WORST_CASE(Omega(1),?)

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

Initial linear ITS problem
   Start location: l65
      0: l0 -> l1 : a_113^0'=a_113^post_1, a_144^0'=a_144^post_1, a_181^0'=a_181^post_1, a_212^0'=a_212^post_1, a_234^0'=a_234^post_1, a_257^0'=a_257^post_1, ct_18^0'=ct_18^post_1, f_167^0'=f_167^post_1, head_15^0'=head_15^post_1, head_30^0'=head_30^post_1, i_105^0'=i_105^post_1, i_164^0'=i_164^post_1, i_28^0'=i_28^post_1, i_92^0'=i_92^post_1, len_129^0'=len_129^post_1, len_180^0'=len_180^post_1, length_27^0'=length_27^post_1, nondet_12^0'=nondet_12^post_1, r_121^0'=r_121^post_1, r_160^0'=r_160^post_1, r_37^0'=r_37^post_1, rcd_56^0'=rcd_56^post_1, rcd_86^0'=rcd_86^post_1, result_11^0'=result_11^post_1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1, t_24^0'=t_24^post_1, temp0_16^0'=temp0_16^post_1, temp0_29^0'=temp0_29^post_1, temp_33^0'=temp_33^post_1, tmp_32^0'=tmp_32^post_1, x_126^0'=x_126^post_1, x_14^0'=x_14^post_1, x_172^0'=x_172^post_1, x_17^0'=x_17^post_1, x_21^0'=x_21^post_1, x_SLAM_f_19^0'=x_SLAM_f_19^post_1, y_20^0'=y_20^post_1, [ nondet_12^1_1==nondet_12^1_1 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1==nondet_12^1_1 && nondet_12^post_1==nondet_12^post_1 && length_27^post_1==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1 && head_30^post_1==0 && i_28^post_1==0 && 0<=i_28^post_1 && i_28^post_1<=0 && 0<=head_30^post_1 && head_30^post_1<=0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1<=length_27^post_1 && length_27^post_1<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1 && a_113^0==a_113^post_1 && a_144^0==a_144^post_1 && a_181^0==a_181^post_1 && a_212^0==a_212^post_1 && a_234^0==a_234^post_1 && a_257^0==a_257^post_1 && ct_18^0==ct_18^post_1 && f_167^0==f_167^post_1 && head_15^0==head_15^post_1 && i_105^0==i_105^post_1 && i_164^0==i_164^post_1 && i_92^0==i_92^post_1 && len_129^0==len_129^post_1 && len_180^0==len_180^post_1 && r_121^0==r_121^post_1 && r_160^0==r_160^post_1 && r_37^0==r_37^post_1 && rcd_56^0==rcd_56^post_1 && rcd_86^0==rcd_86^post_1 && result_11^0==result_11^post_1 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_1 && t_24^0==t_24^post_1 && temp0_16^0==temp0_16^post_1 && temp0_29^0==temp0_29^post_1 && temp_33^0==temp_33^post_1 && tmp_32^0==tmp_32^post_1 && x_126^0==x_126^post_1 && x_14^0==x_14^post_1 && x_17^0==x_17^post_1 && x_172^0==x_172^post_1 && x_21^0==x_21^post_1 && x_SLAM_f_19^0==x_SLAM_f_19^post_1 && y_20^0==y_20^post_1 ], cost: 1
    100: l1 -> l3 : a_113^0'=a_113^post_101, a_144^0'=a_144^post_101, a_181^0'=a_181^post_101, a_212^0'=a_212^post_101, a_234^0'=a_234^post_101, a_257^0'=a_257^post_101, ct_18^0'=ct_18^post_101, f_167^0'=f_167^post_101, head_15^0'=head_15^post_101, head_30^0'=head_30^post_101, i_105^0'=i_105^post_101, i_164^0'=i_164^post_101, i_28^0'=i_28^post_101, i_92^0'=i_92^post_101, len_129^0'=len_129^post_101, len_180^0'=len_180^post_101, length_27^0'=length_27^post_101, nondet_12^0'=nondet_12^post_101, r_121^0'=r_121^post_101, r_160^0'=r_160^post_101, r_37^0'=r_37^post_101, rcd_56^0'=rcd_56^post_101, rcd_86^0'=rcd_86^post_101, result_11^0'=result_11^post_101, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_101, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_101, t_24^0'=t_24^post_101, temp0_16^0'=temp0_16^post_101, temp0_29^0'=temp0_29^post_101, temp_33^0'=temp_33^post_101, tmp_32^0'=tmp_32^post_101, x_126^0'=x_126^post_101, x_14^0'=x_14^post_101, x_172^0'=x_172^post_101, x_17^0'=x_17^post_101, x_21^0'=x_21^post_101, x_SLAM_f_19^0'=x_SLAM_f_19^post_101, y_20^0'=y_20^post_101, [ result_dot_nondet_sdv_special_RETURN_VALUE_13^1_2_1==result_dot_nondet_sdv_special_RETURN_VALUE_13^1_2_1 && length_27^0<=i_28^0 && temp0_29^1_3_1==head_30^0 && result_11^1_3_1==temp0_29^1_3_1 && length_27^post_101==length_27^post_101 && i_28^post_101==i_28^post_101 && temp0_29^post_101==temp0_29^post_101 && head_30^post_101==head_30^post_101 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_101==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_101 && tmp_32^post_101==tmp_32^post_101 && temp_33^post_101==temp_33^post_101 && head_15^post_101==result_11^1_3_1 && result_11^2_1==result_11^2_1 && x_14^post_101==head_15^post_101 && 0<=x_14^post_101 && x_14^post_101<=0 && 0<=head_15^post_101 && head_15^post_101<=0 && x_14^post_101<=head_15^post_101 && head_15^post_101<=x_14^post_101 && result_dot_nondet_sdv_special_RETURN_VALUE_13^1_2_1<=0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^2_1==result_dot_nondet_sdv_special_RETURN_VALUE_13^2_1 && 0<=x_14^post_101 && x_14^post_101<=0 && x_17^1_1==head_15^post_101 && ct_18^1_4==0 && x_SLAM_f_19^1_4_1==x_17^1_1 && y_20^1_4_1==ct_18^1_4 && x_21^1_4_1==x_SLAM_f_19^1_4_1 && 0<=x_14^post_101 && x_14^post_101<=0 && 0<=head_15^post_101 && head_15^post_101<=0 && 0<=x_17^1_1 && x_17^1_1<=0 && 0<=ct_18^1_4 && ct_18^1_4<=0 && 0<=x_SLAM_f_19^1_4_1 && x_SLAM_f_19^1_4_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_14^post_101<=head_15^post_101 && head_15^post_101<=x_14^post_101 && head_15^post_101<=x_17^1_1 && x_17^1_1<=head_15^post_101 && x_17^1_1<=x_SLAM_f_19^1_4_1 && x_SLAM_f_19^1_4_1<=x_17^1_1 && ct_18^1_4<=y_20^1_4_1 && y_20^1_4_1<=ct_18^1_4 && x_SLAM_f_19^1_4_1<=x_21^1_4_1 && x_21^1_4_1<=x_SLAM_f_19^1_4_1 && result_dot_nondet_sdv_special_RETURN_VALUE_13^2_1<=0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_101==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_101 && 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_101==x_17^post_101 && ct_18^post_101==ct_18^post_101 && x_SLAM_f_19^post_101==x_SLAM_f_19^post_101 && y_20^post_101==y_20^post_101 && x_21^post_101==x_21^post_101 && t_24^post_101==t_24^post_101 && result_11^post_101==temp0_16^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_101<=0 && a_113^0==a_113^post_101 && a_144^0==a_144^post_101 && a_181^0==a_181^post_101 && a_212^0==a_212^post_101 && a_234^0==a_234^post_101 && a_257^0==a_257^post_101 && f_167^0==f_167^post_101 && i_105^0==i_105^post_101 && i_164^0==i_164^post_101 && i_92^0==i_92^post_101 && len_129^0==len_129^post_101 && len_180^0==len_180^post_101 && nondet_12^0==nondet_12^post_101 && r_121^0==r_121^post_101 && r_160^0==r_160^post_101 && r_37^0==r_37^post_101 && rcd_56^0==rcd_56^post_101 && rcd_86^0==rcd_86^post_101 && temp0_16^0==temp0_16^post_101 && x_126^0==x_126^post_101 && x_172^0==x_172^post_101 ], cost: 1
    101: l1 -> l27 : a_113^0'=a_113^post_102, a_144^0'=a_144^post_102, a_181^0'=a_181^post_102, a_212^0'=a_212^post_102, a_234^0'=a_234^post_102, a_257^0'=a_257^post_102, ct_18^0'=ct_18^post_102, f_167^0'=f_167^post_102, head_15^0'=head_15^post_102, head_30^0'=head_30^post_102, i_105^0'=i_105^post_102, i_164^0'=i_164^post_102, i_28^0'=i_28^post_102, i_92^0'=i_92^post_102, len_129^0'=len_129^post_102, len_180^0'=len_180^post_102, length_27^0'=length_27^post_102, nondet_12^0'=nondet_12^post_102, r_121^0'=r_121^post_102, r_160^0'=r_160^post_102, r_37^0'=r_37^post_102, rcd_56^0'=rcd_56^post_102, rcd_86^0'=rcd_86^post_102, result_11^0'=result_11^post_102, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_102, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_102, t_24^0'=t_24^post_102, temp0_16^0'=temp0_16^post_102, temp0_29^0'=temp0_29^post_102, temp_33^0'=temp_33^post_102, tmp_32^0'=tmp_32^post_102, x_126^0'=x_126^post_102, x_14^0'=x_14^post_102, x_172^0'=x_172^post_102, x_17^0'=x_17^post_102, x_21^0'=x_21^post_102, x_SLAM_f_19^0'=x_SLAM_f_19^post_102, y_20^0'=y_20^post_102, [ result_dot_nondet_sdv_special_RETURN_VALUE_13^post_102==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_102 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_102==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_102 && 1+i_28^0<=length_27^0 && tmp_32^post_102==temp_33^0 && temp_33^post_102==temp_33^post_102 && head_30^post_102==tmp_32^post_102 && i_28^post_102==1+i_28^0 && 1<=i_28^post_102 && i_28^post_102<=1 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_102<=length_27^0 && length_27^0<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_102 && head_30^post_102<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_102 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_102<=head_30^post_102 && head_30^post_102<=tmp_32^post_102 && tmp_32^post_102<=head_30^post_102 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_102<=tmp_32^post_102 && tmp_32^post_102<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_102 && 1<=length_27^0 && a_113^0==a_113^post_102 && a_144^0==a_144^post_102 && a_181^0==a_181^post_102 && a_212^0==a_212^post_102 && a_234^0==a_234^post_102 && a_257^0==a_257^post_102 && ct_18^0==ct_18^post_102 && f_167^0==f_167^post_102 && head_15^0==head_15^post_102 && i_105^0==i_105^post_102 && i_164^0==i_164^post_102 && i_92^0==i_92^post_102 && len_129^0==len_129^post_102 && len_180^0==len_180^post_102 && length_27^0==length_27^post_102 && nondet_12^0==nondet_12^post_102 && r_121^0==r_121^post_102 && r_160^0==r_160^post_102 && r_37^0==r_37^post_102 && rcd_56^0==rcd_56^post_102 && rcd_86^0==rcd_86^post_102 && result_11^0==result_11^post_102 && t_24^0==t_24^post_102 && temp0_16^0==temp0_16^post_102 && temp0_29^0==temp0_29^post_102 && x_126^0==x_126^post_102 && x_14^0==x_14^post_102 && x_17^0==x_17^post_102 && x_172^0==x_172^post_102 && x_21^0==x_21^post_102 && x_SLAM_f_19^0==x_SLAM_f_19^post_102 && y_20^0==y_20^post_102 ], cost: 1
      1: l2 -> l3 : a_113^0'=a_113^post_2, a_144^0'=a_144^post_2, a_181^0'=a_181^post_2, a_212^0'=a_212^post_2, a_234^0'=a_234^post_2, a_257^0'=a_257^post_2, ct_18^0'=ct_18^post_2, f_167^0'=f_167^post_2, head_15^0'=head_15^post_2, head_30^0'=head_30^post_2, i_105^0'=i_105^post_2, i_164^0'=i_164^post_2, i_28^0'=i_28^post_2, i_92^0'=i_92^post_2, len_129^0'=len_129^post_2, len_180^0'=len_180^post_2, length_27^0'=length_27^post_2, nondet_12^0'=nondet_12^post_2, r_121^0'=r_121^post_2, r_160^0'=r_160^post_2, r_37^0'=r_37^post_2, rcd_56^0'=rcd_56^post_2, rcd_86^0'=rcd_86^post_2, result_11^0'=result_11^post_2, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_2, t_24^0'=t_24^post_2, temp0_16^0'=temp0_16^post_2, temp0_29^0'=temp0_29^post_2, temp_33^0'=temp_33^post_2, tmp_32^0'=tmp_32^post_2, x_126^0'=x_126^post_2, x_14^0'=x_14^post_2, x_172^0'=x_172^post_2, x_17^0'=x_17^post_2, x_21^0'=x_21^post_2, x_SLAM_f_19^0'=x_SLAM_f_19^post_2, y_20^0'=y_20^post_2, [ 0<=a_234^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_2==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_2 && 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_2==x_17^post_2 && ct_18^post_2==ct_18^post_2 && x_SLAM_f_19^post_2==x_SLAM_f_19^post_2 && y_20^post_2==y_20^post_2 && x_21^post_2==x_21^post_2 && t_24^post_2==t_24^post_2 && result_11^post_2==temp0_16^0 && 1<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_2 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_2 && a_113^0==a_113^post_2 && a_144^0==a_144^post_2 && a_181^0==a_181^post_2 && a_212^0==a_212^post_2 && a_234^0==a_234^post_2 && a_257^0==a_257^post_2 && f_167^0==f_167^post_2 && head_15^0==head_15^post_2 && head_30^0==head_30^post_2 && i_105^0==i_105^post_2 && i_164^0==i_164^post_2 && i_28^0==i_28^post_2 && i_92^0==i_92^post_2 && len_129^0==len_129^post_2 && len_180^0==len_180^post_2 && length_27^0==length_27^post_2 && nondet_12^0==nondet_12^post_2 && r_121^0==r_121^post_2 && r_160^0==r_160^post_2 && r_37^0==r_37^post_2 && rcd_56^0==rcd_56^post_2 && rcd_86^0==rcd_86^post_2 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_2 && temp0_16^0==temp0_16^post_2 && temp0_29^0==temp0_29^post_2 && temp_33^0==temp_33^post_2 && tmp_32^0==tmp_32^post_2 && x_126^0==x_126^post_2 && x_14^0==x_14^post_2 && x_172^0==x_172^post_2 ], cost: 1
      2: l2 -> l5 : a_113^0'=a_113^post_3, a_144^0'=a_144^post_3, a_181^0'=a_181^post_3, a_212^0'=a_212^post_3, a_234^0'=a_234^post_3, a_257^0'=a_257^post_3, ct_18^0'=ct_18^post_3, f_167^0'=f_167^post_3, head_15^0'=head_15^post_3, head_30^0'=head_30^post_3, i_105^0'=i_105^post_3, i_164^0'=i_164^post_3, i_28^0'=i_28^post_3, i_92^0'=i_92^post_3, len_129^0'=len_129^post_3, len_180^0'=len_180^post_3, length_27^0'=length_27^post_3, nondet_12^0'=nondet_12^post_3, r_121^0'=r_121^post_3, r_160^0'=r_160^post_3, r_37^0'=r_37^post_3, rcd_56^0'=rcd_56^post_3, rcd_86^0'=rcd_86^post_3, result_11^0'=result_11^post_3, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_3, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_3, t_24^0'=t_24^post_3, temp0_16^0'=temp0_16^post_3, temp0_29^0'=temp0_29^post_3, temp_33^0'=temp_33^post_3, tmp_32^0'=tmp_32^post_3, x_126^0'=x_126^post_3, x_14^0'=x_14^post_3, x_172^0'=x_172^post_3, x_17^0'=x_17^post_3, x_21^0'=x_21^post_3, x_SLAM_f_19^0'=x_SLAM_f_19^post_3, y_20^0'=y_20^post_3, [ 0<=a_234^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_3==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_3 && x_14^post_3==x_14^post_3 && head_15^post_3==head_15^post_3 && x_17^post_3==x_17^post_3 && ct_18^post_3==ct_18^post_3 && x_SLAM_f_19^post_3==x_SLAM_f_19^post_3 && r_37^post_3==r_37^post_3 && a_113^0==a_113^post_3 && a_144^0==a_144^post_3 && a_181^0==a_181^post_3 && a_212^0==a_212^post_3 && a_234^0==a_234^post_3 && a_257^0==a_257^post_3 && f_167^0==f_167^post_3 && head_30^0==head_30^post_3 && i_105^0==i_105^post_3 && i_164^0==i_164^post_3 && i_28^0==i_28^post_3 && i_92^0==i_92^post_3 && len_129^0==len_129^post_3 && len_180^0==len_180^post_3 && length_27^0==length_27^post_3 && nondet_12^0==nondet_12^post_3 && r_121^0==r_121^post_3 && r_160^0==r_160^post_3 && rcd_56^0==rcd_56^post_3 && rcd_86^0==rcd_86^post_3 && result_11^0==result_11^post_3 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_3 && t_24^0==t_24^post_3 && temp0_16^0==temp0_16^post_3 && temp0_29^0==temp0_29^post_3 && temp_33^0==temp_33^post_3 && tmp_32^0==tmp_32^post_3 && x_126^0==x_126^post_3 && x_172^0==x_172^post_3 && x_21^0==x_21^post_3 && y_20^0==y_20^post_3 ], cost: 1
      3: l5 -> l6 : a_113^0'=a_113^post_4, a_144^0'=a_144^post_4, a_181^0'=a_181^post_4, a_212^0'=a_212^post_4, a_234^0'=a_234^post_4, a_257^0'=a_257^post_4, ct_18^0'=ct_18^post_4, f_167^0'=f_167^post_4, head_15^0'=head_15^post_4, head_30^0'=head_30^post_4, i_105^0'=i_105^post_4, i_164^0'=i_164^post_4, i_28^0'=i_28^post_4, i_92^0'=i_92^post_4, len_129^0'=len_129^post_4, len_180^0'=len_180^post_4, length_27^0'=length_27^post_4, nondet_12^0'=nondet_12^post_4, r_121^0'=r_121^post_4, r_160^0'=r_160^post_4, r_37^0'=r_37^post_4, rcd_56^0'=rcd_56^post_4, rcd_86^0'=rcd_86^post_4, result_11^0'=result_11^post_4, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_4, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_4, t_24^0'=t_24^post_4, temp0_16^0'=temp0_16^post_4, temp0_29^0'=temp0_29^post_4, temp_33^0'=temp_33^post_4, tmp_32^0'=tmp_32^post_4, x_126^0'=x_126^post_4, x_14^0'=x_14^post_4, x_172^0'=x_172^post_4, x_17^0'=x_17^post_4, x_21^0'=x_21^post_4, x_SLAM_f_19^0'=x_SLAM_f_19^post_4, y_20^0'=y_20^post_4, [ 1+y_20^0<=x_21^0 && a_113^0==a_113^post_4 && a_144^0==a_144^post_4 && a_181^0==a_181^post_4 && a_212^0==a_212^post_4 && a_234^0==a_234^post_4 && a_257^0==a_257^post_4 && ct_18^0==ct_18^post_4 && f_167^0==f_167^post_4 && head_15^0==head_15^post_4 && head_30^0==head_30^post_4 && i_105^0==i_105^post_4 && i_164^0==i_164^post_4 && i_28^0==i_28^post_4 && i_92^0==i_92^post_4 && len_129^0==len_129^post_4 && len_180^0==len_180^post_4 && length_27^0==length_27^post_4 && nondet_12^0==nondet_12^post_4 && r_121^0==r_121^post_4 && r_160^0==r_160^post_4 && r_37^0==r_37^post_4 && rcd_56^0==rcd_56^post_4 && rcd_86^0==rcd_86^post_4 && result_11^0==result_11^post_4 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_4 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_4 && t_24^0==t_24^post_4 && temp0_16^0==temp0_16^post_4 && temp0_29^0==temp0_29^post_4 && temp_33^0==temp_33^post_4 && tmp_32^0==tmp_32^post_4 && x_126^0==x_126^post_4 && x_14^0==x_14^post_4 && x_17^0==x_17^post_4 && x_172^0==x_172^post_4 && x_21^0==x_21^post_4 && x_SLAM_f_19^0==x_SLAM_f_19^post_4 && y_20^0==y_20^post_4 ], cost: 1
