WORST_CASE(Omega(1),?)

### Pre-processing the ITS problem ###

Initial linear ITS problem
   Start location: l31
      0: l0 -> l2 : __disjvr_0^0'=__disjvr_0^post_1, __disjvr_10^0'=__disjvr_10^post_1, __disjvr_11^0'=__disjvr_11^post_1, __disjvr_12^0'=__disjvr_12^post_1, __disjvr_1^0'=__disjvr_1^post_1, __disjvr_2^0'=__disjvr_2^post_1, __disjvr_3^0'=__disjvr_3^post_1, __disjvr_4^0'=__disjvr_4^post_1, __disjvr_5^0'=__disjvr_5^post_1, __disjvr_6^0'=__disjvr_6^post_1, __disjvr_7^0'=__disjvr_7^post_1, __disjvr_8^0'=__disjvr_8^post_1, __disjvr_9^0'=__disjvr_9^post_1, a_130^0'=a_130^post_1, a_152^0'=a_152^post_1, a_175^0'=a_175^post_1, a_28^0'=a_28^post_1, ct_18^0'=ct_18^post_1, d_29^0'=d_29^post_1, i_111^0'=i_111^post_1, i_13^0'=i_13^post_1, len_14^0'=len_14^post_1, r_37^0'=r_37^post_1, rcd_100^0'=rcd_100^post_1, rcd_63^0'=rcd_63^post_1, result_11^0'=result_11^post_1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_1, t_24^0'=t_24^post_1, temp0_16^0'=temp0_16^post_1, temp0_31^0'=temp0_31^post_1, temp_33^0'=temp_33^post_1, tmp_27^0'=tmp_27^post_1, x_15^0'=x_15^post_1, x_17^0'=x_17^post_1, x_21^0'=x_21^post_1, x_32^0'=x_32^post_1, x_SLAM_f_19^0'=x_SLAM_f_19^post_1, y_20^0'=y_20^post_1, [ 0<=a_130^0 && i_13^post_1==i_13^post_1 && len_14^post_1==len_14^post_1 && x_15^post_1==x_15^post_1 && y_20^0<=x_21^0 && x_21^0<=y_20^0 && x_SLAM_f_19^1_1==x_SLAM_f_19^1_1 && y_20^1_1==y_20^1_1 && x_21^1_1==x_21^1_1 && t_24^1_1==t_24^1_1 && ct_18^1_1==ct_18^1_1 && x_17^post_1==x_17^post_1 && ct_18^post_1==ct_18^post_1 && x_SLAM_f_19^post_1==x_SLAM_f_19^post_1 && y_20^post_1==y_20^post_1 && x_21^post_1==x_21^post_1 && t_24^post_1==t_24^post_1 && result_11^post_1==temp0_16^0 && __disjvr_0^0==__disjvr_0^post_1 && __disjvr_1^0==__disjvr_1^post_1 && __disjvr_10^0==__disjvr_10^post_1 && __disjvr_11^0==__disjvr_11^post_1 && __disjvr_12^0==__disjvr_12^post_1 && __disjvr_2^0==__disjvr_2^post_1 && __disjvr_3^0==__disjvr_3^post_1 && __disjvr_4^0==__disjvr_4^post_1 && __disjvr_5^0==__disjvr_5^post_1 && __disjvr_6^0==__disjvr_6^post_1 && __disjvr_7^0==__disjvr_7^post_1 && __disjvr_8^0==__disjvr_8^post_1 && __disjvr_9^0==__disjvr_9^post_1 && a_130^0==a_130^post_1 && a_152^0==a_152^post_1 && a_175^0==a_175^post_1 && a_28^0==a_28^post_1 && d_29^0==d_29^post_1 && i_111^0==i_111^post_1 && r_37^0==r_37^post_1 && rcd_100^0==rcd_100^post_1 && rcd_63^0==rcd_63^post_1 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_1 && temp0_16^0==temp0_16^post_1 && temp0_31^0==temp0_31^post_1 && temp_33^0==temp_33^post_1 && tmp_27^0==tmp_27^post_1 && x_32^0==x_32^post_1 ], cost: 1
      3: l0 -> l5 : __disjvr_0^0'=__disjvr_0^post_4, __disjvr_10^0'=__disjvr_10^post_4, __disjvr_11^0'=__disjvr_11^post_4, __disjvr_12^0'=__disjvr_12^post_4, __disjvr_1^0'=__disjvr_1^post_4, __disjvr_2^0'=__disjvr_2^post_4, __disjvr_3^0'=__disjvr_3^post_4, __disjvr_4^0'=__disjvr_4^post_4, __disjvr_5^0'=__disjvr_5^post_4, __disjvr_6^0'=__disjvr_6^post_4, __disjvr_7^0'=__disjvr_7^post_4, __disjvr_8^0'=__disjvr_8^post_4, __disjvr_9^0'=__disjvr_9^post_4, a_130^0'=a_130^post_4, a_152^0'=a_152^post_4, a_175^0'=a_175^post_4, a_28^0'=a_28^post_4, ct_18^0'=ct_18^post_4, d_29^0'=d_29^post_4, i_111^0'=i_111^post_4, i_13^0'=i_13^post_4, len_14^0'=len_14^post_4, r_37^0'=r_37^post_4, rcd_100^0'=rcd_100^post_4, rcd_63^0'=rcd_63^post_4, result_11^0'=result_11^post_4, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_4, t_24^0'=t_24^post_4, temp0_16^0'=temp0_16^post_4, temp0_31^0'=temp0_31^post_4, temp_33^0'=temp_33^post_4, tmp_27^0'=tmp_27^post_4, x_15^0'=x_15^post_4, x_17^0'=x_17^post_4, x_21^0'=x_21^post_4, x_32^0'=x_32^post_4, x_SLAM_f_19^0'=x_SLAM_f_19^post_4, y_20^0'=y_20^post_4, [ 0<=a_130^0 && i_13^post_4==i_13^post_4 && len_14^post_4==len_14^post_4 && x_15^post_4==x_15^post_4 && x_17^post_4==x_17^post_4 && ct_18^post_4==ct_18^post_4 && x_SLAM_f_19^post_4==x_SLAM_f_19^post_4 && tmp_27^post_4==tmp_27^post_4 && __disjvr_0^0==__disjvr_0^post_4 && __disjvr_1^0==__disjvr_1^post_4 && __disjvr_10^0==__disjvr_10^post_4 && __disjvr_11^0==__disjvr_11^post_4 && __disjvr_12^0==__disjvr_12^post_4 && __disjvr_2^0==__disjvr_2^post_4 && __disjvr_3^0==__disjvr_3^post_4 && __disjvr_4^0==__disjvr_4^post_4 && __disjvr_5^0==__disjvr_5^post_4 && __disjvr_6^0==__disjvr_6^post_4 && __disjvr_7^0==__disjvr_7^post_4 && __disjvr_8^0==__disjvr_8^post_4 && __disjvr_9^0==__disjvr_9^post_4 && a_130^0==a_130^post_4 && a_152^0==a_152^post_4 && a_175^0==a_175^post_4 && a_28^0==a_28^post_4 && d_29^0==d_29^post_4 && i_111^0==i_111^post_4 && r_37^0==r_37^post_4 && rcd_100^0==rcd_100^post_4 && rcd_63^0==rcd_63^post_4 && result_11^0==result_11^post_4 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_4 && t_24^0==t_24^post_4 && temp0_16^0==temp0_16^post_4 && temp0_31^0==temp0_31^post_4 && temp_33^0==temp_33^post_4 && x_21^0==x_21^post_4 && x_32^0==x_32^post_4 && y_20^0==y_20^post_4 ], cost: 1
      1: l2 -> l3 : __disjvr_0^0'=__disjvr_0^post_2, __disjvr_10^0'=__disjvr_10^post_2, __disjvr_11^0'=__disjvr_11^post_2, __disjvr_12^0'=__disjvr_12^post_2, __disjvr_1^0'=__disjvr_1^post_2, __disjvr_2^0'=__disjvr_2^post_2, __disjvr_3^0'=__disjvr_3^post_2, __disjvr_4^0'=__disjvr_4^post_2, __disjvr_5^0'=__disjvr_5^post_2, __disjvr_6^0'=__disjvr_6^post_2, __disjvr_7^0'=__disjvr_7^post_2, __disjvr_8^0'=__disjvr_8^post_2, __disjvr_9^0'=__disjvr_9^post_2, a_130^0'=a_130^post_2, a_152^0'=a_152^post_2, a_175^0'=a_175^post_2, a_28^0'=a_28^post_2, ct_18^0'=ct_18^post_2, d_29^0'=d_29^post_2, i_111^0'=i_111^post_2, i_13^0'=i_13^post_2, len_14^0'=len_14^post_2, r_37^0'=r_37^post_2, rcd_100^0'=rcd_100^post_2, rcd_63^0'=rcd_63^post_2, result_11^0'=result_11^post_2, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_2, t_24^0'=t_24^post_2, temp0_16^0'=temp0_16^post_2, temp0_31^0'=temp0_31^post_2, temp_33^0'=temp_33^post_2, tmp_27^0'=tmp_27^post_2, x_15^0'=x_15^post_2, x_17^0'=x_17^post_2, x_21^0'=x_21^post_2, x_32^0'=x_32^post_2, x_SLAM_f_19^0'=x_SLAM_f_19^post_2, y_20^0'=y_20^post_2, [ __disjvr_0^post_2==__disjvr_0^0 && __disjvr_0^0==__disjvr_0^post_2 && __disjvr_1^0==__disjvr_1^post_2 && __disjvr_10^0==__disjvr_10^post_2 && __disjvr_11^0==__disjvr_11^post_2 && __disjvr_12^0==__disjvr_12^post_2 && __disjvr_2^0==__disjvr_2^post_2 && __disjvr_3^0==__disjvr_3^post_2 && __disjvr_4^0==__disjvr_4^post_2 && __disjvr_5^0==__disjvr_5^post_2 && __disjvr_6^0==__disjvr_6^post_2 && __disjvr_7^0==__disjvr_7^post_2 && __disjvr_8^0==__disjvr_8^post_2 && __disjvr_9^0==__disjvr_9^post_2 && a_130^0==a_130^post_2 && a_152^0==a_152^post_2 && a_175^0==a_175^post_2 && a_28^0==a_28^post_2 && ct_18^0==ct_18^post_2 && d_29^0==d_29^post_2 && i_111^0==i_111^post_2 && i_13^0==i_13^post_2 && len_14^0==len_14^post_2 && r_37^0==r_37^post_2 && rcd_100^0==rcd_100^post_2 && rcd_63^0==rcd_63^post_2 && result_11^0==result_11^post_2 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_2 && t_24^0==t_24^post_2 && temp0_16^0==temp0_16^post_2 && temp0_31^0==temp0_31^post_2 && temp_33^0==temp_33^post_2 && tmp_27^0==tmp_27^post_2 && x_15^0==x_15^post_2 && x_17^0==x_17^post_2 && x_21^0==x_21^post_2 && x_32^0==x_32^post_2 && x_SLAM_f_19^0==x_SLAM_f_19^post_2 && y_20^0==y_20^post_2 ], cost: 1
      2: l3 -> l1 : __disjvr_0^0'=__disjvr_0^post_3, __disjvr_10^0'=__disjvr_10^post_3, __disjvr_11^0'=__disjvr_11^post_3, __disjvr_12^0'=__disjvr_12^post_3, __disjvr_1^0'=__disjvr_1^post_3, __disjvr_2^0'=__disjvr_2^post_3, __disjvr_3^0'=__disjvr_3^post_3, __disjvr_4^0'=__disjvr_4^post_3, __disjvr_5^0'=__disjvr_5^post_3, __disjvr_6^0'=__disjvr_6^post_3, __disjvr_7^0'=__disjvr_7^post_3, __disjvr_8^0'=__disjvr_8^post_3, __disjvr_9^0'=__disjvr_9^post_3, a_130^0'=a_130^post_3, a_152^0'=a_152^post_3, a_175^0'=a_175^post_3, a_28^0'=a_28^post_3, ct_18^0'=ct_18^post_3, d_29^0'=d_29^post_3, i_111^0'=i_111^post_3, i_13^0'=i_13^post_3, len_14^0'=len_14^post_3, r_37^0'=r_37^post_3, rcd_100^0'=rcd_100^post_3, rcd_63^0'=rcd_63^post_3, result_11^0'=result_11^post_3, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_3, t_24^0'=t_24^post_3, temp0_16^0'=temp0_16^post_3, temp0_31^0'=temp0_31^post_3, temp_33^0'=temp_33^post_3, tmp_27^0'=tmp_27^post_3, x_15^0'=x_15^post_3, x_17^0'=x_17^post_3, x_21^0'=x_21^post_3, x_32^0'=x_32^post_3, x_SLAM_f_19^0'=x_SLAM_f_19^post_3, y_20^0'=y_20^post_3, [ 1<=len_14^0 && 2<=len_14^0 && len_14^0<=i_13^0 && __disjvr_0^0==__disjvr_0^post_3 && __disjvr_1^0==__disjvr_1^post_3 && __disjvr_10^0==__disjvr_10^post_3 && __disjvr_11^0==__disjvr_11^post_3 && __disjvr_12^0==__disjvr_12^post_3 && __disjvr_2^0==__disjvr_2^post_3 && __disjvr_3^0==__disjvr_3^post_3 && __disjvr_4^0==__disjvr_4^post_3 && __disjvr_5^0==__disjvr_5^post_3 && __disjvr_6^0==__disjvr_6^post_3 && __disjvr_7^0==__disjvr_7^post_3 && __disjvr_8^0==__disjvr_8^post_3 && __disjvr_9^0==__disjvr_9^post_3 && a_130^0==a_130^post_3 && a_152^0==a_152^post_3 && a_175^0==a_175^post_3 && a_28^0==a_28^post_3 && ct_18^0==ct_18^post_3 && d_29^0==d_29^post_3 && i_111^0==i_111^post_3 && i_13^0==i_13^post_3 && len_14^0==len_14^post_3 && r_37^0==r_37^post_3 && rcd_100^0==rcd_100^post_3 && rcd_63^0==rcd_63^post_3 && result_11^0==result_11^post_3 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_3 && t_24^0==t_24^post_3 && temp0_16^0==temp0_16^post_3 && temp0_31^0==temp0_31^post_3 && temp_33^0==temp_33^post_3 && tmp_27^0==tmp_27^post_3 && x_15^0==x_15^post_3 && x_17^0==x_17^post_3 && x_21^0==x_21^post_3 && x_32^0==x_32^post_3 && x_SLAM_f_19^0==x_SLAM_f_19^post_3 && y_20^0==y_20^post_3 ], cost: 1
      4: l5 -> l6 : __disjvr_0^0'=__disjvr_0^post_5, __disjvr_10^0'=__disjvr_10^post_5, __disjvr_11^0'=__disjvr_11^post_5, __disjvr_12^0'=__disjvr_12^post_5, __disjvr_1^0'=__disjvr_1^post_5, __disjvr_2^0'=__disjvr_2^post_5, __disjvr_3^0'=__disjvr_3^post_5, __disjvr_4^0'=__disjvr_4^post_5, __disjvr_5^0'=__disjvr_5^post_5, __disjvr_6^0'=__disjvr_6^post_5, __disjvr_7^0'=__disjvr_7^post_5, __disjvr_8^0'=__disjvr_8^post_5, __disjvr_9^0'=__disjvr_9^post_5, a_130^0'=a_130^post_5, a_152^0'=a_152^post_5, a_175^0'=a_175^post_5, a_28^0'=a_28^post_5, ct_18^0'=ct_18^post_5, d_29^0'=d_29^post_5, i_111^0'=i_111^post_5, i_13^0'=i_13^post_5, len_14^0'=len_14^post_5, r_37^0'=r_37^post_5, rcd_100^0'=rcd_100^post_5, rcd_63^0'=rcd_63^post_5, result_11^0'=result_11^post_5, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_5, t_24^0'=t_24^post_5, temp0_16^0'=temp0_16^post_5, temp0_31^0'=temp0_31^post_5, temp_33^0'=temp_33^post_5, tmp_27^0'=tmp_27^post_5, x_15^0'=x_15^post_5, x_17^0'=x_17^post_5, x_21^0'=x_21^post_5, x_32^0'=x_32^post_5, x_SLAM_f_19^0'=x_SLAM_f_19^post_5, y_20^0'=y_20^post_5, [ __disjvr_1^post_5==__disjvr_1^0 && __disjvr_0^0==__disjvr_0^post_5 && __disjvr_1^0==__disjvr_1^post_5 && __disjvr_10^0==__disjvr_10^post_5 && __disjvr_11^0==__disjvr_11^post_5 && __disjvr_12^0==__disjvr_12^post_5 && __disjvr_2^0==__disjvr_2^post_5 && __disjvr_3^0==__disjvr_3^post_5 && __disjvr_4^0==__disjvr_4^post_5 && __disjvr_5^0==__disjvr_5^post_5 && __disjvr_6^0==__disjvr_6^post_5 && __disjvr_7^0==__disjvr_7^post_5 && __disjvr_8^0==__disjvr_8^post_5 && __disjvr_9^0==__disjvr_9^post_5 && a_130^0==a_130^post_5 && a_152^0==a_152^post_5 && a_175^0==a_175^post_5 && a_28^0==a_28^post_5 && ct_18^0==ct_18^post_5 && d_29^0==d_29^post_5 && i_111^0==i_111^post_5 && i_13^0==i_13^post_5 && len_14^0==len_14^post_5 && r_37^0==r_37^post_5 && rcd_100^0==rcd_100^post_5 && rcd_63^0==rcd_63^post_5 && result_11^0==result_11^post_5 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_5 && t_24^0==t_24^post_5 && temp0_16^0==temp0_16^post_5 && temp0_31^0==temp0_31^post_5 && temp_33^0==temp_33^post_5 && tmp_27^0==tmp_27^post_5 && x_15^0==x_15^post_5 && x_17^0==x_17^post_5 && x_21^0==x_21^post_5 && x_32^0==x_32^post_5 && x_SLAM_f_19^0==x_SLAM_f_19^post_5 && y_20^0==y_20^post_5 ], cost: 1
      5: l6 -> l7 : __disjvr_0^0'=__disjvr_0^post_6, __disjvr_10^0'=__disjvr_10^post_6, __disjvr_11^0'=__disjvr_11^post_6, __disjvr_12^0'=__disjvr_12^post_6, __disjvr_1^0'=__disjvr_1^post_6, __disjvr_2^0'=__disjvr_2^post_6, __disjvr_3^0'=__disjvr_3^post_6, __disjvr_4^0'=__disjvr_4^post_6, __disjvr_5^0'=__disjvr_5^post_6, __disjvr_6^0'=__disjvr_6^post_6, __disjvr_7^0'=__disjvr_7^post_6, __disjvr_8^0'=__disjvr_8^post_6, __disjvr_9^0'=__disjvr_9^post_6, a_130^0'=a_130^post_6, a_152^0'=a_152^post_6, a_175^0'=a_175^post_6, a_28^0'=a_28^post_6, ct_18^0'=ct_18^post_6, d_29^0'=d_29^post_6, i_111^0'=i_111^post_6, i_13^0'=i_13^post_6, len_14^0'=len_14^post_6, r_37^0'=r_37^post_6, rcd_100^0'=rcd_100^post_6, rcd_63^0'=rcd_63^post_6, result_11^0'=result_11^post_6, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_6, t_24^0'=t_24^post_6, temp0_16^0'=temp0_16^post_6, temp0_31^0'=temp0_31^post_6, temp_33^0'=temp_33^post_6, tmp_27^0'=tmp_27^post_6, x_15^0'=x_15^post_6, x_17^0'=x_17^post_6, x_21^0'=x_21^post_6, x_32^0'=x_32^post_6, x_SLAM_f_19^0'=x_SLAM_f_19^post_6, y_20^0'=y_20^post_6, [ t_24^post_6==x_21^0 && 0<=ct_18^0 && ct_18^0<=0 && 0<=y_20^0 && y_20^0<=0 && x_15^0<=x_17^0 && x_17^0<=x_15^0 && x_15^0<=x_SLAM_f_19^0 && x_SLAM_f_19^0<=x_15^0 && x_15^0<=tmp_27^0 && tmp_27^0<=x_15^0 && x_17^0<=x_SLAM_f_19^0 && x_SLAM_f_19^0<=x_17^0 && ct_18^0<=y_20^0 && y_20^0<=ct_18^0 && __disjvr_0^0==__disjvr_0^post_6 && __disjvr_1^0==__disjvr_1^post_6 && __disjvr_10^0==__disjvr_10^post_6 && __disjvr_11^0==__disjvr_11^post_6 && __disjvr_12^0==__disjvr_12^post_6 && __disjvr_2^0==__disjvr_2^post_6 && __disjvr_3^0==__disjvr_3^post_6 && __disjvr_4^0==__disjvr_4^post_6 && __disjvr_5^0==__disjvr_5^post_6 && __disjvr_6^0==__disjvr_6^post_6 && __disjvr_7^0==__disjvr_7^post_6 && __disjvr_8^0==__disjvr_8^post_6 && __disjvr_9^0==__disjvr_9^post_6 && a_130^0==a_130^post_6 && a_152^0==a_152^post_6 && a_175^0==a_175^post_6 && a_28^0==a_28^post_6 && ct_18^0==ct_18^post_6 && d_29^0==d_29^post_6 && i_111^0==i_111^post_6 && i_13^0==i_13^post_6 && len_14^0==len_14^post_6 && r_37^0==r_37^post_6 && rcd_100^0==rcd_100^post_6 && rcd_63^0==rcd_63^post_6 && result_11^0==result_11^post_6 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_6 && temp0_16^0==temp0_16^post_6 && temp0_31^0==temp0_31^post_6 && temp_33^0==temp_33^post_6 && tmp_27^0==tmp_27^post_6 && x_15^0==x_15^post_6 && x_17^0==x_17^post_6 && x_21^0==x_21^post_6 && x_32^0==x_32^post_6 && x_SLAM_f_19^0==x_SLAM_f_19^post_6 && y_20^0==y_20^post_6 ], cost: 1
      6: l7 -> l8 : __disjvr_0^0'=__disjvr_0^post_7, __disjvr_10^0'=__disjvr_10^post_7, __disjvr_11^0'=__disjvr_11^post_7, __disjvr_12^0'=__disjvr_12^post_7, __disjvr_1^0'=__disjvr_1^post_7, __disjvr_2^0'=__disjvr_2^post_7, __disjvr_3^0'=__disjvr_3^post_7, __disjvr_4^0'=__disjvr_4^post_7, __disjvr_5^0'=__disjvr_5^post_7, __disjvr_6^0'=__disjvr_6^post_7, __disjvr_7^0'=__disjvr_7^post_7, __disjvr_8^0'=__disjvr_8^post_7, __disjvr_9^0'=__disjvr_9^post_7, a_130^0'=a_130^post_7, a_152^0'=a_152^post_7, a_175^0'=a_175^post_7, a_28^0'=a_28^post_7, ct_18^0'=ct_18^post_7, d_29^0'=d_29^post_7, i_111^0'=i_111^post_7, i_13^0'=i_13^post_7, len_14^0'=len_14^post_7, r_37^0'=r_37^post_7, rcd_100^0'=rcd_100^post_7, rcd_63^0'=rcd_63^post_7, result_11^0'=result_11^post_7, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_7, t_24^0'=t_24^post_7, temp0_16^0'=temp0_16^post_7, temp0_31^0'=temp0_31^post_7, temp_33^0'=temp_33^post_7, tmp_27^0'=tmp_27^post_7, x_15^0'=x_15^post_7, x_17^0'=x_17^post_7, x_21^0'=x_21^post_7, x_32^0'=x_32^post_7, x_SLAM_f_19^0'=x_SLAM_f_19^post_7, y_20^0'=y_20^post_7, [ __disjvr_2^post_7==__disjvr_2^0 && __disjvr_0^0==__disjvr_0^post_7 && __disjvr_1^0==__disjvr_1^post_7 && __disjvr_10^0==__disjvr_10^post_7 && __disjvr_11^0==__disjvr_11^post_7 && __disjvr_12^0==__disjvr_12^post_7 && __disjvr_2^0==__disjvr_2^post_7 && __disjvr_3^0==__disjvr_3^post_7 && __disjvr_4^0==__disjvr_4^post_7 && __disjvr_5^0==__disjvr_5^post_7 && __disjvr_6^0==__disjvr_6^post_7 && __disjvr_7^0==__disjvr_7^post_7 && __disjvr_8^0==__disjvr_8^post_7 && __disjvr_9^0==__disjvr_9^post_7 && a_130^0==a_130^post_7 && a_152^0==a_152^post_7 && a_175^0==a_175^post_7 && a_28^0==a_28^post_7 && ct_18^0==ct_18^post_7 && d_29^0==d_29^post_7 && i_111^0==i_111^post_7 && i_13^0==i_13^post_7 && len_14^0==len_14^post_7 && r_37^0==r_37^post_7 && rcd_100^0==rcd_100^post_7 && rcd_63^0==rcd_63^post_7 && result_11^0==result_11^post_7 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_7 && t_24^0==t_24^post_7 && temp0_16^0==temp0_16^post_7 && temp0_31^0==temp0_31^post_7 && temp_33^0==temp_33^post_7 && tmp_27^0==tmp_27^post_7 && x_15^0==x_15^post_7 && x_17^0==x_17^post_7 && x_21^0==x_21^post_7 && x_32^0==x_32^post_7 && x_SLAM_f_19^0==x_SLAM_f_19^post_7 && y_20^0==y_20^post_7 ], cost: 1
      7: l8 -> l9 : __disjvr_0^0'=__disjvr_0^post_8, __disjvr_10^0'=__disjvr_10^post_8, __disjvr_11^0'=__disjvr_11^post_8, __disjvr_12^0'=__disjvr_12^post_8, __disjvr_1^0'=__disjvr_1^post_8, __disjvr_2^0'=__disjvr_2^post_8, __disjvr_3^0'=__disjvr_3^post_8, __disjvr_4^0'=__disjvr_4^post_8, __disjvr_5^0'=__disjvr_5^post_8, __disjvr_6^0'=__disjvr_6^post_8, __disjvr_7^0'=__disjvr_7^post_8, __disjvr_8^0'=__disjvr_8^post_8, __disjvr_9^0'=__disjvr_9^post_8, a_130^0'=a_130^post_8, a_152^0'=a_152^post_8, a_175^0'=a_175^post_8, a_28^0'=a_28^post_8, ct_18^0'=ct_18^post_8, d_29^0'=d_29^post_8, i_111^0'=i_111^post_8, i_13^0'=i_13^post_8, len_14^0'=len_14^post_8, r_37^0'=r_37^post_8, rcd_100^0'=rcd_100^post_8, rcd_63^0'=rcd_63^post_8, result_11^0'=result_11^post_8, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_8, t_24^0'=t_24^post_8, temp0_16^0'=temp0_16^post_8, temp0_31^0'=temp0_31^post_8, temp_33^0'=temp_33^post_8, tmp_27^0'=tmp_27^post_8, x_15^0'=x_15^post_8, x_17^0'=x_17^post_8, x_21^0'=x_21^post_8, x_32^0'=x_32^post_8, x_SLAM_f_19^0'=x_SLAM_f_19^post_8, y_20^0'=y_20^post_8, [ __disjvr_3^post_8==__disjvr_3^0 && __disjvr_0^0==__disjvr_0^post_8 && __disjvr_1^0==__disjvr_1^post_8 && __disjvr_10^0==__disjvr_10^post_8 && __disjvr_11^0==__disjvr_11^post_8 && __disjvr_12^0==__disjvr_12^post_8 && __disjvr_2^0==__disjvr_2^post_8 && __disjvr_3^0==__disjvr_3^post_8 && __disjvr_4^0==__disjvr_4^post_8 && __disjvr_5^0==__disjvr_5^post_8 && __disjvr_6^0==__disjvr_6^post_8 && __disjvr_7^0==__disjvr_7^post_8 && __disjvr_8^0==__disjvr_8^post_8 && __disjvr_9^0==__disjvr_9^post_8 && a_130^0==a_130^post_8 && a_152^0==a_152^post_8 && a_175^0==a_175^post_8 && a_28^0==a_28^post_8 && ct_18^0==ct_18^post_8 && d_29^0==d_29^post_8 && i_111^0==i_111^post_8 && i_13^0==i_13^post_8 && len_14^0==len_14^post_8 && r_37^0==r_37^post_8 && rcd_100^0==rcd_100^post_8 && rcd_63^0==rcd_63^post_8 && result_11^0==result_11^post_8 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_8 && t_24^0==t_24^post_8 && temp0_16^0==temp0_16^post_8 && temp0_31^0==temp0_31^post_8 && temp_33^0==temp_33^post_8 && tmp_27^0==tmp_27^post_8 && x_15^0==x_15^post_8 && x_17^0==x_17^post_8 && x_21^0==x_21^post_8 && x_32^0==x_32^post_8 && x_SLAM_f_19^0==x_SLAM_f_19^post_8 && y_20^0==y_20^post_8 ], cost: 1
      8: l9 -> l4 : __disjvr_0^0'=__disjvr_0^post_9, __disjvr_10^0'=__disjvr_10^post_9, __disjvr_11^0'=__disjvr_11^post_9, __disjvr_12^0'=__disjvr_12^post_9, __disjvr_1^0'=__disjvr_1^post_9, __disjvr_2^0'=__disjvr_2^post_9, __disjvr_3^0'=__disjvr_3^post_9, __disjvr_4^0'=__disjvr_4^post_9, __disjvr_5^0'=__disjvr_5^post_9, __disjvr_6^0'=__disjvr_6^post_9, __disjvr_7^0'=__disjvr_7^post_9, __disjvr_8^0'=__disjvr_8^post_9, __disjvr_9^0'=__disjvr_9^post_9, a_130^0'=a_130^post_9, a_152^0'=a_152^post_9, a_175^0'=a_175^post_9, a_28^0'=a_28^post_9, ct_18^0'=ct_18^post_9, d_29^0'=d_29^post_9, i_111^0'=i_111^post_9, i_13^0'=i_13^post_9, len_14^0'=len_14^post_9, r_37^0'=r_37^post_9, rcd_100^0'=rcd_100^post_9, rcd_63^0'=rcd_63^post_9, result_11^0'=result_11^post_9, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_9, t_24^0'=t_24^post_9, temp0_16^0'=temp0_16^post_9, temp0_31^0'=temp0_31^post_9, temp_33^0'=temp_33^post_9, tmp_27^0'=tmp_27^post_9, x_15^0'=x_15^post_9, x_17^0'=x_17^post_9, x_21^0'=x_21^post_9, x_32^0'=x_32^post_9, x_SLAM_f_19^0'=x_SLAM_f_19^post_9, y_20^0'=y_20^post_9, [ 1<=len_14^0 && 2<=len_14^0 && len_14^0<=i_13^0 && __disjvr_0^0==__disjvr_0^post_9 && __disjvr_1^0==__disjvr_1^post_9 && __disjvr_10^0==__disjvr_10^post_9 && __disjvr_11^0==__disjvr_11^post_9 && __disjvr_12^0==__disjvr_12^post_9 && __disjvr_2^0==__disjvr_2^post_9 && __disjvr_3^0==__disjvr_3^post_9 && __disjvr_4^0==__disjvr_4^post_9 && __disjvr_5^0==__disjvr_5^post_9 && __disjvr_6^0==__disjvr_6^post_9 && __disjvr_7^0==__disjvr_7^post_9 && __disjvr_8^0==__disjvr_8^post_9 && __disjvr_9^0==__disjvr_9^post_9 && a_130^0==a_130^post_9 && a_152^0==a_152^post_9 && a_175^0==a_175^post_9 && a_28^0==a_28^post_9 && ct_18^0==ct_18^post_9 && d_29^0==d_29^post_9 && i_111^0==i_111^post_9 && i_13^0==i_13^post_9 && len_14^0==len_14^post_9 && r_37^0==r_37^post_9 && rcd_100^0==rcd_100^post_9 && rcd_63^0==rcd_63^post_9 && result_11^0==result_11^post_9 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_9 && t_24^0==t_24^post_9 && temp0_16^0==temp0_16^post_9 && temp0_31^0==temp0_31^post_9 && temp_33^0==temp_33^post_9 && tmp_27^0==tmp_27^post_9 && x_15^0==x_15^post_9 && x_17^0==x_17^post_9 && x_21^0==x_21^post_9 && x_32^0==x_32^post_9 && x_SLAM_f_19^0==x_SLAM_f_19^post_9 && y_20^0==y_20^post_9 ], cost: 1
     17: l4 -> l1 : __disjvr_0^0'=__disjvr_0^post_18, __disjvr_10^0'=__disjvr_10^post_18, __disjvr_11^0'=__disjvr_11^post_18, __disjvr_12^0'=__disjvr_12^post_18, __disjvr_1^0'=__disjvr_1^post_18, __disjvr_2^0'=__disjvr_2^post_18, __disjvr_3^0'=__disjvr_3^post_18, __disjvr_4^0'=__disjvr_4^post_18, __disjvr_5^0'=__disjvr_5^post_18, __disjvr_6^0'=__disjvr_6^post_18, __disjvr_7^0'=__disjvr_7^post_18, __disjvr_8^0'=__disjvr_8^post_18, __disjvr_9^0'=__disjvr_9^post_18, a_130^0'=a_130^post_18, a_152^0'=a_152^post_18, a_175^0'=a_175^post_18, a_28^0'=a_28^post_18, ct_18^0'=ct_18^post_18, d_29^0'=d_29^post_18, i_111^0'=i_111^post_18, i_13^0'=i_13^post_18, len_14^0'=len_14^post_18, r_37^0'=r_37^post_18, rcd_100^0'=rcd_100^post_18, rcd_63^0'=rcd_63^post_18, result_11^0'=result_11^post_18, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_18, t_24^0'=t_24^post_18, temp0_16^0'=temp0_16^post_18, temp0_31^0'=temp0_31^post_18, temp_33^0'=temp_33^post_18, tmp_27^0'=tmp_27^post_18, x_15^0'=x_15^post_18, x_17^0'=x_17^post_18, x_21^0'=x_21^post_18, x_32^0'=x_32^post_18, x_SLAM_f_19^0'=x_SLAM_f_19^post_18, y_20^0'=y_20^post_18, [ 0<=a_152^0 && len_14^post_18==len_14^post_18 && y_20^0<=x_21^0 && x_21^0<=y_20^0 && x_SLAM_f_19^1_4_1==x_SLAM_f_19^1_4_1 && y_20^1_3_1==y_20^1_3_1 && x_21^1_3_1==x_21^1_3_1 && t_24^1_3_1==t_24^1_3_1 && ct_18^1_4==ct_18^1_4 && x_17^post_18==x_17^post_18 && ct_18^post_18==ct_18^post_18 && x_SLAM_f_19^post_18==x_SLAM_f_19^post_18 && y_20^post_18==y_20^post_18 && x_21^post_18==x_21^post_18 && t_24^post_18==t_24^post_18 && result_11^post_18==temp0_16^0 && 1<=len_14^post_18 && 2<=len_14^post_18 && __disjvr_0^0==__disjvr_0^post_18 && __disjvr_1^0==__disjvr_1^post_18 && __disjvr_10^0==__disjvr_10^post_18 && __disjvr_11^0==__disjvr_11^post_18 && __disjvr_12^0==__disjvr_12^post_18 && __disjvr_2^0==__disjvr_2^post_18 && __disjvr_3^0==__disjvr_3^post_18 && __disjvr_4^0==__disjvr_4^post_18 && __disjvr_5^0==__disjvr_5^post_18 && __disjvr_6^0==__disjvr_6^post_18 && __disjvr_7^0==__disjvr_7^post_18 && __disjvr_8^0==__disjvr_8^post_18 && __disjvr_9^0==__disjvr_9^post_18 && a_130^0==a_130^post_18 && a_152^0==a_152^post_18 && a_175^0==a_175^post_18 && a_28^0==a_28^post_18 && d_29^0==d_29^post_18 && i_111^0==i_111^post_18 && i_13^0==i_13^post_18 && r_37^0==r_37^post_18 && rcd_100^0==rcd_100^post_18 && rcd_63^0==rcd_63^post_18 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_18 && temp0_16^0==temp0_16^post_18 && temp0_31^0==temp0_31^post_18 && temp_33^0==temp_33^post_18 && tmp_27^0==tmp_27^post_18 && x_15^0==x_15^post_18 && x_32^0==x_32^post_18 ], cost: 1
     18: l4 -> l20 : __disjvr_0^0'=__disjvr_0^post_19, __disjvr_10^0'=__disjvr_10^post_19, __disjvr_11^0'=__disjvr_11^post_19, __disjvr_12^0'=__disjvr_12^post_19, __disjvr_1^0'=__disjvr_1^post_19, __disjvr_2^0'=__disjvr_2^post_19, __disjvr_3^0'=__disjvr_3^post_19, __disjvr_4^0'=__disjvr_4^post_19, __disjvr_5^0'=__disjvr_5^post_19, __disjvr_6^0'=__disjvr_6^post_19, __disjvr_7^0'=__disjvr_7^post_19, __disjvr_8^0'=__disjvr_8^post_19, __disjvr_9^0'=__disjvr_9^post_19, a_130^0'=a_130^post_19, a_152^0'=a_152^post_19, a_175^0'=a_175^post_19, a_28^0'=a_28^post_19, ct_18^0'=ct_18^post_19, d_29^0'=d_29^post_19, i_111^0'=i_111^post_19, i_13^0'=i_13^post_19, len_14^0'=len_14^post_19, r_37^0'=r_37^post_19, rcd_100^0'=rcd_100^post_19, rcd_63^0'=rcd_63^post_19, result_11^0'=result_11^post_19, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_19, t_24^0'=t_24^post_19, temp0_16^0'=temp0_16^post_19, temp0_31^0'=temp0_31^post_19, temp_33^0'=temp_33^post_19, tmp_27^0'=tmp_27^post_19, x_15^0'=x_15^post_19, x_17^0'=x_17^post_19, x_21^0'=x_21^post_19, x_32^0'=x_32^post_19, x_SLAM_f_19^0'=x_SLAM_f_19^post_19, y_20^0'=y_20^post_19, [ 0<=a_152^0 && i_13^post_19==i_13^post_19 && len_14^post_19==len_14^post_19 && x_15^post_19==x_15^post_19 && x_17^post_19==x_17^post_19 && ct_18^post_19==ct_18^post_19 && x_SLAM_f_19^post_19==x_SLAM_f_19^post_19 && tmp_27^post_19==tmp_27^post_19 && r_37^post_19==r_37^post_19 && __disjvr_0^0==__disjvr_0^post_19 && __disjvr_1^0==__disjvr_1^post_19 && __disjvr_10^0==__disjvr_10^post_19 && __disjvr_11^0==__disjvr_11^post_19 && __disjvr_12^0==__disjvr_12^post_19 && __disjvr_2^0==__disjvr_2^post_19 && __disjvr_3^0==__disjvr_3^post_19 && __disjvr_4^0==__disjvr_4^post_19 && __disjvr_5^0==__disjvr_5^post_19 && __disjvr_6^0==__disjvr_6^post_19 && __disjvr_7^0==__disjvr_7^post_19 && __disjvr_8^0==__disjvr_8^post_19 && __disjvr_9^0==__disjvr_9^post_19 && a_130^0==a_130^post_19 && a_152^0==a_152^post_19 && a_175^0==a_175^post_19 && a_28^0==a_28^post_19 && d_29^0==d_29^post_19 && i_111^0==i_111^post_19 && rcd_100^0==rcd_100^post_19 && rcd_63^0==rcd_63^post_19 && result_11^0==result_11^post_19 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_19 && t_24^0==t_24^post_19 && temp0_16^0==temp0_16^post_19 && temp0_31^0==temp0_31^post_19 && temp_33^0==temp_33^post_19 && x_21^0==x_21^post_19 && x_32^0==x_32^post_19 && y_20^0==y_20^post_19 ], cost: 1
      9: l10 -> l11 : __disjvr_0^0'=__disjvr_0^post_10, __disjvr_10^0'=__disjvr_10^post_10, __disjvr_11^0'=__disjvr_11^post_10, __disjvr_12^0'=__disjvr_12^post_10, __disjvr_1^0'=__disjvr_1^post_10, __disjvr_2^0'=__disjvr_2^post_10, __disjvr_3^0'=__disjvr_3^post_10, __disjvr_4^0'=__disjvr_4^post_10, __disjvr_5^0'=__disjvr_5^post_10, __disjvr_6^0'=__disjvr_6^post_10, __disjvr_7^0'=__disjvr_7^post_10, __disjvr_8^0'=__disjvr_8^post_10, __disjvr_9^0'=__disjvr_9^post_10, a_130^0'=a_130^post_10, a_152^0'=a_152^post_10, a_175^0'=a_175^post_10, a_28^0'=a_28^post_10, ct_18^0'=ct_18^post_10, d_29^0'=d_29^post_10, i_111^0'=i_111^post_10, i_13^0'=i_13^post_10, len_14^0'=len_14^post_10, r_37^0'=r_37^post_10, rcd_100^0'=rcd_100^post_10, rcd_63^0'=rcd_63^post_10, result_11^0'=result_11^post_10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_10, t_24^0'=t_24^post_10, temp0_16^0'=temp0_16^post_10, temp0_31^0'=temp0_31^post_10, temp_33^0'=temp_33^post_10, tmp_27^0'=tmp_27^post_10, x_15^0'=x_15^post_10, x_17^0'=x_17^post_10, x_21^0'=x_21^post_10, x_32^0'=x_32^post_10, x_SLAM_f_19^0'=x_SLAM_f_19^post_10, y_20^0'=y_20^post_10, [ x_15^post_10==0 && i_13^post_10==0 && 0<=i_13^post_10 && i_13^post_10<=0 && 0<=x_15^post_10 && x_15^post_10<=0 && __disjvr_0^0==__disjvr_0^post_10 && __disjvr_1^0==__disjvr_1^post_10 && __disjvr_10^0==__disjvr_10^post_10 && __disjvr_11^0==__disjvr_11^post_10 && __disjvr_12^0==__disjvr_12^post_10 && __disjvr_2^0==__disjvr_2^post_10 && __disjvr_3^0==__disjvr_3^post_10 && __disjvr_4^0==__disjvr_4^post_10 && __disjvr_5^0==__disjvr_5^post_10 && __disjvr_6^0==__disjvr_6^post_10 && __disjvr_7^0==__disjvr_7^post_10 && __disjvr_8^0==__disjvr_8^post_10 && __disjvr_9^0==__disjvr_9^post_10 && a_130^0==a_130^post_10 && a_152^0==a_152^post_10 && a_175^0==a_175^post_10 && a_28^0==a_28^post_10 && ct_18^0==ct_18^post_10 && d_29^0==d_29^post_10 && i_111^0==i_111^post_10 && len_14^0==len_14^post_10 && r_37^0==r_37^post_10 && rcd_100^0==rcd_100^post_10 && rcd_63^0==rcd_63^post_10 && result_11^0==result_11^post_10 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_10 && t_24^0==t_24^post_10 && temp0_16^0==temp0_16^post_10 && temp0_31^0==temp0_31^post_10 && temp_33^0==temp_33^post_10 && tmp_27^0==tmp_27^post_10 && x_17^0==x_17^post_10 && x_21^0==x_21^post_10 && x_32^0==x_32^post_10 && x_SLAM_f_19^0==x_SLAM_f_19^post_10 && y_20^0==y_20^post_10 ], cost: 1
