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 8.001 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 8.002 * [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)) 8.003 * [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))) 8.003 * [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 8.003 * [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 8.003 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))))) in phi1 8.003 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))) in phi1 8.003 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))) in phi1 8.003 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in phi1 8.003 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 8.003 * [taylor]: Taking taylor expansion of phi2 in phi1 8.003 * [backup-simplify]: Simplify phi2 into phi2 8.003 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 8.003 * [taylor]: Taking taylor expansion of phi1 in phi1 8.003 * [backup-simplify]: Simplify 0 into 0 8.003 * [backup-simplify]: Simplify 1 into 1 8.003 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi1 8.003 * [taylor]: Taking taylor expansion of 2 in phi1 8.003 * [backup-simplify]: Simplify 2 into 2 8.003 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 8.003 * [taylor]: Taking taylor expansion of phi2 in phi1 8.003 * [backup-simplify]: Simplify phi2 into phi2 8.003 * [taylor]: Taking taylor expansion of phi1 in phi1 8.003 * [backup-simplify]: Simplify 0 into 0 8.003 * [backup-simplify]: Simplify 1 into 1 8.003 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 8.003 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 8.003 * [backup-simplify]: Simplify (* phi2 0) into 0 8.003 * [backup-simplify]: Simplify (* 2 0) into 0 8.004 * [backup-simplify]: Simplify (- 0) into 0 8.004 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 8.004 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 8.004 * [backup-simplify]: Simplify (sqrt (/ 1 (pow phi2 2))) into (/ 1 phi2) 8.004 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 8.004 * [backup-simplify]: Simplify (+ 0 0) into 0 8.004 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 8.005 * [backup-simplify]: Simplify (+ (* 2 phi2) (* 0 0)) into (* 2 phi2) 8.005 * [backup-simplify]: Simplify (- (* 2 phi2)) into (- (* 2 phi2)) 8.005 * [backup-simplify]: Simplify (+ 0 (- (* 2 phi2))) into (- (* 2 phi2)) 8.005 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi2 2)) (/ (- (* 2 phi2)) (pow phi2 2))))) into (* 2 (/ 1 (pow phi2 3))) 8.005 * [backup-simplify]: Simplify (/ (* 2 (/ 1 (pow phi2 3))) (* 2 (sqrt (/ 1 (pow phi2 2))))) into (/ 1 (pow phi2 2)) 8.005 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1 8.005 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 8.005 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 8.005 * [taylor]: Taking taylor expansion of 0.5 in phi1 8.005 * [backup-simplify]: Simplify 0.5 into 0.5 8.005 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 8.005 * [taylor]: Taking taylor expansion of phi2 in phi1 8.005 * [backup-simplify]: Simplify phi2 into phi2 8.005 * [taylor]: Taking taylor expansion of phi1 in phi1 8.005 * [backup-simplify]: Simplify 0 into 0 8.005 * [backup-simplify]: Simplify 1 into 1 8.005 * [backup-simplify]: Simplify (+ phi2 0) into phi2 8.006 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 8.006 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 8.006 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 8.006 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 8.006 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 8.006 * [backup-simplify]: Simplify (- 0) into 0 8.006 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 8.006 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 8.006 * [backup-simplify]: Simplify (* (/ 1 phi2) (pow (cos (* 0.5 phi2)) 2)) into (/ (pow (cos (* 0.5 phi2)) 2) phi2) 8.006 * [backup-simplify]: Simplify (- (/ (pow (cos (* 0.5 phi2)) 2) phi2)) into (- (/ (pow (cos (* 0.5 phi2)) 2) phi2)) 8.006 * [taylor]: Taking taylor expansion of (- (/ (pow (cos (* 0.5 phi2)) 2) phi2)) in phi2 8.006 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 phi2)) 2) phi2) in phi2 8.007 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2 8.007 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 8.007 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 8.007 * [taylor]: Taking taylor expansion of 0.5 in phi2 8.007 * [backup-simplify]: Simplify 0.5 into 0.5 8.007 * [taylor]: Taking taylor expansion of phi2 in phi2 8.007 * [backup-simplify]: Simplify 0 into 0 8.007 * [backup-simplify]: Simplify 1 into 1 8.007 * [backup-simplify]: Simplify (* 0.5 0) into 0 8.008 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 8.008 * [taylor]: Taking taylor expansion of phi2 in phi2 8.008 * [backup-simplify]: Simplify 0 into 0 8.008 * [backup-simplify]: Simplify 1 into 1 8.008 * [backup-simplify]: Simplify (* 1 1) into 1 8.008 * [backup-simplify]: Simplify (/ 1 1) into 1 8.008 * [backup-simplify]: Simplify (+ 0) into 0 8.009 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 8.009 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* 1 (/ 0 1)))) into 0 8.010 * [backup-simplify]: Simplify (- 0) into 0 8.010 * [backup-simplify]: Simplify 0 into 0 8.010 * [backup-simplify]: Simplify (* 1 1) into 1 8.010 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 8.010 * [backup-simplify]: Simplify (* 1 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 8.010 * [backup-simplify]: Simplify (+ (* phi1 0) (+ (* 0 0) (* 0 phi1))) into 0 8.011 * [backup-simplify]: Simplify (+ (* phi2 0) (+ (* 0 0) (* 0 phi2))) into 0 8.011 * [backup-simplify]: Simplify (+ 0 0) into 0 8.011 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 8.011 * [backup-simplify]: Simplify (+ (* phi2 0) (+ (* 0 0) (* 0 phi1))) into 0 8.012 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (* phi2 phi1)))) into 0 8.012 * [backup-simplify]: Simplify (- 0) into 0 8.012 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 8.013 * [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))) 8.013 * [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 8.013 * [taylor]: Taking taylor expansion of 1/2 in phi1 8.013 * [backup-simplify]: Simplify 1/2 into 1/2 8.013 * [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 8.013 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))))) in phi1 8.013 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))) in phi1 8.013 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))) in phi1 8.013 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in phi1 8.013 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 8.013 * [taylor]: Taking taylor expansion of phi2 in phi1 8.013 * [backup-simplify]: Simplify phi2 into phi2 8.013 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 8.013 * [taylor]: Taking taylor expansion of phi1 in phi1 8.013 * [backup-simplify]: Simplify 0 into 0 8.013 * [backup-simplify]: Simplify 1 into 1 8.013 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi1 8.013 * [taylor]: Taking taylor expansion of 2 in phi1 8.013 * [backup-simplify]: Simplify 2 into 2 8.013 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 8.013 * [taylor]: Taking taylor expansion of phi2 in phi1 8.013 * [backup-simplify]: Simplify phi2 into phi2 8.013 * [taylor]: Taking taylor expansion of phi1 in phi1 8.013 * [backup-simplify]: Simplify 0 into 0 8.013 * [backup-simplify]: Simplify 1 into 1 8.014 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 8.014 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 8.014 * [backup-simplify]: Simplify (* phi2 0) into 0 8.014 * [backup-simplify]: Simplify (* 2 0) into 0 8.014 * [backup-simplify]: Simplify (- 0) into 0 8.014 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 8.014 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 8.014 * [backup-simplify]: Simplify (sqrt (/ 1 (pow phi2 2))) into (/ 1 phi2) 8.014 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 8.015 * [backup-simplify]: Simplify (+ 0 0) into 0 8.015 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 8.015 * [backup-simplify]: Simplify (+ (* 2 phi2) (* 0 0)) into (* 2 phi2) 8.015 * [backup-simplify]: Simplify (- (* 2 phi2)) into (- (* 2 phi2)) 8.015 * [backup-simplify]: Simplify (+ 0 (- (* 2 phi2))) into (- (* 2 phi2)) 8.016 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi2 2)) (/ (- (* 2 phi2)) (pow phi2 2))))) into (* 2 (/ 1 (pow phi2 3))) 8.016 * [backup-simplify]: Simplify (/ (* 2 (/ 1 (pow phi2 3))) (* 2 (sqrt (/ 1 (pow phi2 2))))) into (/ 1 (pow phi2 2)) 8.016 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1 8.016 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 8.016 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 8.016 * [taylor]: Taking taylor expansion of 0.5 in phi1 8.016 * [backup-simplify]: Simplify 0.5 into 0.5 8.016 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 8.016 * [taylor]: Taking taylor expansion of phi2 in phi1 8.016 * [backup-simplify]: Simplify phi2 into phi2 8.016 * [taylor]: Taking taylor expansion of phi1 in phi1 8.016 * [backup-simplify]: Simplify 0 into 0 8.016 * [backup-simplify]: Simplify 1 into 1 8.016 * [backup-simplify]: Simplify (+ phi2 0) into phi2 8.016 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 8.016 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 8.016 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 8.016 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 8.016 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 8.017 * [backup-simplify]: Simplify (- 0) into 0 8.017 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 8.017 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 8.017 * [backup-simplify]: Simplify (* (/ 1 phi2) (pow (cos (* 0.5 phi2)) 2)) into (/ (pow (cos (* 0.5 phi2)) 2) phi2) 8.017 * [backup-simplify]: Simplify (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2)) into (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2)) 8.017 * [taylor]: Taking taylor expansion of (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2)) in phi2 8.017 * [taylor]: Taking taylor expansion of 1/2 in phi2 8.017 * [backup-simplify]: Simplify 1/2 into 1/2 8.017 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 phi2)) 2) phi2) in phi2 8.017 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2 8.017 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 8.017 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 8.017 * [taylor]: Taking taylor expansion of 0.5 in phi2 8.017 * [backup-simplify]: Simplify 0.5 into 0.5 8.017 * [taylor]: Taking taylor expansion of phi2 in phi2 8.017 * [backup-simplify]: Simplify 0 into 0 8.017 * [backup-simplify]: Simplify 1 into 1 8.017 * [backup-simplify]: Simplify (* 0.5 0) into 0 8.018 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 8.018 * [taylor]: Taking taylor expansion of phi2 in phi2 8.018 * [backup-simplify]: Simplify 0 into 0 8.018 * [backup-simplify]: Simplify 1 into 1 8.019 * [backup-simplify]: Simplify (* 1 1) into 1 8.019 * [backup-simplify]: Simplify (/ 1 1) into 1 8.019 * [backup-simplify]: Simplify (+ 0) into 0 8.019 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 8.020 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* 1 (/ 0 1)))) into 0 8.020 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 1)) into 0 8.020 * [backup-simplify]: Simplify 0 into 0 8.020 * [taylor]: Taking taylor expansion of 0 in phi2 8.020 * [backup-simplify]: Simplify 0 into 0 8.020 * [backup-simplify]: Simplify 0 into 0 8.020 * [taylor]: Taking taylor expansion of 0 in phi2 8.020 * [backup-simplify]: Simplify 0 into 0 8.020 * [backup-simplify]: Simplify 0 into 0 8.021 * [backup-simplify]: Simplify (+ (* phi2 0) (+ (* 0 0) (* 0 phi2))) into 0 8.021 * [backup-simplify]: Simplify (* 1 1) into 1 8.021 * [backup-simplify]: Simplify (+ 0 1) into 1 8.022 * [backup-simplify]: Simplify (+ (* phi2 0) (+ (* 0 1) (* 0 0))) into 0 8.022 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 phi2) (* 0 0))) into 0 8.022 * [backup-simplify]: Simplify (- 0) into 0 8.023 * [backup-simplify]: Simplify (+ 1 0) into 1 8.023 * [backup-simplify]: Simplify (/ (- 1 (pow -1 2) (+)) (* 2 phi2)) into 0 8.023 * [taylor]: Taking taylor expansion of 0 in phi2 8.023 * [backup-simplify]: Simplify 0 into 0 8.023 * [backup-simplify]: Simplify 0 into 0 8.024 * [backup-simplify]: Simplify (+ (* 1 (* phi2 (* 1 (* 1 1)))) (* -1 (* 1 (* phi1 (* 1 1))))) into (- phi2 phi1) 8.025 * [backup-simplify]: Simplify (sqrt (+ (* (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (/ (+ (/ 1 phi1) (/ 1 phi2)) 2.0))) (* (- (/ 1 lambda1) (/ 1 lambda2)) (* (* (cbrt (cos (/ (+ (/ 1 phi1) (/ 1 phi2)) 2.0))) (cbrt (cos (/ (+ (/ 1 phi1) (/ 1 phi2)) 2.0)))) (cbrt (cos (/ (+ (/ 1 phi1) (/ 1 phi2)) 2.0)))))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))))) into (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) 8.025 * [approximate]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in (lambda1 lambda2 phi1 phi2) around 0 8.025 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in phi2 8.025 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in phi2 8.025 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) in phi2 8.025 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi2 8.025 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 8.025 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 8.025 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 8.025 * [taylor]: Taking taylor expansion of 0.5 in phi2 8.025 * [backup-simplify]: Simplify 0.5 into 0.5 8.025 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 8.025 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 8.025 * [taylor]: Taking taylor expansion of phi1 in phi2 8.025 * [backup-simplify]: Simplify phi1 into phi1 8.025 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 8.025 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 8.025 * [taylor]: Taking taylor expansion of phi2 in phi2 8.025 * [backup-simplify]: Simplify 0 into 0 8.025 * [backup-simplify]: Simplify 1 into 1 8.025 * [backup-simplify]: Simplify (/ 1 1) into 1 8.026 * [backup-simplify]: Simplify (+ 0 1) into 1 8.026 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 8.026 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.026 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 8.026 * [taylor]: Taking taylor expansion of lambda1 in phi2 8.026 * [backup-simplify]: Simplify lambda1 into lambda1 8.026 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.026 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 8.027 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 8.027 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) in phi2 8.027 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi2 8.027 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 8.027 * [taylor]: Taking taylor expansion of phi2 in phi2 8.027 * [backup-simplify]: Simplify 0 into 0 8.027 * [backup-simplify]: Simplify 1 into 1 8.027 * [backup-simplify]: Simplify (* 1 1) into 1 8.027 * [backup-simplify]: Simplify (/ 1 1) into 1 8.027 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) in phi2 8.027 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in phi2 8.027 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 8.027 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 8.027 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 8.027 * [taylor]: Taking taylor expansion of 0.5 in phi2 8.027 * [backup-simplify]: Simplify 0.5 into 0.5 8.027 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 8.027 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 8.027 * [taylor]: Taking taylor expansion of phi1 in phi2 8.028 * [backup-simplify]: Simplify phi1 into phi1 8.028 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 8.028 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 8.028 * [taylor]: Taking taylor expansion of phi2 in phi2 8.028 * [backup-simplify]: Simplify 0 into 0 8.028 * [backup-simplify]: Simplify 1 into 1 8.028 * [backup-simplify]: Simplify (/ 1 1) into 1 8.028 * [backup-simplify]: Simplify (+ 0 1) into 1 8.028 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 8.028 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.029 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 8.029 * [taylor]: Taking taylor expansion of lambda2 in phi2 8.029 * [backup-simplify]: Simplify lambda2 into lambda2 8.029 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.029 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 8.029 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 8.029 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi2 8.029 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 8.029 * [taylor]: Taking taylor expansion of phi1 in phi2 8.029 * [backup-simplify]: Simplify phi1 into phi1 8.029 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 8.029 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 8.029 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in phi2 8.029 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi2 8.029 * [taylor]: Taking taylor expansion of 2 in phi2 8.029 * [backup-simplify]: Simplify 2 into 2 8.029 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi2 8.029 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 8.029 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 8.029 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 8.029 * [taylor]: Taking taylor expansion of 0.5 in phi2 8.029 * [backup-simplify]: Simplify 0.5 into 0.5 8.029 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 8.029 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 8.029 * [taylor]: Taking taylor expansion of phi1 in phi2 8.029 * [backup-simplify]: Simplify phi1 into phi1 8.030 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 8.030 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 8.030 * [taylor]: Taking taylor expansion of phi2 in phi2 8.030 * [backup-simplify]: Simplify 0 into 0 8.030 * [backup-simplify]: Simplify 1 into 1 8.030 * [backup-simplify]: Simplify (/ 1 1) into 1 8.030 * [backup-simplify]: Simplify (+ 0 1) into 1 8.030 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 8.030 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.030 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi2 8.031 * [taylor]: Taking taylor expansion of lambda2 in phi2 8.031 * [backup-simplify]: Simplify lambda2 into lambda2 8.031 * [taylor]: Taking taylor expansion of lambda1 in phi2 8.031 * [backup-simplify]: Simplify lambda1 into lambda1 8.031 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.031 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 8.031 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) 8.031 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi2 8.031 * [taylor]: Taking taylor expansion of 2 in phi2 8.031 * [backup-simplify]: Simplify 2 into 2 8.031 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi2 8.031 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2 8.031 * [taylor]: Taking taylor expansion of phi2 in phi2 8.031 * [backup-simplify]: Simplify 0 into 0 8.031 * [backup-simplify]: Simplify 1 into 1 8.031 * [taylor]: Taking taylor expansion of phi1 in phi2 8.031 * [backup-simplify]: Simplify phi1 into phi1 8.031 * [backup-simplify]: Simplify (* 0 phi1) into 0 8.031 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 8.031 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 8.032 * [backup-simplify]: Simplify (+ 1 0) into 1 8.032 * [backup-simplify]: Simplify (+ 0 1) into 1 8.032 * [backup-simplify]: Simplify (+ 1 0) into 1 8.033 * [backup-simplify]: Simplify (sqrt 1) into 1 8.033 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 8.033 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 8.034 * [backup-simplify]: Simplify (+ 0 0) into 0 8.034 * [backup-simplify]: Simplify (+ 0 0) into 0 8.034 * [backup-simplify]: Simplify (* 2 (/ 1 phi1)) into (/ 2 phi1) 8.034 * [backup-simplify]: Simplify (+ 0 (/ 2 phi1)) into (* 2 (/ 1 phi1)) 8.034 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi1))) into (- (* 2 (/ 1 phi1))) 8.034 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1))) 8.034 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi1))) (* 2 (sqrt 1))) into (/ -1 phi1) 8.034 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in phi1 8.034 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in phi1 8.035 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) in phi1 8.035 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi1 8.035 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 8.035 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 8.035 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 8.035 * [taylor]: Taking taylor expansion of 0.5 in phi1 8.035 * [backup-simplify]: Simplify 0.5 into 0.5 8.035 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 8.035 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 8.035 * [taylor]: Taking taylor expansion of phi1 in phi1 8.035 * [backup-simplify]: Simplify 0 into 0 8.035 * [backup-simplify]: Simplify 1 into 1 8.035 * [backup-simplify]: Simplify (/ 1 1) into 1 8.035 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 8.035 * [taylor]: Taking taylor expansion of phi2 in phi1 8.035 * [backup-simplify]: Simplify phi2 into phi2 8.035 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 8.035 * [backup-simplify]: Simplify (+ 1 0) into 1 8.036 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 8.036 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.036 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 8.036 * [taylor]: Taking taylor expansion of lambda1 in phi1 8.036 * [backup-simplify]: Simplify lambda1 into lambda1 8.036 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.036 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 8.036 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 8.036 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) in phi1 8.036 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 8.036 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 8.036 * [taylor]: Taking taylor expansion of phi2 in phi1 8.036 * [backup-simplify]: Simplify phi2 into phi2 8.036 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 8.036 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 8.037 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) in phi1 8.037 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in phi1 8.037 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 8.037 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 8.037 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 8.037 * [taylor]: Taking taylor expansion of 0.5 in phi1 8.037 * [backup-simplify]: Simplify 0.5 into 0.5 8.037 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 8.037 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 8.037 * [taylor]: Taking taylor expansion of phi1 in phi1 8.037 * [backup-simplify]: Simplify 0 into 0 8.037 * [backup-simplify]: Simplify 1 into 1 8.037 * [backup-simplify]: Simplify (/ 1 1) into 1 8.037 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 8.037 * [taylor]: Taking taylor expansion of phi2 in phi1 8.037 * [backup-simplify]: Simplify phi2 into phi2 8.037 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 8.037 * [backup-simplify]: Simplify (+ 1 0) into 1 8.038 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 8.038 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.038 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 8.038 * [taylor]: Taking taylor expansion of lambda2 in phi1 8.038 * [backup-simplify]: Simplify lambda2 into lambda2 8.038 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.038 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 8.038 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 8.038 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 8.038 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 8.038 * [taylor]: Taking taylor expansion of phi1 in phi1 8.038 * [backup-simplify]: Simplify 0 into 0 8.038 * [backup-simplify]: Simplify 1 into 1 8.039 * [backup-simplify]: Simplify (* 1 1) into 1 8.039 * [backup-simplify]: Simplify (/ 1 1) into 1 8.039 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in phi1 8.039 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi1 8.039 * [taylor]: Taking taylor expansion of 2 in phi1 8.039 * [backup-simplify]: Simplify 2 into 2 8.039 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi1 8.039 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 8.039 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 8.039 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 8.039 * [taylor]: Taking taylor expansion of 0.5 in phi1 8.039 * [backup-simplify]: Simplify 0.5 into 0.5 8.039 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 8.039 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 8.039 * [taylor]: Taking taylor expansion of phi1 in phi1 8.039 * [backup-simplify]: Simplify 0 into 0 8.039 * [backup-simplify]: Simplify 1 into 1 8.039 * [backup-simplify]: Simplify (/ 1 1) into 1 8.039 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 8.039 * [taylor]: Taking taylor expansion of phi2 in phi1 8.039 * [backup-simplify]: Simplify phi2 into phi2 8.039 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 8.040 * [backup-simplify]: Simplify (+ 1 0) into 1 8.040 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 8.040 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.040 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 8.040 * [taylor]: Taking taylor expansion of lambda2 in phi1 8.040 * [backup-simplify]: Simplify lambda2 into lambda2 8.040 * [taylor]: Taking taylor expansion of lambda1 in phi1 8.040 * [backup-simplify]: Simplify lambda1 into lambda1 8.040 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.040 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 8.041 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) 8.041 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi1 8.041 * [taylor]: Taking taylor expansion of 2 in phi1 8.041 * [backup-simplify]: Simplify 2 into 2 8.041 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi1 8.041 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 8.041 * [taylor]: Taking taylor expansion of phi2 in phi1 8.041 * [backup-simplify]: Simplify phi2 into phi2 8.041 * [taylor]: Taking taylor expansion of phi1 in phi1 8.041 * [backup-simplify]: Simplify 0 into 0 8.041 * [backup-simplify]: Simplify 1 into 1 8.041 * [backup-simplify]: Simplify (* phi2 0) into 0 8.041 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 8.041 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 8.041 * [backup-simplify]: Simplify (+ 0 1) into 1 8.042 * [backup-simplify]: Simplify (+ 0 1) into 1 8.042 * [backup-simplify]: Simplify (+ 0 1) into 1 8.042 * [backup-simplify]: Simplify (+ 1 0) into 1 8.042 * [backup-simplify]: Simplify (sqrt 1) into 1 8.043 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 8.043 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 8.044 * [backup-simplify]: Simplify (+ 0 0) into 0 8.044 * [backup-simplify]: Simplify (+ 0 0) into 0 8.044 * [backup-simplify]: Simplify (+ 0 0) into 0 8.044 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 8.044 * [backup-simplify]: Simplify (+ 0 (/ 2 phi2)) into (* 2 (/ 1 phi2)) 8.044 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi2))) into (- (* 2 (/ 1 phi2))) 8.044 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 8.045 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi2))) (* 2 (sqrt 1))) into (/ -1 phi2) 8.045 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in lambda2 8.045 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in lambda2 8.045 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) in lambda2 8.045 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda2 8.045 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 8.045 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 8.045 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 8.045 * [taylor]: Taking taylor expansion of 0.5 in lambda2 8.045 * [backup-simplify]: Simplify 0.5 into 0.5 8.045 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 8.045 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 8.045 * [taylor]: Taking taylor expansion of phi1 in lambda2 8.045 * [backup-simplify]: Simplify phi1 into phi1 8.045 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 8.045 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 8.045 * [taylor]: Taking taylor expansion of phi2 in lambda2 8.045 * [backup-simplify]: Simplify phi2 into phi2 8.045 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 8.045 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 8.045 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 8.045 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.045 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.045 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.046 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 8.046 * [backup-simplify]: Simplify (- 0) into 0 8.046 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.046 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 8.046 * [taylor]: Taking taylor expansion of lambda1 in lambda2 8.046 * [backup-simplify]: Simplify lambda1 into lambda1 8.046 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.046 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 8.047 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 8.047 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) in lambda2 8.047 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda2 8.047 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 8.047 * [taylor]: Taking taylor expansion of phi2 in lambda2 8.047 * [backup-simplify]: Simplify phi2 into phi2 8.047 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 8.047 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 8.047 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) in lambda2 8.047 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda2 8.047 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 8.047 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 8.047 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 8.047 * [taylor]: Taking taylor expansion of 0.5 in lambda2 8.047 * [backup-simplify]: Simplify 0.5 into 0.5 8.047 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 8.047 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 8.047 * [taylor]: Taking taylor expansion of phi1 in lambda2 8.047 * [backup-simplify]: Simplify phi1 into phi1 8.047 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 8.047 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 8.047 * [taylor]: Taking taylor expansion of phi2 in lambda2 8.047 * [backup-simplify]: Simplify phi2 into phi2 8.047 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 8.047 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 8.047 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 8.047 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.047 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.048 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.048 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 8.048 * [backup-simplify]: Simplify (- 0) into 0 8.048 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.048 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 8.048 * [taylor]: Taking taylor expansion of lambda2 in lambda2 8.048 * [backup-simplify]: Simplify 0 into 0 8.048 * [backup-simplify]: Simplify 1 into 1 8.048 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.049 * [backup-simplify]: Simplify (* 1 1) into 1 8.049 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.049 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda2 8.049 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 8.049 * [taylor]: Taking taylor expansion of phi1 in lambda2 8.049 * [backup-simplify]: Simplify phi1 into phi1 8.049 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 8.049 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 8.049 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in lambda2 8.049 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda2 8.049 * [taylor]: Taking taylor expansion of 2 in lambda2 8.049 * [backup-simplify]: Simplify 2 into 2 8.049 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda2 8.049 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 8.049 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 8.049 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 8.049 * [taylor]: Taking taylor expansion of 0.5 in lambda2 8.049 * [backup-simplify]: Simplify 0.5 into 0.5 8.049 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 8.049 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 8.049 * [taylor]: Taking taylor expansion of phi1 in lambda2 8.049 * [backup-simplify]: Simplify phi1 into phi1 8.049 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 8.049 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 8.049 * [taylor]: Taking taylor expansion of phi2 in lambda2 8.049 * [backup-simplify]: Simplify phi2 into phi2 8.049 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 8.049 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 8.049 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 8.050 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.050 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.050 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.050 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 8.050 * [backup-simplify]: Simplify (- 0) into 0 8.050 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.050 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda2 8.050 * [taylor]: Taking taylor expansion of lambda2 in lambda2 8.050 * [backup-simplify]: Simplify 0 into 0 8.050 * [backup-simplify]: Simplify 1 into 1 8.050 * [taylor]: Taking taylor expansion of lambda1 in lambda2 8.050 * [backup-simplify]: Simplify lambda1 into lambda1 8.050 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.051 * [backup-simplify]: Simplify (* 0 lambda1) into 0 8.051 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda1)) into lambda1 8.051 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) 8.051 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda2 8.051 * [taylor]: Taking taylor expansion of 2 in lambda2 8.051 * [backup-simplify]: Simplify 2 into 2 8.051 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda2 8.051 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 8.051 * [taylor]: Taking taylor expansion of phi2 in lambda2 8.051 * [backup-simplify]: Simplify phi2 into phi2 8.051 * [taylor]: Taking taylor expansion of phi1 in lambda2 8.051 * [backup-simplify]: Simplify phi1 into phi1 8.051 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 8.051 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 8.051 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.052 * [backup-simplify]: Simplify (+ 0 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.052 * [backup-simplify]: Simplify (+ 0 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.052 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.052 * [backup-simplify]: Simplify (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.052 * [backup-simplify]: Simplify (+ 0) into 0 8.053 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 8.053 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 8.053 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 8.053 * [backup-simplify]: Simplify (+ 0 0) into 0 8.054 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 8.054 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 8.054 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 8.055 * [backup-simplify]: Simplify (- 0) into 0 8.055 * [backup-simplify]: Simplify (+ 0 0) into 0 8.055 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 8.055 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 8.057 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 8.057 * [backup-simplify]: Simplify (+ 0 0) into 0 8.057 * [backup-simplify]: Simplify (+ 0 0) into 0 8.057 * [backup-simplify]: Simplify (+ 0 0) into 0 8.058 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 8.058 * [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)) 8.058 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 8.058 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 8.059 * [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)) 8.059 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in lambda1 8.059 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in lambda1 8.059 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) in lambda1 8.059 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda1 8.059 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 8.059 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 8.059 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 8.059 * [taylor]: Taking taylor expansion of 0.5 in lambda1 8.059 * [backup-simplify]: Simplify 0.5 into 0.5 8.059 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 8.059 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 8.059 * [taylor]: Taking taylor expansion of phi1 in lambda1 8.059 * [backup-simplify]: Simplify phi1 into phi1 8.059 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 8.059 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 8.059 * [taylor]: Taking taylor expansion of phi2 in lambda1 8.059 * [backup-simplify]: Simplify phi2 into phi2 8.059 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 8.059 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 8.059 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 8.060 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.060 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.060 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.060 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 8.060 * [backup-simplify]: Simplify (- 0) into 0 8.060 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.060 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 8.060 * [taylor]: Taking taylor expansion of lambda1 in lambda1 8.060 * [backup-simplify]: Simplify 0 into 0 8.060 * [backup-simplify]: Simplify 1 into 1 8.061 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.061 * [backup-simplify]: Simplify (* 1 1) into 1 8.061 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.061 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) in lambda1 8.061 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda1 8.061 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 8.061 * [taylor]: Taking taylor expansion of phi2 in lambda1 8.061 * [backup-simplify]: Simplify phi2 into phi2 8.061 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 8.061 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 8.061 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) in lambda1 8.061 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda1 8.061 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 8.061 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 8.061 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 8.061 * [taylor]: Taking taylor expansion of 0.5 in lambda1 8.061 * [backup-simplify]: Simplify 0.5 into 0.5 8.061 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 8.061 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 8.061 * [taylor]: Taking taylor expansion of phi1 in lambda1 8.061 * [backup-simplify]: Simplify phi1 into phi1 8.061 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 8.062 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 8.062 * [taylor]: Taking taylor expansion of phi2 in lambda1 8.062 * [backup-simplify]: Simplify phi2 into phi2 8.062 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 8.062 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 8.062 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 8.062 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.062 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.062 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.062 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 8.062 * [backup-simplify]: Simplify (- 0) into 0 8.062 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.063 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 8.063 * [taylor]: Taking taylor expansion of lambda2 in lambda1 8.063 * [backup-simplify]: Simplify lambda2 into lambda2 8.063 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.063 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 8.063 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 8.063 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda1 8.063 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 8.063 * [taylor]: Taking taylor expansion of phi1 in lambda1 8.063 * [backup-simplify]: Simplify phi1 into phi1 8.063 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 8.063 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 8.063 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in lambda1 8.063 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1 8.063 * [taylor]: Taking taylor expansion of 2 in lambda1 8.063 * [backup-simplify]: Simplify 2 into 2 8.063 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1 8.063 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 8.063 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 8.063 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 8.063 * [taylor]: Taking taylor expansion of 0.5 in lambda1 8.063 * [backup-simplify]: Simplify 0.5 into 0.5 8.063 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 8.063 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 8.063 * [taylor]: Taking taylor expansion of phi1 in lambda1 8.063 * [backup-simplify]: Simplify phi1 into phi1 8.064 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 8.064 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 8.064 * [taylor]: Taking taylor expansion of phi2 in lambda1 8.064 * [backup-simplify]: Simplify phi2 into phi2 8.064 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 8.064 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 8.064 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 8.064 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.064 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.064 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.064 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 8.064 * [backup-simplify]: Simplify (- 0) into 0 8.065 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.065 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 8.065 * [taylor]: Taking taylor expansion of lambda2 in lambda1 8.065 * [backup-simplify]: Simplify lambda2 into lambda2 8.065 * [taylor]: Taking taylor expansion of lambda1 in lambda1 8.065 * [backup-simplify]: Simplify 0 into 0 8.065 * [backup-simplify]: Simplify 1 into 1 8.065 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.065 * [backup-simplify]: Simplify (* lambda2 0) into 0 8.065 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 8.065 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) 8.065 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda1 8.065 * [taylor]: Taking taylor expansion of 2 in lambda1 8.065 * [backup-simplify]: Simplify 2 into 2 8.065 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda1 8.065 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda1 8.065 * [taylor]: Taking taylor expansion of phi2 in lambda1 8.065 * [backup-simplify]: Simplify phi2 into phi2 8.065 * [taylor]: Taking taylor expansion of phi1 in lambda1 8.065 * [backup-simplify]: Simplify phi1 into phi1 8.066 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 8.066 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 8.066 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.066 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.066 * [backup-simplify]: Simplify (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.066 * [backup-simplify]: Simplify (+ 0) into 0 8.067 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 8.067 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 8.067 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 8.068 * [backup-simplify]: Simplify (+ 0 0) into 0 8.068 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 8.069 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 8.069 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 8.070 * [backup-simplify]: Simplify (- 0) into 0 8.070 * [backup-simplify]: Simplify (+ 0 0) into 0 8.070 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 8.076 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 8.077 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 8.077 * [backup-simplify]: Simplify (+ 0 0) into 0 8.077 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 8.077 * [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)) 8.078 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 8.078 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 8.078 * [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)) 8.079 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in lambda1 8.079 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in lambda1 8.079 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) in lambda1 8.079 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda1 8.079 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 8.079 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 8.079 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 8.079 * [taylor]: Taking taylor expansion of 0.5 in lambda1 8.079 * [backup-simplify]: Simplify 0.5 into 0.5 8.079 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 8.079 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 8.079 * [taylor]: Taking taylor expansion of phi1 in lambda1 8.079 * [backup-simplify]: Simplify phi1 into phi1 8.079 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 8.079 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 8.079 * [taylor]: Taking taylor expansion of phi2 in lambda1 8.079 * [backup-simplify]: Simplify phi2 into phi2 8.079 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 8.079 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 8.079 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 8.079 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.079 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.079 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.079 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 8.080 * [backup-simplify]: Simplify (- 0) into 0 8.080 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.080 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 8.080 * [taylor]: Taking taylor expansion of lambda1 in lambda1 8.080 * [backup-simplify]: Simplify 0 into 0 8.080 * [backup-simplify]: Simplify 1 into 1 8.080 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.080 * [backup-simplify]: Simplify (* 1 1) into 1 8.081 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.081 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) in lambda1 8.081 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda1 8.081 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 8.081 * [taylor]: Taking taylor expansion of phi2 in lambda1 8.081 * [backup-simplify]: Simplify phi2 into phi2 8.081 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 8.081 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 8.081 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) in lambda1 8.081 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda1 8.081 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 8.081 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 8.081 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 8.081 * [taylor]: Taking taylor expansion of 0.5 in lambda1 8.081 * [backup-simplify]: Simplify 0.5 into 0.5 8.081 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 8.081 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 8.081 * [taylor]: Taking taylor expansion of phi1 in lambda1 8.081 * [backup-simplify]: Simplify phi1 into phi1 8.081 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 8.081 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 8.081 * [taylor]: Taking taylor expansion of phi2 in lambda1 8.081 * [backup-simplify]: Simplify phi2 into phi2 8.081 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 8.081 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 8.081 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 8.081 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.082 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.082 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.082 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 8.082 * [backup-simplify]: Simplify (- 0) into 0 8.082 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.082 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 8.082 * [taylor]: Taking taylor expansion of lambda2 in lambda1 8.082 * [backup-simplify]: Simplify lambda2 into lambda2 8.082 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.082 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 8.083 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 8.083 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda1 8.083 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 8.083 * [taylor]: Taking taylor expansion of phi1 in lambda1 8.083 * [backup-simplify]: Simplify phi1 into phi1 8.083 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 8.083 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 8.083 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in lambda1 8.083 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1 8.083 * [taylor]: Taking taylor expansion of 2 in lambda1 8.083 * [backup-simplify]: Simplify 2 into 2 8.083 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1 8.083 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 8.083 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 8.083 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 8.083 * [taylor]: Taking taylor expansion of 0.5 in lambda1 8.083 * [backup-simplify]: Simplify 0.5 into 0.5 8.083 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 8.083 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 8.083 * [taylor]: Taking taylor expansion of phi1 in lambda1 8.083 * [backup-simplify]: Simplify phi1 into phi1 8.083 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 8.083 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 8.083 * [taylor]: Taking taylor expansion of phi2 in lambda1 8.083 * [backup-simplify]: Simplify phi2 into phi2 8.083 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 8.083 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 8.083 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 8.084 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.084 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.084 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.084 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 8.084 * [backup-simplify]: Simplify (- 0) into 0 8.084 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.084 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 8.084 * [taylor]: Taking taylor expansion of lambda2 in lambda1 8.084 * [backup-simplify]: Simplify lambda2 into lambda2 8.084 * [taylor]: Taking taylor expansion of lambda1 in lambda1 8.084 * [backup-simplify]: Simplify 0 into 0 8.084 * [backup-simplify]: Simplify 1 into 1 8.085 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.085 * [backup-simplify]: Simplify (* lambda2 0) into 0 8.085 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 8.085 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) 8.085 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda1 8.085 * [taylor]: Taking taylor expansion of 2 in lambda1 8.085 * [backup-simplify]: Simplify 2 into 2 8.085 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda1 8.085 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda1 8.085 * [taylor]: Taking taylor expansion of phi2 in lambda1 8.085 * [backup-simplify]: Simplify phi2 into phi2 8.085 * [taylor]: Taking taylor expansion of phi1 in lambda1 8.085 * [backup-simplify]: Simplify phi1 into phi1 8.085 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 8.085 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 8.085 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.086 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.086 * [backup-simplify]: Simplify (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.086 * [backup-simplify]: Simplify (+ 0) into 0 8.086 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 8.087 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 8.087 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 8.087 * [backup-simplify]: Simplify (+ 0 0) into 0 8.087 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 8.088 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 8.088 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 8.088 * [backup-simplify]: Simplify (- 0) into 0 8.088 * [backup-simplify]: Simplify (+ 0 0) into 0 8.089 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 8.089 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 8.090 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 8.090 * [backup-simplify]: Simplify (+ 0 0) into 0 8.090 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 8.091 * [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)) 8.091 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 8.091 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 8.092 * [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)) 8.092 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 8.092 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 8.092 * [taylor]: Taking taylor expansion of 0.5 in lambda2 8.092 * [backup-simplify]: Simplify 0.5 into 0.5 8.092 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 8.092 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 8.092 * [taylor]: Taking taylor expansion of phi1 in lambda2 8.092 * [backup-simplify]: Simplify phi1 into phi1 8.092 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 8.092 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 8.092 * [taylor]: Taking taylor expansion of phi2 in lambda2 8.092 * [backup-simplify]: Simplify phi2 into phi2 8.092 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 8.092 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 8.092 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 8.093 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.093 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.093 * [taylor]: Taking taylor expansion of (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) in lambda2 8.093 * [taylor]: Taking taylor expansion of -1 in lambda2 8.093 * [backup-simplify]: Simplify -1 into -1 8.093 * [taylor]: Taking taylor expansion of (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2) in lambda2 8.093 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 8.093 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 8.093 * [taylor]: Taking taylor expansion of 0.5 in lambda2 8.093 * [backup-simplify]: Simplify 0.5 into 0.5 8.093 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 8.093 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 8.093 * [taylor]: Taking taylor expansion of phi1 in lambda2 8.093 * [backup-simplify]: Simplify phi1 into phi1 8.093 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 8.093 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 8.093 * [taylor]: Taking taylor expansion of phi2 in lambda2 8.093 * [backup-simplify]: Simplify phi2 into phi2 8.093 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 8.093 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 8.093 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 8.093 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.094 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.094 * [taylor]: Taking taylor expansion of lambda2 in lambda2 8.094 * [backup-simplify]: Simplify 0 into 0 8.094 * [backup-simplify]: Simplify 1 into 1 8.094 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.094 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 8.094 * [backup-simplify]: Simplify (- 0) into 0 8.094 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.094 * [backup-simplify]: Simplify (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.095 * [backup-simplify]: Simplify (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 8.095 * [taylor]: Taking taylor expansion of (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1 8.095 * [taylor]: Taking taylor expansion of -1 in phi1 8.095 * [backup-simplify]: Simplify -1 into -1 8.095 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 8.095 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 8.095 * [taylor]: Taking taylor expansion of 0.5 in phi1 8.095 * [backup-simplify]: Simplify 0.5 into 0.5 8.095 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 8.095 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 8.095 * [taylor]: Taking taylor expansion of phi1 in phi1 8.095 * [backup-simplify]: Simplify 0 into 0 8.095 * [backup-simplify]: Simplify 1 into 1 8.095 * [backup-simplify]: Simplify (/ 1 1) into 1 8.095 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 8.095 * [taylor]: Taking taylor expansion of phi2 in phi1 8.095 * [backup-simplify]: Simplify phi2 into phi2 8.095 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 8.095 * [backup-simplify]: Simplify (+ 1 0) into 1 8.096 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 8.096 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.096 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.096 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 8.096 * [backup-simplify]: Simplify (- 0) into 0 8.096 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.096 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 8.096 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 8.096 * [taylor]: Taking taylor expansion of 0.5 in phi1 8.096 * [backup-simplify]: Simplify 0.5 into 0.5 8.096 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 8.096 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 8.096 * [taylor]: Taking taylor expansion of phi1 in phi1 8.096 * [backup-simplify]: Simplify 0 into 0 8.097 * [backup-simplify]: Simplify 1 into 1 8.097 * [backup-simplify]: Simplify (/ 1 1) into 1 8.097 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 8.097 * [taylor]: Taking taylor expansion of phi2 in phi1 8.097 * [backup-simplify]: Simplify phi2 into phi2 8.097 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 8.097 * [backup-simplify]: Simplify (+ 1 0) into 1 8.097 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 8.097 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.098 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 8.099 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 8.099 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 8.099 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 8.099 * [backup-simplify]: Simplify (+ 0 0) into 0 8.100 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 8.100 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 8.100 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 8.101 * [backup-simplify]: Simplify (- 0) into 0 8.101 * [backup-simplify]: Simplify (+ 0 0) into 0 8.101 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 8.102 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 8.103 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)) (* 0 (/ 0 1)))) into 0 8.103 * [backup-simplify]: Simplify (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) into (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) 8.104 * [backup-simplify]: Simplify (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) into (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) 8.104 * [backup-simplify]: Simplify (+ 0 (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) into (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) 8.105 * [backup-simplify]: Simplify (+ 0) into 0 8.105 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 8.105 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 8.105 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 8.105 * [backup-simplify]: Simplify (+ 0 0) into 0 8.106 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 8.106 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 8.106 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 8.107 * [backup-simplify]: Simplify (- 0) into 0 8.107 * [backup-simplify]: Simplify (+ 0 0) into 0 8.107 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 8.108 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 1) (* 0 0))) into 0 8.108 * [backup-simplify]: Simplify (- (/ 0 lambda2) (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) (/ 0 lambda2)))) into 0 8.108 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into 0 8.108 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi2 phi1))) into (/ 2 (* phi2 phi1)) 8.108 * [backup-simplify]: Simplify (+ 0 (/ 2 (* phi2 phi1))) into (* 2 (/ 1 (* phi2 phi1))) 8.109 * [backup-simplify]: Simplify (- (* 2 (/ 1 (* phi2 phi1)))) into (- (* 2 (/ 1 (* phi2 phi1)))) 8.109 * [backup-simplify]: Simplify (+ (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) (- (* 2 (/ 1 (* phi2 phi1))))) into (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) (* 2 (/ 1 (* phi2 phi1)))) 8.110 * [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)))))) 8.110 * [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 8.110 * [taylor]: Taking taylor expansion of 1/2 in lambda2 8.110 * [backup-simplify]: Simplify 1/2 into 1/2 8.111 * [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 8.111 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) in lambda2 8.111 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in lambda2 8.111 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda2 8.111 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 8.111 * [taylor]: Taking taylor expansion of phi2 in lambda2 8.111 * [backup-simplify]: Simplify phi2 into phi2 8.111 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 8.111 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 8.111 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda2 8.111 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 8.111 * [taylor]: Taking taylor expansion of phi1 in lambda2 8.111 * [backup-simplify]: Simplify phi1 into phi1 8.111 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 8.111 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 8.111 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda2 8.111 * [taylor]: Taking taylor expansion of 2 in lambda2 8.111 * [backup-simplify]: Simplify 2 into 2 8.111 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda2 8.111 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 8.111 * [taylor]: Taking taylor expansion of phi2 in lambda2 8.111 * [backup-simplify]: Simplify phi2 into phi2 8.111 * [taylor]: Taking taylor expansion of phi1 in lambda2 8.111 * [backup-simplify]: Simplify phi1 into phi1 8.111 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 8.111 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 8.111 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 8.111 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 8.111 * [taylor]: Taking taylor expansion of 0.5 in lambda2 8.111 * [backup-simplify]: Simplify 0.5 into 0.5 8.111 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 8.111 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 8.111 * [taylor]: Taking taylor expansion of phi1 in lambda2 8.111 * [backup-simplify]: Simplify phi1 into phi1 8.111 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 8.111 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 8.111 * [taylor]: Taking taylor expansion of phi2 in lambda2 8.111 * [backup-simplify]: Simplify phi2 into phi2 8.111 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 8.112 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 8.112 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 8.112 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.112 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.112 * [backup-simplify]: Simplify (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) into (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) 8.112 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi2 phi1))) into (/ 2 (* phi2 phi1)) 8.112 * [backup-simplify]: Simplify (- (/ 2 (* phi2 phi1))) into (- (* 2 (/ 1 (* phi2 phi1)))) 8.112 * [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)))) 8.112 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.113 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 8.113 * [backup-simplify]: Simplify (- 0) into 0 8.113 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.113 * [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))))) 8.114 * [backup-simplify]: Simplify (+ 0) into 0 8.114 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 8.114 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 8.114 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 8.114 * [backup-simplify]: Simplify (+ 0 0) into 0 8.115 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 8.115 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 8.116 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 8.116 * [backup-simplify]: Simplify (- 0) into 0 8.116 * [backup-simplify]: Simplify (+ 0 0) into 0 8.117 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (/ 0 1)))) into 0 8.117 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 8.117 * [taylor]: Taking taylor expansion of 0 in phi1 8.117 * [backup-simplify]: Simplify 0 into 0 8.117 * [backup-simplify]: Simplify (+ 0) into 0 8.118 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 8.118 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 8.118 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 8.118 * [backup-simplify]: Simplify (+ 0 0) into 0 8.118 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 8.119 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 8.119 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 8.119 * [backup-simplify]: Simplify (- 0) into 0 8.120 * [backup-simplify]: Simplify (+ 0 0) into 0 8.120 * [taylor]: Taking taylor expansion of 0 in phi1 8.120 * [backup-simplify]: Simplify 0 into 0 8.120 * [backup-simplify]: Simplify (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 8.120 * [taylor]: Taking taylor expansion of (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 8.120 * [taylor]: Taking taylor expansion of -1 in phi2 8.120 * [backup-simplify]: Simplify -1 into -1 8.120 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 8.120 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 8.120 * [taylor]: Taking taylor expansion of 0.5 in phi2 8.120 * [backup-simplify]: Simplify 0.5 into 0.5 8.120 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 8.120 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 8.120 * [taylor]: Taking taylor expansion of phi1 in phi2 8.120 * [backup-simplify]: Simplify phi1 into phi1 8.120 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 8.120 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 8.120 * [taylor]: Taking taylor expansion of phi2 in phi2 8.120 * [backup-simplify]: Simplify 0 into 0 8.120 * [backup-simplify]: Simplify 1 into 1 8.120 * [backup-simplify]: Simplify (/ 1 1) into 1 8.121 * [backup-simplify]: Simplify (+ 0 1) into 1 8.121 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 8.121 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.121 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 8.121 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 8.121 * [taylor]: Taking taylor expansion of 0.5 in phi2 8.121 * [backup-simplify]: Simplify 0.5 into 0.5 8.121 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 8.121 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 8.121 * [taylor]: Taking taylor expansion of phi1 in phi2 8.121 * [backup-simplify]: Simplify phi1 into phi1 8.121 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 8.121 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 8.121 * [taylor]: Taking taylor expansion of phi2 in phi2 8.121 * [backup-simplify]: Simplify 0 into 0 8.121 * [backup-simplify]: Simplify 1 into 1 8.122 * [backup-simplify]: Simplify (/ 1 1) into 1 8.122 * [backup-simplify]: Simplify (+ 0 1) into 1 8.122 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 8.122 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.123 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 8.124 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 8.124 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 8.124 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 8.124 * [backup-simplify]: Simplify (+ 0 0) into 0 8.125 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 8.126 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 8.126 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 8.126 * [backup-simplify]: Simplify (- 0) into 0 8.127 * [backup-simplify]: Simplify (+ 0 0) into 0 8.127 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into 0 8.128 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 8.129 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0 8.129 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 8.129 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi2 2)) (/ 0 (pow phi2 2))))) into 0 8.130 * [backup-simplify]: Simplify (+ 0) into 0 8.130 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 8.130 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 8.130 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 8.131 * [backup-simplify]: Simplify (+ 0 0) into 0 8.131 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 8.131 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 8.132 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 8.132 * [backup-simplify]: Simplify (- 0) into 0 8.132 * [backup-simplify]: Simplify (+ 0 0) into 0 8.132 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 8.132 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 8.133 * [backup-simplify]: Simplify (- (/ 0 (pow lambda2 2)) (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 0 (pow lambda2 2))))) into 0 8.133 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 8.133 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi1 2)) (/ 0 (pow phi1 2))))) into 0 8.133 * [backup-simplify]: Simplify (+ 0 0) into 0 8.134 * [backup-simplify]: Simplify (+ 0 0) into 0 8.134 * [backup-simplify]: Simplify (+ 0 0) into 0 8.134 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 8.135 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 8.135 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 8.135 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 8.135 * [backup-simplify]: Simplify (+ 0 0) into 0 8.136 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 8.136 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 8.137 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 8.137 * [backup-simplify]: Simplify (- 0) into 0 8.137 * [backup-simplify]: Simplify (+ 0 0) into 0 8.138 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 8.138 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (+ (* 0 1) (* 0 0)))) into 0 8.138 * [backup-simplify]: Simplify (- (/ 0 lambda2) (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) (/ 0 lambda2)) (* 0 (/ 0 lambda2)))) into 0 8.139 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) into 0 8.139 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 8.139 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* phi2 phi1)) (/ 0 (* phi2 phi1))))) into 0 8.140 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ 1 (* phi2 phi1)))) into 0 8.140 * [backup-simplify]: Simplify (+ 0 0) into 0 8.140 * [backup-simplify]: Simplify (- 0) into 0 8.140 * [backup-simplify]: Simplify (+ 0 0) into 0 8.141 * [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)))))) 8.141 * [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 8.141 * [taylor]: Taking taylor expansion of 1/2 in lambda2 8.141 * [backup-simplify]: Simplify 1/2 into 1/2 8.141 * [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 8.141 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (* lambda2 (pow phi1 2))) (/ 1 (* (pow phi2 2) lambda2))) (* 2 (/ 1 (* phi2 (* lambda2 phi1))))) in lambda2 8.141 * [taylor]: Taking taylor expansion of (+ (/ 1 (* lambda2 (pow phi1 2))) (/ 1 (* (pow phi2 2) lambda2))) in lambda2 8.141 * [taylor]: Taking taylor expansion of (/ 1 (* lambda2 (pow phi1 2))) in lambda2 8.141 * [taylor]: Taking taylor expansion of (* lambda2 (pow phi1 2)) in lambda2 8.141 * [taylor]: Taking taylor expansion of lambda2 in lambda2 8.141 * [backup-simplify]: Simplify 0 into 0 8.141 * [backup-simplify]: Simplify 1 into 1 8.141 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 8.141 * [taylor]: Taking taylor expansion of phi1 in lambda2 8.141 * [backup-simplify]: Simplify phi1 into phi1 8.141 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 8.142 * [backup-simplify]: Simplify (* 0 (pow phi1 2)) into 0 8.142 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 8.142 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow phi1 2))) into (pow phi1 2) 8.142 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 8.142 * [taylor]: Taking taylor expansion of (/ 1 (* (pow phi2 2) lambda2)) in lambda2 8.142 * [taylor]: Taking taylor expansion of (* (pow phi2 2) lambda2) in lambda2 8.142 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 8.142 * [taylor]: Taking taylor expansion of phi2 in lambda2 8.142 * [backup-simplify]: Simplify phi2 into phi2 8.142 * [taylor]: Taking taylor expansion of lambda2 in lambda2 8.142 * [backup-simplify]: Simplify 0 into 0 8.142 * [backup-simplify]: Simplify 1 into 1 8.142 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 8.142 * [backup-simplify]: Simplify (* (pow phi2 2) 0) into 0 8.142 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 8.143 * [backup-simplify]: Simplify (+ (* (pow phi2 2) 1) (* 0 0)) into (pow phi2 2) 8.143 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 8.143 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 (* lambda2 phi1)))) in lambda2 8.143 * [taylor]: Taking taylor expansion of 2 in lambda2 8.143 * [backup-simplify]: Simplify 2 into 2 8.143 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (* lambda2 phi1))) in lambda2 8.143 * [taylor]: Taking taylor expansion of (* phi2 (* lambda2 phi1)) in lambda2 8.143 * [taylor]: Taking taylor expansion of phi2 in lambda2 8.143 * [backup-simplify]: Simplify phi2 into phi2 8.143 * [taylor]: Taking taylor expansion of (* lambda2 phi1) in lambda2 8.143 * [taylor]: Taking taylor expansion of lambda2 in lambda2 8.143 * [backup-simplify]: Simplify 0 into 0 8.143 * [backup-simplify]: Simplify 1 into 1 8.143 * [taylor]: Taking taylor expansion of phi1 in lambda2 8.143 * [backup-simplify]: Simplify phi1 into phi1 8.143 * [backup-simplify]: Simplify (* 0 phi1) into 0 8.143 * [backup-simplify]: Simplify (* phi2 0) into 0 8.144 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 8.144 * [backup-simplify]: Simplify (+ (* phi2 phi1) (* 0 0)) into (* phi2 phi1) 8.144 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 8.144 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 8.144 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 8.144 * [taylor]: Taking taylor expansion of 0.5 in lambda2 8.144 * [backup-simplify]: Simplify 0.5 into 0.5 8.144 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 8.144 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 8.144 * [taylor]: Taking taylor expansion of phi1 in lambda2 8.144 * [backup-simplify]: Simplify phi1 into phi1 8.144 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 8.144 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 8.144 * [taylor]: Taking taylor expansion of phi2 in lambda2 8.144 * [backup-simplify]: Simplify phi2 into phi2 8.144 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 8.144 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 8.144 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 8.144 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.145 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.145 * [backup-simplify]: Simplify (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) into (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) 8.145 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi2 phi1))) into (/ 2 (* phi2 phi1)) 8.145 * [backup-simplify]: Simplify (- (/ 2 (* phi2 phi1))) into (- (* 2 (/ 1 (* phi2 phi1)))) 8.145 * [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)))) 8.145 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.145 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 8.146 * [backup-simplify]: Simplify (- 0) into 0 8.146 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.146 * [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))))) 8.147 * [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)))))) 8.147 * [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 8.147 * [taylor]: Taking taylor expansion of 1/2 in phi1 8.147 * [backup-simplify]: Simplify 1/2 into 1/2 8.147 * [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 8.147 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) in phi1 8.147 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in phi1 8.147 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 8.147 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 8.147 * [taylor]: Taking taylor expansion of phi2 in phi1 8.147 * [backup-simplify]: Simplify phi2 into phi2 8.147 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 8.147 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 8.147 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 8.147 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 8.147 * [taylor]: Taking taylor expansion of phi1 in phi1 8.147 * [backup-simplify]: Simplify 0 into 0 8.147 * [backup-simplify]: Simplify 1 into 1 8.147 * [backup-simplify]: Simplify (* 1 1) into 1 8.147 * [backup-simplify]: Simplify (/ 1 1) into 1 8.147 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi1 8.148 * [taylor]: Taking taylor expansion of 2 in phi1 8.148 * [backup-simplify]: Simplify 2 into 2 8.148 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi1 8.148 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 8.148 * [taylor]: Taking taylor expansion of phi2 in phi1 8.148 * [backup-simplify]: Simplify phi2 into phi2 8.148 * [taylor]: Taking taylor expansion of phi1 in phi1 8.148 * [backup-simplify]: Simplify 0 into 0 8.148 * [backup-simplify]: Simplify 1 into 1 8.148 * [backup-simplify]: Simplify (* phi2 0) into 0 8.148 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 8.148 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 8.148 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 8.148 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 8.148 * [taylor]: Taking taylor expansion of 0.5 in phi1 8.148 * [backup-simplify]: Simplify 0.5 into 0.5 8.148 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 8.148 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 8.148 * [taylor]: Taking taylor expansion of phi1 in phi1 8.148 * [backup-simplify]: Simplify 0 into 0 8.148 * [backup-simplify]: Simplify 1 into 1 8.148 * [backup-simplify]: Simplify (/ 1 1) into 1 8.148 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 8.148 * [taylor]: Taking taylor expansion of phi2 in phi1 8.148 * [backup-simplify]: Simplify phi2 into phi2 8.148 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 8.149 * [backup-simplify]: Simplify (+ 1 0) into 1 8.149 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 8.149 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.149 * [backup-simplify]: Simplify (+ 0 1) into 1 8.150 * [backup-simplify]: Simplify (+ 1 0) into 1 8.150 * [backup-simplify]: Simplify (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 8.150 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 8.151 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 8.151 * [backup-simplify]: Simplify (+ 0 0) into 0 8.151 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 8.151 * [backup-simplify]: Simplify (- (/ 2 phi2)) into (- (* 2 (/ 1 phi2))) 8.151 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 8.151 * [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)))))))) 8.152 * [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))))))) 8.152 * [taylor]: Taking taylor expansion of (- (/ 1 (* phi2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in phi2 8.152 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi2 8.152 * [taylor]: Taking taylor expansion of (* phi2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 8.152 * [taylor]: Taking taylor expansion of phi2 in phi2 8.152 * [backup-simplify]: Simplify 0 into 0 8.152 * [backup-simplify]: Simplify 1 into 1 8.152 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 8.152 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 8.152 * [taylor]: Taking taylor expansion of 0.5 in phi2 8.152 * [backup-simplify]: Simplify 0.5 into 0.5 8.152 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 8.152 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 8.152 * [taylor]: Taking taylor expansion of phi1 in phi2 8.152 * [backup-simplify]: Simplify phi1 into phi1 8.152 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 8.152 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 8.152 * [taylor]: Taking taylor expansion of phi2 in phi2 8.152 * [backup-simplify]: Simplify 0 into 0 8.152 * [backup-simplify]: Simplify 1 into 1 8.152 * [backup-simplify]: Simplify (/ 1 1) into 1 8.153 * [backup-simplify]: Simplify (+ 0 1) into 1 8.153 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 8.153 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.153 * [backup-simplify]: Simplify (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 8.153 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.154 * [backup-simplify]: Simplify (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 8.154 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 8.154 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 8.154 * [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)))))) 8.154 * [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 8.154 * [taylor]: Taking taylor expansion of 1/2 in phi1 8.154 * [backup-simplify]: Simplify 1/2 into 1/2 8.154 * [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 8.154 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) in phi1 8.154 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in phi1 8.154 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 8.154 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 8.155 * [taylor]: Taking taylor expansion of phi2 in phi1 8.155 * [backup-simplify]: Simplify phi2 into phi2 8.155 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 8.155 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 8.155 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 8.155 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 8.155 * [taylor]: Taking taylor expansion of phi1 in phi1 8.155 * [backup-simplify]: Simplify 0 into 0 8.155 * [backup-simplify]: Simplify 1 into 1 8.155 * [backup-simplify]: Simplify (* 1 1) into 1 8.155 * [backup-simplify]: Simplify (/ 1 1) into 1 8.155 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi1 8.155 * [taylor]: Taking taylor expansion of 2 in phi1 8.155 * [backup-simplify]: Simplify 2 into 2 8.155 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi1 8.155 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 8.155 * [taylor]: Taking taylor expansion of phi2 in phi1 8.155 * [backup-simplify]: Simplify phi2 into phi2 8.155 * [taylor]: Taking taylor expansion of phi1 in phi1 8.155 * [backup-simplify]: Simplify 0 into 0 8.155 * [backup-simplify]: Simplify 1 into 1 8.155 * [backup-simplify]: Simplify (* phi2 0) into 0 8.156 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 8.156 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 8.156 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 8.156 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 8.156 * [taylor]: Taking taylor expansion of 0.5 in phi1 8.156 * [backup-simplify]: Simplify 0.5 into 0.5 8.156 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 8.156 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 8.156 * [taylor]: Taking taylor expansion of phi1 in phi1 8.156 * [backup-simplify]: Simplify 0 into 0 8.156 * [backup-simplify]: Simplify 1 into 1 8.156 * [backup-simplify]: Simplify (/ 1 1) into 1 8.156 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 8.156 * [taylor]: Taking taylor expansion of phi2 in phi1 8.156 * [backup-simplify]: Simplify phi2 into phi2 8.156 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 8.157 * [backup-simplify]: Simplify (+ 1 0) into 1 8.157 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 8.157 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.157 * [backup-simplify]: Simplify (+ 0 1) into 1 8.157 * [backup-simplify]: Simplify (+ 1 0) into 1 8.158 * [backup-simplify]: Simplify (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 8.158 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 8.158 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 8.159 * [backup-simplify]: Simplify (+ 0 0) into 0 8.159 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 8.159 * [backup-simplify]: Simplify (- (/ 2 phi2)) into (- (* 2 (/ 1 phi2))) 8.159 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 8.159 * [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)))))))) 8.159 * [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))))))) 8.160 * [taylor]: Taking taylor expansion of (- (/ 1 (* phi2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in phi2 8.160 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi2 8.160 * [taylor]: Taking taylor expansion of (* phi2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 8.160 * [taylor]: Taking taylor expansion of phi2 in phi2 8.160 * [backup-simplify]: Simplify 0 into 0 8.160 * [backup-simplify]: Simplify 1 into 1 8.160 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 8.160 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 8.160 * [taylor]: Taking taylor expansion of 0.5 in phi2 8.160 * [backup-simplify]: Simplify 0.5 into 0.5 8.160 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 8.160 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 8.160 * [taylor]: Taking taylor expansion of phi1 in phi2 8.160 * [backup-simplify]: Simplify phi1 into phi1 8.160 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 8.160 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 8.160 * [taylor]: Taking taylor expansion of phi2 in phi2 8.160 * [backup-simplify]: Simplify 0 into 0 8.160 * [backup-simplify]: Simplify 1 into 1 8.160 * [backup-simplify]: Simplify (/ 1 1) into 1 8.160 * [backup-simplify]: Simplify (+ 0 1) into 1 8.161 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 8.161 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.161 * [backup-simplify]: Simplify (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 8.161 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.161 * [backup-simplify]: Simplify (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 8.161 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 8.162 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 8.162 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 8.163 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 8.163 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 8.163 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 8.163 * [backup-simplify]: Simplify (+ 0 0) into 0 8.164 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 8.164 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 8.165 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 8.165 * [backup-simplify]: Simplify (- 0) into 0 8.165 * [backup-simplify]: Simplify (+ 0 0) into 0 8.166 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (/ 0 1)) (* 0 (/ 0 1)))) into 0 8.167 * [backup-simplify]: Simplify (+ (* -1 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 8.167 * [taylor]: Taking taylor expansion of 0 in phi1 8.167 * [backup-simplify]: Simplify 0 into 0 8.167 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 8.168 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 8.168 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 8.168 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 8.168 * [backup-simplify]: Simplify (+ 0 0) into 0 8.169 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 8.169 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 8.170 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 8.170 * [backup-simplify]: Simplify (- 0) into 0 8.170 * [backup-simplify]: Simplify (+ 0 0) into 0 8.170 * [taylor]: Taking taylor expansion of 0 in phi1 8.170 * [backup-simplify]: Simplify 0 into 0 8.170 * [taylor]: Taking taylor expansion of 0 in phi2 8.170 * [backup-simplify]: Simplify 0 into 0 8.170 * [taylor]: Taking taylor expansion of 0 in phi2 8.170 * [backup-simplify]: Simplify 0 into 0 8.171 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 8.171 * [taylor]: Taking taylor expansion of 0 in phi2 8.171 * [backup-simplify]: Simplify 0 into 0 8.171 * [taylor]: Taking taylor expansion of 0 in phi2 8.171 * [backup-simplify]: Simplify 0 into 0 8.171 * [backup-simplify]: Simplify (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 8.171 * [backup-simplify]: Simplify (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 8.172 * [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))))))) 8.173 * [backup-simplify]: Simplify (sqrt (+ (* (* (- (/ 1 (- lambda1)) (/ 1 (- lambda2))) (cos (/ (+ (/ 1 (- phi1)) (/ 1 (- phi2))) 2.0))) (* (- (/ 1 (- lambda1)) (/ 1 (- lambda2))) (* (* (cbrt (cos (/ (+ (/ 1 (- phi1)) (/ 1 (- phi2))) 2.0))) (cbrt (cos (/ (+ (/ 1 (- phi1)) (/ 1 (- phi2))) 2.0)))) (cbrt (cos (/ (+ (/ 1 (- phi1)) (/ 1 (- phi2))) 2.0)))))) (* (- (/ 1 (- phi1)) (/ 1 (- phi2))) (- (/ 1 (- phi1)) (/ 1 (- phi2)))))) into (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) 8.173 * [approximate]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in (lambda1 lambda2 phi1 phi2) around 0 8.173 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in phi2 8.173 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in phi2 8.173 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) in phi2 8.173 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi2 8.173 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 8.173 * [taylor]: Taking taylor expansion of phi2 in phi2 8.173 * [backup-simplify]: Simplify 0 into 0 8.173 * [backup-simplify]: Simplify 1 into 1 8.179 * [backup-simplify]: Simplify (* 1 1) into 1 8.179 * [backup-simplify]: Simplify (/ 1 1) into 1 8.179 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))) in phi2 8.179 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in phi2 8.179 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 8.179 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 8.179 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 8.179 * [taylor]: Taking taylor expansion of -0.5 in phi2 8.179 * [backup-simplify]: Simplify -0.5 into -0.5 8.179 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 8.179 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 8.179 * [taylor]: Taking taylor expansion of phi1 in phi2 8.179 * [backup-simplify]: Simplify phi1 into phi1 8.179 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 8.179 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 8.179 * [taylor]: Taking taylor expansion of phi2 in phi2 8.179 * [backup-simplify]: Simplify 0 into 0 8.179 * [backup-simplify]: Simplify 1 into 1 8.180 * [backup-simplify]: Simplify (/ 1 1) into 1 8.180 * [backup-simplify]: Simplify (+ 0 1) into 1 8.180 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 8.180 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.180 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 8.180 * [taylor]: Taking taylor expansion of lambda2 in phi2 8.180 * [backup-simplify]: Simplify lambda2 into lambda2 8.181 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.181 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 8.181 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 8.181 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))) in phi2 8.181 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi2 8.181 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 8.181 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 8.181 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 8.181 * [taylor]: Taking taylor expansion of -0.5 in phi2 8.181 * [backup-simplify]: Simplify -0.5 into -0.5 8.181 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 8.181 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 8.181 * [taylor]: Taking taylor expansion of phi1 in phi2 8.181 * [backup-simplify]: Simplify phi1 into phi1 8.181 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 8.181 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 8.181 * [taylor]: Taking taylor expansion of phi2 in phi2 8.181 * [backup-simplify]: Simplify 0 into 0 8.181 * [backup-simplify]: Simplify 1 into 1 8.181 * [backup-simplify]: Simplify (/ 1 1) into 1 8.182 * [backup-simplify]: Simplify (+ 0 1) into 1 8.182 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 8.182 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.182 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 8.182 * [taylor]: Taking taylor expansion of lambda1 in phi2 8.182 * [backup-simplify]: Simplify lambda1 into lambda1 8.182 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.182 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 8.183 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 8.183 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi2 8.183 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 8.183 * [taylor]: Taking taylor expansion of phi1 in phi2 8.183 * [backup-simplify]: Simplify phi1 into phi1 8.183 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 8.183 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 8.183 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in phi2 8.183 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi2 8.183 * [taylor]: Taking taylor expansion of 2 in phi2 8.183 * [backup-simplify]: Simplify 2 into 2 8.183 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi2 8.183 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 8.183 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 8.183 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 8.183 * [taylor]: Taking taylor expansion of -0.5 in phi2 8.183 * [backup-simplify]: Simplify -0.5 into -0.5 8.183 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 8.183 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 8.183 * [taylor]: Taking taylor expansion of phi1 in phi2 8.183 * [backup-simplify]: Simplify phi1 into phi1 8.183 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 8.183 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 8.183 * [taylor]: Taking taylor expansion of phi2 in phi2 8.183 * [backup-simplify]: Simplify 0 into 0 8.183 * [backup-simplify]: Simplify 1 into 1 8.183 * [backup-simplify]: Simplify (/ 1 1) into 1 8.184 * [backup-simplify]: Simplify (+ 0 1) into 1 8.184 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 8.184 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.184 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi2 8.184 * [taylor]: Taking taylor expansion of lambda2 in phi2 8.184 * [backup-simplify]: Simplify lambda2 into lambda2 8.184 * [taylor]: Taking taylor expansion of lambda1 in phi2 8.184 * [backup-simplify]: Simplify lambda1 into lambda1 8.184 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.184 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 8.185 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) 8.185 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi2 8.185 * [taylor]: Taking taylor expansion of 2 in phi2 8.185 * [backup-simplify]: Simplify 2 into 2 8.185 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi2 8.185 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2 8.185 * [taylor]: Taking taylor expansion of phi2 in phi2 8.185 * [backup-simplify]: Simplify 0 into 0 8.185 * [backup-simplify]: Simplify 1 into 1 8.185 * [taylor]: Taking taylor expansion of phi1 in phi2 8.185 * [backup-simplify]: Simplify phi1 into phi1 8.185 * [backup-simplify]: Simplify (* 0 phi1) into 0 8.185 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 8.185 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 8.185 * [backup-simplify]: Simplify (+ 1 0) into 1 8.186 * [backup-simplify]: Simplify (+ 1 0) into 1 8.186 * [backup-simplify]: Simplify (sqrt 1) into 1 8.186 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 8.187 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 8.187 * [backup-simplify]: Simplify (+ 0 0) into 0 8.187 * [backup-simplify]: Simplify (* 2 (/ 1 phi1)) into (/ 2 phi1) 8.187 * [backup-simplify]: Simplify (+ 0 (/ 2 phi1)) into (* 2 (/ 1 phi1)) 8.187 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi1))) into (- (* 2 (/ 1 phi1))) 8.187 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1))) 8.188 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi1))) (* 2 (sqrt 1))) into (/ -1 phi1) 8.188 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in phi1 8.188 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in phi1 8.188 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) in phi1 8.188 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 8.188 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 8.188 * [taylor]: Taking taylor expansion of phi2 in phi1 8.188 * [backup-simplify]: Simplify phi2 into phi2 8.188 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 8.188 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 8.188 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))) in phi1 8.188 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in phi1 8.188 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 8.188 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 8.188 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 8.188 * [taylor]: Taking taylor expansion of -0.5 in phi1 8.188 * [backup-simplify]: Simplify -0.5 into -0.5 8.188 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 8.188 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 8.188 * [taylor]: Taking taylor expansion of phi1 in phi1 8.188 * [backup-simplify]: Simplify 0 into 0 8.188 * [backup-simplify]: Simplify 1 into 1 8.189 * [backup-simplify]: Simplify (/ 1 1) into 1 8.189 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 8.189 * [taylor]: Taking taylor expansion of phi2 in phi1 8.189 * [backup-simplify]: Simplify phi2 into phi2 8.189 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 8.189 * [backup-simplify]: Simplify (+ 1 0) into 1 8.189 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 8.189 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.189 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 8.189 * [taylor]: Taking taylor expansion of lambda2 in phi1 8.190 * [backup-simplify]: Simplify lambda2 into lambda2 8.190 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.190 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 8.190 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 8.190 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))) in phi1 8.190 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi1 8.190 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 8.190 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 8.190 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 8.190 * [taylor]: Taking taylor expansion of -0.5 in phi1 8.190 * [backup-simplify]: Simplify -0.5 into -0.5 8.190 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 8.190 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 8.190 * [taylor]: Taking taylor expansion of phi1 in phi1 8.190 * [backup-simplify]: Simplify 0 into 0 8.190 * [backup-simplify]: Simplify 1 into 1 8.190 * [backup-simplify]: Simplify (/ 1 1) into 1 8.190 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 8.191 * [taylor]: Taking taylor expansion of phi2 in phi1 8.191 * [backup-simplify]: Simplify phi2 into phi2 8.191 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 8.191 * [backup-simplify]: Simplify (+ 1 0) into 1 8.191 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 8.192 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.192 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 8.192 * [taylor]: Taking taylor expansion of lambda1 in phi1 8.192 * [backup-simplify]: Simplify lambda1 into lambda1 8.192 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.192 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 8.192 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 8.192 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 8.192 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 8.192 * [taylor]: Taking taylor expansion of phi1 in phi1 8.192 * [backup-simplify]: Simplify 0 into 0 8.192 * [backup-simplify]: Simplify 1 into 1 8.193 * [backup-simplify]: Simplify (* 1 1) into 1 8.193 * [backup-simplify]: Simplify (/ 1 1) into 1 8.193 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in phi1 8.193 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi1 8.193 * [taylor]: Taking taylor expansion of 2 in phi1 8.193 * [backup-simplify]: Simplify 2 into 2 8.193 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi1 8.193 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 8.193 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 8.193 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 8.193 * [taylor]: Taking taylor expansion of -0.5 in phi1 8.193 * [backup-simplify]: Simplify -0.5 into -0.5 8.193 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 8.193 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 8.193 * [taylor]: Taking taylor expansion of phi1 in phi1 8.193 * [backup-simplify]: Simplify 0 into 0 8.193 * [backup-simplify]: Simplify 1 into 1 8.194 * [backup-simplify]: Simplify (/ 1 1) into 1 8.194 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 8.194 * [taylor]: Taking taylor expansion of phi2 in phi1 8.194 * [backup-simplify]: Simplify phi2 into phi2 8.194 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 8.194 * [backup-simplify]: Simplify (+ 1 0) into 1 8.194 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 8.194 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.194 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 8.194 * [taylor]: Taking taylor expansion of lambda2 in phi1 8.194 * [backup-simplify]: Simplify lambda2 into lambda2 8.194 * [taylor]: Taking taylor expansion of lambda1 in phi1 8.194 * [backup-simplify]: Simplify lambda1 into lambda1 8.195 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.195 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 8.195 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) 8.195 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi1 8.195 * [taylor]: Taking taylor expansion of 2 in phi1 8.195 * [backup-simplify]: Simplify 2 into 2 8.195 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi1 8.195 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 8.195 * [taylor]: Taking taylor expansion of phi2 in phi1 8.195 * [backup-simplify]: Simplify phi2 into phi2 8.195 * [taylor]: Taking taylor expansion of phi1 in phi1 8.195 * [backup-simplify]: Simplify 0 into 0 8.195 * [backup-simplify]: Simplify 1 into 1 8.195 * [backup-simplify]: Simplify (* phi2 0) into 0 8.195 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 8.195 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 8.196 * [backup-simplify]: Simplify (+ 0 1) into 1 8.196 * [backup-simplify]: Simplify (+ 0 1) into 1 8.196 * [backup-simplify]: Simplify (+ 0 1) into 1 8.196 * [backup-simplify]: Simplify (+ 1 0) into 1 8.197 * [backup-simplify]: Simplify (sqrt 1) into 1 8.197 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 8.197 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 8.198 * [backup-simplify]: Simplify (+ 0 0) into 0 8.198 * [backup-simplify]: Simplify (+ 0 0) into 0 8.198 * [backup-simplify]: Simplify (+ 0 0) into 0 8.198 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 8.198 * [backup-simplify]: Simplify (+ 0 (/ 2 phi2)) into (* 2 (/ 1 phi2)) 8.198 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi2))) into (- (* 2 (/ 1 phi2))) 8.198 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 8.199 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi2))) (* 2 (sqrt 1))) into (/ -1 phi2) 8.199 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in lambda2 8.199 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in lambda2 8.199 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) in lambda2 8.199 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda2 8.199 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 8.199 * [taylor]: Taking taylor expansion of phi2 in lambda2 8.199 * [backup-simplify]: Simplify phi2 into phi2 8.199 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 8.199 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 8.199 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))) in lambda2 8.199 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda2 8.199 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 8.199 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 8.199 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 8.199 * [taylor]: Taking taylor expansion of -0.5 in lambda2 8.199 * [backup-simplify]: Simplify -0.5 into -0.5 8.199 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 8.199 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 8.199 * [taylor]: Taking taylor expansion of phi1 in lambda2 8.199 * [backup-simplify]: Simplify phi1 into phi1 8.199 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 8.199 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 8.199 * [taylor]: Taking taylor expansion of phi2 in lambda2 8.199 * [backup-simplify]: Simplify phi2 into phi2 8.199 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 8.200 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 8.200 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 8.200 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.200 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.200 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.200 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 8.200 * [backup-simplify]: Simplify (- 0) into 0 8.200 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.200 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 8.200 * [taylor]: Taking taylor expansion of lambda2 in lambda2 8.200 * [backup-simplify]: Simplify 0 into 0 8.201 * [backup-simplify]: Simplify 1 into 1 8.201 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.201 * [backup-simplify]: Simplify (* 1 1) into 1 8.201 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.201 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))) in lambda2 8.201 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda2 8.201 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 8.201 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 8.201 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 8.201 * [taylor]: Taking taylor expansion of -0.5 in lambda2 8.201 * [backup-simplify]: Simplify -0.5 into -0.5 8.201 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 8.201 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 8.201 * [taylor]: Taking taylor expansion of phi1 in lambda2 8.201 * [backup-simplify]: Simplify phi1 into phi1 8.201 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 8.201 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 8.201 * [taylor]: Taking taylor expansion of phi2 in lambda2 8.201 * [backup-simplify]: Simplify phi2 into phi2 8.201 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 8.202 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 8.202 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 8.202 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.202 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.202 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.202 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 8.202 * [backup-simplify]: Simplify (- 0) into 0 8.202 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.202 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 8.202 * [taylor]: Taking taylor expansion of lambda1 in lambda2 8.202 * [backup-simplify]: Simplify lambda1 into lambda1 8.203 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.203 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 8.203 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 8.203 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda2 8.203 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 8.203 * [taylor]: Taking taylor expansion of phi1 in lambda2 8.203 * [backup-simplify]: Simplify phi1 into phi1 8.203 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 8.203 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 8.203 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in lambda2 8.203 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda2 8.203 * [taylor]: Taking taylor expansion of 2 in lambda2 8.203 * [backup-simplify]: Simplify 2 into 2 8.203 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda2 8.203 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 8.203 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 8.203 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 8.203 * [taylor]: Taking taylor expansion of -0.5 in lambda2 8.203 * [backup-simplify]: Simplify -0.5 into -0.5 8.203 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 8.203 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 8.203 * [taylor]: Taking taylor expansion of phi1 in lambda2 8.203 * [backup-simplify]: Simplify phi1 into phi1 8.203 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 8.203 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 8.204 * [taylor]: Taking taylor expansion of phi2 in lambda2 8.204 * [backup-simplify]: Simplify phi2 into phi2 8.204 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 8.204 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 8.204 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 8.204 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.204 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.204 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.204 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 8.204 * [backup-simplify]: Simplify (- 0) into 0 8.205 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.205 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda2 8.205 * [taylor]: Taking taylor expansion of lambda2 in lambda2 8.205 * [backup-simplify]: Simplify 0 into 0 8.205 * [backup-simplify]: Simplify 1 into 1 8.205 * [taylor]: Taking taylor expansion of lambda1 in lambda2 8.205 * [backup-simplify]: Simplify lambda1 into lambda1 8.205 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.205 * [backup-simplify]: Simplify (* 0 lambda1) into 0 8.205 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda1)) into lambda1 8.205 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) 8.205 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda2 8.205 * [taylor]: Taking taylor expansion of 2 in lambda2 8.205 * [backup-simplify]: Simplify 2 into 2 8.205 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda2 8.205 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 8.205 * [taylor]: Taking taylor expansion of phi2 in lambda2 8.205 * [backup-simplify]: Simplify phi2 into phi2 8.205 * [taylor]: Taking taylor expansion of phi1 in lambda2 8.206 * [backup-simplify]: Simplify phi1 into phi1 8.206 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 8.206 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 8.206 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.206 * [backup-simplify]: Simplify (+ 0 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.206 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.206 * [backup-simplify]: Simplify (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.207 * [backup-simplify]: Simplify (+ 0) into 0 8.207 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 8.207 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 8.207 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 8.207 * [backup-simplify]: Simplify (+ 0 0) into 0 8.208 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 8.208 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 8.209 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 8.209 * [backup-simplify]: Simplify (- 0) into 0 8.209 * [backup-simplify]: Simplify (+ 0 0) into 0 8.209 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 8.210 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 8.210 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 8.211 * [backup-simplify]: Simplify (+ 0 0) into 0 8.211 * [backup-simplify]: Simplify (+ 0 0) into 0 8.211 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 8.211 * [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)) 8.212 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 8.212 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 8.212 * [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)) 8.212 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in lambda1 8.212 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in lambda1 8.212 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) in lambda1 8.212 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda1 8.212 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 8.212 * [taylor]: Taking taylor expansion of phi2 in lambda1 8.212 * [backup-simplify]: Simplify phi2 into phi2 8.212 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 8.213 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 8.213 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))) in lambda1 8.213 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda1 8.213 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 8.213 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 8.213 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 8.213 * [taylor]: Taking taylor expansion of -0.5 in lambda1 8.213 * [backup-simplify]: Simplify -0.5 into -0.5 8.213 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 8.213 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 8.213 * [taylor]: Taking taylor expansion of phi1 in lambda1 8.213 * [backup-simplify]: Simplify phi1 into phi1 8.213 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 8.213 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 8.213 * [taylor]: Taking taylor expansion of phi2 in lambda1 8.213 * [backup-simplify]: Simplify phi2 into phi2 8.213 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 8.213 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 8.213 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 8.213 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.213 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.213 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.213 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 8.214 * [backup-simplify]: Simplify (- 0) into 0 8.214 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.214 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 8.214 * [taylor]: Taking taylor expansion of lambda2 in lambda1 8.214 * [backup-simplify]: Simplify lambda2 into lambda2 8.214 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.214 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 8.215 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 8.215 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))) in lambda1 8.215 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda1 8.215 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 8.215 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 8.215 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 8.215 * [taylor]: Taking taylor expansion of -0.5 in lambda1 8.215 * [backup-simplify]: Simplify -0.5 into -0.5 8.215 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 8.215 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 8.215 * [taylor]: Taking taylor expansion of phi1 in lambda1 8.215 * [backup-simplify]: Simplify phi1 into phi1 8.215 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 8.215 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 8.215 * [taylor]: Taking taylor expansion of phi2 in lambda1 8.215 * [backup-simplify]: Simplify phi2 into phi2 8.215 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 8.215 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 8.215 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 8.215 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.215 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.215 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.215 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 8.216 * [backup-simplify]: Simplify (- 0) into 0 8.216 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.216 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 8.216 * [taylor]: Taking taylor expansion of lambda1 in lambda1 8.216 * [backup-simplify]: Simplify 0 into 0 8.216 * [backup-simplify]: Simplify 1 into 1 8.216 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.216 * [backup-simplify]: Simplify (* 1 1) into 1 8.217 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.217 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda1 8.217 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 8.217 * [taylor]: Taking taylor expansion of phi1 in lambda1 8.217 * [backup-simplify]: Simplify phi1 into phi1 8.217 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 8.217 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 8.217 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in lambda1 8.217 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1 8.217 * [taylor]: Taking taylor expansion of 2 in lambda1 8.217 * [backup-simplify]: Simplify 2 into 2 8.217 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1 8.217 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 8.217 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 8.217 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 8.217 * [taylor]: Taking taylor expansion of -0.5 in lambda1 8.217 * [backup-simplify]: Simplify -0.5 into -0.5 8.217 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 8.217 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 8.217 * [taylor]: Taking taylor expansion of phi1 in lambda1 8.217 * [backup-simplify]: Simplify phi1 into phi1 8.217 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 8.217 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 8.217 * [taylor]: Taking taylor expansion of phi2 in lambda1 8.217 * [backup-simplify]: Simplify phi2 into phi2 8.217 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 8.217 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 8.217 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 8.218 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.218 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.218 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.218 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 8.218 * [backup-simplify]: Simplify (- 0) into 0 8.218 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.218 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 8.218 * [taylor]: Taking taylor expansion of lambda2 in lambda1 8.218 * [backup-simplify]: Simplify lambda2 into lambda2 8.218 * [taylor]: Taking taylor expansion of lambda1 in lambda1 8.218 * [backup-simplify]: Simplify 0 into 0 8.218 * [backup-simplify]: Simplify 1 into 1 8.219 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.219 * [backup-simplify]: Simplify (* lambda2 0) into 0 8.219 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 8.219 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) 8.219 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda1 8.219 * [taylor]: Taking taylor expansion of 2 in lambda1 8.219 * [backup-simplify]: Simplify 2 into 2 8.219 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda1 8.219 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda1 8.219 * [taylor]: Taking taylor expansion of phi2 in lambda1 8.219 * [backup-simplify]: Simplify phi2 into phi2 8.219 * [taylor]: Taking taylor expansion of phi1 in lambda1 8.219 * [backup-simplify]: Simplify phi1 into phi1 8.219 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 8.219 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 8.220 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.220 * [backup-simplify]: Simplify (+ 0 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.220 * [backup-simplify]: Simplify (+ 0 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.220 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.220 * [backup-simplify]: Simplify (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.221 * [backup-simplify]: Simplify (+ 0) into 0 8.221 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 8.221 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 8.221 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 8.221 * [backup-simplify]: Simplify (+ 0 0) into 0 8.222 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 8.222 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 8.223 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 8.223 * [backup-simplify]: Simplify (- 0) into 0 8.223 * [backup-simplify]: Simplify (+ 0 0) into 0 8.223 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 8.224 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 8.224 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 8.225 * [backup-simplify]: Simplify (+ 0 0) into 0 8.225 * [backup-simplify]: Simplify (+ 0 0) into 0 8.225 * [backup-simplify]: Simplify (+ 0 0) into 0 8.225 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 8.226 * [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)) 8.226 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 8.226 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 8.227 * [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)) 8.227 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in lambda1 8.227 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in lambda1 8.227 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) in lambda1 8.227 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda1 8.227 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 8.227 * [taylor]: Taking taylor expansion of phi2 in lambda1 8.227 * [backup-simplify]: Simplify phi2 into phi2 8.227 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 8.227 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 8.227 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))) in lambda1 8.227 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda1 8.227 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 8.227 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 8.227 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 8.227 * [taylor]: Taking taylor expansion of -0.5 in lambda1 8.227 * [backup-simplify]: Simplify -0.5 into -0.5 8.227 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 8.227 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 8.227 * [taylor]: Taking taylor expansion of phi1 in lambda1 8.227 * [backup-simplify]: Simplify phi1 into phi1 8.227 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 8.227 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 8.227 * [taylor]: Taking taylor expansion of phi2 in lambda1 8.227 * [backup-simplify]: Simplify phi2 into phi2 8.227 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 8.227 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 8.227 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 8.227 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.228 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.228 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.228 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 8.228 * [backup-simplify]: Simplify (- 0) into 0 8.228 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.228 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 8.228 * [taylor]: Taking taylor expansion of lambda2 in lambda1 8.228 * [backup-simplify]: Simplify lambda2 into lambda2 8.228 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.229 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 8.229 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 8.229 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))) in lambda1 8.229 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda1 8.229 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 8.229 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 8.229 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 8.229 * [taylor]: Taking taylor expansion of -0.5 in lambda1 8.229 * [backup-simplify]: Simplify -0.5 into -0.5 8.229 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 8.229 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 8.229 * [taylor]: Taking taylor expansion of phi1 in lambda1 8.229 * [backup-simplify]: Simplify phi1 into phi1 8.229 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 8.229 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 8.229 * [taylor]: Taking taylor expansion of phi2 in lambda1 8.229 * [backup-simplify]: Simplify phi2 into phi2 8.229 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 8.229 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 8.229 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 8.229 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.229 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.230 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.230 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 8.230 * [backup-simplify]: Simplify (- 0) into 0 8.230 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.230 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 8.230 * [taylor]: Taking taylor expansion of lambda1 in lambda1 8.230 * [backup-simplify]: Simplify 0 into 0 8.230 * [backup-simplify]: Simplify 1 into 1 8.230 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.231 * [backup-simplify]: Simplify (* 1 1) into 1 8.231 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.231 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda1 8.231 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 8.231 * [taylor]: Taking taylor expansion of phi1 in lambda1 8.231 * [backup-simplify]: Simplify phi1 into phi1 8.231 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 8.231 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 8.231 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in lambda1 8.231 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1 8.231 * [taylor]: Taking taylor expansion of 2 in lambda1 8.231 * [backup-simplify]: Simplify 2 into 2 8.231 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1 8.231 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 8.231 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 8.231 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 8.231 * [taylor]: Taking taylor expansion of -0.5 in lambda1 8.231 * [backup-simplify]: Simplify -0.5 into -0.5 8.231 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 8.231 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 8.231 * [taylor]: Taking taylor expansion of phi1 in lambda1 8.231 * [backup-simplify]: Simplify phi1 into phi1 8.231 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 8.231 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 8.231 * [taylor]: Taking taylor expansion of phi2 in lambda1 8.231 * [backup-simplify]: Simplify phi2 into phi2 8.231 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 8.232 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 8.232 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 8.232 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.232 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.232 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.232 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 8.232 * [backup-simplify]: Simplify (- 0) into 0 8.233 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.233 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 8.233 * [taylor]: Taking taylor expansion of lambda2 in lambda1 8.233 * [backup-simplify]: Simplify lambda2 into lambda2 8.233 * [taylor]: Taking taylor expansion of lambda1 in lambda1 8.233 * [backup-simplify]: Simplify 0 into 0 8.233 * [backup-simplify]: Simplify 1 into 1 8.233 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.233 * [backup-simplify]: Simplify (* lambda2 0) into 0 8.233 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 8.233 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) 8.233 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda1 8.233 * [taylor]: Taking taylor expansion of 2 in lambda1 8.233 * [backup-simplify]: Simplify 2 into 2 8.233 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda1 8.233 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda1 8.233 * [taylor]: Taking taylor expansion of phi2 in lambda1 8.233 * [backup-simplify]: Simplify phi2 into phi2 8.233 * [taylor]: Taking taylor expansion of phi1 in lambda1 8.234 * [backup-simplify]: Simplify phi1 into phi1 8.234 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 8.234 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 8.234 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.234 * [backup-simplify]: Simplify (+ 0 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.234 * [backup-simplify]: Simplify (+ 0 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.234 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.235 * [backup-simplify]: Simplify (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.235 * [backup-simplify]: Simplify (+ 0) into 0 8.235 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 8.235 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 8.235 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 8.236 * [backup-simplify]: Simplify (+ 0 0) into 0 8.236 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 8.237 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 8.237 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 8.237 * [backup-simplify]: Simplify (- 0) into 0 8.237 * [backup-simplify]: Simplify (+ 0 0) into 0 8.238 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 8.238 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 8.239 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 8.239 * [backup-simplify]: Simplify (+ 0 0) into 0 8.239 * [backup-simplify]: Simplify (+ 0 0) into 0 8.239 * [backup-simplify]: Simplify (+ 0 0) into 0 8.240 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 8.240 * [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)) 8.240 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 8.240 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 8.241 * [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)) 8.241 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 8.241 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 8.241 * [taylor]: Taking taylor expansion of -0.5 in lambda2 8.241 * [backup-simplify]: Simplify -0.5 into -0.5 8.241 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 8.241 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 8.241 * [taylor]: Taking taylor expansion of phi1 in lambda2 8.241 * [backup-simplify]: Simplify phi1 into phi1 8.241 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 8.241 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 8.241 * [taylor]: Taking taylor expansion of phi2 in lambda2 8.241 * [backup-simplify]: Simplify phi2 into phi2 8.241 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 8.241 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 8.241 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 8.241 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.241 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.242 * [taylor]: Taking taylor expansion of (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) in lambda2 8.242 * [taylor]: Taking taylor expansion of -1 in lambda2 8.242 * [backup-simplify]: Simplify -1 into -1 8.242 * [taylor]: Taking taylor expansion of (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2) in lambda2 8.242 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 8.242 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 8.242 * [taylor]: Taking taylor expansion of -0.5 in lambda2 8.242 * [backup-simplify]: Simplify -0.5 into -0.5 8.242 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 8.242 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 8.242 * [taylor]: Taking taylor expansion of phi1 in lambda2 8.242 * [backup-simplify]: Simplify phi1 into phi1 8.242 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 8.242 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 8.242 * [taylor]: Taking taylor expansion of phi2 in lambda2 8.242 * [backup-simplify]: Simplify phi2 into phi2 8.242 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 8.242 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 8.242 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 8.242 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.242 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.242 * [taylor]: Taking taylor expansion of lambda2 in lambda2 8.242 * [backup-simplify]: Simplify 0 into 0 8.242 * [backup-simplify]: Simplify 1 into 1 8.242 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.242 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 8.243 * [backup-simplify]: Simplify (- 0) into 0 8.243 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.243 * [backup-simplify]: Simplify (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.243 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 8.243 * [taylor]: Taking taylor expansion of (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1 8.243 * [taylor]: Taking taylor expansion of -1 in phi1 8.243 * [backup-simplify]: Simplify -1 into -1 8.243 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 8.243 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 8.243 * [taylor]: Taking taylor expansion of -0.5 in phi1 8.243 * [backup-simplify]: Simplify -0.5 into -0.5 8.243 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 8.243 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 8.243 * [taylor]: Taking taylor expansion of phi1 in phi1 8.243 * [backup-simplify]: Simplify 0 into 0 8.243 * [backup-simplify]: Simplify 1 into 1 8.244 * [backup-simplify]: Simplify (/ 1 1) into 1 8.244 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 8.244 * [taylor]: Taking taylor expansion of phi2 in phi1 8.244 * [backup-simplify]: Simplify phi2 into phi2 8.244 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 8.244 * [backup-simplify]: Simplify (+ 1 0) into 1 8.245 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 8.245 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.245 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.245 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 8.245 * [backup-simplify]: Simplify (- 0) into 0 8.245 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.245 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 8.245 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 8.245 * [taylor]: Taking taylor expansion of -0.5 in phi1 8.245 * [backup-simplify]: Simplify -0.5 into -0.5 8.245 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 8.245 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 8.245 * [taylor]: Taking taylor expansion of phi1 in phi1 8.246 * [backup-simplify]: Simplify 0 into 0 8.246 * [backup-simplify]: Simplify 1 into 1 8.246 * [backup-simplify]: Simplify (/ 1 1) into 1 8.246 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 8.246 * [taylor]: Taking taylor expansion of phi2 in phi1 8.246 * [backup-simplify]: Simplify phi2 into phi2 8.246 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 8.246 * [backup-simplify]: Simplify (+ 1 0) into 1 8.246 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 8.247 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.247 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 8.248 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 8.248 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 8.248 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 8.248 * [backup-simplify]: Simplify (+ 0 0) into 0 8.249 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 8.249 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 8.250 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 8.250 * [backup-simplify]: Simplify (- 0) into 0 8.250 * [backup-simplify]: Simplify (+ 0 0) into 0 8.251 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 8.251 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 8.252 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)) (* 0 (/ 0 1)))) into 0 8.252 * [backup-simplify]: Simplify (+ 0 (/ 1 (pow phi1 2))) into (/ 1 (pow phi1 2)) 8.253 * [backup-simplify]: Simplify (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) into (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) 8.253 * [backup-simplify]: Simplify (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) into (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) 8.253 * [backup-simplify]: Simplify (+ 0) into 0 8.254 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 8.254 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 8.254 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 8.254 * [backup-simplify]: Simplify (+ 0 0) into 0 8.254 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 8.255 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 8.255 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 8.256 * [backup-simplify]: Simplify (- 0) into 0 8.256 * [backup-simplify]: Simplify (+ 0 0) into 0 8.256 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 8.256 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 1) (* 0 0))) into 0 8.257 * [backup-simplify]: Simplify (- (/ 0 lambda2) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) (/ 0 lambda2)))) into 0 8.257 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into 0 8.257 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi2 phi1))) into (/ 2 (* phi2 phi1)) 8.257 * [backup-simplify]: Simplify (+ 0 (/ 2 (* phi2 phi1))) into (* 2 (/ 1 (* phi2 phi1))) 8.257 * [backup-simplify]: Simplify (- (* 2 (/ 1 (* phi2 phi1)))) into (- (* 2 (/ 1 (* phi2 phi1)))) 8.258 * [backup-simplify]: Simplify (+ (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) (- (* 2 (/ 1 (* phi2 phi1))))) into (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) (* 2 (/ 1 (* phi2 phi1)))) 8.259 * [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)))))) 8.259 * [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 8.259 * [taylor]: Taking taylor expansion of 1/2 in lambda2 8.259 * [backup-simplify]: Simplify 1/2 into 1/2 8.259 * [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 8.259 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) in lambda2 8.259 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in lambda2 8.259 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda2 8.259 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 8.259 * [taylor]: Taking taylor expansion of phi2 in lambda2 8.259 * [backup-simplify]: Simplify phi2 into phi2 8.260 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 8.260 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 8.260 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda2 8.260 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 8.260 * [taylor]: Taking taylor expansion of phi1 in lambda2 8.260 * [backup-simplify]: Simplify phi1 into phi1 8.260 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 8.260 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 8.260 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda2 8.260 * [taylor]: Taking taylor expansion of 2 in lambda2 8.260 * [backup-simplify]: Simplify 2 into 2 8.260 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda2 8.260 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 8.260 * [taylor]: Taking taylor expansion of phi2 in lambda2 8.260 * [backup-simplify]: Simplify phi2 into phi2 8.260 * [taylor]: Taking taylor expansion of phi1 in lambda2 8.260 * [backup-simplify]: Simplify phi1 into phi1 8.260 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 8.260 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 8.260 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 8.260 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 8.260 * [taylor]: Taking taylor expansion of -0.5 in lambda2 8.260 * [backup-simplify]: Simplify -0.5 into -0.5 8.260 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 8.260 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 8.260 * [taylor]: Taking taylor expansion of phi1 in lambda2 8.260 * [backup-simplify]: Simplify phi1 into phi1 8.260 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 8.260 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 8.260 * [taylor]: Taking taylor expansion of phi2 in lambda2 8.260 * [backup-simplify]: Simplify phi2 into phi2 8.260 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 8.260 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 8.260 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 8.261 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.261 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.261 * [backup-simplify]: Simplify (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) into (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) 8.261 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi2 phi1))) into (/ 2 (* phi2 phi1)) 8.261 * [backup-simplify]: Simplify (- (/ 2 (* phi2 phi1))) into (- (* 2 (/ 1 (* phi2 phi1)))) 8.261 * [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)))) 8.261 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.261 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 8.262 * [backup-simplify]: Simplify (- 0) into 0 8.262 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.262 * [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))))) 8.263 * [backup-simplify]: Simplify (+ 0) into 0 8.263 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 8.263 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 8.263 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 8.263 * [backup-simplify]: Simplify (+ 0 0) into 0 8.264 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 8.264 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 8.264 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 8.265 * [backup-simplify]: Simplify (- 0) into 0 8.265 * [backup-simplify]: Simplify (+ 0 0) into 0 8.265 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (/ 0 1)))) into 0 8.266 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 8.266 * [taylor]: Taking taylor expansion of 0 in phi1 8.266 * [backup-simplify]: Simplify 0 into 0 8.266 * [backup-simplify]: Simplify (+ 0) into 0 8.267 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 8.267 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 8.267 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 8.267 * [backup-simplify]: Simplify (+ 0 0) into 0 8.267 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 8.268 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 8.268 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 8.268 * [backup-simplify]: Simplify (- 0) into 0 8.269 * [backup-simplify]: Simplify (+ 0 0) into 0 8.269 * [taylor]: Taking taylor expansion of 0 in phi1 8.269 * [backup-simplify]: Simplify 0 into 0 8.269 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 8.269 * [taylor]: Taking taylor expansion of (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 8.269 * [taylor]: Taking taylor expansion of -1 in phi2 8.269 * [backup-simplify]: Simplify -1 into -1 8.269 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 8.269 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 8.269 * [taylor]: Taking taylor expansion of -0.5 in phi2 8.269 * [backup-simplify]: Simplify -0.5 into -0.5 8.269 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 8.269 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 8.269 * [taylor]: Taking taylor expansion of phi1 in phi2 8.269 * [backup-simplify]: Simplify phi1 into phi1 8.269 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 8.269 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 8.269 * [taylor]: Taking taylor expansion of phi2 in phi2 8.269 * [backup-simplify]: Simplify 0 into 0 8.269 * [backup-simplify]: Simplify 1 into 1 8.269 * [backup-simplify]: Simplify (/ 1 1) into 1 8.270 * [backup-simplify]: Simplify (+ 0 1) into 1 8.270 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 8.270 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.270 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 8.270 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 8.270 * [taylor]: Taking taylor expansion of -0.5 in phi2 8.270 * [backup-simplify]: Simplify -0.5 into -0.5 8.270 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 8.270 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 8.270 * [taylor]: Taking taylor expansion of phi1 in phi2 8.270 * [backup-simplify]: Simplify phi1 into phi1 8.270 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 8.270 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 8.270 * [taylor]: Taking taylor expansion of phi2 in phi2 8.270 * [backup-simplify]: Simplify 0 into 0 8.270 * [backup-simplify]: Simplify 1 into 1 8.270 * [backup-simplify]: Simplify (/ 1 1) into 1 8.271 * [backup-simplify]: Simplify (+ 0 1) into 1 8.271 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 8.271 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.271 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 8.271 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi2 2)) (/ 0 (pow phi2 2))))) into 0 8.272 * [backup-simplify]: Simplify (+ 0) into 0 8.272 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 8.272 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 8.272 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 8.273 * [backup-simplify]: Simplify (+ 0 0) into 0 8.273 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 8.273 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 8.274 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 8.274 * [backup-simplify]: Simplify (- 0) into 0 8.274 * [backup-simplify]: Simplify (+ 0 0) into 0 8.274 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 8.274 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 8.275 * [backup-simplify]: Simplify (- (/ 0 (pow lambda2 2)) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 0 (pow lambda2 2))))) into 0 8.275 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 8.276 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 8.276 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 8.276 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 8.277 * [backup-simplify]: Simplify (+ 0 0) into 0 8.277 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 8.278 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 8.279 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 8.279 * [backup-simplify]: Simplify (- 0) into 0 8.279 * [backup-simplify]: Simplify (+ 0 0) into 0 8.284 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into 0 8.285 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 8.286 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0 8.287 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 8.287 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi1 2)) (/ 0 (pow phi1 2))))) into 0 8.287 * [backup-simplify]: Simplify (+ 0 0) into 0 8.287 * [backup-simplify]: Simplify (+ 0 0) into 0 8.287 * [backup-simplify]: Simplify (+ 0 0) into 0 8.288 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 8.288 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 8.289 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 8.289 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 8.289 * [backup-simplify]: Simplify (+ 0 0) into 0 8.289 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 8.290 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 8.290 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 8.291 * [backup-simplify]: Simplify (- 0) into 0 8.291 * [backup-simplify]: Simplify (+ 0 0) into 0 8.291 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 8.292 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (+ (* 0 1) (* 0 0)))) into 0 8.292 * [backup-simplify]: Simplify (- (/ 0 lambda2) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) (/ 0 lambda2)) (* 0 (/ 0 lambda2)))) into 0 8.293 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) into 0 8.293 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 8.293 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* phi2 phi1)) (/ 0 (* phi2 phi1))))) into 0 8.293 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ 1 (* phi2 phi1)))) into 0 8.293 * [backup-simplify]: Simplify (+ 0 0) into 0 8.294 * [backup-simplify]: Simplify (- 0) into 0 8.294 * [backup-simplify]: Simplify (+ 0 0) into 0 8.295 * [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)))))) 8.295 * [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 8.295 * [taylor]: Taking taylor expansion of 1/2 in lambda2 8.295 * [backup-simplify]: Simplify 1/2 into 1/2 8.295 * [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 8.295 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (* lambda2 (pow phi1 2))) (/ 1 (* (pow phi2 2) lambda2))) (* 2 (/ 1 (* phi2 (* lambda2 phi1))))) in lambda2 8.295 * [taylor]: Taking taylor expansion of (+ (/ 1 (* lambda2 (pow phi1 2))) (/ 1 (* (pow phi2 2) lambda2))) in lambda2 8.295 * [taylor]: Taking taylor expansion of (/ 1 (* lambda2 (pow phi1 2))) in lambda2 8.295 * [taylor]: Taking taylor expansion of (* lambda2 (pow phi1 2)) in lambda2 8.295 * [taylor]: Taking taylor expansion of lambda2 in lambda2 8.295 * [backup-simplify]: Simplify 0 into 0 8.295 * [backup-simplify]: Simplify 1 into 1 8.295 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 8.295 * [taylor]: Taking taylor expansion of phi1 in lambda2 8.295 * [backup-simplify]: Simplify phi1 into phi1 8.295 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 8.296 * [backup-simplify]: Simplify (* 0 (pow phi1 2)) into 0 8.296 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 8.296 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow phi1 2))) into (pow phi1 2) 8.296 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 8.296 * [taylor]: Taking taylor expansion of (/ 1 (* (pow phi2 2) lambda2)) in lambda2 8.296 * [taylor]: Taking taylor expansion of (* (pow phi2 2) lambda2) in lambda2 8.296 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 8.296 * [taylor]: Taking taylor expansion of phi2 in lambda2 8.296 * [backup-simplify]: Simplify phi2 into phi2 8.296 * [taylor]: Taking taylor expansion of lambda2 in lambda2 8.296 * [backup-simplify]: Simplify 0 into 0 8.296 * [backup-simplify]: Simplify 1 into 1 8.296 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 8.296 * [backup-simplify]: Simplify (* (pow phi2 2) 0) into 0 8.296 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 8.297 * [backup-simplify]: Simplify (+ (* (pow phi2 2) 1) (* 0 0)) into (pow phi2 2) 8.297 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 8.297 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 (* lambda2 phi1)))) in lambda2 8.297 * [taylor]: Taking taylor expansion of 2 in lambda2 8.297 * [backup-simplify]: Simplify 2 into 2 8.297 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (* lambda2 phi1))) in lambda2 8.297 * [taylor]: Taking taylor expansion of (* phi2 (* lambda2 phi1)) in lambda2 8.297 * [taylor]: Taking taylor expansion of phi2 in lambda2 8.297 * [backup-simplify]: Simplify phi2 into phi2 8.297 * [taylor]: Taking taylor expansion of (* lambda2 phi1) in lambda2 8.297 * [taylor]: Taking taylor expansion of lambda2 in lambda2 8.297 * [backup-simplify]: Simplify 0 into 0 8.297 * [backup-simplify]: Simplify 1 into 1 8.297 * [taylor]: Taking taylor expansion of phi1 in lambda2 8.297 * [backup-simplify]: Simplify phi1 into phi1 8.297 * [backup-simplify]: Simplify (* 0 phi1) into 0 8.297 * [backup-simplify]: Simplify (* phi2 0) into 0 8.297 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 8.298 * [backup-simplify]: Simplify (+ (* phi2 phi1) (* 0 0)) into (* phi2 phi1) 8.298 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 8.298 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 8.298 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 8.298 * [taylor]: Taking taylor expansion of -0.5 in lambda2 8.298 * [backup-simplify]: Simplify -0.5 into -0.5 8.298 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 8.298 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 8.298 * [taylor]: Taking taylor expansion of phi1 in lambda2 8.298 * [backup-simplify]: Simplify phi1 into phi1 8.298 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 8.298 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 8.298 * [taylor]: Taking taylor expansion of phi2 in lambda2 8.298 * [backup-simplify]: Simplify phi2 into phi2 8.298 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 8.298 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 8.298 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 8.298 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.298 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.299 * [backup-simplify]: Simplify (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) into (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) 8.299 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi2 phi1))) into (/ 2 (* phi2 phi1)) 8.299 * [backup-simplify]: Simplify (- (/ 2 (* phi2 phi1))) into (- (* 2 (/ 1 (* phi2 phi1)))) 8.299 * [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)))) 8.299 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.299 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 8.299 * [backup-simplify]: Simplify (- 0) into 0 8.300 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.300 * [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))))) 8.300 * [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)))))) 8.300 * [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 8.300 * [taylor]: Taking taylor expansion of 1/2 in phi1 8.300 * [backup-simplify]: Simplify 1/2 into 1/2 8.300 * [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 8.300 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) in phi1 8.300 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in phi1 8.300 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 8.300 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 8.300 * [taylor]: Taking taylor expansion of phi2 in phi1 8.300 * [backup-simplify]: Simplify phi2 into phi2 8.301 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 8.301 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 8.301 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 8.301 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 8.301 * [taylor]: Taking taylor expansion of phi1 in phi1 8.301 * [backup-simplify]: Simplify 0 into 0 8.301 * [backup-simplify]: Simplify 1 into 1 8.301 * [backup-simplify]: Simplify (* 1 1) into 1 8.301 * [backup-simplify]: Simplify (/ 1 1) into 1 8.301 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi1 8.301 * [taylor]: Taking taylor expansion of 2 in phi1 8.301 * [backup-simplify]: Simplify 2 into 2 8.301 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi1 8.301 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 8.301 * [taylor]: Taking taylor expansion of phi2 in phi1 8.301 * [backup-simplify]: Simplify phi2 into phi2 8.301 * [taylor]: Taking taylor expansion of phi1 in phi1 8.301 * [backup-simplify]: Simplify 0 into 0 8.301 * [backup-simplify]: Simplify 1 into 1 8.301 * [backup-simplify]: Simplify (* phi2 0) into 0 8.302 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 8.302 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 8.302 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 8.302 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 8.302 * [taylor]: Taking taylor expansion of -0.5 in phi1 8.302 * [backup-simplify]: Simplify -0.5 into -0.5 8.302 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 8.302 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 8.302 * [taylor]: Taking taylor expansion of phi1 in phi1 8.302 * [backup-simplify]: Simplify 0 into 0 8.302 * [backup-simplify]: Simplify 1 into 1 8.302 * [backup-simplify]: Simplify (/ 1 1) into 1 8.302 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 8.302 * [taylor]: Taking taylor expansion of phi2 in phi1 8.302 * [backup-simplify]: Simplify phi2 into phi2 8.302 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 8.302 * [backup-simplify]: Simplify (+ 1 0) into 1 8.303 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 8.303 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.303 * [backup-simplify]: Simplify (+ 0 1) into 1 8.303 * [backup-simplify]: Simplify (+ 1 0) into 1 8.303 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 8.304 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 8.304 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 8.305 * [backup-simplify]: Simplify (+ 0 0) into 0 8.305 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 8.305 * [backup-simplify]: Simplify (- (/ 2 phi2)) into (- (* 2 (/ 1 phi2))) 8.305 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 8.305 * [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)))))))) 8.305 * [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))))))) 8.305 * [taylor]: Taking taylor expansion of (- (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in phi2 8.306 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi2 8.306 * [taylor]: Taking taylor expansion of (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 8.306 * [taylor]: Taking taylor expansion of phi2 in phi2 8.306 * [backup-simplify]: Simplify 0 into 0 8.306 * [backup-simplify]: Simplify 1 into 1 8.306 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 8.306 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 8.306 * [taylor]: Taking taylor expansion of -0.5 in phi2 8.306 * [backup-simplify]: Simplify -0.5 into -0.5 8.306 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 8.306 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 8.306 * [taylor]: Taking taylor expansion of phi1 in phi2 8.306 * [backup-simplify]: Simplify phi1 into phi1 8.306 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 8.306 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 8.306 * [taylor]: Taking taylor expansion of phi2 in phi2 8.306 * [backup-simplify]: Simplify 0 into 0 8.306 * [backup-simplify]: Simplify 1 into 1 8.306 * [backup-simplify]: Simplify (/ 1 1) into 1 8.306 * [backup-simplify]: Simplify (+ 0 1) into 1 8.307 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 8.307 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.307 * [backup-simplify]: Simplify (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 8.307 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.307 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 8.307 * [backup-simplify]: Simplify (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 8.308 * [backup-simplify]: Simplify (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 8.308 * [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)))))) 8.308 * [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 8.308 * [taylor]: Taking taylor expansion of 1/2 in phi1 8.308 * [backup-simplify]: Simplify 1/2 into 1/2 8.308 * [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 8.308 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) in phi1 8.308 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in phi1 8.308 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 8.308 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 8.308 * [taylor]: Taking taylor expansion of phi2 in phi1 8.308 * [backup-simplify]: Simplify phi2 into phi2 8.308 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 8.308 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 8.308 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 8.308 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 8.308 * [taylor]: Taking taylor expansion of phi1 in phi1 8.308 * [backup-simplify]: Simplify 0 into 0 8.308 * [backup-simplify]: Simplify 1 into 1 8.309 * [backup-simplify]: Simplify (* 1 1) into 1 8.309 * [backup-simplify]: Simplify (/ 1 1) into 1 8.309 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi1 8.309 * [taylor]: Taking taylor expansion of 2 in phi1 8.309 * [backup-simplify]: Simplify 2 into 2 8.309 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi1 8.309 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 8.309 * [taylor]: Taking taylor expansion of phi2 in phi1 8.309 * [backup-simplify]: Simplify phi2 into phi2 8.309 * [taylor]: Taking taylor expansion of phi1 in phi1 8.309 * [backup-simplify]: Simplify 0 into 0 8.309 * [backup-simplify]: Simplify 1 into 1 8.309 * [backup-simplify]: Simplify (* phi2 0) into 0 8.309 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 8.309 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 8.309 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 8.309 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 8.310 * [taylor]: Taking taylor expansion of -0.5 in phi1 8.310 * [backup-simplify]: Simplify -0.5 into -0.5 8.310 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 8.310 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 8.310 * [taylor]: Taking taylor expansion of phi1 in phi1 8.310 * [backup-simplify]: Simplify 0 into 0 8.310 * [backup-simplify]: Simplify 1 into 1 8.310 * [backup-simplify]: Simplify (/ 1 1) into 1 8.310 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 8.310 * [taylor]: Taking taylor expansion of phi2 in phi1 8.310 * [backup-simplify]: Simplify phi2 into phi2 8.310 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 8.310 * [backup-simplify]: Simplify (+ 1 0) into 1 8.310 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 8.311 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.311 * [backup-simplify]: Simplify (+ 0 1) into 1 8.311 * [backup-simplify]: Simplify (+ 1 0) into 1 8.311 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 8.312 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 8.312 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 8.312 * [backup-simplify]: Simplify (+ 0 0) into 0 8.312 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 8.312 * [backup-simplify]: Simplify (- (/ 2 phi2)) into (- (* 2 (/ 1 phi2))) 8.313 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 8.313 * [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)))))))) 8.313 * [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))))))) 8.313 * [taylor]: Taking taylor expansion of (- (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in phi2 8.313 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi2 8.313 * [taylor]: Taking taylor expansion of (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 8.313 * [taylor]: Taking taylor expansion of phi2 in phi2 8.313 * [backup-simplify]: Simplify 0 into 0 8.313 * [backup-simplify]: Simplify 1 into 1 8.313 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 8.313 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 8.313 * [taylor]: Taking taylor expansion of -0.5 in phi2 8.313 * [backup-simplify]: Simplify -0.5 into -0.5 8.313 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 8.313 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 8.313 * [taylor]: Taking taylor expansion of phi1 in phi2 8.313 * [backup-simplify]: Simplify phi1 into phi1 8.313 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 8.314 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 8.314 * [taylor]: Taking taylor expansion of phi2 in phi2 8.314 * [backup-simplify]: Simplify 0 into 0 8.314 * [backup-simplify]: Simplify 1 into 1 8.314 * [backup-simplify]: Simplify (/ 1 1) into 1 8.314 * [backup-simplify]: Simplify (+ 0 1) into 1 8.314 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 8.314 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.315 * [backup-simplify]: Simplify (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 8.315 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.315 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 8.315 * [backup-simplify]: Simplify (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 8.315 * [backup-simplify]: Simplify (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 8.316 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 8.316 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 8.316 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 8.317 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 8.317 * [backup-simplify]: Simplify (+ 0 0) into 0 8.317 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 8.318 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 8.318 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 8.318 * [backup-simplify]: Simplify (- 0) into 0 8.319 * [backup-simplify]: Simplify (+ 0 0) into 0 8.320 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (/ 0 1)) (* 0 (/ 0 1)))) into 0 8.320 * [backup-simplify]: Simplify (+ (* -1 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 8.320 * [taylor]: Taking taylor expansion of 0 in phi1 8.320 * [backup-simplify]: Simplify 0 into 0 8.321 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 8.321 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 8.321 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 8.322 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 8.322 * [backup-simplify]: Simplify (+ 0 0) into 0 8.322 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 8.323 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 8.323 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 8.323 * [backup-simplify]: Simplify (- 0) into 0 8.324 * [backup-simplify]: Simplify (+ 0 0) into 0 8.324 * [taylor]: Taking taylor expansion of 0 in phi1 8.324 * [backup-simplify]: Simplify 0 into 0 8.324 * [taylor]: Taking taylor expansion of 0 in phi2 8.324 * [backup-simplify]: Simplify 0 into 0 8.324 * [taylor]: Taking taylor expansion of 0 in phi2 8.324 * [backup-simplify]: Simplify 0 into 0 8.324 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 8.324 * [taylor]: Taking taylor expansion of 0 in phi2 8.324 * [backup-simplify]: Simplify 0 into 0 8.324 * [taylor]: Taking taylor expansion of 0 in phi2 8.324 * [backup-simplify]: Simplify 0 into 0 8.324 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 8.325 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 8.326 * [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)))))) 8.326 * * * * [progress]: [ 2 / 4 ] generating series at (2 2) 8.327 * [backup-simplify]: Simplify (exp (log (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (* (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))))) (* (- phi1 phi2) (- phi1 phi2)))))) into (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) 8.327 * [approximate]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in (lambda1 lambda2 phi1 phi2) around 0 8.327 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in phi2 8.327 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in phi2 8.327 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) in phi2 8.327 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 8.327 * [taylor]: Taking taylor expansion of phi2 in phi2 8.327 * [backup-simplify]: Simplify 0 into 0 8.327 * [backup-simplify]: Simplify 1 into 1 8.327 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) in phi2 8.327 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in phi2 8.327 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 8.327 * [taylor]: Taking taylor expansion of lambda2 in phi2 8.327 * [backup-simplify]: Simplify lambda2 into lambda2 8.327 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2 8.327 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 8.327 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 8.327 * [taylor]: Taking taylor expansion of 0.5 in phi2 8.327 * [backup-simplify]: Simplify 0.5 into 0.5 8.327 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 8.327 * [taylor]: Taking taylor expansion of phi2 in phi2 8.327 * [backup-simplify]: Simplify 0 into 0 8.327 * [backup-simplify]: Simplify 1 into 1 8.327 * [taylor]: Taking taylor expansion of phi1 in phi2 8.327 * [backup-simplify]: Simplify phi1 into phi1 8.327 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 8.327 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 8.327 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 8.327 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 8.327 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 8.327 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 8.328 * [backup-simplify]: Simplify (- 0) into 0 8.328 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 8.328 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) in phi2 8.328 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in phi2 8.328 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2 8.328 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 8.328 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 8.328 * [taylor]: Taking taylor expansion of 0.5 in phi2 8.328 * [backup-simplify]: Simplify 0.5 into 0.5 8.328 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 8.328 * [taylor]: Taking taylor expansion of phi2 in phi2 8.328 * [backup-simplify]: Simplify 0 into 0 8.328 * [backup-simplify]: Simplify 1 into 1 8.328 * [taylor]: Taking taylor expansion of phi1 in phi2 8.328 * [backup-simplify]: Simplify phi1 into phi1 8.328 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 8.328 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 8.328 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 8.328 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 8.328 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 8.328 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 8.328 * [backup-simplify]: Simplify (- 0) into 0 8.329 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 8.329 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 8.329 * [taylor]: Taking taylor expansion of lambda1 in phi2 8.329 * [backup-simplify]: Simplify lambda1 into lambda1 8.329 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 8.329 * [taylor]: Taking taylor expansion of phi1 in phi2 8.329 * [backup-simplify]: Simplify phi1 into phi1 8.329 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in phi2 8.329 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi2 8.329 * [taylor]: Taking taylor expansion of 2 in phi2 8.329 * [backup-simplify]: Simplify 2 into 2 8.329 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2 8.329 * [taylor]: Taking taylor expansion of phi2 in phi2 8.329 * [backup-simplify]: Simplify 0 into 0 8.329 * [backup-simplify]: Simplify 1 into 1 8.329 * [taylor]: Taking taylor expansion of phi1 in phi2 8.329 * [backup-simplify]: Simplify phi1 into phi1 8.329 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in phi2 8.329 * [taylor]: Taking taylor expansion of 2 in phi2 8.329 * [backup-simplify]: Simplify 2 into 2 8.329 