      4: l5 -> l6 : a_113^0'=a_113^post_5, a_144^0'=a_144^post_5, a_181^0'=a_181^post_5, a_212^0'=a_212^post_5, a_234^0'=a_234^post_5, a_257^0'=a_257^post_5, ct_18^0'=ct_18^post_5, f_167^0'=f_167^post_5, head_15^0'=head_15^post_5, head_30^0'=head_30^post_5, i_105^0'=i_105^post_5, i_164^0'=i_164^post_5, i_28^0'=i_28^post_5, i_92^0'=i_92^post_5, len_129^0'=len_129^post_5, len_180^0'=len_180^post_5, length_27^0'=length_27^post_5, nondet_12^0'=nondet_12^post_5, r_121^0'=r_121^post_5, r_160^0'=r_160^post_5, r_37^0'=r_37^post_5, rcd_56^0'=rcd_56^post_5, rcd_86^0'=rcd_86^post_5, result_11^0'=result_11^post_5, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_5, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_5, t_24^0'=t_24^post_5, temp0_16^0'=temp0_16^post_5, temp0_29^0'=temp0_29^post_5, temp_33^0'=temp_33^post_5, tmp_32^0'=tmp_32^post_5, x_126^0'=x_126^post_5, x_14^0'=x_14^post_5, x_172^0'=x_172^post_5, x_17^0'=x_17^post_5, x_21^0'=x_21^post_5, x_SLAM_f_19^0'=x_SLAM_f_19^post_5, y_20^0'=y_20^post_5, [ 1+x_21^0<=y_20^0 && a_113^0==a_113^post_5 && a_144^0==a_144^post_5 && a_181^0==a_181^post_5 && a_212^0==a_212^post_5 && a_234^0==a_234^post_5 && a_257^0==a_257^post_5 && ct_18^0==ct_18^post_5 && f_167^0==f_167^post_5 && head_15^0==head_15^post_5 && head_30^0==head_30^post_5 && i_105^0==i_105^post_5 && i_164^0==i_164^post_5 && i_28^0==i_28^post_5 && i_92^0==i_92^post_5 && len_129^0==len_129^post_5 && len_180^0==len_180^post_5 && length_27^0==length_27^post_5 && nondet_12^0==nondet_12^post_5 && r_121^0==r_121^post_5 && r_160^0==r_160^post_5 && r_37^0==r_37^post_5 && rcd_56^0==rcd_56^post_5 && rcd_86^0==rcd_86^post_5 && result_11^0==result_11^post_5 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_5 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_5 && t_24^0==t_24^post_5 && temp0_16^0==temp0_16^post_5 && temp0_29^0==temp0_29^post_5 && temp_33^0==temp_33^post_5 && tmp_32^0==tmp_32^post_5 && x_126^0==x_126^post_5 && x_14^0==x_14^post_5 && x_17^0==x_17^post_5 && x_172^0==x_172^post_5 && x_21^0==x_21^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 : a_113^0'=a_113^post_6, a_144^0'=a_144^post_6, a_181^0'=a_181^post_6, a_212^0'=a_212^post_6, a_234^0'=a_234^post_6, a_257^0'=a_257^post_6, ct_18^0'=ct_18^post_6, f_167^0'=f_167^post_6, head_15^0'=head_15^post_6, head_30^0'=head_30^post_6, i_105^0'=i_105^post_6, i_164^0'=i_164^post_6, i_28^0'=i_28^post_6, i_92^0'=i_92^post_6, len_129^0'=len_129^post_6, len_180^0'=len_180^post_6, length_27^0'=length_27^post_6, nondet_12^0'=nondet_12^post_6, r_121^0'=r_121^post_6, r_160^0'=r_160^post_6, r_37^0'=r_37^post_6, rcd_56^0'=rcd_56^post_6, rcd_86^0'=rcd_86^post_6, result_11^0'=result_11^post_6, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_6, t_24^0'=t_24^post_6, temp0_16^0'=temp0_16^post_6, temp0_29^0'=temp0_29^post_6, temp_33^0'=temp_33^post_6, tmp_32^0'=tmp_32^post_6, x_126^0'=x_126^post_6, x_14^0'=x_14^post_6, x_172^0'=x_172^post_6, x_17^0'=x_17^post_6, x_21^0'=x_21^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 && a_257^post_6==a_257^post_6 && 0<=x_14^0 && x_14^0<=0 && 0<=ct_18^0 && ct_18^0<=0 && 0<=y_20^0 && y_20^0<=0 && head_15^0<=x_17^0 && x_17^0<=head_15^0 && head_15^0<=x_SLAM_f_19^0 && x_SLAM_f_19^0<=head_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_257^post_6<=-1+a_234^0 && -1+a_234^0<=a_257^post_6 && a_113^0==a_113^post_6 && a_144^0==a_144^post_6 && a_181^0==a_181^post_6 && a_212^0==a_212^post_6 && a_234^0==a_234^post_6 && ct_18^0==ct_18^post_6 && f_167^0==f_167^post_6 && head_15^0==head_15^post_6 && head_30^0==head_30^post_6 && i_105^0==i_105^post_6 && i_164^0==i_164^post_6 && i_28^0==i_28^post_6 && i_92^0==i_92^post_6 && len_129^0==len_129^post_6 && len_180^0==len_180^post_6 && length_27^0==length_27^post_6 && nondet_12^0==nondet_12^post_6 && r_121^0==r_121^post_6 && r_160^0==r_160^post_6 && r_37^0==r_37^post_6 && rcd_56^0==rcd_56^post_6 && rcd_86^0==rcd_86^post_6 && result_11^0==result_11^post_6 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_6 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_6 && temp0_16^0==temp0_16^post_6 && temp0_29^0==temp0_29^post_6 && temp_33^0==temp_33^post_6 && tmp_32^0==tmp_32^post_6 && x_126^0==x_126^post_6 && x_14^0==x_14^post_6 && x_17^0==x_17^post_6 && x_172^0==x_172^post_6 && x_21^0==x_21^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 : a_113^0'=a_113^post_7, a_144^0'=a_144^post_7, a_181^0'=a_181^post_7, a_212^0'=a_212^post_7, a_234^0'=a_234^post_7, a_257^0'=a_257^post_7, ct_18^0'=ct_18^post_7, f_167^0'=f_167^post_7, head_15^0'=head_15^post_7, head_30^0'=head_30^post_7, i_105^0'=i_105^post_7, i_164^0'=i_164^post_7, i_28^0'=i_28^post_7, i_92^0'=i_92^post_7, len_129^0'=len_129^post_7, len_180^0'=len_180^post_7, length_27^0'=length_27^post_7, nondet_12^0'=nondet_12^post_7, r_121^0'=r_121^post_7, r_160^0'=r_160^post_7, r_37^0'=r_37^post_7, rcd_56^0'=rcd_56^post_7, rcd_86^0'=rcd_86^post_7, result_11^0'=result_11^post_7, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_7, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7, t_24^0'=t_24^post_7, temp0_16^0'=temp0_16^post_7, temp0_29^0'=temp0_29^post_7, temp_33^0'=temp_33^post_7, tmp_32^0'=tmp_32^post_7, x_126^0'=x_126^post_7, x_14^0'=x_14^post_7, x_172^0'=x_172^post_7, x_17^0'=x_17^post_7, x_21^0'=x_21^post_7, x_SLAM_f_19^0'=x_SLAM_f_19^post_7, y_20^0'=y_20^post_7, [ 1<=head_15^0 && a_113^0==a_113^post_7 && a_144^0==a_144^post_7 && a_181^0==a_181^post_7 && a_212^0==a_212^post_7 && a_234^0==a_234^post_7 && a_257^0==a_257^post_7 && ct_18^0==ct_18^post_7 && f_167^0==f_167^post_7 && head_15^0==head_15^post_7 && head_30^0==head_30^post_7 && i_105^0==i_105^post_7 && i_164^0==i_164^post_7 && i_28^0==i_28^post_7 && i_92^0==i_92^post_7 && len_129^0==len_129^post_7 && len_180^0==len_180^post_7 && length_27^0==length_27^post_7 && nondet_12^0==nondet_12^post_7 && r_121^0==r_121^post_7 && r_160^0==r_160^post_7 && r_37^0==r_37^post_7 && rcd_56^0==rcd_56^post_7 && rcd_86^0==rcd_86^post_7 && result_11^0==result_11^post_7 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_7 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7 && t_24^0==t_24^post_7 && temp0_16^0==temp0_16^post_7 && temp0_29^0==temp0_29^post_7 && temp_33^0==temp_33^post_7 && tmp_32^0==tmp_32^post_7 && x_126^0==x_126^post_7 && x_14^0==x_14^post_7 && x_17^0==x_17^post_7 && x_172^0==x_172^post_7 && x_21^0==x_21^post_7 && x_SLAM_f_19^0==x_SLAM_f_19^post_7 && y_20^0==y_20^post_7 ], cost: 1
      7: l7 -> l8 : a_113^0'=a_113^post_8, a_144^0'=a_144^post_8, a_181^0'=a_181^post_8, a_212^0'=a_212^post_8, a_234^0'=a_234^post_8, a_257^0'=a_257^post_8, ct_18^0'=ct_18^post_8, f_167^0'=f_167^post_8, head_15^0'=head_15^post_8, head_30^0'=head_30^post_8, i_105^0'=i_105^post_8, i_164^0'=i_164^post_8, i_28^0'=i_28^post_8, i_92^0'=i_92^post_8, len_129^0'=len_129^post_8, len_180^0'=len_180^post_8, length_27^0'=length_27^post_8, nondet_12^0'=nondet_12^post_8, r_121^0'=r_121^post_8, r_160^0'=r_160^post_8, r_37^0'=r_37^post_8, rcd_56^0'=rcd_56^post_8, rcd_86^0'=rcd_86^post_8, result_11^0'=result_11^post_8, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_8, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_8, t_24^0'=t_24^post_8, temp0_16^0'=temp0_16^post_8, temp0_29^0'=temp0_29^post_8, temp_33^0'=temp_33^post_8, tmp_32^0'=tmp_32^post_8, x_126^0'=x_126^post_8, x_14^0'=x_14^post_8, x_172^0'=x_172^post_8, x_17^0'=x_17^post_8, x_21^0'=x_21^post_8, x_SLAM_f_19^0'=x_SLAM_f_19^post_8, y_20^0'=y_20^post_8, [ 1+head_15^0<=0 && a_113^0==a_113^post_8 && a_144^0==a_144^post_8 && a_181^0==a_181^post_8 && a_212^0==a_212^post_8 && a_234^0==a_234^post_8 && a_257^0==a_257^post_8 && ct_18^0==ct_18^post_8 && f_167^0==f_167^post_8 && head_15^0==head_15^post_8 && head_30^0==head_30^post_8 && i_105^0==i_105^post_8 && i_164^0==i_164^post_8 && i_28^0==i_28^post_8 && i_92^0==i_92^post_8 && len_129^0==len_129^post_8 && len_180^0==len_180^post_8 && length_27^0==length_27^post_8 && nondet_12^0==nondet_12^post_8 && r_121^0==r_121^post_8 && r_160^0==r_160^post_8 && r_37^0==r_37^post_8 && rcd_56^0==rcd_56^post_8 && rcd_86^0==rcd_86^post_8 && result_11^0==result_11^post_8 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_8 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_8 && t_24^0==t_24^post_8 && temp0_16^0==temp0_16^post_8 && temp0_29^0==temp0_29^post_8 && temp_33^0==temp_33^post_8 && tmp_32^0==tmp_32^post_8 && x_126^0==x_126^post_8 && x_14^0==x_14^post_8 && x_17^0==x_17^post_8 && x_172^0==x_172^post_8 && x_21^0==x_21^post_8 && x_SLAM_f_19^0==x_SLAM_f_19^post_8 && y_20^0==y_20^post_8 ], cost: 1
      8: l8 -> l9 : a_113^0'=a_113^post_9, a_144^0'=a_144^post_9, a_181^0'=a_181^post_9, a_212^0'=a_212^post_9, a_234^0'=a_234^post_9, a_257^0'=a_257^post_9, ct_18^0'=ct_18^post_9, f_167^0'=f_167^post_9, head_15^0'=head_15^post_9, head_30^0'=head_30^post_9, i_105^0'=i_105^post_9, i_164^0'=i_164^post_9, i_28^0'=i_28^post_9, i_92^0'=i_92^post_9, len_129^0'=len_129^post_9, len_180^0'=len_180^post_9, length_27^0'=length_27^post_9, nondet_12^0'=nondet_12^post_9, r_121^0'=r_121^post_9, r_160^0'=r_160^post_9, r_37^0'=r_37^post_9, rcd_56^0'=rcd_56^post_9, rcd_86^0'=rcd_86^post_9, result_11^0'=result_11^post_9, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_9, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_9, t_24^0'=t_24^post_9, temp0_16^0'=temp0_16^post_9, temp0_29^0'=temp0_29^post_9, temp_33^0'=temp_33^post_9, tmp_32^0'=tmp_32^post_9, x_126^0'=x_126^post_9, x_14^0'=x_14^post_9, x_172^0'=x_172^post_9, x_17^0'=x_17^post_9, x_21^0'=x_21^post_9, x_SLAM_f_19^0'=x_SLAM_f_19^post_9, y_20^0'=y_20^post_9, [ 1+head_15^0<=y_20^0 && a_113^0==a_113^post_9 && a_144^0==a_144^post_9 && a_181^0==a_181^post_9 && a_212^0==a_212^post_9 && a_234^0==a_234^post_9 && a_257^0==a_257^post_9 && ct_18^0==ct_18^post_9 && f_167^0==f_167^post_9 && head_15^0==head_15^post_9 && head_30^0==head_30^post_9 && i_105^0==i_105^post_9 && i_164^0==i_164^post_9 && i_28^0==i_28^post_9 && i_92^0==i_92^post_9 && len_129^0==len_129^post_9 && len_180^0==len_180^post_9 && length_27^0==length_27^post_9 && nondet_12^0==nondet_12^post_9 && r_121^0==r_121^post_9 && r_160^0==r_160^post_9 && r_37^0==r_37^post_9 && rcd_56^0==rcd_56^post_9 && rcd_86^0==rcd_86^post_9 && result_11^0==result_11^post_9 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_9 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_9 && t_24^0==t_24^post_9 && temp0_16^0==temp0_16^post_9 && temp0_29^0==temp0_29^post_9 && temp_33^0==temp_33^post_9 && tmp_32^0==tmp_32^post_9 && x_126^0==x_126^post_9 && x_14^0==x_14^post_9 && x_17^0==x_17^post_9 && x_172^0==x_172^post_9 && x_21^0==x_21^post_9 && x_SLAM_f_19^0==x_SLAM_f_19^post_9 && y_20^0==y_20^post_9 ], cost: 1
      9: l8 -> l9 : a_113^0'=a_113^post_10, a_144^0'=a_144^post_10, a_181^0'=a_181^post_10, a_212^0'=a_212^post_10, a_234^0'=a_234^post_10, a_257^0'=a_257^post_10, ct_18^0'=ct_18^post_10, f_167^0'=f_167^post_10, head_15^0'=head_15^post_10, head_30^0'=head_30^post_10, i_105^0'=i_105^post_10, i_164^0'=i_164^post_10, i_28^0'=i_28^post_10, i_92^0'=i_92^post_10, len_129^0'=len_129^post_10, len_180^0'=len_180^post_10, length_27^0'=length_27^post_10, nondet_12^0'=nondet_12^post_10, r_121^0'=r_121^post_10, r_160^0'=r_160^post_10, r_37^0'=r_37^post_10, rcd_56^0'=rcd_56^post_10, rcd_86^0'=rcd_86^post_10, result_11^0'=result_11^post_10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_10, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_10, t_24^0'=t_24^post_10, temp0_16^0'=temp0_16^post_10, temp0_29^0'=temp0_29^post_10, temp_33^0'=temp_33^post_10, tmp_32^0'=tmp_32^post_10, x_126^0'=x_126^post_10, x_14^0'=x_14^post_10, x_172^0'=x_172^post_10, x_17^0'=x_17^post_10, x_21^0'=x_21^post_10, x_SLAM_f_19^0'=x_SLAM_f_19^post_10, y_20^0'=y_20^post_10, [ 1+y_20^0<=head_15^0 && a_113^0==a_113^post_10 && a_144^0==a_144^post_10 && a_181^0==a_181^post_10 && a_212^0==a_212^post_10 && a_234^0==a_234^post_10 && a_257^0==a_257^post_10 && ct_18^0==ct_18^post_10 && f_167^0==f_167^post_10 && head_15^0==head_15^post_10 && head_30^0==head_30^post_10 && i_105^0==i_105^post_10 && i_164^0==i_164^post_10 && i_28^0==i_28^post_10 && i_92^0==i_92^post_10 && len_129^0==len_129^post_10 && len_180^0==len_180^post_10 && length_27^0==length_27^post_10 && nondet_12^0==nondet_12^post_10 && r_121^0==r_121^post_10 && r_160^0==r_160^post_10 && r_37^0==r_37^post_10 && rcd_56^0==rcd_56^post_10 && rcd_86^0==rcd_86^post_10 && result_11^0==result_11^post_10 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_10 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_10 && t_24^0==t_24^post_10 && temp0_16^0==temp0_16^post_10 && temp0_29^0==temp0_29^post_10 && temp_33^0==temp_33^post_10 && tmp_32^0==tmp_32^post_10 && x_126^0==x_126^post_10 && x_14^0==x_14^post_10 && x_17^0==x_17^post_10 && x_172^0==x_172^post_10 && x_21^0==x_21^post_10 && x_SLAM_f_19^0==x_SLAM_f_19^post_10 && y_20^0==y_20^post_10 ], cost: 1
     10: l9 -> l10 : a_113^0'=a_113^post_11, a_144^0'=a_144^post_11, a_181^0'=a_181^post_11, a_212^0'=a_212^post_11, a_234^0'=a_234^post_11, a_257^0'=a_257^post_11, ct_18^0'=ct_18^post_11, f_167^0'=f_167^post_11, head_15^0'=head_15^post_11, head_30^0'=head_30^post_11, i_105^0'=i_105^post_11, i_164^0'=i_164^post_11, i_28^0'=i_28^post_11, i_92^0'=i_92^post_11, len_129^0'=len_129^post_11, len_180^0'=len_180^post_11, length_27^0'=length_27^post_11, nondet_12^0'=nondet_12^post_11, r_121^0'=r_121^post_11, r_160^0'=r_160^post_11, r_37^0'=r_37^post_11, rcd_56^0'=rcd_56^post_11, rcd_86^0'=rcd_86^post_11, result_11^0'=result_11^post_11, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_11, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_11, t_24^0'=t_24^post_11, temp0_16^0'=temp0_16^post_11, temp0_29^0'=temp0_29^post_11, temp_33^0'=temp_33^post_11, tmp_32^0'=tmp_32^post_11, x_126^0'=x_126^post_11, x_14^0'=x_14^post_11, x_172^0'=x_172^post_11, x_17^0'=x_17^post_11, x_21^0'=x_21^post_11, x_SLAM_f_19^0'=x_SLAM_f_19^post_11, y_20^0'=y_20^post_11, [ 1+y_20^0<=t_24^0 && a_113^0==a_113^post_11 && a_144^0==a_144^post_11 && a_181^0==a_181^post_11 && a_212^0==a_212^post_11 && a_234^0==a_234^post_11 && a_257^0==a_257^post_11 && ct_18^0==ct_18^post_11 && f_167^0==f_167^post_11 && head_15^0==head_15^post_11 && head_30^0==head_30^post_11 && i_105^0==i_105^post_11 && i_164^0==i_164^post_11 && i_28^0==i_28^post_11 && i_92^0==i_92^post_11 && len_129^0==len_129^post_11 && len_180^0==len_180^post_11 && length_27^0==length_27^post_11 && nondet_12^0==nondet_12^post_11 && r_121^0==r_121^post_11 && r_160^0==r_160^post_11 && r_37^0==r_37^post_11 && rcd_56^0==rcd_56^post_11 && rcd_86^0==rcd_86^post_11 && result_11^0==result_11^post_11 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_11 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_11 && t_24^0==t_24^post_11 && temp0_16^0==temp0_16^post_11 && temp0_29^0==temp0_29^post_11 && temp_33^0==temp_33^post_11 && tmp_32^0==tmp_32^post_11 && x_126^0==x_126^post_11 && x_14^0==x_14^post_11 && x_17^0==x_17^post_11 && x_172^0==x_172^post_11 && x_21^0==x_21^post_11 && x_SLAM_f_19^0==x_SLAM_f_19^post_11 && y_20^0==y_20^post_11 ], cost: 1