     33: l11 -> l1 : __disjvr_0^0'=__disjvr_0^post_34, __disjvr_10^0'=__disjvr_10^post_34, __disjvr_11^0'=__disjvr_11^post_34, __disjvr_12^0'=__disjvr_12^post_34, __disjvr_1^0'=__disjvr_1^post_34, __disjvr_2^0'=__disjvr_2^post_34, __disjvr_3^0'=__disjvr_3^post_34, __disjvr_4^0'=__disjvr_4^post_34, __disjvr_5^0'=__disjvr_5^post_34, __disjvr_6^0'=__disjvr_6^post_34, __disjvr_7^0'=__disjvr_7^post_34, __disjvr_8^0'=__disjvr_8^post_34, __disjvr_9^0'=__disjvr_9^post_34, a_130^0'=a_130^post_34, a_152^0'=a_152^post_34, a_175^0'=a_175^post_34, a_28^0'=a_28^post_34, ct_18^0'=ct_18^post_34, d_29^0'=d_29^post_34, i_111^0'=i_111^post_34, i_13^0'=i_13^post_34, len_14^0'=len_14^post_34, r_37^0'=r_37^post_34, rcd_100^0'=rcd_100^post_34, rcd_63^0'=rcd_63^post_34, result_11^0'=result_11^post_34, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_34, t_24^0'=t_24^post_34, temp0_16^0'=temp0_16^post_34, temp0_31^0'=temp0_31^post_34, temp_33^0'=temp_33^post_34, tmp_27^0'=tmp_27^post_34, x_15^0'=x_15^post_34, x_17^0'=x_17^post_34, x_21^0'=x_21^post_34, x_32^0'=x_32^post_34, x_SLAM_f_19^0'=x_SLAM_f_19^post_34, y_20^0'=y_20^post_34, [ len_14^0<=i_13^0 && x_17^1_3_1==x_15^0 && ct_18^1_6==0 && x_SLAM_f_19^1_6_1==x_17^1_3_1 && y_20^1_4_1==ct_18^1_6 && x_21^1_4_1==x_SLAM_f_19^1_6_1 && 0<=i_13^0 && i_13^0<=0 && 0<=x_15^0 && x_15^0<=0 && 0<=x_17^1_3_1 && x_17^1_3_1<=0 && 0<=ct_18^1_6 && ct_18^1_6<=0 && 0<=x_SLAM_f_19^1_6_1 && x_SLAM_f_19^1_6_1<=0 && 0<=y_20^1_4_1 && y_20^1_4_1<=0 && 0<=x_21^1_4_1 && x_21^1_4_1<=0 && x_15^0<=x_17^1_3_1 && x_17^1_3_1<=x_15^0 && x_17^1_3_1<=x_SLAM_f_19^1_6_1 && x_SLAM_f_19^1_6_1<=x_17^1_3_1 && ct_18^1_6<=y_20^1_4_1 && y_20^1_4_1<=ct_18^1_6 && x_SLAM_f_19^1_6_1<=x_21^1_4_1 && x_21^1_4_1<=x_SLAM_f_19^1_6_1 && len_14^0<=i_13^0 && len_14^post_34==len_14^post_34 && y_20^1_4_1<=x_21^1_4_1 && x_21^1_4_1<=y_20^1_4_1 && x_SLAM_f_19^2_1==x_SLAM_f_19^2_1 && y_20^2_1==y_20^2_1 && x_21^2_1==x_21^2_1 && t_24^1_4_1==t_24^1_4_1 && ct_18^2_1==ct_18^2_1 && x_17^post_34==x_17^post_34 && ct_18^post_34==ct_18^post_34 && x_SLAM_f_19^post_34==x_SLAM_f_19^post_34 && y_20^post_34==y_20^post_34 && x_21^post_34==x_21^post_34 && t_24^post_34==t_24^post_34 && result_11^post_34==temp0_16^0 && len_14^post_34<=0 && __disjvr_0^0==__disjvr_0^post_34 && __disjvr_1^0==__disjvr_1^post_34 && __disjvr_10^0==__disjvr_10^post_34 && __disjvr_11^0==__disjvr_11^post_34 && __disjvr_12^0==__disjvr_12^post_34 && __disjvr_2^0==__disjvr_2^post_34 && __disjvr_3^0==__disjvr_3^post_34 && __disjvr_4^0==__disjvr_4^post_34 && __disjvr_5^0==__disjvr_5^post_34 && __disjvr_6^0==__disjvr_6^post_34 && __disjvr_7^0==__disjvr_7^post_34 && __disjvr_8^0==__disjvr_8^post_34 && __disjvr_9^0==__disjvr_9^post_34 && a_130^0==a_130^post_34 && a_152^0==a_152^post_34 && a_175^0==a_175^post_34 && a_28^0==a_28^post_34 && d_29^0==d_29^post_34 && i_111^0==i_111^post_34 && i_13^0==i_13^post_34 && r_37^0==r_37^post_34 && rcd_100^0==rcd_100^post_34 && rcd_63^0==rcd_63^post_34 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_34 && temp0_16^0==temp0_16^post_34 && temp0_31^0==temp0_31^post_34 && temp_33^0==temp_33^post_34 && tmp_27^0==tmp_27^post_34 && x_15^0==x_15^post_34 && x_32^0==x_32^post_34 ], cost: 1
     34: l11 -> l12 : __disjvr_0^0'=__disjvr_0^post_35, __disjvr_10^0'=__disjvr_10^post_35, __disjvr_11^0'=__disjvr_11^post_35, __disjvr_12^0'=__disjvr_12^post_35, __disjvr_1^0'=__disjvr_1^post_35, __disjvr_2^0'=__disjvr_2^post_35, __disjvr_3^0'=__disjvr_3^post_35, __disjvr_4^0'=__disjvr_4^post_35, __disjvr_5^0'=__disjvr_5^post_35, __disjvr_6^0'=__disjvr_6^post_35, __disjvr_7^0'=__disjvr_7^post_35, __disjvr_8^0'=__disjvr_8^post_35, __disjvr_9^0'=__disjvr_9^post_35, a_130^0'=a_130^post_35, a_152^0'=a_152^post_35, a_175^0'=a_175^post_35, a_28^0'=a_28^post_35, ct_18^0'=ct_18^post_35, d_29^0'=d_29^post_35, i_111^0'=i_111^post_35, i_13^0'=i_13^post_35, len_14^0'=len_14^post_35, r_37^0'=r_37^post_35, rcd_100^0'=rcd_100^post_35, rcd_63^0'=rcd_63^post_35, result_11^0'=result_11^post_35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_35, t_24^0'=t_24^post_35, temp0_16^0'=temp0_16^post_35, temp0_31^0'=temp0_31^post_35, temp_33^0'=temp_33^post_35, tmp_27^0'=tmp_27^post_35, x_15^0'=x_15^post_35, x_17^0'=x_17^post_35, x_21^0'=x_21^post_35, x_32^0'=x_32^post_35, x_SLAM_f_19^0'=x_SLAM_f_19^post_35, y_20^0'=y_20^post_35, [ 1+i_13^0<=len_14^0 && a_28^1_3==i_13^0 && d_29^1_3_1==x_15^0 && x_32^1_3_1==temp_33^0 && temp_33^1_3_1==temp_33^1_3_1 && temp0_31^1_3_1==x_32^1_3_1 && result_11^1_3_1==temp0_31^1_3_1 && a_28^post_35==a_28^post_35 && d_29^post_35==d_29^post_35 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_35==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_35 && temp0_31^post_35==temp0_31^post_35 && x_32^post_35==x_32^post_35 && temp_33^post_35==temp_33^post_35 && tmp_27^post_35==result_11^1_3_1 && result_11^post_35==result_11^post_35 && x_15^post_35==tmp_27^post_35 && i_13^post_35==1+i_13^0 && 1<=i_13^post_35 && i_13^post_35<=1 && x_15^post_35<=tmp_27^post_35 && tmp_27^post_35<=x_15^post_35 && 1<=len_14^0 && __disjvr_0^0==__disjvr_0^post_35 && __disjvr_1^0==__disjvr_1^post_35 && __disjvr_10^0==__disjvr_10^post_35 && __disjvr_11^0==__disjvr_11^post_35 && __disjvr_12^0==__disjvr_12^post_35 && __disjvr_2^0==__disjvr_2^post_35 && __disjvr_3^0==__disjvr_3^post_35 && __disjvr_4^0==__disjvr_4^post_35 && __disjvr_5^0==__disjvr_5^post_35 && __disjvr_6^0==__disjvr_6^post_35 && __disjvr_7^0==__disjvr_7^post_35 && __disjvr_8^0==__disjvr_8^post_35 && __disjvr_9^0==__disjvr_9^post_35 && a_130^0==a_130^post_35 && a_152^0==a_152^post_35 && a_175^0==a_175^post_35 && ct_18^0==ct_18^post_35 && i_111^0==i_111^post_35 && len_14^0==len_14^post_35 && r_37^0==r_37^post_35 && rcd_100^0==rcd_100^post_35 && rcd_63^0==rcd_63^post_35 && t_24^0==t_24^post_35 && temp0_16^0==temp0_16^post_35 && x_17^0==x_17^post_35 && x_21^0==x_21^post_35 && x_SLAM_f_19^0==x_SLAM_f_19^post_35 && y_20^0==y_20^post_35 ], cost: 1
     10: l12 -> l13 : __disjvr_0^0'=__disjvr_0^post_11, __disjvr_10^0'=__disjvr_10^post_11, __disjvr_11^0'=__disjvr_11^post_11, __disjvr_12^0'=__disjvr_12^post_11, __disjvr_1^0'=__disjvr_1^post_11, __disjvr_2^0'=__disjvr_2^post_11, __disjvr_3^0'=__disjvr_3^post_11, __disjvr_4^0'=__disjvr_4^post_11, __disjvr_5^0'=__disjvr_5^post_11, __disjvr_6^0'=__disjvr_6^post_11, __disjvr_7^0'=__disjvr_7^post_11, __disjvr_8^0'=__disjvr_8^post_11, __disjvr_9^0'=__disjvr_9^post_11, a_130^0'=a_130^post_11, a_152^0'=a_152^post_11, a_175^0'=a_175^post_11, a_28^0'=a_28^post_11, ct_18^0'=ct_18^post_11, d_29^0'=d_29^post_11, i_111^0'=i_111^post_11, i_13^0'=i_13^post_11, len_14^0'=len_14^post_11, r_37^0'=r_37^post_11, rcd_100^0'=rcd_100^post_11, rcd_63^0'=rcd_63^post_11, result_11^0'=result_11^post_11, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_11, t_24^0'=t_24^post_11, temp0_16^0'=temp0_16^post_11, temp0_31^0'=temp0_31^post_11, temp_33^0'=temp_33^post_11, tmp_27^0'=tmp_27^post_11, x_15^0'=x_15^post_11, x_17^0'=x_17^post_11, x_21^0'=x_21^post_11, x_32^0'=x_32^post_11, x_SLAM_f_19^0'=x_SLAM_f_19^post_11, y_20^0'=y_20^post_11, [ tmp_27^1_1==tmp_27^1_1 && len_14^0<=i_13^0 && x_17^1_1==x_15^0 && ct_18^1_2==0 && x_SLAM_f_19^1_2_1==x_17^1_1 && y_20^post_11==ct_18^1_2 && x_21^post_11==x_SLAM_f_19^1_2_1 && 0<=ct_18^1_2 && ct_18^1_2<=0 && 0<=y_20^post_11 && y_20^post_11<=0 && 1<=i_13^0 && i_13^0<=1 && 1<=len_14^0 && len_14^0<=1 && x_15^0<=x_17^1_1 && x_17^1_1<=x_15^0 && x_15^0<=x_SLAM_f_19^1_2_1 && x_SLAM_f_19^1_2_1<=x_15^0 && x_15^0<=x_21^post_11 && x_21^post_11<=x_15^0 && x_15^0<=tmp_27^1_1 && tmp_27^1_1<=x_15^0 && x_17^1_1<=x_SLAM_f_19^1_2_1 && x_SLAM_f_19^1_2_1<=x_17^1_1 && ct_18^1_2<=y_20^post_11 && y_20^post_11<=ct_18^1_2 && x_SLAM_f_19^1_2_1<=x_21^post_11 && x_21^post_11<=x_SLAM_f_19^1_2_1 && 1<=len_14^0 && len_14^0<=i_13^0 && i_13^post_11==i_13^post_11 && len_14^post_11==len_14^post_11 && x_15^post_11==x_15^post_11 && x_17^post_11==x_17^post_11 && ct_18^post_11==ct_18^post_11 && x_SLAM_f_19^post_11==x_SLAM_f_19^post_11 && tmp_27^post_11==tmp_27^post_11 && __disjvr_0^0==__disjvr_0^post_11 && __disjvr_1^0==__disjvr_1^post_11 && __disjvr_10^0==__disjvr_10^post_11 && __disjvr_11^0==__disjvr_11^post_11 && __disjvr_12^0==__disjvr_12^post_11 && __disjvr_2^0==__disjvr_2^post_11 && __disjvr_3^0==__disjvr_3^post_11 && __disjvr_4^0==__disjvr_4^post_11 && __disjvr_5^0==__disjvr_5^post_11 && __disjvr_6^0==__disjvr_6^post_11 && __disjvr_7^0==__disjvr_7^post_11 && __disjvr_8^0==__disjvr_8^post_11 && __disjvr_9^0==__disjvr_9^post_11 && a_130^0==a_130^post_11 && a_152^0==a_152^post_11 && a_175^0==a_175^post_11 && a_28^0==a_28^post_11 && d_29^0==d_29^post_11 && i_111^0==i_111^post_11 && r_37^0==r_37^post_11 && rcd_100^0==rcd_100^post_11 && rcd_63^0==rcd_63^post_11 && result_11^0==result_11^post_11 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_11 && t_24^0==t_24^post_11 && temp0_16^0==temp0_16^post_11 && temp0_31^0==temp0_31^post_11 && temp_33^0==temp_33^post_11 && x_32^0==x_32^post_11 ], cost: 1
     16: l12 -> l18 : __disjvr_0^0'=__disjvr_0^post_17, __disjvr_10^0'=__disjvr_10^post_17, __disjvr_11^0'=__disjvr_11^post_17, __disjvr_12^0'=__disjvr_12^post_17, __disjvr_1^0'=__disjvr_1^post_17, __disjvr_2^0'=__disjvr_2^post_17, __disjvr_3^0'=__disjvr_3^post_17, __disjvr_4^0'=__disjvr_4^post_17, __disjvr_5^0'=__disjvr_5^post_17, __disjvr_6^0'=__disjvr_6^post_17, __disjvr_7^0'=__disjvr_7^post_17, __disjvr_8^0'=__disjvr_8^post_17, __disjvr_9^0'=__disjvr_9^post_17, a_130^0'=a_130^post_17, a_152^0'=a_152^post_17, a_175^0'=a_175^post_17, a_28^0'=a_28^post_17, ct_18^0'=ct_18^post_17, d_29^0'=d_29^post_17, i_111^0'=i_111^post_17, i_13^0'=i_13^post_17, len_14^0'=len_14^post_17, r_37^0'=r_37^post_17, rcd_100^0'=rcd_100^post_17, rcd_63^0'=rcd_63^post_17, result_11^0'=result_11^post_17, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_17, t_24^0'=t_24^post_17, temp0_16^0'=temp0_16^post_17, temp0_31^0'=temp0_31^post_17, temp_33^0'=temp_33^post_17, tmp_27^0'=tmp_27^post_17, x_15^0'=x_15^post_17, x_17^0'=x_17^post_17, x_21^0'=x_21^post_17, x_32^0'=x_32^post_17, x_SLAM_f_19^0'=x_SLAM_f_19^post_17, y_20^0'=y_20^post_17, [ rcd_63^post_17==rcd_63^post_17 && 1+i_13^0<=len_14^0 && a_28^1_1==i_13^0 && d_29^1_1==x_15^0 && x_32^1_1==temp_33^0 && temp_33^1_1==temp_33^1_1 && temp0_31^1_1==x_32^1_1 && result_11^1_1==temp0_31^1_1 && a_28^post_17==a_28^post_17 && d_29^post_17==d_29^post_17 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_17==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_17 && temp0_31^post_17==temp0_31^post_17 && x_32^post_17==x_32^post_17 && temp_33^post_17==temp_33^post_17 && tmp_27^post_17==result_11^1_1 && result_11^post_17==result_11^post_17 && x_15^post_17==tmp_27^post_17 && i_13^post_17==1+i_13^0 && 2<=i_13^post_17 && i_13^post_17<=2 && x_15^post_17<=tmp_27^post_17 && tmp_27^post_17<=x_15^post_17 && 1<=len_14^0 && 2<=len_14^0 && __disjvr_0^0==__disjvr_0^post_17 && __disjvr_1^0==__disjvr_1^post_17 && __disjvr_10^0==__disjvr_10^post_17 && __disjvr_11^0==__disjvr_11^post_17 && __disjvr_12^0==__disjvr_12^post_17 && __disjvr_2^0==__disjvr_2^post_17 && __disjvr_3^0==__disjvr_3^post_17 && __disjvr_4^0==__disjvr_4^post_17 && __disjvr_5^0==__disjvr_5^post_17 && __disjvr_6^0==__disjvr_6^post_17 && __disjvr_7^0==__disjvr_7^post_17 && __disjvr_8^0==__disjvr_8^post_17 && __disjvr_9^0==__disjvr_9^post_17 && a_130^0==a_130^post_17 && a_152^0==a_152^post_17 && a_175^0==a_175^post_17 && ct_18^0==ct_18^post_17 && i_111^0==i_111^post_17 && len_14^0==len_14^post_17 && r_37^0==r_37^post_17 && rcd_100^0==rcd_100^post_17 && t_24^0==t_24^post_17 && temp0_16^0==temp0_16^post_17 && x_17^0==x_17^post_17 && x_21^0==x_21^post_17 && x_SLAM_f_19^0==x_SLAM_f_19^post_17 && y_20^0==y_20^post_17 ], cost: 1
     11: l13 -> l14 : __disjvr_0^0'=__disjvr_0^post_12, __disjvr_10^0'=__disjvr_10^post_12, __disjvr_11^0'=__disjvr_11^post_12, __disjvr_12^0'=__disjvr_12^post_12, __disjvr_1^0'=__disjvr_1^post_12, __disjvr_2^0'=__disjvr_2^post_12, __disjvr_3^0'=__disjvr_3^post_12, __disjvr_4^0'=__disjvr_4^post_12, __disjvr_5^0'=__disjvr_5^post_12, __disjvr_6^0'=__disjvr_6^post_12, __disjvr_7^0'=__disjvr_7^post_12, __disjvr_8^0'=__disjvr_8^post_12, __disjvr_9^0'=__disjvr_9^post_12, a_130^0'=a_130^post_12, a_152^0'=a_152^post_12, a_175^0'=a_175^post_12, a_28^0'=a_28^post_12, ct_18^0'=ct_18^post_12, d_29^0'=d_29^post_12, i_111^0'=i_111^post_12, i_13^0'=i_13^post_12, len_14^0'=len_14^post_12, r_37^0'=r_37^post_12, rcd_100^0'=rcd_100^post_12, rcd_63^0'=rcd_63^post_12, result_11^0'=result_11^post_12, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_12, t_24^0'=t_24^post_12, temp0_16^0'=temp0_16^post_12, temp0_31^0'=temp0_31^post_12, temp_33^0'=temp_33^post_12, tmp_27^0'=tmp_27^post_12, x_15^0'=x_15^post_12, x_17^0'=x_17^post_12, x_21^0'=x_21^post_12, x_32^0'=x_32^post_12, x_SLAM_f_19^0'=x_SLAM_f_19^post_12, y_20^0'=y_20^post_12, [ __disjvr_4^post_12==__disjvr_4^0 && __disjvr_0^0==__disjvr_0^post_12 && __disjvr_1^0==__disjvr_1^post_12 && __disjvr_10^0==__disjvr_10^post_12 && __disjvr_11^0==__disjvr_11^post_12 && __disjvr_12^0==__disjvr_12^post_12 && __disjvr_2^0==__disjvr_2^post_12 && __disjvr_3^0==__disjvr_3^post_12 && __disjvr_4^0==__disjvr_4^post_12 && __disjvr_5^0==__disjvr_5^post_12 && __disjvr_6^0==__disjvr_6^post_12 && __disjvr_7^0==__disjvr_7^post_12 && __disjvr_8^0==__disjvr_8^post_12 && __disjvr_9^0==__disjvr_9^post_12 && a_130^0==a_130^post_12 && a_152^0==a_152^post_12 && a_175^0==a_175^post_12 && a_28^0==a_28^post_12 && ct_18^0==ct_18^post_12 && d_29^0==d_29^post_12 && i_111^0==i_111^post_12 && i_13^0==i_13^post_12 && len_14^0==len_14^post_12 && r_37^0==r_37^post_12 && rcd_100^0==rcd_100^post_12 && rcd_63^0==rcd_63^post_12 && result_11^0==result_11^post_12 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_12 && t_24^0==t_24^post_12 && temp0_16^0==temp0_16^post_12 && temp0_31^0==temp0_31^post_12 && temp_33^0==temp_33^post_12 && tmp_27^0==tmp_27^post_12 && x_15^0==x_15^post_12 && x_17^0==x_17^post_12 && x_21^0==x_21^post_12 && x_32^0==x_32^post_12 && x_SLAM_f_19^0==x_SLAM_f_19^post_12 && y_20^0==y_20^post_12 ], cost: 1
     12: l14 -> l15 : __disjvr_0^0'=__disjvr_0^post_13, __disjvr_10^0'=__disjvr_10^post_13, __disjvr_11^0'=__disjvr_11^post_13, __disjvr_12^0'=__disjvr_12^post_13, __disjvr_1^0'=__disjvr_1^post_13, __disjvr_2^0'=__disjvr_2^post_13, __disjvr_3^0'=__disjvr_3^post_13, __disjvr_4^0'=__disjvr_4^post_13, __disjvr_5^0'=__disjvr_5^post_13, __disjvr_6^0'=__disjvr_6^post_13, __disjvr_7^0'=__disjvr_7^post_13, __disjvr_8^0'=__disjvr_8^post_13, __disjvr_9^0'=__disjvr_9^post_13, a_130^0'=a_130^post_13, a_152^0'=a_152^post_13, a_175^0'=a_175^post_13, a_28^0'=a_28^post_13, ct_18^0'=ct_18^post_13, d_29^0'=d_29^post_13, i_111^0'=i_111^post_13, i_13^0'=i_13^post_13, len_14^0'=len_14^post_13, r_37^0'=r_37^post_13, rcd_100^0'=rcd_100^post_13, rcd_63^0'=rcd_63^post_13, result_11^0'=result_11^post_13, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_13, t_24^0'=t_24^post_13, temp0_16^0'=temp0_16^post_13, temp0_31^0'=temp0_31^post_13, temp_33^0'=temp_33^post_13, tmp_27^0'=tmp_27^post_13, x_15^0'=x_15^post_13, x_17^0'=x_17^post_13, x_21^0'=x_21^post_13, x_32^0'=x_32^post_13, x_SLAM_f_19^0'=x_SLAM_f_19^post_13, y_20^0'=y_20^post_13, [ t_24^post_13==x_21^0 && 0<=ct_18^0 && ct_18^0<=0 && 0<=y_20^0 && y_20^0<=0 && 0<=x_21^0 && x_21^0<=0 && 1<=i_13^0 && i_13^0<=1 && 1<=len_14^0 && len_14^0<=1 && x_15^0<=x_17^0 && x_17^0<=x_15^0 && x_15^0<=x_SLAM_f_19^0 && x_SLAM_f_19^0<=x_15^0 && x_15^0<=t_24^post_13 && t_24^post_13<=x_15^0 && x_15^0<=tmp_27^0 && tmp_27^0<=x_15^0 && x_17^0<=x_SLAM_f_19^0 && x_SLAM_f_19^0<=x_17^0 && ct_18^0<=y_20^0 && y_20^0<=ct_18^0 && __disjvr_0^0==__disjvr_0^post_13 && __disjvr_1^0==__disjvr_1^post_13 && __disjvr_10^0==__disjvr_10^post_13 && __disjvr_11^0==__disjvr_11^post_13 && __disjvr_12^0==__disjvr_12^post_13 && __disjvr_2^0==__disjvr_2^post_13 && __disjvr_3^0==__disjvr_3^post_13 && __disjvr_4^0==__disjvr_4^post_13 && __disjvr_5^0==__disjvr_5^post_13 && __disjvr_6^0==__disjvr_6^post_13 && __disjvr_7^0==__disjvr_7^post_13 && __disjvr_8^0==__disjvr_8^post_13 && __disjvr_9^0==__disjvr_9^post_13 && a_130^0==a_130^post_13 && a_152^0==a_152^post_13 && a_175^0==a_175^post_13 && a_28^0==a_28^post_13 && ct_18^0==ct_18^post_13 && d_29^0==d_29^post_13 && i_111^0==i_111^post_13 && i_13^0==i_13^post_13 && len_14^0==len_14^post_13 && r_37^0==r_37^post_13 && rcd_100^0==rcd_100^post_13 && rcd_63^0==rcd_63^post_13 && result_11^0==result_11^post_13 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_13 && temp0_16^0==temp0_16^post_13 && temp0_31^0==temp0_31^post_13 && temp_33^0==temp_33^post_13 && tmp_27^0==tmp_27^post_13 && x_15^0==x_15^post_13 && x_17^0==x_17^post_13 && x_21^0==x_21^post_13 && x_32^0==x_32^post_13 && x_SLAM_f_19^0==x_SLAM_f_19^post_13 && y_20^0==y_20^post_13 ], cost: 1
     13: l15 -> l16 : __disjvr_0^0'=__disjvr_0^post_14, __disjvr_10^0'=__disjvr_10^post_14, __disjvr_11^0'=__disjvr_11^post_14, __disjvr_12^0'=__disjvr_12^post_14, __disjvr_1^0'=__disjvr_1^post_14, __disjvr_2^0'=__disjvr_2^post_14, __disjvr_3^0'=__disjvr_3^post_14, __disjvr_4^0'=__disjvr_4^post_14, __disjvr_5^0'=__disjvr_5^post_14, __disjvr_6^0'=__disjvr_6^post_14, __disjvr_7^0'=__disjvr_7^post_14, __disjvr_8^0'=__disjvr_8^post_14, __disjvr_9^0'=__disjvr_9^post_14, a_130^0'=a_130^post_14, a_152^0'=a_152^post_14, a_175^0'=a_175^post_14, a_28^0'=a_28^post_14, ct_18^0'=ct_18^post_14, d_29^0'=d_29^post_14, i_111^0'=i_111^post_14, i_13^0'=i_13^post_14, len_14^0'=len_14^post_14, r_37^0'=r_37^post_14, rcd_100^0'=rcd_100^post_14, rcd_63^0'=rcd_63^post_14, result_11^0'=result_11^post_14, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_14, t_24^0'=t_24^post_14, temp0_16^0'=temp0_16^post_14, temp0_31^0'=temp0_31^post_14, temp_33^0'=temp_33^post_14, tmp_27^0'=tmp_27^post_14, x_15^0'=x_15^post_14, x_17^0'=x_17^post_14, x_21^0'=x_21^post_14, x_32^0'=x_32^post_14, x_SLAM_f_19^0'=x_SLAM_f_19^post_14, y_20^0'=y_20^post_14, [ __disjvr_5^post_14==__disjvr_5^0 && __disjvr_0^0==__disjvr_0^post_14 && __disjvr_1^0==__disjvr_1^post_14 && __disjvr_10^0==__disjvr_10^post_14 && __disjvr_11^0==__disjvr_11^post_14 && __disjvr_12^0==__disjvr_12^post_14 && __disjvr_2^0==__disjvr_2^post_14 && __disjvr_3^0==__disjvr_3^post_14 && __disjvr_4^0==__disjvr_4^post_14 && __disjvr_5^0==__disjvr_5^post_14 && __disjvr_6^0==__disjvr_6^post_14 && __disjvr_7^0==__disjvr_7^post_14 && __disjvr_8^0==__disjvr_8^post_14 && __disjvr_9^0==__disjvr_9^post_14 && a_130^0==a_130^post_14 && a_152^0==a_152^post_14 && a_175^0==a_175^post_14 && a_28^0==a_28^post_14 && ct_18^0==ct_18^post_14 && d_29^0==d_29^post_14 && i_111^0==i_111^post_14 && i_13^0==i_13^post_14 && len_14^0==len_14^post_14 && r_37^0==r_37^post_14 && rcd_100^0==rcd_100^post_14 && rcd_63^0==rcd_63^post_14 && result_11^0==result_11^post_14 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_14 && t_24^0==t_24^post_14 && temp0_16^0==temp0_16^post_14 && temp0_31^0==temp0_31^post_14 && temp_33^0==temp_33^post_14 && tmp_27^0==tmp_27^post_14 && x_15^0==x_15^post_14 && x_17^0==x_17^post_14 && x_21^0==x_21^post_14 && x_32^0==x_32^post_14 && x_SLAM_f_19^0==x_SLAM_f_19^post_14 && y_20^0==y_20^post_14 ], cost: 1
     14: l16 -> l17 : __disjvr_0^0'=__disjvr_0^post_15, __disjvr_10^0'=__disjvr_10^post_15, __disjvr_11^0'=__disjvr_11^post_15, __disjvr_12^0'=__disjvr_12^post_15, __disjvr_1^0'=__disjvr_1^post_15, __disjvr_2^0'=__disjvr_2^post_15, __disjvr_3^0'=__disjvr_3^post_15, __disjvr_4^0'=__disjvr_4^post_15, __disjvr_5^0'=__disjvr_5^post_15, __disjvr_6^0'=__disjvr_6^post_15, __disjvr_7^0'=__disjvr_7^post_15, __disjvr_8^0'=__disjvr_8^post_15, __disjvr_9^0'=__disjvr_9^post_15, a_130^0'=a_130^post_15, a_152^0'=a_152^post_15, a_175^0'=a_175^post_15, a_28^0'=a_28^post_15, ct_18^0'=ct_18^post_15, d_29^0'=d_29^post_15, i_111^0'=i_111^post_15, i_13^0'=i_13^post_15, len_14^0'=len_14^post_15, r_37^0'=r_37^post_15, rcd_100^0'=rcd_100^post_15, rcd_63^0'=rcd_63^post_15, result_11^0'=result_11^post_15, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_15, t_24^0'=t_24^post_15, temp0_16^0'=temp0_16^post_15, temp0_31^0'=temp0_31^post_15, temp_33^0'=temp_33^post_15, tmp_27^0'=tmp_27^post_15, x_15^0'=x_15^post_15, x_17^0'=x_17^post_15, x_21^0'=x_21^post_15, x_32^0'=x_32^post_15, x_SLAM_f_19^0'=x_SLAM_f_19^post_15, y_20^0'=y_20^post_15, [ 1<=len_14^0 && len_14^0<=i_13^0 && x_15^post_15==x_15^post_15 && y_20^0<=x_21^0 && x_21^0<=y_20^0 && x_SLAM_f_19^1_3_1==x_SLAM_f_19^1_3_1 && y_20^1_2_1==y_20^1_2_1 && x_21^1_2_1==x_21^1_2_1 && t_24^1_2_1==t_24^1_2_1 && ct_18^1_3==ct_18^1_3 && x_17^post_15==x_17^post_15 && ct_18^post_15==ct_18^post_15 && x_SLAM_f_19^post_15==x_SLAM_f_19^post_15 && y_20^post_15==y_20^post_15 && x_21^post_15==x_21^post_15 && t_24^post_15==t_24^post_15 && result_11^post_15==temp0_16^0 && __disjvr_0^0==__disjvr_0^post_15 && __disjvr_1^0==__disjvr_1^post_15 && __disjvr_10^0==__disjvr_10^post_15 && __disjvr_11^0==__disjvr_11^post_15 && __disjvr_12^0==__disjvr_12^post_15 && __disjvr_2^0==__disjvr_2^post_15 && __disjvr_3^0==__disjvr_3^post_15 && __disjvr_4^0==__disjvr_4^post_15 && __disjvr_5^0==__disjvr_5^post_15 && __disjvr_6^0==__disjvr_6^post_15 && __disjvr_7^0==__disjvr_7^post_15 && __disjvr_8^0==__disjvr_8^post_15 && __disjvr_9^0==__disjvr_9^post_15 && a_130^0==a_130^post_15 && a_152^0==a_152^post_15 && a_175^0==a_175^post_15 && a_28^0==a_28^post_15 && d_29^0==d_29^post_15 && i_111^0==i_111^post_15 && i_13^0==i_13^post_15 && len_14^0==len_14^post_15 && r_37^0==r_37^post_15 && rcd_100^0==rcd_100^post_15 && rcd_63^0==rcd_63^post_15 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_15 && temp0_16^0==temp0_16^post_15 && temp0_31^0==temp0_31^post_15 && temp_33^0==temp_33^post_15 && tmp_27^0==tmp_27^post_15 && x_32^0==x_32^post_15 ], cost: 1
     15: l17 -> l1 : __disjvr_0^0'=__disjvr_0^post_16, __disjvr_10^0'=__disjvr_10^post_16, __disjvr_11^0'=__disjvr_11^post_16, __disjvr_12^0'=__disjvr_12^post_16, __disjvr_1^0'=__disjvr_1^post_16, __disjvr_2^0'=__disjvr_2^post_16, __disjvr_3^0'=__disjvr_3^post_16, __disjvr_4^0'=__disjvr_4^post_16, __disjvr_5^0'=__disjvr_5^post_16, __disjvr_6^0'=__disjvr_6^post_16, __disjvr_7^0'=__disjvr_7^post_16, __disjvr_8^0'=__disjvr_8^post_16, __disjvr_9^0'=__disjvr_9^post_16, a_130^0'=a_130^post_16, a_152^0'=a_152^post_16, a_175^0'=a_175^post_16, a_28^0'=a_28^post_16, ct_18^0'=ct_18^post_16, d_29^0'=d_29^post_16, i_111^0'=i_111^post_16, i_13^0'=i_13^post_16, len_14^0'=len_14^post_16, r_37^0'=r_37^post_16, rcd_100^0'=rcd_100^post_16, rcd_63^0'=rcd_63^post_16, result_11^0'=result_11^post_16, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_16, t_24^0'=t_24^post_16, temp0_16^0'=temp0_16^post_16, temp0_31^0'=temp0_31^post_16, temp_33^0'=temp_33^post_16, tmp_27^0'=tmp_27^post_16, x_15^0'=x_15^post_16, x_17^0'=x_17^post_16, x_21^0'=x_21^post_16, x_32^0'=x_32^post_16, x_SLAM_f_19^0'=x_SLAM_f_19^post_16, y_20^0'=y_20^post_16, [ __disjvr_6^post_16==__disjvr_6^0 && __disjvr_0^0==__disjvr_0^post_16 && __disjvr_1^0==__disjvr_1^post_16 && __disjvr_10^0==__disjvr_10^post_16 && __disjvr_11^0==__disjvr_11^post_16 && __disjvr_12^0==__disjvr_12^post_16 && __disjvr_2^0==__disjvr_2^post_16 && __disjvr_3^0==__disjvr_3^post_16 && __disjvr_4^0==__disjvr_4^post_16 && __disjvr_5^0==__disjvr_5^post_16 && __disjvr_6^0==__disjvr_6^post_16 && __disjvr_7^0==__disjvr_7^post_16 && __disjvr_8^0==__disjvr_8^post_16 && __disjvr_9^0==__disjvr_9^post_16 && a_130^0==a_130^post_16 && a_152^0==a_152^post_16 && a_175^0==a_175^post_16 && a_28^0==a_28^post_16 && ct_18^0==ct_18^post_16 && d_29^0==d_29^post_16 && i_111^0==i_111^post_16 && i_13^0==i_13^post_16 && len_14^0==len_14^post_16 && r_37^0==r_37^post_16 && rcd_100^0==rcd_100^post_16 && rcd_63^0==rcd_63^post_16 && result_11^0==result_11^post_16 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_16 && t_24^0==t_24^post_16 && temp0_16^0==temp0_16^post_16 && temp0_31^0==temp0_31^post_16 && temp_33^0==temp_33^post_16 && tmp_27^0==tmp_27^post_16 && x_15^0==x_15^post_16 && x_17^0==x_17^post_16 && x_21^0==x_21^post_16 && x_32^0==x_32^post_16 && x_SLAM_f_19^0==x_SLAM_f_19^post_16 && y_20^0==y_20^post_16 ], cost: 1
     25: l18 -> l25 : __disjvr_0^0'=__disjvr_0^post_26, __disjvr_10^0'=__disjvr_10^post_26, __disjvr_11^0'=__disjvr_11^post_26, __disjvr_12^0'=__disjvr_12^post_26, __disjvr_1^0'=__disjvr_1^post_26, __disjvr_2^0'=__disjvr_2^post_26, __disjvr_3^0'=__disjvr_3^post_26, __disjvr_4^0'=__disjvr_4^post_26, __disjvr_5^0'=__disjvr_5^post_26, __disjvr_6^0'=__disjvr_6^post_26, __disjvr_7^0'=__disjvr_7^post_26, __disjvr_8^0'=__disjvr_8^post_26, __disjvr_9^0'=__disjvr_9^post_26, a_130^0'=a_130^post_26, a_152^0'=a_152^post_26, a_175^0'=a_175^post_26, a_28^0'=a_28^post_26, ct_18^0'=ct_18^post_26, d_29^0'=d_29^post_26, i_111^0'=i_111^post_26, i_13^0'=i_13^post_26, len_14^0'=len_14^post_26, r_37^0'=r_37^post_26, rcd_100^0'=rcd_100^post_26, rcd_63^0'=rcd_63^post_26, result_11^0'=result_11^post_26, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_26, t_24^0'=t_24^post_26, temp0_16^0'=temp0_16^post_26, temp0_31^0'=temp0_31^post_26, temp_33^0'=temp_33^post_26, tmp_27^0'=tmp_27^post_26, x_15^0'=x_15^post_26, x_17^0'=x_17^post_26, x_21^0'=x_21^post_26, x_32^0'=x_32^post_26, x_SLAM_f_19^0'=x_SLAM_f_19^post_26, y_20^0'=y_20^post_26, [ 0<=i_13^0 && len_14^0<=i_13^0 && x_17^1_2_1==x_15^0 && ct_18^1_5==0 && x_SLAM_f_19^1_5_1==x_17^1_2_1 && y_20^post_26==ct_18^1_5 && x_21^post_26==x_SLAM_f_19^1_5_1 && 0<=i_13^0 && i_13^post_26==i_13^post_26 && len_14^post_26==len_14^post_26 && x_15^post_26==x_15^post_26 && x_17^post_26==x_17^post_26 && ct_18^post_26==ct_18^post_26 && x_SLAM_f_19^post_26==x_SLAM_f_19^post_26 && tmp_27^post_26==tmp_27^post_26 && __disjvr_0^0==__disjvr_0^post_26 && __disjvr_1^0==__disjvr_1^post_26 && __disjvr_10^0==__disjvr_10^post_26 && __disjvr_11^0==__disjvr_11^post_26 && __disjvr_12^0==__disjvr_12^post_26 && __disjvr_2^0==__disjvr_2^post_26 && __disjvr_3^0==__disjvr_3^post_26 && __disjvr_4^0==__disjvr_4^post_26 && __disjvr_5^0==__disjvr_5^post_26 && __disjvr_6^0==__disjvr_6^post_26 && __disjvr_7^0==__disjvr_7^post_26 && __disjvr_8^0==__disjvr_8^post_26 && __disjvr_9^0==__disjvr_9^post_26 && a_130^0==a_130^post_26 && a_152^0==a_152^post_26 && a_175^0==a_175^post_26 && a_28^0==a_28^post_26 && d_29^0==d_29^post_26 && i_111^0==i_111^post_26 && r_37^0==r_37^post_26 && rcd_100^0==rcd_100^post_26 && rcd_63^0==rcd_63^post_26 && result_11^0==result_11^post_26 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_26 && t_24^0==t_24^post_26 && temp0_16^0==temp0_16^post_26 && temp0_31^0==temp0_31^post_26 && temp_33^0==temp_33^post_26 && x_32^0==x_32^post_26 ], cost: 1
     31: l18 -> l30 : __disjvr_0^0'=__disjvr_0^post_32, __disjvr_10^0'=__disjvr_10^post_32, __disjvr_11^0'=__disjvr_11^post_32, __disjvr_12^0'=__disjvr_12^post_32, __disjvr_1^0'=__disjvr_1^post_32, __disjvr_2^0'=__disjvr_2^post_32, __disjvr_3^0'=__disjvr_3^post_32, __disjvr_4^0'=__disjvr_4^post_32, __disjvr_5^0'=__disjvr_5^post_32, __disjvr_6^0'=__disjvr_6^post_32, __disjvr_7^0'=__disjvr_7^post_32, __disjvr_8^0'=__disjvr_8^post_32, __disjvr_9^0'=__disjvr_9^post_32, a_130^0'=a_130^post_32, a_152^0'=a_152^post_32, a_175^0'=a_175^post_32, a_28^0'=a_28^post_32, ct_18^0'=ct_18^post_32, d_29^0'=d_29^post_32, i_111^0'=i_111^post_32, i_13^0'=i_13^post_32, len_14^0'=len_14^post_32, r_37^0'=r_37^post_32, rcd_100^0'=rcd_100^post_32, rcd_63^0'=rcd_63^post_32, result_11^0'=result_11^post_32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_32, t_24^0'=t_24^post_32, temp0_16^0'=temp0_16^post_32, temp0_31^0'=temp0_31^post_32, temp_33^0'=temp_33^post_32, tmp_27^0'=tmp_27^post_32, x_15^0'=x_15^post_32, x_17^0'=x_17^post_32, x_21^0'=x_21^post_32, x_32^0'=x_32^post_32, x_SLAM_f_19^0'=x_SLAM_f_19^post_32, y_20^0'=y_20^post_32, [ 0<=i_13^0 && rcd_100^post_32==rcd_100^post_32 && i_111^post_32==i_111^post_32 && 1+i_13^0<=len_14^0 && a_28^1_2==i_13^0 && d_29^1_2_1==x_15^0 && x_32^1_2_1==temp_33^0 && temp_33^1_2_1==temp_33^1_2_1 && temp0_31^1_2_1==x_32^1_2_1 && result_11^1_2_1==temp0_31^1_2_1 && a_28^post_32==a_28^post_32 && d_29^post_32==d_29^post_32 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_32==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_32 && temp0_31^post_32==temp0_31^post_32 && x_32^post_32==x_32^post_32 && temp_33^post_32==temp_33^post_32 && tmp_27^post_32==result_11^1_2_1 && result_11^post_32==result_11^post_32 && x_15^post_32==tmp_27^post_32 && i_13^post_32==1+i_13^0 && i_13^post_32<=1+i_111^post_32 && 1+i_111^post_32<=i_13^post_32 && i_111^post_32<=-1+i_13^post_32 && -1+i_13^post_32<=i_111^post_32 && 1+i_111^post_32<=len_14^0 && __disjvr_0^0==__disjvr_0^post_32 && __disjvr_1^0==__disjvr_1^post_32 && __disjvr_10^0==__disjvr_10^post_32 && __disjvr_11^0==__disjvr_11^post_32 && __disjvr_12^0==__disjvr_12^post_32 && __disjvr_2^0==__disjvr_2^post_32 && __disjvr_3^0==__disjvr_3^post_32 && __disjvr_4^0==__disjvr_4^post_32 && __disjvr_5^0==__disjvr_5^post_32 && __disjvr_6^0==__disjvr_6^post_32 && __disjvr_7^0==__disjvr_7^post_32 && __disjvr_8^0==__disjvr_8^post_32 && __disjvr_9^0==__disjvr_9^post_32 && a_130^0==a_130^post_32 && a_152^0==a_152^post_32 && a_175^0==a_175^post_32 && ct_18^0==ct_18^post_32 && len_14^0==len_14^post_32 && r_37^0==r_37^post_32 && rcd_63^0==rcd_63^post_32 && t_24^0==t_24^post_32 && temp0_16^0==temp0_16^post_32 && x_17^0==x_17^post_32 && x_21^0==x_21^post_32 && x_SLAM_f_19^0==x_SLAM_f_19^post_32 && y_20^0==y_20^post_32 ], cost: 1
     19: l20 -> l21 : __disjvr_0^0'=__disjvr_0^post_20, __disjvr_10^0'=__disjvr_10^post_20, __disjvr_11^0'=__disjvr_11^post_20, __disjvr_12^0'=__disjvr_12^post_20, __disjvr_1^0'=__disjvr_1^post_20, __disjvr_2^0'=__disjvr_2^post_20, __disjvr_3^0'=__disjvr_3^post_20, __disjvr_4^0'=__disjvr_4^post_20, __disjvr_5^0'=__disjvr_5^post_20, __disjvr_6^0'=__disjvr_6^post_20, __disjvr_7^0'=__disjvr_7^post_20, __disjvr_8^0'=__disjvr_8^post_20, __disjvr_9^0'=__disjvr_9^post_20, a_130^0'=a_130^post_20, a_152^0'=a_152^post_20, a_175^0'=a_175^post_20, a_28^0'=a_28^post_20, ct_18^0'=ct_18^post_20, d_29^0'=d_29^post_20, i_111^0'=i_111^post_20, i_13^0'=i_13^post_20, len_14^0'=len_14^post_20, r_37^0'=r_37^post_20, rcd_100^0'=rcd_100^post_20, rcd_63^0'=rcd_63^post_20, result_11^0'=result_11^post_20, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_20, t_24^0'=t_24^post_20, temp0_16^0'=temp0_16^post_20, temp0_31^0'=temp0_31^post_20, temp_33^0'=temp_33^post_20, tmp_27^0'=tmp_27^post_20, x_15^0'=x_15^post_20, x_17^0'=x_17^post_20, x_21^0'=x_21^post_20, x_32^0'=x_32^post_20, x_SLAM_f_19^0'=x_SLAM_f_19^post_20, y_20^0'=y_20^post_20, [ __disjvr_7^post_20==__disjvr_7^0 && __disjvr_0^0==__disjvr_0^post_20 && __disjvr_1^0==__disjvr_1^post_20 && __disjvr_10^0==__disjvr_10^post_20 && __disjvr_11^0==__disjvr_11^post_20 && __disjvr_12^0==__disjvr_12^post_20 && __disjvr_2^0==__disjvr_2^post_20 && __disjvr_3^0==__disjvr_3^post_20 && __disjvr_4^0==__disjvr_4^post_20 && __disjvr_5^0==__disjvr_5^post_20 && __disjvr_6^0==__disjvr_6^post_20 && __disjvr_7^0==__disjvr_7^post_20 && __disjvr_8^0==__disjvr_8^post_20 && __disjvr_9^0==__disjvr_9^post_20 && a_130^0==a_130^post_20 && a_152^0==a_152^post_20 && a_175^0==a_175^post_20 && a_28^0==a_28^post_20 && ct_18^0==ct_18^post_20 && d_29^0==d_29^post_20 && i_111^0==i_111^post_20 && i_13^0==i_13^post_20 && len_14^0==len_14^post_20 && r_37^0==r_37^post_20 && rcd_100^0==rcd_100^post_20 && rcd_63^0==rcd_63^post_20 && result_11^0==result_11^post_20 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_20 && t_24^0==t_24^post_20 && temp0_16^0==temp0_16^post_20 && temp0_31^0==temp0_31^post_20 && temp_33^0==temp_33^post_20 && tmp_27^0==tmp_27^post_20 && x_15^0==x_15^post_20 && x_17^0==x_17^post_20 && x_21^0==x_21^post_20 && x_32^0==x_32^post_20 && x_SLAM_f_19^0==x_SLAM_f_19^post_20 && y_20^0==y_20^post_20 ], cost: 1