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in phi2 8.329 * [taylor]: Taking taylor expansion of lambda2 in phi2 8.329 * [backup-simplify]: Simplify lambda2 into lambda2 8.329 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in phi2 8.329 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2 8.329 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 8.329 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 8.329 * [taylor]: Taking taylor expansion of 0.5 in phi2 8.329 * [backup-simplify]: Simplify 0.5 into 0.5 8.329 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 8.329 * [taylor]: Taking taylor expansion of phi2 in phi2 8.329 * [backup-simplify]: Simplify 0 into 0 8.329 * [backup-simplify]: Simplify 1 into 1 8.329 * [taylor]: Taking taylor expansion of phi1 in phi2 8.329 * [backup-simplify]: Simplify phi1 into phi1 8.329 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 8.329 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 8.329 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 8.329 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 8.329 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 8.329 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 8.330 * [backup-simplify]: Simplify (- 0) into 0 8.330 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 8.330 * [taylor]: Taking taylor expansion of lambda1 in phi2 8.330 * [backup-simplify]: Simplify lambda1 into lambda1 8.330 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 8.330 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 8.330 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow (cos (* 0.5 phi1)) 2)) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) 8.330 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 8.330 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 8.330 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) 8.330 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 8.331 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 8.331 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) 8.332 * [backup-simplify]: Simplify (+ 0 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) 8.332 * [backup-simplify]: Simplify (* 0 phi1) into 0 8.332 * [backup-simplify]: Simplify (* 2 0) into 0 8.332 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 8.332 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) lambda1) into (* (pow (cos (* 0.5 phi1)) 2) lambda1) 8.332 * [backup-simplify]: Simplify (* lambda2 (* (pow (cos (* 0.5 phi1)) 2) lambda1)) into (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)) 8.332 * [backup-simplify]: Simplify (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) into (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) 8.333 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) into (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) 8.333 * [backup-simplify]: Simplify (- (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) into (- (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) 8.334 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (- (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))))) into (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) 8.334 * [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))))) 8.335 * [backup-simplify]: Simplify (+ 0) into 0 8.335 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 8.335 * [backup-simplify]: Simplify (+ 1 0) into 1 8.336 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 8.337 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 8.337 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 8.337 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 8.337 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 8.338 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- (* 0.5 (sin (* 0.5 phi1))))) (* (- (* 0.5 (sin (* 0.5 phi1)))) (cos (* 0.5 phi1)))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) 8.338 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 8.338 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))) (* 0 (pow (cos (* 0.5 phi1)) 2))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) 8.338 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 8.338 * [backup-simplify]: Simplify (+ 0) into 0 8.339 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 8.339 * [backup-simplify]: Simplify (+ 1 0) into 1 8.339 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 8.341 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 8.341 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 8.341 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 8.341 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 8.341 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- (* 0.5 (sin (* 0.5 phi1))))) (* (- (* 0.5 (sin (* 0.5 phi1)))) (cos (* 0.5 phi1)))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) 8.342 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (* (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) (pow lambda1 2))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) 8.342 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 8.342 * [backup-simplify]: Simplify (+ (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) 0) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) 8.343 * [backup-simplify]: Simplify (+ (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) into (- (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) 8.343 * [backup-simplify]: Simplify (+ 0 (- (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))))) into (- (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) 8.343 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 8.344 * [backup-simplify]: Simplify (+ (* 2 phi1) (* 0 0)) into (* 2 phi1) 8.344 * [backup-simplify]: Simplify (+ 0) into 0 8.344 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 8.345 * [backup-simplify]: Simplify (+ 1 0) into 1 8.345 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 8.347 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 8.347 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 8.347 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 8.347 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 8.347 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- (* 0.5 (sin (* 0.5 phi1))))) (* (- (* 0.5 (sin (* 0.5 phi1)))) (cos (* 0.5 phi1)))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) 8.348 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (* (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) lambda1)) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1)))) 8.348 * [backup-simplify]: Simplify (+ (* lambda2 (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1))))) (* 0 (* (pow (cos (* 0.5 phi1)) 2) lambda1))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1))))) 8.348 * [backup-simplify]: Simplify (+ (* 2 (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))))) (* 0 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) into (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1))))) 8.348 * [backup-simplify]: Simplify (+ (* 2 phi1) (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))))) into (- (* 2 phi1) (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1))))) 8.349 * [backup-simplify]: Simplify (- (- (* 2 phi1) (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))))) into (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) (* 2 phi1)) 8.349 * [backup-simplify]: Simplify (+ (- (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) (* 2 phi1))) into (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) (* 2 phi1)))) 8.351 * [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)))))))) 8.351 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in phi1 8.351 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in phi1 8.351 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) in phi1 8.351 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 8.351 * [taylor]: Taking taylor expansion of phi2 in phi1 8.351 * [backup-simplify]: Simplify phi2 into phi2 8.351 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) in phi1 8.351 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in phi1 8.351 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 8.351 * [taylor]: Taking taylor expansion of lambda2 in phi1 8.351 * [backup-simplify]: Simplify lambda2 into lambda2 8.351 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1 8.351 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 8.351 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 8.351 * [taylor]: Taking taylor expansion of 0.5 in phi1 8.351 * [backup-simplify]: Simplify 0.5 into 0.5 8.351 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 8.351 * [taylor]: Taking taylor expansion of phi2 in phi1 8.351 * [backup-simplify]: Simplify phi2 into phi2 8.351 * [taylor]: Taking taylor expansion of phi1 in phi1 8.351 * [backup-simplify]: Simplify 0 into 0 8.351 * [backup-simplify]: Simplify 1 into 1 8.351 * [backup-simplify]: Simplify (+ phi2 0) into phi2 8.351 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 8.352 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 8.352 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 8.352 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 8.352 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 8.352 * [backup-simplify]: Simplify (- 0) into 0 8.352 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 8.352 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) in phi1 8.352 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in phi1 8.352 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1 8.352 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 8.352 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 8.352 * [taylor]: Taking taylor expansion of 0.5 in phi1 8.352 * [backup-simplify]: Simplify 0.5 into 0.5 8.352 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 8.352 * [taylor]: Taking taylor expansion of phi2 in phi1 8.352 * [backup-simplify]: Simplify phi2 into phi2 8.352 * [taylor]: Taking taylor expansion of phi1 in phi1 8.352 * [backup-simplify]: Simplify 0 into 0 8.352 * [backup-simplify]: Simplify 1 into 1 8.352 * [backup-simplify]: Simplify (+ phi2 0) into phi2 8.352 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 8.353 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 8.353 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 8.353 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 8.353 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 8.353 * [backup-simplify]: Simplify (- 0) into 0 8.353 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 8.353 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 8.353 * [taylor]: Taking taylor expansion of lambda1 in phi1 8.353 * [backup-simplify]: Simplify lambda1 into lambda1 8.353 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 8.353 * [taylor]: Taking taylor expansion of phi1 in phi1 8.353 * [backup-simplify]: Simplify 0 into 0 8.353 * [backup-simplify]: Simplify 1 into 1 8.353 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in phi1 8.353 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi1 8.353 * [taylor]: Taking taylor expansion of 2 in phi1 8.353 * [backup-simplify]: Simplify 2 into 2 8.353 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 8.353 * [taylor]: Taking taylor expansion of phi2 in phi1 8.353 * [backup-simplify]: Simplify phi2 into phi2 8.353 * [taylor]: Taking taylor expansion of phi1 in phi1 8.353 * [backup-simplify]: Simplify 0 into 0 8.353 * [backup-simplify]: Simplify 1 into 1 8.353 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in phi1 8.353 * [taylor]: Taking taylor expansion of 2 in phi1 8.353 * [backup-simplify]: Simplify 2 into 2 8.353 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in phi1 8.353 * [taylor]: Taking taylor expansion of lambda2 in phi1 8.353 * [backup-simplify]: Simplify lambda2 into lambda2 8.353 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in phi1 8.353 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1 8.353 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 8.353 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 8.353 * [taylor]: Taking taylor expansion of 0.5 in phi1 8.353 * [backup-simplify]: Simplify 0.5 into 0.5 8.354 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 8.354 * [taylor]: Taking taylor expansion of phi2 in phi1 8.354 * [backup-simplify]: Simplify phi2 into phi2 8.354 * [taylor]: Taking taylor expansion of phi1 in phi1 8.354 * [backup-simplify]: Simplify 0 into 0 8.354 * [backup-simplify]: Simplify 1 into 1 8.354 * [backup-simplify]: Simplify (+ phi2 0) into phi2 8.354 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 8.354 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 8.354 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 8.354 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 8.354 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 8.354 * [backup-simplify]: Simplify (- 0) into 0 8.354 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 8.354 * [taylor]: Taking taylor expansion of lambda1 in phi1 8.354 * [backup-simplify]: Simplify lambda1 into lambda1 8.354 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 8.354 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 8.354 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 8.355 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2)) into (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) 8.355 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 8.355 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 8.355 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) 8.355 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) 0) into (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) 8.355 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2))) into (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2))) 8.356 * [backup-simplify]: Simplify (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)))) into (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (pow phi2 2))) 8.356 * [backup-simplify]: Simplify (* phi2 0) into 0 8.356 * [backup-simplify]: Simplify (* 2 0) into 0 8.356 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 8.357 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi2)) 2) lambda1) into (* (pow (cos (* 0.5 phi2)) 2) lambda1) 8.357 * [backup-simplify]: Simplify (* lambda2 (* (pow (cos (* 0.5 phi2)) 2) lambda1)) into (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)) 8.357 * [backup-simplify]: Simplify (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))) into (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))) 8.357 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) into (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))) 8.357 * [backup-simplify]: Simplify (- (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) into (- (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) 8.358 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (pow phi2 2))) (- (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))))) into (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (pow phi2 2))) (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) 8.359 * [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))))) 8.359 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 8.359 * [backup-simplify]: Simplify (+ 0) into 0 8.359 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 8.360 * [backup-simplify]: Simplify (+ 0 1) into 1 8.360 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5 8.362 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 8.362 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2))) 8.362 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2)))) 8.362 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2)))) 8.362 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) (- (* 0.5 (sin (* 0.5 phi2))))) (* (- (* 0.5 (sin (* 0.5 phi2)))) (cos (* 0.5 phi2)))) into (- (* 1.0 (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))) 8.362 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 8.363 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) (- (* 1.0 (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2)))))) (* 0 (pow (cos (* 0.5 phi2)) 2))) into (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))) 8.363 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 8.363 * [backup-simplify]: Simplify (+ 0) into 0 8.363 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 8.364 * [backup-simplify]: Simplify (+ 0 1) into 1 8.364 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5 8.365 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 8.366 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2))) 8.366 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2)))) 8.366 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2)))) 8.366 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) (- (* 0.5 (sin (* 0.5 phi2))))) (* (- (* 0.5 (sin (* 0.5 phi2)))) (cos (* 0.5 phi2)))) into (- (* 1.0 (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))) 8.366 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) 0) (* (- (* 1.0 (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))) (pow lambda1 2))) into (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2))))) 8.367 * [backup-simplify]: Simplify (+ (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2))))) 0) into (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2))))) 8.367 * [backup-simplify]: Simplify (+ (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))) (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))))) into (- (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2)))))) 8.368 * [backup-simplify]: Simplify (+ 0 (- (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))))) into (- (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2)))))) 8.368 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 8.369 * [backup-simplify]: Simplify (+ (* 2 phi2) (* 0 0)) into (* 2 phi2) 8.369 * [backup-simplify]: Simplify (+ 0) into 0 8.370 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 8.370 * [backup-simplify]: Simplify (+ 0 1) into 1 8.370 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5 8.373 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 8.373 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2))) 8.373 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2)))) 8.373 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2)))) 8.373 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) (- (* 0.5 (sin (* 0.5 phi2))))) (* (- (* 0.5 (sin (* 0.5 phi2)))) (cos (* 0.5 phi2)))) into (- (* 1.0 (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))) 8.374 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) 0) (* (- (* 1.0 (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))) lambda1)) into (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) lambda1)))) 8.374 * [backup-simplify]: Simplify (+ (* lambda2 (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) lambda1))))) (* 0 (* (pow (cos (* 0.5 phi2)) 2) lambda1))) into (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1))))) 8.375 * [backup-simplify]: Simplify (+ (* 2 (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))))) (* 0 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) into (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1))))) 8.375 * [backup-simplify]: Simplify (+ (* 2 phi2) (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))))) into (- (* 2 phi2) (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1))))) 8.376 * [backup-simplify]: Simplify (- (- (* 2 phi2) (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))))) into (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))) (* 2 phi2)) 8.376 * [backup-simplify]: Simplify (+ (- (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2)))))) (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))) (* 2 phi2))) into (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))) (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))) (+ (* 2 phi2) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))))) 8.378 * [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)))))))) 8.378 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in lambda2 8.378 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in lambda2 8.378 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) in lambda2 8.378 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 8.378 * [taylor]: Taking taylor expansion of phi2 in lambda2 8.378 * [backup-simplify]: Simplify phi2 into phi2 8.378 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) in lambda2 8.378 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda2 8.379 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 8.379 * [taylor]: Taking taylor expansion of lambda2 in lambda2 8.379 * [backup-simplify]: Simplify 0 into 0 8.379 * [backup-simplify]: Simplify 1 into 1 8.379 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 8.379 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 8.379 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 8.379 * [taylor]: Taking taylor expansion of 0.5 in lambda2 8.379 * [backup-simplify]: Simplify 0.5 into 0.5 8.379 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 8.379 * [taylor]: Taking taylor expansion of phi2 in lambda2 8.379 * [backup-simplify]: Simplify phi2 into phi2 8.379 * [taylor]: Taking taylor expansion of phi1 in lambda2 8.379 * [backup-simplify]: Simplify phi1 into phi1 8.379 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 8.379 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 8.379 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 8.379 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 8.379 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 8.379 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 8.380 * [backup-simplify]: Simplify (- 0) into 0 8.380 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 8.380 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) in lambda2 8.380 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in lambda2 8.380 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 8.380 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 8.380 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 8.380 * [taylor]: Taking taylor expansion of 0.5 in lambda2 8.380 * [backup-simplify]: Simplify 0.5 into 0.5 8.380 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 8.380 * [taylor]: Taking taylor expansion of phi2 in lambda2 8.380 * [backup-simplify]: Simplify phi2 into phi2 8.380 * [taylor]: Taking taylor expansion of phi1 in lambda2 8.380 * [backup-simplify]: Simplify phi1 into phi1 8.380 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 8.380 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 8.380 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 8.380 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 8.380 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 8.380 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 8.385 * [backup-simplify]: Simplify (- 0) into 0 8.386 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 8.386 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 8.386 * [taylor]: Taking taylor expansion of lambda1 in lambda2 8.386 * [backup-simplify]: Simplify lambda1 into lambda1 8.386 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 8.386 * [taylor]: Taking taylor expansion of phi1 in lambda2 8.386 * [backup-simplify]: Simplify phi1 into phi1 8.386 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in lambda2 8.386 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda2 8.386 * [taylor]: Taking taylor expansion of 2 in lambda2 8.386 * [backup-simplify]: Simplify 2 into 2 8.386 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 8.386 * [taylor]: Taking taylor expansion of phi2 in lambda2 8.386 * [backup-simplify]: Simplify phi2 into phi2 8.386 * [taylor]: Taking taylor expansion of phi1 in lambda2 8.386 * [backup-simplify]: Simplify phi1 into phi1 8.386 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in lambda2 8.386 * [taylor]: Taking taylor expansion of 2 in lambda2 8.386 * [backup-simplify]: Simplify 2 into 2 8.386 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in lambda2 8.386 * [taylor]: Taking taylor expansion of lambda2 in lambda2 8.386 * [backup-simplify]: Simplify 0 into 0 8.386 * [backup-simplify]: Simplify 1 into 1 8.386 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in lambda2 8.386 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 8.386 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 8.386 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 8.386 * [taylor]: Taking taylor expansion of 0.5 in lambda2 8.386 * [backup-simplify]: Simplify 0.5 into 0.5 8.386 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 8.386 * [taylor]: Taking taylor expansion of phi2 in lambda2 8.386 * [backup-simplify]: Simplify phi2 into phi2 8.386 * [taylor]: Taking taylor expansion of phi1 in lambda2 8.386 * [backup-simplify]: Simplify phi1 into phi1 8.386 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 8.386 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 8.386 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 8.386 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 8.386 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 8.387 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 8.387 * [backup-simplify]: Simplify (- 0) into 0 8.387 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 8.387 * [taylor]: Taking taylor expansion of lambda1 in lambda2 8.387 * [backup-simplify]: Simplify lambda1 into lambda1 8.387 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 8.387 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 8.387 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 8.388 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) 8.388 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 8.388 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) into (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) 8.388 * [backup-simplify]: Simplify (+ 0 (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) into (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) 8.389 * [backup-simplify]: Simplify (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) into (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) 8.389 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 8.389 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1)) 8.389 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 8.389 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) into (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) 8.389 * [backup-simplify]: Simplify (* 0 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) into 0 8.389 * [backup-simplify]: Simplify (* 2 0) into 0 8.390 * [backup-simplify]: Simplify (+ (* 2 (* phi2 phi1)) 0) into (* 2 (* phi2 phi1)) 8.390 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1))) 8.390 * [backup-simplify]: Simplify (+ (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (- (* 2 (* phi2 phi1)))) into (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1))) 8.391 * [backup-simplify]: Simplify (sqrt (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1)))) into (sqrt (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1)))) 8.391 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 8.391 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 8.391 * [backup-simplify]: Simplify (+ 0) into 0 8.391 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 8.392 * [backup-simplify]: Simplify (+ 0 0) into 0 8.392 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 8.392 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 8.393 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 8.393 * [backup-simplify]: Simplify (- 0) into 0 8.393 * [backup-simplify]: Simplify (+ 0 0) into 0 8.393 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 8.393 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) (* 0 (pow lambda1 2))) into 0 8.394 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 8.394 * [backup-simplify]: Simplify (+ 0 0) into 0 8.394 * [backup-simplify]: Simplify (+ 0 0) into 0 8.394 * [backup-simplify]: Simplify (+ 0 0) into 0 8.394 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 8.395 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0 8.395 * [backup-simplify]: Simplify (+ 0) into 0 8.395 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 8.396 * [backup-simplify]: Simplify (+ 0 0) into 0 8.396 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 8.396 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 8.397 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 8.397 * [backup-simplify]: Simplify (- 0) into 0 8.397 * [backup-simplify]: Simplify (+ 0 0) into 0 8.397 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 8.397 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) (* 0 lambda1)) into 0 8.398 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) 8.398 * [backup-simplify]: Simplify (+ (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) (* 0 0)) into (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) 8.399 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) 8.399 * [backup-simplify]: Simplify (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 8.399 * [backup-simplify]: Simplify (+ 0 (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) into (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 8.400 * [backup-simplify]: Simplify (/ (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (sqrt (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1)))))) into (* -1 (* (sqrt (/ 1 (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1))))) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 8.400 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in lambda1 8.400 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in lambda1 8.400 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) in lambda1 8.400 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 8.400 * [taylor]: Taking taylor expansion of phi2 in lambda1 8.400 * [backup-simplify]: Simplify phi2 into phi2 8.400 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) in lambda1 8.400 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda1 8.400 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 8.400 * [taylor]: Taking taylor expansion of lambda2 in lambda1 8.400 * [backup-simplify]: Simplify lambda2 into lambda2 8.400 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda1 8.400 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 8.400 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 8.400 * [taylor]: Taking taylor expansion of 0.5 in lambda1 8.400 * [backup-simplify]: Simplify 0.5 into 0.5 8.400 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 8.400 * [taylor]: Taking taylor expansion of phi2 in lambda1 8.400 * [backup-simplify]: Simplify phi2 into phi2 8.400 * [taylor]: Taking taylor expansion of phi1 in lambda1 8.400 * [backup-simplify]: Simplify phi1 into phi1 8.400 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 8.400 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 8.400 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 8.400 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 8.400 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 8.401 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 8.401 * [backup-simplify]: Simplify (- 0) into 0 8.401 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 8.401 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) in lambda1 8.401 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in lambda1 8.401 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda1 8.401 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 8.401 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 8.401 * [taylor]: Taking taylor expansion of 0.5 in lambda1 8.401 * [backup-simplify]: Simplify 0.5 into 0.5 8.401 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 8.401 * [taylor]: Taking taylor expansion of phi2 in lambda1 8.401 * [backup-simplify]: Simplify phi2 into phi2 8.401 * [taylor]: Taking taylor expansion of phi1 in lambda1 8.401 * [backup-simplify]: Simplify phi1 into phi1 8.401 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 8.401 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 8.401 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 8.401 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 8.401 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 8.401 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 8.402 * [backup-simplify]: Simplify (- 0) into 0 8.402 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 8.402 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 8.402 * [taylor]: Taking taylor expansion of lambda1 in lambda1 8.402 * [backup-simplify]: Simplify 0 into 0 8.402 * [backup-simplify]: Simplify 1 into 1 8.402 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 8.402 * [taylor]: Taking taylor expansion of phi1 in lambda1 8.402 * [backup-simplify]: Simplify phi1 into phi1 8.402 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in lambda1 8.402 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda1 8.402 * [taylor]: Taking taylor expansion of 2 in lambda1 8.402 * [backup-simplify]: Simplify 2 into 2 8.402 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda1 8.402 * [taylor]: Taking taylor expansion of phi2 in lambda1 8.402 * [backup-simplify]: Simplify phi2 into phi2 8.402 * [taylor]: Taking taylor expansion of phi1 in lambda1 8.402 * [backup-simplify]: Simplify phi1 into phi1 8.402 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in lambda1 8.402 * [taylor]: Taking taylor expansion of 2 in lambda1 8.402 * [backup-simplify]: Simplify 2 into 2 8.402 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in lambda1 8.402 * [taylor]: Taking taylor expansion of lambda2 in lambda1 8.402 * [backup-simplify]: Simplify lambda2 into lambda2 8.402 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in lambda1 8.402 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda1 8.402 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 8.402 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 8.402 * [taylor]: Taking taylor expansion of 0.5 in lambda1 8.402 * [backup-simplify]: Simplify 0.5 into 0.5 8.402 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 8.402 * [taylor]: Taking taylor expansion of phi2 in lambda1 8.402 * [backup-simplify]: Simplify phi2 into phi2 8.402 * [taylor]: Taking taylor expansion of phi1 in lambda1 8.402 * [backup-simplify]: Simplify phi1 into phi1 8.402 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 8.402 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 8.403 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 8.403 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 8.403 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 8.403 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 8.403 * [backup-simplify]: Simplify (- 0) into 0 8.403 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 8.403 * [taylor]: Taking taylor expansion of lambda1 in lambda1 8.403 * [backup-simplify]: Simplify 0 into 0 8.403 * [backup-simplify]: Simplify 1 into 1 8.403 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 8.403 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 8.403 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 8.403 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) into (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) 8.404 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 8.404 * [backup-simplify]: Simplify (+ 0 (pow phi1 2)) into (pow phi1 2) 8.404 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (pow phi1 2)) into (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (pow phi1 2)) 8.404 * [backup-simplify]: Simplify (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (pow phi1 2))) into (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) 8.404 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 8.404 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1)) 8.405 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 8.405 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) into 0 8.405 * [backup-simplify]: Simplify (* lambda2 0) into 0 8.405 * [backup-simplify]: Simplify (* 2 0) into 0 8.405 * [backup-simplify]: Simplify (+ (* 2 (* phi2 phi1)) 0) into (* 2 (* phi2 phi1)) 8.405 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1))) 8.406 * [backup-simplify]: Simplify (+ (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) (- (* 2 (* phi2 phi1)))) into (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) (* 2 (* phi2 phi1))) 8.406 * [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)))) 8.406 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 8.406 * [backup-simplify]: Simplify (+ 0) into 0 8.407 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 8.407 * [backup-simplify]: Simplify (+ 0 0) into 0 8.407 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 8.408 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 8.408 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 8.408 * [backup-simplify]: Simplify (- 0) into 0 8.409 * [backup-simplify]: Simplify (+ 0 0) into 0 8.409 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 8.409 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 8.409 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) 0) (* 0 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) into 0 8.409 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 8.409 * [backup-simplify]: Simplify (+ 0 0) into 0 8.409 * [backup-simplify]: Simplify (+ 0 0) into 0 8.410 * [backup-simplify]: Simplify (+ 0 0) into 0 8.410 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 8.410 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0 8.410 * [backup-simplify]: Simplify (+ 0) into 0 8.411 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 8.411 * [backup-simplify]: Simplify (+ 0 0) into 0 8.411 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 8.412 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 8.412 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 8.412 * [backup-simplify]: Simplify (- 0) into 0 8.412 * [backup-simplify]: Simplify (+ 0 0) into 0 8.413 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 8.413 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 1) (* 0 0)) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 8.413 * [backup-simplify]: Simplify (+ (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* 0 0)) into (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) 8.414 * [backup-simplify]: Simplify (+ (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) (* 0 0)) into (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) 8.414 * [backup-simplify]: Simplify (+ 0 (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) into (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) 8.414 * [backup-simplify]: Simplify (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) 8.414 * [backup-simplify]: Simplify (+ 0 (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) 8.415 * [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)))) 8.415 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in lambda1 8.415 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in lambda1 8.415 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) in lambda1 8.415 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 8.415 * [taylor]: Taking taylor expansion of phi2 in lambda1 8.415 * [backup-simplify]: Simplify phi2 into phi2 8.415 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) in lambda1 8.415 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda1 8.415 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 8.415 * [taylor]: Taking taylor expansion of lambda2 in lambda1 8.415 * [backup-simplify]: Simplify lambda2 into lambda2 8.415 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda1 8.415 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 8.415 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 8.415 * [taylor]: Taking taylor expansion of 0.5 in lambda1 8.415 * [backup-simplify]: Simplify 0.5 into 0.5 8.416 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 8.416 * [taylor]: Taking taylor expansion of phi2 in lambda1 8.416 * [backup-simplify]: Simplify phi2 into phi2 8.416 * [taylor]: Taking taylor expansion of phi1 in lambda1 8.416 * [backup-simplify]: Simplify phi1 into phi1 8.416 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 8.416 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 8.416 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 8.416 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 8.416 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 8.416 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 8.416 * [backup-simplify]: Simplify (- 0) into 0 8.416 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 8.416 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) in lambda1 8.416 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in lambda1 8.416 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda1 8.416 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 8.416 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 8.416 * [taylor]: Taking taylor expansion of 0.5 in lambda1 8.416 * [backup-simplify]: Simplify 0.5 into 0.5 8.416 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 8.416 * [taylor]: Taking taylor expansion of phi2 in lambda1 8.416 * [backup-simplify]: Simplify phi2 into phi2 8.417 * [taylor]: Taking taylor expansion of phi1 in lambda1 8.417 * [backup-simplify]: Simplify phi1 into phi1 8.417 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 8.417 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 8.417 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 8.417 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 8.417 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 8.417 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 8.417 * [backup-simplify]: Simplify (- 0) into 0 8.417 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 8.417 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 8.417 * [taylor]: Taking taylor expansion of lambda1 in lambda1 8.417 * [backup-simplify]: Simplify 0 into 0 8.417 * [backup-simplify]: Simplify 1 into 1 8.417 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 8.417 * [taylor]: Taking taylor expansion of phi1 in lambda1 8.417 * [backup-simplify]: Simplify phi1 into phi1 8.417 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in lambda1 8.417 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda1 8.417 * [taylor]: Taking taylor expansion of 2 in lambda1 8.417 * [backup-simplify]: Simplify 2 into 2 8.417 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda1 8.417 * [taylor]: Taking taylor expansion of phi2 in lambda1 8.417 * [backup-simplify]: Simplify phi2 into phi2 8.417 * [taylor]: Taking taylor expansion of phi1 in lambda1 8.417 * [backup-simplify]: Simplify phi1 into phi1 8.417 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in lambda1 8.417 * [taylor]: Taking taylor expansion of 2 in lambda1 8.418 * [backup-simplify]: Simplify 2 into 2 8.418 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in lambda1 8.418 * [taylor]: Taking taylor expansion of lambda2 in lambda1 8.418 * [backup-simplify]: Simplify lambda2 into lambda2 8.418 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in lambda1 8.418 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda1 8.418 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 8.418 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 8.418 * [taylor]: Taking taylor expansion of 0.5 in lambda1 8.418 * [backup-simplify]: Simplify 0.5 into 0.5 8.418 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 8.418 * [taylor]: Taking taylor expansion of phi2 in lambda1 8.418 * [backup-simplify]: Simplify phi2 into phi2 8.418 * [taylor]: Taking taylor expansion of phi1 in lambda1 8.418 * [backup-simplify]: Simplify phi1 into phi1 8.418 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 8.418 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 8.418 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 8.418 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 8.418 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 8.418 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 8.418 * [backup-simplify]: Simplify (- 0) into 0 8.418 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 8.418 * [taylor]: Taking taylor expansion of lambda1 in lambda1 8.418 * [backup-simplify]: Simplify 0 into 0 8.418 * [backup-simplify]: Simplify 1 into 1 8.418 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 8.419 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 8.419 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 8.419 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) into (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) 8.419 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 8.419 * [backup-simplify]: Simplify (+ 0 (pow phi1 2)) into (pow phi1 2) 8.419 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (pow phi1 2)) into (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (pow phi1 2)) 8.420 * [backup-simplify]: Simplify (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (pow phi1 2))) into (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) 8.420 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 8.420 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1)) 8.420 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 8.420 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) into 0 8.420 * [backup-simplify]: Simplify (* lambda2 0) into 0 8.420 * [backup-simplify]: Simplify (* 2 0) into 0 8.420 * [backup-simplify]: Simplify (+ (* 2 (* phi2 phi1)) 0) into (* 2 (* phi2 phi1)) 8.420 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1))) 8.421 * [backup-simplify]: Simplify (+ (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) (- (* 2 (* phi2 phi1)))) into (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) (* 2 (* phi2 phi1))) 8.421 * [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)))) 8.422 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 8.422 * [backup-simplify]: Simplify (+ 0) into 0 8.422 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 8.422 * [backup-simplify]: Simplify (+ 0 0) into 0 8.423 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 8.423 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 8.423 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 8.424 * [backup-simplify]: Simplify (- 0) into 0 8.424 * [backup-simplify]: Simplify (+ 0 0) into 0 8.424 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 8.424 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 8.424 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) 0) (* 0 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) into 0 8.424 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 8.425 * [backup-simplify]: Simplify (+ 0 0) into 0 8.425 * [backup-simplify]: Simplify (+ 0 0) into 0 8.425 * [backup-simplify]: Simplify (+ 0 0) into 0 8.425 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 8.425 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0 8.426 * [backup-simplify]: Simplify (+ 0) into 0 8.426 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 8.426 * [backup-simplify]: Simplify (+ 0 0) into 0 8.427 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 8.427 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 8.427 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 8.428 * [backup-simplify]: Simplify (- 0) into 0 8.428 * [backup-simplify]: Simplify (+ 0 0) into 0 8.428 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 8.428 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 1) (* 0 0)) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 8.429 * [backup-simplify]: Simplify (+ (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* 0 0)) into (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) 8.429 * [backup-simplify]: Simplify (+ (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) (* 0 0)) into (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) 8.429 * [backup-simplify]: Simplify (+ 0 (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) into (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) 8.430 * [backup-simplify]: Simplify (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) 8.430 * [backup-simplify]: Simplify (+ 0 (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) 8.431 * [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)))) 8.431 * [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 8.431 * [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 8.431 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) in lambda2 8.431 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda2 8.431 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 8.431 * [taylor]: Taking taylor expansion of lambda2 in lambda2 8.431 * [backup-simplify]: Simplify 0 into 0 8.431 * [backup-simplify]: Simplify 1 into 1 8.431 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 8.431 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 8.431 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 8.431 * [taylor]: Taking taylor expansion of 0.5 in lambda2 8.431 * [backup-simplify]: Simplify 0.5 into 0.5 8.431 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 8.431 * [taylor]: Taking taylor expansion of phi2 in lambda2 8.431 * [backup-simplify]: Simplify phi2 into phi2 8.431 * [taylor]: Taking taylor expansion of phi1 in lambda2 8.431 * [backup-simplify]: Simplify phi1 into phi1 8.431 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 8.431 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 8.431 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 8.431 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 8.431 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 8.431 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 8.432 * [backup-simplify]: Simplify (- 0) into 0 8.432 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 8.432 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (pow phi2 2)) in lambda2 8.432 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 8.432 * [taylor]: Taking taylor expansion of phi1 in lambda2 8.432 * [backup-simplify]: Simplify phi1 into phi1 8.432 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 8.432 * [taylor]: Taking taylor expansion of phi2 in lambda2 8.432 * [backup-simplify]: Simplify phi2 into phi2 8.432 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda2 8.432 * [taylor]: Taking taylor expansion of 2 in lambda2 8.432 * [backup-simplify]: Simplify 2 into 2 8.432 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 8.432 * [taylor]: Taking taylor expansion of phi2 in lambda2 8.432 * [backup-simplify]: Simplify phi2 into phi2 8.432 * [taylor]: Taking taylor expansion of phi1 in lambda2 8.432 * [backup-simplify]: Simplify phi1 into phi1 8.432 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 8.432 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 8.432 * [backup-simplify]: Simplify (+ (pow phi1 2) (pow phi2 2)) into (+ (pow phi2 2) (pow phi1 2)) 8.433 * [backup-simplify]: Simplify (+ 0 (+ (pow phi2 2) (pow phi1 2))) into (+ (pow phi2 2) (pow phi1 2)) 8.433 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 8.433 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1)) 8.433 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1))) 8.433 * [backup-simplify]: Simplify (+ (+ (pow phi2 2) (pow phi1 2)) (- (* 2 (* phi2 phi1)))) into (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))) 8.433 * [backup-simplify]: Simplify (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))) into (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))) 8.433 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 8.433 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 8.434 * [backup-simplify]: Simplify (+ 0 0) into 0 8.434 * [backup-simplify]: Simplify (+ 0 0) into 0 8.434 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 8.434 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0 8.434 * [backup-simplify]: Simplify (- 0) into 0 8.435 * [backup-simplify]: Simplify (+ 0 0) into 0 8.435 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))))) into 0 8.435 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))) in phi1 8.435 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))) in phi1 8.435 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in phi1 8.435 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 8.435 * [taylor]: Taking taylor expansion of phi2 in phi1 8.435 * [backup-simplify]: Simplify phi2 into phi2 8.435 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 8.435 * [taylor]: Taking taylor expansion of phi1 in phi1 8.435 * [backup-simplify]: Simplify 0 into 0 8.435 * [backup-simplify]: Simplify 1 into 1 8.435 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi1 8.435 * [taylor]: Taking taylor expansion of 2 in phi1 8.435 * [backup-simplify]: Simplify 2 into 2 8.435 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 8.435 * [taylor]: Taking taylor expansion of phi2 in phi1 8.435 * [backup-simplify]: Simplify phi2 into phi2 8.435 * [taylor]: Taking taylor expansion of phi1 in phi1 8.435 * [backup-simplify]: Simplify 0 into 0 8.435 * [backup-simplify]: Simplify 1 into 1 8.435 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 8.435 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 8.435 * [backup-simplify]: Simplify (* phi2 0) into 0 8.436 * [backup-simplify]: Simplify (* 2 0) into 0 8.436 * [backup-simplify]: Simplify (- 0) into 0 8.436 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 8.436 * [backup-simplify]: Simplify (sqrt (pow phi2 2)) into phi2 8.436 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 8.436 * [backup-simplify]: Simplify (+ 0 0) into 0 8.437 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 8.437 * [backup-simplify]: Simplify (+ (* 2 phi2) (* 0 0)) into (* 2 phi2) 8.437 * [backup-simplify]: Simplify (- (* 2 phi2)) into (- (* 2 phi2)) 8.437 * [backup-simplify]: Simplify (+ 0 (- (* 2 phi2))) into (- (* 2 phi2)) 8.437 * [backup-simplify]: Simplify (/ (- (* 2 phi2)) (* 2 (sqrt (pow phi2 2)))) into -1 8.437 * [taylor]: Taking taylor expansion of phi2 in phi2 8.437 * [backup-simplify]: Simplify 0 into 0 8.437 * [backup-simplify]: Simplify 1 into 1 8.437 * [backup-simplify]: Simplify 0 into 0 8.437 * [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 8.437 * [taylor]: Taking taylor expansion of -1 in lambda2 8.437 * [backup-simplify]: Simplify -1 into -1 8.437 * [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 8.437 * [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 8.437 * [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 8.437 * [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 8.437 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) in lambda2 8.438 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda2 8.438 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 8.438 * [taylor]: Taking taylor expansion of lambda2 in lambda2 8.438 * [backup-simplify]: Simplify 0 into 0 8.438 * [backup-simplify]: Simplify 1 into 1 8.438 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 8.438 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 8.438 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 8.438 * [taylor]: Taking taylor expansion of 0.5 in lambda2 8.438 * [backup-simplify]: Simplify 0.5 into 0.5 8.438 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 8.438 * [taylor]: Taking taylor expansion of phi2 in lambda2 8.438 * [backup-simplify]: Simplify phi2 into phi2 8.438 * [taylor]: Taking taylor expansion of phi1 in lambda2 8.438 * [backup-simplify]: Simplify phi1 into phi1 8.438 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 8.438 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 8.438 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 8.438 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 8.438 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 8.438 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 8.438 * [backup-simplify]: Simplify (- 0) into 0 8.438 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 8.438 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (pow phi2 2)) in lambda2 8.438 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 8.438 * [taylor]: Taking taylor expansion of phi1 in lambda2 8.438 * [backup-simplify]: Simplify phi1 into phi1 8.439 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 8.439 * [taylor]: Taking taylor expansion of phi2 in lambda2 8.439 * [backup-simplify]: Simplify phi2 into phi2 8.439 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda2 8.439 * [taylor]: Taking taylor expansion of 2 in lambda2 8.439 * [backup-simplify]: Simplify 2 into 2 8.439 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 8.439 * [taylor]: Taking taylor expansion of phi2 in lambda2 8.439 * [backup-simplify]: Simplify phi2 into phi2 8.439 * [taylor]: Taking taylor expansion of phi1 in lambda2 8.439 * [backup-simplify]: Simplify phi1 into phi1 8.439 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 8.439 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 8.439 * [backup-simplify]: Simplify (+ (pow phi1 2) (pow phi2 2)) into (+ (pow phi2 2) (pow phi1 2)) 8.439 * [backup-simplify]: Simplify (+ 0 (+ (pow phi2 2) (pow phi1 2))) into (+ (pow phi2 2) (pow phi1 2)) 8.439 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 8.439 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1)) 8.439 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1))) 8.439 * [backup-simplify]: Simplify (+ (+ (pow phi2 2) (pow phi1 2)) (- (* 2 (* phi2 phi1)))) into (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))) 8.440 * [backup-simplify]: Simplify (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))) into (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))) 8.440 * [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))))) 8.440 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 8.440 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 8.440 * [backup-simplify]: Simplify (+ 0 0) into 0 8.441 * [backup-simplify]: Simplify (+ 0 0) into 0 8.441 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 8.441 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0 8.441 * [backup-simplify]: Simplify (- 0) into 0 8.441 * [backup-simplify]: Simplify (+ 0 0) into 0 8.442 * [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 8.442 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))))))) into 0 8.442 * [taylor]: Taking taylor expansion of (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda2 8.442 * [taylor]: Taking taylor expansion of lambda2 in lambda2 8.442 * [backup-simplify]: Simplify 0 into 0 8.442 * [backup-simplify]: Simplify 1 into 1 8.442 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 8.442 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 8.442 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 8.442 * [taylor]: Taking taylor expansion of 0.5 in lambda2 8.442 * [backup-simplify]: Simplify 0.5 into 0.5 8.442 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 8.442 * [taylor]: Taking taylor expansion of phi2 in lambda2 8.442 * [backup-simplify]: Simplify phi2 into phi2 8.442 * [taylor]: Taking taylor expansion of phi1 in lambda2 8.442 * [backup-simplify]: Simplify phi1 into phi1 8.442 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 8.442 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 8.443 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 8.443 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 8.443 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 8.443 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 8.443 * [backup-simplify]: Simplify (- 0) into 0 8.443 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 8.443 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 8.443 * [backup-simplify]: Simplify (* 0 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) into 0 8.444 * [backup-simplify]: Simplify (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))))) 0) into 0 8.444 * [backup-simplify]: Simplify (* -1 0) into 0 8.444 * [taylor]: Taking taylor expansion of 0 in phi1 8.444 * [backup-simplify]: Simplify 0 into 0 8.444 * [taylor]: Taking taylor expansion of 0 in phi2 8.444 * [backup-simplify]: Simplify 0 into 0 8.444 * [backup-simplify]: Simplify 0 into 0 8.444 * [taylor]: Taking taylor expansion of 0 in phi1 8.444 * [backup-simplify]: Simplify 0 into 0 8.444 * [taylor]: Taking taylor expansion of 0 in phi2 8.444 * [backup-simplify]: Simplify 0 into 0 8.444 * [backup-simplify]: Simplify 0 into 0 8.444 * [taylor]: Taking taylor expansion of -1 in phi2 8.444 * [backup-simplify]: Simplify -1 into -1 8.444 * [backup-simplify]: Simplify -1 into -1 8.444 * [backup-simplify]: Simplify 1 into 1 8.445 * [backup-simplify]: Simplify (+ (* phi2 0) (+ (* 0 0) (* 0 phi2))) into 0 8.445 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 8.446 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 1))) into 0 8.446 * [backup-simplify]: Simplify (+ 0 0) into 0 8.446 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ phi2 phi1)))) into 0 8.447 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 8.447 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 0))) into 0 8.447 * [backup-simplify]: Simplify (- 0) into 0 8.448 * [backup-simplify]: Simplify (+ 0 0) into 0 8.448 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ phi2 phi1)))))) into 0 8.448 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda2))) into 0 8.449 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) 0) (+ (* 0 0) (* 0 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) into 0 8.449 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 8.449 * [backup-simplify]: Simplify (* 1 1) into 1 8.449 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 1) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 8.450 * [backup-simplify]: Simplify (+ (* phi1 0) (+ (* 0 0) (* 0 phi1))) into 0 8.450 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 8.450 * [backup-simplify]: Simplify (+ 0 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 8.450 * [backup-simplify]: Simplify (+ 0 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 8.450 * [backup-simplify]: Simplify (+ (* phi2 0) (+ (* 0 0) (* 0 phi1))) into 0 8.451 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (* phi2 phi1)))) into 0 8.451 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 8.452 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 1))) into 0 8.452 * [backup-simplify]: Simplify (+ 0 0) into 0 8.453 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ phi2 phi1)))) into 0 8.453 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 8.453 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 0))) into 0 8.454 * [backup-simplify]: Simplify (- 0) into 0 8.454 * [backup-simplify]: Simplify (+ 0 0) into 0 8.454 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ phi2 phi1)))))) into 0 8.455 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) (+ (* 0 1) (* 0 0))) into 0 8.455 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* 0 0))) into 0 8.456 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) (* 0 0))) into 0 8.457 * [backup-simplify]: Simplify (+ 0 0) into 0 8.457 * [backup-simplify]: Simplify (- 0) into 0 8.457 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 8.459 * [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))))))) 8.459 * [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 8.459 * [taylor]: Taking taylor expansion of 1/2 in lambda2 8.459 * [backup-simplify]: Simplify 1/2 into 1/2 8.459 * [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 8.459 * [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 8.459 * [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 8.459 * [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 8.459 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) in lambda2 8.459 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda2 8.459 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 8.459 * [taylor]: Taking taylor expansion of lambda2 in lambda2 8.459 * [backup-simplify]: Simplify 0 into 0 8.459 * [backup-simplify]: Simplify 1 into 1 8.459 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 8.459 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 8.459 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 8.459 * [taylor]: Taking taylor expansion of 0.5 in lambda2 8.459 * [backup-simplify]: Simplify 0.5 into 0.5 8.459 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 8.459 * [taylor]: Taking taylor expansion of phi2 in lambda2 8.459 * [backup-simplify]: Simplify phi2 into phi2 8.459 * [taylor]: Taking taylor expansion of phi1 in lambda2 8.459 * [backup-simplify]: Simplify phi1 into phi1 8.459 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 8.459 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 8.459 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 8.459 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 8.460 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 8.460 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 8.460 * [backup-simplify]: Simplify (- 0) into 0 8.460 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 8.460 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in lambda2 8.460 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 8.460 * [taylor]: Taking taylor expansion of phi2 in lambda2 8.460 * [backup-simplify]: Simplify phi2 into phi2 8.460 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 8.460 * [taylor]: Taking taylor expansion of phi1 in lambda2 8.460 * [backup-simplify]: Simplify phi1 into phi1 8.460 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda2 8.460 * [taylor]: Taking taylor expansion of 2 in lambda2 8.460 * [backup-simplify]: Simplify 2 into 2 8.460 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 8.460 * [taylor]: Taking taylor expansion of phi2 in lambda2 8.460 * [backup-simplify]: Simplify phi2 into phi2 8.460 * [taylor]: Taking taylor expansion of phi1 in lambda2 8.460 * [backup-simplify]: Simplify phi1 into phi1 8.460 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 8.460 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 8.460 * [backup-simplify]: Simplify (+ (pow phi2 2) (pow phi1 2)) into (+ (pow phi1 2) (pow phi2 2)) 8.461 * [backup-simplify]: Simplify (+ 0 (+ (pow phi1 2) (pow phi2 2))) into (+ (pow phi1 2) (pow phi2 2)) 8.461 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 8.461 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1)) 8.461 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1))) 8.461 * [backup-simplify]: Simplify (+ (+ (pow phi1 2) (pow phi2 2)) (- (* 2 (* phi2 phi1)))) into (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1))) 8.461 * [backup-simplify]: Simplify (/ 1 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1)))) into (/ 1 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1)))) 8.461 * [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))))) 8.461 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 8.462 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 8.462 * [backup-simplify]: Simplify (+ 0 0) into 0 8.462 * [backup-simplify]: Simplify (+ 0 0) into 0 8.462 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 8.462 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0 8.463 * [backup-simplify]: Simplify (- 0) into 0 8.463 * [backup-simplify]: Simplify (+ 0 0) into 0 8.463 * [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 8.464 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1))))))) into 0 8.464 * [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 8.464 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 8.464 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 8.464 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 8.464 * [taylor]: Taking taylor expansion of 0.5 in lambda2 8.464 * [backup-simplify]: Simplify 0.5 into 0.5 8.464 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 8.464 * [taylor]: Taking taylor expansion of phi2 in lambda2 8.464 * [backup-simplify]: Simplify phi2 into phi2 8.464 * [taylor]: Taking taylor expansion of phi1 in lambda2 8.464 * [backup-simplify]: Simplify phi1 into phi1 8.464 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 8.464 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 8.464 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 8.464 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 8.464 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 8.464 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 8.464 * [backup-simplify]: Simplify (- 0) into 0 8.464 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 8.464 * [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 8.465 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 4)) in lambda2 8.465 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 8.465 * [taylor]: Taking taylor expansion of lambda2 in lambda2 8.465 * [backup-simplify]: Simplify 0 into 0 8.465 * [backup-simplify]: Simplify 1 into 1 8.465 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 4) in lambda2 8.465 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 8.465 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 8.465 * [taylor]: Taking taylor expansion of 0.5 in lambda2 8.465 * [backup-simplify]: Simplify 0.5 into 0.5 8.465 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 8.465 * [taylor]: Taking taylor expansion of phi2 in lambda2 8.465 * [backup-simplify]: Simplify phi2 into phi2 8.465 * [taylor]: Taking taylor expansion of phi1 in lambda2 8.465 * [backup-simplify]: Simplify phi1 into phi1 8.465 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 8.465 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 8.465 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 8.465 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 8.465 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 8.465 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 8.465 * [backup-simplify]: Simplify (- 0) into 0 8.465 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 8.465 * [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 8.465 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) in lambda2 8.466 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda2 8.466 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 8.466 * [taylor]: Taking taylor expansion of lambda2 in lambda2 8.466 * [backup-simplify]: Simplify 0 into 0 8.466 * [backup-simplify]: Simplify 1 into 1 8.466 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 8.466 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 8.466 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 8.466 * [taylor]: Taking taylor expansion of 0.5 in lambda2 8.466 * [backup-simplify]: Simplify 0.5 into 0.5 8.466 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 8.466 * [taylor]: Taking taylor expansion of phi2 in lambda2 8.466 * [backup-simplify]: Simplify phi2 into phi2 8.466 * [taylor]: Taking taylor expansion of phi1 in lambda2 8.466 * [backup-simplify]: Simplify phi1 into phi1 8.466 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 8.466 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 8.466 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 8.466 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 8.466 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 8.466 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 8.466 * [backup-simplify]: Simplify (- 0) into 0 8.466 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 8.466 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in lambda2 8.466 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 8.466 * [taylor]: Taking taylor expansion of phi2 in lambda2 8.467 * [backup-simplify]: Simplify phi2 into phi2 8.467 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 8.467 * [taylor]: Taking taylor expansion of phi1 in lambda2 8.467 * [backup-simplify]: Simplify phi1 into phi1 8.467 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda2 8.467 * [taylor]: Taking taylor expansion of 2 in lambda2 8.467 * [backup-simplify]: Simplify 2 into 2 8.467 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 8.467 * [taylor]: Taking taylor expansion of phi2 in lambda2 8.467 * [backup-simplify]: Simplify phi2 into phi2 8.467 * [taylor]: Taking taylor expansion of phi1 in lambda2 8.467 * [backup-simplify]: Simplify phi1 into phi1 8.467 * [backup-simplify]: Simplify (* 1 1) into 1 8.467 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 8.467 * [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) 8.467 * [backup-simplify]: Simplify (* 1 (pow (cos (* 0.5 (+ phi2 phi1))) 4)) into (pow (cos (* 0.5 (+ phi2 phi1))) 4) 8.467 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 8.468 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 8.468 * [backup-simplify]: Simplify (+ (pow phi2 2) (pow phi1 2)) into (+ (pow phi1 2) (pow phi2 2)) 8.468 * [backup-simplify]: Simplify (+ 0 (+ (pow phi1 2) (pow phi2 2))) into (+ (pow phi1 2) (pow phi2 2)) 8.468 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 8.468 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1)) 8.468 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1))) 8.468 * [backup-simplify]: Simplify (+ (+ (pow phi1 2) (pow phi2 2)) (- (* 2 (* phi2 phi1)))) into (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1))) 8.469 * [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)))) 8.469 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 8.469 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 8.469 * [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)))))) 8.470 * [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))))))) 8.470 * [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 8.470 * [taylor]: Taking taylor expansion of 1/2 in phi1 8.470 * [backup-simplify]: Simplify 1/2 into 1/2 8.470 * [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 8.470 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1 8.470 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 8.470 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 8.470 * [taylor]: Taking taylor expansion of 0.5 in phi1 8.470 * [backup-simplify]: Simplify 0.5 into 0.5 8.470 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 8.470 * [taylor]: Taking taylor expansion of phi2 in phi1 8.470 * [backup-simplify]: Simplify phi2 into phi2 8.470 * [taylor]: Taking taylor expansion of phi1 in phi1 8.470 * [backup-simplify]: Simplify 0 into 0 8.470 * [backup-simplify]: Simplify 1 into 1 8.470 * [backup-simplify]: Simplify (+ phi2 0) into phi2 8.470 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 8.470 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 8.470 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 8.470 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 8.470 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 8.470 * [backup-simplify]: Simplify (- 0) into 0 8.470 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 8.470 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1))))) in phi1 8.470 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1)))) in phi1 8.470 * [taylor]: Taking taylor expansion of (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1))) in phi1 8.471 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (pow phi2 2)) in phi1 8.471 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 8.471 * [taylor]: Taking taylor expansion of phi1 in phi1 8.471 * [backup-simplify]: Simplify 0 into 0 8.471 * [backup-simplify]: Simplify 1 into 1 8.471 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 8.471 * [taylor]: Taking taylor expansion of phi2 in phi1 8.471 * [backup-simplify]: Simplify phi2 into phi2 8.471 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi1 8.471 * [taylor]: Taking taylor expansion of 2 in phi1 8.471 * [backup-simplify]: Simplify 2 into 2 8.471 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 8.471 * [taylor]: Taking taylor expansion of phi2 in phi1 8.471 * [backup-simplify]: Simplify phi2 into phi2 8.471 * [taylor]: Taking taylor expansion of phi1 in phi1 8.471 * [backup-simplify]: Simplify 0 into 0 8.471 * [backup-simplify]: Simplify 1 into 1 8.471 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 8.471 * [backup-simplify]: Simplify (+ 0 (pow phi2 2)) into (pow phi2 2) 8.471 * [backup-simplify]: Simplify (* phi2 0) into 0 8.471 * [backup-simplify]: Simplify (* 2 0) into 0 8.471 * [backup-simplify]: Simplify (- 0) into 0 8.472 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 8.472 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 8.472 * [backup-simplify]: Simplify (sqrt (/ 1 (pow phi2 2))) into (/ 1 phi2) 8.472 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 8.472 * [backup-simplify]: Simplify (+ 0 0) into 0 8.472 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 8.473 * [backup-simplify]: Simplify (+ (* 2 phi2) (* 0 0)) into (* 2 phi2) 8.473 * [backup-simplify]: Simplify (- (* 2 phi2)) into (- (* 2 phi2)) 8.473 * [backup-simplify]: Simplify (+ 0 (- (* 2 phi2))) into (- (* 2 phi2)) 8.473 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi2 2)) (/ (- (* 2 phi2)) (pow phi2 2))))) into (* 2 (/ 1 (pow phi2 3))) 8.473 * [backup-simplify]: Simplify (/ (* 2 (/ 1 (pow phi2 3))) (* 2 (sqrt (/ 1 (pow phi2 2))))) into (/ 1 (pow phi2 2)) 8.473 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 8.473 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi2)) 2) (/ 1 phi2)) into (/ (pow (cos (* 0.5 phi2)) 2) phi2) 8.473 * [backup-simplify]: Simplify (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2)) into (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2)) 8.474 * [taylor]: Taking taylor expansion of (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2)) in phi2 8.474 * [taylor]: Taking taylor expansion of 1/2 in phi2 8.474 * [backup-simplify]: Simplify 1/2 into 1/2 8.474 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 phi2)) 2) phi2) in phi2 8.474 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2 8.474 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 8.474 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 8.474 * [taylor]: Taking taylor expansion of 0.5 in phi2 8.474 * [backup-simplify]: Simplify 0.5 into 0.5 8.474 * [taylor]: Taking taylor expansion of phi2 in phi2 8.474 * [backup-simplify]: Simplify 0 into 0 8.474 * [backup-simplify]: Simplify 1 into 1 8.474 * [backup-simplify]: Simplify (* 0.5 0) into 0 8.475 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 8.475 * [taylor]: Taking taylor expansion of phi2 in phi2 8.475 * [backup-simplify]: Simplify 0 into 0 8.475 * [backup-simplify]: Simplify 1 into 1 8.475 * [backup-simplify]: Simplify (* 1 1) into 1 8.475 * [backup-simplify]: Simplify (/ 1 1) into 1 8.476 * [backup-simplify]: Simplify (+ 0) into 0 8.476 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 8.476 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* 1 (/ 0 1)))) into 0 8.477 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 1)) into 0 8.477 * [backup-simplify]: Simplify 0 into 0 8.477 * [backup-simplify]: Simplify (+ 0) into 0 8.477 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 8.478 * [backup-simplify]: Simplify (+ 0 0) into 0 8.478 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 8.478 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 8.479 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 8.479 * [backup-simplify]: Simplify (- 0) into 0 8.479 * [backup-simplify]: Simplify (+ 0 0) into 0 8.479 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 8.480 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 8.480 * [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)) 8.481 * [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))) 8.481 * [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 8.481 * [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 8.481 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))))) in phi1 8.481 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))) in phi1 8.481 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))) in phi1 8.481 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in phi1 8.481 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 8.481 * [taylor]: Taking taylor expansion of phi2 in phi1 8.481 * [backup-simplify]: Simplify phi2 into phi2 8.481 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 8.481 * [taylor]: Taking taylor expansion of phi1 in phi1 8.481 * [backup-simplify]: Simplify 0 into 0 8.481 * [backup-simplify]: Simplify 1 into 1 8.481 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi1 8.481 * [taylor]: Taking taylor expansion of 2 in phi1 8.481 * [backup-simplify]: Simplify 2 into 2 8.481 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 8.481 * [taylor]: Taking taylor expansion of phi2 in phi1 8.481 * [backup-simplify]: Simplify phi2 into phi2 8.481 * [taylor]: Taking taylor expansion of phi1 in phi1 8.481 * [backup-simplify]: Simplify 0 into 0 8.481 * [backup-simplify]: Simplify 1 into 1 8.481 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 8.482 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 8.482 * [backup-simplify]: Simplify (* phi2 0) into 0 8.482 * [backup-simplify]: Simplify (* 2 0) into 0 8.482 * [backup-simplify]: Simplify (- 0) into 0 8.482 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 8.482 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 8.482 * [backup-simplify]: Simplify (sqrt (/ 1 (pow phi2 2))) into (/ 1 phi2) 8.482 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 8.483 * [backup-simplify]: Simplify (+ 0 0) into 0 8.483 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 8.483 * [backup-simplify]: Simplify (+ (* 2 phi2) (* 0 0)) into (* 2 phi2) 8.483 * [backup-simplify]: Simplify (- (* 2 phi2)) into (- (* 2 phi2)) 8.483 * [backup-simplify]: Simplify (+ 0 (- (* 2 phi2))) into (- (* 2 phi2)) 8.484 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi2 2)) (/ (- (* 2 phi2)) (pow phi2 2))))) into (* 2 (/ 1 (pow phi2 3))) 8.484 * [backup-simplify]: Simplify (/ (* 2 (/ 1 (pow phi2 3))) (* 2 (sqrt (/ 1 (pow phi2 2))))) into (/ 1 (pow phi2 2)) 8.484 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1 8.484 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 8.484 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 8.484 * [taylor]: Taking taylor expansion of 0.5 in phi1 8.484 * [backup-simplify]: Simplify 0.5 into 0.5 8.484 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 8.484 * [taylor]: Taking taylor expansion of phi2 in phi1 8.484 * [backup-simplify]: Simplify phi2 into phi2 8.484 * [taylor]: Taking taylor expansion of phi1 in phi1 8.484 * [backup-simplify]: Simplify 0 into 0 8.484 * [backup-simplify]: Simplify 1 into 1 8.484 * [backup-simplify]: Simplify (+ phi2 0) into phi2 8.484 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 8.484 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 8.484 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 8.484 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 8.484 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 8.485 * [backup-simplify]: Simplify (- 0) into 0 8.485 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 8.485 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 8.485 * [backup-simplify]: Simplify (* (/ 1 phi2) (pow (cos (* 0.5 phi2)) 2)) into (/ (pow (cos (* 0.5 phi2)) 2) phi2) 8.485 * [backup-simplify]: Simplify (- (/ (pow (cos (* 0.5 phi2)) 2) phi2)) into (- (/ (pow (cos (* 0.5 phi2)) 2) phi2)) 8.485 * [taylor]: Taking taylor expansion of (- (/ (pow (cos (* 0.5 phi2)) 2) phi2)) in phi2 8.485 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 phi2)) 2) phi2) in phi2 8.485 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2 8.485 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 8.485 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 8.485 * [taylor]: Taking taylor expansion of 0.5 in phi2 8.485 * [backup-simplify]: Simplify 0.5 into 0.5 8.485 * [taylor]: Taking taylor expansion of phi2 in phi2 8.485 * [backup-simplify]: Simplify 0 into 0 8.485 * [backup-simplify]: Simplify 1 into 1 8.485 * [backup-simplify]: Simplify (* 0.5 0) into 0 8.486 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 8.486 * [taylor]: Taking taylor expansion of phi2 in phi2 8.486 * [backup-simplify]: Simplify 0 into 0 8.486 * [backup-simplify]: Simplify 1 into 1 8.491 * [backup-simplify]: Simplify (* 1 1) into 1 8.492 * [backup-simplify]: Simplify (/ 1 1) into 1 8.492 * [backup-simplify]: Simplify (+ 0) into 0 8.492 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 8.493 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* 1 (/ 0 1)))) into 0 8.493 * [backup-simplify]: Simplify (- 0) into 0 8.493 * [backup-simplify]: Simplify 0 into 0 8.493 * [backup-simplify]: Simplify (* 1 1) into 1 8.493 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 8.494 * [backup-simplify]: Simplify (* 1 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 8.494 * [backup-simplify]: Simplify (+ (* phi1 0) (+ (* 0 0) (* 0 phi1))) into 0 8.494 * [backup-simplify]: Simplify (+ (* phi2 0) (+ (* 0 0) (* 0 phi2))) into 0 8.494 * [backup-simplify]: Simplify (+ 0 0) into 0 8.495 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 8.495 * [backup-simplify]: Simplify (+ (* phi2 0) (+ (* 0 0) (* 0 phi1))) into 0 8.496 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (* phi2 phi1)))) into 0 8.496 * [backup-simplify]: Simplify (- 0) into 0 8.496 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 8.497 * [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))) 8.497 * [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 8.497 * [taylor]: Taking taylor expansion of 1/2 in phi1 8.497 * [backup-simplify]: Simplify 1/2 into 1/2 8.497 * [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 8.497 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))))) in phi1 8.497 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))) in phi1 8.497 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))) in phi1 8.497 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in phi1 8.497 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 8.497 * [taylor]: Taking taylor expansion of phi2 in phi1 8.497 * [backup-simplify]: Simplify phi2 into phi2 8.497 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 8.497 * [taylor]: Taking taylor expansion of phi1 in phi1 8.497 * [backup-simplify]: Simplify 0 into 0 8.497 * [backup-simplify]: Simplify 1 into 1 8.497 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi1 8.497 * [taylor]: Taking taylor expansion of 2 in phi1 8.497 * [backup-simplify]: Simplify 2 into 2 8.497 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 8.497 * [taylor]: Taking taylor expansion of phi2 in phi1 8.497 * [backup-simplify]: Simplify phi2 into phi2 8.497 * [taylor]: Taking taylor expansion of phi1 in phi1 8.497 * [backup-simplify]: Simplify 0 into 0 8.497 * [backup-simplify]: Simplify 1 into 1 8.497 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 8.497 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 8.498 * [backup-simplify]: Simplify (* phi2 0) into 0 8.498 * [backup-simplify]: Simplify (* 2 0) into 0 8.498 * [backup-simplify]: Simplify (- 0) into 0 8.498 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 8.498 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 8.498 * [backup-simplify]: Simplify (sqrt (/ 1 (pow phi2 2))) into (/ 1 phi2) 8.498 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 8.499 * [backup-simplify]: Simplify (+ 0 0) into 0 8.499 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 8.499 * [backup-simplify]: Simplify (+ (* 2 phi2) (* 0 0)) into (* 2 phi2) 8.499 * [backup-simplify]: Simplify (- (* 2 phi2)) into (- (* 2 phi2)) 8.499 * [backup-simplify]: Simplify (+ 0 (- (* 2 phi2))) into (- (* 2 phi2)) 8.499 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi2 2)) (/ (- (* 2 phi2)) (pow phi2 2))))) into (* 2 (/ 1 (pow phi2 3))) 8.500 * [backup-simplify]: Simplify (/ (* 2 (/ 1 (pow phi2 3))) (* 2 (sqrt (/ 1 (pow phi2 2))))) into (/ 1 (pow phi2 2)) 8.500 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1 8.500 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 8.500 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 8.500 * [taylor]: Taking taylor expansion of 0.5 in phi1 8.500 * [backup-simplify]: Simplify 0.5 into 0.5 8.500 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 8.500 * [taylor]: Taking taylor expansion of phi2 in phi1 8.500 * [backup-simplify]: Simplify phi2 into phi2 8.500 * [taylor]: Taking taylor expansion of phi1 in phi1 8.500 * [backup-simplify]: Simplify 0 into 0 8.500 * [backup-simplify]: Simplify 1 into 1 8.500 * [backup-simplify]: Simplify (+ phi2 0) into phi2 8.500 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 8.500 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 8.500 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 8.500 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 8.500 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 8.500 * [backup-simplify]: Simplify (- 0) into 0 8.500 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 8.501 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 8.501 * [backup-simplify]: Simplify (* (/ 1 phi2) (pow (cos (* 0.5 phi2)) 2)) into (/ (pow (cos (* 0.5 phi2)) 2) phi2) 8.501 * [backup-simplify]: Simplify (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2)) into (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2)) 8.501 * [taylor]: Taking taylor expansion of (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2)) in phi2 8.501 * [taylor]: Taking taylor expansion of 1/2 in phi2 8.501 * [backup-simplify]: Simplify 1/2 into 1/2 8.501 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 phi2)) 2) phi2) in phi2 8.501 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2 8.501 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 8.501 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 8.501 * [taylor]: Taking taylor expansion of 0.5 in phi2 8.501 * [backup-simplify]: Simplify 0.5 into 0.5 8.501 * [taylor]: Taking taylor expansion of phi2 in phi2 8.501 * [backup-simplify]: Simplify 0 into 0 8.501 * [backup-simplify]: Simplify 1 into 1 8.501 * [backup-simplify]: Simplify (* 0.5 0) into 0 8.502 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 8.502 * [taylor]: Taking taylor expansion of phi2 in phi2 8.502 * [backup-simplify]: Simplify 0 into 0 8.502 * [backup-simplify]: Simplify 1 into 1 8.502 * [backup-simplify]: Simplify (* 1 1) into 1 8.503 * [backup-simplify]: Simplify (/ 1 1) into 1 8.503 * [backup-simplify]: Simplify (+ 0) into 0 8.503 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 8.504 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* 1 (/ 0 1)))) into 0 8.504 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 1)) into 0 8.504 * [backup-simplify]: Simplify 0 into 0 8.504 * [taylor]: Taking taylor expansion of 0 in phi2 8.504 * [backup-simplify]: Simplify 0 into 0 8.504 * [backup-simplify]: Simplify 0 into 0 8.504 * [taylor]: Taking taylor expansion of 0 in phi2 8.504 * [backup-simplify]: Simplify 0 into 0 8.504 * [backup-simplify]: Simplify 0 into 0 8.505 * [backup-simplify]: Simplify (+ (* phi2 0) (+ (* 0 0) (* 0 phi2))) into 0 8.505 * [backup-simplify]: Simplify (* 1 1) into 1 8.505 * [backup-simplify]: Simplify (+ 0 1) into 1 8.506 * [backup-simplify]: Simplify (+ (* phi2 0) (+ (* 0 1) (* 0 0))) into 0 8.506 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 phi2) (* 0 0))) into 0 8.506 * [backup-simplify]: Simplify (- 0) into 0 8.506 * [backup-simplify]: Simplify (+ 1 0) into 1 8.507 * [backup-simplify]: Simplify (/ (- 1 (pow -1 2) (+)) (* 2 phi2)) into 0 8.507 * [taylor]: Taking taylor expansion of 0 in phi2 8.507 * [backup-simplify]: Simplify 0 into 0 8.507 * [backup-simplify]: Simplify 0 into 0 8.508 * [backup-simplify]: Simplify (+ (* 1 (* phi2 (* 1 (* 1 1)))) (* -1 (* 1 (* phi1 (* 1 1))))) into (- phi2 phi1) 8.509 * [backup-simplify]: Simplify (exp (log (sqrt (+ (* (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (/ (+ (/ 1 phi1) (/ 1 phi2)) 2.0))) (* (- (/ 1 lambda1) (/ 1 lambda2)) (* (* (cbrt (cos (/ (+ (/ 1 phi1) (/ 1 phi2)) 2.0))) (cbrt (cos (/ (+ (/ 1 phi1) (/ 1 phi2)) 2.0)))) (cbrt (cos (/ (+ (/ 1 phi1) (/ 1 phi2)) 2.0)))))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))))))) into (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) 8.509 * [approximate]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in (lambda1 lambda2 phi1 phi2) around 0 8.509 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in phi2 8.509 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in phi2 8.509 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) in phi2 8.509 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi2 8.509 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 8.509 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 8.509 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 8.509 * [taylor]: Taking taylor expansion of 0.5 in phi2 8.509 * [backup-simplify]: Simplify 0.5 into 0.5 8.509 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 8.509 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 8.509 * [taylor]: Taking taylor expansion of phi1 in phi2 8.509 * [backup-simplify]: Simplify phi1 into phi1 8.509 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 8.509 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 8.509 * [taylor]: Taking taylor expansion of phi2 in phi2 8.509 * [backup-simplify]: Simplify 0 into 0 8.509 * [backup-simplify]: Simplify 1 into 1 8.510 * [backup-simplify]: Simplify (/ 1 1) into 1 8.510 * [backup-simplify]: Simplify (+ 0 1) into 1 8.510 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 8.510 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.510 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 8.510 * [taylor]: Taking taylor expansion of lambda1 in phi2 8.510 * [backup-simplify]: Simplify lambda1 into lambda1 8.510 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.510 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 8.511 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 8.511 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) in phi2 8.511 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi2 8.511 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 8.511 * [taylor]: Taking taylor expansion of phi2 in phi2 8.511 * [backup-simplify]: Simplify 0 into 0 8.511 * [backup-simplify]: Simplify 1 into 1 8.511 * [backup-simplify]: Simplify (* 1 1) into 1 8.511 * [backup-simplify]: Simplify (/ 1 1) into 1 8.511 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) in phi2 8.511 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in phi2 8.511 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 8.511 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 8.511 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 8.511 * [taylor]: Taking taylor expansion of 0.5 in phi2 8.511 * [backup-simplify]: Simplify 0.5 into 0.5 8.511 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 8.511 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 8.511 * [taylor]: Taking taylor expansion of phi1 in phi2 8.511 * [backup-simplify]: Simplify phi1 into phi1 8.512 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 8.512 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 8.512 * [taylor]: Taking taylor expansion of phi2 in phi2 8.512 * [backup-simplify]: Simplify 0 into 0 8.512 * [backup-simplify]: Simplify 1 into 1 8.512 * [backup-simplify]: Simplify (/ 1 1) into 1 8.512 * [backup-simplify]: Simplify (+ 0 1) into 1 8.512 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 8.512 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.512 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 8.512 * [taylor]: Taking taylor expansion of lambda2 in phi2 8.513 * [backup-simplify]: Simplify lambda2 into lambda2 8.513 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.513 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 8.513 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 8.513 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi2 8.513 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 8.513 * [taylor]: Taking taylor expansion of phi1 in phi2 8.513 * [backup-simplify]: Simplify phi1 into phi1 8.513 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 8.513 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 8.513 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in phi2 8.513 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi2 8.513 * [taylor]: Taking taylor expansion of 2 in phi2 8.513 * [backup-simplify]: Simplify 2 into 2 8.513 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi2 8.513 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 8.513 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 8.513 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 8.513 * [taylor]: Taking taylor expansion of 0.5 in phi2 8.513 * [backup-simplify]: Simplify 0.5 into 0.5 8.513 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 8.513 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 8.513 * [taylor]: Taking taylor expansion of phi1 in phi2 8.513 * [backup-simplify]: Simplify phi1 into phi1 8.513 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 8.513 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 8.513 * [taylor]: Taking taylor expansion of phi2 in phi2 8.514 * [backup-simplify]: Simplify 0 into 0 8.514 * [backup-simplify]: Simplify 1 into 1 8.514 * [backup-simplify]: Simplify (/ 1 1) into 1 8.514 * [backup-simplify]: Simplify (+ 0 1) into 1 8.514 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 8.514 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.514 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi2 8.514 * [taylor]: Taking taylor expansion of lambda2 in phi2 8.514 * [backup-simplify]: Simplify lambda2 into lambda2 8.514 * [taylor]: Taking taylor expansion of lambda1 in phi2 8.514 * [backup-simplify]: Simplify lambda1 into lambda1 8.515 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.515 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 8.515 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) 8.515 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi2 8.515 * [taylor]: Taking taylor expansion of 2 in phi2 8.515 * [backup-simplify]: Simplify 2 into 2 8.515 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi2 8.515 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2 8.515 * [taylor]: Taking taylor expansion of phi2 in phi2 8.515 * [backup-simplify]: Simplify 0 into 0 8.515 * [backup-simplify]: Simplify 1 into 1 8.515 * [taylor]: Taking taylor expansion of phi1 in phi2 8.515 * [backup-simplify]: Simplify phi1 into phi1 8.515 * [backup-simplify]: Simplify (* 0 phi1) into 0 8.515 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 8.515 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 8.516 * [backup-simplify]: Simplify (+ 1 0) into 1 8.516 * [backup-simplify]: Simplify (+ 0 1) into 1 8.516 * [backup-simplify]: Simplify (+ 1 0) into 1 8.516 * [backup-simplify]: Simplify (sqrt 1) into 1 8.517 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 8.517 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 8.518 * [backup-simplify]: Simplify (+ 0 0) into 0 8.518 * [backup-simplify]: Simplify (+ 0 0) into 0 8.518 * [backup-simplify]: Simplify (* 2 (/ 1 phi1)) into (/ 2 phi1) 8.518 * [backup-simplify]: Simplify (+ 0 (/ 2 phi1)) into (* 2 (/ 1 phi1)) 8.518 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi1))) into (- (* 2 (/ 1 phi1))) 8.518 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1))) 8.518 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi1))) (* 2 (sqrt 1))) into (/ -1 phi1) 8.518 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in phi1 8.518 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in phi1 8.518 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) in phi1 8.519 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi1 8.519 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 8.519 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 8.519 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 8.519 * [taylor]: Taking taylor expansion of 0.5 in phi1 8.519 * [backup-simplify]: Simplify 0.5 into 0.5 8.519 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 8.519 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 8.519 * [taylor]: Taking taylor expansion of phi1 in phi1 8.519 * [backup-simplify]: Simplify 0 into 0 8.519 * [backup-simplify]: Simplify 1 into 1 8.519 * [backup-simplify]: Simplify (/ 1 1) into 1 8.519 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 8.519 * [taylor]: Taking taylor expansion of phi2 in phi1 8.519 * [backup-simplify]: Simplify phi2 into phi2 8.519 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 8.519 * [backup-simplify]: Simplify (+ 1 0) into 1 8.520 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 8.520 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.520 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 8.520 * [taylor]: Taking taylor expansion of lambda1 in phi1 8.520 * [backup-simplify]: Simplify lambda1 into lambda1 8.520 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.520 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 8.520 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 8.520 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) in phi1 8.520 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 8.520 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 8.520 * [taylor]: Taking taylor expansion of phi2 in phi1 8.520 * [backup-simplify]: Simplify phi2 into phi2 8.520 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 8.520 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 8.520 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) in phi1 8.520 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in phi1 8.521 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 8.521 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 8.521 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 8.521 * [taylor]: Taking taylor expansion of 0.5 in phi1 8.521 * [backup-simplify]: Simplify 0.5 into 0.5 8.521 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 8.521 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 8.521 * [taylor]: Taking taylor expansion of phi1 in phi1 8.521 * [backup-simplify]: Simplify 0 into 0 8.521 * [backup-simplify]: Simplify 1 into 1 8.521 * [backup-simplify]: Simplify (/ 1 1) into 1 8.521 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 8.521 * [taylor]: Taking taylor expansion of phi2 in phi1 8.521 * [backup-simplify]: Simplify phi2 into phi2 8.521 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 8.521 * [backup-simplify]: Simplify (+ 1 0) into 1 8.522 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 8.522 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.522 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 8.522 * [taylor]: Taking taylor expansion of lambda2 in phi1 8.522 * [backup-simplify]: Simplify lambda2 into lambda2 8.522 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.522 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 8.522 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 8.522 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 8.522 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 8.522 * [taylor]: Taking taylor expansion of phi1 in phi1 8.522 * [backup-simplify]: Simplify 0 into 0 8.522 * [backup-simplify]: Simplify 1 into 1 8.523 * [backup-simplify]: Simplify (* 1 1) into 1 8.523 * [backup-simplify]: Simplify (/ 1 1) into 1 8.523 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in phi1 8.523 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi1 8.523 * [taylor]: Taking taylor expansion of 2 in phi1 8.523 * [backup-simplify]: Simplify 2 into 2 8.523 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi1 8.523 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 8.523 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 8.523 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 8.523 * [taylor]: Taking taylor expansion of 0.5 in phi1 8.523 * [backup-simplify]: Simplify 0.5 into 0.5 8.523 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 8.523 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 8.523 * [taylor]: Taking taylor expansion of phi1 in phi1 8.523 * [backup-simplify]: Simplify 0 into 0 8.523 * [backup-simplify]: Simplify 1 into 1 8.523 * [backup-simplify]: Simplify (/ 1 1) into 1 8.523 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 8.523 * [taylor]: Taking taylor expansion of phi2 in phi1 8.523 * [backup-simplify]: Simplify phi2 into phi2 8.523 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 8.524 * [backup-simplify]: Simplify (+ 1 0) into 1 8.524 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 8.524 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.524 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 8.524 * [taylor]: Taking taylor expansion of lambda2 in phi1 8.524 * [backup-simplify]: Simplify lambda2 into lambda2 8.524 * [taylor]: Taking taylor expansion of lambda1 in phi1 8.524 * [backup-simplify]: Simplify lambda1 into lambda1 8.524 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.524 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 8.525 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) 8.525 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi1 8.525 * [taylor]: Taking taylor expansion of 2 in phi1 8.525 * [backup-simplify]: Simplify 2 into 2 8.525 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi1 8.525 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 8.525 * [taylor]: Taking taylor expansion of phi2 in phi1 8.525 * [backup-simplify]: Simplify phi2 into phi2 8.525 * [taylor]: Taking taylor expansion of phi1 in phi1 8.525 * [backup-simplify]: Simplify 0 into 0 8.525 * [backup-simplify]: Simplify 1 into 1 8.525 * [backup-simplify]: Simplify (* phi2 0) into 0 8.525 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 8.525 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 8.526 * [backup-simplify]: Simplify (+ 0 1) into 1 8.526 * [backup-simplify]: Simplify (+ 0 1) into 1 8.526 * [backup-simplify]: Simplify (+ 0 1) into 1 8.526 * [backup-simplify]: Simplify (+ 1 0) into 1 8.527 * [backup-simplify]: Simplify (sqrt 1) into 1 8.527 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 8.528 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 8.528 * [backup-simplify]: Simplify (+ 0 0) into 0 8.528 * [backup-simplify]: Simplify (+ 0 0) into 0 8.528 * [backup-simplify]: Simplify (+ 0 0) into 0 8.528 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 8.528 * [backup-simplify]: Simplify (+ 0 (/ 2 phi2)) into (* 2 (/ 1 phi2)) 8.528 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi2))) into (- (* 2 (/ 1 phi2))) 8.529 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 8.529 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi2))) (* 2 (sqrt 1))) into (/ -1 phi2) 8.529 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in lambda2 8.529 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in lambda2 8.529 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) in lambda2 8.529 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda2 8.529 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 8.529 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 8.529 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 8.529 * [taylor]: Taking taylor expansion of 0.5 in lambda2 8.529 * [backup-simplify]: Simplify 0.5 into 0.5 8.529 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 8.529 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 8.529 * [taylor]: Taking taylor expansion of phi1 in lambda2 8.529 * [backup-simplify]: Simplify phi1 into phi1 8.529 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 8.529 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 8.529 * [taylor]: Taking taylor expansion of phi2 in lambda2 8.529 * [backup-simplify]: Simplify phi2 into phi2 8.529 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 8.529 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 8.530 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 8.530 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.530 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.530 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.530 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 8.530 * [backup-simplify]: Simplify (- 0) into 0 8.530 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.530 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 8.530 * [taylor]: Taking taylor expansion of lambda1 in lambda2 8.530 * [backup-simplify]: Simplify lambda1 into lambda1 8.531 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.531 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 8.531 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 8.531 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) in lambda2 8.531 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda2 8.531 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 8.531 * [taylor]: Taking taylor expansion of phi2 in lambda2 8.531 * [backup-simplify]: Simplify phi2 into phi2 8.531 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 8.531 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 8.531 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) in lambda2 8.531 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda2 8.531 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 8.531 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 8.531 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 8.531 * [taylor]: Taking taylor expansion of 0.5 in lambda2 8.531 * [backup-simplify]: Simplify 0.5 into 0.5 8.531 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 8.531 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 8.531 * [taylor]: Taking taylor expansion of phi1 in lambda2 8.531 * [backup-simplify]: Simplify phi1 into phi1 8.531 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 8.531 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 8.531 * [taylor]: Taking taylor expansion of phi2 in lambda2 8.532 * [backup-simplify]: Simplify phi2 into phi2 8.532 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 8.532 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 8.532 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 8.532 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.532 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.532 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.532 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 8.533 * [backup-simplify]: Simplify (- 0) into 0 8.533 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.533 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 8.533 * [taylor]: Taking taylor expansion of lambda2 in lambda2 8.533 * [backup-simplify]: Simplify 0 into 0 8.533 * [backup-simplify]: Simplify 1 into 1 8.533 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.533 * [backup-simplify]: Simplify (* 1 1) into 1 8.533 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.533 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda2 8.533 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 8.533 * [taylor]: Taking taylor expansion of phi1 in lambda2 8.534 * [backup-simplify]: Simplify phi1 into phi1 8.534 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 8.534 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 8.534 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in lambda2 8.534 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda2 8.534 * [taylor]: Taking taylor expansion of 2 in lambda2 8.534 * [backup-simplify]: Simplify 2 into 2 8.534 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda2 8.534 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 8.534 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 8.534 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 8.534 * [taylor]: Taking taylor expansion of 0.5 in lambda2 8.534 * [backup-simplify]: Simplify 0.5 into 0.5 8.534 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 8.534 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 8.534 * [taylor]: Taking taylor expansion of phi1 in lambda2 8.534 * [backup-simplify]: Simplify phi1 into phi1 8.534 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 8.534 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 8.534 * [taylor]: Taking taylor expansion of phi2 in lambda2 8.534 * [backup-simplify]: Simplify phi2 into phi2 8.534 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 8.534 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 8.534 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 8.534 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.534 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.534 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.535 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 8.535 * [backup-simplify]: Simplify (- 0) into 0 8.535 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.535 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda2 8.535 * [taylor]: Taking taylor expansion of lambda2 in lambda2 8.535 * [backup-simplify]: Simplify 0 into 0 8.535 * [backup-simplify]: Simplify 1 into 1 8.535 * [taylor]: Taking taylor expansion of lambda1 in lambda2 8.535 * [backup-simplify]: Simplify lambda1 into lambda1 8.535 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.535 * [backup-simplify]: Simplify (* 0 lambda1) into 0 8.536 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda1)) into lambda1 8.536 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) 8.536 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda2 8.536 * [taylor]: Taking taylor expansion of 2 in lambda2 8.536 * [backup-simplify]: Simplify 2 into 2 8.536 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda2 8.536 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 8.536 * [taylor]: Taking taylor expansion of phi2 in lambda2 8.536 * [backup-simplify]: Simplify phi2 into phi2 8.536 * [taylor]: Taking taylor expansion of phi1 in lambda2 8.536 * [backup-simplify]: Simplify phi1 into phi1 8.536 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 8.536 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 8.536 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.537 * [backup-simplify]: Simplify (+ 0 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.537 * [backup-simplify]: Simplify (+ 0 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.537 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.537 * [backup-simplify]: Simplify (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.537 * [backup-simplify]: Simplify (+ 0) into 0 8.538 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 8.538 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 8.538 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 8.538 * [backup-simplify]: Simplify (+ 0 0) into 0 8.539 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 8.539 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 8.539 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 8.540 * [backup-simplify]: Simplify (- 0) into 0 8.540 * [backup-simplify]: Simplify (+ 0 0) into 0 8.540 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 8.540 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 8.541 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 8.541 * [backup-simplify]: Simplify (+ 0 0) into 0 8.542 * [backup-simplify]: Simplify (+ 0 0) into 0 8.542 * [backup-simplify]: Simplify (+ 0 0) into 0 8.542 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 8.542 * [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)) 8.543 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 8.543 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 8.543 * [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)) 8.543 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in lambda1 8.544 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in lambda1 8.544 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) in lambda1 8.544 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda1 8.544 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 8.544 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 8.544 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 8.544 * [taylor]: Taking taylor expansion of 0.5 in lambda1 8.544 * [backup-simplify]: Simplify 0.5 into 0.5 8.544 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 8.544 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 8.544 * [taylor]: Taking taylor expansion of phi1 in lambda1 8.544 * [backup-simplify]: Simplify phi1 into phi1 8.544 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 8.544 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 8.544 * [taylor]: Taking taylor expansion of phi2 in lambda1 8.544 * [backup-simplify]: Simplify phi2 into phi2 8.544 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 8.544 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 8.544 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 8.544 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.544 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.544 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.544 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 8.545 * [backup-simplify]: Simplify (- 0) into 0 8.545 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.545 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 8.545 * [taylor]: Taking taylor expansion of lambda1 in lambda1 8.545 * [backup-simplify]: Simplify 0 into 0 8.545 * [backup-simplify]: Simplify 1 into 1 8.545 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.545 * [backup-simplify]: Simplify (* 1 1) into 1 8.546 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.546 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) in lambda1 8.546 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda1 8.546 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 8.546 * [taylor]: Taking taylor expansion of phi2 in lambda1 8.546 * [backup-simplify]: Simplify phi2 into phi2 8.546 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 8.546 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 8.546 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) in lambda1 8.546 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda1 8.546 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 8.546 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 8.546 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 8.546 * [taylor]: Taking taylor expansion of 0.5 in lambda1 8.546 * [backup-simplify]: Simplify 0.5 into 0.5 8.546 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 8.546 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 8.546 * [taylor]: Taking taylor expansion of phi1 in lambda1 8.546 * [backup-simplify]: Simplify phi1 into phi1 8.546 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 8.546 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 8.546 * [taylor]: Taking taylor expansion of phi2 in lambda1 8.546 * [backup-simplify]: Simplify phi2 into phi2 8.546 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 8.547 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 8.547 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 8.547 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.547 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.547 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.547 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 8.547 * [backup-simplify]: Simplify (- 0) into 0 8.548 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.548 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 8.548 * [taylor]: Taking taylor expansion of lambda2 in lambda1 8.548 * [backup-simplify]: Simplify lambda2 into lambda2 8.548 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.548 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 8.548 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 8.548 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda1 8.548 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 8.548 * [taylor]: Taking taylor expansion of phi1 in lambda1 8.548 * [backup-simplify]: Simplify phi1 into phi1 8.548 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 8.548 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 8.548 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in lambda1 8.548 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1 8.548 * [taylor]: Taking taylor expansion of 2 in lambda1 8.548 * [backup-simplify]: Simplify 2 into 2 8.548 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1 8.548 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 8.549 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 8.549 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 8.549 * [taylor]: Taking taylor expansion of 0.5 in lambda1 8.549 * [backup-simplify]: Simplify 0.5 into 0.5 8.549 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 8.549 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 8.549 * [taylor]: Taking taylor expansion of phi1 in lambda1 8.549 * [backup-simplify]: Simplify phi1 into phi1 8.549 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 8.549 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 8.549 * [taylor]: Taking taylor expansion of phi2 in lambda1 8.549 * [backup-simplify]: Simplify phi2 into phi2 8.549 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 8.549 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 8.549 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 8.549 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.549 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.549 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.549 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 8.550 * [backup-simplify]: Simplify (- 0) into 0 8.550 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.550 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 8.550 * [taylor]: Taking taylor expansion of lambda2 in lambda1 8.550 * [backup-simplify]: Simplify lambda2 into lambda2 8.550 * [taylor]: Taking taylor expansion of lambda1 in lambda1 8.550 * [backup-simplify]: Simplify 0 into 0 8.550 * [backup-simplify]: Simplify 1 into 1 8.550 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.550 * [backup-simplify]: Simplify (* lambda2 0) into 0 8.550 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 8.551 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) 8.551 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda1 8.551 * [taylor]: Taking taylor expansion of 2 in lambda1 8.551 * [backup-simplify]: Simplify 2 into 2 8.551 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda1 8.551 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda1 8.551 * [taylor]: Taking taylor expansion of phi2 in lambda1 8.551 * [backup-simplify]: Simplify phi2 into phi2 8.551 * [taylor]: Taking taylor expansion of phi1 in lambda1 8.551 * [backup-simplify]: Simplify phi1 into phi1 8.551 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 8.551 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 8.551 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.551 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.552 * [backup-simplify]: Simplify (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.552 * [backup-simplify]: Simplify (+ 0) into 0 8.553 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 8.553 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 8.553 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 8.553 * [backup-simplify]: Simplify (+ 0 0) into 0 8.554 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 8.554 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 8.555 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 8.555 * [backup-simplify]: Simplify (- 0) into 0 8.555 * [backup-simplify]: Simplify (+ 0 0) into 0 8.555 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 8.556 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 8.557 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 8.557 * [backup-simplify]: Simplify (+ 0 0) into 0 8.557 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 8.557 * [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)) 8.558 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 8.558 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 8.558 * [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)) 8.558 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in lambda1 8.558 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in lambda1 8.558 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) in lambda1 8.559 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda1 8.559 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 8.559 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 8.559 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 8.559 * [taylor]: Taking taylor expansion of 0.5 in lambda1 8.559 * [backup-simplify]: Simplify 0.5 into 0.5 8.559 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 8.559 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 8.559 * [taylor]: Taking taylor expansion of phi1 in lambda1 8.559 * [backup-simplify]: Simplify phi1 into phi1 8.559 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 8.559 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 8.559 * [taylor]: Taking taylor expansion of phi2 in lambda1 8.559 * [backup-simplify]: Simplify phi2 into phi2 8.559 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 8.559 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 8.559 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 8.559 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.559 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.559 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.559 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 8.560 * [backup-simplify]: Simplify (- 0) into 0 8.560 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.560 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 8.560 * [taylor]: Taking taylor expansion of lambda1 in lambda1 8.560 * [backup-simplify]: Simplify 0 into 0 8.560 * [backup-simplify]: Simplify 1 into 1 8.560 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.560 * [backup-simplify]: Simplify (* 1 1) into 1 8.561 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.561 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) in lambda1 8.561 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda1 8.561 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 8.561 * [taylor]: Taking taylor expansion of phi2 in lambda1 8.561 * [backup-simplify]: Simplify phi2 into phi2 8.561 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 8.561 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 8.561 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) in lambda1 8.561 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda1 8.561 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 8.561 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 8.561 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 8.561 * [taylor]: Taking taylor expansion of 0.5 in lambda1 8.561 * [backup-simplify]: Simplify 0.5 into 0.5 8.561 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 8.561 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 8.561 * [taylor]: Taking taylor expansion of phi1 in lambda1 8.561 * [backup-simplify]: Simplify phi1 into phi1 8.561 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 8.561 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 8.561 * [taylor]: Taking taylor expansion of phi2 in lambda1 8.561 * [backup-simplify]: Simplify phi2 into phi2 8.561 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 8.561 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 8.561 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 8.561 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.561 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.562 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.562 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 8.562 * [backup-simplify]: Simplify (- 0) into 0 8.562 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.562 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 8.562 * [taylor]: Taking taylor expansion of lambda2 in lambda1 8.562 * [backup-simplify]: Simplify lambda2 into lambda2 8.562 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.562 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 8.562 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 8.563 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda1 8.563 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 8.563 * [taylor]: Taking taylor expansion of phi1 in lambda1 8.563 * [backup-simplify]: Simplify phi1 into phi1 8.563 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 8.563 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 8.563 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in lambda1 8.563 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1 8.563 * [taylor]: Taking taylor expansion of 2 in lambda1 8.563 * [backup-simplify]: Simplify 2 into 2 8.563 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1 8.563 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 8.563 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 8.563 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 8.563 * [taylor]: Taking taylor expansion of 0.5 in lambda1 8.563 * [backup-simplify]: Simplify 0.5 into 0.5 8.563 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 8.563 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 8.563 * [taylor]: Taking taylor expansion of phi1 in lambda1 8.563 * [backup-simplify]: Simplify phi1 into phi1 8.563 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 8.563 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 8.563 * [taylor]: Taking taylor expansion of phi2 in lambda1 8.563 * [backup-simplify]: Simplify phi2 into phi2 8.563 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 8.563 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 8.563 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 8.563 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.563 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.564 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.564 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 8.564 * [backup-simplify]: Simplify (- 0) into 0 8.564 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.564 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 8.564 * [taylor]: Taking taylor expansion of lambda2 in lambda1 8.564 * [backup-simplify]: Simplify lambda2 into lambda2 8.564 * [taylor]: Taking taylor expansion of lambda1 in lambda1 8.564 * [backup-simplify]: Simplify 0 into 0 8.564 * [backup-simplify]: Simplify 1 into 1 8.564 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.564 * [backup-simplify]: Simplify (* lambda2 0) into 0 8.565 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 8.565 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) 8.565 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda1 8.565 * [taylor]: Taking taylor expansion of 2 in lambda1 8.565 * [backup-simplify]: Simplify 2 into 2 8.565 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda1 8.565 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda1 8.565 * [taylor]: Taking taylor expansion of phi2 in lambda1 8.565 * [backup-simplify]: Simplify phi2 into phi2 8.565 * [taylor]: Taking taylor expansion of phi1 in lambda1 8.565 * [backup-simplify]: Simplify phi1 into phi1 8.565 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 8.565 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 8.565 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.565 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.566 * [backup-simplify]: Simplify (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.566 * [backup-simplify]: Simplify (+ 0) into 0 8.566 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 8.566 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 8.566 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 8.567 * [backup-simplify]: Simplify (+ 0 0) into 0 8.567 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 8.567 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 8.568 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 8.568 * [backup-simplify]: Simplify (- 0) into 0 8.568 * [backup-simplify]: Simplify (+ 0 0) into 0 8.568 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 8.569 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 8.570 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 8.570 * [backup-simplify]: Simplify (+ 0 0) into 0 8.570 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 8.570 * [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)) 8.571 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 8.571 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 8.571 * [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)) 8.571 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 8.571 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 8.571 * [taylor]: Taking taylor expansion of 0.5 in lambda2 8.571 * [backup-simplify]: Simplify 0.5 into 0.5 8.571 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 8.571 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 8.571 * [taylor]: Taking taylor expansion of phi1 in lambda2 8.571 * [backup-simplify]: Simplify phi1 into phi1 8.572 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 8.572 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 8.572 * [taylor]: Taking taylor expansion of phi2 in lambda2 8.572 * [backup-simplify]: Simplify phi2 into phi2 8.572 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 8.572 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 8.572 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 8.572 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.572 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.572 * [taylor]: Taking taylor expansion of (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) in lambda2 8.572 * [taylor]: Taking taylor expansion of -1 in lambda2 8.572 * [backup-simplify]: Simplify -1 into -1 8.572 * [taylor]: Taking taylor expansion of (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2) in lambda2 8.572 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 8.572 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 8.572 * [taylor]: Taking taylor expansion of 0.5 in lambda2 8.572 * [backup-simplify]: Simplify 0.5 into 0.5 8.572 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 8.572 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 8.572 * [taylor]: Taking taylor expansion of phi1 in lambda2 8.572 * [backup-simplify]: Simplify phi1 into phi1 8.572 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 8.572 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 8.572 * [taylor]: Taking taylor expansion of phi2 in lambda2 8.572 * [backup-simplify]: Simplify phi2 into phi2 8.572 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 8.572 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 8.572 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 8.573 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.573 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.573 * [taylor]: Taking taylor expansion of lambda2 in lambda2 8.573 * [backup-simplify]: Simplify 0 into 0 8.573 * [backup-simplify]: Simplify 1 into 1 8.573 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.573 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 8.573 * [backup-simplify]: Simplify (- 0) into 0 8.573 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.573 * [backup-simplify]: Simplify (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.574 * [backup-simplify]: Simplify (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 8.574 * [taylor]: Taking taylor expansion of (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1 8.574 * [taylor]: Taking taylor expansion of -1 in phi1 8.574 * [backup-simplify]: Simplify -1 into -1 8.574 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 8.574 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 8.574 * [taylor]: Taking taylor expansion of 0.5 in phi1 8.574 * [backup-simplify]: Simplify 0.5 into 0.5 8.574 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 8.574 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 8.574 * [taylor]: Taking taylor expansion of phi1 in phi1 8.574 * [backup-simplify]: Simplify 0 into 0 8.574 * [backup-simplify]: Simplify 1 into 1 8.574 * [backup-simplify]: Simplify (/ 1 1) into 1 8.574 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 8.574 * [taylor]: Taking taylor expansion of phi2 in phi1 8.574 * [backup-simplify]: Simplify phi2 into phi2 8.574 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 8.574 * [backup-simplify]: Simplify (+ 1 0) into 1 8.575 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 8.575 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.575 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.575 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 8.575 * [backup-simplify]: Simplify (- 0) into 0 8.575 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.575 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 8.575 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 8.575 * [taylor]: Taking taylor expansion of 0.5 in phi1 8.575 * [backup-simplify]: Simplify 0.5 into 0.5 8.575 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 8.575 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 8.575 * [taylor]: Taking taylor expansion of phi1 in phi1 8.575 * [backup-simplify]: Simplify 0 into 0 8.575 * [backup-simplify]: Simplify 1 into 1 8.576 * [backup-simplify]: Simplify (/ 1 1) into 1 8.576 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 8.576 * [taylor]: Taking taylor expansion of phi2 in phi1 8.576 * [backup-simplify]: Simplify phi2 into phi2 8.576 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 8.576 * [backup-simplify]: Simplify (+ 1 0) into 1 8.576 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 8.576 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.577 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 8.577 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 8.578 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 8.578 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 8.578 * [backup-simplify]: Simplify (+ 0 0) into 0 8.578 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 8.579 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 8.579 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 8.580 * [backup-simplify]: Simplify (- 0) into 0 8.580 * [backup-simplify]: Simplify (+ 0 0) into 0 8.580 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 8.581 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 8.582 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)) (* 0 (/ 0 1)))) into 0 8.582 * [backup-simplify]: Simplify (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) into (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) 8.583 * [backup-simplify]: Simplify (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) into (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) 8.583 * [backup-simplify]: Simplify (+ 0 (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) into (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) 8.583 * [backup-simplify]: Simplify (+ 0) into 0 8.584 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 8.584 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 8.584 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 8.584 * [backup-simplify]: Simplify (+ 0 0) into 0 8.584 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 8.585 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 8.585 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 8.586 * [backup-simplify]: Simplify (- 0) into 0 8.586 * [backup-simplify]: Simplify (+ 0 0) into 0 8.586 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 8.586 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 1) (* 0 0))) into 0 8.587 * [backup-simplify]: Simplify (- (/ 0 lambda2) (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) (/ 0 lambda2)))) into 0 8.587 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into 0 8.587 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi2 phi1))) into (/ 2 (* phi2 phi1)) 8.587 * [backup-simplify]: Simplify (+ 0 (/ 2 (* phi2 phi1))) into (* 2 (/ 1 (* phi2 phi1))) 8.587 * [backup-simplify]: Simplify (- (* 2 (/ 1 (* phi2 phi1)))) into (- (* 2 (/ 1 (* phi2 phi1)))) 8.588 * [backup-simplify]: Simplify (+ (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) (- (* 2 (/ 1 (* phi2 phi1))))) into (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) (* 2 (/ 1 (* phi2 phi1)))) 8.589 * [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)))))) 8.589 * [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 8.589 * [taylor]: Taking taylor expansion of 1/2 in lambda2 8.589 * [backup-simplify]: Simplify 1/2 into 1/2 8.589 * [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 8.589 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) in lambda2 8.589 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in lambda2 8.589 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda2 8.589 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 8.589 * [taylor]: Taking taylor expansion of phi2 in lambda2 8.589 * [backup-simplify]: Simplify phi2 into phi2 8.589 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 8.590 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 8.590 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda2 8.590 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 8.590 * [taylor]: Taking taylor expansion of phi1 in lambda2 8.590 * [backup-simplify]: Simplify phi1 into phi1 8.590 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 8.590 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 8.590 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda2 8.590 * [taylor]: Taking taylor expansion of 2 in lambda2 8.590 * [backup-simplify]: Simplify 2 into 2 8.590 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda2 8.590 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 8.590 * [taylor]: Taking taylor expansion of phi2 in lambda2 8.590 * [backup-simplify]: Simplify phi2 into phi2 8.590 * [taylor]: Taking taylor expansion of phi1 in lambda2 8.590 * [backup-simplify]: Simplify phi1 into phi1 8.590 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 8.590 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 8.590 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 8.590 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 8.590 * [taylor]: Taking taylor expansion of 0.5 in lambda2 8.590 * [backup-simplify]: Simplify 0.5 into 0.5 8.590 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 8.590 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 8.590 * [taylor]: Taking taylor expansion of phi1 in lambda2 8.590 * [backup-simplify]: Simplify phi1 into phi1 8.590 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 8.590 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 8.590 * [taylor]: Taking taylor expansion of phi2 in lambda2 8.590 * [backup-simplify]: Simplify phi2 into phi2 8.590 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 8.590 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 8.590 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 8.590 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.591 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.591 * [backup-simplify]: Simplify (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) into (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) 8.591 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi2 phi1))) into (/ 2 (* phi2 phi1)) 8.591 * [backup-simplify]: Simplify (- (/ 2 (* phi2 phi1))) into (- (* 2 (/ 1 (* phi2 phi1)))) 8.591 * [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)))) 8.591 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.591 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 8.592 * [backup-simplify]: Simplify (- 0) into 0 8.592 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.592 * [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))))) 8.598 * [backup-simplify]: Simplify (+ 0) into 0 8.598 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 8.598 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 8.599 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 8.599 * [backup-simplify]: Simplify (+ 0 0) into 0 8.599 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 8.600 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 8.600 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 8.600 * [backup-simplify]: Simplify (- 0) into 0 8.600 * [backup-simplify]: Simplify (+ 0 0) into 0 8.601 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (/ 0 1)))) into 0 8.601 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 8.601 * [taylor]: Taking taylor expansion of 0 in phi1 8.601 * [backup-simplify]: Simplify 0 into 0 8.602 * [backup-simplify]: Simplify (+ 0) into 0 8.602 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 8.602 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 8.602 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 8.602 * [backup-simplify]: Simplify (+ 0 0) into 0 8.603 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 8.603 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 8.604 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 8.604 * [backup-simplify]: Simplify (- 0) into 0 8.604 * [backup-simplify]: Simplify (+ 0 0) into 0 8.604 * [taylor]: Taking taylor expansion of 0 in phi1 8.604 * [backup-simplify]: Simplify 0 into 0 8.604 * [backup-simplify]: Simplify (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 8.604 * [taylor]: Taking taylor expansion of (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 8.604 * [taylor]: Taking taylor expansion of -1 in phi2 8.604 * [backup-simplify]: Simplify -1 into -1 8.604 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 8.604 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 8.604 * [taylor]: Taking taylor expansion of 0.5 in phi2 8.604 * [backup-simplify]: Simplify 0.5 into 0.5 8.604 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 8.604 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 8.604 * [taylor]: Taking taylor expansion of phi1 in phi2 8.604 * [backup-simplify]: Simplify phi1 into phi1 8.604 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 8.605 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 8.605 * [taylor]: Taking taylor expansion of phi2 in phi2 8.605 * [backup-simplify]: Simplify 0 into 0 8.605 * [backup-simplify]: Simplify 1 into 1 8.605 * [backup-simplify]: Simplify (/ 1 1) into 1 8.605 * [backup-simplify]: Simplify (+ 0 1) into 1 8.605 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 8.605 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.605 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 8.605 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 8.606 * [taylor]: Taking taylor expansion of 0.5 in phi2 8.606 * [backup-simplify]: Simplify 0.5 into 0.5 8.606 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 8.606 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 8.606 * [taylor]: Taking taylor expansion of phi1 in phi2 8.606 * [backup-simplify]: Simplify phi1 into phi1 8.606 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 8.606 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 8.606 * [taylor]: Taking taylor expansion of phi2 in phi2 8.606 * [backup-simplify]: Simplify 0 into 0 8.606 * [backup-simplify]: Simplify 1 into 1 8.606 * [backup-simplify]: Simplify (/ 1 1) into 1 8.606 * [backup-simplify]: Simplify (+ 0 1) into 1 8.606 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 8.607 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.607 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 8.608 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 8.608 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 8.608 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 8.608 * [backup-simplify]: Simplify (+ 0 0) into 0 8.609 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 8.610 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 8.610 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 8.611 * [backup-simplify]: Simplify (- 0) into 0 8.611 * [backup-simplify]: Simplify (+ 0 0) into 0 8.611 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into 0 8.612 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 8.613 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0 8.613 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 8.614 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi2 2)) (/ 0 (pow phi2 2))))) into 0 8.614 * [backup-simplify]: Simplify (+ 0) into 0 8.614 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 8.614 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 8.614 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 8.615 * [backup-simplify]: Simplify (+ 0 0) into 0 8.615 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 8.615 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 8.616 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 8.616 * [backup-simplify]: Simplify (- 0) into 0 8.616 * [backup-simplify]: Simplify (+ 0 0) into 0 8.616 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 8.616 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 8.617 * [backup-simplify]: Simplify (- (/ 0 (pow lambda2 2)) (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 0 (pow lambda2 2))))) into 0 8.617 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 8.617 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi1 2)) (/ 0 (pow phi1 2))))) into 0 8.617 * [backup-simplify]: Simplify (+ 0 0) into 0 8.617 * [backup-simplify]: Simplify (+ 0 0) into 0 8.618 * [backup-simplify]: Simplify (+ 0 0) into 0 8.618 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 8.619 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 8.619 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 8.619 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 8.619 * [backup-simplify]: Simplify (+ 0 0) into 0 8.620 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 8.620 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 8.621 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 8.621 * [backup-simplify]: Simplify (- 0) into 0 8.621 * [backup-simplify]: Simplify (+ 0 0) into 0 8.621 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 8.622 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (+ (* 0 1) (* 0 0)))) into 0 8.622 * [backup-simplify]: Simplify (- (/ 0 lambda2) (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) (/ 0 lambda2)) (* 0 (/ 0 lambda2)))) into 0 8.623 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) into 0 8.623 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 8.623 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* phi2 phi1)) (/ 0 (* phi2 phi1))))) into 0 8.623 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ 1 (* phi2 phi1)))) into 0 8.624 * [backup-simplify]: Simplify (+ 0 0) into 0 8.624 * [backup-simplify]: Simplify (- 0) into 0 8.624 * [backup-simplify]: Simplify (+ 0 0) into 0 8.625 * [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)))))) 8.625 * [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 8.625 * [taylor]: Taking taylor expansion of 1/2 in lambda2 8.625 * [backup-simplify]: Simplify 1/2 into 1/2 8.625 * [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 8.625 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (* lambda2 (pow phi1 2))) (/ 1 (* (pow phi2 2) lambda2))) (* 2 (/ 1 (* phi2 (* lambda2 phi1))))) in lambda2 8.625 * [taylor]: Taking taylor expansion of (+ (/ 1 (* lambda2 (pow phi1 2))) (/ 1 (* (pow phi2 2) lambda2))) in lambda2 8.625 * [taylor]: Taking taylor expansion of (/ 1 (* lambda2 (pow phi1 2))) in lambda2 8.625 * [taylor]: Taking taylor expansion of (* lambda2 (pow phi1 2)) in lambda2 8.625 * [taylor]: Taking taylor expansion of lambda2 in lambda2 8.625 * [backup-simplify]: Simplify 0 into 0 8.625 * [backup-simplify]: Simplify 1 into 1 8.625 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 8.625 * [taylor]: Taking taylor expansion of phi1 in lambda2 8.625 * [backup-simplify]: Simplify phi1 into phi1 8.625 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 8.625 * [backup-simplify]: Simplify (* 0 (pow phi1 2)) into 0 8.625 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 8.626 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow phi1 2))) into (pow phi1 2) 8.626 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 8.626 * [taylor]: Taking taylor expansion of (/ 1 (* (pow phi2 2) lambda2)) in lambda2 8.626 * [taylor]: Taking taylor expansion of (* (pow phi2 2) lambda2) in lambda2 8.626 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 8.626 * [taylor]: Taking taylor expansion of phi2 in lambda2 8.626 * [backup-simplify]: Simplify phi2 into phi2 8.626 * [taylor]: Taking taylor expansion of lambda2 in lambda2 8.626 * [backup-simplify]: Simplify 0 into 0 8.626 * [backup-simplify]: Simplify 1 into 1 8.626 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 8.626 * [backup-simplify]: Simplify (* (pow phi2 2) 0) into 0 8.626 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 8.627 * [backup-simplify]: Simplify (+ (* (pow phi2 2) 1) (* 0 0)) into (pow phi2 2) 8.627 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 8.627 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 (* lambda2 phi1)))) in lambda2 8.627 * [taylor]: Taking taylor expansion of 2 in lambda2 8.627 * [backup-simplify]: Simplify 2 into 2 8.627 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (* lambda2 phi1))) in lambda2 8.627 * [taylor]: Taking taylor expansion of (* phi2 (* lambda2 phi1)) in lambda2 8.627 * [taylor]: Taking taylor expansion of phi2 in lambda2 8.627 * [backup-simplify]: Simplify phi2 into phi2 8.627 * [taylor]: Taking taylor expansion of (* lambda2 phi1) in lambda2 8.627 * [taylor]: Taking taylor expansion of lambda2 in lambda2 8.627 * [backup-simplify]: Simplify 0 into 0 8.627 * [backup-simplify]: Simplify 1 into 1 8.627 * [taylor]: Taking taylor expansion of phi1 in lambda2 8.627 * [backup-simplify]: Simplify phi1 into phi1 8.627 * [backup-simplify]: Simplify (* 0 phi1) into 0 8.627 * [backup-simplify]: Simplify (* phi2 0) into 0 8.627 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 8.627 * [backup-simplify]: Simplify (+ (* phi2 phi1) (* 0 0)) into (* phi2 phi1) 8.628 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 8.628 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 8.628 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 8.628 * [taylor]: Taking taylor expansion of 0.5 in lambda2 8.628 * [backup-simplify]: Simplify 0.5 into 0.5 8.628 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 8.628 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 8.628 * [taylor]: Taking taylor expansion of phi1 in lambda2 8.628 * [backup-simplify]: Simplify phi1 into phi1 8.628 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 8.628 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 8.628 * [taylor]: Taking taylor expansion of phi2 in lambda2 8.628 * [backup-simplify]: Simplify phi2 into phi2 8.628 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 8.628 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 8.628 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 8.628 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.628 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.628 * [backup-simplify]: Simplify (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) into (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) 8.628 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi2 phi1))) into (/ 2 (* phi2 phi1)) 8.628 * [backup-simplify]: Simplify (- (/ 2 (* phi2 phi1))) into (- (* 2 (/ 1 (* phi2 phi1)))) 8.629 * [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)))) 8.629 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.629 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 8.629 * [backup-simplify]: Simplify (- 0) into 0 8.629 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.630 * [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))))) 8.630 * [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)))))) 8.630 * [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 8.630 * [taylor]: Taking taylor expansion of 1/2 in phi1 8.630 * [backup-simplify]: Simplify 1/2 into 1/2 8.630 * [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 8.630 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) in phi1 8.630 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in phi1 8.630 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 8.630 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 8.630 * [taylor]: Taking taylor expansion of phi2 in phi1 8.630 * [backup-simplify]: Simplify phi2 into phi2 8.630 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 8.630 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 8.630 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 8.630 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 8.630 * [taylor]: Taking taylor expansion of phi1 in phi1 8.630 * [backup-simplify]: Simplify 0 into 0 8.630 * [backup-simplify]: Simplify 1 into 1 8.631 * [backup-simplify]: Simplify (* 1 1) into 1 8.631 * [backup-simplify]: Simplify (/ 1 1) into 1 8.631 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi1 8.631 * [taylor]: Taking taylor expansion of 2 in phi1 8.631 * [backup-simplify]: Simplify 2 into 2 8.631 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi1 8.631 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 8.631 * [taylor]: Taking taylor expansion of phi2 in phi1 8.631 * [backup-simplify]: Simplify phi2 into phi2 8.631 * [taylor]: Taking taylor expansion of phi1 in phi1 8.631 * [backup-simplify]: Simplify 0 into 0 8.631 * [backup-simplify]: Simplify 1 into 1 8.631 * [backup-simplify]: Simplify (* phi2 0) into 0 8.631 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 8.631 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 8.631 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 8.632 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 8.632 * [taylor]: Taking taylor expansion of 0.5 in phi1 8.632 * [backup-simplify]: Simplify 0.5 into 0.5 8.632 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 8.632 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 8.632 * [taylor]: Taking taylor expansion of phi1 in phi1 8.632 * [backup-simplify]: Simplify 0 into 0 8.632 * [backup-simplify]: Simplify 1 into 1 8.632 * [backup-simplify]: Simplify (/ 1 1) into 1 8.632 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 8.632 * [taylor]: Taking taylor expansion of phi2 in phi1 8.632 * [backup-simplify]: Simplify phi2 into phi2 8.632 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 8.632 * [backup-simplify]: Simplify (+ 1 0) into 1 8.633 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 8.633 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.633 * [backup-simplify]: Simplify (+ 0 1) into 1 8.633 * [backup-simplify]: Simplify (+ 1 0) into 1 8.633 * [backup-simplify]: Simplify (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 8.634 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 8.634 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 8.634 * [backup-simplify]: Simplify (+ 0 0) into 0 8.634 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 8.634 * [backup-simplify]: Simplify (- (/ 2 phi2)) into (- (* 2 (/ 1 phi2))) 8.634 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 8.635 * [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)))))))) 8.635 * [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))))))) 8.635 * [taylor]: Taking taylor expansion of (- (/ 1 (* phi2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in phi2 8.635 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi2 8.635 * [taylor]: Taking taylor expansion of (* phi2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 8.635 * [taylor]: Taking taylor expansion of phi2 in phi2 8.635 * [backup-simplify]: Simplify 0 into 0 8.635 * [backup-simplify]: Simplify 1 into 1 8.635 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 8.635 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 8.635 * [taylor]: Taking taylor expansion of 0.5 in phi2 8.635 * [backup-simplify]: Simplify 0.5 into 0.5 8.635 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 8.635 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 8.635 * [taylor]: Taking taylor expansion of phi1 in phi2 8.635 * [backup-simplify]: Simplify phi1 into phi1 8.635 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 8.635 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 8.635 * [taylor]: Taking taylor expansion of phi2 in phi2 8.635 * [backup-simplify]: Simplify 0 into 0 8.635 * [backup-simplify]: Simplify 1 into 1 8.636 * [backup-simplify]: Simplify (/ 1 1) into 1 8.636 * [backup-simplify]: Simplify (+ 0 1) into 1 8.636 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 8.636 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.636 * [backup-simplify]: Simplify (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 8.637 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.637 * [backup-simplify]: Simplify (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 8.637 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 8.637 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 8.638 * [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)))))) 8.638 * [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 8.638 * [taylor]: Taking taylor expansion of 1/2 in phi1 8.638 * [backup-simplify]: Simplify 1/2 into 1/2 8.638 * [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 8.638 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) in phi1 8.638 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in phi1 8.638 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 8.638 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 8.638 * [taylor]: Taking taylor expansion of phi2 in phi1 8.638 * [backup-simplify]: Simplify phi2 into phi2 8.638 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 8.638 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 8.638 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 8.638 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 8.638 * [taylor]: Taking taylor expansion of phi1 in phi1 8.638 * [backup-simplify]: Simplify 0 into 0 8.638 * [backup-simplify]: Simplify 1 into 1 8.638 * [backup-simplify]: Simplify (* 1 1) into 1 8.639 * [backup-simplify]: Simplify (/ 1 1) into 1 8.639 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi1 8.639 * [taylor]: Taking taylor expansion of 2 in phi1 8.639 * [backup-simplify]: Simplify 2 into 2 8.639 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi1 8.639 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 8.639 * [taylor]: Taking taylor expansion of phi2 in phi1 8.639 * [backup-simplify]: Simplify phi2 into phi2 8.639 * [taylor]: Taking taylor expansion of phi1 in phi1 8.639 * [backup-simplify]: Simplify 0 into 0 8.639 * [backup-simplify]: Simplify 1 into 1 8.639 * [backup-simplify]: Simplify (* phi2 0) into 0 8.639 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 8.639 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 8.639 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 8.639 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 8.639 * [taylor]: Taking taylor expansion of 0.5 in phi1 8.639 * [backup-simplify]: Simplify 0.5 into 0.5 8.639 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 8.639 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 8.639 * [taylor]: Taking taylor expansion of phi1 in phi1 8.639 * [backup-simplify]: Simplify 0 into 0 8.639 * [backup-simplify]: Simplify 1 into 1 8.639 * [backup-simplify]: Simplify (/ 1 1) into 1 8.639 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 8.639 * [taylor]: Taking taylor expansion of phi2 in phi1 8.639 * [backup-simplify]: Simplify phi2 into phi2 8.640 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 8.640 * [backup-simplify]: Simplify (+ 1 0) into 1 8.640 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 8.640 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.640 * [backup-simplify]: Simplify (+ 0 1) into 1 8.641 * [backup-simplify]: Simplify (+ 1 0) into 1 8.641 * [backup-simplify]: Simplify (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 8.641 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 8.642 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 8.642 * [backup-simplify]: Simplify (+ 0 0) into 0 8.642 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 8.642 * [backup-simplify]: Simplify (- (/ 2 phi2)) into (- (* 2 (/ 1 phi2))) 8.642 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 8.642 * [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)))))))) 8.643 * [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))))))) 8.643 * [taylor]: Taking taylor expansion of (- (/ 1 (* phi2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in phi2 8.643 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi2 8.643 * [taylor]: Taking taylor expansion of (* phi2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 8.643 * [taylor]: Taking taylor expansion of phi2 in phi2 8.643 * [backup-simplify]: Simplify 0 into 0 8.643 * [backup-simplify]: Simplify 1 into 1 8.643 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 8.643 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 8.643 * [taylor]: Taking taylor expansion of 0.5 in phi2 8.643 * [backup-simplify]: Simplify 0.5 into 0.5 8.643 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 8.643 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 8.643 * [taylor]: Taking taylor expansion of phi1 in phi2 8.643 * [backup-simplify]: Simplify phi1 into phi1 8.643 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 8.643 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 8.643 * [taylor]: Taking taylor expansion of phi2 in phi2 8.643 * [backup-simplify]: Simplify 0 into 0 8.643 * [backup-simplify]: Simplify 1 into 1 8.643 * [backup-simplify]: Simplify (/ 1 1) into 1 8.644 * [backup-simplify]: Simplify (+ 0 1) into 1 8.644 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 8.644 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.644 * [backup-simplify]: Simplify (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 8.644 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.644 * [backup-simplify]: Simplify (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 8.645 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 8.645 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 8.645 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 8.646 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 8.646 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 8.646 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 8.646 * [backup-simplify]: Simplify (+ 0 0) into 0 8.647 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 8.647 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 8.648 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 8.648 * [backup-simplify]: Simplify (- 0) into 0 8.648 * [backup-simplify]: Simplify (+ 0 0) into 0 8.649 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (/ 0 1)) (* 0 (/ 0 1)))) into 0 8.650 * [backup-simplify]: Simplify (+ (* -1 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 8.650 * [taylor]: Taking taylor expansion of 0 in phi1 8.650 * [backup-simplify]: Simplify 0 into 0 8.650 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 8.651 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 8.651 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 8.651 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 8.651 * [backup-simplify]: Simplify (+ 0 0) into 0 8.652 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 8.652 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 8.653 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 8.653 * [backup-simplify]: Simplify (- 0) into 0 8.653 * [backup-simplify]: Simplify (+ 0 0) into 0 8.653 * [taylor]: Taking taylor expansion of 0 in phi1 8.653 * [backup-simplify]: Simplify 0 into 0 8.653 * [taylor]: Taking taylor expansion of 0 in phi2 8.653 * [backup-simplify]: Simplify 0 into 0 8.653 * [taylor]: Taking taylor expansion of 0 in phi2 8.653 * [backup-simplify]: Simplify 0 into 0 8.654 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 8.654 * [taylor]: Taking taylor expansion of 0 in phi2 8.654 * [backup-simplify]: Simplify 0 into 0 8.654 * [taylor]: Taking taylor expansion of 0 in phi2 8.654 * [backup-simplify]: Simplify 0 into 0 8.654 * [backup-simplify]: Simplify (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 8.654 * [backup-simplify]: Simplify (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 8.655 * [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))))))) 8.656 * [backup-simplify]: Simplify (exp (log (sqrt (+ (* (* (- (/ 1 (- lambda1)) (/ 1 (- lambda2))) (cos (/ (+ (/ 1 (- phi1)) (/ 1 (- phi2))) 2.0))) (* (- (/ 1 (- lambda1)) (/ 1 (- lambda2))) (* (* (cbrt (cos (/ (+ (/ 1 (- phi1)) (/ 1 (- phi2))) 2.0))) (cbrt (cos (/ (+ (/ 1 (- phi1)) (/ 1 (- phi2))) 2.0)))) (cbrt (cos (/ (+ (/ 1 (- phi1)) (/ 1 (- phi2))) 2.0)))))) (* (- (/ 1 (- phi1)) (/ 1 (- phi2))) (- (/ 1 (- phi1)) (/ 1 (- phi2)))))))) into (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) 8.657 * [approximate]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in (lambda1 lambda2 phi1 phi2) around 0 8.657 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in phi2 8.657 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in phi2 8.657 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) in phi2 8.657 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi2 8.657 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 8.657 * [taylor]: Taking taylor expansion of phi2 in phi2 8.657 * [backup-simplify]: Simplify 0 into 0 8.657 * [backup-simplify]: Simplify 1 into 1 8.657 * [backup-simplify]: Simplify (* 1 1) into 1 8.657 * [backup-simplify]: Simplify (/ 1 1) into 1 8.657 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))) in phi2 8.657 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in phi2 8.657 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 8.657 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 8.657 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 8.657 * [taylor]: Taking taylor expansion of -0.5 in phi2 8.657 * [backup-simplify]: Simplify -0.5 into -0.5 8.657 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 8.657 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 8.657 * [taylor]: Taking taylor expansion of phi1 in phi2 8.657 * [backup-simplify]: Simplify phi1 into phi1 8.657 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 8.657 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 8.658 * [taylor]: Taking taylor expansion of phi2 in phi2 8.658 * [backup-simplify]: Simplify 0 into 0 8.658 * [backup-simplify]: Simplify 1 into 1 8.658 * [backup-simplify]: Simplify (/ 1 1) into 1 8.658 * [backup-simplify]: Simplify (+ 0 1) into 1 8.658 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 8.658 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.658 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 8.658 * [taylor]: Taking taylor expansion of lambda2 in phi2 8.658 * [backup-simplify]: Simplify lambda2 into lambda2 8.659 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.659 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 8.659 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 8.659 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))) in phi2 8.659 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi2 8.659 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 8.659 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 8.659 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 8.659 * [taylor]: Taking taylor expansion of -0.5 in phi2 8.659 * [backup-simplify]: Simplify -0.5 into -0.5 8.659 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 8.659 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 8.659 * [taylor]: Taking taylor expansion of phi1 in phi2 8.659 * [backup-simplify]: Simplify phi1 into phi1 8.659 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 8.659 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 8.659 * [taylor]: Taking taylor expansion of phi2 in phi2 8.659 * [backup-simplify]: Simplify 0 into 0 8.659 * [backup-simplify]: Simplify 1 into 1 8.660 * [backup-simplify]: Simplify (/ 1 1) into 1 8.660 * [backup-simplify]: Simplify (+ 0 1) into 1 8.660 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 8.660 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.660 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 8.660 * [taylor]: Taking taylor expansion of lambda1 in phi2 8.660 * [backup-simplify]: Simplify lambda1 into lambda1 8.661 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.661 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 8.661 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 8.661 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi2 8.661 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 8.661 * [taylor]: Taking taylor expansion of phi1 in phi2 8.661 * [backup-simplify]: Simplify phi1 into phi1 8.661 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 8.661 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 8.661 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in phi2 8.661 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi2 8.661 * [taylor]: Taking taylor expansion of 2 in phi2 8.661 * [backup-simplify]: Simplify 2 into 2 8.661 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi2 8.661 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 8.661 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 8.661 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 8.661 * [taylor]: Taking taylor expansion of -0.5 in phi2 8.661 * [backup-simplify]: Simplify -0.5 into -0.5 8.661 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 8.661 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 8.661 * [taylor]: Taking taylor expansion of phi1 in phi2 8.661 * [backup-simplify]: Simplify phi1 into phi1 8.661 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 8.661 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 8.661 * [taylor]: Taking taylor expansion of phi2 in phi2 8.661 * [backup-simplify]: Simplify 0 into 0 8.661 * [backup-simplify]: Simplify 1 into 1 8.662 * [backup-simplify]: Simplify (/ 1 1) into 1 8.662 * [backup-simplify]: Simplify (+ 0 1) into 1 8.662 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 8.662 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.662 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi2 8.663 * [taylor]: Taking taylor expansion of lambda2 in phi2 8.663 * [backup-simplify]: Simplify lambda2 into lambda2 8.663 * [taylor]: Taking taylor expansion of lambda1 in phi2 8.663 * [backup-simplify]: Simplify lambda1 into lambda1 8.663 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.663 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 8.663 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) 8.663 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi2 8.663 * [taylor]: Taking taylor expansion of 2 in phi2 8.663 * [backup-simplify]: Simplify 2 into 2 8.663 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi2 8.663 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2 8.663 * [taylor]: Taking taylor expansion of phi2 in phi2 8.663 * [backup-simplify]: Simplify 0 into 0 8.663 * [backup-simplify]: Simplify 1 into 1 8.663 * [taylor]: Taking taylor expansion of phi1 in phi2 8.663 * [backup-simplify]: Simplify phi1 into phi1 8.663 * [backup-simplify]: Simplify (* 0 phi1) into 0 8.663 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 8.664 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 8.664 * [backup-simplify]: Simplify (+ 1 0) into 1 8.664 * [backup-simplify]: Simplify (+ 1 0) into 1 8.664 * [backup-simplify]: Simplify (sqrt 1) into 1 8.665 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 8.665 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 8.665 * [backup-simplify]: Simplify (+ 0 0) into 0 8.665 * [backup-simplify]: Simplify (* 2 (/ 1 phi1)) into (/ 2 phi1) 8.665 * [backup-simplify]: Simplify (+ 0 (/ 2 phi1)) into (* 2 (/ 1 phi1)) 8.665 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi1))) into (- (* 2 (/ 1 phi1))) 8.666 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1))) 8.666 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi1))) (* 2 (sqrt 1))) into (/ -1 phi1) 8.666 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in phi1 8.666 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in phi1 8.666 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) in phi1 8.666 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 8.666 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 8.666 * [taylor]: Taking taylor expansion of phi2 in phi1 8.666 * [backup-simplify]: Simplify phi2 into phi2 8.666 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 8.666 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 8.666 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))) in phi1 8.666 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in phi1 8.666 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 8.666 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 8.666 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 8.666 * [taylor]: Taking taylor expansion of -0.5 in phi1 8.666 * [backup-simplify]: Simplify -0.5 into -0.5 8.666 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 8.666 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 8.666 * [taylor]: Taking taylor expansion of phi1 in phi1 8.666 * [backup-simplify]: Simplify 0 into 0 8.667 * [backup-simplify]: Simplify 1 into 1 8.667 * [backup-simplify]: Simplify (/ 1 1) into 1 8.667 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 8.667 * [taylor]: Taking taylor expansion of phi2 in phi1 8.667 * [backup-simplify]: Simplify phi2 into phi2 8.667 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 8.667 * [backup-simplify]: Simplify (+ 1 0) into 1 8.667 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 8.667 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.668 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 8.668 * [taylor]: Taking taylor expansion of lambda2 in phi1 8.668 * [backup-simplify]: Simplify lambda2 into lambda2 8.668 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.668 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 8.668 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 8.668 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))) in phi1 8.668 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi1 8.668 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 8.668 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 8.668 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 8.668 * [taylor]: Taking taylor expansion of -0.5 in phi1 8.668 * [backup-simplify]: Simplify -0.5 into -0.5 8.668 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 8.668 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 8.668 * [taylor]: Taking taylor expansion of phi1 in phi1 8.668 * [backup-simplify]: Simplify 0 into 0 8.668 * [backup-simplify]: Simplify 1 into 1 8.668 * [backup-simplify]: Simplify (/ 1 1) into 1 8.669 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 8.669 * [taylor]: Taking taylor expansion of phi2 in phi1 8.669 * [backup-simplify]: Simplify phi2 into phi2 8.669 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 8.669 * [backup-simplify]: Simplify (+ 1 0) into 1 8.669 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 8.669 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.669 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 8.669 * [taylor]: Taking taylor expansion of lambda1 in phi1 8.669 * [backup-simplify]: Simplify lambda1 into lambda1 8.669 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.669 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 8.670 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 8.670 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 8.670 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 8.670 * [taylor]: Taking taylor expansion of phi1 in phi1 8.670 * [backup-simplify]: Simplify 0 into 0 8.670 * [backup-simplify]: Simplify 1 into 1 8.670 * [backup-simplify]: Simplify (* 1 1) into 1 8.670 * [backup-simplify]: Simplify (/ 1 1) into 1 8.670 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in phi1 8.670 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi1 8.670 * [taylor]: Taking taylor expansion of 2 in phi1 8.670 * [backup-simplify]: Simplify 2 into 2 8.670 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi1 8.670 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 8.670 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 8.670 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 8.670 * [taylor]: Taking taylor expansion of -0.5 in phi1 8.670 * [backup-simplify]: Simplify -0.5 into -0.5 8.671 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 8.671 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 8.671 * [taylor]: Taking taylor expansion of phi1 in phi1 8.671 * [backup-simplify]: Simplify 0 into 0 8.671 * [backup-simplify]: Simplify 1 into 1 8.671 * [backup-simplify]: Simplify (/ 1 1) into 1 8.671 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 8.671 * [taylor]: Taking taylor expansion of phi2 in phi1 8.671 * [backup-simplify]: Simplify phi2 into phi2 8.671 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 8.671 * [backup-simplify]: Simplify (+ 1 0) into 1 8.671 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 8.672 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.672 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 8.672 * [taylor]: Taking taylor expansion of lambda2 in phi1 8.672 * [backup-simplify]: Simplify lambda2 into lambda2 8.672 * [taylor]: Taking taylor expansion of lambda1 in phi1 8.672 * [backup-simplify]: Simplify lambda1 into lambda1 8.672 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.672 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 8.672 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) 8.672 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi1 8.672 * [taylor]: Taking taylor expansion of 2 in phi1 8.672 * [backup-simplify]: Simplify 2 into 2 8.672 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi1 8.672 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 8.672 * [taylor]: Taking taylor expansion of phi2 in phi1 8.672 * [backup-simplify]: Simplify phi2 into phi2 8.672 * [taylor]: Taking taylor expansion of phi1 in phi1 8.672 * [backup-simplify]: Simplify 0 into 0 8.672 * [backup-simplify]: Simplify 1 into 1 8.672 * [backup-simplify]: Simplify (* phi2 0) into 0 8.673 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 8.673 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 8.673 * [backup-simplify]: Simplify (+ 0 1) into 1 8.673 * [backup-simplify]: Simplify (+ 0 1) into 1 8.673 * [backup-simplify]: Simplify (+ 0 1) into 1 8.674 * [backup-simplify]: Simplify (+ 1 0) into 1 8.674 * [backup-simplify]: Simplify (sqrt 1) into 1 8.674 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 8.675 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 8.675 * [backup-simplify]: Simplify (+ 0 0) into 0 8.675 * [backup-simplify]: Simplify (+ 0 0) into 0 8.675 * [backup-simplify]: Simplify (+ 0 0) into 0 8.675 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 8.675 * [backup-simplify]: Simplify (+ 0 (/ 2 phi2)) into (* 2 (/ 1 phi2)) 8.675 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi2))) into (- (* 2 (/ 1 phi2))) 8.676 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 8.676 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi2))) (* 2 (sqrt 1))) into (/ -1 phi2) 8.676 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in lambda2 8.676 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in lambda2 8.676 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) in lambda2 8.676 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda2 8.676 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 8.676 * [taylor]: Taking taylor expansion of phi2 in lambda2 8.676 * [backup-simplify]: Simplify phi2 into phi2 8.676 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 8.676 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 8.676 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))) in lambda2 8.676 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda2 8.676 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 8.676 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 8.676 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 8.676 * [taylor]: Taking taylor expansion of -0.5 in lambda2 8.676 * [backup-simplify]: Simplify -0.5 into -0.5 8.676 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 8.677 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 8.677 * [taylor]: Taking taylor expansion of phi1 in lambda2 8.677 * [backup-simplify]: Simplify phi1 into phi1 8.677 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 8.677 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 8.677 * [taylor]: Taking taylor expansion of phi2 in lambda2 8.677 * [backup-simplify]: Simplify phi2 into phi2 8.677 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 8.677 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 8.677 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 8.677 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.677 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.677 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.677 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 8.677 * [backup-simplify]: Simplify (- 0) into 0 8.678 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.678 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 8.678 * [taylor]: Taking taylor expansion of lambda2 in lambda2 8.678 * [backup-simplify]: Simplify 0 into 0 8.678 * [backup-simplify]: Simplify 1 into 1 8.678 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.678 * [backup-simplify]: Simplify (* 1 1) into 1 8.678 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.678 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))) in lambda2 8.678 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda2 8.678 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 8.678 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 8.678 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 8.678 * [taylor]: Taking taylor expansion of -0.5 in lambda2 8.678 * [backup-simplify]: Simplify -0.5 into -0.5 8.678 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 8.678 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 8.679 * [taylor]: Taking taylor expansion of phi1 in lambda2 8.679 * [backup-simplify]: Simplify phi1 into phi1 8.679 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 8.679 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 8.679 * [taylor]: Taking taylor expansion of phi2 in lambda2 8.679 * [backup-simplify]: Simplify phi2 into phi2 8.679 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 8.679 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 8.679 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 8.679 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.679 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.679 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.679 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 8.679 * [backup-simplify]: Simplify (- 0) into 0 8.680 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.680 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 8.680 * [taylor]: Taking taylor expansion of lambda1 in lambda2 8.680 * [backup-simplify]: Simplify lambda1 into lambda1 8.680 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.680 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 8.680 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 8.680 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda2 8.680 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 8.680 * [taylor]: Taking taylor expansion of phi1 in lambda2 8.680 * [backup-simplify]: Simplify phi1 into phi1 8.680 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 8.680 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 8.680 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in lambda2 8.680 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda2 8.680 * [taylor]: Taking taylor expansion of 2 in lambda2 8.680 * [backup-simplify]: Simplify 2 into 2 8.680 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda2 8.680 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 8.680 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 8.680 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 8.680 * [taylor]: Taking taylor expansion of -0.5 in lambda2 8.680 * [backup-simplify]: Simplify -0.5 into -0.5 8.681 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 8.681 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 8.681 * [taylor]: Taking taylor expansion of phi1 in lambda2 8.681 * [backup-simplify]: Simplify phi1 into phi1 8.681 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 8.681 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 8.681 * [taylor]: Taking taylor expansion of phi2 in lambda2 8.681 * [backup-simplify]: Simplify phi2 into phi2 8.681 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 8.681 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 8.681 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 8.681 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.681 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.681 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.681 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 8.682 * [backup-simplify]: Simplify (- 0) into 0 8.682 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.682 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda2 8.682 * [taylor]: Taking taylor expansion of lambda2 in lambda2 8.682 * [backup-simplify]: Simplify 0 into 0 8.682 * [backup-simplify]: Simplify 1 into 1 8.682 * [taylor]: Taking taylor expansion of lambda1 in lambda2 8.682 * [backup-simplify]: Simplify lambda1 into lambda1 8.682 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.682 * [backup-simplify]: Simplify (* 0 lambda1) into 0 8.682 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda1)) into lambda1 8.682 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) 8.682 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda2 8.682 * [taylor]: Taking taylor expansion of 2 in lambda2 8.683 * [backup-simplify]: Simplify 2 into 2 8.683 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda2 8.683 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 8.683 * [taylor]: Taking taylor expansion of phi2 in lambda2 8.683 * [backup-simplify]: Simplify phi2 into phi2 8.683 * [taylor]: Taking taylor expansion of phi1 in lambda2 8.683 * [backup-simplify]: Simplify phi1 into phi1 8.683 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 8.683 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 8.683 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.683 * [backup-simplify]: Simplify (+ 0 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.683 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.683 * [backup-simplify]: Simplify (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.684 * [backup-simplify]: Simplify (+ 0) into 0 8.684 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 8.684 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 8.684 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 8.684 * [backup-simplify]: Simplify (+ 0 0) into 0 8.685 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 8.685 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 8.686 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 8.686 * [backup-simplify]: Simplify (- 0) into 0 8.686 * [backup-simplify]: Simplify (+ 0 0) into 0 8.686 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 8.687 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 8.687 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 8.688 * [backup-simplify]: Simplify (+ 0 0) into 0 8.688 * [backup-simplify]: Simplify (+ 0 0) into 0 8.688 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 8.688 * [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)) 8.689 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 8.689 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 8.689 * [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)) 8.689 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in lambda1 8.689 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in lambda1 8.689 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) in lambda1 8.689 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda1 8.689 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 8.689 * [taylor]: Taking taylor expansion of phi2 in lambda1 8.689 * [backup-simplify]: Simplify phi2 into phi2 8.689 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 8.690 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 8.690 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))) in lambda1 8.690 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda1 8.690 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 8.690 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 8.690 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 8.690 * [taylor]: Taking taylor expansion of -0.5 in lambda1 8.690 * [backup-simplify]: Simplify -0.5 into -0.5 8.690 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 8.690 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 8.690 * [taylor]: Taking taylor expansion of phi1 in lambda1 8.690 * [backup-simplify]: Simplify phi1 into phi1 8.690 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 8.690 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 8.690 * [taylor]: Taking taylor expansion of phi2 in lambda1 8.690 * [backup-simplify]: Simplify phi2 into phi2 8.690 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 8.690 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 8.690 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 8.690 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.690 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.690 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.690 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 8.695 * [backup-simplify]: Simplify (- 0) into 0 8.696 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.696 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 8.696 * [taylor]: Taking taylor expansion of lambda2 in lambda1 8.696 * [backup-simplify]: Simplify lambda2 into lambda2 8.696 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.696 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 8.696 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 8.696 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))) in lambda1 8.696 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda1 8.696 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 8.696 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 8.696 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 8.696 * [taylor]: Taking taylor expansion of -0.5 in lambda1 8.696 * [backup-simplify]: Simplify -0.5 into -0.5 8.696 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 8.697 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 8.697 * [taylor]: Taking taylor expansion of phi1 in lambda1 8.697 * [backup-simplify]: Simplify phi1 into phi1 8.697 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 8.697 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 8.697 * [taylor]: Taking taylor expansion of phi2 in lambda1 8.697 * [backup-simplify]: Simplify phi2 into phi2 8.697 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 8.697 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 8.697 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 8.697 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.697 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.697 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.697 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 8.698 * [backup-simplify]: Simplify (- 0) into 0 8.698 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.698 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 8.698 * [taylor]: Taking taylor expansion of lambda1 in lambda1 8.698 * [backup-simplify]: Simplify 0 into 0 8.698 * [backup-simplify]: Simplify 1 into 1 8.698 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.698 * [backup-simplify]: Simplify (* 1 1) into 1 8.699 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.699 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda1 8.699 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 8.699 * [taylor]: Taking taylor expansion of phi1 in lambda1 8.699 * [backup-simplify]: Simplify phi1 into phi1 8.699 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 8.699 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 8.699 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in lambda1 8.699 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1 8.699 * [taylor]: Taking taylor expansion of 2 in lambda1 8.699 * [backup-simplify]: Simplify 2 into 2 8.699 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1 8.699 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 8.699 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 8.699 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 8.699 * [taylor]: Taking taylor expansion of -0.5 in lambda1 8.699 * [backup-simplify]: Simplify -0.5 into -0.5 8.699 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 8.699 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 8.699 * [taylor]: Taking taylor expansion of phi1 in lambda1 8.699 * [backup-simplify]: Simplify phi1 into phi1 8.699 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 8.699 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 8.699 * [taylor]: Taking taylor expansion of phi2 in lambda1 8.699 * [backup-simplify]: Simplify phi2 into phi2 8.699 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 8.699 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 8.699 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 8.699 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.699 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.700 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.700 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 8.700 * [backup-simplify]: Simplify (- 0) into 0 8.700 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.700 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 8.700 * [taylor]: Taking taylor expansion of lambda2 in lambda1 8.700 * [backup-simplify]: Simplify lambda2 into lambda2 8.700 * [taylor]: Taking taylor expansion of lambda1 in lambda1 8.700 * [backup-simplify]: Simplify 0 into 0 8.700 * [backup-simplify]: Simplify 1 into 1 8.700 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.700 * [backup-simplify]: Simplify (* lambda2 0) into 0 8.701 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 8.701 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) 8.701 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda1 8.701 * [taylor]: Taking taylor expansion of 2 in lambda1 8.701 * [backup-simplify]: Simplify 2 into 2 8.701 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda1 8.701 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda1 8.701 * [taylor]: Taking taylor expansion of phi2 in lambda1 8.701 * [backup-simplify]: Simplify phi2 into phi2 8.701 * [taylor]: Taking taylor expansion of phi1 in lambda1 8.701 * [backup-simplify]: Simplify phi1 into phi1 8.701 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 8.701 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 8.701 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.701 * [backup-simplify]: Simplify (+ 0 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.702 * [backup-simplify]: Simplify (+ 0 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.702 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.702 * [backup-simplify]: Simplify (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.702 * [backup-simplify]: Simplify (+ 0) into 0 8.703 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 8.703 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 8.703 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 8.703 * [backup-simplify]: Simplify (+ 0 0) into 0 8.704 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 8.704 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 8.705 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 8.705 * [backup-simplify]: Simplify (- 0) into 0 8.705 * [backup-simplify]: Simplify (+ 0 0) into 0 8.705 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 8.706 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 8.706 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 8.707 * [backup-simplify]: Simplify (+ 0 0) into 0 8.707 * [backup-simplify]: Simplify (+ 0 0) into 0 8.707 * [backup-simplify]: Simplify (+ 0 0) into 0 8.708 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 8.708 * [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)) 8.708 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 8.709 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 8.709 * [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)) 8.709 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in lambda1 8.709 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in lambda1 8.709 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) in lambda1 8.709 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda1 8.709 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 8.709 * [taylor]: Taking taylor expansion of phi2 in lambda1 8.709 * [backup-simplify]: Simplify phi2 into phi2 8.709 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 8.709 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 8.709 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))) in lambda1 8.709 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda1 8.710 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 8.710 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 8.710 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 8.710 * [taylor]: Taking taylor expansion of -0.5 in lambda1 8.710 * [backup-simplify]: Simplify -0.5 into -0.5 8.710 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 8.710 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 8.710 * [taylor]: Taking taylor expansion of phi1 in lambda1 8.710 * [backup-simplify]: Simplify phi1 into phi1 8.710 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 8.710 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 8.710 * [taylor]: Taking taylor expansion of phi2 in lambda1 8.710 * [backup-simplify]: Simplify phi2 into phi2 8.710 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 8.710 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 8.710 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 8.710 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.710 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.710 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.710 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 8.711 * [backup-simplify]: Simplify (- 0) into 0 8.711 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.711 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 8.711 * [taylor]: Taking taylor expansion of lambda2 in lambda1 8.711 * [backup-simplify]: Simplify lambda2 into lambda2 8.711 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.711 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 8.711 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 8.711 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))) in lambda1 8.711 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda1 8.712 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 8.712 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 8.712 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 8.712 * [taylor]: Taking taylor expansion of -0.5 in lambda1 8.712 * [backup-simplify]: Simplify -0.5 into -0.5 8.712 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 8.712 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 8.712 * [taylor]: Taking taylor expansion of phi1 in lambda1 8.712 * [backup-simplify]: Simplify phi1 into phi1 8.712 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 8.712 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 8.712 * [taylor]: Taking taylor expansion of phi2 in lambda1 8.712 * [backup-simplify]: Simplify phi2 into phi2 8.712 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 8.712 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 8.712 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 8.712 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.712 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.712 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.712 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 8.713 * [backup-simplify]: Simplify (- 0) into 0 8.713 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.713 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 8.713 * [taylor]: Taking taylor expansion of lambda1 in lambda1 8.713 * [backup-simplify]: Simplify 0 into 0 8.713 * [backup-simplify]: Simplify 1 into 1 8.713 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.713 * [backup-simplify]: Simplify (* 1 1) into 1 8.714 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.714 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda1 8.714 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 8.714 * [taylor]: Taking taylor expansion of phi1 in lambda1 8.714 * [backup-simplify]: Simplify phi1 into phi1 8.714 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 8.714 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 8.714 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in lambda1 8.714 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1 8.714 * [taylor]: Taking taylor expansion of 2 in lambda1 8.714 * [backup-simplify]: Simplify 2 into 2 8.714 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1 8.714 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 8.714 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 8.714 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 8.714 * [taylor]: Taking taylor expansion of -0.5 in lambda1 8.714 * [backup-simplify]: Simplify -0.5 into -0.5 8.714 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 8.714 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 8.714 * [taylor]: Taking taylor expansion of phi1 in lambda1 8.714 * [backup-simplify]: Simplify phi1 into phi1 8.714 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 8.714 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 8.714 * [taylor]: Taking taylor expansion of phi2 in lambda1 8.714 * [backup-simplify]: Simplify phi2 into phi2 8.714 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 8.714 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 8.714 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 8.714 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.715 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.715 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.715 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 8.715 * [backup-simplify]: Simplify (- 0) into 0 8.715 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.715 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 8.715 * [taylor]: Taking taylor expansion of lambda2 in lambda1 8.715 * [backup-simplify]: Simplify lambda2 into lambda2 8.715 * [taylor]: Taking taylor expansion of lambda1 in lambda1 8.715 * [backup-simplify]: Simplify 0 into 0 8.715 * [backup-simplify]: Simplify 1 into 1 8.715 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.715 * [backup-simplify]: Simplify (* lambda2 0) into 0 8.716 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 8.716 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) 8.716 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda1 8.716 * [taylor]: Taking taylor expansion of 2 in lambda1 8.716 * [backup-simplify]: Simplify 2 into 2 8.716 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda1 8.716 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda1 8.716 * [taylor]: Taking taylor expansion of phi2 in lambda1 8.716 * [backup-simplify]: Simplify phi2 into phi2 8.716 * [taylor]: Taking taylor expansion of phi1 in lambda1 8.716 * [backup-simplify]: Simplify phi1 into phi1 8.716 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 8.716 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 8.716 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.717 * [backup-simplify]: Simplify (+ 0 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.717 * [backup-simplify]: Simplify (+ 0 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.717 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.717 * [backup-simplify]: Simplify (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.717 * [backup-simplify]: Simplify (+ 0) into 0 8.718 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 8.718 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 8.718 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 8.718 * [backup-simplify]: Simplify (+ 0 0) into 0 8.719 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 8.719 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 8.719 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 8.720 * [backup-simplify]: Simplify (- 0) into 0 8.720 * [backup-simplify]: Simplify (+ 0 0) into 0 8.720 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 8.720 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 8.721 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 8.721 * [backup-simplify]: Simplify (+ 0 0) into 0 8.722 * [backup-simplify]: Simplify (+ 0 0) into 0 8.722 * [backup-simplify]: Simplify (+ 0 0) into 0 8.722 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 8.722 * [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)) 8.723 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 8.723 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 8.723 * [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)) 8.723 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 8.723 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 8.723 * [taylor]: Taking taylor expansion of -0.5 in lambda2 8.723 * [backup-simplify]: Simplify -0.5 into -0.5 8.724 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 8.724 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 8.724 * [taylor]: Taking taylor expansion of phi1 in lambda2 8.724 * [backup-simplify]: Simplify phi1 into phi1 8.724 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 8.724 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 8.724 * [taylor]: Taking taylor expansion of phi2 in lambda2 8.724 * [backup-simplify]: Simplify phi2 into phi2 8.724 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 8.724 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 8.724 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 8.724 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.724 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.724 * [taylor]: Taking taylor expansion of (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) in lambda2 8.724 * [taylor]: Taking taylor expansion of -1 in lambda2 8.724 * [backup-simplify]: Simplify -1 into -1 8.724 * [taylor]: Taking taylor expansion of (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2) in lambda2 8.724 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 8.724 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 8.724 * [taylor]: Taking taylor expansion of -0.5 in lambda2 8.724 * [backup-simplify]: Simplify -0.5 into -0.5 8.724 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 8.724 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 8.724 * [taylor]: Taking taylor expansion of phi1 in lambda2 8.724 * [backup-simplify]: Simplify phi1 into phi1 8.724 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 8.724 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 8.724 * [taylor]: Taking taylor expansion of phi2 in lambda2 8.724 * [backup-simplify]: Simplify phi2 into phi2 8.724 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 8.724 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 8.725 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 8.725 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.725 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.725 * [taylor]: Taking taylor expansion of lambda2 in lambda2 8.725 * [backup-simplify]: Simplify 0 into 0 8.725 * [backup-simplify]: Simplify 1 into 1 8.725 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.725 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 8.725 * [backup-simplify]: Simplify (- 0) into 0 8.725 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.726 * [backup-simplify]: Simplify (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.726 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 8.726 * [taylor]: Taking taylor expansion of (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1 8.726 * [taylor]: Taking taylor expansion of -1 in phi1 8.726 * [backup-simplify]: Simplify -1 into -1 8.726 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 8.726 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 8.726 * [taylor]: Taking taylor expansion of -0.5 in phi1 8.726 * [backup-simplify]: Simplify -0.5 into -0.5 8.726 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 8.726 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 8.726 * [taylor]: Taking taylor expansion of phi1 in phi1 8.726 * [backup-simplify]: Simplify 0 into 0 8.726 * [backup-simplify]: Simplify 1 into 1 8.726 * [backup-simplify]: Simplify (/ 1 1) into 1 8.726 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 8.726 * [taylor]: Taking taylor expansion of phi2 in phi1 8.726 * [backup-simplify]: Simplify phi2 into phi2 8.726 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 8.727 * [backup-simplify]: Simplify (+ 1 0) into 1 8.727 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 8.727 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.727 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.727 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 8.728 * [backup-simplify]: Simplify (- 0) into 0 8.728 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.728 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 8.728 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 8.728 * [taylor]: Taking taylor expansion of -0.5 in phi1 8.728 * [backup-simplify]: Simplify -0.5 into -0.5 8.728 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 8.728 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 8.728 * [taylor]: Taking taylor expansion of phi1 in phi1 8.728 * [backup-simplify]: Simplify 0 into 0 8.728 * [backup-simplify]: Simplify 1 into 1 8.728 * [backup-simplify]: Simplify (/ 1 1) into 1 8.728 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 8.728 * [taylor]: Taking taylor expansion of phi2 in phi1 8.728 * [backup-simplify]: Simplify phi2 into phi2 8.728 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 8.729 * [backup-simplify]: Simplify (+ 1 0) into 1 8.729 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 8.729 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.730 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 8.730 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 8.730 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 8.731 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 8.731 * [backup-simplify]: Simplify (+ 0 0) into 0 8.731 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 8.732 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 8.733 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 8.733 * [backup-simplify]: Simplify (- 0) into 0 8.733 * [backup-simplify]: Simplify (+ 0 0) into 0 8.734 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 8.734 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 8.736 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)) (* 0 (/ 0 1)))) into 0 8.736 * [backup-simplify]: Simplify (+ 0 (/ 1 (pow phi1 2))) into (/ 1 (pow phi1 2)) 8.736 * [backup-simplify]: Simplify (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) into (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) 8.737 * [backup-simplify]: Simplify (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) into (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) 8.737 * [backup-simplify]: Simplify (+ 0) into 0 8.737 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 8.738 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 8.738 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 8.738 * [backup-simplify]: Simplify (+ 0 0) into 0 8.738 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 8.739 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 8.739 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 8.739 * [backup-simplify]: Simplify (- 0) into 0 8.739 * [backup-simplify]: Simplify (+ 0 0) into 0 8.740 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 8.740 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 1) (* 0 0))) into 0 8.740 * [backup-simplify]: Simplify (- (/ 0 lambda2) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) (/ 0 lambda2)))) into 0 8.741 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into 0 8.741 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi2 phi1))) into (/ 2 (* phi2 phi1)) 8.741 * [backup-simplify]: Simplify (+ 0 (/ 2 (* phi2 phi1))) into (* 2 (/ 1 (* phi2 phi1))) 8.741 * [backup-simplify]: Simplify (- (* 2 (/ 1 (* phi2 phi1)))) into (- (* 2 (/ 1 (* phi2 phi1)))) 8.742 * [backup-simplify]: Simplify (+ (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) (- (* 2 (/ 1 (* phi2 phi1))))) into (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) (* 2 (/ 1 (* phi2 phi1)))) 8.743 * [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)))))) 8.743 * [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 8.743 * [taylor]: Taking taylor expansion of 1/2 in lambda2 8.743 * [backup-simplify]: Simplify 1/2 into 1/2 8.743 * [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 8.743 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) in lambda2 8.743 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in lambda2 8.743 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda2 8.743 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 8.743 * [taylor]: Taking taylor expansion of phi2 in lambda2 8.743 * [backup-simplify]: Simplify phi2 into phi2 8.743 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 8.743 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 8.743 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda2 8.743 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 8.743 * [taylor]: Taking taylor expansion of phi1 in lambda2 8.743 * [backup-simplify]: Simplify phi1 into phi1 8.743 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 8.743 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 8.743 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda2 8.743 * [taylor]: Taking taylor expansion of 2 in lambda2 8.743 * [backup-simplify]: Simplify 2 into 2 8.744 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda2 8.744 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 8.744 * [taylor]: Taking taylor expansion of phi2 in lambda2 8.744 * [backup-simplify]: Simplify phi2 into phi2 8.744 * [taylor]: Taking taylor expansion of phi1 in lambda2 8.744 * [backup-simplify]: Simplify phi1 into phi1 8.744 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 8.744 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 8.744 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 8.744 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 8.744 * [taylor]: Taking taylor expansion of -0.5 in lambda2 8.744 * [backup-simplify]: Simplify -0.5 into -0.5 8.744 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 8.744 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 8.744 * [taylor]: Taking taylor expansion of phi1 in lambda2 8.744 * [backup-simplify]: Simplify phi1 into phi1 8.744 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 8.744 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 8.744 * [taylor]: Taking taylor expansion of phi2 in lambda2 8.744 * [backup-simplify]: Simplify phi2 into phi2 8.744 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 8.744 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 8.744 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 8.744 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.744 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.744 * [backup-simplify]: Simplify (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) into (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) 8.745 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi2 phi1))) into (/ 2 (* phi2 phi1)) 8.745 * [backup-simplify]: Simplify (- (/ 2 (* phi2 phi1))) into (- (* 2 (/ 1 (* phi2 phi1)))) 8.745 * [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)))) 8.745 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.745 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 8.745 * [backup-simplify]: Simplify (- 0) into 0 8.745 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.746 * [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))))) 8.746 * [backup-simplify]: Simplify (+ 0) into 0 8.746 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 8.747 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 8.747 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 8.747 * [backup-simplify]: Simplify (+ 0 0) into 0 8.747 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 8.748 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 8.748 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 8.748 * [backup-simplify]: Simplify (- 0) into 0 8.748 * [backup-simplify]: Simplify (+ 0 0) into 0 8.749 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (/ 0 1)))) into 0 8.749 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 8.749 * [taylor]: Taking taylor expansion of 0 in phi1 8.750 * [backup-simplify]: Simplify 0 into 0 8.750 * [backup-simplify]: Simplify (+ 0) into 0 8.750 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 8.750 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 8.750 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 8.751 * [backup-simplify]: Simplify (+ 0 0) into 0 8.751 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 8.751 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 8.752 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 8.752 * [backup-simplify]: Simplify (- 0) into 0 8.752 * [backup-simplify]: Simplify (+ 0 0) into 0 8.752 * [taylor]: Taking taylor expansion of 0 in phi1 8.752 * [backup-simplify]: Simplify 0 into 0 8.752 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 8.752 * [taylor]: Taking taylor expansion of (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 8.752 * [taylor]: Taking taylor expansion of -1 in phi2 8.752 * [backup-simplify]: Simplify -1 into -1 8.752 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 8.752 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 8.752 * [taylor]: Taking taylor expansion of -0.5 in phi2 8.752 * [backup-simplify]: Simplify -0.5 into -0.5 8.752 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 8.752 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 8.752 * [taylor]: Taking taylor expansion of phi1 in phi2 8.752 * [backup-simplify]: Simplify phi1 into phi1 8.753 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 8.753 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 8.753 * [taylor]: Taking taylor expansion of phi2 in phi2 8.753 * [backup-simplify]: Simplify 0 into 0 8.753 * [backup-simplify]: Simplify 1 into 1 8.753 * [backup-simplify]: Simplify (/ 1 1) into 1 8.753 * [backup-simplify]: Simplify (+ 0 1) into 1 8.753 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 8.753 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.753 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 8.754 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 8.754 * [taylor]: Taking taylor expansion of -0.5 in phi2 8.754 * [backup-simplify]: Simplify -0.5 into -0.5 8.754 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 8.754 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 8.754 * [taylor]: Taking taylor expansion of phi1 in phi2 8.754 * [backup-simplify]: Simplify phi1 into phi1 8.754 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 8.754 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 8.754 * [taylor]: Taking taylor expansion of phi2 in phi2 8.754 * [backup-simplify]: Simplify 0 into 0 8.754 * [backup-simplify]: Simplify 1 into 1 8.754 * [backup-simplify]: Simplify (/ 1 1) into 1 8.754 * [backup-simplify]: Simplify (+ 0 1) into 1 8.754 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 8.755 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.755 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 8.755 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi2 2)) (/ 0 (pow phi2 2))))) into 0 8.755 * [backup-simplify]: Simplify (+ 0) into 0 8.755 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 8.756 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 8.756 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 8.756 * [backup-simplify]: Simplify (+ 0 0) into 0 8.756 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 8.757 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 8.757 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 8.758 * [backup-simplify]: Simplify (- 0) into 0 8.758 * [backup-simplify]: Simplify (+ 0 0) into 0 8.758 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 8.758 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 8.758 * [backup-simplify]: Simplify (- (/ 0 (pow lambda2 2)) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 0 (pow lambda2 2))))) into 0 8.759 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 8.760 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 8.760 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 8.760 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 8.760 * [backup-simplify]: Simplify (+ 0 0) into 0 8.761 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 8.762 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 8.762 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 8.762 * [backup-simplify]: Simplify (- 0) into 0 8.763 * [backup-simplify]: Simplify (+ 0 0) into 0 8.763 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into 0 8.764 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 8.765 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0 8.765 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 8.765 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi1 2)) (/ 0 (pow phi1 2))))) into 0 8.766 * [backup-simplify]: Simplify (+ 0 0) into 0 8.766 * [backup-simplify]: Simplify (+ 0 0) into 0 8.766 * [backup-simplify]: Simplify (+ 0 0) into 0 8.767 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 8.767 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 8.767 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 8.767 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 8.768 * [backup-simplify]: Simplify (+ 0 0) into 0 8.768 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 8.769 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 8.769 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 8.769 * [backup-simplify]: Simplify (- 0) into 0 8.769 * [backup-simplify]: Simplify (+ 0 0) into 0 8.770 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 8.770 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (+ (* 0 1) (* 0 0)))) into 0 8.771 * [backup-simplify]: Simplify (- (/ 0 lambda2) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) (/ 0 lambda2)) (* 0 (/ 0 lambda2)))) into 0 8.771 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) into 0 8.771 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 8.771 