     11: l9 -> l10 : a_113^0'=a_113^post_12, a_144^0'=a_144^post_12, a_181^0'=a_181^post_12, a_212^0'=a_212^post_12, a_234^0'=a_234^post_12, a_257^0'=a_257^post_12, ct_18^0'=ct_18^post_12, f_167^0'=f_167^post_12, head_15^0'=head_15^post_12, head_30^0'=head_30^post_12, i_105^0'=i_105^post_12, i_164^0'=i_164^post_12, i_28^0'=i_28^post_12, i_92^0'=i_92^post_12, len_129^0'=len_129^post_12, len_180^0'=len_180^post_12, length_27^0'=length_27^post_12, nondet_12^0'=nondet_12^post_12, r_121^0'=r_121^post_12, r_160^0'=r_160^post_12, r_37^0'=r_37^post_12, rcd_56^0'=rcd_56^post_12, rcd_86^0'=rcd_86^post_12, result_11^0'=result_11^post_12, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_12, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_12, t_24^0'=t_24^post_12, temp0_16^0'=temp0_16^post_12, temp0_29^0'=temp0_29^post_12, temp_33^0'=temp_33^post_12, tmp_32^0'=tmp_32^post_12, x_126^0'=x_126^post_12, x_14^0'=x_14^post_12, x_172^0'=x_172^post_12, x_17^0'=x_17^post_12, x_21^0'=x_21^post_12, x_SLAM_f_19^0'=x_SLAM_f_19^post_12, y_20^0'=y_20^post_12, [ 1+t_24^0<=y_20^0 && a_113^0==a_113^post_12 && a_144^0==a_144^post_12 && a_181^0==a_181^post_12 && a_212^0==a_212^post_12 && a_234^0==a_234^post_12 && a_257^0==a_257^post_12 && ct_18^0==ct_18^post_12 && f_167^0==f_167^post_12 && head_15^0==head_15^post_12 && head_30^0==head_30^post_12 && i_105^0==i_105^post_12 && i_164^0==i_164^post_12 && i_28^0==i_28^post_12 && i_92^0==i_92^post_12 && len_129^0==len_129^post_12 && len_180^0==len_180^post_12 && length_27^0==length_27^post_12 && nondet_12^0==nondet_12^post_12 && r_121^0==r_121^post_12 && r_160^0==r_160^post_12 && r_37^0==r_37^post_12 && rcd_56^0==rcd_56^post_12 && rcd_86^0==rcd_86^post_12 && result_11^0==result_11^post_12 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_12 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_12 && t_24^0==t_24^post_12 && temp0_16^0==temp0_16^post_12 && temp0_29^0==temp0_29^post_12 && temp_33^0==temp_33^post_12 && tmp_32^0==tmp_32^post_12 && x_126^0==x_126^post_12 && x_14^0==x_14^post_12 && x_17^0==x_17^post_12 && x_172^0==x_172^post_12 && x_21^0==x_21^post_12 && x_SLAM_f_19^0==x_SLAM_f_19^post_12 && y_20^0==y_20^post_12 ], cost: 1
     12: l10 -> l4 : a_113^0'=a_113^post_13, a_144^0'=a_144^post_13, a_181^0'=a_181^post_13, a_212^0'=a_212^post_13, a_234^0'=a_234^post_13, a_257^0'=a_257^post_13, ct_18^0'=ct_18^post_13, f_167^0'=f_167^post_13, head_15^0'=head_15^post_13, head_30^0'=head_30^post_13, i_105^0'=i_105^post_13, i_164^0'=i_164^post_13, i_28^0'=i_28^post_13, i_92^0'=i_92^post_13, len_129^0'=len_129^post_13, len_180^0'=len_180^post_13, length_27^0'=length_27^post_13, nondet_12^0'=nondet_12^post_13, r_121^0'=r_121^post_13, r_160^0'=r_160^post_13, r_37^0'=r_37^post_13, rcd_56^0'=rcd_56^post_13, rcd_86^0'=rcd_86^post_13, result_11^0'=result_11^post_13, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_13, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_13, t_24^0'=t_24^post_13, temp0_16^0'=temp0_16^post_13, temp0_29^0'=temp0_29^post_13, temp_33^0'=temp_33^post_13, tmp_32^0'=tmp_32^post_13, x_126^0'=x_126^post_13, x_14^0'=x_14^post_13, x_172^0'=x_172^post_13, x_17^0'=x_17^post_13, x_21^0'=x_21^post_13, x_SLAM_f_19^0'=x_SLAM_f_19^post_13, y_20^0'=y_20^post_13, [ 1<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && a_234^post_13==a_234^post_13 && a_234^post_13<=a_257^0 && a_257^0<=a_234^post_13 && a_113^0==a_113^post_13 && a_144^0==a_144^post_13 && a_181^0==a_181^post_13 && a_212^0==a_212^post_13 && a_257^0==a_257^post_13 && ct_18^0==ct_18^post_13 && f_167^0==f_167^post_13 && head_15^0==head_15^post_13 && head_30^0==head_30^post_13 && i_105^0==i_105^post_13 && i_164^0==i_164^post_13 && i_28^0==i_28^post_13 && i_92^0==i_92^post_13 && len_129^0==len_129^post_13 && len_180^0==len_180^post_13 && length_27^0==length_27^post_13 && nondet_12^0==nondet_12^post_13 && r_121^0==r_121^post_13 && r_160^0==r_160^post_13 && r_37^0==r_37^post_13 && rcd_56^0==rcd_56^post_13 && rcd_86^0==rcd_86^post_13 && result_11^0==result_11^post_13 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_13 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_13 && t_24^0==t_24^post_13 && temp0_16^0==temp0_16^post_13 && temp0_29^0==temp0_29^post_13 && temp_33^0==temp_33^post_13 && tmp_32^0==tmp_32^post_13 && x_126^0==x_126^post_13 && x_14^0==x_14^post_13 && x_17^0==x_17^post_13 && x_172^0==x_172^post_13 && x_21^0==x_21^post_13 && x_SLAM_f_19^0==x_SLAM_f_19^post_13 && y_20^0==y_20^post_13 ], cost: 1
     13: l4 -> l2 : a_113^0'=a_113^post_14, a_144^0'=a_144^post_14, a_181^0'=a_181^post_14, a_212^0'=a_212^post_14, a_234^0'=a_234^post_14, a_257^0'=a_257^post_14, ct_18^0'=ct_18^post_14, f_167^0'=f_167^post_14, head_15^0'=head_15^post_14, head_30^0'=head_30^post_14, i_105^0'=i_105^post_14, i_164^0'=i_164^post_14, i_28^0'=i_28^post_14, i_92^0'=i_92^post_14, len_129^0'=len_129^post_14, len_180^0'=len_180^post_14, length_27^0'=length_27^post_14, nondet_12^0'=nondet_12^post_14, r_121^0'=r_121^post_14, r_160^0'=r_160^post_14, r_37^0'=r_37^post_14, rcd_56^0'=rcd_56^post_14, rcd_86^0'=rcd_86^post_14, result_11^0'=result_11^post_14, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_14, t_24^0'=t_24^post_14, temp0_16^0'=temp0_16^post_14, temp0_29^0'=temp0_29^post_14, temp_33^0'=temp_33^post_14, tmp_32^0'=tmp_32^post_14, x_126^0'=x_126^post_14, x_14^0'=x_14^post_14, x_172^0'=x_172^post_14, x_17^0'=x_17^post_14, x_21^0'=x_21^post_14, x_SLAM_f_19^0'=x_SLAM_f_19^post_14, y_20^0'=y_20^post_14, [ a_113^0==a_113^post_14 && a_144^0==a_144^post_14 && a_181^0==a_181^post_14 && a_212^0==a_212^post_14 && a_234^0==a_234^post_14 && a_257^0==a_257^post_14 && ct_18^0==ct_18^post_14 && f_167^0==f_167^post_14 && head_15^0==head_15^post_14 && head_30^0==head_30^post_14 && i_105^0==i_105^post_14 && i_164^0==i_164^post_14 && i_28^0==i_28^post_14 && i_92^0==i_92^post_14 && len_129^0==len_129^post_14 && len_180^0==len_180^post_14 && length_27^0==length_27^post_14 && nondet_12^0==nondet_12^post_14 && r_121^0==r_121^post_14 && r_160^0==r_160^post_14 && r_37^0==r_37^post_14 && rcd_56^0==rcd_56^post_14 && rcd_86^0==rcd_86^post_14 && result_11^0==result_11^post_14 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_14 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_14 && t_24^0==t_24^post_14 && temp0_16^0==temp0_16^post_14 && temp0_29^0==temp0_29^post_14 && temp_33^0==temp_33^post_14 && tmp_32^0==tmp_32^post_14 && x_126^0==x_126^post_14 && x_14^0==x_14^post_14 && x_17^0==x_17^post_14 && x_172^0==x_172^post_14 && x_21^0==x_21^post_14 && x_SLAM_f_19^0==x_SLAM_f_19^post_14 && y_20^0==y_20^post_14 ], cost: 1
     14: l11 -> l12 : a_113^0'=a_113^post_15, a_144^0'=a_144^post_15, a_181^0'=a_181^post_15, a_212^0'=a_212^post_15, a_234^0'=a_234^post_15, a_257^0'=a_257^post_15, ct_18^0'=ct_18^post_15, f_167^0'=f_167^post_15, head_15^0'=head_15^post_15, head_30^0'=head_30^post_15, i_105^0'=i_105^post_15, i_164^0'=i_164^post_15, i_28^0'=i_28^post_15, i_92^0'=i_92^post_15, len_129^0'=len_129^post_15, len_180^0'=len_180^post_15, length_27^0'=length_27^post_15, nondet_12^0'=nondet_12^post_15, r_121^0'=r_121^post_15, r_160^0'=r_160^post_15, r_37^0'=r_37^post_15, rcd_56^0'=rcd_56^post_15, rcd_86^0'=rcd_86^post_15, result_11^0'=result_11^post_15, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_15, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_15, t_24^0'=t_24^post_15, temp0_16^0'=temp0_16^post_15, temp0_29^0'=temp0_29^post_15, temp_33^0'=temp_33^post_15, tmp_32^0'=tmp_32^post_15, x_126^0'=x_126^post_15, x_14^0'=x_14^post_15, x_172^0'=x_172^post_15, x_17^0'=x_17^post_15, x_21^0'=x_21^post_15, x_SLAM_f_19^0'=x_SLAM_f_19^post_15, y_20^0'=y_20^post_15, [ 0<=a_212^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_15==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_15 && x_14^post_15==x_14^post_15 && head_15^post_15==head_15^post_15 && 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 && a_113^0==a_113^post_15 && a_144^0==a_144^post_15 && a_181^0==a_181^post_15 && a_212^0==a_212^post_15 && a_234^0==a_234^post_15 && a_257^0==a_257^post_15 && f_167^0==f_167^post_15 && head_30^0==head_30^post_15 && i_105^0==i_105^post_15 && i_164^0==i_164^post_15 && i_28^0==i_28^post_15 && i_92^0==i_92^post_15 && len_129^0==len_129^post_15 && len_180^0==len_180^post_15 && length_27^0==length_27^post_15 && nondet_12^0==nondet_12^post_15 && r_121^0==r_121^post_15 && r_160^0==r_160^post_15 && r_37^0==r_37^post_15 && rcd_56^0==rcd_56^post_15 && rcd_86^0==rcd_86^post_15 && result_11^0==result_11^post_15 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_15 && t_24^0==t_24^post_15 && temp0_16^0==temp0_16^post_15 && temp0_29^0==temp0_29^post_15 && temp_33^0==temp_33^post_15 && tmp_32^0==tmp_32^post_15 && x_126^0==x_126^post_15 && x_172^0==x_172^post_15 && x_21^0==x_21^post_15 && y_20^0==y_20^post_15 ], cost: 1
     25: l11 -> l18 : a_113^0'=a_113^post_26, a_144^0'=a_144^post_26, a_181^0'=a_181^post_26, a_212^0'=a_212^post_26, a_234^0'=a_234^post_26, a_257^0'=a_257^post_26, ct_18^0'=ct_18^post_26, f_167^0'=f_167^post_26, head_15^0'=head_15^post_26, head_30^0'=head_30^post_26, i_105^0'=i_105^post_26, i_164^0'=i_164^post_26, i_28^0'=i_28^post_26, i_92^0'=i_92^post_26, len_129^0'=len_129^post_26, len_180^0'=len_180^post_26, length_27^0'=length_27^post_26, nondet_12^0'=nondet_12^post_26, r_121^0'=r_121^post_26, r_160^0'=r_160^post_26, r_37^0'=r_37^post_26, rcd_56^0'=rcd_56^post_26, rcd_86^0'=rcd_86^post_26, result_11^0'=result_11^post_26, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_26, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_26, t_24^0'=t_24^post_26, temp0_16^0'=temp0_16^post_26, temp0_29^0'=temp0_29^post_26, temp_33^0'=temp_33^post_26, tmp_32^0'=tmp_32^post_26, x_126^0'=x_126^post_26, x_14^0'=x_14^post_26, x_172^0'=x_172^post_26, x_17^0'=x_17^post_26, x_21^0'=x_21^post_26, x_SLAM_f_19^0'=x_SLAM_f_19^post_26, y_20^0'=y_20^post_26, [ 0<=a_212^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_26==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_26 && head_15^post_26==head_15^post_26 && y_20^0<=x_21^0 && x_21^0<=y_20^0 && x_SLAM_f_19^1_2_1==x_SLAM_f_19^1_2_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_2==ct_18^1_2 && 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 && y_20^post_26==y_20^post_26 && x_21^post_26==x_21^post_26 && t_24^post_26==t_24^post_26 && result_11^post_26==temp0_16^0 && a_113^0==a_113^post_26 && a_144^0==a_144^post_26 && a_181^0==a_181^post_26 && a_212^0==a_212^post_26 && a_234^0==a_234^post_26 && a_257^0==a_257^post_26 && f_167^0==f_167^post_26 && head_30^0==head_30^post_26 && i_105^0==i_105^post_26 && i_164^0==i_164^post_26 && i_28^0==i_28^post_26 && i_92^0==i_92^post_26 && len_129^0==len_129^post_26 && len_180^0==len_180^post_26 && length_27^0==length_27^post_26 && nondet_12^0==nondet_12^post_26 && r_121^0==r_121^post_26 && r_160^0==r_160^post_26 && r_37^0==r_37^post_26 && rcd_56^0==rcd_56^post_26 && rcd_86^0==rcd_86^post_26 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_26 && temp0_16^0==temp0_16^post_26 && temp0_29^0==temp0_29^post_26 && temp_33^0==temp_33^post_26 && tmp_32^0==tmp_32^post_26 && x_126^0==x_126^post_26 && x_14^0==x_14^post_26 && x_172^0==x_172^post_26 ], cost: 1
     15: l12 -> l13 : a_113^0'=a_113^post_16, a_144^0'=a_144^post_16, a_181^0'=a_181^post_16, a_212^0'=a_212^post_16, a_234^0'=a_234^post_16, a_257^0'=a_257^post_16, ct_18^0'=ct_18^post_16, f_167^0'=f_167^post_16, head_15^0'=head_15^post_16, head_30^0'=head_30^post_16, i_105^0'=i_105^post_16, i_164^0'=i_164^post_16, i_28^0'=i_28^post_16, i_92^0'=i_92^post_16, len_129^0'=len_129^post_16, len_180^0'=len_180^post_16, length_27^0'=length_27^post_16, nondet_12^0'=nondet_12^post_16, r_121^0'=r_121^post_16, r_160^0'=r_160^post_16, r_37^0'=r_37^post_16, rcd_56^0'=rcd_56^post_16, rcd_86^0'=rcd_86^post_16, result_11^0'=result_11^post_16, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_16, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_16, t_24^0'=t_24^post_16, temp0_16^0'=temp0_16^post_16, temp0_29^0'=temp0_29^post_16, temp_33^0'=temp_33^post_16, tmp_32^0'=tmp_32^post_16, x_126^0'=x_126^post_16, x_14^0'=x_14^post_16, x_172^0'=x_172^post_16, x_17^0'=x_17^post_16, x_21^0'=x_21^post_16, x_SLAM_f_19^0'=x_SLAM_f_19^post_16, y_20^0'=y_20^post_16, [ 1+y_20^0<=x_21^0 && a_113^0==a_113^post_16 && a_144^0==a_144^post_16 && a_181^0==a_181^post_16 && a_212^0==a_212^post_16 && a_234^0==a_234^post_16 && a_257^0==a_257^post_16 && ct_18^0==ct_18^post_16 && f_167^0==f_167^post_16 && head_15^0==head_15^post_16 && head_30^0==head_30^post_16 && i_105^0==i_105^post_16 && i_164^0==i_164^post_16 && i_28^0==i_28^post_16 && i_92^0==i_92^post_16 && len_129^0==len_129^post_16 && len_180^0==len_180^post_16 && length_27^0==length_27^post_16 && nondet_12^0==nondet_12^post_16 && r_121^0==r_121^post_16 && r_160^0==r_160^post_16 && r_37^0==r_37^post_16 && rcd_56^0==rcd_56^post_16 && rcd_86^0==rcd_86^post_16 && result_11^0==result_11^post_16 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_16 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_16 && t_24^0==t_24^post_16 && temp0_16^0==temp0_16^post_16 && temp0_29^0==temp0_29^post_16 && temp_33^0==temp_33^post_16 && tmp_32^0==tmp_32^post_16 && x_126^0==x_126^post_16 && x_14^0==x_14^post_16 && x_17^0==x_17^post_16 && x_172^0==x_172^post_16 && x_21^0==x_21^post_16 && x_SLAM_f_19^0==x_SLAM_f_19^post_16 && y_20^0==y_20^post_16 ], cost: 1
     16: l12 -> l13 : a_113^0'=a_113^post_17, a_144^0'=a_144^post_17, a_181^0'=a_181^post_17, a_212^0'=a_212^post_17, a_234^0'=a_234^post_17, a_257^0'=a_257^post_17, ct_18^0'=ct_18^post_17, f_167^0'=f_167^post_17, head_15^0'=head_15^post_17, head_30^0'=head_30^post_17, i_105^0'=i_105^post_17, i_164^0'=i_164^post_17, i_28^0'=i_28^post_17, i_92^0'=i_92^post_17, len_129^0'=len_129^post_17, len_180^0'=len_180^post_17, length_27^0'=length_27^post_17, nondet_12^0'=nondet_12^post_17, r_121^0'=r_121^post_17, r_160^0'=r_160^post_17, r_37^0'=r_37^post_17, rcd_56^0'=rcd_56^post_17, rcd_86^0'=rcd_86^post_17, result_11^0'=result_11^post_17, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_17, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_17, t_24^0'=t_24^post_17, temp0_16^0'=temp0_16^post_17, temp0_29^0'=temp0_29^post_17, temp_33^0'=temp_33^post_17, tmp_32^0'=tmp_32^post_17, x_126^0'=x_126^post_17, x_14^0'=x_14^post_17, x_172^0'=x_172^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, [ 1+x_21^0<=y_20^0 && a_113^0==a_113^post_17 && a_144^0==a_144^post_17 && a_181^0==a_181^post_17 && a_212^0==a_212^post_17 && a_234^0==a_234^post_17 && a_257^0==a_257^post_17 && ct_18^0==ct_18^post_17 && f_167^0==f_167^post_17 && head_15^0==head_15^post_17 && head_30^0==head_30^post_17 && i_105^0==i_105^post_17 && i_164^0==i_164^post_17 && i_28^0==i_28^post_17 && i_92^0==i_92^post_17 && len_129^0==len_129^post_17 && len_180^0==len_180^post_17 && length_27^0==length_27^post_17 && nondet_12^0==nondet_12^post_17 && r_121^0==r_121^post_17 && r_160^0==r_160^post_17 && r_37^0==r_37^post_17 && rcd_56^0==rcd_56^post_17 && rcd_86^0==rcd_86^post_17 && result_11^0==result_11^post_17 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_17 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_17 && t_24^0==t_24^post_17 && temp0_16^0==temp0_16^post_17 && temp0_29^0==temp0_29^post_17 && temp_33^0==temp_33^post_17 && tmp_32^0==tmp_32^post_17 && x_126^0==x_126^post_17 && x_14^0==x_14^post_17 && x_17^0==x_17^post_17 && x_172^0==x_172^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