     20: l21 -> l22 : __disjvr_0^0'=__disjvr_0^post_21, __disjvr_10^0'=__disjvr_10^post_21, __disjvr_11^0'=__disjvr_11^post_21, __disjvr_12^0'=__disjvr_12^post_21, __disjvr_1^0'=__disjvr_1^post_21, __disjvr_2^0'=__disjvr_2^post_21, __disjvr_3^0'=__disjvr_3^post_21, __disjvr_4^0'=__disjvr_4^post_21, __disjvr_5^0'=__disjvr_5^post_21, __disjvr_6^0'=__disjvr_6^post_21, __disjvr_7^0'=__disjvr_7^post_21, __disjvr_8^0'=__disjvr_8^post_21, __disjvr_9^0'=__disjvr_9^post_21, a_130^0'=a_130^post_21, a_152^0'=a_152^post_21, a_175^0'=a_175^post_21, a_28^0'=a_28^post_21, ct_18^0'=ct_18^post_21, d_29^0'=d_29^post_21, i_111^0'=i_111^post_21, i_13^0'=i_13^post_21, len_14^0'=len_14^post_21, r_37^0'=r_37^post_21, rcd_100^0'=rcd_100^post_21, rcd_63^0'=rcd_63^post_21, result_11^0'=result_11^post_21, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_21, t_24^0'=t_24^post_21, temp0_16^0'=temp0_16^post_21, temp0_31^0'=temp0_31^post_21, temp_33^0'=temp_33^post_21, tmp_27^0'=tmp_27^post_21, x_15^0'=x_15^post_21, x_17^0'=x_17^post_21, x_21^0'=x_21^post_21, x_32^0'=x_32^post_21, x_SLAM_f_19^0'=x_SLAM_f_19^post_21, y_20^0'=y_20^post_21, [ t_24^post_21==x_21^0 && a_175^post_21==a_175^post_21 && 0<=ct_18^0 && ct_18^0<=0 && 0<=y_20^0 && y_20^0<=0 && x_15^0<=x_17^0 && x_17^0<=x_15^0 && x_15^0<=x_SLAM_f_19^0 && x_SLAM_f_19^0<=x_15^0 && x_15^0<=tmp_27^0 && tmp_27^0<=x_15^0 && x_17^0<=x_SLAM_f_19^0 && x_SLAM_f_19^0<=x_17^0 && ct_18^0<=y_20^0 && y_20^0<=ct_18^0 && a_175^post_21<=-1+a_152^0 && -1+a_152^0<=a_175^post_21 && __disjvr_0^0==__disjvr_0^post_21 && __disjvr_1^0==__disjvr_1^post_21 && __disjvr_10^0==__disjvr_10^post_21 && __disjvr_11^0==__disjvr_11^post_21 && __disjvr_12^0==__disjvr_12^post_21 && __disjvr_2^0==__disjvr_2^post_21 && __disjvr_3^0==__disjvr_3^post_21 && __disjvr_4^0==__disjvr_4^post_21 && __disjvr_5^0==__disjvr_5^post_21 && __disjvr_6^0==__disjvr_6^post_21 && __disjvr_7^0==__disjvr_7^post_21 && __disjvr_8^0==__disjvr_8^post_21 && __disjvr_9^0==__disjvr_9^post_21 && a_130^0==a_130^post_21 && a_152^0==a_152^post_21 && a_28^0==a_28^post_21 && ct_18^0==ct_18^post_21 && d_29^0==d_29^post_21 && i_111^0==i_111^post_21 && i_13^0==i_13^post_21 && len_14^0==len_14^post_21 && r_37^0==r_37^post_21 && rcd_100^0==rcd_100^post_21 && rcd_63^0==rcd_63^post_21 && result_11^0==result_11^post_21 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_21 && temp0_16^0==temp0_16^post_21 && temp0_31^0==temp0_31^post_21 && temp_33^0==temp_33^post_21 && tmp_27^0==tmp_27^post_21 && x_15^0==x_15^post_21 && x_17^0==x_17^post_21 && x_21^0==x_21^post_21 && x_32^0==x_32^post_21 && x_SLAM_f_19^0==x_SLAM_f_19^post_21 && y_20^0==y_20^post_21 ], cost: 1
     21: l22 -> l23 : __disjvr_0^0'=__disjvr_0^post_22, __disjvr_10^0'=__disjvr_10^post_22, __disjvr_11^0'=__disjvr_11^post_22, __disjvr_12^0'=__disjvr_12^post_22, __disjvr_1^0'=__disjvr_1^post_22, __disjvr_2^0'=__disjvr_2^post_22, __disjvr_3^0'=__disjvr_3^post_22, __disjvr_4^0'=__disjvr_4^post_22, __disjvr_5^0'=__disjvr_5^post_22, __disjvr_6^0'=__disjvr_6^post_22, __disjvr_7^0'=__disjvr_7^post_22, __disjvr_8^0'=__disjvr_8^post_22, __disjvr_9^0'=__disjvr_9^post_22, a_130^0'=a_130^post_22, a_152^0'=a_152^post_22, a_175^0'=a_175^post_22, a_28^0'=a_28^post_22, ct_18^0'=ct_18^post_22, d_29^0'=d_29^post_22, i_111^0'=i_111^post_22, i_13^0'=i_13^post_22, len_14^0'=len_14^post_22, r_37^0'=r_37^post_22, rcd_100^0'=rcd_100^post_22, rcd_63^0'=rcd_63^post_22, result_11^0'=result_11^post_22, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_22, t_24^0'=t_24^post_22, temp0_16^0'=temp0_16^post_22, temp0_31^0'=temp0_31^post_22, temp_33^0'=temp_33^post_22, tmp_27^0'=tmp_27^post_22, x_15^0'=x_15^post_22, x_17^0'=x_17^post_22, x_21^0'=x_21^post_22, x_32^0'=x_32^post_22, x_SLAM_f_19^0'=x_SLAM_f_19^post_22, y_20^0'=y_20^post_22, [ __disjvr_8^post_22==__disjvr_8^0 && __disjvr_0^0==__disjvr_0^post_22 && __disjvr_1^0==__disjvr_1^post_22 && __disjvr_10^0==__disjvr_10^post_22 && __disjvr_11^0==__disjvr_11^post_22 && __disjvr_12^0==__disjvr_12^post_22 && __disjvr_2^0==__disjvr_2^post_22 && __disjvr_3^0==__disjvr_3^post_22 && __disjvr_4^0==__disjvr_4^post_22 && __disjvr_5^0==__disjvr_5^post_22 && __disjvr_6^0==__disjvr_6^post_22 && __disjvr_7^0==__disjvr_7^post_22 && __disjvr_8^0==__disjvr_8^post_22 && __disjvr_9^0==__disjvr_9^post_22 && a_130^0==a_130^post_22 && a_152^0==a_152^post_22 && a_175^0==a_175^post_22 && a_28^0==a_28^post_22 && ct_18^0==ct_18^post_22 && d_29^0==d_29^post_22 && i_111^0==i_111^post_22 && i_13^0==i_13^post_22 && len_14^0==len_14^post_22 && r_37^0==r_37^post_22 && rcd_100^0==rcd_100^post_22 && rcd_63^0==rcd_63^post_22 && result_11^0==result_11^post_22 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_22 && t_24^0==t_24^post_22 && temp0_16^0==temp0_16^post_22 && temp0_31^0==temp0_31^post_22 && temp_33^0==temp_33^post_22 && tmp_27^0==tmp_27^post_22 && x_15^0==x_15^post_22 && x_17^0==x_17^post_22 && x_21^0==x_21^post_22 && x_32^0==x_32^post_22 && x_SLAM_f_19^0==x_SLAM_f_19^post_22 && y_20^0==y_20^post_22 ], cost: 1
     22: l23 -> l24 : __disjvr_0^0'=__disjvr_0^post_23, __disjvr_10^0'=__disjvr_10^post_23, __disjvr_11^0'=__disjvr_11^post_23, __disjvr_12^0'=__disjvr_12^post_23, __disjvr_1^0'=__disjvr_1^post_23, __disjvr_2^0'=__disjvr_2^post_23, __disjvr_3^0'=__disjvr_3^post_23, __disjvr_4^0'=__disjvr_4^post_23, __disjvr_5^0'=__disjvr_5^post_23, __disjvr_6^0'=__disjvr_6^post_23, __disjvr_7^0'=__disjvr_7^post_23, __disjvr_8^0'=__disjvr_8^post_23, __disjvr_9^0'=__disjvr_9^post_23, a_130^0'=a_130^post_23, a_152^0'=a_152^post_23, a_175^0'=a_175^post_23, a_28^0'=a_28^post_23, ct_18^0'=ct_18^post_23, d_29^0'=d_29^post_23, i_111^0'=i_111^post_23, i_13^0'=i_13^post_23, len_14^0'=len_14^post_23, r_37^0'=r_37^post_23, rcd_100^0'=rcd_100^post_23, rcd_63^0'=rcd_63^post_23, result_11^0'=result_11^post_23, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_23, t_24^0'=t_24^post_23, temp0_16^0'=temp0_16^post_23, temp0_31^0'=temp0_31^post_23, temp_33^0'=temp_33^post_23, tmp_27^0'=tmp_27^post_23, x_15^0'=x_15^post_23, x_17^0'=x_17^post_23, x_21^0'=x_21^post_23, x_32^0'=x_32^post_23, x_SLAM_f_19^0'=x_SLAM_f_19^post_23, y_20^0'=y_20^post_23, [ __disjvr_9^post_23==__disjvr_9^0 && __disjvr_0^0==__disjvr_0^post_23 && __disjvr_1^0==__disjvr_1^post_23 && __disjvr_10^0==__disjvr_10^post_23 && __disjvr_11^0==__disjvr_11^post_23 && __disjvr_12^0==__disjvr_12^post_23 && __disjvr_2^0==__disjvr_2^post_23 && __disjvr_3^0==__disjvr_3^post_23 && __disjvr_4^0==__disjvr_4^post_23 && __disjvr_5^0==__disjvr_5^post_23 && __disjvr_6^0==__disjvr_6^post_23 && __disjvr_7^0==__disjvr_7^post_23 && __disjvr_8^0==__disjvr_8^post_23 && __disjvr_9^0==__disjvr_9^post_23 && a_130^0==a_130^post_23 && a_152^0==a_152^post_23 && a_175^0==a_175^post_23 && a_28^0==a_28^post_23 && ct_18^0==ct_18^post_23 && d_29^0==d_29^post_23 && i_111^0==i_111^post_23 && i_13^0==i_13^post_23 && len_14^0==len_14^post_23 && r_37^0==r_37^post_23 && rcd_100^0==rcd_100^post_23 && rcd_63^0==rcd_63^post_23 && result_11^0==result_11^post_23 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_23 && t_24^0==t_24^post_23 && temp0_16^0==temp0_16^post_23 && temp0_31^0==temp0_31^post_23 && temp_33^0==temp_33^post_23 && tmp_27^0==tmp_27^post_23 && x_15^0==x_15^post_23 && x_17^0==x_17^post_23 && x_21^0==x_21^post_23 && x_32^0==x_32^post_23 && x_SLAM_f_19^0==x_SLAM_f_19^post_23 && y_20^0==y_20^post_23 ], cost: 1
     23: l24 -> l19 : __disjvr_0^0'=__disjvr_0^post_24, __disjvr_10^0'=__disjvr_10^post_24, __disjvr_11^0'=__disjvr_11^post_24, __disjvr_12^0'=__disjvr_12^post_24, __disjvr_1^0'=__disjvr_1^post_24, __disjvr_2^0'=__disjvr_2^post_24, __disjvr_3^0'=__disjvr_3^post_24, __disjvr_4^0'=__disjvr_4^post_24, __disjvr_5^0'=__disjvr_5^post_24, __disjvr_6^0'=__disjvr_6^post_24, __disjvr_7^0'=__disjvr_7^post_24, __disjvr_8^0'=__disjvr_8^post_24, __disjvr_9^0'=__disjvr_9^post_24, a_130^0'=a_130^post_24, a_152^0'=a_152^post_24, a_175^0'=a_175^post_24, a_28^0'=a_28^post_24, ct_18^0'=ct_18^post_24, d_29^0'=d_29^post_24, i_111^0'=i_111^post_24, i_13^0'=i_13^post_24, len_14^0'=len_14^post_24, r_37^0'=r_37^post_24, rcd_100^0'=rcd_100^post_24, rcd_63^0'=rcd_63^post_24, result_11^0'=result_11^post_24, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_24, t_24^0'=t_24^post_24, temp0_16^0'=temp0_16^post_24, temp0_31^0'=temp0_31^post_24, temp_33^0'=temp_33^post_24, tmp_27^0'=tmp_27^post_24, x_15^0'=x_15^post_24, x_17^0'=x_17^post_24, x_21^0'=x_21^post_24, x_32^0'=x_32^post_24, x_SLAM_f_19^0'=x_SLAM_f_19^post_24, y_20^0'=y_20^post_24, [ 1<=len_14^0 && 2<=len_14^0 && len_14^0<=i_13^0 && a_152^post_24==a_152^post_24 && a_152^post_24<=a_175^0 && a_175^0<=a_152^post_24 && __disjvr_0^0==__disjvr_0^post_24 && __disjvr_1^0==__disjvr_1^post_24 && __disjvr_10^0==__disjvr_10^post_24 && __disjvr_11^0==__disjvr_11^post_24 && __disjvr_12^0==__disjvr_12^post_24 && __disjvr_2^0==__disjvr_2^post_24 && __disjvr_3^0==__disjvr_3^post_24 && __disjvr_4^0==__disjvr_4^post_24 && __disjvr_5^0==__disjvr_5^post_24 && __disjvr_6^0==__disjvr_6^post_24 && __disjvr_7^0==__disjvr_7^post_24 && __disjvr_8^0==__disjvr_8^post_24 && __disjvr_9^0==__disjvr_9^post_24 && a_130^0==a_130^post_24 && a_175^0==a_175^post_24 && a_28^0==a_28^post_24 && ct_18^0==ct_18^post_24 && d_29^0==d_29^post_24 && i_111^0==i_111^post_24 && i_13^0==i_13^post_24 && len_14^0==len_14^post_24 && r_37^0==r_37^post_24 && rcd_100^0==rcd_100^post_24 && rcd_63^0==rcd_63^post_24 && result_11^0==result_11^post_24 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_24 && t_24^0==t_24^post_24 && temp0_16^0==temp0_16^post_24 && temp0_31^0==temp0_31^post_24 && temp_33^0==temp_33^post_24 && tmp_27^0==tmp_27^post_24 && x_15^0==x_15^post_24 && x_17^0==x_17^post_24 && x_21^0==x_21^post_24 && x_32^0==x_32^post_24 && x_SLAM_f_19^0==x_SLAM_f_19^post_24 && y_20^0==y_20^post_24 ], cost: 1
     24: l19 -> l4 : __disjvr_0^0'=__disjvr_0^post_25, __disjvr_10^0'=__disjvr_10^post_25, __disjvr_11^0'=__disjvr_11^post_25, __disjvr_12^0'=__disjvr_12^post_25, __disjvr_1^0'=__disjvr_1^post_25, __disjvr_2^0'=__disjvr_2^post_25, __disjvr_3^0'=__disjvr_3^post_25, __disjvr_4^0'=__disjvr_4^post_25, __disjvr_5^0'=__disjvr_5^post_25, __disjvr_6^0'=__disjvr_6^post_25, __disjvr_7^0'=__disjvr_7^post_25, __disjvr_8^0'=__disjvr_8^post_25, __disjvr_9^0'=__disjvr_9^post_25, a_130^0'=a_130^post_25, a_152^0'=a_152^post_25, a_175^0'=a_175^post_25, a_28^0'=a_28^post_25, ct_18^0'=ct_18^post_25, d_29^0'=d_29^post_25, i_111^0'=i_111^post_25, i_13^0'=i_13^post_25, len_14^0'=len_14^post_25, r_37^0'=r_37^post_25, rcd_100^0'=rcd_100^post_25, rcd_63^0'=rcd_63^post_25, result_11^0'=result_11^post_25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_25, t_24^0'=t_24^post_25, temp0_16^0'=temp0_16^post_25, temp0_31^0'=temp0_31^post_25, temp_33^0'=temp_33^post_25, tmp_27^0'=tmp_27^post_25, x_15^0'=x_15^post_25, x_17^0'=x_17^post_25, x_21^0'=x_21^post_25, x_32^0'=x_32^post_25, x_SLAM_f_19^0'=x_SLAM_f_19^post_25, y_20^0'=y_20^post_25, [ __disjvr_0^0==__disjvr_0^post_25 && __disjvr_1^0==__disjvr_1^post_25 && __disjvr_10^0==__disjvr_10^post_25 && __disjvr_11^0==__disjvr_11^post_25 && __disjvr_12^0==__disjvr_12^post_25 && __disjvr_2^0==__disjvr_2^post_25 && __disjvr_3^0==__disjvr_3^post_25 && __disjvr_4^0==__disjvr_4^post_25 && __disjvr_5^0==__disjvr_5^post_25 && __disjvr_6^0==__disjvr_6^post_25 && __disjvr_7^0==__disjvr_7^post_25 && __disjvr_8^0==__disjvr_8^post_25 && __disjvr_9^0==__disjvr_9^post_25 && a_130^0==a_130^post_25 && a_152^0==a_152^post_25 && a_175^0==a_175^post_25 && a_28^0==a_28^post_25 && ct_18^0==ct_18^post_25 && d_29^0==d_29^post_25 && i_111^0==i_111^post_25 && i_13^0==i_13^post_25 && len_14^0==len_14^post_25 && r_37^0==r_37^post_25 && rcd_100^0==rcd_100^post_25 && rcd_63^0==rcd_63^post_25 && result_11^0==result_11^post_25 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_25 && t_24^0==t_24^post_25 && temp0_16^0==temp0_16^post_25 && temp0_31^0==temp0_31^post_25 && temp_33^0==temp_33^post_25 && tmp_27^0==tmp_27^post_25 && x_15^0==x_15^post_25 && x_17^0==x_17^post_25 && x_21^0==x_21^post_25 && x_32^0==x_32^post_25 && x_SLAM_f_19^0==x_SLAM_f_19^post_25 && y_20^0==y_20^post_25 ], cost: 1
     26: l25 -> l26 : __disjvr_0^0'=__disjvr_0^post_27, __disjvr_10^0'=__disjvr_10^post_27, __disjvr_11^0'=__disjvr_11^post_27, __disjvr_12^0'=__disjvr_12^post_27, __disjvr_1^0'=__disjvr_1^post_27, __disjvr_2^0'=__disjvr_2^post_27, __disjvr_3^0'=__disjvr_3^post_27, __disjvr_4^0'=__disjvr_4^post_27, __disjvr_5^0'=__disjvr_5^post_27, __disjvr_6^0'=__disjvr_6^post_27, __disjvr_7^0'=__disjvr_7^post_27, __disjvr_8^0'=__disjvr_8^post_27, __disjvr_9^0'=__disjvr_9^post_27, a_130^0'=a_130^post_27, a_152^0'=a_152^post_27, a_175^0'=a_175^post_27, a_28^0'=a_28^post_27, ct_18^0'=ct_18^post_27, d_29^0'=d_29^post_27, i_111^0'=i_111^post_27, i_13^0'=i_13^post_27, len_14^0'=len_14^post_27, r_37^0'=r_37^post_27, rcd_100^0'=rcd_100^post_27, rcd_63^0'=rcd_63^post_27, result_11^0'=result_11^post_27, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_27, t_24^0'=t_24^post_27, temp0_16^0'=temp0_16^post_27, temp0_31^0'=temp0_31^post_27, temp_33^0'=temp_33^post_27, tmp_27^0'=tmp_27^post_27, x_15^0'=x_15^post_27, x_17^0'=x_17^post_27, x_21^0'=x_21^post_27, x_32^0'=x_32^post_27, x_SLAM_f_19^0'=x_SLAM_f_19^post_27, y_20^0'=y_20^post_27, [ __disjvr_10^post_27==__disjvr_10^0 && __disjvr_0^0==__disjvr_0^post_27 && __disjvr_1^0==__disjvr_1^post_27 && __disjvr_10^0==__disjvr_10^post_27 && __disjvr_11^0==__disjvr_11^post_27 && __disjvr_12^0==__disjvr_12^post_27 && __disjvr_2^0==__disjvr_2^post_27 && __disjvr_3^0==__disjvr_3^post_27 && __disjvr_4^0==__disjvr_4^post_27 && __disjvr_5^0==__disjvr_5^post_27 && __disjvr_6^0==__disjvr_6^post_27 && __disjvr_7^0==__disjvr_7^post_27 && __disjvr_8^0==__disjvr_8^post_27 && __disjvr_9^0==__disjvr_9^post_27 && a_130^0==a_130^post_27 && a_152^0==a_152^post_27 && a_175^0==a_175^post_27 && a_28^0==a_28^post_27 && ct_18^0==ct_18^post_27 && d_29^0==d_29^post_27 && i_111^0==i_111^post_27 && i_13^0==i_13^post_27 && len_14^0==len_14^post_27 && r_37^0==r_37^post_27 && rcd_100^0==rcd_100^post_27 && rcd_63^0==rcd_63^post_27 && result_11^0==result_11^post_27 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_27 && t_24^0==t_24^post_27 && temp0_16^0==temp0_16^post_27 && temp0_31^0==temp0_31^post_27 && temp_33^0==temp_33^post_27 && tmp_27^0==tmp_27^post_27 && x_15^0==x_15^post_27 && x_17^0==x_17^post_27 && x_21^0==x_21^post_27 && x_32^0==x_32^post_27 && x_SLAM_f_19^0==x_SLAM_f_19^post_27 && y_20^0==y_20^post_27 ], cost: 1
     27: l26 -> l27 : __disjvr_0^0'=__disjvr_0^post_28, __disjvr_10^0'=__disjvr_10^post_28, __disjvr_11^0'=__disjvr_11^post_28, __disjvr_12^0'=__disjvr_12^post_28, __disjvr_1^0'=__disjvr_1^post_28, __disjvr_2^0'=__disjvr_2^post_28, __disjvr_3^0'=__disjvr_3^post_28, __disjvr_4^0'=__disjvr_4^post_28, __disjvr_5^0'=__disjvr_5^post_28, __disjvr_6^0'=__disjvr_6^post_28, __disjvr_7^0'=__disjvr_7^post_28, __disjvr_8^0'=__disjvr_8^post_28, __disjvr_9^0'=__disjvr_9^post_28, a_130^0'=a_130^post_28, a_152^0'=a_152^post_28, a_175^0'=a_175^post_28, a_28^0'=a_28^post_28, ct_18^0'=ct_18^post_28, d_29^0'=d_29^post_28, i_111^0'=i_111^post_28, i_13^0'=i_13^post_28, len_14^0'=len_14^post_28, r_37^0'=r_37^post_28, rcd_100^0'=rcd_100^post_28, rcd_63^0'=rcd_63^post_28, result_11^0'=result_11^post_28, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_28, t_24^0'=t_24^post_28, temp0_16^0'=temp0_16^post_28, temp0_31^0'=temp0_31^post_28, temp_33^0'=temp_33^post_28, tmp_27^0'=tmp_27^post_28, x_15^0'=x_15^post_28, x_17^0'=x_17^post_28, x_21^0'=x_21^post_28, x_32^0'=x_32^post_28, x_SLAM_f_19^0'=x_SLAM_f_19^post_28, y_20^0'=y_20^post_28, [ t_24^post_28==x_21^0 && a_130^post_28==a_130^post_28 && 0<=ct_18^0 && ct_18^0<=0 && 0<=y_20^0 && y_20^0<=0 && 0<=-a_130^post_28+a_152^0 && -a_130^post_28+a_152^0<=0 && x_15^0<=x_17^0 && x_17^0<=x_15^0 && x_15^0<=x_SLAM_f_19^0 && x_SLAM_f_19^0<=x_15^0 && x_15^0<=t_24^post_28 && t_24^post_28<=x_15^0 && x_15^0<=tmp_27^0 && tmp_27^0<=x_15^0 && x_17^0<=x_SLAM_f_19^0 && x_SLAM_f_19^0<=x_17^0 && ct_18^0<=y_20^0 && y_20^0<=ct_18^0 && a_130^post_28<=a_152^0 && a_152^0<=a_130^post_28 && __disjvr_0^0==__disjvr_0^post_28 && __disjvr_1^0==__disjvr_1^post_28 && __disjvr_10^0==__disjvr_10^post_28 && __disjvr_11^0==__disjvr_11^post_28 && __disjvr_12^0==__disjvr_12^post_28 && __disjvr_2^0==__disjvr_2^post_28 && __disjvr_3^0==__disjvr_3^post_28 && __disjvr_4^0==__disjvr_4^post_28 && __disjvr_5^0==__disjvr_5^post_28 && __disjvr_6^0==__disjvr_6^post_28 && __disjvr_7^0==__disjvr_7^post_28 && __disjvr_8^0==__disjvr_8^post_28 && __disjvr_9^0==__disjvr_9^post_28 && a_152^0==a_152^post_28 && a_175^0==a_175^post_28 && a_28^0==a_28^post_28 && ct_18^0==ct_18^post_28 && d_29^0==d_29^post_28 && i_111^0==i_111^post_28 && i_13^0==i_13^post_28 && len_14^0==len_14^post_28 && r_37^0==r_37^post_28 && rcd_100^0==rcd_100^post_28 && rcd_63^0==rcd_63^post_28 && result_11^0==result_11^post_28 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_28 && temp0_16^0==temp0_16^post_28 && temp0_31^0==temp0_31^post_28 && temp_33^0==temp_33^post_28 && tmp_27^0==tmp_27^post_28 && x_15^0==x_15^post_28 && x_17^0==x_17^post_28 && x_21^0==x_21^post_28 && x_32^0==x_32^post_28 && x_SLAM_f_19^0==x_SLAM_f_19^post_28 && y_20^0==y_20^post_28 ], cost: 1
     28: l27 -> l28 : __disjvr_0^0'=__disjvr_0^post_29, __disjvr_10^0'=__disjvr_10^post_29, __disjvr_11^0'=__disjvr_11^post_29, __disjvr_12^0'=__disjvr_12^post_29, __disjvr_1^0'=__disjvr_1^post_29, __disjvr_2^0'=__disjvr_2^post_29, __disjvr_3^0'=__disjvr_3^post_29, __disjvr_4^0'=__disjvr_4^post_29, __disjvr_5^0'=__disjvr_5^post_29, __disjvr_6^0'=__disjvr_6^post_29, __disjvr_7^0'=__disjvr_7^post_29, __disjvr_8^0'=__disjvr_8^post_29, __disjvr_9^0'=__disjvr_9^post_29, a_130^0'=a_130^post_29, a_152^0'=a_152^post_29, a_175^0'=a_175^post_29, a_28^0'=a_28^post_29, ct_18^0'=ct_18^post_29, d_29^0'=d_29^post_29, i_111^0'=i_111^post_29, i_13^0'=i_13^post_29, len_14^0'=len_14^post_29, r_37^0'=r_37^post_29, rcd_100^0'=rcd_100^post_29, rcd_63^0'=rcd_63^post_29, result_11^0'=result_11^post_29, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_29, t_24^0'=t_24^post_29, temp0_16^0'=temp0_16^post_29, temp0_31^0'=temp0_31^post_29, temp_33^0'=temp_33^post_29, tmp_27^0'=tmp_27^post_29, x_15^0'=x_15^post_29, x_17^0'=x_17^post_29, x_21^0'=x_21^post_29, x_32^0'=x_32^post_29, x_SLAM_f_19^0'=x_SLAM_f_19^post_29, y_20^0'=y_20^post_29, [ __disjvr_11^post_29==__disjvr_11^0 && __disjvr_0^0==__disjvr_0^post_29 && __disjvr_1^0==__disjvr_1^post_29 && __disjvr_10^0==__disjvr_10^post_29 && __disjvr_11^0==__disjvr_11^post_29 && __disjvr_12^0==__disjvr_12^post_29 && __disjvr_2^0==__disjvr_2^post_29 && __disjvr_3^0==__disjvr_3^post_29 && __disjvr_4^0==__disjvr_4^post_29 && __disjvr_5^0==__disjvr_5^post_29 && __disjvr_6^0==__disjvr_6^post_29 && __disjvr_7^0==__disjvr_7^post_29 && __disjvr_8^0==__disjvr_8^post_29 && __disjvr_9^0==__disjvr_9^post_29 && a_130^0==a_130^post_29 && a_152^0==a_152^post_29 && a_175^0==a_175^post_29 && a_28^0==a_28^post_29 && ct_18^0==ct_18^post_29 && d_29^0==d_29^post_29 && i_111^0==i_111^post_29 && i_13^0==i_13^post_29 && len_14^0==len_14^post_29 && r_37^0==r_37^post_29 && rcd_100^0==rcd_100^post_29 && rcd_63^0==rcd_63^post_29 && result_11^0==result_11^post_29 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_29 && t_24^0==t_24^post_29 && temp0_16^0==temp0_16^post_29 && temp0_31^0==temp0_31^post_29 && temp_33^0==temp_33^post_29 && tmp_27^0==tmp_27^post_29 && x_15^0==x_15^post_29 && x_17^0==x_17^post_29 && x_21^0==x_21^post_29 && x_32^0==x_32^post_29 && x_SLAM_f_19^0==x_SLAM_f_19^post_29 && y_20^0==y_20^post_29 ], cost: 1
     29: l28 -> l29 : __disjvr_0^0'=__disjvr_0^post_30, __disjvr_10^0'=__disjvr_10^post_30, __disjvr_11^0'=__disjvr_11^post_30, __disjvr_12^0'=__disjvr_12^post_30, __disjvr_1^0'=__disjvr_1^post_30, __disjvr_2^0'=__disjvr_2^post_30, __disjvr_3^0'=__disjvr_3^post_30, __disjvr_4^0'=__disjvr_4^post_30, __disjvr_5^0'=__disjvr_5^post_30, __disjvr_6^0'=__disjvr_6^post_30, __disjvr_7^0'=__disjvr_7^post_30, __disjvr_8^0'=__disjvr_8^post_30, __disjvr_9^0'=__disjvr_9^post_30, a_130^0'=a_130^post_30, a_152^0'=a_152^post_30, a_175^0'=a_175^post_30, a_28^0'=a_28^post_30, ct_18^0'=ct_18^post_30, d_29^0'=d_29^post_30, i_111^0'=i_111^post_30, i_13^0'=i_13^post_30, len_14^0'=len_14^post_30, r_37^0'=r_37^post_30, rcd_100^0'=rcd_100^post_30, rcd_63^0'=rcd_63^post_30, result_11^0'=result_11^post_30, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_30, t_24^0'=t_24^post_30, temp0_16^0'=temp0_16^post_30, temp0_31^0'=temp0_31^post_30, temp_33^0'=temp_33^post_30, tmp_27^0'=tmp_27^post_30, x_15^0'=x_15^post_30, x_17^0'=x_17^post_30, x_21^0'=x_21^post_30, x_32^0'=x_32^post_30, x_SLAM_f_19^0'=x_SLAM_f_19^post_30, y_20^0'=y_20^post_30, [ __disjvr_12^post_30==__disjvr_12^0 && __disjvr_0^0==__disjvr_0^post_30 && __disjvr_1^0==__disjvr_1^post_30 && __disjvr_10^0==__disjvr_10^post_30 && __disjvr_11^0==__disjvr_11^post_30 && __disjvr_12^0==__disjvr_12^post_30 && __disjvr_2^0==__disjvr_2^post_30 && __disjvr_3^0==__disjvr_3^post_30 && __disjvr_4^0==__disjvr_4^post_30 && __disjvr_5^0==__disjvr_5^post_30 && __disjvr_6^0==__disjvr_6^post_30 && __disjvr_7^0==__disjvr_7^post_30 && __disjvr_8^0==__disjvr_8^post_30 && __disjvr_9^0==__disjvr_9^post_30 && a_130^0==a_130^post_30 && a_152^0==a_152^post_30 && a_175^0==a_175^post_30 && a_28^0==a_28^post_30 && ct_18^0==ct_18^post_30 && d_29^0==d_29^post_30 && i_111^0==i_111^post_30 && i_13^0==i_13^post_30 && len_14^0==len_14^post_30 && r_37^0==r_37^post_30 && rcd_100^0==rcd_100^post_30 && rcd_63^0==rcd_63^post_30 && result_11^0==result_11^post_30 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_30 && t_24^0==t_24^post_30 && temp0_16^0==temp0_16^post_30 && temp0_31^0==temp0_31^post_30 && temp_33^0==temp_33^post_30 && tmp_27^0==tmp_27^post_30 && x_15^0==x_15^post_30 && x_17^0==x_17^post_30 && x_21^0==x_21^post_30 && x_32^0==x_32^post_30 && x_SLAM_f_19^0==x_SLAM_f_19^post_30 && y_20^0==y_20^post_30 ], cost: 1
     30: l29 -> l4 : __disjvr_0^0'=__disjvr_0^post_31, __disjvr_10^0'=__disjvr_10^post_31, __disjvr_11^0'=__disjvr_11^post_31, __disjvr_12^0'=__disjvr_12^post_31, __disjvr_1^0'=__disjvr_1^post_31, __disjvr_2^0'=__disjvr_2^post_31, __disjvr_3^0'=__disjvr_3^post_31, __disjvr_4^0'=__disjvr_4^post_31, __disjvr_5^0'=__disjvr_5^post_31, __disjvr_6^0'=__disjvr_6^post_31, __disjvr_7^0'=__disjvr_7^post_31, __disjvr_8^0'=__disjvr_8^post_31, __disjvr_9^0'=__disjvr_9^post_31, a_130^0'=a_130^post_31, a_152^0'=a_152^post_31, a_175^0'=a_175^post_31, a_28^0'=a_28^post_31, ct_18^0'=ct_18^post_31, d_29^0'=d_29^post_31, i_111^0'=i_111^post_31, i_13^0'=i_13^post_31, len_14^0'=len_14^post_31, r_37^0'=r_37^post_31, rcd_100^0'=rcd_100^post_31, rcd_63^0'=rcd_63^post_31, result_11^0'=result_11^post_31, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_31, t_24^0'=t_24^post_31, temp0_16^0'=temp0_16^post_31, temp0_31^0'=temp0_31^post_31, temp_33^0'=temp_33^post_31, tmp_27^0'=tmp_27^post_31, x_15^0'=x_15^post_31, x_17^0'=x_17^post_31, x_21^0'=x_21^post_31, x_32^0'=x_32^post_31, x_SLAM_f_19^0'=x_SLAM_f_19^post_31, y_20^0'=y_20^post_31, [ 1<=len_14^0 && 2<=len_14^0 && len_14^0<=i_13^0 && i_13^post_31==i_13^post_31 && -1+i_13^post_31<=a_130^0 && a_130^0<=-1+i_13^post_31 && __disjvr_0^0==__disjvr_0^post_31 && __disjvr_1^0==__disjvr_1^post_31 && __disjvr_10^0==__disjvr_10^post_31 && __disjvr_11^0==__disjvr_11^post_31 && __disjvr_12^0==__disjvr_12^post_31 && __disjvr_2^0==__disjvr_2^post_31 && __disjvr_3^0==__disjvr_3^post_31 && __disjvr_4^0==__disjvr_4^post_31 && __disjvr_5^0==__disjvr_5^post_31 && __disjvr_6^0==__disjvr_6^post_31 && __disjvr_7^0==__disjvr_7^post_31 && __disjvr_8^0==__disjvr_8^post_31 && __disjvr_9^0==__disjvr_9^post_31 && a_130^0==a_130^post_31 && a_152^0==a_152^post_31 && a_175^0==a_175^post_31 && a_28^0==a_28^post_31 && ct_18^0==ct_18^post_31 && d_29^0==d_29^post_31 && i_111^0==i_111^post_31 && len_14^0==len_14^post_31 && r_37^0==r_37^post_31 && rcd_100^0==rcd_100^post_31 && rcd_63^0==rcd_63^post_31 && result_11^0==result_11^post_31 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_31 && t_24^0==t_24^post_31 && temp0_16^0==temp0_16^post_31 && temp0_31^0==temp0_31^post_31 && temp_33^0==temp_33^post_31 && tmp_27^0==tmp_27^post_31 && x_15^0==x_15^post_31 && x_17^0==x_17^post_31 && x_21^0==x_21^post_31 && x_32^0==x_32^post_31 && x_SLAM_f_19^0==x_SLAM_f_19^post_31 && y_20^0==y_20^post_31 ], cost: 1
     32: l30 -> l18 : __disjvr_0^0'=__disjvr_0^post_33, __disjvr_10^0'=__disjvr_10^post_33, __disjvr_11^0'=__disjvr_11^post_33, __disjvr_12^0'=__disjvr_12^post_33, __disjvr_1^0'=__disjvr_1^post_33, __disjvr_2^0'=__disjvr_2^post_33, __disjvr_3^0'=__disjvr_3^post_33, __disjvr_4^0'=__disjvr_4^post_33, __disjvr_5^0'=__disjvr_5^post_33, __disjvr_6^0'=__disjvr_6^post_33, __disjvr_7^0'=__disjvr_7^post_33, __disjvr_8^0'=__disjvr_8^post_33, __disjvr_9^0'=__disjvr_9^post_33, a_130^0'=a_130^post_33, a_152^0'=a_152^post_33, a_175^0'=a_175^post_33, a_28^0'=a_28^post_33, ct_18^0'=ct_18^post_33, d_29^0'=d_29^post_33, i_111^0'=i_111^post_33, i_13^0'=i_13^post_33, len_14^0'=len_14^post_33, r_37^0'=r_37^post_33, rcd_100^0'=rcd_100^post_33, rcd_63^0'=rcd_63^post_33, result_11^0'=result_11^post_33, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_33, t_24^0'=t_24^post_33, temp0_16^0'=temp0_16^post_33, temp0_31^0'=temp0_31^post_33, temp_33^0'=temp_33^post_33, tmp_27^0'=tmp_27^post_33, x_15^0'=x_15^post_33, x_17^0'=x_17^post_33, x_21^0'=x_21^post_33, x_32^0'=x_32^post_33, x_SLAM_f_19^0'=x_SLAM_f_19^post_33, y_20^0'=y_20^post_33, [ __disjvr_0^0==__disjvr_0^post_33 && __disjvr_1^0==__disjvr_1^post_33 && __disjvr_10^0==__disjvr_10^post_33 && __disjvr_11^0==__disjvr_11^post_33 && __disjvr_12^0==__disjvr_12^post_33 && __disjvr_2^0==__disjvr_2^post_33 && __disjvr_3^0==__disjvr_3^post_33 && __disjvr_4^0==__disjvr_4^post_33 && __disjvr_5^0==__disjvr_5^post_33 && __disjvr_6^0==__disjvr_6^post_33 && __disjvr_7^0==__disjvr_7^post_33 && __disjvr_8^0==__disjvr_8^post_33 && __disjvr_9^0==__disjvr_9^post_33 && a_130^0==a_130^post_33 && a_152^0==a_152^post_33 && a_175^0==a_175^post_33 && a_28^0==a_28^post_33 && ct_18^0==ct_18^post_33 && d_29^0==d_29^post_33 && i_111^0==i_111^post_33 && i_13^0==i_13^post_33 && len_14^0==len_14^post_33 && r_37^0==r_37^post_33 && rcd_100^0==rcd_100^post_33 && rcd_63^0==rcd_63^post_33 && result_11^0==result_11^post_33 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_33 && t_24^0==t_24^post_33 && temp0_16^0==temp0_16^post_33 && temp0_31^0==temp0_31^post_33 && temp_33^0==temp_33^post_33 && tmp_27^0==tmp_27^post_33 && x_15^0==x_15^post_33 && x_17^0==x_17^post_33 && x_21^0==x_21^post_33 && x_32^0==x_32^post_33 && x_SLAM_f_19^0==x_SLAM_f_19^post_33 && y_20^0==y_20^post_33 ], cost: 1
     35: l31 -> l10 : __disjvr_0^0'=__disjvr_0^post_36, __disjvr_10^0'=__disjvr_10^post_36, __disjvr_11^0'=__disjvr_11^post_36, __disjvr_12^0'=__disjvr_12^post_36, __disjvr_1^0'=__disjvr_1^post_36, __disjvr_2^0'=__disjvr_2^post_36, __disjvr_3^0'=__disjvr_3^post_36, __disjvr_4^0'=__disjvr_4^post_36, __disjvr_5^0'=__disjvr_5^post_36, __disjvr_6^0'=__disjvr_6^post_36, __disjvr_7^0'=__disjvr_7^post_36, __disjvr_8^0'=__disjvr_8^post_36, __disjvr_9^0'=__disjvr_9^post_36, a_130^0'=a_130^post_36, a_152^0'=a_152^post_36, a_175^0'=a_175^post_36, a_28^0'=a_28^post_36, ct_18^0'=ct_18^post_36, d_29^0'=d_29^post_36, i_111^0'=i_111^post_36, i_13^0'=i_13^post_36, len_14^0'=len_14^post_36, r_37^0'=r_37^post_36, rcd_100^0'=rcd_100^post_36, rcd_63^0'=rcd_63^post_36, result_11^0'=result_11^post_36, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_36, t_24^0'=t_24^post_36, temp0_16^0'=temp0_16^post_36, temp0_31^0'=temp0_31^post_36, temp_33^0'=temp_33^post_36, tmp_27^0'=tmp_27^post_36, x_15^0'=x_15^post_36, x_17^0'=x_17^post_36, x_21^0'=x_21^post_36, x_32^0'=x_32^post_36, x_SLAM_f_19^0'=x_SLAM_f_19^post_36, y_20^0'=y_20^post_36, [ __disjvr_0^0==__disjvr_0^post_36 && __disjvr_1^0==__disjvr_1^post_36 && __disjvr_10^0==__disjvr_10^post_36 && __disjvr_11^0==__disjvr_11^post_36 && __disjvr_12^0==__disjvr_12^post_36 && __disjvr_2^0==__disjvr_2^post_36 && __disjvr_3^0==__disjvr_3^post_36 && __disjvr_4^0==__disjvr_4^post_36 && __disjvr_5^0==__disjvr_5^post_36 && __disjvr_6^0==__disjvr_6^post_36 && __disjvr_7^0==__disjvr_7^post_36 && __disjvr_8^0==__disjvr_8^post_36 && __disjvr_9^0==__disjvr_9^post_36 && a_130^0==a_130^post_36 && a_152^0==a_152^post_36 && a_175^0==a_175^post_36 && a_28^0==a_28^post_36 && ct_18^0==ct_18^post_36 && d_29^0==d_29^post_36 && i_111^0==i_111^post_36 && i_13^0==i_13^post_36 && len_14^0==len_14^post_36 && r_37^0==r_37^post_36 && rcd_100^0==rcd_100^post_36 && rcd_63^0==rcd_63^post_36 && result_11^0==result_11^post_36 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_36 && t_24^0==t_24^post_36 && temp0_16^0==temp0_16^post_36 && temp0_31^0==temp0_31^post_36 && temp_33^0==temp_33^post_36 && tmp_27^0==tmp_27^post_36 && x_15^0==x_15^post_36 && x_17^0==x_17^post_36 && x_21^0==x_21^post_36 && x_32^0==x_32^post_36 && x_SLAM_f_19^0==x_SLAM_f_19^post_36 && y_20^0==y_20^post_36 ], cost: 1