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* phi2 phi1)) (/ 0 (* phi2 phi1))))) into 0 8.772 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ 1 (* phi2 phi1)))) into 0 8.772 * [backup-simplify]: Simplify (+ 0 0) into 0 8.772 * [backup-simplify]: Simplify (- 0) into 0 8.772 * [backup-simplify]: Simplify (+ 0 0) into 0 8.773 * [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)))))) 8.773 * [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 8.773 * [taylor]: Taking taylor expansion of 1/2 in lambda2 8.773 * [backup-simplify]: Simplify 1/2 into 1/2 8.773 * [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 8.773 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (* lambda2 (pow phi1 2))) (/ 1 (* (pow phi2 2) lambda2))) (* 2 (/ 1 (* phi2 (* lambda2 phi1))))) in lambda2 8.773 * [taylor]: Taking taylor expansion of (+ (/ 1 (* lambda2 (pow phi1 2))) (/ 1 (* (pow phi2 2) lambda2))) in lambda2 8.773 * [taylor]: Taking taylor expansion of (/ 1 (* lambda2 (pow phi1 2))) in lambda2 8.773 * [taylor]: Taking taylor expansion of (* lambda2 (pow phi1 2)) in lambda2 8.773 * [taylor]: Taking taylor expansion of lambda2 in lambda2 8.774 * [backup-simplify]: Simplify 0 into 0 8.774 * [backup-simplify]: Simplify 1 into 1 8.774 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 8.774 * [taylor]: Taking taylor expansion of phi1 in lambda2 8.774 * [backup-simplify]: Simplify phi1 into phi1 8.774 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 8.774 * [backup-simplify]: Simplify (* 0 (pow phi1 2)) into 0 8.774 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 8.774 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow phi1 2))) into (pow phi1 2) 8.774 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 8.774 * [taylor]: Taking taylor expansion of (/ 1 (* (pow phi2 2) lambda2)) in lambda2 8.774 * [taylor]: Taking taylor expansion of (* (pow phi2 2) lambda2) in lambda2 8.774 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 8.774 * [taylor]: Taking taylor expansion of phi2 in lambda2 8.774 * [backup-simplify]: Simplify phi2 into phi2 8.774 * [taylor]: Taking taylor expansion of lambda2 in lambda2 8.774 * [backup-simplify]: Simplify 0 into 0 8.774 * [backup-simplify]: Simplify 1 into 1 8.774 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 8.774 * [backup-simplify]: Simplify (* (pow phi2 2) 0) into 0 8.774 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 8.775 * [backup-simplify]: Simplify (+ (* (pow phi2 2) 1) (* 0 0)) into (pow phi2 2) 8.775 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 8.775 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 (* lambda2 phi1)))) in lambda2 8.775 * [taylor]: Taking taylor expansion of 2 in lambda2 8.775 * [backup-simplify]: Simplify 2 into 2 8.775 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (* lambda2 phi1))) in lambda2 8.775 * [taylor]: Taking taylor expansion of (* phi2 (* lambda2 phi1)) in lambda2 8.775 * [taylor]: Taking taylor expansion of phi2 in lambda2 8.775 * [backup-simplify]: Simplify phi2 into phi2 8.775 * [taylor]: Taking taylor expansion of (* lambda2 phi1) in lambda2 8.775 * [taylor]: Taking taylor expansion of lambda2 in lambda2 8.775 * [backup-simplify]: Simplify 0 into 0 8.775 * [backup-simplify]: Simplify 1 into 1 8.775 * [taylor]: Taking taylor expansion of phi1 in lambda2 8.775 * [backup-simplify]: Simplify phi1 into phi1 8.775 * [backup-simplify]: Simplify (* 0 phi1) into 0 8.775 * [backup-simplify]: Simplify (* phi2 0) into 0 8.775 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 8.776 * [backup-simplify]: Simplify (+ (* phi2 phi1) (* 0 0)) into (* phi2 phi1) 8.776 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 8.776 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 8.776 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 8.776 * [taylor]: Taking taylor expansion of -0.5 in lambda2 8.776 * [backup-simplify]: Simplify -0.5 into -0.5 8.776 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 8.776 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 8.776 * [taylor]: Taking taylor expansion of phi1 in lambda2 8.776 * [backup-simplify]: Simplify phi1 into phi1 8.776 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 8.776 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 8.776 * [taylor]: Taking taylor expansion of phi2 in lambda2 8.776 * [backup-simplify]: Simplify phi2 into phi2 8.776 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 8.776 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 8.776 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 8.776 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.776 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.777 * [backup-simplify]: Simplify (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) into (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) 8.777 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi2 phi1))) into (/ 2 (* phi2 phi1)) 8.777 * [backup-simplify]: Simplify (- (/ 2 (* phi2 phi1))) into (- (* 2 (/ 1 (* phi2 phi1)))) 8.777 * [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)))) 8.777 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.777 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 8.777 * [backup-simplify]: Simplify (- 0) into 0 8.778 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.778 * [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))))) 8.778 * [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)))))) 8.778 * [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 8.778 * [taylor]: Taking taylor expansion of 1/2 in phi1 8.778 * [backup-simplify]: Simplify 1/2 into 1/2 8.778 * [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 8.778 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) in phi1 8.778 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in phi1 8.779 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 8.779 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 8.779 * [taylor]: Taking taylor expansion of phi2 in phi1 8.779 * [backup-simplify]: Simplify phi2 into phi2 8.779 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 8.779 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 8.779 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 8.779 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 8.779 * [taylor]: Taking taylor expansion of phi1 in phi1 8.779 * [backup-simplify]: Simplify 0 into 0 8.779 * [backup-simplify]: Simplify 1 into 1 8.779 * [backup-simplify]: Simplify (* 1 1) into 1 8.779 * [backup-simplify]: Simplify (/ 1 1) into 1 8.779 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi1 8.779 * [taylor]: Taking taylor expansion of 2 in phi1 8.779 * [backup-simplify]: Simplify 2 into 2 8.779 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi1 8.779 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 8.779 * [taylor]: Taking taylor expansion of phi2 in phi1 8.779 * [backup-simplify]: Simplify phi2 into phi2 8.779 * [taylor]: Taking taylor expansion of phi1 in phi1 8.779 * [backup-simplify]: Simplify 0 into 0 8.779 * [backup-simplify]: Simplify 1 into 1 8.779 * [backup-simplify]: Simplify (* phi2 0) into 0 8.780 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 8.780 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 8.780 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 8.780 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 8.780 * [taylor]: Taking taylor expansion of -0.5 in phi1 8.780 * [backup-simplify]: Simplify -0.5 into -0.5 8.780 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 8.780 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 8.780 * [taylor]: Taking taylor expansion of phi1 in phi1 8.780 * [backup-simplify]: Simplify 0 into 0 8.780 * [backup-simplify]: Simplify 1 into 1 8.780 * [backup-simplify]: Simplify (/ 1 1) into 1 8.780 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 8.780 * [taylor]: Taking taylor expansion of phi2 in phi1 8.780 * [backup-simplify]: Simplify phi2 into phi2 8.780 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 8.781 * [backup-simplify]: Simplify (+ 1 0) into 1 8.781 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 8.781 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.781 * [backup-simplify]: Simplify (+ 0 1) into 1 8.781 * [backup-simplify]: Simplify (+ 1 0) into 1 8.782 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 8.782 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 8.782 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 8.783 * [backup-simplify]: Simplify (+ 0 0) into 0 8.783 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 8.783 * [backup-simplify]: Simplify (- (/ 2 phi2)) into (- (* 2 (/ 1 phi2))) 8.783 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 8.783 * [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)))))))) 8.783 * [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))))))) 8.783 * [taylor]: Taking taylor expansion of (- (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in phi2 8.783 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi2 8.784 * [taylor]: Taking taylor expansion of (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 8.784 * [taylor]: Taking taylor expansion of phi2 in phi2 8.784 * [backup-simplify]: Simplify 0 into 0 8.784 * [backup-simplify]: Simplify 1 into 1 8.784 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 8.784 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 8.784 * [taylor]: Taking taylor expansion of -0.5 in phi2 8.784 * [backup-simplify]: Simplify -0.5 into -0.5 8.784 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 8.784 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 8.784 * [taylor]: Taking taylor expansion of phi1 in phi2 8.784 * [backup-simplify]: Simplify phi1 into phi1 8.784 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 8.784 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 8.784 * [taylor]: Taking taylor expansion of phi2 in phi2 8.784 * [backup-simplify]: Simplify 0 into 0 8.784 * [backup-simplify]: Simplify 1 into 1 8.784 * [backup-simplify]: Simplify (/ 1 1) into 1 8.784 * [backup-simplify]: Simplify (+ 0 1) into 1 8.785 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 8.785 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.785 * [backup-simplify]: Simplify (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 8.785 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.785 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 8.785 * [backup-simplify]: Simplify (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 8.786 * [backup-simplify]: Simplify (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 8.786 * [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)))))) 8.786 * [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 8.786 * [taylor]: Taking taylor expansion of 1/2 in phi1 8.786 * [backup-simplify]: Simplify 1/2 into 1/2 8.786 * [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 8.786 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) in phi1 8.786 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in phi1 8.786 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 8.786 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 8.786 * [taylor]: Taking taylor expansion of phi2 in phi1 8.786 * [backup-simplify]: Simplify phi2 into phi2 8.786 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 8.786 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 8.786 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 8.786 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 8.786 * [taylor]: Taking taylor expansion of phi1 in phi1 8.786 * [backup-simplify]: Simplify 0 into 0 8.786 * [backup-simplify]: Simplify 1 into 1 8.787 * [backup-simplify]: Simplify (* 1 1) into 1 8.787 * [backup-simplify]: Simplify (/ 1 1) into 1 8.787 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi1 8.787 * [taylor]: Taking taylor expansion of 2 in phi1 8.787 * [backup-simplify]: Simplify 2 into 2 8.787 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi1 8.787 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 8.787 * [taylor]: Taking taylor expansion of phi2 in phi1 8.787 * [backup-simplify]: Simplify phi2 into phi2 8.787 * [taylor]: Taking taylor expansion of phi1 in phi1 8.787 * [backup-simplify]: Simplify 0 into 0 8.787 * [backup-simplify]: Simplify 1 into 1 8.787 * [backup-simplify]: Simplify (* phi2 0) into 0 8.787 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 8.787 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 8.787 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 8.787 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 8.788 * [taylor]: Taking taylor expansion of -0.5 in phi1 8.788 * [backup-simplify]: Simplify -0.5 into -0.5 8.788 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 8.788 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 8.788 * [taylor]: Taking taylor expansion of phi1 in phi1 8.788 * [backup-simplify]: Simplify 0 into 0 8.788 * [backup-simplify]: Simplify 1 into 1 8.788 * [backup-simplify]: Simplify (/ 1 1) into 1 8.788 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 8.788 * [taylor]: Taking taylor expansion of phi2 in phi1 8.788 * [backup-simplify]: Simplify phi2 into phi2 8.788 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 8.788 * [backup-simplify]: Simplify (+ 1 0) into 1 8.788 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 8.789 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.789 * [backup-simplify]: Simplify (+ 0 1) into 1 8.789 * [backup-simplify]: Simplify (+ 1 0) into 1 8.789 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 8.790 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 8.790 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 8.790 * [backup-simplify]: Simplify (+ 0 0) into 0 8.790 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 8.790 * [backup-simplify]: Simplify (- (/ 2 phi2)) into (- (* 2 (/ 1 phi2))) 8.791 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 8.791 * [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)))))))) 8.791 * [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))))))) 8.791 * [taylor]: Taking taylor expansion of (- (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in phi2 8.791 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi2 8.791 * [taylor]: Taking taylor expansion of (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 8.791 * [taylor]: Taking taylor expansion of phi2 in phi2 8.791 * [backup-simplify]: Simplify 0 into 0 8.791 * [backup-simplify]: Simplify 1 into 1 8.791 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 8.791 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 8.791 * [taylor]: Taking taylor expansion of -0.5 in phi2 8.791 * [backup-simplify]: Simplify -0.5 into -0.5 8.791 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 8.791 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 8.791 * [taylor]: Taking taylor expansion of phi1 in phi2 8.791 * [backup-simplify]: Simplify phi1 into phi1 8.791 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 8.791 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 8.792 * [taylor]: Taking taylor expansion of phi2 in phi2 8.792 * [backup-simplify]: Simplify 0 into 0 8.792 * [backup-simplify]: Simplify 1 into 1 8.792 * [backup-simplify]: Simplify (/ 1 1) into 1 8.792 * [backup-simplify]: Simplify (+ 0 1) into 1 8.792 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 8.792 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.793 * [backup-simplify]: Simplify (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 8.793 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.793 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 8.793 * [backup-simplify]: Simplify (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 8.793 * [backup-simplify]: Simplify (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 8.794 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 9.085 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 9.085 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 9.085 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 9.086 * [backup-simplify]: Simplify (+ 0 0) into 0 9.086 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 9.087 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 9.087 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 9.087 * [backup-simplify]: Simplify (- 0) into 0 9.087 * [backup-simplify]: Simplify (+ 0 0) into 0 9.088 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (/ 0 1)) (* 0 (/ 0 1)))) into 0 9.089 * [backup-simplify]: Simplify (+ (* -1 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 9.089 * [taylor]: Taking taylor expansion of 0 in phi1 9.089 * [backup-simplify]: Simplify 0 into 0 9.090 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 9.090 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 9.090 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 9.090 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 9.091 * [backup-simplify]: Simplify (+ 0 0) into 0 9.091 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 9.092 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 9.092 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 9.092 * [backup-simplify]: Simplify (- 0) into 0 9.093 * [backup-simplify]: Simplify (+ 0 0) into 0 9.093 * [taylor]: Taking taylor expansion of 0 in phi1 9.093 * [backup-simplify]: Simplify 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 phi2 9.093 * [backup-simplify]: Simplify 0 into 0 9.093 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 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 phi2 9.093 * [backup-simplify]: Simplify 0 into 0 9.093 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 9.093 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 9.095 * [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)))))) 9.095 * * * * [progress]: [ 3 / 4 ] generating series at (2 2 1 1 1 1 2 2 2 1) 9.095 * [backup-simplify]: Simplify (cos (/ (+ phi1 phi2) 2.0)) into (cos (* 0.5 (+ phi2 phi1))) 9.095 * [approximate]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in (phi1 phi2) around 0 9.095 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 9.095 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 9.095 * [taylor]: Taking taylor expansion of 0.5 in phi2 9.095 * [backup-simplify]: Simplify 0.5 into 0.5 9.095 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 9.095 * [taylor]: Taking taylor expansion of phi2 in phi2 9.095 * [backup-simplify]: Simplify 0 into 0 9.095 * [backup-simplify]: Simplify 1 into 1 9.095 * [taylor]: Taking taylor expansion of phi1 in phi2 9.095 * [backup-simplify]: Simplify phi1 into phi1 9.095 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 9.096 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 9.096 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 9.096 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 9.096 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 9.096 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 9.096 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.096 * [backup-simplify]: Simplify 0.5 into 0.5 9.096 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 9.096 * [taylor]: Taking taylor expansion of phi2 in phi1 9.096 * [backup-simplify]: Simplify phi2 into phi2 9.096 * [taylor]: Taking taylor expansion of phi1 in phi1 9.096 * [backup-simplify]: Simplify 0 into 0 9.096 * [backup-simplify]: Simplify 1 into 1 9.096 * [backup-simplify]: Simplify (+ phi2 0) into phi2 9.096 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 9.096 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 9.096 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 9.096 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 9.096 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 9.096 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.096 * [backup-simplify]: Simplify 0.5 into 0.5 9.096 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 9.096 * [taylor]: Taking taylor expansion of phi2 in phi1 9.096 * [backup-simplify]: Simplify phi2 into phi2 9.096 * [taylor]: Taking taylor expansion of phi1 in phi1 9.096 * [backup-simplify]: Simplify 0 into 0 9.096 * [backup-simplify]: Simplify 1 into 1 9.096 * [backup-simplify]: Simplify (+ phi2 0) into phi2 9.096 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 9.096 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 9.096 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 9.096 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 9.096 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 9.097 * [backup-simplify]: Simplify (- 0) into 0 9.097 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 9.097 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 9.097 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 9.097 * [taylor]: Taking taylor expansion of 0.5 in phi2 9.097 * [backup-simplify]: Simplify 0.5 into 0.5 9.097 * [taylor]: Taking taylor expansion of phi2 in phi2 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 9.098 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 9.098 * [backup-simplify]: Simplify 1 into 1 9.098 * [backup-simplify]: Simplify (+ 0) into 0 9.099 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 9.099 * [backup-simplify]: Simplify (+ 0 1) into 1 9.099 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5 9.101 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 9.101 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2))) 9.101 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2)))) 9.102 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2)))) 9.102 * [taylor]: Taking taylor expansion of (- (* 0.5 (sin (* 0.5 phi2)))) in phi2 9.102 * [taylor]: Taking taylor expansion of (* 0.5 (sin (* 0.5 phi2))) in phi2 9.102 * [taylor]: Taking taylor expansion of 0.5 in phi2 9.102 * [backup-simplify]: Simplify 0.5 into 0.5 9.102 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2 9.102 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 9.102 * [taylor]: Taking taylor expansion of 0.5 in phi2 9.102 * [backup-simplify]: Simplify 0.5 into 0.5 9.102 * [taylor]: Taking taylor expansion of phi2 in phi2 9.102 * [backup-simplify]: Simplify 0 into 0 9.102 * [backup-simplify]: Simplify 1 into 1 9.102 * [backup-simplify]: Simplify (* 0.5 0) into 0 9.104 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 9.104 * [backup-simplify]: Simplify (* 0.5 0) into 0 9.104 * [backup-simplify]: Simplify (- 0) into 0 9.104 * [backup-simplify]: Simplify 0 into 0 9.105 * [backup-simplify]: Simplify (+ 0) into 0 9.105 * [backup-simplify]: Simplify 0 into 0 9.106 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 9.107 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) (- 0.125)) (+ (* 0 0) (* 0 1))) into (- (* 0.125 (cos (* 0.5 phi2)))) 9.108 * [backup-simplify]: Simplify (+ 0 0) into 0 9.108 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 phi2))) into 0 9.109 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 9.109 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (+ (* 0 0.5) (* 0 0))) into 0 9.109 * [backup-simplify]: Simplify (- 0) into 0 9.109 * [backup-simplify]: Simplify (+ (- (* 0.125 (cos (* 0.5 phi2)))) 0) into (- (* 0.125 (cos (* 0.5 phi2)))) 9.109 * [taylor]: Taking taylor expansion of (- (* 0.125 (cos (* 0.5 phi2)))) in phi2 9.109 * [taylor]: Taking taylor expansion of (* 0.125 (cos (* 0.5 phi2))) in phi2 9.109 * [taylor]: Taking taylor expansion of 0.125 in phi2 9.109 * [backup-simplify]: Simplify 0.125 into 0.125 9.109 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 9.110 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 9.110 * [taylor]: Taking taylor expansion of 0.5 in phi2 9.110 * [backup-simplify]: Simplify 0.5 into 0.5 9.110 * [taylor]: Taking taylor expansion of phi2 in phi2 9.110 * [backup-simplify]: Simplify 0 into 0 9.110 * [backup-simplify]: Simplify 1 into 1 9.110 * [backup-simplify]: Simplify (* 0.5 0) into 0 9.111 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 9.111 * [backup-simplify]: Simplify (* 0.125 1) into 0.125 9.111 * [backup-simplify]: Simplify (- 0.125) into (- 0.125) 9.111 * [backup-simplify]: Simplify (- 0.125) into (- 0.125) 9.113 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 9.114 * [backup-simplify]: Simplify (+ (* 0.5 0.5) (* 0 0)) into 0.25 9.114 * [backup-simplify]: Simplify (- 0.25) into (- 0.25) 9.114 * [backup-simplify]: Simplify (- 0.25) into (- 0.25) 9.115 * [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)))) 9.115 * [backup-simplify]: Simplify (cos (/ (+ (/ 1 phi1) (/ 1 phi2)) 2.0)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.115 * [approximate]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in (phi1 phi2) around 0 9.115 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 9.115 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 9.115 * [taylor]: Taking taylor expansion of 0.5 in phi2 9.115 * [backup-simplify]: Simplify 0.5 into 0.5 9.115 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 9.115 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 9.115 * [taylor]: Taking taylor expansion of phi1 in phi2 9.115 * [backup-simplify]: Simplify phi1 into phi1 9.115 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.115 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 9.115 * [taylor]: Taking taylor expansion of phi2 in phi2 9.115 * [backup-simplify]: Simplify 0 into 0 9.115 * [backup-simplify]: Simplify 1 into 1 9.115 * [backup-simplify]: Simplify (/ 1 1) into 1 9.116 * [backup-simplify]: Simplify (+ 0 1) into 1 9.116 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 9.116 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.116 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 9.116 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 9.116 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.116 * [backup-simplify]: Simplify 0.5 into 0.5 9.116 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 9.116 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 9.116 * [taylor]: Taking taylor expansion of phi1 in phi1 9.116 * [backup-simplify]: Simplify 0 into 0 9.116 * [backup-simplify]: Simplify 1 into 1 9.116 * [backup-simplify]: Simplify (/ 1 1) into 1 9.116 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 9.117 * [taylor]: Taking taylor expansion of phi2 in phi1 9.117 * [backup-simplify]: Simplify phi2 into phi2 9.117 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.117 * [backup-simplify]: Simplify (+ 1 0) into 1 9.117 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 9.117 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.117 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 9.117 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 9.117 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.117 * [backup-simplify]: Simplify 0.5 into 0.5 9.117 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 9.117 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 9.117 * [taylor]: Taking taylor expansion of phi1 in phi1 9.117 * [backup-simplify]: Simplify 0 into 0 9.117 * [backup-simplify]: Simplify 1 into 1 9.118 * [backup-simplify]: Simplify (/ 1 1) into 1 9.118 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 9.118 * [taylor]: Taking taylor expansion of phi2 in phi1 9.118 * [backup-simplify]: Simplify phi2 into phi2 9.118 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.118 * [backup-simplify]: Simplify (+ 1 0) into 1 9.118 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 9.118 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.118 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 9.118 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 9.118 * [taylor]: Taking taylor expansion of 0.5 in phi2 9.118 * [backup-simplify]: Simplify 0.5 into 0.5 9.118 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 9.119 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 9.119 * [taylor]: Taking taylor expansion of phi1 in phi2 9.119 * [backup-simplify]: Simplify phi1 into phi1 9.119 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.119 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 9.119 * [taylor]: Taking taylor expansion of phi2 in phi2 9.119 * [backup-simplify]: Simplify 0 into 0 9.119 * [backup-simplify]: Simplify 1 into 1 9.119 * [backup-simplify]: Simplify (/ 1 1) into 1 9.119 * [backup-simplify]: Simplify (+ 0 1) into 1 9.119 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 9.120 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.120 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.120 * [taylor]: Taking taylor expansion of 0 in phi2 9.120 * [backup-simplify]: Simplify 0 into 0 9.120 * [backup-simplify]: Simplify 0 into 0 9.120 * [backup-simplify]: Simplify 0 into 0 9.120 * [taylor]: Taking taylor expansion of 0 in phi2 9.120 * [backup-simplify]: Simplify 0 into 0 9.120 * [backup-simplify]: Simplify 0 into 0 9.120 * [backup-simplify]: Simplify 0 into 0 9.120 * [backup-simplify]: Simplify 0 into 0 9.120 * [taylor]: Taking taylor expansion of 0 in phi2 9.120 * [backup-simplify]: Simplify 0 into 0 9.120 * [backup-simplify]: Simplify 0 into 0 9.120 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))) into (cos (* 0.5 (+ phi2 phi1))) 9.120 * [backup-simplify]: Simplify (cos (/ (+ (/ 1 (- phi1)) (/ 1 (- phi2))) 2.0)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.120 * [approximate]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in (phi1 phi2) around 0 9.120 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 9.120 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 9.120 * [taylor]: Taking taylor expansion of -0.5 in phi2 9.120 * [backup-simplify]: Simplify -0.5 into -0.5 9.120 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 9.120 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 9.120 * [taylor]: Taking taylor expansion of phi1 in phi2 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 phi2 9.120 * [taylor]: Taking taylor expansion of phi2 in phi2 9.120 * [backup-simplify]: Simplify 0 into 0 9.120 * [backup-simplify]: Simplify 1 into 1 9.121 * [backup-simplify]: Simplify (/ 1 1) into 1 9.121 * [backup-simplify]: Simplify (+ 0 1) into 1 9.121 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 9.121 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.121 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 9.121 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 9.121 * [taylor]: Taking taylor expansion of -0.5 in phi1 9.121 * [backup-simplify]: Simplify -0.5 into -0.5 9.121 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 9.121 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 9.121 * [taylor]: Taking taylor expansion of phi1 in phi1 9.121 * [backup-simplify]: Simplify 0 into 0 9.121 * [backup-simplify]: Simplify 1 into 1 9.122 * [backup-simplify]: Simplify (/ 1 1) into 1 9.122 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 9.122 * [taylor]: Taking taylor expansion of phi2 in phi1 9.122 * [backup-simplify]: Simplify phi2 into phi2 9.122 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.122 * [backup-simplify]: Simplify (+ 1 0) into 1 9.122 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 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 phi1 9.122 * [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) 9.123 * [backup-simplify]: Simplify (+ 1 0) into 1 9.123 * [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 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 9.124 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 9.124 * [taylor]: Taking taylor expansion of -0.5 in phi2 9.124 * [backup-simplify]: Simplify -0.5 into -0.5 9.124 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 9.124 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 9.124 * [taylor]: Taking taylor expansion of phi1 in phi2 9.124 * [backup-simplify]: Simplify phi1 into phi1 9.124 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.124 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 9.124 * [taylor]: Taking taylor expansion of phi2 in phi2 9.124 * [backup-simplify]: Simplify 0 into 0 9.124 * [backup-simplify]: Simplify 1 into 1 9.124 * [backup-simplify]: Simplify (/ 1 1) into 1 9.124 * [backup-simplify]: Simplify (+ 0 1) into 1 9.125 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 9.125 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.125 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.125 * [taylor]: Taking taylor expansion of 0 in phi2 9.125 * [backup-simplify]: Simplify 0 into 0 9.125 * [backup-simplify]: Simplify 0 into 0 9.125 * [backup-simplify]: Simplify 0 into 0 9.125 * [taylor]: Taking taylor expansion of 0 in phi2 9.125 * [backup-simplify]: Simplify 0 into 0 9.125 * [backup-simplify]: Simplify 0 into 0 9.125 * [backup-simplify]: Simplify 0 into 0 9.125 * [backup-simplify]: Simplify 0 into 0 9.125 * [taylor]: Taking taylor expansion of 0 in phi2 9.125 * [backup-simplify]: Simplify 0 into 0 9.125 * [backup-simplify]: Simplify 0 into 0 9.125 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))) into (cos (* 0.5 (+ phi2 phi1))) 9.125 * * * * [progress]: [ 4 / 4 ] generating series at (2 2 1 1 1 1 2 2 1 2 1) 9.126 * [backup-simplify]: Simplify (cos (/ (+ phi1 phi2) 2.0)) into (cos (* 0.5 (+ phi2 phi1))) 9.126 * [approximate]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in (phi1 phi2) around 0 9.126 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 9.126 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 9.126 * [taylor]: Taking taylor expansion of 0.5 in phi2 9.126 * [backup-simplify]: Simplify 0.5 into 0.5 9.126 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 9.126 * [taylor]: Taking taylor expansion of phi2 in phi2 9.126 * [backup-simplify]: Simplify 0 into 0 9.126 * [backup-simplify]: Simplify 1 into 1 9.126 * [taylor]: Taking taylor expansion of phi1 in phi2 9.126 * [backup-simplify]: Simplify phi1 into phi1 9.126 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 9.126 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 9.126 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 9.126 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 9.126 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 9.126 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) 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 (+ phi2 phi1) in phi1 9.126 * [taylor]: Taking taylor expansion of phi2 in phi1 9.126 * [backup-simplify]: Simplify phi2 into phi2 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 9.126 * [backup-simplify]: Simplify (+ phi2 0) into phi2 9.126 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 9.126 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 9.126 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 9.126 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 9.126 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) 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 (+ phi2 phi1) in phi1 9.126 * [taylor]: Taking taylor expansion of phi2 in phi1 9.126 * [backup-simplify]: Simplify phi2 into phi2 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 (+ phi2 0) into phi2 9.127 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 9.127 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 9.127 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 9.127 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 9.127 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 9.127 * [backup-simplify]: Simplify (- 0) into 0 9.127 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 9.127 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 9.127 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 9.127 * [taylor]: Taking taylor expansion of 0.5 in phi2 9.127 * [backup-simplify]: Simplify 0.5 into 0.5 9.127 * [taylor]: Taking taylor expansion of phi2 in phi2 9.127 * [backup-simplify]: Simplify 0 into 0 9.127 * [backup-simplify]: Simplify 1 into 1 9.127 * [backup-simplify]: Simplify (* 0.5 0) into 0 9.128 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 9.128 * [backup-simplify]: Simplify 1 into 1 9.129 * [backup-simplify]: Simplify (+ 0) into 0 9.129 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 9.129 * [backup-simplify]: Simplify (+ 0 1) into 1 9.130 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5 9.131 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 9.131 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2))) 9.131 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2)))) 9.131 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2)))) 9.132 * [taylor]: Taking taylor expansion of (- (* 0.5 (sin (* 0.5 phi2)))) in phi2 9.132 * [taylor]: Taking taylor expansion of (* 0.5 (sin (* 0.5 phi2))) in phi2 9.132 * [taylor]: Taking taylor expansion of 0.5 in phi2 9.132 * [backup-simplify]: Simplify 0.5 into 0.5 9.132 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2 9.132 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 9.132 * [taylor]: Taking taylor expansion of 0.5 in phi2 9.132 * [backup-simplify]: Simplify 0.5 into 0.5 9.132 * [taylor]: Taking taylor expansion of phi2 in phi2 9.132 * [backup-simplify]: Simplify 0 into 0 9.132 * [backup-simplify]: Simplify 1 into 1 9.132 * [backup-simplify]: Simplify (* 0.5 0) into 0 9.133 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 9.133 * [backup-simplify]: Simplify (* 0.5 0) into 0 9.133 * [backup-simplify]: Simplify (- 0) into 0 9.133 * [backup-simplify]: Simplify 0 into 0 9.134 * [backup-simplify]: Simplify (+ 0) into 0 9.134 * [backup-simplify]: Simplify 0 into 0 9.136 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 9.136 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) (- 0.125)) (+ (* 0 0) (* 0 1))) into (- (* 0.125 (cos (* 0.5 phi2)))) 9.136 * [backup-simplify]: Simplify (+ 0 0) into 0 9.137 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 phi2))) into 0 9.137 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 9.138 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (+ (* 0 0.5) (* 0 0))) into 0 9.138 * [backup-simplify]: Simplify (- 0) into 0 9.138 * [backup-simplify]: Simplify (+ (- (* 0.125 (cos (* 0.5 phi2)))) 0) into (- (* 0.125 (cos (* 0.5 phi2)))) 9.138 * [taylor]: Taking taylor expansion of (- (* 0.125 (cos (* 0.5 phi2)))) in phi2 9.138 * [taylor]: Taking taylor expansion of (* 0.125 (cos (* 0.5 phi2))) in phi2 9.138 * [taylor]: Taking taylor expansion of 0.125 in phi2 9.138 * [backup-simplify]: Simplify 0.125 into 0.125 9.138 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 9.138 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 9.138 * [taylor]: Taking taylor expansion of 0.5 in phi2 9.138 * [backup-simplify]: Simplify 0.5 into 0.5 9.138 * [taylor]: Taking taylor expansion of phi2 in phi2 9.138 * [backup-simplify]: Simplify 0 into 0 9.139 * [backup-simplify]: Simplify 1 into 1 9.139 * [backup-simplify]: Simplify (* 0.5 0) into 0 9.140 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 9.140 * [backup-simplify]: Simplify (* 0.125 1) into 0.125 9.140 * [backup-simplify]: Simplify (- 0.125) into (- 0.125) 9.140 * [backup-simplify]: Simplify (- 0.125) into (- 0.125) 9.142 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 9.143 * [backup-simplify]: Simplify (+ (* 0.5 0.5) (* 0 0)) into 0.25 9.143 * [backup-simplify]: Simplify (- 0.25) into (- 0.25) 9.143 * [backup-simplify]: Simplify (- 0.25) into (- 0.25) 9.144 * [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)))) 9.144 * [backup-simplify]: Simplify (cos (/ (+ (/ 1 phi1) (/ 1 phi2)) 2.0)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.144 * [approximate]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in (phi1 phi2) around 0 9.144 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 9.144 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 9.144 * [taylor]: Taking taylor expansion of 0.5 in phi2 9.144 * [backup-simplify]: Simplify 0.5 into 0.5 9.144 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 9.144 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 9.144 * [taylor]: Taking taylor expansion of phi1 in phi2 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 phi2 9.144 * [taylor]: Taking taylor expansion of phi2 in phi2 9.144 * [backup-simplify]: Simplify 0 into 0 9.144 * [backup-simplify]: Simplify 1 into 1 9.145 * [backup-simplify]: Simplify (/ 1 1) into 1 9.145 * [backup-simplify]: Simplify (+ 0 1) into 1 9.145 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 9.145 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.145 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 9.145 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 9.145 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.145 * [backup-simplify]: Simplify 0.5 into 0.5 9.145 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 9.145 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 9.145 * [taylor]: Taking taylor expansion of phi1 in phi1 9.145 * [backup-simplify]: Simplify 0 into 0 9.145 * [backup-simplify]: Simplify 1 into 1 9.146 * [backup-simplify]: Simplify (/ 1 1) into 1 9.146 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 9.146 * [taylor]: Taking taylor expansion of phi2 in phi1 9.146 * [backup-simplify]: Simplify phi2 into phi2 9.146 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.146 * [backup-simplify]: Simplify (+ 1 0) into 1 9.146 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 9.146 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.146 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 9.146 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 9.146 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.147 * [backup-simplify]: Simplify 0.5 into 0.5 9.147 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 9.147 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 9.147 * [taylor]: Taking taylor expansion of phi1 in phi1 9.147 * [backup-simplify]: Simplify 0 into 0 9.147 * [backup-simplify]: Simplify 1 into 1 9.147 * [backup-simplify]: Simplify (/ 1 1) into 1 9.147 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 9.147 * [taylor]: Taking taylor expansion of phi2 in phi1 9.147 * [backup-simplify]: Simplify phi2 into phi2 9.147 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.147 * [backup-simplify]: Simplify (+ 1 0) into 1 9.147 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 9.148 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.148 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 9.148 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 9.148 * [taylor]: Taking taylor expansion of 0.5 in phi2 9.148 * [backup-simplify]: Simplify 0.5 into 0.5 9.148 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 9.148 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 9.148 * [taylor]: Taking taylor expansion of phi1 in phi2 9.148 * [backup-simplify]: Simplify phi1 into phi1 9.148 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.148 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 9.148 * [taylor]: Taking taylor expansion of phi2 in phi2 9.148 * [backup-simplify]: Simplify 0 into 0 9.148 * [backup-simplify]: Simplify 1 into 1 9.148 * [backup-simplify]: Simplify (/ 1 1) into 1 9.148 * [backup-simplify]: Simplify (+ 0 1) into 1 9.149 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 9.149 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.149 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.149 * [taylor]: Taking taylor expansion of 0 in phi2 9.149 * [backup-simplify]: Simplify 0 into 0 9.149 * [backup-simplify]: Simplify 0 into 0 9.149 * [backup-simplify]: Simplify 0 into 0 9.149 * [taylor]: Taking taylor expansion of 0 in phi2 9.149 * [backup-simplify]: Simplify 0 into 0 9.149 * [backup-simplify]: Simplify 0 into 0 9.149 * [backup-simplify]: Simplify 0 into 0 9.149 * [backup-simplify]: Simplify 0 into 0 9.149 * [taylor]: Taking taylor expansion of 0 in phi2 9.149 * [backup-simplify]: Simplify 0 into 0 9.149 * [backup-simplify]: Simplify 0 into 0 9.149 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))) into (cos (* 0.5 (+ phi2 phi1))) 9.149 * [backup-simplify]: Simplify (cos (/ (+ (/ 1 (- phi1)) (/ 1 (- phi2))) 2.0)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.149 * [approximate]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in (phi1 phi2) around 0 9.149 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 9.149 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 9.149 * [taylor]: Taking taylor expansion of -0.5 in phi2 9.149 * [backup-simplify]: Simplify -0.5 into -0.5 9.150 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 9.150 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 9.150 * [taylor]: Taking taylor expansion of phi1 in phi2 9.150 * [backup-simplify]: Simplify phi1 into phi1 9.150 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.150 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 9.150 * [taylor]: Taking taylor expansion of phi2 in phi2 9.150 * [backup-simplify]: Simplify 0 into 0 9.150 * [backup-simplify]: Simplify 1 into 1 9.150 * [backup-simplify]: Simplify (/ 1 1) into 1 9.150 * [backup-simplify]: Simplify (+ 0 1) into 1 9.150 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 9.151 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.151 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 9.151 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 9.151 * [taylor]: Taking taylor expansion of -0.5 in phi1 9.151 * [backup-simplify]: Simplify -0.5 into -0.5 9.151 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 9.151 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 9.151 * [taylor]: Taking taylor expansion of phi1 in phi1 9.151 * [backup-simplify]: Simplify 0 into 0 9.151 * [backup-simplify]: Simplify 1 into 1 9.151 * [backup-simplify]: Simplify (/ 1 1) into 1 9.151 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 9.151 * [taylor]: Taking taylor expansion of phi2 in phi1 9.151 * [backup-simplify]: Simplify phi2 into phi2 9.151 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.151 * [backup-simplify]: Simplify (+ 1 0) into 1 9.152 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 9.152 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.152 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 9.152 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 9.152 * [taylor]: Taking taylor expansion of -0.5 in phi1 9.152 * [backup-simplify]: Simplify -0.5 into -0.5 9.152 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 9.152 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 9.152 * [taylor]: Taking taylor expansion of phi1 in phi1 9.152 * [backup-simplify]: Simplify 0 into 0 9.152 * [backup-simplify]: Simplify 1 into 1 9.152 * [backup-simplify]: Simplify (/ 1 1) into 1 9.152 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 9.152 * [taylor]: Taking taylor expansion of phi2 in phi1 9.152 * [backup-simplify]: Simplify phi2 into phi2 9.152 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.152 * [backup-simplify]: Simplify (+ 1 0) into 1 9.153 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 9.153 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.153 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 9.153 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 9.153 * [taylor]: Taking taylor expansion of -0.5 in phi2 9.153 * [backup-simplify]: Simplify -0.5 into -0.5 9.153 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 9.153 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 9.153 * [taylor]: Taking taylor expansion of phi1 in phi2 9.153 * [backup-simplify]: Simplify phi1 into phi1 9.153 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.153 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 9.153 * [taylor]: Taking taylor expansion of phi2 in phi2 9.153 * [backup-simplify]: Simplify 0 into 0 9.153 * [backup-simplify]: Simplify 1 into 1 9.153 * [backup-simplify]: Simplify (/ 1 1) into 1 9.154 * [backup-simplify]: Simplify (+ 0 1) into 1 9.154 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 9.154 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.154 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.154 * [taylor]: Taking taylor expansion of 0 in phi2 9.154 * [backup-simplify]: Simplify 0 into 0 9.154 * [backup-simplify]: Simplify 0 into 0 9.154 * [backup-simplify]: Simplify 0 into 0 9.154 * [taylor]: Taking taylor expansion of 0 in phi2 9.154 * [backup-simplify]: Simplify 0 into 0 9.154 * [backup-simplify]: Simplify 0 into 0 9.154 * [backup-simplify]: Simplify 0 into 0 9.154 * [backup-simplify]: Simplify 0 into 0 9.154 * [taylor]: Taking taylor expansion of 0 in phi2 9.154 * [backup-simplify]: Simplify 0 into 0 9.154 * [backup-simplify]: Simplify 0 into 0 9.155 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))) into (cos (* 0.5 (+ phi2 phi1))) 9.155 * * * [progress]: simplifying candidates 9.161 * [simplify]: Simplifying: (log (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (* (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))))) (* (- phi1 phi2) (- phi1 phi2))))) (exp (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (* (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))))) (* (- phi1 phi2) (- phi1 phi2))))) (* (cbrt (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (* (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))))) (* (- phi1 phi2) (- phi1 phi2))))) (cbrt (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (* (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))))) (* (- phi1 phi2) (- phi1 phi2)))))) (cbrt (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (* (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))))) (* (- phi1 phi2) (- phi1 phi2))))) (* (* (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (* (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))))) (* (- phi1 phi2) (- phi1 phi2)))) (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 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(- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (* (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))))) (* (- phi1 phi2) (- phi1 phi2)))))))) (cbrt (exp (log (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (* (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))))) (* (- phi1 phi2) (- phi1 phi2))))))) (* (* (exp (log (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (* (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))))) (* (- phi1 phi2) (- phi1 phi2)))))) (exp (log (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (* (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))))) (* (- phi1 phi2) (- phi1 phi2))))))) (exp (log (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (* (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))))) (* (- phi1 phi2) (- phi1 phi2))))))) (sqrt (exp (log (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (* (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))))) (* (- phi1 phi2) (- phi1 phi2))))))) (sqrt (exp (log (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (* (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))))) (* (- phi1 phi2) (- phi1 phi2))))))) (log (cos (/ (+ phi1 phi2) 2.0))) (exp (cos (/ (+ phi1 phi2) 2.0))) (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))) (cbrt (cos (/ (+ phi1 phi2) 2.0))) (* (* (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))) (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))) (- 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)))))) (- 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)))))) (- 1 (+ (* 0.25 (* phi2 phi1)) (* 0.125 (pow phi1 2)))) (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1))) (- 1 (+ (* 0.25 (* phi2 phi1)) (* 0.125 (pow phi1 2)))) (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1))) 9.170 * [simplify]: Sending expressions to egg_math: (log (sqrt (+ (* (* (- h4 h3) (cos (/ (+ h1 h0) h2))) (* (- h4 h3) (* (* (cbrt (cos (/ (+ h1 h0) h2))) (cbrt (cos (/ (+ h1 h0) h2)))) (cbrt (cos (/ (+ h1 h0) h2)))))) (* (- h1 h0) (- h1 h0))))) (exp (sqrt (+ (* (* (- h4 h3) (cos (/ (+ h1 h0) h2))) (* (- h4 h3) (* (* (cbrt (cos (/ (+ h1 h0) h2))) (cbrt (cos (/ (+ h1 h0) h2)))) (cbrt (cos (/ (+ h1 h0) h2)))))) (* (- h1 h0) (- h1 h0))))) (* (cbrt (sqrt (+ (* (* (- h4 h3) (cos (/ (+ h1 h0) h2))) (* (- h4 h3) (* (* (cbrt (cos (/ (+ h1 h0) h2))) (cbrt (cos (/ (+ h1 h0) h2)))) (cbrt (cos (/ (+ h1 h0) h2)))))) (* (- h1 h0) (- h1 h0))))) (cbrt (sqrt (+ (* (* (- h4 h3) (cos (/ (+ h1 h0) h2))) (* (- h4 h3) (* (* (cbrt (cos (/ (+ h1 h0) h2))) (cbrt (cos (/ (+ h1 h0) h2)))) (cbrt (cos (/ (+ h1 h0) h2)))))) (* (- h1 h0) (- h1 h0)))))) (cbrt (sqrt (+ (* (* (- h4 h3) (cos (/ (+ h1 h0) h2))) (* (- h4 h3) (* (* (cbrt (cos (/ (+ h1 h0) h2))) (cbrt (cos (/ (+ h1 h0) h2)))) (cbrt (cos (/ (+ h1 h0) h2)))))) (* (- h1 h0) (- h1 h0))))) (* (* (sqrt (+ (* (* (- h4 h3) (cos (/ (+ h1 h0) h2))) (* (- h4 h3) (* (* (cbrt (cos (/ (+ h1 h0) h2))) (cbrt (cos (/ (+ h1 h0) h2)))) (cbrt (cos (/ (+ h1 h0) h2)))))) (* (- h1 h0) (- h1 h0)))) (sqrt (+ (* (* (- h4 h3) (cos (/ (+ h1 h0) h2))) (* (- h4 h3) (* (* (cbrt (cos (/ (+ h1 h0) h2))) (cbrt (cos (/ (+ h1 h0) h2)))) (cbrt (cos (/ (+ h1 h0) h2)))))) (* (- h1 h0) (- h1 h0))))) (sqrt (+ (* (* (- h4 h3) (cos (/ (+ h1 h0) h2))) (* (- h4 h3) (* (* (cbrt (cos (/ (+ h1 h0) h2))) (cbrt (cos (/ (+ h1 h0) h2)))) (cbrt (cos (/ (+ h1 h0) h2)))))) (* (- h1 h0) (- h1 h0))))) (sqrt (* (cbrt (+ (* (* (- h4 h3) (cos (/ (+ h1 h0) h2))) (* (- h4 h3) (* (* (cbrt (cos (/ (+ h1 h0) h2))) (cbrt (cos (/ (+ h1 h0) h2)))) (cbrt (cos (/ (+ h1 h0) h2)))))) (* (- h1 h0) (- h1 h0)))) (cbrt (+ (* (* (- h4 h3) (cos (/ (+ h1 h0) h2))) (* (- h4 h3) (* (* (cbrt (cos (/ (+ h1 h0) h2))) (cbrt (cos (/ (+ h1 h0) h2)))) (cbrt (cos (/ (+ h1 h0) h2)))))) (* (- h1 h0) (- h1 h0)))))) (sqrt (cbrt (+ (* (* (- h4 h3) (cos (/ (+ h1 h0) h2))) (* (- h4 h3) (* (* (cbrt (cos (/ (+ h1 h0) h2))) (cbrt (cos (/ (+ h1 h0) h2)))) (cbrt (cos (/ (+ h1 h0) h2)))))) (* (- h1 h0) (- h1 h0))))) (sqrt (sqrt (+ (* (* (- h4 h3) (cos (/ (+ h1 h0) h2))) (* (- h4 h3) (* (* (cbrt (cos (/ (+ h1 h0) h2))) (cbrt (cos (/ (+ h1 h0) h2)))) (cbrt (cos (/ (+ h1 h0) h2)))))) (* (- h1 h0) (- h1 h0))))) (sqrt (sqrt (+ (* (* (- h4 h3) (cos (/ (+ h1 h0) h2))) (* (- h4 h3) (* (* (cbrt (cos (/ (+ h1 h0) h2))) (cbrt (cos (/ (+ h1 h0) h2)))) (cbrt (cos (/ (+ h1 h0) h2)))))) (* (- h1 h0) (- h1 h0))))) 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(cos (/ (+ h1 h0) h2))) (sqrt (cos (/ (+ h1 h0) h2))) (log (cos (/ (+ h1 h0) h2))) (exp (cos (/ (+ h1 h0) h2))) (* (cbrt (cos (/ (+ h1 h0) h2))) (cbrt (cos (/ (+ h1 h0) h2)))) (cbrt (cos (/ (+ h1 h0) h2))) (* (* (cos (/ (+ h1 h0) h2)) (cos (/ (+ h1 h0) h2))) (cos (/ (+ h1 h0) h2))) (sqrt (cos (/ (+ h1 h0) h2))) (sqrt (cos (/ (+ h1 h0) h2))) (- h0 h1) (- (+ (/ (* h0 (* h3 h1)) (* (cos (* h5 (+ h0 h1))) (pow h4 2))) (+ (/ (* h0 h1) (* (cos (* h5 (+ h0 h1))) h4)) (* h3 (cos (* h5 (+ h0 h1))))))) (+ (/ (* h0 (* h3 h1)) (* (cos (* h5 (+ h0 h1))) (pow h4 2))) (+ (/ (* h0 h1) (* (cos (* h5 (+ h0 h1))) h4)) (* h3 (cos (* h5 (+ h0 h1)))))) (- h0 h1) (- (+ (/ (* h0 (* h3 h1)) (* (cos (* h5 (+ h0 h1))) (pow h4 2))) (+ (/ (* h0 h1) (* (cos (* h5 (+ h0 h1))) h4)) (* h3 (cos (* h5 (+ h0 h1))))))) (+ (/ (* h0 (* h3 h1)) (* (cos (* h5 (+ h0 h1))) (pow h4 2))) (+ (/ (* h0 h1) (* (cos (* h5 (+ h0 h1))) h4)) (* h3 (cos (* h5 (+ h0 h1)))))) (- 1 (+ (* h7 (* h0 h1)) (* h6 (pow h1 2)))) (cos (* h5 (+ h0 h1))) (cos (* h5 (+ h0 h1))) (- 1 (+ (* h7 (* h0 h1)) (* h6 (pow h1 2)))) (cos (* h5 (+ h0 h1))) (cos (* h5 (+ h0 h1))) 9.255 * * * [progress]: adding candidates to table 10.384 * [progress]: [Phase 3 of 3] Extracting. 10.384 * * [regime]: Finding splitpoints for: (# # # # # # # # # # # # #) 10.401 * * * [regime-changes]: Trying 9 branch expressions: ((- lambda1 lambda2) (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2))) (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2)))) (* R (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2))))) phi2 phi1 lambda2 lambda1 R) 10.401 * * * * [regimes]: Trying to branch on (- lambda1 lambda2) from (# # # # # # # # # # # # #) 10.501 * * * * [regimes]: Trying to branch on (- lambda1 lambda2) from (# # # # # # # #) 10.569 * * * * [regimes]: Trying to branch on (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2))) from (# # # # # # # # # # # # #) 10.649 * * * * [regimes]: Trying to branch on (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2))) from (# #) 10.671 * * * * [regimes]: Trying to branch on (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2)))) from (# # # # # # # # # # # # #) 10.760 * * * * [regimes]: Trying to branch on (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2)))) from (# #) 10.788 * * * * [regimes]: Trying to branch on (* R (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2))))) from (# # # # # # # # # # # # #) 10.873 * * * * [regimes]: Trying to branch on phi2 from (# # # # # # # # # # # # #) 10.974 * * * * [regimes]: Trying to branch on phi1 from (# # # # # # # # # # # # #) 11.068 * * * * [regimes]: Trying to branch on lambda2 from (# # # # # # # # # # # # #) 11.170 * * * * [regimes]: Trying to branch on lambda1 from (# # # # # # # # # # # # #) 11.240 * * * * [regimes]: Trying to branch on R from (# # # # # # # # # # # # #) 11.358 * * * [regime]: Found split indices: #