     17: l13 -> l14 : a_113^0'=a_113^post_18, a_144^0'=a_144^post_18, a_181^0'=a_181^post_18, a_212^0'=a_212^post_18, a_234^0'=a_234^post_18, a_257^0'=a_257^post_18, ct_18^0'=ct_18^post_18, f_167^0'=f_167^post_18, head_15^0'=head_15^post_18, head_30^0'=head_30^post_18, i_105^0'=i_105^post_18, i_164^0'=i_164^post_18, i_28^0'=i_28^post_18, i_92^0'=i_92^post_18, len_129^0'=len_129^post_18, len_180^0'=len_180^post_18, length_27^0'=length_27^post_18, nondet_12^0'=nondet_12^post_18, r_121^0'=r_121^post_18, r_160^0'=r_160^post_18, r_37^0'=r_37^post_18, rcd_56^0'=rcd_56^post_18, rcd_86^0'=rcd_86^post_18, result_11^0'=result_11^post_18, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_18, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_18, t_24^0'=t_24^post_18, temp0_16^0'=temp0_16^post_18, temp0_29^0'=temp0_29^post_18, temp_33^0'=temp_33^post_18, tmp_32^0'=tmp_32^post_18, x_126^0'=x_126^post_18, x_14^0'=x_14^post_18, x_172^0'=x_172^post_18, x_17^0'=x_17^post_18, x_21^0'=x_21^post_18, x_SLAM_f_19^0'=x_SLAM_f_19^post_18, y_20^0'=y_20^post_18, [ t_24^post_18==x_21^0 && 0<=x_14^0 && x_14^0<=0 && 0<=ct_18^0 && ct_18^0<=0 && 0<=y_20^0 && y_20^0<=0 && head_15^0<=x_17^0 && x_17^0<=head_15^0 && head_15^0<=x_SLAM_f_19^0 && x_SLAM_f_19^0<=head_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_113^0==a_113^post_18 && a_144^0==a_144^post_18 && a_181^0==a_181^post_18 && a_212^0==a_212^post_18 && a_234^0==a_234^post_18 && a_257^0==a_257^post_18 && ct_18^0==ct_18^post_18 && f_167^0==f_167^post_18 && head_15^0==head_15^post_18 && head_30^0==head_30^post_18 && i_105^0==i_105^post_18 && i_164^0==i_164^post_18 && i_28^0==i_28^post_18 && i_92^0==i_92^post_18 && len_129^0==len_129^post_18 && len_180^0==len_180^post_18 && length_27^0==length_27^post_18 && nondet_12^0==nondet_12^post_18 && r_121^0==r_121^post_18 && r_160^0==r_160^post_18 && r_37^0==r_37^post_18 && rcd_56^0==rcd_56^post_18 && rcd_86^0==rcd_86^post_18 && result_11^0==result_11^post_18 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_18 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_18 && temp0_16^0==temp0_16^post_18 && temp0_29^0==temp0_29^post_18 && temp_33^0==temp_33^post_18 && tmp_32^0==tmp_32^post_18 && x_126^0==x_126^post_18 && x_14^0==x_14^post_18 && x_17^0==x_17^post_18 && x_172^0==x_172^post_18 && x_21^0==x_21^post_18 && x_SLAM_f_19^0==x_SLAM_f_19^post_18 && y_20^0==y_20^post_18 ], cost: 1
     18: l14 -> l15 : a_113^0'=a_113^post_19, a_144^0'=a_144^post_19, a_181^0'=a_181^post_19, a_212^0'=a_212^post_19, a_234^0'=a_234^post_19, a_257^0'=a_257^post_19, ct_18^0'=ct_18^post_19, f_167^0'=f_167^post_19, head_15^0'=head_15^post_19, head_30^0'=head_30^post_19, i_105^0'=i_105^post_19, i_164^0'=i_164^post_19, i_28^0'=i_28^post_19, i_92^0'=i_92^post_19, len_129^0'=len_129^post_19, len_180^0'=len_180^post_19, length_27^0'=length_27^post_19, nondet_12^0'=nondet_12^post_19, r_121^0'=r_121^post_19, r_160^0'=r_160^post_19, r_37^0'=r_37^post_19, rcd_56^0'=rcd_56^post_19, rcd_86^0'=rcd_86^post_19, result_11^0'=result_11^post_19, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_19, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_19, t_24^0'=t_24^post_19, temp0_16^0'=temp0_16^post_19, temp0_29^0'=temp0_29^post_19, temp_33^0'=temp_33^post_19, tmp_32^0'=tmp_32^post_19, x_126^0'=x_126^post_19, x_14^0'=x_14^post_19, x_172^0'=x_172^post_19, x_17^0'=x_17^post_19, x_21^0'=x_21^post_19, x_SLAM_f_19^0'=x_SLAM_f_19^post_19, y_20^0'=y_20^post_19, [ 1<=head_15^0 && a_113^0==a_113^post_19 && a_144^0==a_144^post_19 && a_181^0==a_181^post_19 && a_212^0==a_212^post_19 && a_234^0==a_234^post_19 && a_257^0==a_257^post_19 && ct_18^0==ct_18^post_19 && f_167^0==f_167^post_19 && head_15^0==head_15^post_19 && head_30^0==head_30^post_19 && i_105^0==i_105^post_19 && i_164^0==i_164^post_19 && i_28^0==i_28^post_19 && i_92^0==i_92^post_19 && len_129^0==len_129^post_19 && len_180^0==len_180^post_19 && length_27^0==length_27^post_19 && nondet_12^0==nondet_12^post_19 && r_121^0==r_121^post_19 && r_160^0==r_160^post_19 && r_37^0==r_37^post_19 && rcd_56^0==rcd_56^post_19 && rcd_86^0==rcd_86^post_19 && result_11^0==result_11^post_19 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_19 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_19 && t_24^0==t_24^post_19 && temp0_16^0==temp0_16^post_19 && temp0_29^0==temp0_29^post_19 && temp_33^0==temp_33^post_19 && tmp_32^0==tmp_32^post_19 && x_126^0==x_126^post_19 && x_14^0==x_14^post_19 && x_17^0==x_17^post_19 && x_172^0==x_172^post_19 && x_21^0==x_21^post_19 && x_SLAM_f_19^0==x_SLAM_f_19^post_19 && y_20^0==y_20^post_19 ], cost: 1
     19: l14 -> l15 : a_113^0'=a_113^post_20, a_144^0'=a_144^post_20, a_181^0'=a_181^post_20, a_212^0'=a_212^post_20, a_234^0'=a_234^post_20, a_257^0'=a_257^post_20, ct_18^0'=ct_18^post_20, f_167^0'=f_167^post_20, head_15^0'=head_15^post_20, head_30^0'=head_30^post_20, i_105^0'=i_105^post_20, i_164^0'=i_164^post_20, i_28^0'=i_28^post_20, i_92^0'=i_92^post_20, len_129^0'=len_129^post_20, len_180^0'=len_180^post_20, length_27^0'=length_27^post_20, nondet_12^0'=nondet_12^post_20, r_121^0'=r_121^post_20, r_160^0'=r_160^post_20, r_37^0'=r_37^post_20, rcd_56^0'=rcd_56^post_20, rcd_86^0'=rcd_86^post_20, result_11^0'=result_11^post_20, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_20, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_20, t_24^0'=t_24^post_20, temp0_16^0'=temp0_16^post_20, temp0_29^0'=temp0_29^post_20, temp_33^0'=temp_33^post_20, tmp_32^0'=tmp_32^post_20, x_126^0'=x_126^post_20, x_14^0'=x_14^post_20, x_172^0'=x_172^post_20, x_17^0'=x_17^post_20, x_21^0'=x_21^post_20, x_SLAM_f_19^0'=x_SLAM_f_19^post_20, y_20^0'=y_20^post_20, [ 1+head_15^0<=0 && a_113^0==a_113^post_20 && a_144^0==a_144^post_20 && a_181^0==a_181^post_20 && a_212^0==a_212^post_20 && a_234^0==a_234^post_20 && a_257^0==a_257^post_20 && ct_18^0==ct_18^post_20 && f_167^0==f_167^post_20 && head_15^0==head_15^post_20 && head_30^0==head_30^post_20 && i_105^0==i_105^post_20 && i_164^0==i_164^post_20 && i_28^0==i_28^post_20 && i_92^0==i_92^post_20 && len_129^0==len_129^post_20 && len_180^0==len_180^post_20 && length_27^0==length_27^post_20 && nondet_12^0==nondet_12^post_20 && r_121^0==r_121^post_20 && r_160^0==r_160^post_20 && r_37^0==r_37^post_20 && rcd_56^0==rcd_56^post_20 && rcd_86^0==rcd_86^post_20 && result_11^0==result_11^post_20 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_20 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_20 && t_24^0==t_24^post_20 && temp0_16^0==temp0_16^post_20 && temp0_29^0==temp0_29^post_20 && temp_33^0==temp_33^post_20 && tmp_32^0==tmp_32^post_20 && x_126^0==x_126^post_20 && x_14^0==x_14^post_20 && x_17^0==x_17^post_20 && x_172^0==x_172^post_20 && x_21^0==x_21^post_20 && x_SLAM_f_19^0==x_SLAM_f_19^post_20 && y_20^0==y_20^post_20 ], cost: 1
     20: l15 -> l16 : a_113^0'=a_113^post_21, a_144^0'=a_144^post_21, a_181^0'=a_181^post_21, a_212^0'=a_212^post_21, a_234^0'=a_234^post_21, a_257^0'=a_257^post_21, ct_18^0'=ct_18^post_21, f_167^0'=f_167^post_21, head_15^0'=head_15^post_21, head_30^0'=head_30^post_21, i_105^0'=i_105^post_21, i_164^0'=i_164^post_21, i_28^0'=i_28^post_21, i_92^0'=i_92^post_21, len_129^0'=len_129^post_21, len_180^0'=len_180^post_21, length_27^0'=length_27^post_21, nondet_12^0'=nondet_12^post_21, r_121^0'=r_121^post_21, r_160^0'=r_160^post_21, r_37^0'=r_37^post_21, rcd_56^0'=rcd_56^post_21, rcd_86^0'=rcd_86^post_21, result_11^0'=result_11^post_21, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_21, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_21, t_24^0'=t_24^post_21, temp0_16^0'=temp0_16^post_21, temp0_29^0'=temp0_29^post_21, temp_33^0'=temp_33^post_21, tmp_32^0'=tmp_32^post_21, x_126^0'=x_126^post_21, x_14^0'=x_14^post_21, x_172^0'=x_172^post_21, x_17^0'=x_17^post_21, x_21^0'=x_21^post_21, x_SLAM_f_19^0'=x_SLAM_f_19^post_21, y_20^0'=y_20^post_21, [ 1+head_15^0<=y_20^0 && a_113^0==a_113^post_21 && a_144^0==a_144^post_21 && a_181^0==a_181^post_21 && a_212^0==a_212^post_21 && a_234^0==a_234^post_21 && a_257^0==a_257^post_21 && ct_18^0==ct_18^post_21 && f_167^0==f_167^post_21 && head_15^0==head_15^post_21 && head_30^0==head_30^post_21 && i_105^0==i_105^post_21 && i_164^0==i_164^post_21 && i_28^0==i_28^post_21 && i_92^0==i_92^post_21 && len_129^0==len_129^post_21 && len_180^0==len_180^post_21 && length_27^0==length_27^post_21 && nondet_12^0==nondet_12^post_21 && r_121^0==r_121^post_21 && r_160^0==r_160^post_21 && r_37^0==r_37^post_21 && rcd_56^0==rcd_56^post_21 && rcd_86^0==rcd_86^post_21 && result_11^0==result_11^post_21 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_21 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_21 && t_24^0==t_24^post_21 && temp0_16^0==temp0_16^post_21 && temp0_29^0==temp0_29^post_21 && temp_33^0==temp_33^post_21 && tmp_32^0==tmp_32^post_21 && x_126^0==x_126^post_21 && x_14^0==x_14^post_21 && x_17^0==x_17^post_21 && x_172^0==x_172^post_21 && x_21^0==x_21^post_21 && x_SLAM_f_19^0==x_SLAM_f_19^post_21 && y_20^0==y_20^post_21 ], cost: 1
     21: l15 -> l16 : a_113^0'=a_113^post_22, a_144^0'=a_144^post_22, a_181^0'=a_181^post_22, a_212^0'=a_212^post_22, a_234^0'=a_234^post_22, a_257^0'=a_257^post_22, ct_18^0'=ct_18^post_22, f_167^0'=f_167^post_22, head_15^0'=head_15^post_22, head_30^0'=head_30^post_22, i_105^0'=i_105^post_22, i_164^0'=i_164^post_22, i_28^0'=i_28^post_22, i_92^0'=i_92^post_22, len_129^0'=len_129^post_22, len_180^0'=len_180^post_22, length_27^0'=length_27^post_22, nondet_12^0'=nondet_12^post_22, r_121^0'=r_121^post_22, r_160^0'=r_160^post_22, r_37^0'=r_37^post_22, rcd_56^0'=rcd_56^post_22, rcd_86^0'=rcd_86^post_22, result_11^0'=result_11^post_22, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_22, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_22, t_24^0'=t_24^post_22, temp0_16^0'=temp0_16^post_22, temp0_29^0'=temp0_29^post_22, temp_33^0'=temp_33^post_22, tmp_32^0'=tmp_32^post_22, x_126^0'=x_126^post_22, x_14^0'=x_14^post_22, x_172^0'=x_172^post_22, x_17^0'=x_17^post_22, x_21^0'=x_21^post_22, x_SLAM_f_19^0'=x_SLAM_f_19^post_22, y_20^0'=y_20^post_22, [ 1+y_20^0<=head_15^0 && a_113^0==a_113^post_22 && a_144^0==a_144^post_22 && a_181^0==a_181^post_22 && a_212^0==a_212^post_22 && a_234^0==a_234^post_22 && a_257^0==a_257^post_22 && ct_18^0==ct_18^post_22 && f_167^0==f_167^post_22 && head_15^0==head_15^post_22 && head_30^0==head_30^post_22 && i_105^0==i_105^post_22 && i_164^0==i_164^post_22 && i_28^0==i_28^post_22 && i_92^0==i_92^post_22 && len_129^0==len_129^post_22 && len_180^0==len_180^post_22 && length_27^0==length_27^post_22 && nondet_12^0==nondet_12^post_22 && r_121^0==r_121^post_22 && r_160^0==r_160^post_22 && r_37^0==r_37^post_22 && rcd_56^0==rcd_56^post_22 && rcd_86^0==rcd_86^post_22 && result_11^0==result_11^post_22 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_22 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_22 && t_24^0==t_24^post_22 && temp0_16^0==temp0_16^post_22 && temp0_29^0==temp0_29^post_22 && temp_33^0==temp_33^post_22 && tmp_32^0==tmp_32^post_22 && x_126^0==x_126^post_22 && x_14^0==x_14^post_22 && x_17^0==x_17^post_22 && x_172^0==x_172^post_22 && x_21^0==x_21^post_22 && x_SLAM_f_19^0==x_SLAM_f_19^post_22 && y_20^0==y_20^post_22 ], cost: 1
     22: l16 -> l17 : a_113^0'=a_113^post_23, a_144^0'=a_144^post_23, a_181^0'=a_181^post_23, a_212^0'=a_212^post_23, a_234^0'=a_234^post_23, a_257^0'=a_257^post_23, ct_18^0'=ct_18^post_23, f_167^0'=f_167^post_23, head_15^0'=head_15^post_23, head_30^0'=head_30^post_23, i_105^0'=i_105^post_23, i_164^0'=i_164^post_23, i_28^0'=i_28^post_23, i_92^0'=i_92^post_23, len_129^0'=len_129^post_23, len_180^0'=len_180^post_23, length_27^0'=length_27^post_23, nondet_12^0'=nondet_12^post_23, r_121^0'=r_121^post_23, r_160^0'=r_160^post_23, r_37^0'=r_37^post_23, rcd_56^0'=rcd_56^post_23, rcd_86^0'=rcd_86^post_23, result_11^0'=result_11^post_23, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_23, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_23, t_24^0'=t_24^post_23, temp0_16^0'=temp0_16^post_23, temp0_29^0'=temp0_29^post_23, temp_33^0'=temp_33^post_23, tmp_32^0'=tmp_32^post_23, x_126^0'=x_126^post_23, x_14^0'=x_14^post_23, x_172^0'=x_172^post_23, x_17^0'=x_17^post_23, x_21^0'=x_21^post_23, x_SLAM_f_19^0'=x_SLAM_f_19^post_23, y_20^0'=y_20^post_23, [ 1+y_20^0<=t_24^0 && a_113^0==a_113^post_23 && a_144^0==a_144^post_23 && a_181^0==a_181^post_23 && a_212^0==a_212^post_23 && a_234^0==a_234^post_23 && a_257^0==a_257^post_23 && ct_18^0==ct_18^post_23 && f_167^0==f_167^post_23 && head_15^0==head_15^post_23 && head_30^0==head_30^post_23 && i_105^0==i_105^post_23 && i_164^0==i_164^post_23 && i_28^0==i_28^post_23 && i_92^0==i_92^post_23 && len_129^0==len_129^post_23 && len_180^0==len_180^post_23 && length_27^0==length_27^post_23 && nondet_12^0==nondet_12^post_23 && r_121^0==r_121^post_23 && r_160^0==r_160^post_23 && r_37^0==r_37^post_23 && rcd_56^0==rcd_56^post_23 && rcd_86^0==rcd_86^post_23 && result_11^0==result_11^post_23 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_23 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_23 && t_24^0==t_24^post_23 && temp0_16^0==temp0_16^post_23 && temp0_29^0==temp0_29^post_23 && temp_33^0==temp_33^post_23 && tmp_32^0==tmp_32^post_23 && x_126^0==x_126^post_23 && x_14^0==x_14^post_23 && x_17^0==x_17^post_23 && x_172^0==x_172^post_23 && x_21^0==x_21^post_23 && x_SLAM_f_19^0==x_SLAM_f_19^post_23 && y_20^0==y_20^post_23 ], cost: 1
     23: l16 -> l17 : a_113^0'=a_113^post_24, a_144^0'=a_144^post_24, a_181^0'=a_181^post_24, a_212^0'=a_212^post_24, a_234^0'=a_234^post_24, a_257^0'=a_257^post_24, ct_18^0'=ct_18^post_24, f_167^0'=f_167^post_24, head_15^0'=head_15^post_24, head_30^0'=head_30^post_24, i_105^0'=i_105^post_24, i_164^0'=i_164^post_24, i_28^0'=i_28^post_24, i_92^0'=i_92^post_24, len_129^0'=len_129^post_24, len_180^0'=len_180^post_24, length_27^0'=length_27^post_24, nondet_12^0'=nondet_12^post_24, r_121^0'=r_121^post_24, r_160^0'=r_160^post_24, r_37^0'=r_37^post_24, rcd_56^0'=rcd_56^post_24, rcd_86^0'=rcd_86^post_24, result_11^0'=result_11^post_24, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_24, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_24, t_24^0'=t_24^post_24, temp0_16^0'=temp0_16^post_24, temp0_29^0'=temp0_29^post_24, temp_33^0'=temp_33^post_24, tmp_32^0'=tmp_32^post_24, x_126^0'=x_126^post_24, x_14^0'=x_14^post_24, x_172^0'=x_172^post_24, x_17^0'=x_17^post_24, x_21^0'=x_21^post_24, x_SLAM_f_19^0'=x_SLAM_f_19^post_24, y_20^0'=y_20^post_24, [ 1+t_24^0<=y_20^0 && a_113^0==a_113^post_24 && a_144^0==a_144^post_24 && a_181^0==a_181^post_24 && a_212^0==a_212^post_24 && a_234^0==a_234^post_24 && a_257^0==a_257^post_24 && ct_18^0==ct_18^post_24 && f_167^0==f_167^post_24 && head_15^0==head_15^post_24 && head_30^0==head_30^post_24 && i_105^0==i_105^post_24 && i_164^0==i_164^post_24 && i_28^0==i_28^post_24 && i_92^0==i_92^post_24 && len_129^0==len_129^post_24 && len_180^0==len_180^post_24 && length_27^0==length_27^post_24 && nondet_12^0==nondet_12^post_24 && r_121^0==r_121^post_24 && r_160^0==r_160^post_24 && r_37^0==r_37^post_24 && rcd_56^0==rcd_56^post_24 && rcd_86^0==rcd_86^post_24 && result_11^0==result_11^post_24 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_24 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_24 && t_24^0==t_24^post_24 && temp0_16^0==temp0_16^post_24 && temp0_29^0==temp0_29^post_24 && temp_33^0==temp_33^post_24 && tmp_32^0==tmp_32^post_24 && x_126^0==x_126^post_24 && x_14^0==x_14^post_24 && x_17^0==x_17^post_24 && x_172^0==x_172^post_24 && x_21^0==x_21^post_24 && x_SLAM_f_19^0==x_SLAM_f_19^post_24 && y_20^0==y_20^post_24 ], cost: 1