Checking for constant complexity:
   The following rule is satisfiable with cost >= 1, yielding constant complexity:
     35: l31 -> l10 : __disjvr_0^0'=__disjvr_0^post_36, __disjvr_10^0'=__disjvr_10^post_36, __disjvr_11^0'=__disjvr_11^post_36, __disjvr_12^0'=__disjvr_12^post_36, __disjvr_1^0'=__disjvr_1^post_36, __disjvr_2^0'=__disjvr_2^post_36, __disjvr_3^0'=__disjvr_3^post_36, __disjvr_4^0'=__disjvr_4^post_36, __disjvr_5^0'=__disjvr_5^post_36, __disjvr_6^0'=__disjvr_6^post_36, __disjvr_7^0'=__disjvr_7^post_36, __disjvr_8^0'=__disjvr_8^post_36, __disjvr_9^0'=__disjvr_9^post_36, a_130^0'=a_130^post_36, a_152^0'=a_152^post_36, a_175^0'=a_175^post_36, a_28^0'=a_28^post_36, ct_18^0'=ct_18^post_36, d_29^0'=d_29^post_36, i_111^0'=i_111^post_36, i_13^0'=i_13^post_36, len_14^0'=len_14^post_36, r_37^0'=r_37^post_36, rcd_100^0'=rcd_100^post_36, rcd_63^0'=rcd_63^post_36, result_11^0'=result_11^post_36, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_36, t_24^0'=t_24^post_36, temp0_16^0'=temp0_16^post_36, temp0_31^0'=temp0_31^post_36, temp_33^0'=temp_33^post_36, tmp_27^0'=tmp_27^post_36, x_15^0'=x_15^post_36, x_17^0'=x_17^post_36, x_21^0'=x_21^post_36, x_32^0'=x_32^post_36, x_SLAM_f_19^0'=x_SLAM_f_19^post_36, y_20^0'=y_20^post_36, [ __disjvr_0^0==__disjvr_0^post_36 && __disjvr_1^0==__disjvr_1^post_36 && __disjvr_10^0==__disjvr_10^post_36 && __disjvr_11^0==__disjvr_11^post_36 && __disjvr_12^0==__disjvr_12^post_36 && __disjvr_2^0==__disjvr_2^post_36 && __disjvr_3^0==__disjvr_3^post_36 && __disjvr_4^0==__disjvr_4^post_36 && __disjvr_5^0==__disjvr_5^post_36 && __disjvr_6^0==__disjvr_6^post_36 && __disjvr_7^0==__disjvr_7^post_36 && __disjvr_8^0==__disjvr_8^post_36 && __disjvr_9^0==__disjvr_9^post_36 && a_130^0==a_130^post_36 && a_152^0==a_152^post_36 && a_175^0==a_175^post_36 && a_28^0==a_28^post_36 && ct_18^0==ct_18^post_36 && d_29^0==d_29^post_36 && i_111^0==i_111^post_36 && i_13^0==i_13^post_36 && len_14^0==len_14^post_36 && r_37^0==r_37^post_36 && rcd_100^0==rcd_100^post_36 && rcd_63^0==rcd_63^post_36 && result_11^0==result_11^post_36 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_36 && t_24^0==t_24^post_36 && temp0_16^0==temp0_16^post_36 && temp0_31^0==temp0_31^post_36 && temp_33^0==temp_33^post_36 && tmp_27^0==tmp_27^post_36 && x_15^0==x_15^post_36 && x_17^0==x_17^post_36 && x_21^0==x_21^post_36 && x_32^0==x_32^post_36 && x_SLAM_f_19^0==x_SLAM_f_19^post_36 && y_20^0==y_20^post_36 ], cost: 1

Removed unreachable and leaf rules:
   Start location: l31
     18: l4 -> l20 : __disjvr_0^0'=__disjvr_0^post_19, __disjvr_10^0'=__disjvr_10^post_19, __disjvr_11^0'=__disjvr_11^post_19, __disjvr_12^0'=__disjvr_12^post_19, __disjvr_1^0'=__disjvr_1^post_19, __disjvr_2^0'=__disjvr_2^post_19, __disjvr_3^0'=__disjvr_3^post_19, __disjvr_4^0'=__disjvr_4^post_19, __disjvr_5^0'=__disjvr_5^post_19, __disjvr_6^0'=__disjvr_6^post_19, __disjvr_7^0'=__disjvr_7^post_19, __disjvr_8^0'=__disjvr_8^post_19, __disjvr_9^0'=__disjvr_9^post_19, a_130^0'=a_130^post_19, a_152^0'=a_152^post_19, a_175^0'=a_175^post_19, a_28^0'=a_28^post_19, ct_18^0'=ct_18^post_19, d_29^0'=d_29^post_19, i_111^0'=i_111^post_19, i_13^0'=i_13^post_19, len_14^0'=len_14^post_19, r_37^0'=r_37^post_19, rcd_100^0'=rcd_100^post_19, rcd_63^0'=rcd_63^post_19, result_11^0'=result_11^post_19, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_19, t_24^0'=t_24^post_19, temp0_16^0'=temp0_16^post_19, temp0_31^0'=temp0_31^post_19, temp_33^0'=temp_33^post_19, tmp_27^0'=tmp_27^post_19, x_15^0'=x_15^post_19, x_17^0'=x_17^post_19, x_21^0'=x_21^post_19, x_32^0'=x_32^post_19, x_SLAM_f_19^0'=x_SLAM_f_19^post_19, y_20^0'=y_20^post_19, [ 0<=a_152^0 && i_13^post_19==i_13^post_19 && len_14^post_19==len_14^post_19 && x_15^post_19==x_15^post_19 && x_17^post_19==x_17^post_19 && ct_18^post_19==ct_18^post_19 && x_SLAM_f_19^post_19==x_SLAM_f_19^post_19 && tmp_27^post_19==tmp_27^post_19 && r_37^post_19==r_37^post_19 && __disjvr_0^0==__disjvr_0^post_19 && __disjvr_1^0==__disjvr_1^post_19 && __disjvr_10^0==__disjvr_10^post_19 && __disjvr_11^0==__disjvr_11^post_19 && __disjvr_12^0==__disjvr_12^post_19 && __disjvr_2^0==__disjvr_2^post_19 && __disjvr_3^0==__disjvr_3^post_19 && __disjvr_4^0==__disjvr_4^post_19 && __disjvr_5^0==__disjvr_5^post_19 && __disjvr_6^0==__disjvr_6^post_19 && __disjvr_7^0==__disjvr_7^post_19 && __disjvr_8^0==__disjvr_8^post_19 && __disjvr_9^0==__disjvr_9^post_19 && a_130^0==a_130^post_19 && a_152^0==a_152^post_19 && a_175^0==a_175^post_19 && a_28^0==a_28^post_19 && d_29^0==d_29^post_19 && i_111^0==i_111^post_19 && rcd_100^0==rcd_100^post_19 && rcd_63^0==rcd_63^post_19 && result_11^0==result_11^post_19 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_19 && t_24^0==t_24^post_19 && temp0_16^0==temp0_16^post_19 && temp0_31^0==temp0_31^post_19 && temp_33^0==temp_33^post_19 && x_21^0==x_21^post_19 && x_32^0==x_32^post_19 && y_20^0==y_20^post_19 ], cost: 1
      9: l10 -> l11 : __disjvr_0^0'=__disjvr_0^post_10, __disjvr_10^0'=__disjvr_10^post_10, __disjvr_11^0'=__disjvr_11^post_10, __disjvr_12^0'=__disjvr_12^post_10, __disjvr_1^0'=__disjvr_1^post_10, __disjvr_2^0'=__disjvr_2^post_10, __disjvr_3^0'=__disjvr_3^post_10, __disjvr_4^0'=__disjvr_4^post_10, __disjvr_5^0'=__disjvr_5^post_10, __disjvr_6^0'=__disjvr_6^post_10, __disjvr_7^0'=__disjvr_7^post_10, __disjvr_8^0'=__disjvr_8^post_10, __disjvr_9^0'=__disjvr_9^post_10, a_130^0'=a_130^post_10, a_152^0'=a_152^post_10, a_175^0'=a_175^post_10, a_28^0'=a_28^post_10, ct_18^0'=ct_18^post_10, d_29^0'=d_29^post_10, i_111^0'=i_111^post_10, i_13^0'=i_13^post_10, len_14^0'=len_14^post_10, r_37^0'=r_37^post_10, rcd_100^0'=rcd_100^post_10, rcd_63^0'=rcd_63^post_10, result_11^0'=result_11^post_10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_10, t_24^0'=t_24^post_10, temp0_16^0'=temp0_16^post_10, temp0_31^0'=temp0_31^post_10, temp_33^0'=temp_33^post_10, tmp_27^0'=tmp_27^post_10, x_15^0'=x_15^post_10, x_17^0'=x_17^post_10, x_21^0'=x_21^post_10, x_32^0'=x_32^post_10, x_SLAM_f_19^0'=x_SLAM_f_19^post_10, y_20^0'=y_20^post_10, [ x_15^post_10==0 && i_13^post_10==0 && 0<=i_13^post_10 && i_13^post_10<=0 && 0<=x_15^post_10 && x_15^post_10<=0 && __disjvr_0^0==__disjvr_0^post_10 && __disjvr_1^0==__disjvr_1^post_10 && __disjvr_10^0==__disjvr_10^post_10 && __disjvr_11^0==__disjvr_11^post_10 && __disjvr_12^0==__disjvr_12^post_10 && __disjvr_2^0==__disjvr_2^post_10 && __disjvr_3^0==__disjvr_3^post_10 && __disjvr_4^0==__disjvr_4^post_10 && __disjvr_5^0==__disjvr_5^post_10 && __disjvr_6^0==__disjvr_6^post_10 && __disjvr_7^0==__disjvr_7^post_10 && __disjvr_8^0==__disjvr_8^post_10 && __disjvr_9^0==__disjvr_9^post_10 && a_130^0==a_130^post_10 && a_152^0==a_152^post_10 && a_175^0==a_175^post_10 && a_28^0==a_28^post_10 && ct_18^0==ct_18^post_10 && d_29^0==d_29^post_10 && i_111^0==i_111^post_10 && len_14^0==len_14^post_10 && r_37^0==r_37^post_10 && rcd_100^0==rcd_100^post_10 && rcd_63^0==rcd_63^post_10 && result_11^0==result_11^post_10 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_10 && t_24^0==t_24^post_10 && temp0_16^0==temp0_16^post_10 && temp0_31^0==temp0_31^post_10 && temp_33^0==temp_33^post_10 && tmp_27^0==tmp_27^post_10 && x_17^0==x_17^post_10 && x_21^0==x_21^post_10 && x_32^0==x_32^post_10 && x_SLAM_f_19^0==x_SLAM_f_19^post_10 && y_20^0==y_20^post_10 ], cost: 1
     34: l11 -> l12 : __disjvr_0^0'=__disjvr_0^post_35, __disjvr_10^0'=__disjvr_10^post_35, __disjvr_11^0'=__disjvr_11^post_35, __disjvr_12^0'=__disjvr_12^post_35, __disjvr_1^0'=__disjvr_1^post_35, __disjvr_2^0'=__disjvr_2^post_35, __disjvr_3^0'=__disjvr_3^post_35, __disjvr_4^0'=__disjvr_4^post_35, __disjvr_5^0'=__disjvr_5^post_35, __disjvr_6^0'=__disjvr_6^post_35, __disjvr_7^0'=__disjvr_7^post_35, __disjvr_8^0'=__disjvr_8^post_35, __disjvr_9^0'=__disjvr_9^post_35, a_130^0'=a_130^post_35, a_152^0'=a_152^post_35, a_175^0'=a_175^post_35, a_28^0'=a_28^post_35, ct_18^0'=ct_18^post_35, d_29^0'=d_29^post_35, i_111^0'=i_111^post_35, i_13^0'=i_13^post_35, len_14^0'=len_14^post_35, r_37^0'=r_37^post_35, rcd_100^0'=rcd_100^post_35, rcd_63^0'=rcd_63^post_35, result_11^0'=result_11^post_35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_35, t_24^0'=t_24^post_35, temp0_16^0'=temp0_16^post_35, temp0_31^0'=temp0_31^post_35, temp_33^0'=temp_33^post_35, tmp_27^0'=tmp_27^post_35, x_15^0'=x_15^post_35, x_17^0'=x_17^post_35, x_21^0'=x_21^post_35, x_32^0'=x_32^post_35, x_SLAM_f_19^0'=x_SLAM_f_19^post_35, y_20^0'=y_20^post_35, [ 1+i_13^0<=len_14^0 && a_28^1_3==i_13^0 && d_29^1_3_1==x_15^0 && x_32^1_3_1==temp_33^0 && temp_33^1_3_1==temp_33^1_3_1 && temp0_31^1_3_1==x_32^1_3_1 && result_11^1_3_1==temp0_31^1_3_1 && a_28^post_35==a_28^post_35 && d_29^post_35==d_29^post_35 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_35==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_35 && temp0_31^post_35==temp0_31^post_35 && x_32^post_35==x_32^post_35 && temp_33^post_35==temp_33^post_35 && tmp_27^post_35==result_11^1_3_1 && result_11^post_35==result_11^post_35 && x_15^post_35==tmp_27^post_35 && i_13^post_35==1+i_13^0 && 1<=i_13^post_35 && i_13^post_35<=1 && x_15^post_35<=tmp_27^post_35 && tmp_27^post_35<=x_15^post_35 && 1<=len_14^0 && __disjvr_0^0==__disjvr_0^post_35 && __disjvr_1^0==__disjvr_1^post_35 && __disjvr_10^0==__disjvr_10^post_35 && __disjvr_11^0==__disjvr_11^post_35 && __disjvr_12^0==__disjvr_12^post_35 && __disjvr_2^0==__disjvr_2^post_35 && __disjvr_3^0==__disjvr_3^post_35 && __disjvr_4^0==__disjvr_4^post_35 && __disjvr_5^0==__disjvr_5^post_35 && __disjvr_6^0==__disjvr_6^post_35 && __disjvr_7^0==__disjvr_7^post_35 && __disjvr_8^0==__disjvr_8^post_35 && __disjvr_9^0==__disjvr_9^post_35 && a_130^0==a_130^post_35 && a_152^0==a_152^post_35 && a_175^0==a_175^post_35 && ct_18^0==ct_18^post_35 && i_111^0==i_111^post_35 && len_14^0==len_14^post_35 && r_37^0==r_37^post_35 && rcd_100^0==rcd_100^post_35 && rcd_63^0==rcd_63^post_35 && t_24^0==t_24^post_35 && temp0_16^0==temp0_16^post_35 && x_17^0==x_17^post_35 && x_21^0==x_21^post_35 && x_SLAM_f_19^0==x_SLAM_f_19^post_35 && y_20^0==y_20^post_35 ], cost: 1
     16: l12 -> l18 : __disjvr_0^0'=__disjvr_0^post_17, __disjvr_10^0'=__disjvr_10^post_17, __disjvr_11^0'=__disjvr_11^post_17, __disjvr_12^0'=__disjvr_12^post_17, __disjvr_1^0'=__disjvr_1^post_17, __disjvr_2^0'=__disjvr_2^post_17, __disjvr_3^0'=__disjvr_3^post_17, __disjvr_4^0'=__disjvr_4^post_17, __disjvr_5^0'=__disjvr_5^post_17, __disjvr_6^0'=__disjvr_6^post_17, __disjvr_7^0'=__disjvr_7^post_17, __disjvr_8^0'=__disjvr_8^post_17, __disjvr_9^0'=__disjvr_9^post_17, a_130^0'=a_130^post_17, a_152^0'=a_152^post_17, a_175^0'=a_175^post_17, a_28^0'=a_28^post_17, ct_18^0'=ct_18^post_17, d_29^0'=d_29^post_17, i_111^0'=i_111^post_17, i_13^0'=i_13^post_17, len_14^0'=len_14^post_17, r_37^0'=r_37^post_17, rcd_100^0'=rcd_100^post_17, rcd_63^0'=rcd_63^post_17, result_11^0'=result_11^post_17, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_17, t_24^0'=t_24^post_17, temp0_16^0'=temp0_16^post_17, temp0_31^0'=temp0_31^post_17, temp_33^0'=temp_33^post_17, tmp_27^0'=tmp_27^post_17, x_15^0'=x_15^post_17, x_17^0'=x_17^post_17, x_21^0'=x_21^post_17, x_32^0'=x_32^post_17, x_SLAM_f_19^0'=x_SLAM_f_19^post_17, y_20^0'=y_20^post_17, [ rcd_63^post_17==rcd_63^post_17 && 1+i_13^0<=len_14^0 && a_28^1_1==i_13^0 && d_29^1_1==x_15^0 && x_32^1_1==temp_33^0 && temp_33^1_1==temp_33^1_1 && temp0_31^1_1==x_32^1_1 && result_11^1_1==temp0_31^1_1 && a_28^post_17==a_28^post_17 && d_29^post_17==d_29^post_17 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_17==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_17 && temp0_31^post_17==temp0_31^post_17 && x_32^post_17==x_32^post_17 && temp_33^post_17==temp_33^post_17 && tmp_27^post_17==result_11^1_1 && result_11^post_17==result_11^post_17 && x_15^post_17==tmp_27^post_17 && i_13^post_17==1+i_13^0 && 2<=i_13^post_17 && i_13^post_17<=2 && x_15^post_17<=tmp_27^post_17 && tmp_27^post_17<=x_15^post_17 && 1<=len_14^0 && 2<=len_14^0 && __disjvr_0^0==__disjvr_0^post_17 && __disjvr_1^0==__disjvr_1^post_17 && __disjvr_10^0==__disjvr_10^post_17 && __disjvr_11^0==__disjvr_11^post_17 && __disjvr_12^0==__disjvr_12^post_17 && __disjvr_2^0==__disjvr_2^post_17 && __disjvr_3^0==__disjvr_3^post_17 && __disjvr_4^0==__disjvr_4^post_17 && __disjvr_5^0==__disjvr_5^post_17 && __disjvr_6^0==__disjvr_6^post_17 && __disjvr_7^0==__disjvr_7^post_17 && __disjvr_8^0==__disjvr_8^post_17 && __disjvr_9^0==__disjvr_9^post_17 && a_130^0==a_130^post_17 && a_152^0==a_152^post_17 && a_175^0==a_175^post_17 && ct_18^0==ct_18^post_17 && i_111^0==i_111^post_17 && len_14^0==len_14^post_17 && r_37^0==r_37^post_17 && rcd_100^0==rcd_100^post_17 && t_24^0==t_24^post_17 && temp0_16^0==temp0_16^post_17 && x_17^0==x_17^post_17 && x_21^0==x_21^post_17 && x_SLAM_f_19^0==x_SLAM_f_19^post_17 && y_20^0==y_20^post_17 ], cost: 1
     25: l18 -> l25 : __disjvr_0^0'=__disjvr_0^post_26, __disjvr_10^0'=__disjvr_10^post_26, __disjvr_11^0'=__disjvr_11^post_26, __disjvr_12^0'=__disjvr_12^post_26, __disjvr_1^0'=__disjvr_1^post_26, __disjvr_2^0'=__disjvr_2^post_26, __disjvr_3^0'=__disjvr_3^post_26, __disjvr_4^0'=__disjvr_4^post_26, __disjvr_5^0'=__disjvr_5^post_26, __disjvr_6^0'=__disjvr_6^post_26, __disjvr_7^0'=__disjvr_7^post_26, __disjvr_8^0'=__disjvr_8^post_26, __disjvr_9^0'=__disjvr_9^post_26, a_130^0'=a_130^post_26, a_152^0'=a_152^post_26, a_175^0'=a_175^post_26, a_28^0'=a_28^post_26, ct_18^0'=ct_18^post_26, d_29^0'=d_29^post_26, i_111^0'=i_111^post_26, i_13^0'=i_13^post_26, len_14^0'=len_14^post_26, r_37^0'=r_37^post_26, rcd_100^0'=rcd_100^post_26, rcd_63^0'=rcd_63^post_26, result_11^0'=result_11^post_26, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_26, t_24^0'=t_24^post_26, temp0_16^0'=temp0_16^post_26, temp0_31^0'=temp0_31^post_26, temp_33^0'=temp_33^post_26, tmp_27^0'=tmp_27^post_26, x_15^0'=x_15^post_26, x_17^0'=x_17^post_26, x_21^0'=x_21^post_26, x_32^0'=x_32^post_26, x_SLAM_f_19^0'=x_SLAM_f_19^post_26, y_20^0'=y_20^post_26, [ 0<=i_13^0 && len_14^0<=i_13^0 && x_17^1_2_1==x_15^0 && ct_18^1_5==0 && x_SLAM_f_19^1_5_1==x_17^1_2_1 && y_20^post_26==ct_18^1_5 && x_21^post_26==x_SLAM_f_19^1_5_1 && 0<=i_13^0 && i_13^post_26==i_13^post_26 && len_14^post_26==len_14^post_26 && x_15^post_26==x_15^post_26 && x_17^post_26==x_17^post_26 && ct_18^post_26==ct_18^post_26 && x_SLAM_f_19^post_26==x_SLAM_f_19^post_26 && tmp_27^post_26==tmp_27^post_26 && __disjvr_0^0==__disjvr_0^post_26 && __disjvr_1^0==__disjvr_1^post_26 && __disjvr_10^0==__disjvr_10^post_26 && __disjvr_11^0==__disjvr_11^post_26 && __disjvr_12^0==__disjvr_12^post_26 && __disjvr_2^0==__disjvr_2^post_26 && __disjvr_3^0==__disjvr_3^post_26 && __disjvr_4^0==__disjvr_4^post_26 && __disjvr_5^0==__disjvr_5^post_26 && __disjvr_6^0==__disjvr_6^post_26 && __disjvr_7^0==__disjvr_7^post_26 && __disjvr_8^0==__disjvr_8^post_26 && __disjvr_9^0==__disjvr_9^post_26 && a_130^0==a_130^post_26 && a_152^0==a_152^post_26 && a_175^0==a_175^post_26 && a_28^0==a_28^post_26 && d_29^0==d_29^post_26 && i_111^0==i_111^post_26 && r_37^0==r_37^post_26 && rcd_100^0==rcd_100^post_26 && rcd_63^0==rcd_63^post_26 && result_11^0==result_11^post_26 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_26 && t_24^0==t_24^post_26 && temp0_16^0==temp0_16^post_26 && temp0_31^0==temp0_31^post_26 && temp_33^0==temp_33^post_26 && x_32^0==x_32^post_26 ], cost: 1
     31: l18 -> l30 : __disjvr_0^0'=__disjvr_0^post_32, __disjvr_10^0'=__disjvr_10^post_32, __disjvr_11^0'=__disjvr_11^post_32, __disjvr_12^0'=__disjvr_12^post_32, __disjvr_1^0'=__disjvr_1^post_32, __disjvr_2^0'=__disjvr_2^post_32, __disjvr_3^0'=__disjvr_3^post_32, __disjvr_4^0'=__disjvr_4^post_32, __disjvr_5^0'=__disjvr_5^post_32, __disjvr_6^0'=__disjvr_6^post_32, __disjvr_7^0'=__disjvr_7^post_32, __disjvr_8^0'=__disjvr_8^post_32, __disjvr_9^0'=__disjvr_9^post_32, a_130^0'=a_130^post_32, a_152^0'=a_152^post_32, a_175^0'=a_175^post_32, a_28^0'=a_28^post_32, ct_18^0'=ct_18^post_32, d_29^0'=d_29^post_32, i_111^0'=i_111^post_32, i_13^0'=i_13^post_32, len_14^0'=len_14^post_32, r_37^0'=r_37^post_32, rcd_100^0'=rcd_100^post_32, rcd_63^0'=rcd_63^post_32, result_11^0'=result_11^post_32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_32, t_24^0'=t_24^post_32, temp0_16^0'=temp0_16^post_32, temp0_31^0'=temp0_31^post_32, temp_33^0'=temp_33^post_32, tmp_27^0'=tmp_27^post_32, x_15^0'=x_15^post_32, x_17^0'=x_17^post_32, x_21^0'=x_21^post_32, x_32^0'=x_32^post_32, x_SLAM_f_19^0'=x_SLAM_f_19^post_32, y_20^0'=y_20^post_32, [ 0<=i_13^0 && rcd_100^post_32==rcd_100^post_32 && i_111^post_32==i_111^post_32 && 1+i_13^0<=len_14^0 && a_28^1_2==i_13^0 && d_29^1_2_1==x_15^0 && x_32^1_2_1==temp_33^0 && temp_33^1_2_1==temp_33^1_2_1 && temp0_31^1_2_1==x_32^1_2_1 && result_11^1_2_1==temp0_31^1_2_1 && a_28^post_32==a_28^post_32 && d_29^post_32==d_29^post_32 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_32==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_32 && temp0_31^post_32==temp0_31^post_32 && x_32^post_32==x_32^post_32 && temp_33^post_32==temp_33^post_32 && tmp_27^post_32==result_11^1_2_1 && result_11^post_32==result_11^post_32 && x_15^post_32==tmp_27^post_32 && i_13^post_32==1+i_13^0 && i_13^post_32<=1+i_111^post_32 && 1+i_111^post_32<=i_13^post_32 && i_111^post_32<=-1+i_13^post_32 && -1+i_13^post_32<=i_111^post_32 && 1+i_111^post_32<=len_14^0 && __disjvr_0^0==__disjvr_0^post_32 && __disjvr_1^0==__disjvr_1^post_32 && __disjvr_10^0==__disjvr_10^post_32 && __disjvr_11^0==__disjvr_11^post_32 && __disjvr_12^0==__disjvr_12^post_32 && __disjvr_2^0==__disjvr_2^post_32 && __disjvr_3^0==__disjvr_3^post_32 && __disjvr_4^0==__disjvr_4^post_32 && __disjvr_5^0==__disjvr_5^post_32 && __disjvr_6^0==__disjvr_6^post_32 && __disjvr_7^0==__disjvr_7^post_32 && __disjvr_8^0==__disjvr_8^post_32 && __disjvr_9^0==__disjvr_9^post_32 && a_130^0==a_130^post_32 && a_152^0==a_152^post_32 && a_175^0==a_175^post_32 && ct_18^0==ct_18^post_32 && len_14^0==len_14^post_32 && r_37^0==r_37^post_32 && rcd_63^0==rcd_63^post_32 && t_24^0==t_24^post_32 && temp0_16^0==temp0_16^post_32 && x_17^0==x_17^post_32 && x_21^0==x_21^post_32 && x_SLAM_f_19^0==x_SLAM_f_19^post_32 && y_20^0==y_20^post_32 ], cost: 1
     19: l20 -> l21 : __disjvr_0^0'=__disjvr_0^post_20, __disjvr_10^0'=__disjvr_10^post_20, __disjvr_11^0'=__disjvr_11^post_20, __disjvr_12^0'=__disjvr_12^post_20, __disjvr_1^0'=__disjvr_1^post_20, __disjvr_2^0'=__disjvr_2^post_20, __disjvr_3^0'=__disjvr_3^post_20, __disjvr_4^0'=__disjvr_4^post_20, __disjvr_5^0'=__disjvr_5^post_20, __disjvr_6^0'=__disjvr_6^post_20, __disjvr_7^0'=__disjvr_7^post_20, __disjvr_8^0'=__disjvr_8^post_20, __disjvr_9^0'=__disjvr_9^post_20, a_130^0'=a_130^post_20, a_152^0'=a_152^post_20, a_175^0'=a_175^post_20, a_28^0'=a_28^post_20, ct_18^0'=ct_18^post_20, d_29^0'=d_29^post_20, i_111^0'=i_111^post_20, i_13^0'=i_13^post_20, len_14^0'=len_14^post_20, r_37^0'=r_37^post_20, rcd_100^0'=rcd_100^post_20, rcd_63^0'=rcd_63^post_20, result_11^0'=result_11^post_20, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_20, t_24^0'=t_24^post_20, temp0_16^0'=temp0_16^post_20, temp0_31^0'=temp0_31^post_20, temp_33^0'=temp_33^post_20, tmp_27^0'=tmp_27^post_20, x_15^0'=x_15^post_20, x_17^0'=x_17^post_20, x_21^0'=x_21^post_20, x_32^0'=x_32^post_20, x_SLAM_f_19^0'=x_SLAM_f_19^post_20, y_20^0'=y_20^post_20, [ __disjvr_7^post_20==__disjvr_7^0 && __disjvr_0^0==__disjvr_0^post_20 && __disjvr_1^0==__disjvr_1^post_20 && __disjvr_10^0==__disjvr_10^post_20 && __disjvr_11^0==__disjvr_11^post_20 && __disjvr_12^0==__disjvr_12^post_20 && __disjvr_2^0==__disjvr_2^post_20 && __disjvr_3^0==__disjvr_3^post_20 && __disjvr_4^0==__disjvr_4^post_20 && __disjvr_5^0==__disjvr_5^post_20 && __disjvr_6^0==__disjvr_6^post_20 && __disjvr_7^0==__disjvr_7^post_20 && __disjvr_8^0==__disjvr_8^post_20 && __disjvr_9^0==__disjvr_9^post_20 && a_130^0==a_130^post_20 && a_152^0==a_152^post_20 && a_175^0==a_175^post_20 && a_28^0==a_28^post_20 && ct_18^0==ct_18^post_20 && d_29^0==d_29^post_20 && i_111^0==i_111^post_20 && i_13^0==i_13^post_20 && len_14^0==len_14^post_20 && r_37^0==r_37^post_20 && rcd_100^0==rcd_100^post_20 && rcd_63^0==rcd_63^post_20 && result_11^0==result_11^post_20 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_20 && t_24^0==t_24^post_20 && temp0_16^0==temp0_16^post_20 && temp0_31^0==temp0_31^post_20 && temp_33^0==temp_33^post_20 && tmp_27^0==tmp_27^post_20 && x_15^0==x_15^post_20 && x_17^0==x_17^post_20 && x_21^0==x_21^post_20 && x_32^0==x_32^post_20 && x_SLAM_f_19^0==x_SLAM_f_19^post_20 && y_20^0==y_20^post_20 ], cost: 1
     20: l21 -> l22 : __disjvr_0^0'=__disjvr_0^post_21, __disjvr_10^0'=__disjvr_10^post_21, __disjvr_11^0'=__disjvr_11^post_21, __disjvr_12^0'=__disjvr_12^post_21, __disjvr_1^0'=__disjvr_1^post_21, __disjvr_2^0'=__disjvr_2^post_21, __disjvr_3^0'=__disjvr_3^post_21, __disjvr_4^0'=__disjvr_4^post_21, __disjvr_5^0'=__disjvr_5^post_21, __disjvr_6^0'=__disjvr_6^post_21, __disjvr_7^0'=__disjvr_7^post_21, __disjvr_8^0'=__disjvr_8^post_21, __disjvr_9^0'=__disjvr_9^post_21, a_130^0'=a_130^post_21, a_152^0'=a_152^post_21, a_175^0'=a_175^post_21, a_28^0'=a_28^post_21, ct_18^0'=ct_18^post_21, d_29^0'=d_29^post_21, i_111^0'=i_111^post_21, i_13^0'=i_13^post_21, len_14^0'=len_14^post_21, r_37^0'=r_37^post_21, rcd_100^0'=rcd_100^post_21, rcd_63^0'=rcd_63^post_21, result_11^0'=result_11^post_21, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_21, t_24^0'=t_24^post_21, temp0_16^0'=temp0_16^post_21, temp0_31^0'=temp0_31^post_21, temp_33^0'=temp_33^post_21, tmp_27^0'=tmp_27^post_21, x_15^0'=x_15^post_21, x_17^0'=x_17^post_21, x_21^0'=x_21^post_21, x_32^0'=x_32^post_21, x_SLAM_f_19^0'=x_SLAM_f_19^post_21, y_20^0'=y_20^post_21, [ t_24^post_21==x_21^0 && a_175^post_21==a_175^post_21 && 0<=ct_18^0 && ct_18^0<=0 && 0<=y_20^0 && y_20^0<=0 && x_15^0<=x_17^0 && x_17^0<=x_15^0 && x_15^0<=x_SLAM_f_19^0 && x_SLAM_f_19^0<=x_15^0 && x_15^0<=tmp_27^0 && tmp_27^0<=x_15^0 && x_17^0<=x_SLAM_f_19^0 && x_SLAM_f_19^0<=x_17^0 && ct_18^0<=y_20^0 && y_20^0<=ct_18^0 && a_175^post_21<=-1+a_152^0 && -1+a_152^0<=a_175^post_21 && __disjvr_0^0==__disjvr_0^post_21 && __disjvr_1^0==__disjvr_1^post_21 && __disjvr_10^0==__disjvr_10^post_21 && __disjvr_11^0==__disjvr_11^post_21 && __disjvr_12^0==__disjvr_12^post_21 && __disjvr_2^0==__disjvr_2^post_21 && __disjvr_3^0==__disjvr_3^post_21 && __disjvr_4^0==__disjvr_4^post_21 && __disjvr_5^0==__disjvr_5^post_21 && __disjvr_6^0==__disjvr_6^post_21 && __disjvr_7^0==__disjvr_7^post_21 && __disjvr_8^0==__disjvr_8^post_21 && __disjvr_9^0==__disjvr_9^post_21 && a_130^0==a_130^post_21 && a_152^0==a_152^post_21 && a_28^0==a_28^post_21 && ct_18^0==ct_18^post_21 && d_29^0==d_29^post_21 && i_111^0==i_111^post_21 && i_13^0==i_13^post_21 && len_14^0==len_14^post_21 && r_37^0==r_37^post_21 && rcd_100^0==rcd_100^post_21 && rcd_63^0==rcd_63^post_21 && result_11^0==result_11^post_21 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_21 && temp0_16^0==temp0_16^post_21 && temp0_31^0==temp0_31^post_21 && temp_33^0==temp_33^post_21 && tmp_27^0==tmp_27^post_21 && x_15^0==x_15^post_21 && x_17^0==x_17^post_21 && x_21^0==x_21^post_21 && x_32^0==x_32^post_21 && x_SLAM_f_19^0==x_SLAM_f_19^post_21 && y_20^0==y_20^post_21 ], cost: 1
     21: l22 -> l23 : __disjvr_0^0'=__disjvr_0^post_22, __disjvr_10^0'=__disjvr_10^post_22, __disjvr_11^0'=__disjvr_11^post_22, __disjvr_12^0'=__disjvr_12^post_22, __disjvr_1^0'=__disjvr_1^post_22, __disjvr_2^0'=__disjvr_2^post_22, __disjvr_3^0'=__disjvr_3^post_22, __disjvr_4^0'=__disjvr_4^post_22, __disjvr_5^0'=__disjvr_5^post_22, __disjvr_6^0'=__disjvr_6^post_22, __disjvr_7^0'=__disjvr_7^post_22, __disjvr_8^0'=__disjvr_8^post_22, __disjvr_9^0'=__disjvr_9^post_22, a_130^0'=a_130^post_22, a_152^0'=a_152^post_22, a_175^0'=a_175^post_22, a_28^0'=a_28^post_22, ct_18^0'=ct_18^post_22, d_29^0'=d_29^post_22, i_111^0'=i_111^post_22, i_13^0'=i_13^post_22, len_14^0'=len_14^post_22, r_37^0'=r_37^post_22, rcd_100^0'=rcd_100^post_22, rcd_63^0'=rcd_63^post_22, result_11^0'=result_11^post_22, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_22, t_24^0'=t_24^post_22, temp0_16^0'=temp0_16^post_22, temp0_31^0'=temp0_31^post_22, temp_33^0'=temp_33^post_22, tmp_27^0'=tmp_27^post_22, x_15^0'=x_15^post_22, x_17^0'=x_17^post_22, x_21^0'=x_21^post_22, x_32^0'=x_32^post_22, x_SLAM_f_19^0'=x_SLAM_f_19^post_22, y_20^0'=y_20^post_22, [ __disjvr_8^post_22==__disjvr_8^0 && __disjvr_0^0==__disjvr_0^post_22 && __disjvr_1^0==__disjvr_1^post_22 && __disjvr_10^0==__disjvr_10^post_22 && __disjvr_11^0==__disjvr_11^post_22 && __disjvr_12^0==__disjvr_12^post_22 && __disjvr_2^0==__disjvr_2^post_22 && __disjvr_3^0==__disjvr_3^post_22 && __disjvr_4^0==__disjvr_4^post_22 && __disjvr_5^0==__disjvr_5^post_22 && __disjvr_6^0==__disjvr_6^post_22 && __disjvr_7^0==__disjvr_7^post_22 && __disjvr_8^0==__disjvr_8^post_22 && __disjvr_9^0==__disjvr_9^post_22 && a_130^0==a_130^post_22 && a_152^0==a_152^post_22 && a_175^0==a_175^post_22 && a_28^0==a_28^post_22 && ct_18^0==ct_18^post_22 && d_29^0==d_29^post_22 && i_111^0==i_111^post_22 && i_13^0==i_13^post_22 && len_14^0==len_14^post_22 && r_37^0==r_37^post_22 && rcd_100^0==rcd_100^post_22 && rcd_63^0==rcd_63^post_22 && result_11^0==result_11^post_22 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_22 && t_24^0==t_24^post_22 && temp0_16^0==temp0_16^post_22 && temp0_31^0==temp0_31^post_22 && temp_33^0==temp_33^post_22 && tmp_27^0==tmp_27^post_22 && x_15^0==x_15^post_22 && x_17^0==x_17^post_22 && x_21^0==x_21^post_22 && x_32^0==x_32^post_22 && x_SLAM_f_19^0==x_SLAM_f_19^post_22 && y_20^0==y_20^post_22 ], cost: 1
     22: l23 -> l24 : __disjvr_0^0'=__disjvr_0^post_23, __disjvr_10^0'=__disjvr_10^post_23, __disjvr_11^0'=__disjvr_11^post_23, __disjvr_12^0'=__disjvr_12^post_23, __disjvr_1^0'=__disjvr_1^post_23, __disjvr_2^0'=__disjvr_2^post_23, __disjvr_3^0'=__disjvr_3^post_23, __disjvr_4^0'=__disjvr_4^post_23, __disjvr_5^0'=__disjvr_5^post_23, __disjvr_6^0'=__disjvr_6^post_23, __disjvr_7^0'=__disjvr_7^post_23, __disjvr_8^0'=__disjvr_8^post_23, __disjvr_9^0'=__disjvr_9^post_23, a_130^0'=a_130^post_23, a_152^0'=a_152^post_23, a_175^0'=a_175^post_23, a_28^0'=a_28^post_23, ct_18^0'=ct_18^post_23, d_29^0'=d_29^post_23, i_111^0'=i_111^post_23, i_13^0'=i_13^post_23, len_14^0'=len_14^post_23, r_37^0'=r_37^post_23, rcd_100^0'=rcd_100^post_23, rcd_63^0'=rcd_63^post_23, result_11^0'=result_11^post_23, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_23, t_24^0'=t_24^post_23, temp0_16^0'=temp0_16^post_23, temp0_31^0'=temp0_31^post_23, temp_33^0'=temp_33^post_23, tmp_27^0'=tmp_27^post_23, x_15^0'=x_15^post_23, x_17^0'=x_17^post_23, x_21^0'=x_21^post_23, x_32^0'=x_32^post_23, x_SLAM_f_19^0'=x_SLAM_f_19^post_23, y_20^0'=y_20^post_23, [ __disjvr_9^post_23==__disjvr_9^0 && __disjvr_0^0==__disjvr_0^post_23 && __disjvr_1^0==__disjvr_1^post_23 && __disjvr_10^0==__disjvr_10^post_23 && __disjvr_11^0==__disjvr_11^post_23 && __disjvr_12^0==__disjvr_12^post_23 && __disjvr_2^0==__disjvr_2^post_23 && __disjvr_3^0==__disjvr_3^post_23 && __disjvr_4^0==__disjvr_4^post_23 && __disjvr_5^0==__disjvr_5^post_23 && __disjvr_6^0==__disjvr_6^post_23 && __disjvr_7^0==__disjvr_7^post_23 && __disjvr_8^0==__disjvr_8^post_23 && __disjvr_9^0==__disjvr_9^post_23 && a_130^0==a_130^post_23 && a_152^0==a_152^post_23 && a_175^0==a_175^post_23 && a_28^0==a_28^post_23 && ct_18^0==ct_18^post_23 && d_29^0==d_29^post_23 && i_111^0==i_111^post_23 && i_13^0==i_13^post_23 && len_14^0==len_14^post_23 && r_37^0==r_37^post_23 && rcd_100^0==rcd_100^post_23 && rcd_63^0==rcd_63^post_23 && result_11^0==result_11^post_23 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_23 && t_24^0==t_24^post_23 && temp0_16^0==temp0_16^post_23 && temp0_31^0==temp0_31^post_23 && temp_33^0==temp_33^post_23 && tmp_27^0==tmp_27^post_23 && x_15^0==x_15^post_23 && x_17^0==x_17^post_23 && x_21^0==x_21^post_23 && x_32^0==x_32^post_23 && x_SLAM_f_19^0==x_SLAM_f_19^post_23 && y_20^0==y_20^post_23 ], cost: 1
     23: l24 -> l19 : __disjvr_0^0'=__disjvr_0^post_24, __disjvr_10^0'=__disjvr_10^post_24, __disjvr_11^0'=__disjvr_11^post_24, __disjvr_12^0'=__disjvr_12^post_24, __disjvr_1^0'=__disjvr_1^post_24, __disjvr_2^0'=__disjvr_2^post_24, __disjvr_3^0'=__disjvr_3^post_24, __disjvr_4^0'=__disjvr_4^post_24, __disjvr_5^0'=__disjvr_5^post_24, __disjvr_6^0'=__disjvr_6^post_24, __disjvr_7^0'=__disjvr_7^post_24, __disjvr_8^0'=__disjvr_8^post_24, __disjvr_9^0'=__disjvr_9^post_24, a_130^0'=a_130^post_24, a_152^0'=a_152^post_24, a_175^0'=a_175^post_24, a_28^0'=a_28^post_24, ct_18^0'=ct_18^post_24, d_29^0'=d_29^post_24, i_111^0'=i_111^post_24, i_13^0'=i_13^post_24, len_14^0'=len_14^post_24, r_37^0'=r_37^post_24, rcd_100^0'=rcd_100^post_24, rcd_63^0'=rcd_63^post_24, result_11^0'=result_11^post_24, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_24, t_24^0'=t_24^post_24, temp0_16^0'=temp0_16^post_24, temp0_31^0'=temp0_31^post_24, temp_33^0'=temp_33^post_24, tmp_27^0'=tmp_27^post_24, x_15^0'=x_15^post_24, x_17^0'=x_17^post_24, x_21^0'=x_21^post_24, x_32^0'=x_32^post_24, x_SLAM_f_19^0'=x_SLAM_f_19^post_24, y_20^0'=y_20^post_24, [ 1<=len_14^0 && 2<=len_14^0 && len_14^0<=i_13^0 && a_152^post_24==a_152^post_24 && a_152^post_24<=a_175^0 && a_175^0<=a_152^post_24 && __disjvr_0^0==__disjvr_0^post_24 && __disjvr_1^0==__disjvr_1^post_24 && __disjvr_10^0==__disjvr_10^post_24 && __disjvr_11^0==__disjvr_11^post_24 && __disjvr_12^0==__disjvr_12^post_24 && __disjvr_2^0==__disjvr_2^post_24 && __disjvr_3^0==__disjvr_3^post_24 && __disjvr_4^0==__disjvr_4^post_24 && __disjvr_5^0==__disjvr_5^post_24 && __disjvr_6^0==__disjvr_6^post_24 && __disjvr_7^0==__disjvr_7^post_24 && __disjvr_8^0==__disjvr_8^post_24 && __disjvr_9^0==__disjvr_9^post_24 && a_130^0==a_130^post_24 && a_175^0==a_175^post_24 && a_28^0==a_28^post_24 && ct_18^0==ct_18^post_24 && d_29^0==d_29^post_24 && i_111^0==i_111^post_24 && i_13^0==i_13^post_24 && len_14^0==len_14^post_24 && r_37^0==r_37^post_24 && rcd_100^0==rcd_100^post_24 && rcd_63^0==rcd_63^post_24 && result_11^0==result_11^post_24 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_24 && t_24^0==t_24^post_24 && temp0_16^0==temp0_16^post_24 && temp0_31^0==temp0_31^post_24 && temp_33^0==temp_33^post_24 && tmp_27^0==tmp_27^post_24 && x_15^0==x_15^post_24 && x_17^0==x_17^post_24 && x_21^0==x_21^post_24 && x_32^0==x_32^post_24 && x_SLAM_f_19^0==x_SLAM_f_19^post_24 && y_20^0==y_20^post_24 ], cost: 1
     24: l19 -> l4 : __disjvr_0^0'=__disjvr_0^post_25, __disjvr_10^0'=__disjvr_10^post_25, __disjvr_11^0'=__disjvr_11^post_25, __disjvr_12^0'=__disjvr_12^post_25, __disjvr_1^0'=__disjvr_1^post_25, __disjvr_2^0'=__disjvr_2^post_25, __disjvr_3^0'=__disjvr_3^post_25, __disjvr_4^0'=__disjvr_4^post_25, __disjvr_5^0'=__disjvr_5^post_25, __disjvr_6^0'=__disjvr_6^post_25, __disjvr_7^0'=__disjvr_7^post_25, __disjvr_8^0'=__disjvr_8^post_25, __disjvr_9^0'=__disjvr_9^post_25, a_130^0'=a_130^post_25, a_152^0'=a_152^post_25, a_175^0'=a_175^post_25, a_28^0'=a_28^post_25, ct_18^0'=ct_18^post_25, d_29^0'=d_29^post_25, i_111^0'=i_111^post_25, i_13^0'=i_13^post_25, len_14^0'=len_14^post_25, r_37^0'=r_37^post_25, rcd_100^0'=rcd_100^post_25, rcd_63^0'=rcd_63^post_25, result_11^0'=result_11^post_25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_25, t_24^0'=t_24^post_25, temp0_16^0'=temp0_16^post_25, temp0_31^0'=temp0_31^post_25, temp_33^0'=temp_33^post_25, tmp_27^0'=tmp_27^post_25, x_15^0'=x_15^post_25, x_17^0'=x_17^post_25, x_21^0'=x_21^post_25, x_32^0'=x_32^post_25, x_SLAM_f_19^0'=x_SLAM_f_19^post_25, y_20^0'=y_20^post_25, [ __disjvr_0^0==__disjvr_0^post_25 && __disjvr_1^0==__disjvr_1^post_25 && __disjvr_10^0==__disjvr_10^post_25 && __disjvr_11^0==__disjvr_11^post_25 && __disjvr_12^0==__disjvr_12^post_25 && __disjvr_2^0==__disjvr_2^post_25 && __disjvr_3^0==__disjvr_3^post_25 && __disjvr_4^0==__disjvr_4^post_25 && __disjvr_5^0==__disjvr_5^post_25 && __disjvr_6^0==__disjvr_6^post_25 && __disjvr_7^0==__disjvr_7^post_25 && __disjvr_8^0==__disjvr_8^post_25 && __disjvr_9^0==__disjvr_9^post_25 && a_130^0==a_130^post_25 && a_152^0==a_152^post_25 && a_175^0==a_175^post_25 && a_28^0==a_28^post_25 && ct_18^0==ct_18^post_25 && d_29^0==d_29^post_25 && i_111^0==i_111^post_25 && i_13^0==i_13^post_25 && len_14^0==len_14^post_25 && r_37^0==r_37^post_25 && rcd_100^0==rcd_100^post_25 && rcd_63^0==rcd_63^post_25 && result_11^0==result_11^post_25 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_25 && t_24^0==t_24^post_25 && temp0_16^0==temp0_16^post_25 && temp0_31^0==temp0_31^post_25 && temp_33^0==temp_33^post_25 && tmp_27^0==tmp_27^post_25 && x_15^0==x_15^post_25 && x_17^0==x_17^post_25 && x_21^0==x_21^post_25 && x_32^0==x_32^post_25 && x_SLAM_f_19^0==x_SLAM_f_19^post_25 && y_20^0==y_20^post_25 ], cost: 1
     26: l25 -> l26 : __disjvr_0^0'=__disjvr_0^post_27, __disjvr_10^0'=__disjvr_10^post_27, __disjvr_11^0'=__disjvr_11^post_27, __disjvr_12^0'=__disjvr_12^post_27, __disjvr_1^0'=__disjvr_1^post_27, __disjvr_2^0'=__disjvr_2^post_27, __disjvr_3^0'=__disjvr_3^post_27, __disjvr_4^0'=__disjvr_4^post_27, __disjvr_5^0'=__disjvr_5^post_27, __disjvr_6^0'=__disjvr_6^post_27, __disjvr_7^0'=__disjvr_7^post_27, __disjvr_8^0'=__disjvr_8^post_27, __disjvr_9^0'=__disjvr_9^post_27, a_130^0'=a_130^post_27, a_152^0'=a_152^post_27, a_175^0'=a_175^post_27, a_28^0'=a_28^post_27, ct_18^0'=ct_18^post_27, d_29^0'=d_29^post_27, i_111^0'=i_111^post_27, i_13^0'=i_13^post_27, len_14^0'=len_14^post_27, r_37^0'=r_37^post_27, rcd_100^0'=rcd_100^post_27, rcd_63^0'=rcd_63^post_27, result_11^0'=result_11^post_27, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_27, t_24^0'=t_24^post_27, temp0_16^0'=temp0_16^post_27, temp0_31^0'=temp0_31^post_27, temp_33^0'=temp_33^post_27, tmp_27^0'=tmp_27^post_27, x_15^0'=x_15^post_27, x_17^0'=x_17^post_27, x_21^0'=x_21^post_27, x_32^0'=x_32^post_27, x_SLAM_f_19^0'=x_SLAM_f_19^post_27, y_20^0'=y_20^post_27, [ __disjvr_10^post_27==__disjvr_10^0 && __disjvr_0^0==__disjvr_0^post_27 && __disjvr_1^0==__disjvr_1^post_27 && __disjvr_10^0==__disjvr_10^post_27 && __disjvr_11^0==__disjvr_11^post_27 && __disjvr_12^0==__disjvr_12^post_27 && __disjvr_2^0==__disjvr_2^post_27 && __disjvr_3^0==__disjvr_3^post_27 && __disjvr_4^0==__disjvr_4^post_27 && __disjvr_5^0==__disjvr_5^post_27 && __disjvr_6^0==__disjvr_6^post_27 && __disjvr_7^0==__disjvr_7^post_27 && __disjvr_8^0==__disjvr_8^post_27 && __disjvr_9^0==__disjvr_9^post_27 && a_130^0==a_130^post_27 && a_152^0==a_152^post_27 && a_175^0==a_175^post_27 && a_28^0==a_28^post_27 && ct_18^0==ct_18^post_27 && d_29^0==d_29^post_27 && i_111^0==i_111^post_27 && i_13^0==i_13^post_27 && len_14^0==len_14^post_27 && r_37^0==r_37^post_27 && rcd_100^0==rcd_100^post_27 && rcd_63^0==rcd_63^post_27 && result_11^0==result_11^post_27 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_27 && t_24^0==t_24^post_27 && temp0_16^0==temp0_16^post_27 && temp0_31^0==temp0_31^post_27 && temp_33^0==temp_33^post_27 && tmp_27^0==tmp_27^post_27 && x_15^0==x_15^post_27 && x_17^0==x_17^post_27 && x_21^0==x_21^post_27 && x_32^0==x_32^post_27 && x_SLAM_f_19^0==x_SLAM_f_19^post_27 && y_20^0==y_20^post_27 ], cost: 1
     27: l26 -> l27 : __disjvr_0^0'=__disjvr_0^post_28, __disjvr_10^0'=__disjvr_10^post_28, __disjvr_11^0'=__disjvr_11^post_28, __disjvr_12^0'=__disjvr_12^post_28, __disjvr_1^0'=__disjvr_1^post_28, __disjvr_2^0'=__disjvr_2^post_28, __disjvr_3^0'=__disjvr_3^post_28, __disjvr_4^0'=__disjvr_4^post_28, __disjvr_5^0'=__disjvr_5^post_28, __disjvr_6^0'=__disjvr_6^post_28, __disjvr_7^0'=__disjvr_7^post_28, __disjvr_8^0'=__disjvr_8^post_28, __disjvr_9^0'=__disjvr_9^post_28, a_130^0'=a_130^post_28, a_152^0'=a_152^post_28, a_175^0'=a_175^post_28, a_28^0'=a_28^post_28, ct_18^0'=ct_18^post_28, d_29^0'=d_29^post_28, i_111^0'=i_111^post_28, i_13^0'=i_13^post_28, len_14^0'=len_14^post_28, r_37^0'=r_37^post_28, rcd_100^0'=rcd_100^post_28, rcd_63^0'=rcd_63^post_28, result_11^0'=result_11^post_28, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_28, t_24^0'=t_24^post_28, temp0_16^0'=temp0_16^post_28, temp0_31^0'=temp0_31^post_28, temp_33^0'=temp_33^post_28, tmp_27^0'=tmp_27^post_28, x_15^0'=x_15^post_28, x_17^0'=x_17^post_28, x_21^0'=x_21^post_28, x_32^0'=x_32^post_28, x_SLAM_f_19^0'=x_SLAM_f_19^post_28, y_20^0'=y_20^post_28, [ t_24^post_28==x_21^0 && a_130^post_28==a_130^post_28 && 0<=ct_18^0 && ct_18^0<=0 && 0<=y_20^0 && y_20^0<=0 && 0<=-a_130^post_28+a_152^0 && -a_130^post_28+a_152^0<=0 && x_15^0<=x_17^0 && x_17^0<=x_15^0 && x_15^0<=x_SLAM_f_19^0 && x_SLAM_f_19^0<=x_15^0 && x_15^0<=t_24^post_28 && t_24^post_28<=x_15^0 && x_15^0<=tmp_27^0 && tmp_27^0<=x_15^0 && x_17^0<=x_SLAM_f_19^0 && x_SLAM_f_19^0<=x_17^0 && ct_18^0<=y_20^0 && y_20^0<=ct_18^0 && a_130^post_28<=a_152^0 && a_152^0<=a_130^post_28 && __disjvr_0^0==__disjvr_0^post_28 && __disjvr_1^0==__disjvr_1^post_28 && __disjvr_10^0==__disjvr_10^post_28 && __disjvr_11^0==__disjvr_11^post_28 && __disjvr_12^0==__disjvr_12^post_28 && __disjvr_2^0==__disjvr_2^post_28 && __disjvr_3^0==__disjvr_3^post_28 && __disjvr_4^0==__disjvr_4^post_28 && __disjvr_5^0==__disjvr_5^post_28 && __disjvr_6^0==__disjvr_6^post_28 && __disjvr_7^0==__disjvr_7^post_28 && __disjvr_8^0==__disjvr_8^post_28 && __disjvr_9^0==__disjvr_9^post_28 && a_152^0==a_152^post_28 && a_175^0==a_175^post_28 && a_28^0==a_28^post_28 && ct_18^0==ct_18^post_28 && d_29^0==d_29^post_28 && i_111^0==i_111^post_28 && i_13^0==i_13^post_28 && len_14^0==len_14^post_28 && r_37^0==r_37^post_28 && rcd_100^0==rcd_100^post_28 && rcd_63^0==rcd_63^post_28 && result_11^0==result_11^post_28 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_28 && temp0_16^0==temp0_16^post_28 && temp0_31^0==temp0_31^post_28 && temp_33^0==temp_33^post_28 && tmp_27^0==tmp_27^post_28 && x_15^0==x_15^post_28 && x_17^0==x_17^post_28 && x_21^0==x_21^post_28 && x_32^0==x_32^post_28 && x_SLAM_f_19^0==x_SLAM_f_19^post_28 && y_20^0==y_20^post_28 ], cost: 1
     28: l27 -> l28 : __disjvr_0^0'=__disjvr_0^post_29, __disjvr_10^0'=__disjvr_10^post_29, __disjvr_11^0'=__disjvr_11^post_29, __disjvr_12^0'=__disjvr_12^post_29, __disjvr_1^0'=__disjvr_1^post_29, __disjvr_2^0'=__disjvr_2^post_29, __disjvr_3^0'=__disjvr_3^post_29, __disjvr_4^0'=__disjvr_4^post_29, __disjvr_5^0'=__disjvr_5^post_29, __disjvr_6^0'=__disjvr_6^post_29, __disjvr_7^0'=__disjvr_7^post_29, __disjvr_8^0'=__disjvr_8^post_29, __disjvr_9^0'=__disjvr_9^post_29, a_130^0'=a_130^post_29, a_152^0'=a_152^post_29, a_175^0'=a_175^post_29, a_28^0'=a_28^post_29, ct_18^0'=ct_18^post_29, d_29^0'=d_29^post_29, i_111^0'=i_111^post_29, i_13^0'=i_13^post_29, len_14^0'=len_14^post_29, r_37^0'=r_37^post_29, rcd_100^0'=rcd_100^post_29, rcd_63^0'=rcd_63^post_29, result_11^0'=result_11^post_29, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_29, t_24^0'=t_24^post_29, temp0_16^0'=temp0_16^post_29, temp0_31^0'=temp0_31^post_29, temp_33^0'=temp_33^post_29, tmp_27^0'=tmp_27^post_29, x_15^0'=x_15^post_29, x_17^0'=x_17^post_29, x_21^0'=x_21^post_29, x_32^0'=x_32^post_29, x_SLAM_f_19^0'=x_SLAM_f_19^post_29, y_20^0'=y_20^post_29, [ __disjvr_11^post_29==__disjvr_11^0 && __disjvr_0^0==__disjvr_0^post_29 && __disjvr_1^0==__disjvr_1^post_29 && __disjvr_10^0==__disjvr_10^post_29 && __disjvr_11^0==__disjvr_11^post_29 && __disjvr_12^0==__disjvr_12^post_29 && __disjvr_2^0==__disjvr_2^post_29 && __disjvr_3^0==__disjvr_3^post_29 && __disjvr_4^0==__disjvr_4^post_29 && __disjvr_5^0==__disjvr_5^post_29 && __disjvr_6^0==__disjvr_6^post_29 && __disjvr_7^0==__disjvr_7^post_29 && __disjvr_8^0==__disjvr_8^post_29 && __disjvr_9^0==__disjvr_9^post_29 && a_130^0==a_130^post_29 && a_152^0==a_152^post_29 && a_175^0==a_175^post_29 && a_28^0==a_28^post_29 && ct_18^0==ct_18^post_29 && d_29^0==d_29^post_29 && i_111^0==i_111^post_29 && i_13^0==i_13^post_29 && len_14^0==len_14^post_29 && r_37^0==r_37^post_29 && rcd_100^0==rcd_100^post_29 && rcd_63^0==rcd_63^post_29 && result_11^0==result_11^post_29 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_29 && t_24^0==t_24^post_29 && temp0_16^0==temp0_16^post_29 && temp0_31^0==temp0_31^post_29 && temp_33^0==temp_33^post_29 && tmp_27^0==tmp_27^post_29 && x_15^0==x_15^post_29 && x_17^0==x_17^post_29 && x_21^0==x_21^post_29 && x_32^0==x_32^post_29 && x_SLAM_f_19^0==x_SLAM_f_19^post_29 && y_20^0==y_20^post_29 ], cost: 1
     29: l28 -> l29 : __disjvr_0^0'=__disjvr_0^post_30, __disjvr_10^0'=__disjvr_10^post_30, __disjvr_11^0'=__disjvr_11^post_30, __disjvr_12^0'=__disjvr_12^post_30, __disjvr_1^0'=__disjvr_1^post_30, __disjvr_2^0'=__disjvr_2^post_30, __disjvr_3^0'=__disjvr_3^post_30, __disjvr_4^0'=__disjvr_4^post_30, __disjvr_5^0'=__disjvr_5^post_30, __disjvr_6^0'=__disjvr_6^post_30, __disjvr_7^0'=__disjvr_7^post_30, __disjvr_8^0'=__disjvr_8^post_30, __disjvr_9^0'=__disjvr_9^post_30, a_130^0'=a_130^post_30, a_152^0'=a_152^post_30, a_175^0'=a_175^post_30, a_28^0'=a_28^post_30, ct_18^0'=ct_18^post_30, d_29^0'=d_29^post_30, i_111^0'=i_111^post_30, i_13^0'=i_13^post_30, len_14^0'=len_14^post_30, r_37^0'=r_37^post_30, rcd_100^0'=rcd_100^post_30, rcd_63^0'=rcd_63^post_30, result_11^0'=result_11^post_30, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_30, t_24^0'=t_24^post_30, temp0_16^0'=temp0_16^post_30, temp0_31^0'=temp0_31^post_30, temp_33^0'=temp_33^post_30, tmp_27^0'=tmp_27^post_30, x_15^0'=x_15^post_30, x_17^0'=x_17^post_30, x_21^0'=x_21^post_30, x_32^0'=x_32^post_30, x_SLAM_f_19^0'=x_SLAM_f_19^post_30, y_20^0'=y_20^post_30, [ __disjvr_12^post_30==__disjvr_12^0 && __disjvr_0^0==__disjvr_0^post_30 && __disjvr_1^0==__disjvr_1^post_30 && __disjvr_10^0==__disjvr_10^post_30 && __disjvr_11^0==__disjvr_11^post_30 && __disjvr_12^0==__disjvr_12^post_30 && __disjvr_2^0==__disjvr_2^post_30 && __disjvr_3^0==__disjvr_3^post_30 && __disjvr_4^0==__disjvr_4^post_30 && __disjvr_5^0==__disjvr_5^post_30 && __disjvr_6^0==__disjvr_6^post_30 && __disjvr_7^0==__disjvr_7^post_30 && __disjvr_8^0==__disjvr_8^post_30 && __disjvr_9^0==__disjvr_9^post_30 && a_130^0==a_130^post_30 && a_152^0==a_152^post_30 && a_175^0==a_175^post_30 && a_28^0==a_28^post_30 && ct_18^0==ct_18^post_30 && d_29^0==d_29^post_30 && i_111^0==i_111^post_30 && i_13^0==i_13^post_30 && len_14^0==len_14^post_30 && r_37^0==r_37^post_30 && rcd_100^0==rcd_100^post_30 && rcd_63^0==rcd_63^post_30 && result_11^0==result_11^post_30 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_30 && t_24^0==t_24^post_30 && temp0_16^0==temp0_16^post_30 && temp0_31^0==temp0_31^post_30 && temp_33^0==temp_33^post_30 && tmp_27^0==tmp_27^post_30 && x_15^0==x_15^post_30 && x_17^0==x_17^post_30 && x_21^0==x_21^post_30 && x_32^0==x_32^post_30 && x_SLAM_f_19^0==x_SLAM_f_19^post_30 && y_20^0==y_20^post_30 ], cost: 1
     30: l29 -> l4 : __disjvr_0^0'=__disjvr_0^post_31, __disjvr_10^0'=__disjvr_10^post_31, __disjvr_11^0'=__disjvr_11^post_31, __disjvr_12^0'=__disjvr_12^post_31, __disjvr_1^0'=__disjvr_1^post_31, __disjvr_2^0'=__disjvr_2^post_31, __disjvr_3^0'=__disjvr_3^post_31, __disjvr_4^0'=__disjvr_4^post_31, __disjvr_5^0'=__disjvr_5^post_31, __disjvr_6^0'=__disjvr_6^post_31, __disjvr_7^0'=__disjvr_7^post_31, __disjvr_8^0'=__disjvr_8^post_31, __disjvr_9^0'=__disjvr_9^post_31, a_130^0'=a_130^post_31, a_152^0'=a_152^post_31, a_175^0'=a_175^post_31, a_28^0'=a_28^post_31, ct_18^0'=ct_18^post_31, d_29^0'=d_29^post_31, i_111^0'=i_111^post_31, i_13^0'=i_13^post_31, len_14^0'=len_14^post_31, r_37^0'=r_37^post_31, rcd_100^0'=rcd_100^post_31, rcd_63^0'=rcd_63^post_31, result_11^0'=result_11^post_31, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_31, t_24^0'=t_24^post_31, temp0_16^0'=temp0_16^post_31, temp0_31^0'=temp0_31^post_31, temp_33^0'=temp_33^post_31, tmp_27^0'=tmp_27^post_31, x_15^0'=x_15^post_31, x_17^0'=x_17^post_31, x_21^0'=x_21^post_31, x_32^0'=x_32^post_31, x_SLAM_f_19^0'=x_SLAM_f_19^post_31, y_20^0'=y_20^post_31, [ 1<=len_14^0 && 2<=len_14^0 && len_14^0<=i_13^0 && i_13^post_31==i_13^post_31 && -1+i_13^post_31<=a_130^0 && a_130^0<=-1+i_13^post_31 && __disjvr_0^0==__disjvr_0^post_31 && __disjvr_1^0==__disjvr_1^post_31 && __disjvr_10^0==__disjvr_10^post_31 && __disjvr_11^0==__disjvr_11^post_31 && __disjvr_12^0==__disjvr_12^post_31 && __disjvr_2^0==__disjvr_2^post_31 && __disjvr_3^0==__disjvr_3^post_31 && __disjvr_4^0==__disjvr_4^post_31 && __disjvr_5^0==__disjvr_5^post_31 && __disjvr_6^0==__disjvr_6^post_31 && __disjvr_7^0==__disjvr_7^post_31 && __disjvr_8^0==__disjvr_8^post_31 && __disjvr_9^0==__disjvr_9^post_31 && a_130^0==a_130^post_31 && a_152^0==a_152^post_31 && a_175^0==a_175^post_31 && a_28^0==a_28^post_31 && ct_18^0==ct_18^post_31 && d_29^0==d_29^post_31 && i_111^0==i_111^post_31 && len_14^0==len_14^post_31 && r_37^0==r_37^post_31 && rcd_100^0==rcd_100^post_31 && rcd_63^0==rcd_63^post_31 && result_11^0==result_11^post_31 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_31 && t_24^0==t_24^post_31 && temp0_16^0==temp0_16^post_31 && temp0_31^0==temp0_31^post_31 && temp_33^0==temp_33^post_31 && tmp_27^0==tmp_27^post_31 && x_15^0==x_15^post_31 && x_17^0==x_17^post_31 && x_21^0==x_21^post_31 && x_32^0==x_32^post_31 && x_SLAM_f_19^0==x_SLAM_f_19^post_31 && y_20^0==y_20^post_31 ], cost: 1
     32: l30 -> l18 : __disjvr_0^0'=__disjvr_0^post_33, __disjvr_10^0'=__disjvr_10^post_33, __disjvr_11^0'=__disjvr_11^post_33, __disjvr_12^0'=__disjvr_12^post_33, __disjvr_1^0'=__disjvr_1^post_33, __disjvr_2^0'=__disjvr_2^post_33, __disjvr_3^0'=__disjvr_3^post_33, __disjvr_4^0'=__disjvr_4^post_33, __disjvr_5^0'=__disjvr_5^post_33, __disjvr_6^0'=__disjvr_6^post_33, __disjvr_7^0'=__disjvr_7^post_33, __disjvr_8^0'=__disjvr_8^post_33, __disjvr_9^0'=__disjvr_9^post_33, a_130^0'=a_130^post_33, a_152^0'=a_152^post_33, a_175^0'=a_175^post_33, a_28^0'=a_28^post_33, ct_18^0'=ct_18^post_33, d_29^0'=d_29^post_33, i_111^0'=i_111^post_33, i_13^0'=i_13^post_33, len_14^0'=len_14^post_33, r_37^0'=r_37^post_33, rcd_100^0'=rcd_100^post_33, rcd_63^0'=rcd_63^post_33, result_11^0'=result_11^post_33, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_33, t_24^0'=t_24^post_33, temp0_16^0'=temp0_16^post_33, temp0_31^0'=temp0_31^post_33, temp_33^0'=temp_33^post_33, tmp_27^0'=tmp_27^post_33, x_15^0'=x_15^post_33, x_17^0'=x_17^post_33, x_21^0'=x_21^post_33, x_32^0'=x_32^post_33, x_SLAM_f_19^0'=x_SLAM_f_19^post_33, y_20^0'=y_20^post_33, [ __disjvr_0^0==__disjvr_0^post_33 && __disjvr_1^0==__disjvr_1^post_33 && __disjvr_10^0==__disjvr_10^post_33 && __disjvr_11^0==__disjvr_11^post_33 && __disjvr_12^0==__disjvr_12^post_33 && __disjvr_2^0==__disjvr_2^post_33 && __disjvr_3^0==__disjvr_3^post_33 && __disjvr_4^0==__disjvr_4^post_33 && __disjvr_5^0==__disjvr_5^post_33 && __disjvr_6^0==__disjvr_6^post_33 && __disjvr_7^0==__disjvr_7^post_33 && __disjvr_8^0==__disjvr_8^post_33 && __disjvr_9^0==__disjvr_9^post_33 && a_130^0==a_130^post_33 && a_152^0==a_152^post_33 && a_175^0==a_175^post_33 && a_28^0==a_28^post_33 && ct_18^0==ct_18^post_33 && d_29^0==d_29^post_33 && i_111^0==i_111^post_33 && i_13^0==i_13^post_33 && len_14^0==len_14^post_33 && r_37^0==r_37^post_33 && rcd_100^0==rcd_100^post_33 && rcd_63^0==rcd_63^post_33 && result_11^0==result_11^post_33 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_33 && t_24^0==t_24^post_33 && temp0_16^0==temp0_16^post_33 && temp0_31^0==temp0_31^post_33 && temp_33^0==temp_33^post_33 && tmp_27^0==tmp_27^post_33 && x_15^0==x_15^post_33 && x_17^0==x_17^post_33 && x_21^0==x_21^post_33 && x_32^0==x_32^post_33 && x_SLAM_f_19^0==x_SLAM_f_19^post_33 && y_20^0==y_20^post_33 ], cost: 1
     35: l31 -> l10 : __disjvr_0^0'=__disjvr_0^post_36, __disjvr_10^0'=__disjvr_10^post_36, __disjvr_11^0'=__disjvr_11^post_36, __disjvr_12^0'=__disjvr_12^post_36, __disjvr_1^0'=__disjvr_1^post_36, __disjvr_2^0'=__disjvr_2^post_36, __disjvr_3^0'=__disjvr_3^post_36, __disjvr_4^0'=__disjvr_4^post_36, __disjvr_5^0'=__disjvr_5^post_36, __disjvr_6^0'=__disjvr_6^post_36, __disjvr_7^0'=__disjvr_7^post_36, __disjvr_8^0'=__disjvr_8^post_36, __disjvr_9^0'=__disjvr_9^post_36, a_130^0'=a_130^post_36, a_152^0'=a_152^post_36, a_175^0'=a_175^post_36, a_28^0'=a_28^post_36, ct_18^0'=ct_18^post_36, d_29^0'=d_29^post_36, i_111^0'=i_111^post_36, i_13^0'=i_13^post_36, len_14^0'=len_14^post_36, r_37^0'=r_37^post_36, rcd_100^0'=rcd_100^post_36, rcd_63^0'=rcd_63^post_36, result_11^0'=result_11^post_36, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_36, t_24^0'=t_24^post_36, temp0_16^0'=temp0_16^post_36, temp0_31^0'=temp0_31^post_36, temp_33^0'=temp_33^post_36, tmp_27^0'=tmp_27^post_36, x_15^0'=x_15^post_36, x_17^0'=x_17^post_36, x_21^0'=x_21^post_36, x_32^0'=x_32^post_36, x_SLAM_f_19^0'=x_SLAM_f_19^post_36, y_20^0'=y_20^post_36, [ __disjvr_0^0==__disjvr_0^post_36 && __disjvr_1^0==__disjvr_1^post_36 && __disjvr_10^0==__disjvr_10^post_36 && __disjvr_11^0==__disjvr_11^post_36 && __disjvr_12^0==__disjvr_12^post_36 && __disjvr_2^0==__disjvr_2^post_36 && __disjvr_3^0==__disjvr_3^post_36 && __disjvr_4^0==__disjvr_4^post_36 && __disjvr_5^0==__disjvr_5^post_36 && __disjvr_6^0==__disjvr_6^post_36 && __disjvr_7^0==__disjvr_7^post_36 && __disjvr_8^0==__disjvr_8^post_36 && __disjvr_9^0==__disjvr_9^post_36 && a_130^0==a_130^post_36 && a_152^0==a_152^post_36 && a_175^0==a_175^post_36 && a_28^0==a_28^post_36 && ct_18^0==ct_18^post_36 && d_29^0==d_29^post_36 && i_111^0==i_111^post_36 && i_13^0==i_13^post_36 && len_14^0==len_14^post_36 && r_37^0==r_37^post_36 && rcd_100^0==rcd_100^post_36 && rcd_63^0==rcd_63^post_36 && result_11^0==result_11^post_36 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_36 && t_24^0==t_24^post_36 && temp0_16^0==temp0_16^post_36 && temp0_31^0==temp0_31^post_36 && temp_33^0==temp_33^post_36 && tmp_27^0==tmp_27^post_36 && x_15^0==x_15^post_36 && x_17^0==x_17^post_36 && x_21^0==x_21^post_36 && x_32^0==x_32^post_36 && x_SLAM_f_19^0==x_SLAM_f_19^post_36 && y_20^0==y_20^post_36 ], cost: 1