     24: l17 -> l2 : a_113^0'=a_113^post_25, a_144^0'=a_144^post_25, a_181^0'=a_181^post_25, a_212^0'=a_212^post_25, a_234^0'=a_234^post_25, a_257^0'=a_257^post_25, ct_18^0'=ct_18^post_25, f_167^0'=f_167^post_25, head_15^0'=head_15^post_25, head_30^0'=head_30^post_25, i_105^0'=i_105^post_25, i_164^0'=i_164^post_25, i_28^0'=i_28^post_25, i_92^0'=i_92^post_25, len_129^0'=len_129^post_25, len_180^0'=len_180^post_25, length_27^0'=length_27^post_25, nondet_12^0'=nondet_12^post_25, r_121^0'=r_121^post_25, r_160^0'=r_160^post_25, r_37^0'=r_37^post_25, rcd_56^0'=rcd_56^post_25, rcd_86^0'=rcd_86^post_25, result_11^0'=result_11^post_25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_25, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_25, t_24^0'=t_24^post_25, temp0_16^0'=temp0_16^post_25, temp0_29^0'=temp0_29^post_25, temp_33^0'=temp_33^post_25, tmp_32^0'=tmp_32^post_25, x_126^0'=x_126^post_25, x_14^0'=x_14^post_25, x_172^0'=x_172^post_25, x_17^0'=x_17^post_25, x_21^0'=x_21^post_25, x_SLAM_f_19^0'=x_SLAM_f_19^post_25, y_20^0'=y_20^post_25, [ 1<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && a_113^0==a_113^post_25 && a_144^0==a_144^post_25 && a_181^0==a_181^post_25 && a_212^0==a_212^post_25 && a_234^0==a_234^post_25 && a_257^0==a_257^post_25 && ct_18^0==ct_18^post_25 && f_167^0==f_167^post_25 && head_15^0==head_15^post_25 && head_30^0==head_30^post_25 && i_105^0==i_105^post_25 && i_164^0==i_164^post_25 && i_28^0==i_28^post_25 && i_92^0==i_92^post_25 && len_129^0==len_129^post_25 && len_180^0==len_180^post_25 && length_27^0==length_27^post_25 && nondet_12^0==nondet_12^post_25 && r_121^0==r_121^post_25 && r_160^0==r_160^post_25 && r_37^0==r_37^post_25 && rcd_56^0==rcd_56^post_25 && rcd_86^0==rcd_86^post_25 && result_11^0==result_11^post_25 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_25 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_25 && t_24^0==t_24^post_25 && temp0_16^0==temp0_16^post_25 && temp0_29^0==temp0_29^post_25 && temp_33^0==temp_33^post_25 && tmp_32^0==tmp_32^post_25 && x_126^0==x_126^post_25 && x_14^0==x_14^post_25 && x_17^0==x_17^post_25 && x_172^0==x_172^post_25 && x_21^0==x_21^post_25 && x_SLAM_f_19^0==x_SLAM_f_19^post_25 && y_20^0==y_20^post_25 ], cost: 1
     26: l18 -> l19 : a_113^0'=a_113^post_27, a_144^0'=a_144^post_27, a_181^0'=a_181^post_27, a_212^0'=a_212^post_27, a_234^0'=a_234^post_27, a_257^0'=a_257^post_27, ct_18^0'=ct_18^post_27, f_167^0'=f_167^post_27, head_15^0'=head_15^post_27, head_30^0'=head_30^post_27, i_105^0'=i_105^post_27, i_164^0'=i_164^post_27, i_28^0'=i_28^post_27, i_92^0'=i_92^post_27, len_129^0'=len_129^post_27, len_180^0'=len_180^post_27, length_27^0'=length_27^post_27, nondet_12^0'=nondet_12^post_27, r_121^0'=r_121^post_27, r_160^0'=r_160^post_27, r_37^0'=r_37^post_27, rcd_56^0'=rcd_56^post_27, rcd_86^0'=rcd_86^post_27, result_11^0'=result_11^post_27, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_27, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_27, t_24^0'=t_24^post_27, temp0_16^0'=temp0_16^post_27, temp0_29^0'=temp0_29^post_27, temp_33^0'=temp_33^post_27, tmp_32^0'=tmp_32^post_27, x_126^0'=x_126^post_27, x_14^0'=x_14^post_27, x_172^0'=x_172^post_27, x_17^0'=x_17^post_27, x_21^0'=x_21^post_27, x_SLAM_f_19^0'=x_SLAM_f_19^post_27, y_20^0'=y_20^post_27, [ 1<=head_15^0 && a_113^0==a_113^post_27 && a_144^0==a_144^post_27 && a_181^0==a_181^post_27 && a_212^0==a_212^post_27 && a_234^0==a_234^post_27 && a_257^0==a_257^post_27 && ct_18^0==ct_18^post_27 && f_167^0==f_167^post_27 && head_15^0==head_15^post_27 && head_30^0==head_30^post_27 && i_105^0==i_105^post_27 && i_164^0==i_164^post_27 && i_28^0==i_28^post_27 && i_92^0==i_92^post_27 && len_129^0==len_129^post_27 && len_180^0==len_180^post_27 && length_27^0==length_27^post_27 && nondet_12^0==nondet_12^post_27 && r_121^0==r_121^post_27 && r_160^0==r_160^post_27 && r_37^0==r_37^post_27 && rcd_56^0==rcd_56^post_27 && rcd_86^0==rcd_86^post_27 && result_11^0==result_11^post_27 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_27 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_27 && t_24^0==t_24^post_27 && temp0_16^0==temp0_16^post_27 && temp0_29^0==temp0_29^post_27 && temp_33^0==temp_33^post_27 && tmp_32^0==tmp_32^post_27 && x_126^0==x_126^post_27 && x_14^0==x_14^post_27 && x_17^0==x_17^post_27 && x_172^0==x_172^post_27 && x_21^0==x_21^post_27 && x_SLAM_f_19^0==x_SLAM_f_19^post_27 && y_20^0==y_20^post_27 ], cost: 1
     27: l18 -> l19 : a_113^0'=a_113^post_28, a_144^0'=a_144^post_28, a_181^0'=a_181^post_28, a_212^0'=a_212^post_28, a_234^0'=a_234^post_28, a_257^0'=a_257^post_28, ct_18^0'=ct_18^post_28, f_167^0'=f_167^post_28, head_15^0'=head_15^post_28, head_30^0'=head_30^post_28, i_105^0'=i_105^post_28, i_164^0'=i_164^post_28, i_28^0'=i_28^post_28, i_92^0'=i_92^post_28, len_129^0'=len_129^post_28, len_180^0'=len_180^post_28, length_27^0'=length_27^post_28, nondet_12^0'=nondet_12^post_28, r_121^0'=r_121^post_28, r_160^0'=r_160^post_28, r_37^0'=r_37^post_28, rcd_56^0'=rcd_56^post_28, rcd_86^0'=rcd_86^post_28, result_11^0'=result_11^post_28, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_28, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_28, t_24^0'=t_24^post_28, temp0_16^0'=temp0_16^post_28, temp0_29^0'=temp0_29^post_28, temp_33^0'=temp_33^post_28, tmp_32^0'=tmp_32^post_28, x_126^0'=x_126^post_28, x_14^0'=x_14^post_28, x_172^0'=x_172^post_28, x_17^0'=x_17^post_28, x_21^0'=x_21^post_28, x_SLAM_f_19^0'=x_SLAM_f_19^post_28, y_20^0'=y_20^post_28, [ 1+head_15^0<=0 && a_113^0==a_113^post_28 && a_144^0==a_144^post_28 && a_181^0==a_181^post_28 && a_212^0==a_212^post_28 && a_234^0==a_234^post_28 && a_257^0==a_257^post_28 && ct_18^0==ct_18^post_28 && f_167^0==f_167^post_28 && head_15^0==head_15^post_28 && head_30^0==head_30^post_28 && i_105^0==i_105^post_28 && i_164^0==i_164^post_28 && i_28^0==i_28^post_28 && i_92^0==i_92^post_28 && len_129^0==len_129^post_28 && len_180^0==len_180^post_28 && length_27^0==length_27^post_28 && nondet_12^0==nondet_12^post_28 && r_121^0==r_121^post_28 && r_160^0==r_160^post_28 && r_37^0==r_37^post_28 && rcd_56^0==rcd_56^post_28 && rcd_86^0==rcd_86^post_28 && result_11^0==result_11^post_28 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_28 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_28 && t_24^0==t_24^post_28 && temp0_16^0==temp0_16^post_28 && temp0_29^0==temp0_29^post_28 && temp_33^0==temp_33^post_28 && tmp_32^0==tmp_32^post_28 && x_126^0==x_126^post_28 && x_14^0==x_14^post_28 && x_17^0==x_17^post_28 && x_172^0==x_172^post_28 && x_21^0==x_21^post_28 && x_SLAM_f_19^0==x_SLAM_f_19^post_28 && y_20^0==y_20^post_28 ], cost: 1
     28: l19 -> l3 : a_113^0'=a_113^post_29, a_144^0'=a_144^post_29, a_181^0'=a_181^post_29, a_212^0'=a_212^post_29, a_234^0'=a_234^post_29, a_257^0'=a_257^post_29, ct_18^0'=ct_18^post_29, f_167^0'=f_167^post_29, head_15^0'=head_15^post_29, head_30^0'=head_30^post_29, i_105^0'=i_105^post_29, i_164^0'=i_164^post_29, i_28^0'=i_28^post_29, i_92^0'=i_92^post_29, len_129^0'=len_129^post_29, len_180^0'=len_180^post_29, length_27^0'=length_27^post_29, nondet_12^0'=nondet_12^post_29, r_121^0'=r_121^post_29, r_160^0'=r_160^post_29, r_37^0'=r_37^post_29, rcd_56^0'=rcd_56^post_29, rcd_86^0'=rcd_86^post_29, result_11^0'=result_11^post_29, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_29, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_29, t_24^0'=t_24^post_29, temp0_16^0'=temp0_16^post_29, temp0_29^0'=temp0_29^post_29, temp_33^0'=temp_33^post_29, tmp_32^0'=tmp_32^post_29, x_126^0'=x_126^post_29, x_14^0'=x_14^post_29, x_172^0'=x_172^post_29, x_17^0'=x_17^post_29, x_21^0'=x_21^post_29, x_SLAM_f_19^0'=x_SLAM_f_19^post_29, y_20^0'=y_20^post_29, [ 1<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && a_113^0==a_113^post_29 && a_144^0==a_144^post_29 && a_181^0==a_181^post_29 && a_212^0==a_212^post_29 && a_234^0==a_234^post_29 && a_257^0==a_257^post_29 && ct_18^0==ct_18^post_29 && f_167^0==f_167^post_29 && head_15^0==head_15^post_29 && head_30^0==head_30^post_29 && i_105^0==i_105^post_29 && i_164^0==i_164^post_29 && i_28^0==i_28^post_29 && i_92^0==i_92^post_29 && len_129^0==len_129^post_29 && len_180^0==len_180^post_29 && length_27^0==length_27^post_29 && nondet_12^0==nondet_12^post_29 && r_121^0==r_121^post_29 && r_160^0==r_160^post_29 && r_37^0==r_37^post_29 && rcd_56^0==rcd_56^post_29 && rcd_86^0==rcd_86^post_29 && result_11^0==result_11^post_29 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_29 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_29 && t_24^0==t_24^post_29 && temp0_16^0==temp0_16^post_29 && temp0_29^0==temp0_29^post_29 && temp_33^0==temp_33^post_29 && tmp_32^0==tmp_32^post_29 && x_126^0==x_126^post_29 && x_14^0==x_14^post_29 && x_17^0==x_17^post_29 && x_172^0==x_172^post_29 && x_21^0==x_21^post_29 && x_SLAM_f_19^0==x_SLAM_f_19^post_29 && y_20^0==y_20^post_29 ], cost: 1
     29: l20 -> l21 : a_113^0'=a_113^post_30, a_144^0'=a_144^post_30, a_181^0'=a_181^post_30, a_212^0'=a_212^post_30, a_234^0'=a_234^post_30, a_257^0'=a_257^post_30, ct_18^0'=ct_18^post_30, f_167^0'=f_167^post_30, head_15^0'=head_15^post_30, head_30^0'=head_30^post_30, i_105^0'=i_105^post_30, i_164^0'=i_164^post_30, i_28^0'=i_28^post_30, i_92^0'=i_92^post_30, len_129^0'=len_129^post_30, len_180^0'=len_180^post_30, length_27^0'=length_27^post_30, nondet_12^0'=nondet_12^post_30, r_121^0'=r_121^post_30, r_160^0'=r_160^post_30, r_37^0'=r_37^post_30, rcd_56^0'=rcd_56^post_30, rcd_86^0'=rcd_86^post_30, result_11^0'=result_11^post_30, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_30, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_30, t_24^0'=t_24^post_30, temp0_16^0'=temp0_16^post_30, temp0_29^0'=temp0_29^post_30, temp_33^0'=temp_33^post_30, tmp_32^0'=tmp_32^post_30, x_126^0'=x_126^post_30, x_14^0'=x_14^post_30, x_172^0'=x_172^post_30, x_17^0'=x_17^post_30, x_21^0'=x_21^post_30, x_SLAM_f_19^0'=x_SLAM_f_19^post_30, y_20^0'=y_20^post_30, [ 0<=len_129^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_30==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_30 && x_14^post_30==x_14^post_30 && head_15^post_30==head_15^post_30 && x_17^post_30==x_17^post_30 && ct_18^post_30==ct_18^post_30 && x_SLAM_f_19^post_30==x_SLAM_f_19^post_30 && a_113^0==a_113^post_30 && a_144^0==a_144^post_30 && a_181^0==a_181^post_30 && a_212^0==a_212^post_30 && a_234^0==a_234^post_30 && a_257^0==a_257^post_30 && f_167^0==f_167^post_30 && head_30^0==head_30^post_30 && i_105^0==i_105^post_30 && i_164^0==i_164^post_30 && i_28^0==i_28^post_30 && i_92^0==i_92^post_30 && len_129^0==len_129^post_30 && len_180^0==len_180^post_30 && length_27^0==length_27^post_30 && nondet_12^0==nondet_12^post_30 && r_121^0==r_121^post_30 && r_160^0==r_160^post_30 && r_37^0==r_37^post_30 && rcd_56^0==rcd_56^post_30 && rcd_86^0==rcd_86^post_30 && result_11^0==result_11^post_30 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_30 && t_24^0==t_24^post_30 && temp0_16^0==temp0_16^post_30 && temp0_29^0==temp0_29^post_30 && temp_33^0==temp_33^post_30 && tmp_32^0==tmp_32^post_30 && x_126^0==x_126^post_30 && x_172^0==x_172^post_30 && x_21^0==x_21^post_30 && y_20^0==y_20^post_30 ], cost: 1
     30: l21 -> l22 : a_113^0'=a_113^post_31, a_144^0'=a_144^post_31, a_181^0'=a_181^post_31, a_212^0'=a_212^post_31, a_234^0'=a_234^post_31, a_257^0'=a_257^post_31, ct_18^0'=ct_18^post_31, f_167^0'=f_167^post_31, head_15^0'=head_15^post_31, head_30^0'=head_30^post_31, i_105^0'=i_105^post_31, i_164^0'=i_164^post_31, i_28^0'=i_28^post_31, i_92^0'=i_92^post_31, len_129^0'=len_129^post_31, len_180^0'=len_180^post_31, length_27^0'=length_27^post_31, nondet_12^0'=nondet_12^post_31, r_121^0'=r_121^post_31, r_160^0'=r_160^post_31, r_37^0'=r_37^post_31, rcd_56^0'=rcd_56^post_31, rcd_86^0'=rcd_86^post_31, result_11^0'=result_11^post_31, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_31, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_31, t_24^0'=t_24^post_31, temp0_16^0'=temp0_16^post_31, temp0_29^0'=temp0_29^post_31, temp_33^0'=temp_33^post_31, tmp_32^0'=tmp_32^post_31, x_126^0'=x_126^post_31, x_14^0'=x_14^post_31, x_172^0'=x_172^post_31, x_17^0'=x_17^post_31, x_21^0'=x_21^post_31, x_SLAM_f_19^0'=x_SLAM_f_19^post_31, y_20^0'=y_20^post_31, [ 1+y_20^0<=x_21^0 && a_113^0==a_113^post_31 && a_144^0==a_144^post_31 && a_181^0==a_181^post_31 && a_212^0==a_212^post_31 && a_234^0==a_234^post_31 && a_257^0==a_257^post_31 && ct_18^0==ct_18^post_31 && f_167^0==f_167^post_31 && head_15^0==head_15^post_31 && head_30^0==head_30^post_31 && i_105^0==i_105^post_31 && i_164^0==i_164^post_31 && i_28^0==i_28^post_31 && i_92^0==i_92^post_31 && len_129^0==len_129^post_31 && len_180^0==len_180^post_31 && length_27^0==length_27^post_31 && nondet_12^0==nondet_12^post_31 && r_121^0==r_121^post_31 && r_160^0==r_160^post_31 && r_37^0==r_37^post_31 && rcd_56^0==rcd_56^post_31 && rcd_86^0==rcd_86^post_31 && result_11^0==result_11^post_31 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_31 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_31 && t_24^0==t_24^post_31 && temp0_16^0==temp0_16^post_31 && temp0_29^0==temp0_29^post_31 && temp_33^0==temp_33^post_31 && tmp_32^0==tmp_32^post_31 && x_126^0==x_126^post_31 && x_14^0==x_14^post_31 && x_17^0==x_17^post_31 && x_172^0==x_172^post_31 && x_21^0==x_21^post_31 && x_SLAM_f_19^0==x_SLAM_f_19^post_31 && y_20^0==y_20^post_31 ], cost: 1
     31: l21 -> l22 : a_113^0'=a_113^post_32, a_144^0'=a_144^post_32, a_181^0'=a_181^post_32, a_212^0'=a_212^post_32, a_234^0'=a_234^post_32, a_257^0'=a_257^post_32, ct_18^0'=ct_18^post_32, f_167^0'=f_167^post_32, head_15^0'=head_15^post_32, head_30^0'=head_30^post_32, i_105^0'=i_105^post_32, i_164^0'=i_164^post_32, i_28^0'=i_28^post_32, i_92^0'=i_92^post_32, len_129^0'=len_129^post_32, len_180^0'=len_180^post_32, length_27^0'=length_27^post_32, nondet_12^0'=nondet_12^post_32, r_121^0'=r_121^post_32, r_160^0'=r_160^post_32, r_37^0'=r_37^post_32, rcd_56^0'=rcd_56^post_32, rcd_86^0'=rcd_86^post_32, result_11^0'=result_11^post_32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_32, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_32, t_24^0'=t_24^post_32, temp0_16^0'=temp0_16^post_32, temp0_29^0'=temp0_29^post_32, temp_33^0'=temp_33^post_32, tmp_32^0'=tmp_32^post_32, x_126^0'=x_126^post_32, x_14^0'=x_14^post_32, x_172^0'=x_172^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, [ 1+x_21^0<=y_20^0 && a_113^0==a_113^post_32 && a_144^0==a_144^post_32 && a_181^0==a_181^post_32 && a_212^0==a_212^post_32 && a_234^0==a_234^post_32 && a_257^0==a_257^post_32 && ct_18^0==ct_18^post_32 && f_167^0==f_167^post_32 && head_15^0==head_15^post_32 && head_30^0==head_30^post_32 && i_105^0==i_105^post_32 && i_164^0==i_164^post_32 && i_28^0==i_28^post_32 && i_92^0==i_92^post_32 && len_129^0==len_129^post_32 && len_180^0==len_180^post_32 && length_27^0==length_27^post_32 && nondet_12^0==nondet_12^post_32 && r_121^0==r_121^post_32 && r_160^0==r_160^post_32 && r_37^0==r_37^post_32 && rcd_56^0==rcd_56^post_32 && rcd_86^0==rcd_86^post_32 && result_11^0==result_11^post_32 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_32 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_32 && t_24^0==t_24^post_32 && temp0_16^0==temp0_16^post_32 && temp0_29^0==temp0_29^post_32 && temp_33^0==temp_33^post_32 && tmp_32^0==tmp_32^post_32 && x_126^0==x_126^post_32 && x_14^0==x_14^post_32 && x_17^0==x_17^post_32 && x_172^0==x_172^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