Removed unreachable and leaf rules:
   Start location: l31
     18: l4 -> l20 : __disjvr_0^0'=__disjvr_0^post_19, __disjvr_10^0'=__disjvr_10^post_19, __disjvr_11^0'=__disjvr_11^post_19, __disjvr_12^0'=__disjvr_12^post_19, __disjvr_1^0'=__disjvr_1^post_19, __disjvr_2^0'=__disjvr_2^post_19, __disjvr_3^0'=__disjvr_3^post_19, __disjvr_4^0'=__disjvr_4^post_19, __disjvr_5^0'=__disjvr_5^post_19, __disjvr_6^0'=__disjvr_6^post_19, __disjvr_7^0'=__disjvr_7^post_19, __disjvr_8^0'=__disjvr_8^post_19, __disjvr_9^0'=__disjvr_9^post_19, a_130^0'=a_130^post_19, a_152^0'=a_152^post_19, a_175^0'=a_175^post_19, a_28^0'=a_28^post_19, ct_18^0'=ct_18^post_19, d_29^0'=d_29^post_19, i_111^0'=i_111^post_19, i_13^0'=i_13^post_19, len_14^0'=len_14^post_19, r_37^0'=r_37^post_19, rcd_100^0'=rcd_100^post_19, rcd_63^0'=rcd_63^post_19, result_11^0'=result_11^post_19, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_19, t_24^0'=t_24^post_19, temp0_16^0'=temp0_16^post_19, temp0_31^0'=temp0_31^post_19, temp_33^0'=temp_33^post_19, tmp_27^0'=tmp_27^post_19, x_15^0'=x_15^post_19, x_17^0'=x_17^post_19, x_21^0'=x_21^post_19, x_32^0'=x_32^post_19, x_SLAM_f_19^0'=x_SLAM_f_19^post_19, y_20^0'=y_20^post_19, [ 0<=a_152^0 && i_13^post_19==i_13^post_19 && len_14^post_19==len_14^post_19 && x_15^post_19==x_15^post_19 && x_17^post_19==x_17^post_19 && ct_18^post_19==ct_18^post_19 && x_SLAM_f_19^post_19==x_SLAM_f_19^post_19 && tmp_27^post_19==tmp_27^post_19 && r_37^post_19==r_37^post_19 && __disjvr_0^0==__disjvr_0^post_19 && __disjvr_1^0==__disjvr_1^post_19 && __disjvr_10^0==__disjvr_10^post_19 && __disjvr_11^0==__disjvr_11^post_19 && __disjvr_12^0==__disjvr_12^post_19 && __disjvr_2^0==__disjvr_2^post_19 && __disjvr_3^0==__disjvr_3^post_19 && __disjvr_4^0==__disjvr_4^post_19 && __disjvr_5^0==__disjvr_5^post_19 && __disjvr_6^0==__disjvr_6^post_19 && __disjvr_7^0==__disjvr_7^post_19 && __disjvr_8^0==__disjvr_8^post_19 && __disjvr_9^0==__disjvr_9^post_19 && a_130^0==a_130^post_19 && a_152^0==a_152^post_19 && a_175^0==a_175^post_19 && a_28^0==a_28^post_19 && d_29^0==d_29^post_19 && i_111^0==i_111^post_19 && rcd_100^0==rcd_100^post_19 && rcd_63^0==rcd_63^post_19 && result_11^0==result_11^post_19 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_19 && t_24^0==t_24^post_19 && temp0_16^0==temp0_16^post_19 && temp0_31^0==temp0_31^post_19 && temp_33^0==temp_33^post_19 && x_21^0==x_21^post_19 && x_32^0==x_32^post_19 && y_20^0==y_20^post_19 ], cost: 1
      9: l10 -> l11 : __disjvr_0^0'=__disjvr_0^post_10, __disjvr_10^0'=__disjvr_10^post_10, __disjvr_11^0'=__disjvr_11^post_10, __disjvr_12^0'=__disjvr_12^post_10, __disjvr_1^0'=__disjvr_1^post_10, __disjvr_2^0'=__disjvr_2^post_10, __disjvr_3^0'=__disjvr_3^post_10, __disjvr_4^0'=__disjvr_4^post_10, __disjvr_5^0'=__disjvr_5^post_10, __disjvr_6^0'=__disjvr_6^post_10, __disjvr_7^0'=__disjvr_7^post_10, __disjvr_8^0'=__disjvr_8^post_10, __disjvr_9^0'=__disjvr_9^post_10, a_130^0'=a_130^post_10, a_152^0'=a_152^post_10, a_175^0'=a_175^post_10, a_28^0'=a_28^post_10, ct_18^0'=ct_18^post_10, d_29^0'=d_29^post_10, i_111^0'=i_111^post_10, i_13^0'=i_13^post_10, len_14^0'=len_14^post_10, r_37^0'=r_37^post_10, rcd_100^0'=rcd_100^post_10, rcd_63^0'=rcd_63^post_10, result_11^0'=result_11^post_10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_10, t_24^0'=t_24^post_10, temp0_16^0'=temp0_16^post_10, temp0_31^0'=temp0_31^post_10, temp_33^0'=temp_33^post_10, tmp_27^0'=tmp_27^post_10, x_15^0'=x_15^post_10, x_17^0'=x_17^post_10, x_21^0'=x_21^post_10, x_32^0'=x_32^post_10, x_SLAM_f_19^0'=x_SLAM_f_19^post_10, y_20^0'=y_20^post_10, [ x_15^post_10==0 && i_13^post_10==0 && 0<=i_13^post_10 && i_13^post_10<=0 && 0<=x_15^post_10 && x_15^post_10<=0 && __disjvr_0^0==__disjvr_0^post_10 && __disjvr_1^0==__disjvr_1^post_10 && __disjvr_10^0==__disjvr_10^post_10 && __disjvr_11^0==__disjvr_11^post_10 && __disjvr_12^0==__disjvr_12^post_10 && __disjvr_2^0==__disjvr_2^post_10 && __disjvr_3^0==__disjvr_3^post_10 && __disjvr_4^0==__disjvr_4^post_10 && __disjvr_5^0==__disjvr_5^post_10 && __disjvr_6^0==__disjvr_6^post_10 && __disjvr_7^0==__disjvr_7^post_10 && __disjvr_8^0==__disjvr_8^post_10 && __disjvr_9^0==__disjvr_9^post_10 && a_130^0==a_130^post_10 && a_152^0==a_152^post_10 && a_175^0==a_175^post_10 && a_28^0==a_28^post_10 && ct_18^0==ct_18^post_10 && d_29^0==d_29^post_10 && i_111^0==i_111^post_10 && len_14^0==len_14^post_10 && r_37^0==r_37^post_10 && rcd_100^0==rcd_100^post_10 && rcd_63^0==rcd_63^post_10 && result_11^0==result_11^post_10 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_10 && t_24^0==t_24^post_10 && temp0_16^0==temp0_16^post_10 && temp0_31^0==temp0_31^post_10 && temp_33^0==temp_33^post_10 && tmp_27^0==tmp_27^post_10 && x_17^0==x_17^post_10 && x_21^0==x_21^post_10 && x_32^0==x_32^post_10 && x_SLAM_f_19^0==x_SLAM_f_19^post_10 && y_20^0==y_20^post_10 ], cost: 1
     34: l11 -> l12 : __disjvr_0^0'=__disjvr_0^post_35, __disjvr_10^0'=__disjvr_10^post_35, __disjvr_11^0'=__disjvr_11^post_35, __disjvr_12^0'=__disjvr_12^post_35, __disjvr_1^0'=__disjvr_1^post_35, __disjvr_2^0'=__disjvr_2^post_35, __disjvr_3^0'=__disjvr_3^post_35, __disjvr_4^0'=__disjvr_4^post_35, __disjvr_5^0'=__disjvr_5^post_35, __disjvr_6^0'=__disjvr_6^post_35, __disjvr_7^0'=__disjvr_7^post_35, __disjvr_8^0'=__disjvr_8^post_35, __disjvr_9^0'=__disjvr_9^post_35, a_130^0'=a_130^post_35, a_152^0'=a_152^post_35, a_175^0'=a_175^post_35, a_28^0'=a_28^post_35, ct_18^0'=ct_18^post_35, d_29^0'=d_29^post_35, i_111^0'=i_111^post_35, i_13^0'=i_13^post_35, len_14^0'=len_14^post_35, r_37^0'=r_37^post_35, rcd_100^0'=rcd_100^post_35, rcd_63^0'=rcd_63^post_35, result_11^0'=result_11^post_35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_35, t_24^0'=t_24^post_35, temp0_16^0'=temp0_16^post_35, temp0_31^0'=temp0_31^post_35, temp_33^0'=temp_33^post_35, tmp_27^0'=tmp_27^post_35, x_15^0'=x_15^post_35, x_17^0'=x_17^post_35, x_21^0'=x_21^post_35, x_32^0'=x_32^post_35, x_SLAM_f_19^0'=x_SLAM_f_19^post_35, y_20^0'=y_20^post_35, [ 1+i_13^0<=len_14^0 && a_28^1_3==i_13^0 && d_29^1_3_1==x_15^0 && x_32^1_3_1==temp_33^0 && temp_33^1_3_1==temp_33^1_3_1 && temp0_31^1_3_1==x_32^1_3_1 && result_11^1_3_1==temp0_31^1_3_1 && a_28^post_35==a_28^post_35 && d_29^post_35==d_29^post_35 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_35==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_35 && temp0_31^post_35==temp0_31^post_35 && x_32^post_35==x_32^post_35 && temp_33^post_35==temp_33^post_35 && tmp_27^post_35==result_11^1_3_1 && result_11^post_35==result_11^post_35 && x_15^post_35==tmp_27^post_35 && i_13^post_35==1+i_13^0 && 1<=i_13^post_35 && i_13^post_35<=1 && x_15^post_35<=tmp_27^post_35 && tmp_27^post_35<=x_15^post_35 && 1<=len_14^0 && __disjvr_0^0==__disjvr_0^post_35 && __disjvr_1^0==__disjvr_1^post_35 && __disjvr_10^0==__disjvr_10^post_35 && __disjvr_11^0==__disjvr_11^post_35 && __disjvr_12^0==__disjvr_12^post_35 && __disjvr_2^0==__disjvr_2^post_35 && __disjvr_3^0==__disjvr_3^post_35 && __disjvr_4^0==__disjvr_4^post_35 && __disjvr_5^0==__disjvr_5^post_35 && __disjvr_6^0==__disjvr_6^post_35 && __disjvr_7^0==__disjvr_7^post_35 && __disjvr_8^0==__disjvr_8^post_35 && __disjvr_9^0==__disjvr_9^post_35 && a_130^0==a_130^post_35 && a_152^0==a_152^post_35 && a_175^0==a_175^post_35 && ct_18^0==ct_18^post_35 && i_111^0==i_111^post_35 && len_14^0==len_14^post_35 && r_37^0==r_37^post_35 && rcd_100^0==rcd_100^post_35 && rcd_63^0==rcd_63^post_35 && t_24^0==t_24^post_35 && temp0_16^0==temp0_16^post_35 && x_17^0==x_17^post_35 && x_21^0==x_21^post_35 && x_SLAM_f_19^0==x_SLAM_f_19^post_35 && y_20^0==y_20^post_35 ], cost: 1
     16: l12 -> l18 : __disjvr_0^0'=__disjvr_0^post_17, __disjvr_10^0'=__disjvr_10^post_17, __disjvr_11^0'=__disjvr_11^post_17, __disjvr_12^0'=__disjvr_12^post_17, __disjvr_1^0'=__disjvr_1^post_17, __disjvr_2^0'=__disjvr_2^post_17, __disjvr_3^0'=__disjvr_3^post_17, __disjvr_4^0'=__disjvr_4^post_17, __disjvr_5^0'=__disjvr_5^post_17, __disjvr_6^0'=__disjvr_6^post_17, __disjvr_7^0'=__disjvr_7^post_17, __disjvr_8^0'=__disjvr_8^post_17, __disjvr_9^0'=__disjvr_9^post_17, a_130^0'=a_130^post_17, a_152^0'=a_152^post_17, a_175^0'=a_175^post_17, a_28^0'=a_28^post_17, ct_18^0'=ct_18^post_17, d_29^0'=d_29^post_17, i_111^0'=i_111^post_17, i_13^0'=i_13^post_17, len_14^0'=len_14^post_17, r_37^0'=r_37^post_17, rcd_100^0'=rcd_100^post_17, rcd_63^0'=rcd_63^post_17, result_11^0'=result_11^post_17, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_17, t_24^0'=t_24^post_17, temp0_16^0'=temp0_16^post_17, temp0_31^0'=temp0_31^post_17, temp_33^0'=temp_33^post_17, tmp_27^0'=tmp_27^post_17, x_15^0'=x_15^post_17, x_17^0'=x_17^post_17, x_21^0'=x_21^post_17, x_32^0'=x_32^post_17, x_SLAM_f_19^0'=x_SLAM_f_19^post_17, y_20^0'=y_20^post_17, [ rcd_63^post_17==rcd_63^post_17 && 1+i_13^0<=len_14^0 && a_28^1_1==i_13^0 && d_29^1_1==x_15^0 && x_32^1_1==temp_33^0 && temp_33^1_1==temp_33^1_1 && temp0_31^1_1==x_32^1_1 && result_11^1_1==temp0_31^1_1 && a_28^post_17==a_28^post_17 && d_29^post_17==d_29^post_17 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_17==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_17 && temp0_31^post_17==temp0_31^post_17 && x_32^post_17==x_32^post_17 && temp_33^post_17==temp_33^post_17 && tmp_27^post_17==result_11^1_1 && result_11^post_17==result_11^post_17 && x_15^post_17==tmp_27^post_17 && i_13^post_17==1+i_13^0 && 2<=i_13^post_17 && i_13^post_17<=2 && x_15^post_17<=tmp_27^post_17 && tmp_27^post_17<=x_15^post_17 && 1<=len_14^0 && 2<=len_14^0 && __disjvr_0^0==__disjvr_0^post_17 && __disjvr_1^0==__disjvr_1^post_17 && __disjvr_10^0==__disjvr_10^post_17 && __disjvr_11^0==__disjvr_11^post_17 && __disjvr_12^0==__disjvr_12^post_17 && __disjvr_2^0==__disjvr_2^post_17 && __disjvr_3^0==__disjvr_3^post_17 && __disjvr_4^0==__disjvr_4^post_17 && __disjvr_5^0==__disjvr_5^post_17 && __disjvr_6^0==__disjvr_6^post_17 && __disjvr_7^0==__disjvr_7^post_17 && __disjvr_8^0==__disjvr_8^post_17 && __disjvr_9^0==__disjvr_9^post_17 && a_130^0==a_130^post_17 && a_152^0==a_152^post_17 && a_175^0==a_175^post_17 && ct_18^0==ct_18^post_17 && i_111^0==i_111^post_17 && len_14^0==len_14^post_17 && r_37^0==r_37^post_17 && rcd_100^0==rcd_100^post_17 && t_24^0==t_24^post_17 && temp0_16^0==temp0_16^post_17 && x_17^0==x_17^post_17 && x_21^0==x_21^post_17 && x_SLAM_f_19^0==x_SLAM_f_19^post_17 && y_20^0==y_20^post_17 ], cost: 1
     25: l18 -> l25 : __disjvr_0^0'=__disjvr_0^post_26, __disjvr_10^0'=__disjvr_10^post_26, __disjvr_11^0'=__disjvr_11^post_26, __disjvr_12^0'=__disjvr_12^post_26, __disjvr_1^0'=__disjvr_1^post_26, __disjvr_2^0'=__disjvr_2^post_26, __disjvr_3^0'=__disjvr_3^post_26, __disjvr_4^0'=__disjvr_4^post_26, __disjvr_5^0'=__disjvr_5^post_26, __disjvr_6^0'=__disjvr_6^post_26, __disjvr_7^0'=__disjvr_7^post_26, __disjvr_8^0'=__disjvr_8^post_26, __disjvr_9^0'=__disjvr_9^post_26, a_130^0'=a_130^post_26, a_152^0'=a_152^post_26, a_175^0'=a_175^post_26, a_28^0'=a_28^post_26, ct_18^0'=ct_18^post_26, d_29^0'=d_29^post_26, i_111^0'=i_111^post_26, i_13^0'=i_13^post_26, len_14^0'=len_14^post_26, r_37^0'=r_37^post_26, rcd_100^0'=rcd_100^post_26, rcd_63^0'=rcd_63^post_26, result_11^0'=result_11^post_26, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_26, t_24^0'=t_24^post_26, temp0_16^0'=temp0_16^post_26, temp0_31^0'=temp0_31^post_26, temp_33^0'=temp_33^post_26, tmp_27^0'=tmp_27^post_26, x_15^0'=x_15^post_26, x_17^0'=x_17^post_26, x_21^0'=x_21^post_26, x_32^0'=x_32^post_26, x_SLAM_f_19^0'=x_SLAM_f_19^post_26, y_20^0'=y_20^post_26, [ 0<=i_13^0 && len_14^0<=i_13^0 && x_17^1_2_1==x_15^0 && ct_18^1_5==0 && x_SLAM_f_19^1_5_1==x_17^1_2_1 && y_20^post_26==ct_18^1_5 && x_21^post_26==x_SLAM_f_19^1_5_1 && 0<=i_13^0 && i_13^post_26==i_13^post_26 && len_14^post_26==len_14^post_26 && x_15^post_26==x_15^post_26 && x_17^post_26==x_17^post_26 && ct_18^post_26==ct_18^post_26 && x_SLAM_f_19^post_26==x_SLAM_f_19^post_26 && tmp_27^post_26==tmp_27^post_26 && __disjvr_0^0==__disjvr_0^post_26 && __disjvr_1^0==__disjvr_1^post_26 && __disjvr_10^0==__disjvr_10^post_26 && __disjvr_11^0==__disjvr_11^post_26 && __disjvr_12^0==__disjvr_12^post_26 && __disjvr_2^0==__disjvr_2^post_26 && __disjvr_3^0==__disjvr_3^post_26 && __disjvr_4^0==__disjvr_4^post_26 && __disjvr_5^0==__disjvr_5^post_26 && __disjvr_6^0==__disjvr_6^post_26 && __disjvr_7^0==__disjvr_7^post_26 && __disjvr_8^0==__disjvr_8^post_26 && __disjvr_9^0==__disjvr_9^post_26 && a_130^0==a_130^post_26 && a_152^0==a_152^post_26 && a_175^0==a_175^post_26 && a_28^0==a_28^post_26 && d_29^0==d_29^post_26 && i_111^0==i_111^post_26 && r_37^0==r_37^post_26 && rcd_100^0==rcd_100^post_26 && rcd_63^0==rcd_63^post_26 && result_11^0==result_11^post_26 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_26 && t_24^0==t_24^post_26 && temp0_16^0==temp0_16^post_26 && temp0_31^0==temp0_31^post_26 && temp_33^0==temp_33^post_26 && x_32^0==x_32^post_26 ], cost: 1
     31: l18 -> l30 : __disjvr_0^0'=__disjvr_0^post_32, __disjvr_10^0'=__disjvr_10^post_32, __disjvr_11^0'=__disjvr_11^post_32, __disjvr_12^0'=__disjvr_12^post_32, __disjvr_1^0'=__disjvr_1^post_32, __disjvr_2^0'=__disjvr_2^post_32, __disjvr_3^0'=__disjvr_3^post_32, __disjvr_4^0'=__disjvr_4^post_32, __disjvr_5^0'=__disjvr_5^post_32, __disjvr_6^0'=__disjvr_6^post_32, __disjvr_7^0'=__disjvr_7^post_32, __disjvr_8^0'=__disjvr_8^post_32, __disjvr_9^0'=__disjvr_9^post_32, a_130^0'=a_130^post_32, a_152^0'=a_152^post_32, a_175^0'=a_175^post_32, a_28^0'=a_28^post_32, ct_18^0'=ct_18^post_32, d_29^0'=d_29^post_32, i_111^0'=i_111^post_32, i_13^0'=i_13^post_32, len_14^0'=len_14^post_32, r_37^0'=r_37^post_32, rcd_100^0'=rcd_100^post_32, rcd_63^0'=rcd_63^post_32, result_11^0'=result_11^post_32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_32, t_24^0'=t_24^post_32, temp0_16^0'=temp0_16^post_32, temp0_31^0'=temp0_31^post_32, temp_33^0'=temp_33^post_32, tmp_27^0'=tmp_27^post_32, x_15^0'=x_15^post_32, x_17^0'=x_17^post_32, x_21^0'=x_21^post_32, x_32^0'=x_32^post_32, x_SLAM_f_19^0'=x_SLAM_f_19^post_32, y_20^0'=y_20^post_32, [ 0<=i_13^0 && rcd_100^post_32==rcd_100^post_32 && i_111^post_32==i_111^post_32 && 1+i_13^0<=len_14^0 && a_28^1_2==i_13^0 && d_29^1_2_1==x_15^0 && x_32^1_2_1==temp_33^0 && temp_33^1_2_1==temp_33^1_2_1 && temp0_31^1_2_1==x_32^1_2_1 && result_11^1_2_1==temp0_31^1_2_1 && a_28^post_32==a_28^post_32 && d_29^post_32==d_29^post_32 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_32==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_32 && temp0_31^post_32==temp0_31^post_32 && x_32^post_32==x_32^post_32 && temp_33^post_32==temp_33^post_32 && tmp_27^post_32==result_11^1_2_1 && result_11^post_32==result_11^post_32 && x_15^post_32==tmp_27^post_32 && i_13^post_32==1+i_13^0 && i_13^post_32<=1+i_111^post_32 && 1+i_111^post_32<=i_13^post_32 && i_111^post_32<=-1+i_13^post_32 && -1+i_13^post_32<=i_111^post_32 && 1+i_111^post_32<=len_14^0 && __disjvr_0^0==__disjvr_0^post_32 && __disjvr_1^0==__disjvr_1^post_32 && __disjvr_10^0==__disjvr_10^post_32 && __disjvr_11^0==__disjvr_11^post_32 && __disjvr_12^0==__disjvr_12^post_32 && __disjvr_2^0==__disjvr_2^post_32 && __disjvr_3^0==__disjvr_3^post_32 && __disjvr_4^0==__disjvr_4^post_32 && __disjvr_5^0==__disjvr_5^post_32 && __disjvr_6^0==__disjvr_6^post_32 && __disjvr_7^0==__disjvr_7^post_32 && __disjvr_8^0==__disjvr_8^post_32 && __disjvr_9^0==__disjvr_9^post_32 && a_130^0==a_130^post_32 && a_152^0==a_152^post_32 && a_175^0==a_175^post_32 && ct_18^0==ct_18^post_32 && len_14^0==len_14^post_32 && r_37^0==r_37^post_32 && rcd_63^0==rcd_63^post_32 && t_24^0==t_24^post_32 && temp0_16^0==temp0_16^post_32 && x_17^0==x_17^post_32 && x_21^0==x_21^post_32 && x_SLAM_f_19^0==x_SLAM_f_19^post_32 && y_20^0==y_20^post_32 ], cost: 1
     19: l20 -> l21 : __disjvr_0^0'=__disjvr_0^post_20, __disjvr_10^0'=__disjvr_10^post_20, __disjvr_11^0'=__disjvr_11^post_20, __disjvr_12^0'=__disjvr_12^post_20, __disjvr_1^0'=__disjvr_1^post_20, __disjvr_2^0'=__disjvr_2^post_20, __disjvr_3^0'=__disjvr_3^post_20, __disjvr_4^0'=__disjvr_4^post_20, __disjvr_5^0'=__disjvr_5^post_20, __disjvr_6^0'=__disjvr_6^post_20, __disjvr_7^0'=__disjvr_7^post_20, __disjvr_8^0'=__disjvr_8^post_20, __disjvr_9^0'=__disjvr_9^post_20, a_130^0'=a_130^post_20, a_152^0'=a_152^post_20, a_175^0'=a_175^post_20, a_28^0'=a_28^post_20, ct_18^0'=ct_18^post_20, d_29^0'=d_29^post_20, i_111^0'=i_111^post_20, i_13^0'=i_13^post_20, len_14^0'=len_14^post_20, r_37^0'=r_37^post_20, rcd_100^0'=rcd_100^post_20, rcd_63^0'=rcd_63^post_20, result_11^0'=result_11^post_20, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_20, t_24^0'=t_24^post_20, temp0_16^0'=temp0_16^post_20, temp0_31^0'=temp0_31^post_20, temp_33^0'=temp_33^post_20, tmp_27^0'=tmp_27^post_20, x_15^0'=x_15^post_20, x_17^0'=x_17^post_20, x_21^0'=x_21^post_20, x_32^0'=x_32^post_20, x_SLAM_f_19^0'=x_SLAM_f_19^post_20, y_20^0'=y_20^post_20, [ __disjvr_7^post_20==__disjvr_7^0 && __disjvr_0^0==__disjvr_0^post_20 && __disjvr_1^0==__disjvr_1^post_20 && __disjvr_10^0==__disjvr_10^post_20 && __disjvr_11^0==__disjvr_11^post_20 && __disjvr_12^0==__disjvr_12^post_20 && __disjvr_2^0==__disjvr_2^post_20 && __disjvr_3^0==__disjvr_3^post_20 && __disjvr_4^0==__disjvr_4^post_20 && __disjvr_5^0==__disjvr_5^post_20 && __disjvr_6^0==__disjvr_6^post_20 && __disjvr_7^0==__disjvr_7^post_20 && __disjvr_8^0==__disjvr_8^post_20 && __disjvr_9^0==__disjvr_9^post_20 && a_130^0==a_130^post_20 && a_152^0==a_152^post_20 && a_175^0==a_175^post_20 && a_28^0==a_28^post_20 && ct_18^0==ct_18^post_20 && d_29^0==d_29^post_20 && i_111^0==i_111^post_20 && i_13^0==i_13^post_20 && len_14^0==len_14^post_20 && r_37^0==r_37^post_20 && rcd_100^0==rcd_100^post_20 && rcd_63^0==rcd_63^post_20 && result_11^0==result_11^post_20 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_20 && t_24^0==t_24^post_20 && temp0_16^0==temp0_16^post_20 && temp0_31^0==temp0_31^post_20 && temp_33^0==temp_33^post_20 && tmp_27^0==tmp_27^post_20 && x_15^0==x_15^post_20 && x_17^0==x_17^post_20 && x_21^0==x_21^post_20 && x_32^0==x_32^post_20 && x_SLAM_f_19^0==x_SLAM_f_19^post_20 && y_20^0==y_20^post_20 ], cost: 1
     20: l21 -> l22 : __disjvr_0^0'=__disjvr_0^post_21, __disjvr_10^0'=__disjvr_10^post_21, __disjvr_11^0'=__disjvr_11^post_21, __disjvr_12^0'=__disjvr_12^post_21, __disjvr_1^0'=__disjvr_1^post_21, __disjvr_2^0'=__disjvr_2^post_21, __disjvr_3^0'=__disjvr_3^post_21, __disjvr_4^0'=__disjvr_4^post_21, __disjvr_5^0'=__disjvr_5^post_21, __disjvr_6^0'=__disjvr_6^post_21, __disjvr_7^0'=__disjvr_7^post_21, __disjvr_8^0'=__disjvr_8^post_21, __disjvr_9^0'=__disjvr_9^post_21, a_130^0'=a_130^post_21, a_152^0'=a_152^post_21, a_175^0'=a_175^post_21, a_28^0'=a_28^post_21, ct_18^0'=ct_18^post_21, d_29^0'=d_29^post_21, i_111^0'=i_111^post_21, i_13^0'=i_13^post_21, len_14^0'=len_14^post_21, r_37^0'=r_37^post_21, rcd_100^0'=rcd_100^post_21, rcd_63^0'=rcd_63^post_21, result_11^0'=result_11^post_21, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_21, t_24^0'=t_24^post_21, temp0_16^0'=temp0_16^post_21, temp0_31^0'=temp0_31^post_21, temp_33^0'=temp_33^post_21, tmp_27^0'=tmp_27^post_21, x_15^0'=x_15^post_21, x_17^0'=x_17^post_21, x_21^0'=x_21^post_21, x_32^0'=x_32^post_21, x_SLAM_f_19^0'=x_SLAM_f_19^post_21, y_20^0'=y_20^post_21, [ t_24^post_21==x_21^0 && a_175^post_21==a_175^post_21 && 0<=ct_18^0 && ct_18^0<=0 && 0<=y_20^0 && y_20^0<=0 && x_15^0<=x_17^0 && x_17^0<=x_15^0 && x_15^0<=x_SLAM_f_19^0 && x_SLAM_f_19^0<=x_15^0 && x_15^0<=tmp_27^0 && tmp_27^0<=x_15^0 && x_17^0<=x_SLAM_f_19^0 && x_SLAM_f_19^0<=x_17^0 && ct_18^0<=y_20^0 && y_20^0<=ct_18^0 && a_175^post_21<=-1+a_152^0 && -1+a_152^0<=a_175^post_21 && __disjvr_0^0==__disjvr_0^post_21 && __disjvr_1^0==__disjvr_1^post_21 && __disjvr_10^0==__disjvr_10^post_21 && __disjvr_11^0==__disjvr_11^post_21 && __disjvr_12^0==__disjvr_12^post_21 && __disjvr_2^0==__disjvr_2^post_21 && __disjvr_3^0==__disjvr_3^post_21 && __disjvr_4^0==__disjvr_4^post_21 && __disjvr_5^0==__disjvr_5^post_21 && __disjvr_6^0==__disjvr_6^post_21 && __disjvr_7^0==__disjvr_7^post_21 && __disjvr_8^0==__disjvr_8^post_21 && __disjvr_9^0==__disjvr_9^post_21 && a_130^0==a_130^post_21 && a_152^0==a_152^post_21 && a_28^0==a_28^post_21 && ct_18^0==ct_18^post_21 && d_29^0==d_29^post_21 && i_111^0==i_111^post_21 && i_13^0==i_13^post_21 && len_14^0==len_14^post_21 && r_37^0==r_37^post_21 && rcd_100^0==rcd_100^post_21 && rcd_63^0==rcd_63^post_21 && result_11^0==result_11^post_21 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_21 && temp0_16^0==temp0_16^post_21 && temp0_31^0==temp0_31^post_21 && temp_33^0==temp_33^post_21 && tmp_27^0==tmp_27^post_21 && x_15^0==x_15^post_21 && x_17^0==x_17^post_21 && x_21^0==x_21^post_21 && x_32^0==x_32^post_21 && x_SLAM_f_19^0==x_SLAM_f_19^post_21 && y_20^0==y_20^post_21 ], cost: 1
     21: l22 -> l23 : __disjvr_0^0'=__disjvr_0^post_22, __disjvr_10^0'=__disjvr_10^post_22, __disjvr_11^0'=__disjvr_11^post_22, __disjvr_12^0'=__disjvr_12^post_22, __disjvr_1^0'=__disjvr_1^post_22, __disjvr_2^0'=__disjvr_2^post_22, __disjvr_3^0'=__disjvr_3^post_22, __disjvr_4^0'=__disjvr_4^post_22, __disjvr_5^0'=__disjvr_5^post_22, __disjvr_6^0'=__disjvr_6^post_22, __disjvr_7^0'=__disjvr_7^post_22, __disjvr_8^0'=__disjvr_8^post_22, __disjvr_9^0'=__disjvr_9^post_22, a_130^0'=a_130^post_22, a_152^0'=a_152^post_22, a_175^0'=a_175^post_22, a_28^0'=a_28^post_22, ct_18^0'=ct_18^post_22, d_29^0'=d_29^post_22, i_111^0'=i_111^post_22, i_13^0'=i_13^post_22, len_14^0'=len_14^post_22, r_37^0'=r_37^post_22, rcd_100^0'=rcd_100^post_22, rcd_63^0'=rcd_63^post_22, result_11^0'=result_11^post_22, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_22, t_24^0'=t_24^post_22, temp0_16^0'=temp0_16^post_22, temp0_31^0'=temp0_31^post_22, temp_33^0'=temp_33^post_22, tmp_27^0'=tmp_27^post_22, x_15^0'=x_15^post_22, x_17^0'=x_17^post_22, x_21^0'=x_21^post_22, x_32^0'=x_32^post_22, x_SLAM_f_19^0'=x_SLAM_f_19^post_22, y_20^0'=y_20^post_22, [ __disjvr_8^post_22==__disjvr_8^0 && __disjvr_0^0==__disjvr_0^post_22 && __disjvr_1^0==__disjvr_1^post_22 && __disjvr_10^0==__disjvr_10^post_22 && __disjvr_11^0==__disjvr_11^post_22 && __disjvr_12^0==__disjvr_12^post_22 && __disjvr_2^0==__disjvr_2^post_22 && __disjvr_3^0==__disjvr_3^post_22 && __disjvr_4^0==__disjvr_4^post_22 && __disjvr_5^0==__disjvr_5^post_22 && __disjvr_6^0==__disjvr_6^post_22 && __disjvr_7^0==__disjvr_7^post_22 && __disjvr_8^0==__disjvr_8^post_22 && __disjvr_9^0==__disjvr_9^post_22 && a_130^0==a_130^post_22 && a_152^0==a_152^post_22 && a_175^0==a_175^post_22 && a_28^0==a_28^post_22 && ct_18^0==ct_18^post_22 && d_29^0==d_29^post_22 && i_111^0==i_111^post_22 && i_13^0==i_13^post_22 && len_14^0==len_14^post_22 && r_37^0==r_37^post_22 && rcd_100^0==rcd_100^post_22 && rcd_63^0==rcd_63^post_22 && result_11^0==result_11^post_22 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_22 && t_24^0==t_24^post_22 && temp0_16^0==temp0_16^post_22 && temp0_31^0==temp0_31^post_22 && temp_33^0==temp_33^post_22 && tmp_27^0==tmp_27^post_22 && x_15^0==x_15^post_22 && x_17^0==x_17^post_22 && x_21^0==x_21^post_22 && x_32^0==x_32^post_22 && x_SLAM_f_19^0==x_SLAM_f_19^post_22 && y_20^0==y_20^post_22 ], cost: 1
     22: l23 -> l24 : __disjvr_0^0'=__disjvr_0^post_23, __disjvr_10^0'=__disjvr_10^post_23, __disjvr_11^0'=__disjvr_11^post_23, __disjvr_12^0'=__disjvr_12^post_23, __disjvr_1^0'=__disjvr_1^post_23, __disjvr_2^0'=__disjvr_2^post_23, __disjvr_3^0'=__disjvr_3^post_23, __disjvr_4^0'=__disjvr_4^post_23, __disjvr_5^0'=__disjvr_5^post_23, __disjvr_6^0'=__disjvr_6^post_23, __disjvr_7^0'=__disjvr_7^post_23, __disjvr_8^0'=__disjvr_8^post_23, __disjvr_9^0'=__disjvr_9^post_23, a_130^0'=a_130^post_23, a_152^0'=a_152^post_23, a_175^0'=a_175^post_23, a_28^0'=a_28^post_23, ct_18^0'=ct_18^post_23, d_29^0'=d_29^post_23, i_111^0'=i_111^post_23, i_13^0'=i_13^post_23, len_14^0'=len_14^post_23, r_37^0'=r_37^post_23, rcd_100^0'=rcd_100^post_23, rcd_63^0'=rcd_63^post_23, result_11^0'=result_11^post_23, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_23, t_24^0'=t_24^post_23, temp0_16^0'=temp0_16^post_23, temp0_31^0'=temp0_31^post_23, temp_33^0'=temp_33^post_23, tmp_27^0'=tmp_27^post_23, x_15^0'=x_15^post_23, x_17^0'=x_17^post_23, x_21^0'=x_21^post_23, x_32^0'=x_32^post_23, x_SLAM_f_19^0'=x_SLAM_f_19^post_23, y_20^0'=y_20^post_23, [ __disjvr_9^post_23==__disjvr_9^0 && __disjvr_0^0==__disjvr_0^post_23 && __disjvr_1^0==__disjvr_1^post_23 && __disjvr_10^0==__disjvr_10^post_23 && __disjvr_11^0==__disjvr_11^post_23 && __disjvr_12^0==__disjvr_12^post_23 && __disjvr_2^0==__disjvr_2^post_23 && __disjvr_3^0==__disjvr_3^post_23 && __disjvr_4^0==__disjvr_4^post_23 && __disjvr_5^0==__disjvr_5^post_23 && __disjvr_6^0==__disjvr_6^post_23 && __disjvr_7^0==__disjvr_7^post_23 && __disjvr_8^0==__disjvr_8^post_23 && __disjvr_9^0==__disjvr_9^post_23 && a_130^0==a_130^post_23 && a_152^0==a_152^post_23 && a_175^0==a_175^post_23 && a_28^0==a_28^post_23 && ct_18^0==ct_18^post_23 && d_29^0==d_29^post_23 && i_111^0==i_111^post_23 && i_13^0==i_13^post_23 && len_14^0==len_14^post_23 && r_37^0==r_37^post_23 && rcd_100^0==rcd_100^post_23 && rcd_63^0==rcd_63^post_23 && result_11^0==result_11^post_23 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_23 && t_24^0==t_24^post_23 && temp0_16^0==temp0_16^post_23 && temp0_31^0==temp0_31^post_23 && temp_33^0==temp_33^post_23 && tmp_27^0==tmp_27^post_23 && x_15^0==x_15^post_23 && x_17^0==x_17^post_23 && x_21^0==x_21^post_23 && x_32^0==x_32^post_23 && x_SLAM_f_19^0==x_SLAM_f_19^post_23 && y_20^0==y_20^post_23 ], cost: 1
     23: l24 -> l19 : __disjvr_0^0'=__disjvr_0^post_24, __disjvr_10^0'=__disjvr_10^post_24, __disjvr_11^0'=__disjvr_11^post_24, __disjvr_12^0'=__disjvr_12^post_24, __disjvr_1^0'=__disjvr_1^post_24, __disjvr_2^0'=__disjvr_2^post_24, __disjvr_3^0'=__disjvr_3^post_24, __disjvr_4^0'=__disjvr_4^post_24, __disjvr_5^0'=__disjvr_5^post_24, __disjvr_6^0'=__disjvr_6^post_24, __disjvr_7^0'=__disjvr_7^post_24, __disjvr_8^0'=__disjvr_8^post_24, __disjvr_9^0'=__disjvr_9^post_24, a_130^0'=a_130^post_24, a_152^0'=a_152^post_24, a_175^0'=a_175^post_24, a_28^0'=a_28^post_24, ct_18^0'=ct_18^post_24, d_29^0'=d_29^post_24, i_111^0'=i_111^post_24, i_13^0'=i_13^post_24, len_14^0'=len_14^post_24, r_37^0'=r_37^post_24, rcd_100^0'=rcd_100^post_24, rcd_63^0'=rcd_63^post_24, result_11^0'=result_11^post_24, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_24, t_24^0'=t_24^post_24, temp0_16^0'=temp0_16^post_24, temp0_31^0'=temp0_31^post_24, temp_33^0'=temp_33^post_24, tmp_27^0'=tmp_27^post_24, x_15^0'=x_15^post_24, x_17^0'=x_17^post_24, x_21^0'=x_21^post_24, x_32^0'=x_32^post_24, x_SLAM_f_19^0'=x_SLAM_f_19^post_24, y_20^0'=y_20^post_24, [ 1<=len_14^0 && 2<=len_14^0 && len_14^0<=i_13^0 && a_152^post_24==a_152^post_24 && a_152^post_24<=a_175^0 && a_175^0<=a_152^post_24 && __disjvr_0^0==__disjvr_0^post_24 && __disjvr_1^0==__disjvr_1^post_24 && __disjvr_10^0==__disjvr_10^post_24 && __disjvr_11^0==__disjvr_11^post_24 && __disjvr_12^0==__disjvr_12^post_24 && __disjvr_2^0==__disjvr_2^post_24 && __disjvr_3^0==__disjvr_3^post_24 && __disjvr_4^0==__disjvr_4^post_24 && __disjvr_5^0==__disjvr_5^post_24 && __disjvr_6^0==__disjvr_6^post_24 && __disjvr_7^0==__disjvr_7^post_24 && __disjvr_8^0==__disjvr_8^post_24 && __disjvr_9^0==__disjvr_9^post_24 && a_130^0==a_130^post_24 && a_175^0==a_175^post_24 && a_28^0==a_28^post_24 && ct_18^0==ct_18^post_24 && d_29^0==d_29^post_24 && i_111^0==i_111^post_24 && i_13^0==i_13^post_24 && len_14^0==len_14^post_24 && r_37^0==r_37^post_24 && rcd_100^0==rcd_100^post_24 && rcd_63^0==rcd_63^post_24 && result_11^0==result_11^post_24 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_24 && t_24^0==t_24^post_24 && temp0_16^0==temp0_16^post_24 && temp0_31^0==temp0_31^post_24 && temp_33^0==temp_33^post_24 && tmp_27^0==tmp_27^post_24 && x_15^0==x_15^post_24 && x_17^0==x_17^post_24 && x_21^0==x_21^post_24 && x_32^0==x_32^post_24 && x_SLAM_f_19^0==x_SLAM_f_19^post_24 && y_20^0==y_20^post_24 ], cost: 1
     24: l19 -> l4 : __disjvr_0^0'=__disjvr_0^post_25, __disjvr_10^0'=__disjvr_10^post_25, __disjvr_11^0'=__disjvr_11^post_25, __disjvr_12^0'=__disjvr_12^post_25, __disjvr_1^0'=__disjvr_1^post_25, __disjvr_2^0'=__disjvr_2^post_25, __disjvr_3^0'=__disjvr_3^post_25, __disjvr_4^0'=__disjvr_4^post_25, __disjvr_5^0'=__disjvr_5^post_25, __disjvr_6^0'=__disjvr_6^post_25, __disjvr_7^0'=__disjvr_7^post_25, __disjvr_8^0'=__disjvr_8^post_25, __disjvr_9^0'=__disjvr_9^post_25, a_130^0'=a_130^post_25, a_152^0'=a_152^post_25, a_175^0'=a_175^post_25, a_28^0'=a_28^post_25, ct_18^0'=ct_18^post_25, d_29^0'=d_29^post_25, i_111^0'=i_111^post_25, i_13^0'=i_13^post_25, len_14^0'=len_14^post_25, r_37^0'=r_37^post_25, rcd_100^0'=rcd_100^post_25, rcd_63^0'=rcd_63^post_25, result_11^0'=result_11^post_25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_25, t_24^0'=t_24^post_25, temp0_16^0'=temp0_16^post_25, temp0_31^0'=temp0_31^post_25, temp_33^0'=temp_33^post_25, tmp_27^0'=tmp_27^post_25, x_15^0'=x_15^post_25, x_17^0'=x_17^post_25, x_21^0'=x_21^post_25, x_32^0'=x_32^post_25, x_SLAM_f_19^0'=x_SLAM_f_19^post_25, y_20^0'=y_20^post_25, [ __disjvr_0^0==__disjvr_0^post_25 && __disjvr_1^0==__disjvr_1^post_25 && __disjvr_10^0==__disjvr_10^post_25 && __disjvr_11^0==__disjvr_11^post_25 && __disjvr_12^0==__disjvr_12^post_25 && __disjvr_2^0==__disjvr_2^post_25 && __disjvr_3^0==__disjvr_3^post_25 && __disjvr_4^0==__disjvr_4^post_25 && __disjvr_5^0==__disjvr_5^post_25 && __disjvr_6^0==__disjvr_6^post_25 && __disjvr_7^0==__disjvr_7^post_25 && __disjvr_8^0==__disjvr_8^post_25 && __disjvr_9^0==__disjvr_9^post_25 && a_130^0==a_130^post_25 && a_152^0==a_152^post_25 && a_175^0==a_175^post_25 && a_28^0==a_28^post_25 && ct_18^0==ct_18^post_25 && d_29^0==d_29^post_25 && i_111^0==i_111^post_25 && i_13^0==i_13^post_25 && len_14^0==len_14^post_25 && r_37^0==r_37^post_25 && rcd_100^0==rcd_100^post_25 && rcd_63^0==rcd_63^post_25 && result_11^0==result_11^post_25 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_25 && t_24^0==t_24^post_25 && temp0_16^0==temp0_16^post_25 && temp0_31^0==temp0_31^post_25 && temp_33^0==temp_33^post_25 && tmp_27^0==tmp_27^post_25 && x_15^0==x_15^post_25 && x_17^0==x_17^post_25 && x_21^0==x_21^post_25 && x_32^0==x_32^post_25 && x_SLAM_f_19^0==x_SLAM_f_19^post_25 && y_20^0==y_20^post_25 ], cost: 1
     26: l25 -> l26 : __disjvr_0^0'=__disjvr_0^post_27, __disjvr_10^0'=__disjvr_10^post_27, __disjvr_11^0'=__disjvr_11^post_27, __disjvr_12^0'=__disjvr_12^post_27, __disjvr_1^0'=__disjvr_1^post_27, __disjvr_2^0'=__disjvr_2^post_27, __disjvr_3^0'=__disjvr_3^post_27, __disjvr_4^0'=__disjvr_4^post_27, __disjvr_5^0'=__disjvr_5^post_27, __disjvr_6^0'=__disjvr_6^post_27, __disjvr_7^0'=__disjvr_7^post_27, __disjvr_8^0'=__disjvr_8^post_27, __disjvr_9^0'=__disjvr_9^post_27, a_130^0'=a_130^post_27, a_152^0'=a_152^post_27, a_175^0'=a_175^post_27, a_28^0'=a_28^post_27, ct_18^0'=ct_18^post_27, d_29^0'=d_29^post_27, i_111^0'=i_111^post_27, i_13^0'=i_13^post_27, len_14^0'=len_14^post_27, r_37^0'=r_37^post_27, rcd_100^0'=rcd_100^post_27, rcd_63^0'=rcd_63^post_27, result_11^0'=result_11^post_27, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_27, t_24^0'=t_24^post_27, temp0_16^0'=temp0_16^post_27, temp0_31^0'=temp0_31^post_27, temp_33^0'=temp_33^post_27, tmp_27^0'=tmp_27^post_27, x_15^0'=x_15^post_27, x_17^0'=x_17^post_27, x_21^0'=x_21^post_27, x_32^0'=x_32^post_27, x_SLAM_f_19^0'=x_SLAM_f_19^post_27, y_20^0'=y_20^post_27, [ __disjvr_10^post_27==__disjvr_10^0 && __disjvr_0^0==__disjvr_0^post_27 && __disjvr_1^0==__disjvr_1^post_27 && __disjvr_10^0==__disjvr_10^post_27 && __disjvr_11^0==__disjvr_11^post_27 && __disjvr_12^0==__disjvr_12^post_27 && __disjvr_2^0==__disjvr_2^post_27 && __disjvr_3^0==__disjvr_3^post_27 && __disjvr_4^0==__disjvr_4^post_27 && __disjvr_5^0==__disjvr_5^post_27 && __disjvr_6^0==__disjvr_6^post_27 && __disjvr_7^0==__disjvr_7^post_27 && __disjvr_8^0==__disjvr_8^post_27 && __disjvr_9^0==__disjvr_9^post_27 && a_130^0==a_130^post_27 && a_152^0==a_152^post_27 && a_175^0==a_175^post_27 && a_28^0==a_28^post_27 && ct_18^0==ct_18^post_27 && d_29^0==d_29^post_27 && i_111^0==i_111^post_27 && i_13^0==i_13^post_27 && len_14^0==len_14^post_27 && r_37^0==r_37^post_27 && rcd_100^0==rcd_100^post_27 && rcd_63^0==rcd_63^post_27 && result_11^0==result_11^post_27 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_27 && t_24^0==t_24^post_27 && temp0_16^0==temp0_16^post_27 && temp0_31^0==temp0_31^post_27 && temp_33^0==temp_33^post_27 && tmp_27^0==tmp_27^post_27 && x_15^0==x_15^post_27 && x_17^0==x_17^post_27 && x_21^0==x_21^post_27 && x_32^0==x_32^post_27 && x_SLAM_f_19^0==x_SLAM_f_19^post_27 && y_20^0==y_20^post_27 ], cost: 1
     27: l26 -> l27 : __disjvr_0^0'=__disjvr_0^post_28, __disjvr_10^0'=__disjvr_10^post_28, __disjvr_11^0'=__disjvr_11^post_28, __disjvr_12^0'=__disjvr_12^post_28, __disjvr_1^0'=__disjvr_1^post_28, __disjvr_2^0'=__disjvr_2^post_28, __disjvr_3^0'=__disjvr_3^post_28, __disjvr_4^0'=__disjvr_4^post_28, __disjvr_5^0'=__disjvr_5^post_28, __disjvr_6^0'=__disjvr_6^post_28, __disjvr_7^0'=__disjvr_7^post_28, __disjvr_8^0'=__disjvr_8^post_28, __disjvr_9^0'=__disjvr_9^post_28, a_130^0'=a_130^post_28, a_152^0'=a_152^post_28, a_175^0'=a_175^post_28, a_28^0'=a_28^post_28, ct_18^0'=ct_18^post_28, d_29^0'=d_29^post_28, i_111^0'=i_111^post_28, i_13^0'=i_13^post_28, len_14^0'=len_14^post_28, r_37^0'=r_37^post_28, rcd_100^0'=rcd_100^post_28, rcd_63^0'=rcd_63^post_28, result_11^0'=result_11^post_28, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_28, t_24^0'=t_24^post_28, temp0_16^0'=temp0_16^post_28, temp0_31^0'=temp0_31^post_28, temp_33^0'=temp_33^post_28, tmp_27^0'=tmp_27^post_28, x_15^0'=x_15^post_28, x_17^0'=x_17^post_28, x_21^0'=x_21^post_28, x_32^0'=x_32^post_28, x_SLAM_f_19^0'=x_SLAM_f_19^post_28, y_20^0'=y_20^post_28, [ t_24^post_28==x_21^0 && a_130^post_28==a_130^post_28 && 0<=ct_18^0 && ct_18^0<=0 && 0<=y_20^0 && y_20^0<=0 && 0<=-a_130^post_28+a_152^0 && -a_130^post_28+a_152^0<=0 && x_15^0<=x_17^0 && x_17^0<=x_15^0 && x_15^0<=x_SLAM_f_19^0 && x_SLAM_f_19^0<=x_15^0 && x_15^0<=t_24^post_28 && t_24^post_28<=x_15^0 && x_15^0<=tmp_27^0 && tmp_27^0<=x_15^0 && x_17^0<=x_SLAM_f_19^0 && x_SLAM_f_19^0<=x_17^0 && ct_18^0<=y_20^0 && y_20^0<=ct_18^0 && a_130^post_28<=a_152^0 && a_152^0<=a_130^post_28 && __disjvr_0^0==__disjvr_0^post_28 && __disjvr_1^0==__disjvr_1^post_28 && __disjvr_10^0==__disjvr_10^post_28 && __disjvr_11^0==__disjvr_11^post_28 && __disjvr_12^0==__disjvr_12^post_28 && __disjvr_2^0==__disjvr_2^post_28 && __disjvr_3^0==__disjvr_3^post_28 && __disjvr_4^0==__disjvr_4^post_28 && __disjvr_5^0==__disjvr_5^post_28 && __disjvr_6^0==__disjvr_6^post_28 && __disjvr_7^0==__disjvr_7^post_28 && __disjvr_8^0==__disjvr_8^post_28 && __disjvr_9^0==__disjvr_9^post_28 && a_152^0==a_152^post_28 && a_175^0==a_175^post_28 && a_28^0==a_28^post_28 && ct_18^0==ct_18^post_28 && d_29^0==d_29^post_28 && i_111^0==i_111^post_28 && i_13^0==i_13^post_28 && len_14^0==len_14^post_28 && r_37^0==r_37^post_28 && rcd_100^0==rcd_100^post_28 && rcd_63^0==rcd_63^post_28 && result_11^0==result_11^post_28 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_28 && temp0_16^0==temp0_16^post_28 && temp0_31^0==temp0_31^post_28 && temp_33^0==temp_33^post_28 && tmp_27^0==tmp_27^post_28 && x_15^0==x_15^post_28 && x_17^0==x_17^post_28 && x_21^0==x_21^post_28 && x_32^0==x_32^post_28 && x_SLAM_f_19^0==x_SLAM_f_19^post_28 && y_20^0==y_20^post_28 ], cost: 1
     28: l27 -> l28 : __disjvr_0^0'=__disjvr_0^post_29, __disjvr_10^0'=__disjvr_10^post_29, __disjvr_11^0'=__disjvr_11^post_29, __disjvr_12^0'=__disjvr_12^post_29, __disjvr_1^0'=__disjvr_1^post_29, __disjvr_2^0'=__disjvr_2^post_29, __disjvr_3^0'=__disjvr_3^post_29, __disjvr_4^0'=__disjvr_4^post_29, __disjvr_5^0'=__disjvr_5^post_29, __disjvr_6^0'=__disjvr_6^post_29, __disjvr_7^0'=__disjvr_7^post_29, __disjvr_8^0'=__disjvr_8^post_29, __disjvr_9^0'=__disjvr_9^post_29, a_130^0'=a_130^post_29, a_152^0'=a_152^post_29, a_175^0'=a_175^post_29, a_28^0'=a_28^post_29, ct_18^0'=ct_18^post_29, d_29^0'=d_29^post_29, i_111^0'=i_111^post_29, i_13^0'=i_13^post_29, len_14^0'=len_14^post_29, r_37^0'=r_37^post_29, rcd_100^0'=rcd_100^post_29, rcd_63^0'=rcd_63^post_29, result_11^0'=result_11^post_29, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_29, t_24^0'=t_24^post_29, temp0_16^0'=temp0_16^post_29, temp0_31^0'=temp0_31^post_29, temp_33^0'=temp_33^post_29, tmp_27^0'=tmp_27^post_29, x_15^0'=x_15^post_29, x_17^0'=x_17^post_29, x_21^0'=x_21^post_29, x_32^0'=x_32^post_29, x_SLAM_f_19^0'=x_SLAM_f_19^post_29, y_20^0'=y_20^post_29, [ __disjvr_11^post_29==__disjvr_11^0 && __disjvr_0^0==__disjvr_0^post_29 && __disjvr_1^0==__disjvr_1^post_29 && __disjvr_10^0==__disjvr_10^post_29 && __disjvr_11^0==__disjvr_11^post_29 && __disjvr_12^0==__disjvr_12^post_29 && __disjvr_2^0==__disjvr_2^post_29 && __disjvr_3^0==__disjvr_3^post_29 && __disjvr_4^0==__disjvr_4^post_29 && __disjvr_5^0==__disjvr_5^post_29 && __disjvr_6^0==__disjvr_6^post_29 && __disjvr_7^0==__disjvr_7^post_29 && __disjvr_8^0==__disjvr_8^post_29 && __disjvr_9^0==__disjvr_9^post_29 && a_130^0==a_130^post_29 && a_152^0==a_152^post_29 && a_175^0==a_175^post_29 && a_28^0==a_28^post_29 && ct_18^0==ct_18^post_29 && d_29^0==d_29^post_29 && i_111^0==i_111^post_29 && i_13^0==i_13^post_29 && len_14^0==len_14^post_29 && r_37^0==r_37^post_29 && rcd_100^0==rcd_100^post_29 && rcd_63^0==rcd_63^post_29 && result_11^0==result_11^post_29 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_29 && t_24^0==t_24^post_29 && temp0_16^0==temp0_16^post_29 && temp0_31^0==temp0_31^post_29 && temp_33^0==temp_33^post_29 && tmp_27^0==tmp_27^post_29 && x_15^0==x_15^post_29 && x_17^0==x_17^post_29 && x_21^0==x_21^post_29 && x_32^0==x_32^post_29 && x_SLAM_f_19^0==x_SLAM_f_19^post_29 && y_20^0==y_20^post_29 ], cost: 1
     29: l28 -> l29 : __disjvr_0^0'=__disjvr_0^post_30, __disjvr_10^0'=__disjvr_10^post_30, __disjvr_11^0'=__disjvr_11^post_30, __disjvr_12^0'=__disjvr_12^post_30, __disjvr_1^0'=__disjvr_1^post_30, __disjvr_2^0'=__disjvr_2^post_30, __disjvr_3^0'=__disjvr_3^post_30, __disjvr_4^0'=__disjvr_4^post_30, __disjvr_5^0'=__disjvr_5^post_30, __disjvr_6^0'=__disjvr_6^post_30, __disjvr_7^0'=__disjvr_7^post_30, __disjvr_8^0'=__disjvr_8^post_30, __disjvr_9^0'=__disjvr_9^post_30, a_130^0'=a_130^post_30, a_152^0'=a_152^post_30, a_175^0'=a_175^post_30, a_28^0'=a_28^post_30, ct_18^0'=ct_18^post_30, d_29^0'=d_29^post_30, i_111^0'=i_111^post_30, i_13^0'=i_13^post_30, len_14^0'=len_14^post_30, r_37^0'=r_37^post_30, rcd_100^0'=rcd_100^post_30, rcd_63^0'=rcd_63^post_30, result_11^0'=result_11^post_30, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_30, t_24^0'=t_24^post_30, temp0_16^0'=temp0_16^post_30, temp0_31^0'=temp0_31^post_30, temp_33^0'=temp_33^post_30, tmp_27^0'=tmp_27^post_30, x_15^0'=x_15^post_30, x_17^0'=x_17^post_30, x_21^0'=x_21^post_30, x_32^0'=x_32^post_30, x_SLAM_f_19^0'=x_SLAM_f_19^post_30, y_20^0'=y_20^post_30, [ __disjvr_12^post_30==__disjvr_12^0 && __disjvr_0^0==__disjvr_0^post_30 && __disjvr_1^0==__disjvr_1^post_30 && __disjvr_10^0==__disjvr_10^post_30 && __disjvr_11^0==__disjvr_11^post_30 && __disjvr_12^0==__disjvr_12^post_30 && __disjvr_2^0==__disjvr_2^post_30 && __disjvr_3^0==__disjvr_3^post_30 && __disjvr_4^0==__disjvr_4^post_30 && __disjvr_5^0==__disjvr_5^post_30 && __disjvr_6^0==__disjvr_6^post_30 && __disjvr_7^0==__disjvr_7^post_30 && __disjvr_8^0==__disjvr_8^post_30 && __disjvr_9^0==__disjvr_9^post_30 && a_130^0==a_130^post_30 && a_152^0==a_152^post_30 && a_175^0==a_175^post_30 && a_28^0==a_28^post_30 && ct_18^0==ct_18^post_30 && d_29^0==d_29^post_30 && i_111^0==i_111^post_30 && i_13^0==i_13^post_30 && len_14^0==len_14^post_30 && r_37^0==r_37^post_30 && rcd_100^0==rcd_100^post_30 && rcd_63^0==rcd_63^post_30 && result_11^0==result_11^post_30 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_30 && t_24^0==t_24^post_30 && temp0_16^0==temp0_16^post_30 && temp0_31^0==temp0_31^post_30 && temp_33^0==temp_33^post_30 && tmp_27^0==tmp_27^post_30 && x_15^0==x_15^post_30 && x_17^0==x_17^post_30 && x_21^0==x_21^post_30 && x_32^0==x_32^post_30 && x_SLAM_f_19^0==x_SLAM_f_19^post_30 && y_20^0==y_20^post_30 ], cost: 1
     30: l29 -> l4 : __disjvr_0^0'=__disjvr_0^post_31, __disjvr_10^0'=__disjvr_10^post_31, __disjvr_11^0'=__disjvr_11^post_31, __disjvr_12^0'=__disjvr_12^post_31, __disjvr_1^0'=__disjvr_1^post_31, __disjvr_2^0'=__disjvr_2^post_31, __disjvr_3^0'=__disjvr_3^post_31, __disjvr_4^0'=__disjvr_4^post_31, __disjvr_5^0'=__disjvr_5^post_31, __disjvr_6^0'=__disjvr_6^post_31, __disjvr_7^0'=__disjvr_7^post_31, __disjvr_8^0'=__disjvr_8^post_31, __disjvr_9^0'=__disjvr_9^post_31, a_130^0'=a_130^post_31, a_152^0'=a_152^post_31, a_175^0'=a_175^post_31, a_28^0'=a_28^post_31, ct_18^0'=ct_18^post_31, d_29^0'=d_29^post_31, i_111^0'=i_111^post_31, i_13^0'=i_13^post_31, len_14^0'=len_14^post_31, r_37^0'=r_37^post_31, rcd_100^0'=rcd_100^post_31, rcd_63^0'=rcd_63^post_31, result_11^0'=result_11^post_31, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_31, t_24^0'=t_24^post_31, temp0_16^0'=temp0_16^post_31, temp0_31^0'=temp0_31^post_31, temp_33^0'=temp_33^post_31, tmp_27^0'=tmp_27^post_31, x_15^0'=x_15^post_31, x_17^0'=x_17^post_31, x_21^0'=x_21^post_31, x_32^0'=x_32^post_31, x_SLAM_f_19^0'=x_SLAM_f_19^post_31, y_20^0'=y_20^post_31, [ 1<=len_14^0 && 2<=len_14^0 && len_14^0<=i_13^0 && i_13^post_31==i_13^post_31 && -1+i_13^post_31<=a_130^0 && a_130^0<=-1+i_13^post_31 && __disjvr_0^0==__disjvr_0^post_31 && __disjvr_1^0==__disjvr_1^post_31 && __disjvr_10^0==__disjvr_10^post_31 && __disjvr_11^0==__disjvr_11^post_31 && __disjvr_12^0==__disjvr_12^post_31 && __disjvr_2^0==__disjvr_2^post_31 && __disjvr_3^0==__disjvr_3^post_31 && __disjvr_4^0==__disjvr_4^post_31 && __disjvr_5^0==__disjvr_5^post_31 && __disjvr_6^0==__disjvr_6^post_31 && __disjvr_7^0==__disjvr_7^post_31 && __disjvr_8^0==__disjvr_8^post_31 && __disjvr_9^0==__disjvr_9^post_31 && a_130^0==a_130^post_31 && a_152^0==a_152^post_31 && a_175^0==a_175^post_31 && a_28^0==a_28^post_31 && ct_18^0==ct_18^post_31 && d_29^0==d_29^post_31 && i_111^0==i_111^post_31 && len_14^0==len_14^post_31 && r_37^0==r_37^post_31 && rcd_100^0==rcd_100^post_31 && rcd_63^0==rcd_63^post_31 && result_11^0==result_11^post_31 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_31 && t_24^0==t_24^post_31 && temp0_16^0==temp0_16^post_31 && temp0_31^0==temp0_31^post_31 && temp_33^0==temp_33^post_31 && tmp_27^0==tmp_27^post_31 && x_15^0==x_15^post_31 && x_17^0==x_17^post_31 && x_21^0==x_21^post_31 && x_32^0==x_32^post_31 && x_SLAM_f_19^0==x_SLAM_f_19^post_31 && y_20^0==y_20^post_31 ], cost: 1
     32: l30 -> l18 : __disjvr_0^0'=__disjvr_0^post_33, __disjvr_10^0'=__disjvr_10^post_33, __disjvr_11^0'=__disjvr_11^post_33, __disjvr_12^0'=__disjvr_12^post_33, __disjvr_1^0'=__disjvr_1^post_33, __disjvr_2^0'=__disjvr_2^post_33, __disjvr_3^0'=__disjvr_3^post_33, __disjvr_4^0'=__disjvr_4^post_33, __disjvr_5^0'=__disjvr_5^post_33, __disjvr_6^0'=__disjvr_6^post_33, __disjvr_7^0'=__disjvr_7^post_33, __disjvr_8^0'=__disjvr_8^post_33, __disjvr_9^0'=__disjvr_9^post_33, a_130^0'=a_130^post_33, a_152^0'=a_152^post_33, a_175^0'=a_175^post_33, a_28^0'=a_28^post_33, ct_18^0'=ct_18^post_33, d_29^0'=d_29^post_33, i_111^0'=i_111^post_33, i_13^0'=i_13^post_33, len_14^0'=len_14^post_33, r_37^0'=r_37^post_33, rcd_100^0'=rcd_100^post_33, rcd_63^0'=rcd_63^post_33, result_11^0'=result_11^post_33, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_33, t_24^0'=t_24^post_33, temp0_16^0'=temp0_16^post_33, temp0_31^0'=temp0_31^post_33, temp_33^0'=temp_33^post_33, tmp_27^0'=tmp_27^post_33, x_15^0'=x_15^post_33, x_17^0'=x_17^post_33, x_21^0'=x_21^post_33, x_32^0'=x_32^post_33, x_SLAM_f_19^0'=x_SLAM_f_19^post_33, y_20^0'=y_20^post_33, [ __disjvr_0^0==__disjvr_0^post_33 && __disjvr_1^0==__disjvr_1^post_33 && __disjvr_10^0==__disjvr_10^post_33 && __disjvr_11^0==__disjvr_11^post_33 && __disjvr_12^0==__disjvr_12^post_33 && __disjvr_2^0==__disjvr_2^post_33 && __disjvr_3^0==__disjvr_3^post_33 && __disjvr_4^0==__disjvr_4^post_33 && __disjvr_5^0==__disjvr_5^post_33 && __disjvr_6^0==__disjvr_6^post_33 && __disjvr_7^0==__disjvr_7^post_33 && __disjvr_8^0==__disjvr_8^post_33 && __disjvr_9^0==__disjvr_9^post_33 && a_130^0==a_130^post_33 && a_152^0==a_152^post_33 && a_175^0==a_175^post_33 && a_28^0==a_28^post_33 && ct_18^0==ct_18^post_33 && d_29^0==d_29^post_33 && i_111^0==i_111^post_33 && i_13^0==i_13^post_33 && len_14^0==len_14^post_33 && r_37^0==r_37^post_33 && rcd_100^0==rcd_100^post_33 && rcd_63^0==rcd_63^post_33 && result_11^0==result_11^post_33 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_33 && t_24^0==t_24^post_33 && temp0_16^0==temp0_16^post_33 && temp0_31^0==temp0_31^post_33 && temp_33^0==temp_33^post_33 && tmp_27^0==tmp_27^post_33 && x_15^0==x_15^post_33 && x_17^0==x_17^post_33 && x_21^0==x_21^post_33 && x_32^0==x_32^post_33 && x_SLAM_f_19^0==x_SLAM_f_19^post_33 && y_20^0==y_20^post_33 ], cost: 1
     35: l31 -> l10 : __disjvr_0^0'=__disjvr_0^post_36, __disjvr_10^0'=__disjvr_10^post_36, __disjvr_11^0'=__disjvr_11^post_36, __disjvr_12^0'=__disjvr_12^post_36, __disjvr_1^0'=__disjvr_1^post_36, __disjvr_2^0'=__disjvr_2^post_36, __disjvr_3^0'=__disjvr_3^post_36, __disjvr_4^0'=__disjvr_4^post_36, __disjvr_5^0'=__disjvr_5^post_36, __disjvr_6^0'=__disjvr_6^post_36, __disjvr_7^0'=__disjvr_7^post_36, __disjvr_8^0'=__disjvr_8^post_36, __disjvr_9^0'=__disjvr_9^post_36, a_130^0'=a_130^post_36, a_152^0'=a_152^post_36, a_175^0'=a_175^post_36, a_28^0'=a_28^post_36, ct_18^0'=ct_18^post_36, d_29^0'=d_29^post_36, i_111^0'=i_111^post_36, i_13^0'=i_13^post_36, len_14^0'=len_14^post_36, r_37^0'=r_37^post_36, rcd_100^0'=rcd_100^post_36, rcd_63^0'=rcd_63^post_36, result_11^0'=result_11^post_36, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_36, t_24^0'=t_24^post_36, temp0_16^0'=temp0_16^post_36, temp0_31^0'=temp0_31^post_36, temp_33^0'=temp_33^post_36, tmp_27^0'=tmp_27^post_36, x_15^0'=x_15^post_36, x_17^0'=x_17^post_36, x_21^0'=x_21^post_36, x_32^0'=x_32^post_36, x_SLAM_f_19^0'=x_SLAM_f_19^post_36, y_20^0'=y_20^post_36, [ __disjvr_0^0==__disjvr_0^post_36 && __disjvr_1^0==__disjvr_1^post_36 && __disjvr_10^0==__disjvr_10^post_36 && __disjvr_11^0==__disjvr_11^post_36 && __disjvr_12^0==__disjvr_12^post_36 && __disjvr_2^0==__disjvr_2^post_36 && __disjvr_3^0==__disjvr_3^post_36 && __disjvr_4^0==__disjvr_4^post_36 && __disjvr_5^0==__disjvr_5^post_36 && __disjvr_6^0==__disjvr_6^post_36 && __disjvr_7^0==__disjvr_7^post_36 && __disjvr_8^0==__disjvr_8^post_36 && __disjvr_9^0==__disjvr_9^post_36 && a_130^0==a_130^post_36 && a_152^0==a_152^post_36 && a_175^0==a_175^post_36 && a_28^0==a_28^post_36 && ct_18^0==ct_18^post_36 && d_29^0==d_29^post_36 && i_111^0==i_111^post_36 && i_13^0==i_13^post_36 && len_14^0==len_14^post_36 && r_37^0==r_37^post_36 && rcd_100^0==rcd_100^post_36 && rcd_63^0==rcd_63^post_36 && result_11^0==result_11^post_36 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_36 && t_24^0==t_24^post_36 && temp0_16^0==temp0_16^post_36 && temp0_31^0==temp0_31^post_36 && temp_33^0==temp_33^post_36 && tmp_27^0==tmp_27^post_36 && x_15^0==x_15^post_36 && x_17^0==x_17^post_36 && x_21^0==x_21^post_36 && x_32^0==x_32^post_36 && x_SLAM_f_19^0==x_SLAM_f_19^post_36 && y_20^0==y_20^post_36 ], cost: 1

Simplified all rules, resulting in:
   Start location: l31
     18: l4 -> l20 : ct_18^0'=ct_18^post_19, i_13^0'=i_13^post_19, len_14^0'=len_14^post_19, r_37^0'=r_37^post_19, tmp_27^0'=tmp_27^post_19, x_15^0'=x_15^post_19, x_17^0'=x_17^post_19, x_SLAM_f_19^0'=x_SLAM_f_19^post_19, [ 0<=a_152^0 ], cost: 1
      9: l10 -> l11 : i_13^0'=0, x_15^0'=0, [], cost: 1
     34: l11 -> l12 : a_28^0'=a_28^post_35, d_29^0'=d_29^post_35, i_13^0'=1+i_13^0, result_11^0'=result_11^post_35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_35, temp0_31^0'=temp0_31^post_35, temp_33^0'=temp_33^post_35, tmp_27^0'=temp_33^0, x_15^0'=temp_33^0, x_32^0'=x_32^post_35, [ 1+i_13^0<=len_14^0 && -i_13^0==0 ], cost: 1
     16: l12 -> l18 : a_28^0'=a_28^post_17, d_29^0'=d_29^post_17, i_13^0'=1+i_13^0, rcd_63^0'=rcd_63^post_17, result_11^0'=result_11^post_17, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_17, temp0_31^0'=temp0_31^post_17, temp_33^0'=temp_33^post_17, tmp_27^0'=temp_33^0, x_15^0'=temp_33^0, x_32^0'=x_32^post_17, [ 1+i_13^0<=len_14^0 && 1-i_13^0==0 ], cost: 1
     25: l18 -> l25 : ct_18^0'=ct_18^post_26, i_13^0'=i_13^post_26, len_14^0'=len_14^post_26, tmp_27^0'=tmp_27^post_26, x_15^0'=x_15^post_26, x_17^0'=x_17^post_26, x_21^0'=x_15^0, x_SLAM_f_19^0'=x_SLAM_f_19^post_26, y_20^0'=0, [ 0<=i_13^0 && len_14^0<=i_13^0 ], cost: 1
     31: l18 -> l30 : a_28^0'=a_28^post_32, d_29^0'=d_29^post_32, i_111^0'=i_13^0, i_13^0'=1+i_13^0, rcd_100^0'=rcd_100^post_32, result_11^0'=result_11^post_32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_32, temp0_31^0'=temp0_31^post_32, temp_33^0'=temp_33^post_32, tmp_27^0'=temp_33^0, x_15^0'=temp_33^0, x_32^0'=x_32^post_32, [ 0<=i_13^0 && 1+i_13^0<=len_14^0 ], cost: 1
     19: l20 -> l21 : [], cost: 1
     20: l21 -> l22 : a_175^0'=-1+a_152^0, t_24^0'=x_21^0, [ -ct_18^0==0 && -y_20^0==0 && x_15^0-x_17^0==0 && x_15^0-x_SLAM_f_19^0==0 && x_15^0-tmp_27^0==0 ], cost: 1
     21: l22 -> l23 : [], cost: 1
     22: l23 -> l24 : [], cost: 1
     23: l24 -> l19 : a_152^0'=a_175^0, [ 2<=len_14^0 && len_14^0<=i_13^0 ], cost: 1
     24: l19 -> l4 : [], cost: 1
     26: l25 -> l26 : [], cost: 1
     27: l26 -> l27 : a_130^0'=a_152^0, t_24^0'=x_21^0, [ -ct_18^0==0 && -y_20^0==0 && x_15^0-x_17^0==0 && x_15^0-x_SLAM_f_19^0==0 && x_15^0-x_21^0==0 && x_15^0-tmp_27^0==0 ], cost: 1
     28: l27 -> l28 : [], cost: 1
     29: l28 -> l29 : [], cost: 1
     30: l29 -> l4 : i_13^0'=1+a_130^0, [ 2<=len_14^0 && len_14^0<=i_13^0 ], cost: 1
     32: l30 -> l18 : [], cost: 1
     35: l31 -> l10 : [], cost: 1