     32: l22 -> l23 : a_113^0'=a_113^post_33, a_144^0'=a_144^post_33, a_181^0'=a_181^post_33, a_212^0'=a_212^post_33, a_234^0'=a_234^post_33, a_257^0'=a_257^post_33, ct_18^0'=ct_18^post_33, f_167^0'=f_167^post_33, head_15^0'=head_15^post_33, head_30^0'=head_30^post_33, i_105^0'=i_105^post_33, i_164^0'=i_164^post_33, i_28^0'=i_28^post_33, i_92^0'=i_92^post_33, len_129^0'=len_129^post_33, len_180^0'=len_180^post_33, length_27^0'=length_27^post_33, nondet_12^0'=nondet_12^post_33, r_121^0'=r_121^post_33, r_160^0'=r_160^post_33, r_37^0'=r_37^post_33, rcd_56^0'=rcd_56^post_33, rcd_86^0'=rcd_86^post_33, result_11^0'=result_11^post_33, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_33, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_33, t_24^0'=t_24^post_33, temp0_16^0'=temp0_16^post_33, temp0_29^0'=temp0_29^post_33, temp_33^0'=temp_33^post_33, tmp_32^0'=tmp_32^post_33, x_126^0'=x_126^post_33, x_14^0'=x_14^post_33, x_172^0'=x_172^post_33, x_17^0'=x_17^post_33, x_21^0'=x_21^post_33, x_SLAM_f_19^0'=x_SLAM_f_19^post_33, y_20^0'=y_20^post_33, [ t_24^post_33==x_21^0 && a_212^post_33==a_212^post_33 && 0<=x_14^0 && x_14^0<=0 && 0<=ct_18^0 && ct_18^0<=0 && 0<=y_20^0 && y_20^0<=0 && 0<=a_234^0-a_212^post_33 && a_234^0-a_212^post_33<=0 && head_15^0<=x_17^0 && x_17^0<=head_15^0 && head_15^0<=x_SLAM_f_19^0 && x_SLAM_f_19^0<=head_15^0 && head_15^0<=t_24^post_33 && t_24^post_33<=head_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_212^post_33<=a_234^0 && a_234^0<=a_212^post_33 && a_113^0==a_113^post_33 && a_144^0==a_144^post_33 && a_181^0==a_181^post_33 && a_234^0==a_234^post_33 && a_257^0==a_257^post_33 && ct_18^0==ct_18^post_33 && f_167^0==f_167^post_33 && head_15^0==head_15^post_33 && head_30^0==head_30^post_33 && i_105^0==i_105^post_33 && i_164^0==i_164^post_33 && i_28^0==i_28^post_33 && i_92^0==i_92^post_33 && len_129^0==len_129^post_33 && len_180^0==len_180^post_33 && length_27^0==length_27^post_33 && nondet_12^0==nondet_12^post_33 && r_121^0==r_121^post_33 && r_160^0==r_160^post_33 && r_37^0==r_37^post_33 && rcd_56^0==rcd_56^post_33 && rcd_86^0==rcd_86^post_33 && result_11^0==result_11^post_33 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_33 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_33 && temp0_16^0==temp0_16^post_33 && temp0_29^0==temp0_29^post_33 && temp_33^0==temp_33^post_33 && tmp_32^0==tmp_32^post_33 && x_126^0==x_126^post_33 && x_14^0==x_14^post_33 && x_17^0==x_17^post_33 && x_172^0==x_172^post_33 && x_21^0==x_21^post_33 && x_SLAM_f_19^0==x_SLAM_f_19^post_33 && y_20^0==y_20^post_33 ], cost: 1
     33: l23 -> l24 : a_113^0'=a_113^post_34, a_144^0'=a_144^post_34, a_181^0'=a_181^post_34, a_212^0'=a_212^post_34, a_234^0'=a_234^post_34, a_257^0'=a_257^post_34, ct_18^0'=ct_18^post_34, f_167^0'=f_167^post_34, head_15^0'=head_15^post_34, head_30^0'=head_30^post_34, i_105^0'=i_105^post_34, i_164^0'=i_164^post_34, i_28^0'=i_28^post_34, i_92^0'=i_92^post_34, len_129^0'=len_129^post_34, len_180^0'=len_180^post_34, length_27^0'=length_27^post_34, nondet_12^0'=nondet_12^post_34, r_121^0'=r_121^post_34, r_160^0'=r_160^post_34, r_37^0'=r_37^post_34, rcd_56^0'=rcd_56^post_34, rcd_86^0'=rcd_86^post_34, result_11^0'=result_11^post_34, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_34, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_34, t_24^0'=t_24^post_34, temp0_16^0'=temp0_16^post_34, temp0_29^0'=temp0_29^post_34, temp_33^0'=temp_33^post_34, tmp_32^0'=tmp_32^post_34, x_126^0'=x_126^post_34, x_14^0'=x_14^post_34, x_172^0'=x_172^post_34, x_17^0'=x_17^post_34, x_21^0'=x_21^post_34, x_SLAM_f_19^0'=x_SLAM_f_19^post_34, y_20^0'=y_20^post_34, [ 1<=head_15^0 && a_113^0==a_113^post_34 && a_144^0==a_144^post_34 && a_181^0==a_181^post_34 && a_212^0==a_212^post_34 && a_234^0==a_234^post_34 && a_257^0==a_257^post_34 && ct_18^0==ct_18^post_34 && f_167^0==f_167^post_34 && head_15^0==head_15^post_34 && head_30^0==head_30^post_34 && i_105^0==i_105^post_34 && i_164^0==i_164^post_34 && i_28^0==i_28^post_34 && i_92^0==i_92^post_34 && len_129^0==len_129^post_34 && len_180^0==len_180^post_34 && length_27^0==length_27^post_34 && nondet_12^0==nondet_12^post_34 && r_121^0==r_121^post_34 && r_160^0==r_160^post_34 && r_37^0==r_37^post_34 && rcd_56^0==rcd_56^post_34 && rcd_86^0==rcd_86^post_34 && result_11^0==result_11^post_34 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_34 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_34 && t_24^0==t_24^post_34 && temp0_16^0==temp0_16^post_34 && temp0_29^0==temp0_29^post_34 && temp_33^0==temp_33^post_34 && tmp_32^0==tmp_32^post_34 && x_126^0==x_126^post_34 && x_14^0==x_14^post_34 && x_17^0==x_17^post_34 && x_172^0==x_172^post_34 && x_21^0==x_21^post_34 && x_SLAM_f_19^0==x_SLAM_f_19^post_34 && y_20^0==y_20^post_34 ], cost: 1
     34: l23 -> l24 : a_113^0'=a_113^post_35, a_144^0'=a_144^post_35, a_181^0'=a_181^post_35, a_212^0'=a_212^post_35, a_234^0'=a_234^post_35, a_257^0'=a_257^post_35, ct_18^0'=ct_18^post_35, f_167^0'=f_167^post_35, head_15^0'=head_15^post_35, head_30^0'=head_30^post_35, i_105^0'=i_105^post_35, i_164^0'=i_164^post_35, i_28^0'=i_28^post_35, i_92^0'=i_92^post_35, len_129^0'=len_129^post_35, len_180^0'=len_180^post_35, length_27^0'=length_27^post_35, nondet_12^0'=nondet_12^post_35, r_121^0'=r_121^post_35, r_160^0'=r_160^post_35, r_37^0'=r_37^post_35, rcd_56^0'=rcd_56^post_35, rcd_86^0'=rcd_86^post_35, result_11^0'=result_11^post_35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_35, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_35, t_24^0'=t_24^post_35, temp0_16^0'=temp0_16^post_35, temp0_29^0'=temp0_29^post_35, temp_33^0'=temp_33^post_35, tmp_32^0'=tmp_32^post_35, x_126^0'=x_126^post_35, x_14^0'=x_14^post_35, x_172^0'=x_172^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, [ 1+head_15^0<=0 && a_113^0==a_113^post_35 && a_144^0==a_144^post_35 && a_181^0==a_181^post_35 && a_212^0==a_212^post_35 && a_234^0==a_234^post_35 && a_257^0==a_257^post_35 && ct_18^0==ct_18^post_35 && f_167^0==f_167^post_35 && head_15^0==head_15^post_35 && head_30^0==head_30^post_35 && i_105^0==i_105^post_35 && i_164^0==i_164^post_35 && i_28^0==i_28^post_35 && i_92^0==i_92^post_35 && len_129^0==len_129^post_35 && len_180^0==len_180^post_35 && length_27^0==length_27^post_35 && nondet_12^0==nondet_12^post_35 && r_121^0==r_121^post_35 && r_160^0==r_160^post_35 && r_37^0==r_37^post_35 && rcd_56^0==rcd_56^post_35 && rcd_86^0==rcd_86^post_35 && result_11^0==result_11^post_35 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_35 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_35 && t_24^0==t_24^post_35 && temp0_16^0==temp0_16^post_35 && temp0_29^0==temp0_29^post_35 && temp_33^0==temp_33^post_35 && tmp_32^0==tmp_32^post_35 && x_126^0==x_126^post_35 && x_14^0==x_14^post_35 && x_17^0==x_17^post_35 && x_172^0==x_172^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
     35: l24 -> l25 : a_113^0'=a_113^post_36, a_144^0'=a_144^post_36, a_181^0'=a_181^post_36, a_212^0'=a_212^post_36, a_234^0'=a_234^post_36, a_257^0'=a_257^post_36, ct_18^0'=ct_18^post_36, f_167^0'=f_167^post_36, head_15^0'=head_15^post_36, head_30^0'=head_30^post_36, i_105^0'=i_105^post_36, i_164^0'=i_164^post_36, i_28^0'=i_28^post_36, i_92^0'=i_92^post_36, len_129^0'=len_129^post_36, len_180^0'=len_180^post_36, length_27^0'=length_27^post_36, nondet_12^0'=nondet_12^post_36, r_121^0'=r_121^post_36, r_160^0'=r_160^post_36, r_37^0'=r_37^post_36, rcd_56^0'=rcd_56^post_36, rcd_86^0'=rcd_86^post_36, result_11^0'=result_11^post_36, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_36, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_36, t_24^0'=t_24^post_36, temp0_16^0'=temp0_16^post_36, temp0_29^0'=temp0_29^post_36, temp_33^0'=temp_33^post_36, tmp_32^0'=tmp_32^post_36, x_126^0'=x_126^post_36, x_14^0'=x_14^post_36, x_172^0'=x_172^post_36, x_17^0'=x_17^post_36, x_21^0'=x_21^post_36, x_SLAM_f_19^0'=x_SLAM_f_19^post_36, y_20^0'=y_20^post_36, [ 1+head_15^0<=y_20^0 && a_113^0==a_113^post_36 && a_144^0==a_144^post_36 && a_181^0==a_181^post_36 && a_212^0==a_212^post_36 && a_234^0==a_234^post_36 && a_257^0==a_257^post_36 && ct_18^0==ct_18^post_36 && f_167^0==f_167^post_36 && head_15^0==head_15^post_36 && head_30^0==head_30^post_36 && i_105^0==i_105^post_36 && i_164^0==i_164^post_36 && i_28^0==i_28^post_36 && i_92^0==i_92^post_36 && len_129^0==len_129^post_36 && len_180^0==len_180^post_36 && length_27^0==length_27^post_36 && nondet_12^0==nondet_12^post_36 && r_121^0==r_121^post_36 && r_160^0==r_160^post_36 && r_37^0==r_37^post_36 && rcd_56^0==rcd_56^post_36 && rcd_86^0==rcd_86^post_36 && result_11^0==result_11^post_36 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_36 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_36 && t_24^0==t_24^post_36 && temp0_16^0==temp0_16^post_36 && temp0_29^0==temp0_29^post_36 && temp_33^0==temp_33^post_36 && tmp_32^0==tmp_32^post_36 && x_126^0==x_126^post_36 && x_14^0==x_14^post_36 && x_17^0==x_17^post_36 && x_172^0==x_172^post_36 && x_21^0==x_21^post_36 && x_SLAM_f_19^0==x_SLAM_f_19^post_36 && y_20^0==y_20^post_36 ], cost: 1
     36: l24 -> l25 : a_113^0'=a_113^post_37, a_144^0'=a_144^post_37, a_181^0'=a_181^post_37, a_212^0'=a_212^post_37, a_234^0'=a_234^post_37, a_257^0'=a_257^post_37, ct_18^0'=ct_18^post_37, f_167^0'=f_167^post_37, head_15^0'=head_15^post_37, head_30^0'=head_30^post_37, i_105^0'=i_105^post_37, i_164^0'=i_164^post_37, i_28^0'=i_28^post_37, i_92^0'=i_92^post_37, len_129^0'=len_129^post_37, len_180^0'=len_180^post_37, length_27^0'=length_27^post_37, nondet_12^0'=nondet_12^post_37, r_121^0'=r_121^post_37, r_160^0'=r_160^post_37, r_37^0'=r_37^post_37, rcd_56^0'=rcd_56^post_37, rcd_86^0'=rcd_86^post_37, result_11^0'=result_11^post_37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_37, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_37, t_24^0'=t_24^post_37, temp0_16^0'=temp0_16^post_37, temp0_29^0'=temp0_29^post_37, temp_33^0'=temp_33^post_37, tmp_32^0'=tmp_32^post_37, x_126^0'=x_126^post_37, x_14^0'=x_14^post_37, x_172^0'=x_172^post_37, x_17^0'=x_17^post_37, x_21^0'=x_21^post_37, x_SLAM_f_19^0'=x_SLAM_f_19^post_37, y_20^0'=y_20^post_37, [ 1+y_20^0<=head_15^0 && a_113^0==a_113^post_37 && a_144^0==a_144^post_37 && a_181^0==a_181^post_37 && a_212^0==a_212^post_37 && a_234^0==a_234^post_37 && a_257^0==a_257^post_37 && ct_18^0==ct_18^post_37 && f_167^0==f_167^post_37 && head_15^0==head_15^post_37 && head_30^0==head_30^post_37 && i_105^0==i_105^post_37 && i_164^0==i_164^post_37 && i_28^0==i_28^post_37 && i_92^0==i_92^post_37 && len_129^0==len_129^post_37 && len_180^0==len_180^post_37 && length_27^0==length_27^post_37 && nondet_12^0==nondet_12^post_37 && r_121^0==r_121^post_37 && r_160^0==r_160^post_37 && r_37^0==r_37^post_37 && rcd_56^0==rcd_56^post_37 && rcd_86^0==rcd_86^post_37 && result_11^0==result_11^post_37 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_37 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_37 && t_24^0==t_24^post_37 && temp0_16^0==temp0_16^post_37 && temp0_29^0==temp0_29^post_37 && temp_33^0==temp_33^post_37 && tmp_32^0==tmp_32^post_37 && x_126^0==x_126^post_37 && x_14^0==x_14^post_37 && x_17^0==x_17^post_37 && x_172^0==x_172^post_37 && x_21^0==x_21^post_37 && x_SLAM_f_19^0==x_SLAM_f_19^post_37 && y_20^0==y_20^post_37 ], cost: 1
     37: l25 -> l26 : a_113^0'=a_113^post_38, a_144^0'=a_144^post_38, a_181^0'=a_181^post_38, a_212^0'=a_212^post_38, a_234^0'=a_234^post_38, a_257^0'=a_257^post_38, ct_18^0'=ct_18^post_38, f_167^0'=f_167^post_38, head_15^0'=head_15^post_38, head_30^0'=head_30^post_38, i_105^0'=i_105^post_38, i_164^0'=i_164^post_38, i_28^0'=i_28^post_38, i_92^0'=i_92^post_38, len_129^0'=len_129^post_38, len_180^0'=len_180^post_38, length_27^0'=length_27^post_38, nondet_12^0'=nondet_12^post_38, r_121^0'=r_121^post_38, r_160^0'=r_160^post_38, r_37^0'=r_37^post_38, rcd_56^0'=rcd_56^post_38, rcd_86^0'=rcd_86^post_38, result_11^0'=result_11^post_38, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_38, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_38, t_24^0'=t_24^post_38, temp0_16^0'=temp0_16^post_38, temp0_29^0'=temp0_29^post_38, temp_33^0'=temp_33^post_38, tmp_32^0'=tmp_32^post_38, x_126^0'=x_126^post_38, x_14^0'=x_14^post_38, x_172^0'=x_172^post_38, x_17^0'=x_17^post_38, x_21^0'=x_21^post_38, x_SLAM_f_19^0'=x_SLAM_f_19^post_38, y_20^0'=y_20^post_38, [ 1+y_20^0<=t_24^0 && a_113^0==a_113^post_38 && a_144^0==a_144^post_38 && a_181^0==a_181^post_38 && a_212^0==a_212^post_38 && a_234^0==a_234^post_38 && a_257^0==a_257^post_38 && ct_18^0==ct_18^post_38 && f_167^0==f_167^post_38 && head_15^0==head_15^post_38 && head_30^0==head_30^post_38 && i_105^0==i_105^post_38 && i_164^0==i_164^post_38 && i_28^0==i_28^post_38 && i_92^0==i_92^post_38 && len_129^0==len_129^post_38 && len_180^0==len_180^post_38 && length_27^0==length_27^post_38 && nondet_12^0==nondet_12^post_38 && r_121^0==r_121^post_38 && r_160^0==r_160^post_38 && r_37^0==r_37^post_38 && rcd_56^0==rcd_56^post_38 && rcd_86^0==rcd_86^post_38 && result_11^0==result_11^post_38 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_38 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_38 && t_24^0==t_24^post_38 && temp0_16^0==temp0_16^post_38 && temp0_29^0==temp0_29^post_38 && temp_33^0==temp_33^post_38 && tmp_32^0==tmp_32^post_38 && x_126^0==x_126^post_38 && x_14^0==x_14^post_38 && x_17^0==x_17^post_38 && x_172^0==x_172^post_38 && x_21^0==x_21^post_38 && x_SLAM_f_19^0==x_SLAM_f_19^post_38 && y_20^0==y_20^post_38 ], cost: 1
     38: l25 -> l26 : a_113^0'=a_113^post_39, a_144^0'=a_144^post_39, a_181^0'=a_181^post_39, a_212^0'=a_212^post_39, a_234^0'=a_234^post_39, a_257^0'=a_257^post_39, ct_18^0'=ct_18^post_39, f_167^0'=f_167^post_39, head_15^0'=head_15^post_39, head_30^0'=head_30^post_39, i_105^0'=i_105^post_39, i_164^0'=i_164^post_39, i_28^0'=i_28^post_39, i_92^0'=i_92^post_39, len_129^0'=len_129^post_39, len_180^0'=len_180^post_39, length_27^0'=length_27^post_39, nondet_12^0'=nondet_12^post_39, r_121^0'=r_121^post_39, r_160^0'=r_160^post_39, r_37^0'=r_37^post_39, rcd_56^0'=rcd_56^post_39, rcd_86^0'=rcd_86^post_39, result_11^0'=result_11^post_39, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_39, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_39, t_24^0'=t_24^post_39, temp0_16^0'=temp0_16^post_39, temp0_29^0'=temp0_29^post_39, temp_33^0'=temp_33^post_39, tmp_32^0'=tmp_32^post_39, x_126^0'=x_126^post_39, x_14^0'=x_14^post_39, x_172^0'=x_172^post_39, x_17^0'=x_17^post_39, x_21^0'=x_21^post_39, x_SLAM_f_19^0'=x_SLAM_f_19^post_39, y_20^0'=y_20^post_39, [ 1+t_24^0<=y_20^0 && a_113^0==a_113^post_39 && a_144^0==a_144^post_39 && a_181^0==a_181^post_39 && a_212^0==a_212^post_39 && a_234^0==a_234^post_39 && a_257^0==a_257^post_39 && ct_18^0==ct_18^post_39 && f_167^0==f_167^post_39 && head_15^0==head_15^post_39 && head_30^0==head_30^post_39 && i_105^0==i_105^post_39 && i_164^0==i_164^post_39 && i_28^0==i_28^post_39 && i_92^0==i_92^post_39 && len_129^0==len_129^post_39 && len_180^0==len_180^post_39 && length_27^0==length_27^post_39 && nondet_12^0==nondet_12^post_39 && r_121^0==r_121^post_39 && r_160^0==r_160^post_39 && r_37^0==r_37^post_39 && rcd_56^0==rcd_56^post_39 && rcd_86^0==rcd_86^post_39 && result_11^0==result_11^post_39 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_39 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_39 && t_24^0==t_24^post_39 && temp0_16^0==temp0_16^post_39 && temp0_29^0==temp0_29^post_39 && temp_33^0==temp_33^post_39 && tmp_32^0==tmp_32^post_39 && x_126^0==x_126^post_39 && x_14^0==x_14^post_39 && x_17^0==x_17^post_39 && x_172^0==x_172^post_39 && x_21^0==x_21^post_39 && x_SLAM_f_19^0==x_SLAM_f_19^post_39 && y_20^0==y_20^post_39 ], cost: 1