### Simplification by acceleration and chaining ###

Eliminated locations (on linear paths):
   Start location: l31
     50: l4 -> l4 : a_152^0'=-1+a_152^0, a_175^0'=-1+a_152^0, ct_18^0'=ct_18^post_19, i_13^0'=i_13^post_19, len_14^0'=len_14^post_19, r_37^0'=r_37^post_19, t_24^0'=x_21^0, tmp_27^0'=tmp_27^post_19, x_15^0'=x_15^post_19, x_17^0'=x_17^post_19, x_SLAM_f_19^0'=x_SLAM_f_19^post_19, [ 0<=a_152^0 && -ct_18^post_19==0 && -y_20^0==0 && x_15^post_19-x_17^post_19==0 && x_15^post_19-x_SLAM_f_19^post_19==0 && x_15^post_19-tmp_27^post_19==0 && 2<=len_14^post_19 && len_14^post_19<=i_13^post_19 ], cost: 7
     40: l18 -> l18 : a_28^0'=a_28^post_32, d_29^0'=d_29^post_32, i_111^0'=i_13^0, i_13^0'=1+i_13^0, rcd_100^0'=rcd_100^post_32, result_11^0'=result_11^post_32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_32, temp0_31^0'=temp0_31^post_32, temp_33^0'=temp_33^post_32, tmp_27^0'=temp_33^0, x_15^0'=temp_33^0, x_32^0'=x_32^post_32, [ 0<=i_13^0 && 1+i_13^0<=len_14^0 ], cost: 2
     44: l18 -> l4 : a_130^0'=a_152^0, ct_18^0'=ct_18^post_26, i_13^0'=1+a_152^0, len_14^0'=len_14^post_26, t_24^0'=x_15^0, tmp_27^0'=tmp_27^post_26, x_15^0'=x_15^post_26, x_17^0'=x_17^post_26, x_21^0'=x_15^0, x_SLAM_f_19^0'=x_SLAM_f_19^post_26, y_20^0'=0, [ 0<=i_13^0 && len_14^0<=i_13^0 && -ct_18^post_26==0 && -x_17^post_26+x_15^post_26==0 && x_15^post_26-x_SLAM_f_19^post_26==0 && -x_15^0+x_15^post_26==0 && -tmp_27^post_26+x_15^post_26==0 && 2<=len_14^post_26 && len_14^post_26<=i_13^post_26 ], cost: 6
     38: l31 -> l18 : a_28^0'=a_28^post_17, d_29^0'=d_29^post_17, i_13^0'=2, rcd_63^0'=rcd_63^post_17, result_11^0'=result_11^post_17, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_17, temp0_31^0'=temp0_31^post_17, temp_33^0'=temp_33^post_17, tmp_27^0'=temp_33^post_35, x_15^0'=temp_33^post_35, x_32^0'=x_32^post_17, [ 2<=len_14^0 ], cost: 4

Accelerating simple loops of location 9.
   Simplified some of the simple loops (and removed duplicate rules).
   Accelerating the following rules:
     50: l4 -> l4 : a_152^0'=-1+a_152^0, a_175^0'=-1+a_152^0, ct_18^0'=0, i_13^0'=i_13^post_19, len_14^0'=len_14^post_19, r_37^0'=r_37^post_19, t_24^0'=x_21^0, tmp_27^0'=x_17^post_19, x_15^0'=x_17^post_19, x_17^0'=x_17^post_19, x_SLAM_f_19^0'=x_17^post_19, [ 0<=a_152^0 && -y_20^0==0 && 2<=len_14^post_19 && len_14^post_19<=i_13^post_19 ], cost: 7

   Accelerated rule 50 with backward acceleration, yielding the new rule 51.
[accelerate] Nesting with 1 inner and 1 outer candidates
   Removing the simple loops: 50.

Accelerating simple loops of location 18.
   Accelerating the following rules:
     40: l18 -> l18 : a_28^0'=a_28^post_32, d_29^0'=d_29^post_32, i_111^0'=i_13^0, i_13^0'=1+i_13^0, rcd_100^0'=rcd_100^post_32, result_11^0'=result_11^post_32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_32, temp0_31^0'=temp0_31^post_32, temp_33^0'=temp_33^post_32, tmp_27^0'=temp_33^0, x_15^0'=temp_33^0, x_32^0'=x_32^post_32, [ 0<=i_13^0 && 1+i_13^0<=len_14^0 ], cost: 2

   Accelerated rule 40 with backward acceleration, yielding the new rule 52.
[accelerate] Nesting with 1 inner and 1 outer candidates
   Removing the simple loops: 40.

Accelerated all simple loops using metering functions (where possible):
   Start location: l31
     51: l4 -> l4 : a_152^0'=-1, a_175^0'=-1, ct_18^0'=0, i_13^0'=i_13^post_19, len_14^0'=len_14^post_19, r_37^0'=r_37^post_19, t_24^0'=x_21^0, tmp_27^0'=x_17^post_19, x_15^0'=x_17^post_19, x_17^0'=x_17^post_19, x_SLAM_f_19^0'=x_17^post_19, [ -y_20^0==0 && 2<=len_14^post_19 && len_14^post_19<=i_13^post_19 && 1+a_152^0>=1 ], cost: 7+7*a_152^0
     44: l18 -> l4 : a_130^0'=a_152^0, ct_18^0'=ct_18^post_26, i_13^0'=1+a_152^0, len_14^0'=len_14^post_26, t_24^0'=x_15^0, tmp_27^0'=tmp_27^post_26, x_15^0'=x_15^post_26, x_17^0'=x_17^post_26, x_21^0'=x_15^0, x_SLAM_f_19^0'=x_SLAM_f_19^post_26, y_20^0'=0, [ 0<=i_13^0 && len_14^0<=i_13^0 && -ct_18^post_26==0 && -x_17^post_26+x_15^post_26==0 && x_15^post_26-x_SLAM_f_19^post_26==0 && -x_15^0+x_15^post_26==0 && -tmp_27^post_26+x_15^post_26==0 && 2<=len_14^post_26 && len_14^post_26<=i_13^post_26 ], cost: 6
     52: l18 -> l18 : a_28^0'=a_28^post_32, d_29^0'=d_29^post_32, i_111^0'=-1+len_14^0, i_13^0'=len_14^0, rcd_100^0'=rcd_100^post_32, result_11^0'=result_11^post_32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_32, temp0_31^0'=temp0_31^post_32, temp_33^0'=temp_33^post_32, tmp_27^0'=temp_33^post_32, x_15^0'=temp_33^post_32, x_32^0'=x_32^post_32, [ 0<=i_13^0 && -i_13^0+len_14^0>=1 ], cost: -2*i_13^0+2*len_14^0
     38: l31 -> l18 : a_28^0'=a_28^post_17, d_29^0'=d_29^post_17, i_13^0'=2, rcd_63^0'=rcd_63^post_17, result_11^0'=result_11^post_17, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_17, temp0_31^0'=temp0_31^post_17, temp_33^0'=temp_33^post_17, tmp_27^0'=temp_33^post_35, x_15^0'=temp_33^post_35, x_32^0'=x_32^post_17, [ 2<=len_14^0 ], cost: 4

Chained accelerated rules (with incoming rules):
   Start location: l31
     44: l18 -> l4 : a_130^0'=a_152^0, ct_18^0'=ct_18^post_26, i_13^0'=1+a_152^0, len_14^0'=len_14^post_26, t_24^0'=x_15^0, tmp_27^0'=tmp_27^post_26, x_15^0'=x_15^post_26, x_17^0'=x_17^post_26, x_21^0'=x_15^0, x_SLAM_f_19^0'=x_SLAM_f_19^post_26, y_20^0'=0, [ 0<=i_13^0 && len_14^0<=i_13^0 && -ct_18^post_26==0 && -x_17^post_26+x_15^post_26==0 && x_15^post_26-x_SLAM_f_19^post_26==0 && -x_15^0+x_15^post_26==0 && -tmp_27^post_26+x_15^post_26==0 && 2<=len_14^post_26 && len_14^post_26<=i_13^post_26 ], cost: 6
     53: l18 -> l4 : a_130^0'=a_152^0, a_152^0'=-1, a_175^0'=-1, ct_18^0'=0, i_13^0'=i_13^post_19, len_14^0'=len_14^post_19, r_37^0'=r_37^post_19, t_24^0'=x_15^0, tmp_27^0'=x_17^post_19, x_15^0'=x_17^post_19, x_17^0'=x_17^post_19, x_21^0'=x_15^0, x_SLAM_f_19^0'=x_17^post_19, y_20^0'=0, [ 0<=i_13^0 && len_14^0<=i_13^0 && 2<=len_14^post_19 && len_14^post_19<=i_13^post_19 && 1+a_152^0>=1 ], cost: 13+7*a_152^0
     38: l31 -> l18 : a_28^0'=a_28^post_17, d_29^0'=d_29^post_17, i_13^0'=2, rcd_63^0'=rcd_63^post_17, result_11^0'=result_11^post_17, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_17, temp0_31^0'=temp0_31^post_17, temp_33^0'=temp_33^post_17, tmp_27^0'=temp_33^post_35, x_15^0'=temp_33^post_35, x_32^0'=x_32^post_17, [ 2<=len_14^0 ], cost: 4
     54: l31 -> l18 : a_28^0'=a_28^post_32, d_29^0'=d_29^post_32, i_111^0'=-1+len_14^0, i_13^0'=len_14^0, rcd_100^0'=rcd_100^post_32, rcd_63^0'=rcd_63^post_17, result_11^0'=result_11^post_32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_32, temp0_31^0'=temp0_31^post_32, temp_33^0'=temp_33^post_32, tmp_27^0'=temp_33^post_32, x_15^0'=temp_33^post_32, x_32^0'=x_32^post_32, [ -2+len_14^0>=1 ], cost: 2*len_14^0

Removed unreachable locations (and leaf rules with constant cost):
   Start location: l31
     53: l18 -> l4 : a_130^0'=a_152^0, a_152^0'=-1, a_175^0'=-1, ct_18^0'=0, i_13^0'=i_13^post_19, len_14^0'=len_14^post_19, r_37^0'=r_37^post_19, t_24^0'=x_15^0, tmp_27^0'=x_17^post_19, x_15^0'=x_17^post_19, x_17^0'=x_17^post_19, x_21^0'=x_15^0, x_SLAM_f_19^0'=x_17^post_19, y_20^0'=0, [ 0<=i_13^0 && len_14^0<=i_13^0 && 2<=len_14^post_19 && len_14^post_19<=i_13^post_19 && 1+a_152^0>=1 ], cost: 13+7*a_152^0
     38: l31 -> l18 : a_28^0'=a_28^post_17, d_29^0'=d_29^post_17, i_13^0'=2, rcd_63^0'=rcd_63^post_17, result_11^0'=result_11^post_17, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_17, temp0_31^0'=temp0_31^post_17, temp_33^0'=temp_33^post_17, tmp_27^0'=temp_33^post_35, x_15^0'=temp_33^post_35, x_32^0'=x_32^post_17, [ 2<=len_14^0 ], cost: 4
     54: l31 -> l18 : a_28^0'=a_28^post_32, d_29^0'=d_29^post_32, i_111^0'=-1+len_14^0, i_13^0'=len_14^0, rcd_100^0'=rcd_100^post_32, rcd_63^0'=rcd_63^post_17, result_11^0'=result_11^post_32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_32, temp0_31^0'=temp0_31^post_32, temp_33^0'=temp_33^post_32, tmp_27^0'=temp_33^post_32, x_15^0'=temp_33^post_32, x_32^0'=x_32^post_32, [ -2+len_14^0>=1 ], cost: 2*len_14^0

Eliminated locations (on tree-shaped paths):
   Start location: l31
     55: l31 -> l4 : a_130^0'=a_152^0, a_152^0'=-1, a_175^0'=-1, a_28^0'=a_28^post_17, ct_18^0'=0, d_29^0'=d_29^post_17, i_13^0'=i_13^post_19, len_14^0'=len_14^post_19, r_37^0'=r_37^post_19, rcd_63^0'=rcd_63^post_17, result_11^0'=result_11^post_17, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_17, t_24^0'=temp_33^post_35, temp0_31^0'=temp0_31^post_17, temp_33^0'=temp_33^post_17, tmp_27^0'=x_17^post_19, x_15^0'=x_17^post_19, x_17^0'=x_17^post_19, x_21^0'=temp_33^post_35, x_32^0'=x_32^post_17, x_SLAM_f_19^0'=x_17^post_19, y_20^0'=0, [ 2<=len_14^0 && len_14^0<=2 && 2<=len_14^post_19 && len_14^post_19<=i_13^post_19 && 1+a_152^0>=1 ], cost: 17+7*a_152^0
     56: l31 -> l4 : a_130^0'=a_152^0, a_152^0'=-1, a_175^0'=-1, a_28^0'=a_28^post_32, ct_18^0'=0, d_29^0'=d_29^post_32, i_111^0'=-1+len_14^0, i_13^0'=i_13^post_19, len_14^0'=len_14^post_19, r_37^0'=r_37^post_19, rcd_100^0'=rcd_100^post_32, rcd_63^0'=rcd_63^post_17, result_11^0'=result_11^post_32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_32, t_24^0'=temp_33^post_32, temp0_31^0'=temp0_31^post_32, temp_33^0'=temp_33^post_32, tmp_27^0'=x_17^post_19, x_15^0'=x_17^post_19, x_17^0'=x_17^post_19, x_21^0'=temp_33^post_32, x_32^0'=x_32^post_32, x_SLAM_f_19^0'=x_17^post_19, y_20^0'=0, [ -2+len_14^0>=1 && 2<=len_14^post_19 && len_14^post_19<=i_13^post_19 && 1+a_152^0>=1 ], cost: 13+7*a_152^0+2*len_14^0

### Computing asymptotic complexity ###

Fully simplified ITS problem
   Start location: l31
     55: l31 -> l4 : a_130^0'=a_152^0, a_152^0'=-1, a_175^0'=-1, a_28^0'=a_28^post_17, ct_18^0'=0, d_29^0'=d_29^post_17, i_13^0'=i_13^post_19, len_14^0'=len_14^post_19, r_37^0'=r_37^post_19, rcd_63^0'=rcd_63^post_17, result_11^0'=result_11^post_17, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_17, t_24^0'=temp_33^post_35, temp0_31^0'=temp0_31^post_17, temp_33^0'=temp_33^post_17, tmp_27^0'=x_17^post_19, x_15^0'=x_17^post_19, x_17^0'=x_17^post_19, x_21^0'=temp_33^post_35, x_32^0'=x_32^post_17, x_SLAM_f_19^0'=x_17^post_19, y_20^0'=0, [ 2<=len_14^0 && len_14^0<=2 && 2<=len_14^post_19 && len_14^post_19<=i_13^post_19 && 1+a_152^0>=1 ], cost: 17+7*a_152^0
     56: l31 -> l4 : a_130^0'=a_152^0, a_152^0'=-1, a_175^0'=-1, a_28^0'=a_28^post_32, ct_18^0'=0, d_29^0'=d_29^post_32, i_111^0'=-1+len_14^0, i_13^0'=i_13^post_19, len_14^0'=len_14^post_19, r_37^0'=r_37^post_19, rcd_100^0'=rcd_100^post_32, rcd_63^0'=rcd_63^post_17, result_11^0'=result_11^post_32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_32, t_24^0'=temp_33^post_32, temp0_31^0'=temp0_31^post_32, temp_33^0'=temp_33^post_32, tmp_27^0'=x_17^post_19, x_15^0'=x_17^post_19, x_17^0'=x_17^post_19, x_21^0'=temp_33^post_32, x_32^0'=x_32^post_32, x_SLAM_f_19^0'=x_17^post_19, y_20^0'=0, [ -2+len_14^0>=1 && 2<=len_14^post_19 && len_14^post_19<=i_13^post_19 && 1+a_152^0>=1 ], cost: 13+7*a_152^0+2*len_14^0

Computing asymptotic complexity for rule 56
   Resulting cost 0 has complexity: Unknown

Computing asymptotic complexity for rule 55
   Resulting cost 0 has complexity: Unknown

Obtained the following overall complexity (w.r.t. the length of the input n):
   Complexity:  Constant
   Cpx degree:  0
   Solved cost: 1
   Rule cost:   1
   Rule guard:  [ __disjvr_0^0==__disjvr_0^post_36 && __disjvr_1^0==__disjvr_1^post_36 && __disjvr_10^0==__disjvr_10^post_36 && __disjvr_11^0==__disjvr_11^post_36 && __disjvr_12^0==__disjvr_12^post_36 && __disjvr_2^0==__disjvr_2^post_36 && __disjvr_3^0==__disjvr_3^post_36 && __disjvr_4^0==__disjvr_4^post_36 && __disjvr_5^0==__disjvr_5^post_36 && __disjvr_6^0==__disjvr_6^post_36 && __disjvr_7^0==__disjvr_7^post_36 && __disjvr_8^0==__disjvr_8^post_36 && __disjvr_9^0==__disjvr_9^post_36 && a_130^0==a_130^post_36 && a_152^0==a_152^post_36 && a_175^0==a_175^post_36 && a_28^0==a_28^post_36 && ct_18^0==ct_18^post_36 && d_29^0==d_29^post_36 && i_111^0==i_111^post_36 && i_13^0==i_13^post_36 && len_14^0==len_14^post_36 && r_37^0==r_37^post_36 && rcd_100^0==rcd_100^post_36 && rcd_63^0==rcd_63^post_36 && result_11^0==result_11^post_36 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_36 && t_24^0==t_24^post_36 && temp0_16^0==temp0_16^post_36 && temp0_31^0==temp0_31^post_36 && temp_33^0==temp_33^post_36 && tmp_27^0==tmp_27^post_36 && x_15^0==x_15^post_36 && x_17^0==x_17^post_36 && x_21^0==x_21^post_36 && x_32^0==x_32^post_36 && x_SLAM_f_19^0==x_SLAM_f_19^post_36 && y_20^0==y_20^post_36 ]

WORST_CASE(Omega(1),?)