     39: l26 -> l2 : a_113^0'=a_113^post_40, a_144^0'=a_144^post_40, a_181^0'=a_181^post_40, a_212^0'=a_212^post_40, a_234^0'=a_234^post_40, a_257^0'=a_257^post_40, ct_18^0'=ct_18^post_40, f_167^0'=f_167^post_40, head_15^0'=head_15^post_40, head_30^0'=head_30^post_40, i_105^0'=i_105^post_40, i_164^0'=i_164^post_40, i_28^0'=i_28^post_40, i_92^0'=i_92^post_40, len_129^0'=len_129^post_40, len_180^0'=len_180^post_40, length_27^0'=length_27^post_40, nondet_12^0'=nondet_12^post_40, r_121^0'=r_121^post_40, r_160^0'=r_160^post_40, r_37^0'=r_37^post_40, rcd_56^0'=rcd_56^post_40, rcd_86^0'=rcd_86^post_40, result_11^0'=result_11^post_40, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_40, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_40, t_24^0'=t_24^post_40, temp0_16^0'=temp0_16^post_40, temp0_29^0'=temp0_29^post_40, temp_33^0'=temp_33^post_40, tmp_32^0'=tmp_32^post_40, x_126^0'=x_126^post_40, x_14^0'=x_14^post_40, x_172^0'=x_172^post_40, x_17^0'=x_17^post_40, x_21^0'=x_21^post_40, x_SLAM_f_19^0'=x_SLAM_f_19^post_40, y_20^0'=y_20^post_40, [ 1<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && len_129^post_40==len_129^post_40 && -1+len_129^post_40<=a_212^0 && a_212^0<=-1+len_129^post_40 && a_113^0==a_113^post_40 && a_144^0==a_144^post_40 && a_181^0==a_181^post_40 && a_212^0==a_212^post_40 && a_234^0==a_234^post_40 && a_257^0==a_257^post_40 && ct_18^0==ct_18^post_40 && f_167^0==f_167^post_40 && head_15^0==head_15^post_40 && head_30^0==head_30^post_40 && i_105^0==i_105^post_40 && i_164^0==i_164^post_40 && i_28^0==i_28^post_40 && i_92^0==i_92^post_40 && len_180^0==len_180^post_40 && length_27^0==length_27^post_40 && nondet_12^0==nondet_12^post_40 && r_121^0==r_121^post_40 && r_160^0==r_160^post_40 && r_37^0==r_37^post_40 && rcd_56^0==rcd_56^post_40 && rcd_86^0==rcd_86^post_40 && result_11^0==result_11^post_40 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_40 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_40 && t_24^0==t_24^post_40 && temp0_16^0==temp0_16^post_40 && temp0_29^0==temp0_29^post_40 && temp_33^0==temp_33^post_40 && tmp_32^0==tmp_32^post_40 && x_126^0==x_126^post_40 && x_14^0==x_14^post_40 && x_17^0==x_17^post_40 && x_172^0==x_172^post_40 && x_21^0==x_21^post_40 && x_SLAM_f_19^0==x_SLAM_f_19^post_40 && y_20^0==y_20^post_40 ], cost: 1
     40: l27 -> l28 : a_113^0'=a_113^post_41, a_144^0'=a_144^post_41, a_181^0'=a_181^post_41, a_212^0'=a_212^post_41, a_234^0'=a_234^post_41, a_257^0'=a_257^post_41, ct_18^0'=ct_18^post_41, f_167^0'=f_167^post_41, head_15^0'=head_15^post_41, head_30^0'=head_30^post_41, i_105^0'=i_105^post_41, i_164^0'=i_164^post_41, i_28^0'=i_28^post_41, i_92^0'=i_92^post_41, len_129^0'=len_129^post_41, len_180^0'=len_180^post_41, length_27^0'=length_27^post_41, nondet_12^0'=nondet_12^post_41, r_121^0'=r_121^post_41, r_160^0'=r_160^post_41, r_37^0'=r_37^post_41, rcd_56^0'=rcd_56^post_41, rcd_86^0'=rcd_86^post_41, result_11^0'=result_11^post_41, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_41, t_24^0'=t_24^post_41, temp0_16^0'=temp0_16^post_41, temp0_29^0'=temp0_29^post_41, temp_33^0'=temp_33^post_41, tmp_32^0'=tmp_32^post_41, x_126^0'=x_126^post_41, x_14^0'=x_14^post_41, x_172^0'=x_172^post_41, x_17^0'=x_17^post_41, x_21^0'=x_21^post_41, x_SLAM_f_19^0'=x_SLAM_f_19^post_41, y_20^0'=y_20^post_41, [ result_dot_nondet_sdv_special_RETURN_VALUE_13^1_1==result_dot_nondet_sdv_special_RETURN_VALUE_13^1_1 && length_27^0<=i_28^0 && temp0_29^1_1==head_30^0 && result_11^1_1==temp0_29^1_1 && length_27^post_41==length_27^post_41 && i_28^post_41==i_28^post_41 && temp0_29^post_41==temp0_29^post_41 && head_30^post_41==head_30^post_41 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_41==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_41 && tmp_32^post_41==tmp_32^post_41 && temp_33^post_41==temp_33^post_41 && head_15^1_1==result_11^1_1 && result_11^post_41==result_11^post_41 && x_14^post_41==head_15^1_1 && 1<=result_dot_nondet_sdv_special_RETURN_VALUE_13^1_1 && result_dot_nondet_sdv_special_RETURN_VALUE_13^1_1<=1 && x_14^post_41<=head_15^1_1 && head_15^1_1<=x_14^post_41 && 1<=result_dot_nondet_sdv_special_RETURN_VALUE_13^1_1 && result_dot_nondet_sdv_special_RETURN_VALUE_13^1_1<=1 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_41==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_41 && head_15^post_41==head_15^post_41 && a_113^0==a_113^post_41 && a_144^0==a_144^post_41 && a_181^0==a_181^post_41 && a_212^0==a_212^post_41 && a_234^0==a_234^post_41 && a_257^0==a_257^post_41 && ct_18^0==ct_18^post_41 && f_167^0==f_167^post_41 && i_105^0==i_105^post_41 && i_164^0==i_164^post_41 && i_92^0==i_92^post_41 && len_129^0==len_129^post_41 && len_180^0==len_180^post_41 && nondet_12^0==nondet_12^post_41 && r_121^0==r_121^post_41 && r_160^0==r_160^post_41 && r_37^0==r_37^post_41 && rcd_56^0==rcd_56^post_41 && rcd_86^0==rcd_86^post_41 && t_24^0==t_24^post_41 && temp0_16^0==temp0_16^post_41 && x_126^0==x_126^post_41 && x_17^0==x_17^post_41 && x_172^0==x_172^post_41 && x_21^0==x_21^post_41 && x_SLAM_f_19^0==x_SLAM_f_19^post_41 && y_20^0==y_20^post_41 ], cost: 1
     60: l27 -> l40 : a_113^0'=a_113^post_61, a_144^0'=a_144^post_61, a_181^0'=a_181^post_61, a_212^0'=a_212^post_61, a_234^0'=a_234^post_61, a_257^0'=a_257^post_61, ct_18^0'=ct_18^post_61, f_167^0'=f_167^post_61, head_15^0'=head_15^post_61, head_30^0'=head_30^post_61, i_105^0'=i_105^post_61, i_164^0'=i_164^post_61, i_28^0'=i_28^post_61, i_92^0'=i_92^post_61, len_129^0'=len_129^post_61, len_180^0'=len_180^post_61, length_27^0'=length_27^post_61, nondet_12^0'=nondet_12^post_61, r_121^0'=r_121^post_61, r_160^0'=r_160^post_61, r_37^0'=r_37^post_61, rcd_56^0'=rcd_56^post_61, rcd_86^0'=rcd_86^post_61, result_11^0'=result_11^post_61, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_61, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_61, t_24^0'=t_24^post_61, temp0_16^0'=temp0_16^post_61, temp0_29^0'=temp0_29^post_61, temp_33^0'=temp_33^post_61, tmp_32^0'=tmp_32^post_61, x_126^0'=x_126^post_61, x_14^0'=x_14^post_61, x_172^0'=x_172^post_61, x_17^0'=x_17^post_61, x_21^0'=x_21^post_61, x_SLAM_f_19^0'=x_SLAM_f_19^post_61, y_20^0'=y_20^post_61, [ result_dot_nondet_sdv_special_RETURN_VALUE_13^post_61==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_61 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_61==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_61 && rcd_56^post_61==rcd_56^post_61 && 1+i_28^0<=length_27^0 && tmp_32^post_61==temp_33^0 && temp_33^post_61==temp_33^post_61 && head_30^post_61==tmp_32^post_61 && i_28^post_61==1+i_28^0 && 2<=i_28^post_61 && i_28^post_61<=2 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_61<=length_27^0 && length_27^0<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_61 && head_30^post_61<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_61 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_61<=head_30^post_61 && head_30^post_61<=tmp_32^post_61 && tmp_32^post_61<=head_30^post_61 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_61<=tmp_32^post_61 && tmp_32^post_61<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_61 && 1<=length_27^0 && 2<=length_27^0 && a_113^0==a_113^post_61 && a_144^0==a_144^post_61 && a_181^0==a_181^post_61 && a_212^0==a_212^post_61 && a_234^0==a_234^post_61 && a_257^0==a_257^post_61 && ct_18^0==ct_18^post_61 && f_167^0==f_167^post_61 && head_15^0==head_15^post_61 && i_105^0==i_105^post_61 && i_164^0==i_164^post_61 && i_92^0==i_92^post_61 && len_129^0==len_129^post_61 && len_180^0==len_180^post_61 && length_27^0==length_27^post_61 && nondet_12^0==nondet_12^post_61 && r_121^0==r_121^post_61 && r_160^0==r_160^post_61 && r_37^0==r_37^post_61 && rcd_86^0==rcd_86^post_61 && result_11^0==result_11^post_61 && t_24^0==t_24^post_61 && temp0_16^0==temp0_16^post_61 && temp0_29^0==temp0_29^post_61 && x_126^0==x_126^post_61 && x_14^0==x_14^post_61 && x_17^0==x_17^post_61 && x_172^0==x_172^post_61 && x_21^0==x_21^post_61 && x_SLAM_f_19^0==x_SLAM_f_19^post_61 && y_20^0==y_20^post_61 ], cost: 1
     41: l28 -> l29 : a_113^0'=a_113^post_42, a_144^0'=a_144^post_42, a_181^0'=a_181^post_42, a_212^0'=a_212^post_42, a_234^0'=a_234^post_42, a_257^0'=a_257^post_42, ct_18^0'=ct_18^post_42, f_167^0'=f_167^post_42, head_15^0'=head_15^post_42, head_30^0'=head_30^post_42, i_105^0'=i_105^post_42, i_164^0'=i_164^post_42, i_28^0'=i_28^post_42, i_92^0'=i_92^post_42, len_129^0'=len_129^post_42, len_180^0'=len_180^post_42, length_27^0'=length_27^post_42, nondet_12^0'=nondet_12^post_42, r_121^0'=r_121^post_42, r_160^0'=r_160^post_42, r_37^0'=r_37^post_42, rcd_56^0'=rcd_56^post_42, rcd_86^0'=rcd_86^post_42, result_11^0'=result_11^post_42, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_42, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_42, t_24^0'=t_24^post_42, temp0_16^0'=temp0_16^post_42, temp0_29^0'=temp0_29^post_42, temp_33^0'=temp_33^post_42, tmp_32^0'=tmp_32^post_42, x_126^0'=x_126^post_42, x_14^0'=x_14^post_42, x_172^0'=x_172^post_42, x_17^0'=x_17^post_42, x_21^0'=x_21^post_42, x_SLAM_f_19^0'=x_SLAM_f_19^post_42, y_20^0'=y_20^post_42, [ 1<=x_14^0 && a_113^0==a_113^post_42 && a_144^0==a_144^post_42 && a_181^0==a_181^post_42 && a_212^0==a_212^post_42 && a_234^0==a_234^post_42 && a_257^0==a_257^post_42 && ct_18^0==ct_18^post_42 && f_167^0==f_167^post_42 && head_15^0==head_15^post_42 && head_30^0==head_30^post_42 && i_105^0==i_105^post_42 && i_164^0==i_164^post_42 && i_28^0==i_28^post_42 && i_92^0==i_92^post_42 && len_129^0==len_129^post_42 && len_180^0==len_180^post_42 && length_27^0==length_27^post_42 && nondet_12^0==nondet_12^post_42 && r_121^0==r_121^post_42 && r_160^0==r_160^post_42 && r_37^0==r_37^post_42 && rcd_56^0==rcd_56^post_42 && rcd_86^0==rcd_86^post_42 && result_11^0==result_11^post_42 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_42 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_42 && t_24^0==t_24^post_42 && temp0_16^0==temp0_16^post_42 && temp0_29^0==temp0_29^post_42 && temp_33^0==temp_33^post_42 && tmp_32^0==tmp_32^post_42 && x_126^0==x_126^post_42 && x_14^0==x_14^post_42 && x_17^0==x_17^post_42 && x_172^0==x_172^post_42 && x_21^0==x_21^post_42 && x_SLAM_f_19^0==x_SLAM_f_19^post_42 && y_20^0==y_20^post_42 ], cost: 1
     42: l28 -> l29 : a_113^0'=a_113^post_43, a_144^0'=a_144^post_43, a_181^0'=a_181^post_43, a_212^0'=a_212^post_43, a_234^0'=a_234^post_43, a_257^0'=a_257^post_43, ct_18^0'=ct_18^post_43, f_167^0'=f_167^post_43, head_15^0'=head_15^post_43, head_30^0'=head_30^post_43, i_105^0'=i_105^post_43, i_164^0'=i_164^post_43, i_28^0'=i_28^post_43, i_92^0'=i_92^post_43, len_129^0'=len_129^post_43, len_180^0'=len_180^post_43, length_27^0'=length_27^post_43, nondet_12^0'=nondet_12^post_43, r_121^0'=r_121^post_43, r_160^0'=r_160^post_43, r_37^0'=r_37^post_43, rcd_56^0'=rcd_56^post_43, rcd_86^0'=rcd_86^post_43, result_11^0'=result_11^post_43, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_43, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_43, t_24^0'=t_24^post_43, temp0_16^0'=temp0_16^post_43, temp0_29^0'=temp0_29^post_43, temp_33^0'=temp_33^post_43, tmp_32^0'=tmp_32^post_43, x_126^0'=x_126^post_43, x_14^0'=x_14^post_43, x_172^0'=x_172^post_43, x_17^0'=x_17^post_43, x_21^0'=x_21^post_43, x_SLAM_f_19^0'=x_SLAM_f_19^post_43, y_20^0'=y_20^post_43, [ 1+x_14^0<=0 && a_113^0==a_113^post_43 && a_144^0==a_144^post_43 && a_181^0==a_181^post_43 && a_212^0==a_212^post_43 && a_234^0==a_234^post_43 && a_257^0==a_257^post_43 && ct_18^0==ct_18^post_43 && f_167^0==f_167^post_43 && head_15^0==head_15^post_43 && head_30^0==head_30^post_43 && i_105^0==i_105^post_43 && i_164^0==i_164^post_43 && i_28^0==i_28^post_43 && i_92^0==i_92^post_43 && len_129^0==len_129^post_43 && len_180^0==len_180^post_43 && length_27^0==length_27^post_43 && nondet_12^0==nondet_12^post_43 && r_121^0==r_121^post_43 && r_160^0==r_160^post_43 && r_37^0==r_37^post_43 && rcd_56^0==rcd_56^post_43 && rcd_86^0==rcd_86^post_43 && result_11^0==result_11^post_43 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_43 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_43 && t_24^0==t_24^post_43 && temp0_16^0==temp0_16^post_43 && temp0_29^0==temp0_29^post_43 && temp_33^0==temp_33^post_43 && tmp_32^0==tmp_32^post_43 && x_126^0==x_126^post_43 && x_14^0==x_14^post_43 && x_17^0==x_17^post_43 && x_172^0==x_172^post_43 && x_21^0==x_21^post_43 && x_SLAM_f_19^0==x_SLAM_f_19^post_43 && y_20^0==y_20^post_43 ], cost: 1
     43: l29 -> l30 : a_113^0'=a_113^post_44, a_144^0'=a_144^post_44, a_181^0'=a_181^post_44, a_212^0'=a_212^post_44, a_234^0'=a_234^post_44, a_257^0'=a_257^post_44, ct_18^0'=ct_18^post_44, f_167^0'=f_167^post_44, head_15^0'=head_15^post_44, head_30^0'=head_30^post_44, i_105^0'=i_105^post_44, i_164^0'=i_164^post_44, i_28^0'=i_28^post_44, i_92^0'=i_92^post_44, len_129^0'=len_129^post_44, len_180^0'=len_180^post_44, length_27^0'=length_27^post_44, nondet_12^0'=nondet_12^post_44, r_121^0'=r_121^post_44, r_160^0'=r_160^post_44, r_37^0'=r_37^post_44, rcd_56^0'=rcd_56^post_44, rcd_86^0'=rcd_86^post_44, result_11^0'=result_11^post_44, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_44, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_44, t_24^0'=t_24^post_44, temp0_16^0'=temp0_16^post_44, temp0_29^0'=temp0_29^post_44, temp_33^0'=temp_33^post_44, tmp_32^0'=tmp_32^post_44, x_126^0'=x_126^post_44, x_14^0'=x_14^post_44, x_172^0'=x_172^post_44, x_17^0'=x_17^post_44, x_21^0'=x_21^post_44, x_SLAM_f_19^0'=x_SLAM_f_19^post_44, y_20^0'=y_20^post_44, [ 0<=x_14^0 && x_14^0<=0 && 1<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0<=1 && a_113^0==a_113^post_44 && a_144^0==a_144^post_44 && a_181^0==a_181^post_44 && a_212^0==a_212^post_44 && a_234^0==a_234^post_44 && a_257^0==a_257^post_44 && ct_18^0==ct_18^post_44 && f_167^0==f_167^post_44 && head_15^0==head_15^post_44 && head_30^0==head_30^post_44 && i_105^0==i_105^post_44 && i_164^0==i_164^post_44 && i_28^0==i_28^post_44 && i_92^0==i_92^post_44 && len_129^0==len_129^post_44 && len_180^0==len_180^post_44 && length_27^0==length_27^post_44 && nondet_12^0==nondet_12^post_44 && r_121^0==r_121^post_44 && r_160^0==r_160^post_44 && r_37^0==r_37^post_44 && rcd_56^0==rcd_56^post_44 && rcd_86^0==rcd_86^post_44 && result_11^0==result_11^post_44 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_44 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_44 && t_24^0==t_24^post_44 && temp0_16^0==temp0_16^post_44 && temp0_29^0==temp0_29^post_44 && temp_33^0==temp_33^post_44 && tmp_32^0==tmp_32^post_44 && x_126^0==x_126^post_44 && x_14^0==x_14^post_44 && x_17^0==x_17^post_44 && x_172^0==x_172^post_44 && x_21^0==x_21^post_44 && x_SLAM_f_19^0==x_SLAM_f_19^post_44 && y_20^0==y_20^post_44 ], cost: 1
     44: l30 -> l31 : a_113^0'=a_113^post_45, a_144^0'=a_144^post_45, a_181^0'=a_181^post_45, a_212^0'=a_212^post_45, a_234^0'=a_234^post_45, a_257^0'=a_257^post_45, ct_18^0'=ct_18^post_45, f_167^0'=f_167^post_45, head_15^0'=head_15^post_45, head_30^0'=head_30^post_45, i_105^0'=i_105^post_45, i_164^0'=i_164^post_45, i_28^0'=i_28^post_45, i_92^0'=i_92^post_45, len_129^0'=len_129^post_45, len_180^0'=len_180^post_45, length_27^0'=length_27^post_45, nondet_12^0'=nondet_12^post_45, r_121^0'=r_121^post_45, r_160^0'=r_160^post_45, r_37^0'=r_37^post_45, rcd_56^0'=rcd_56^post_45, rcd_86^0'=rcd_86^post_45, result_11^0'=result_11^post_45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_45, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_45, t_24^0'=t_24^post_45, temp0_16^0'=temp0_16^post_45, temp0_29^0'=temp0_29^post_45, temp_33^0'=temp_33^post_45, tmp_32^0'=tmp_32^post_45, x_126^0'=x_126^post_45, x_14^0'=x_14^post_45, x_172^0'=x_172^post_45, x_17^0'=x_17^post_45, x_21^0'=x_21^post_45, x_SLAM_f_19^0'=x_SLAM_f_19^post_45, y_20^0'=y_20^post_45, [ 1<=head_15^0 && a_113^0==a_113^post_45 && a_144^0==a_144^post_45 && a_181^0==a_181^post_45 && a_212^0==a_212^post_45 && a_234^0==a_234^post_45 && a_257^0==a_257^post_45 && ct_18^0==ct_18^post_45 && f_167^0==f_167^post_45 && head_15^0==head_15^post_45 && head_30^0==head_30^post_45 && i_105^0==i_105^post_45 && i_164^0==i_164^post_45 && i_28^0==i_28^post_45 && i_92^0==i_92^post_45 && len_129^0==len_129^post_45 && len_180^0==len_180^post_45 && length_27^0==length_27^post_45 && nondet_12^0==nondet_12^post_45 && r_121^0==r_121^post_45 && r_160^0==r_160^post_45 && r_37^0==r_37^post_45 && rcd_56^0==rcd_56^post_45 && rcd_86^0==rcd_86^post_45 && result_11^0==result_11^post_45 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_45 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_45 && t_24^0==t_24^post_45 && temp0_16^0==temp0_16^post_45 && temp0_29^0==temp0_29^post_45 && temp_33^0==temp_33^post_45 && tmp_32^0==tmp_32^post_45 && x_126^0==x_126^post_45 && x_14^0==x_14^post_45 && x_17^0==x_17^post_45 && x_172^0==x_172^post_45 && x_21^0==x_21^post_45 && x_SLAM_f_19^0==x_SLAM_f_19^post_45 && y_20^0==y_20^post_45 ], cost: 1
     45: l30 -> l31 : a_113^0'=a_113^post_46, a_144^0'=a_144^post_46, a_181^0'=a_181^post_46, a_212^0'=a_212^post_46, a_234^0'=a_234^post_46, a_257^0'=a_257^post_46, ct_18^0'=ct_18^post_46, f_167^0'=f_167^post_46, head_15^0'=head_15^post_46, head_30^0'=head_30^post_46, i_105^0'=i_105^post_46, i_164^0'=i_164^post_46, i_28^0'=i_28^post_46, i_92^0'=i_92^post_46, len_129^0'=len_129^post_46, len_180^0'=len_180^post_46, length_27^0'=length_27^post_46, nondet_12^0'=nondet_12^post_46, r_121^0'=r_121^post_46, r_160^0'=r_160^post_46, r_37^0'=r_37^post_46, rcd_56^0'=rcd_56^post_46, rcd_86^0'=rcd_86^post_46, result_11^0'=result_11^post_46, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_46, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_46, t_24^0'=t_24^post_46, temp0_16^0'=temp0_16^post_46, temp0_29^0'=temp0_29^post_46, temp_33^0'=temp_33^post_46, tmp_32^0'=tmp_32^post_46, x_126^0'=x_126^post_46, x_14^0'=x_14^post_46, x_172^0'=x_172^post_46, x_17^0'=x_17^post_46, x_21^0'=x_21^post_46, x_SLAM_f_19^0'=x_SLAM_f_19^post_46, y_20^0'=y_20^post_46, [ 1+head_15^0<=0 && a_113^0==a_113^post_46 && a_144^0==a_144^post_46 && a_181^0==a_181^post_46 && a_212^0==a_212^post_46 && a_234^0==a_234^post_46 && a_257^0==a_257^post_46 && ct_18^0==ct_18^post_46 && f_167^0==f_167^post_46 && head_15^0==head_15^post_46 && head_30^0==head_30^post_46 && i_105^0==i_105^post_46 && i_164^0==i_164^post_46 && i_28^0==i_28^post_46 && i_92^0==i_92^post_46 && len_129^0==len_129^post_46 && len_180^0==len_180^post_46 && length_27^0==length_27^post_46 && nondet_12^0==nondet_12^post_46 && r_121^0==r_121^post_46 && r_160^0==r_160^post_46 && r_37^0==r_37^post_46 && rcd_56^0==rcd_56^post_46 && rcd_86^0==rcd_86^post_46 && result_11^0==result_11^post_46 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_46 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_46 && t_24^0==t_24^post_46 && temp0_16^0==temp0_16^post_46 && temp0_29^0==temp0_29^post_46 && temp_33^0==temp_33^post_46 && tmp_32^0==tmp_32^post_46 && x_126^0==x_126^post_46 && x_14^0==x_14^post_46 && x_17^0==x_17^post_46 && x_172^0==x_172^post_46 && x_21^0==x_21^post_46 && x_SLAM_f_19^0==x_SLAM_f_19^post_46 && y_20^0==y_20^post_46 ], cost: 1
     46: l31 -> l32 : a_113^0'=a_113^post_47, a_144^0'=a_144^post_47, a_181^0'=a_181^post_47, a_212^0'=a_212^post_47, a_234^0'=a_234^post_47, a_257^0'=a_257^post_47, ct_18^0'=ct_18^post_47, f_167^0'=f_167^post_47, head_15^0'=head_15^post_47, head_30^0'=head_30^post_47, i_105^0'=i_105^post_47, i_164^0'=i_164^post_47, i_28^0'=i_28^post_47, i_92^0'=i_92^post_47, len_129^0'=len_129^post_47, len_180^0'=len_180^post_47, length_27^0'=length_27^post_47, nondet_12^0'=nondet_12^post_47, r_121^0'=r_121^post_47, r_160^0'=r_160^post_47, r_37^0'=r_37^post_47, rcd_56^0'=rcd_56^post_47, rcd_86^0'=rcd_86^post_47, result_11^0'=result_11^post_47, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_47, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_47, t_24^0'=t_24^post_47, temp0_16^0'=temp0_16^post_47, temp0_29^0'=temp0_29^post_47, temp_33^0'=temp_33^post_47, tmp_32^0'=tmp_32^post_47, x_126^0'=x_126^post_47, x_14^0'=x_14^post_47, x_172^0'=x_172^post_47, x_17^0'=x_17^post_47, x_21^0'=x_21^post_47, x_SLAM_f_19^0'=x_SLAM_f_19^post_47, y_20^0'=y_20^post_47, [ 1<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0<=1 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_47==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_47 && 0<=x_14^0 && x_14^0<=0 && x_17^post_47==head_15^0 && ct_18^post_47==0 && x_SLAM_f_19^post_47==x_17^post_47 && y_20^post_47==ct_18^post_47 && x_21^post_47==x_SLAM_f_19^post_47 && 0<=x_14^0 && x_14^0<=0 && 0<=ct_18^post_47 && ct_18^post_47<=0 && 0<=y_20^post_47 && y_20^post_47<=0 && 1<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_47 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_47<=1 && head_15^0<=x_17^post_47 && x_17^post_47<=head_15^0 && head_15^0<=x_SLAM_f_19^post_47 && x_SLAM_f_19^post_47<=head_15^0 && head_15^0<=x_21^post_47 && x_21^post_47<=head_15^0 && x_17^post_47<=x_SLAM_f_19^post_47 && x_SLAM_f_19^post_47<=x_17^post_47 && ct_18^post_47<=y_20^post_47 && y_20^post_47<=ct_18^post_47 && x_SLAM_f_19^post_47<=x_21^post_47 && x_21^post_47<=x_SLAM_f_19^post_47 && a_113^0==a_113^post_47 && a_144^0==a_144^post_47 && a_181^0==a_181^post_47 && a_212^0==a_212^post_47 && a_234^0==a_234^post_47 && a_257^0==a_257^post_47 && f_167^0==f_167^post_47 && head_15^0==head_15^post_47 && head_30^0==head_30^post_47 && i_105^0==i_105^post_47 && i_164^0==i_164^post_47 && i_28^0==i_28^post_47 && i_92^0==i_92^post_47 && len_129^0==len_129^post_47 && len_180^0==len_180^post_47 && length_27^0==length_27^post_47 && nondet_12^0==nondet_12^post_47 && r_121^0==r_121^post_47 && r_160^0==r_160^post_47 && r_37^0==r_37^post_47 && rcd_56^0==rcd_56^post_47 && rcd_86^0==rcd_86^post_47 && result_11^0==result_11^post_47 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_47 && t_24^0==t_24^post_47 && temp0_16^0==temp0_16^post_47 && temp0_29^0==temp0_29^post_47 && temp_33^0==temp_33^post_47 && tmp_32^0==tmp_32^post_47 && x_126^0==x_126^post_47 && x_14^0==x_14^post_47 && x_172^0==x_172^post_47 ], cost: 1
     47: l32 -> l33 : a_113^0'=a_113^post_48, a_144^0'=a_144^post_48, a_181^0'=a_181^post_48, a_212^0'=a_212^post_48, a_234^0'=a_234^post_48, a_257^0'=a_257^post_48, ct_18^0'=ct_18^post_48, f_167^0'=f_167^post_48, head_15^0'=head_15^post_48, head_30^0'=head_30^post_48, i_105^0'=i_105^post_48, i_164^0'=i_164^post_48, i_28^0'=i_28^post_48, i_92^0'=i_92^post_48, len_129^0'=len_129^post_48, len_180^0'=len_180^post_48, length_27^0'=length_27^post_48, nondet_12^0'=nondet_12^post_48, r_121^0'=r_121^post_48, r_160^0'=r_160^post_48, r_37^0'=r_37^post_48, rcd_56^0'=rcd_56^post_48, rcd_86^0'=rcd_86^post_48, result_11^0'=result_11^post_48, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_48, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_48, t_24^0'=t_24^post_48, temp0_16^0'=temp0_16^post_48, temp0_29^0'=temp0_29^post_48, temp_33^0'=temp_33^post_48, tmp_32^0'=tmp_32^post_48, x_126^0'=x_126^post_48, x_14^0'=x_14^post_48, x_172^0'=x_172^post_48, x_17^0'=x_17^post_48, x_21^0'=x_21^post_48, x_SLAM_f_19^0'=x_SLAM_f_19^post_48, y_20^0'=y_20^post_48, [ 1<=head_15^0 && a_113^0==a_113^post_48 && a_144^0==a_144^post_48 && a_181^0==a_181^post_48 && a_212^0==a_212^post_48 && a_234^0==a_234^post_48 && a_257^0==a_257^post_48 && ct_18^0==ct_18^post_48 && f_167^0==f_167^post_48 && head_15^0==head_15^post_48 && head_30^0==head_30^post_48 && i_105^0==i_105^post_48 && i_164^0==i_164^post_48 && i_28^0==i_28^post_48 && i_92^0==i_92^post_48 && len_129^0==len_129^post_48 && len_180^0==len_180^post_48 && length_27^0==length_27^post_48 && nondet_12^0==nondet_12^post_48 && r_121^0==r_121^post_48 && r_160^0==r_160^post_48 && r_37^0==r_37^post_48 && rcd_56^0==rcd_56^post_48 && rcd_86^0==rcd_86^post_48 && result_11^0==result_11^post_48 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_48 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_48 && t_24^0==t_24^post_48 && temp0_16^0==temp0_16^post_48 && temp0_29^0==temp0_29^post_48 && temp_33^0==temp_33^post_48 && tmp_32^0==tmp_32^post_48 && x_126^0==x_126^post_48 && x_14^0==x_14^post_48 && x_17^0==x_17^post_48 && x_172^0==x_172^post_48 && x_21^0==x_21^post_48 && x_SLAM_f_19^0==x_SLAM_f_19^post_48 && y_20^0==y_20^post_48 ], cost: 1
     48: l32 -> l33 : a_113^0'=a_113^post_49, a_144^0'=a_144^post_49, a_181^0'=a_181^post_49, a_212^0'=a_212^post_49, a_234^0'=a_234^post_49, a_257^0'=a_257^post_49, ct_18^0'=ct_18^post_49, f_167^0'=f_167^post_49, head_15^0'=head_15^post_49, head_30^0'=head_30^post_49, i_105^0'=i_105^post_49, i_164^0'=i_164^post_49, i_28^0'=i_28^post_49, i_92^0'=i_92^post_49, len_129^0'=len_129^post_49, len_180^0'=len_180^post_49, length_27^0'=length_27^post_49, nondet_12^0'=nondet_12^post_49, r_121^0'=r_121^post_49, r_160^0'=r_160^post_49, r_37^0'=r_37^post_49, rcd_56^0'=rcd_56^post_49, rcd_86^0'=rcd_86^post_49, result_11^0'=result_11^post_49, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_49, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_49, t_24^0'=t_24^post_49, temp0_16^0'=temp0_16^post_49, temp0_29^0'=temp0_29^post_49, temp_33^0'=temp_33^post_49, tmp_32^0'=tmp_32^post_49, x_126^0'=x_126^post_49, x_14^0'=x_14^post_49, x_172^0'=x_172^post_49, x_17^0'=x_17^post_49, x_21^0'=x_21^post_49, x_SLAM_f_19^0'=x_SLAM_f_19^post_49, y_20^0'=y_20^post_49, [ 1+head_15^0<=0 && a_113^0==a_113^post_49 && a_144^0==a_144^post_49 && a_181^0==a_181^post_49 && a_212^0==a_212^post_49 && a_234^0==a_234^post_49 && a_257^0==a_257^post_49 && ct_18^0==ct_18^post_49 && f_167^0==f_167^post_49 && head_15^0==head_15^post_49 && head_30^0==head_30^post_49 && i_105^0==i_105^post_49 && i_164^0==i_164^post_49 && i_28^0==i_28^post_49 && i_92^0==i_92^post_49 && len_129^0==len_129^post_49 && len_180^0==len_180^post_49 && length_27^0==length_27^post_49 && nondet_12^0==nondet_12^post_49 && r_121^0==r_121^post_49 && r_160^0==r_160^post_49 && r_37^0==r_37^post_49 && rcd_56^0==rcd_56^post_49 && rcd_86^0==rcd_86^post_49 && result_11^0==result_11^post_49 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_49 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_49 && t_24^0==t_24^post_49 && temp0_16^0==temp0_16^post_49 && temp0_29^0==temp0_29^post_49 && temp_33^0==temp_33^post_49 && tmp_32^0==tmp_32^post_49 && x_126^0==x_126^post_49 && x_14^0==x_14^post_49 && x_17^0==x_17^post_49 && x_172^0==x_172^post_49 && x_21^0==x_21^post_49 && x_SLAM_f_19^0==x_SLAM_f_19^post_49 && y_20^0==y_20^post_49 ], cost: 1
     49: l33 -> l34 : a_113^0'=a_113^post_50, a_144^0'=a_144^post_50, a_181^0'=a_181^post_50, a_212^0'=a_212^post_50, a_234^0'=a_234^post_50, a_257^0'=a_257^post_50, ct_18^0'=ct_18^post_50, f_167^0'=f_167^post_50, head_15^0'=head_15^post_50, head_30^0'=head_30^post_50, i_105^0'=i_105^post_50, i_164^0'=i_164^post_50, i_28^0'=i_28^post_50, i_92^0'=i_92^post_50, len_129^0'=len_129^post_50, len_180^0'=len_180^post_50, length_27^0'=length_27^post_50, nondet_12^0'=nondet_12^post_50, r_121^0'=r_121^post_50, r_160^0'=r_160^post_50, r_37^0'=r_37^post_50, rcd_56^0'=rcd_56^post_50, rcd_86^0'=rcd_86^post_50, result_11^0'=result_11^post_50, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_50, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50, t_24^0'=t_24^post_50, temp0_16^0'=temp0_16^post_50, temp0_29^0'=temp0_29^post_50, temp_33^0'=temp_33^post_50, tmp_32^0'=tmp_32^post_50, x_126^0'=x_126^post_50, x_14^0'=x_14^post_50, x_172^0'=x_172^post_50, x_17^0'=x_17^post_50, x_21^0'=x_21^post_50, x_SLAM_f_19^0'=x_SLAM_f_19^post_50, y_20^0'=y_20^post_50, [ 1<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0<=1 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50 && x_14^post_50==x_14^post_50 && head_15^post_50==head_15^post_50 && x_17^post_50==x_17^post_50 && ct_18^post_50==ct_18^post_50 && x_SLAM_f_19^post_50==x_SLAM_f_19^post_50 && a_113^0==a_113^post_50 && a_144^0==a_144^post_50 && a_181^0==a_181^post_50 && a_212^0==a_212^post_50 && a_234^0==a_234^post_50 && a_257^0==a_257^post_50 && f_167^0==f_167^post_50 && head_30^0==head_30^post_50 && i_105^0==i_105^post_50 && i_164^0==i_164^post_50 && i_28^0==i_28^post_50 && i_92^0==i_92^post_50 && len_129^0==len_129^post_50 && len_180^0==len_180^post_50 && length_27^0==length_27^post_50 && nondet_12^0==nondet_12^post_50 && r_121^0==r_121^post_50 && r_160^0==r_160^post_50 && r_37^0==r_37^post_50 && rcd_56^0==rcd_56^post_50 && rcd_86^0==rcd_86^post_50 && result_11^0==result_11^post_50 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_50 && t_24^0==t_24^post_50 && temp0_16^0==temp0_16^post_50 && temp0_29^0==temp0_29^post_50 && temp_33^0==temp_33^post_50 && tmp_32^0==tmp_32^post_50 && x_126^0==x_126^post_50 && x_172^0==x_172^post_50 && x_21^0==x_21^post_50 && y_20^0==y_20^post_50 ], cost: 1
     50: l34 -> l35 : a_113^0'=a_113^post_51, a_144^0'=a_144^post_51, a_181^0'=a_181^post_51, a_212^0'=a_212^post_51, a_234^0'=a_234^post_51, a_257^0'=a_257^post_51, ct_18^0'=ct_18^post_51, f_167^0'=f_167^post_51, head_15^0'=head_15^post_51, head_30^0'=head_30^post_51, i_105^0'=i_105^post_51, i_164^0'=i_164^post_51, i_28^0'=i_28^post_51, i_92^0'=i_92^post_51, len_129^0'=len_129^post_51, len_180^0'=len_180^post_51, length_27^0'=length_27^post_51, nondet_12^0'=nondet_12^post_51, r_121^0'=r_121^post_51, r_160^0'=r_160^post_51, r_37^0'=r_37^post_51, rcd_56^0'=rcd_56^post_51, rcd_86^0'=rcd_86^post_51, result_11^0'=result_11^post_51, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_51, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_51, t_24^0'=t_24^post_51, temp0_16^0'=temp0_16^post_51, temp0_29^0'=temp0_29^post_51, temp_33^0'=temp_33^post_51, tmp_32^0'=tmp_32^post_51, x_126^0'=x_126^post_51, x_14^0'=x_14^post_51, x_172^0'=x_172^post_51, x_17^0'=x_17^post_51, x_21^0'=x_21^post_51, x_SLAM_f_19^0'=x_SLAM_f_19^post_51, y_20^0'=y_20^post_51, [ 1+y_20^0<=x_21^0 && a_113^0==a_113^post_51 && a_144^0==a_144^post_51 && a_181^0==a_181^post_51 && a_212^0==a_212^post_51 && a_234^0==a_234^post_51 && a_257^0==a_257^post_51 && ct_18^0==ct_18^post_51 && f_167^0==f_167^post_51 && head_15^0==head_15^post_51 && head_30^0==head_30^post_51 && i_105^0==i_105^post_51 && i_164^0==i_164^post_51 && i_28^0==i_28^post_51 && i_92^0==i_92^post_51 && len_129^0==len_129^post_51 && len_180^0==len_180^post_51 && length_27^0==length_27^post_51 && nondet_12^0==nondet_12^post_51 && r_121^0==r_121^post_51 && r_160^0==r_160^post_51 && r_37^0==r_37^post_51 && rcd_56^0==rcd_56^post_51 && rcd_86^0==rcd_86^post_51 && result_11^0==result_11^post_51 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_51 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_51 && t_24^0==t_24^post_51 && temp0_16^0==temp0_16^post_51 && temp0_29^0==temp0_29^post_51 && temp_33^0==temp_33^post_51 && tmp_32^0==tmp_32^post_51 && x_126^0==x_126^post_51 && x_14^0==x_14^post_51 && x_17^0==x_17^post_51 && x_172^0==x_172^post_51 && x_21^0==x_21^post_51 && x_SLAM_f_19^0==x_SLAM_f_19^post_51 && y_20^0==y_20^post_51 ], cost: 1
     51: l34 -> l35 : a_113^0'=a_113^post_52, a_144^0'=a_144^post_52, a_181^0'=a_181^post_52, a_212^0'=a_212^post_52, a_234^0'=a_234^post_52, a_257^0'=a_257^post_52, ct_18^0'=ct_18^post_52, f_167^0'=f_167^post_52, head_15^0'=head_15^post_52, head_30^0'=head_30^post_52, i_105^0'=i_105^post_52, i_164^0'=i_164^post_52, i_28^0'=i_28^post_52, i_92^0'=i_92^post_52, len_129^0'=len_129^post_52, len_180^0'=len_180^post_52, length_27^0'=length_27^post_52, nondet_12^0'=nondet_12^post_52, r_121^0'=r_121^post_52, r_160^0'=r_160^post_52, r_37^0'=r_37^post_52, rcd_56^0'=rcd_56^post_52, rcd_86^0'=rcd_86^post_52, result_11^0'=result_11^post_52, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_52, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_52, t_24^0'=t_24^post_52, temp0_16^0'=temp0_16^post_52, temp0_29^0'=temp0_29^post_52, temp_33^0'=temp_33^post_52, tmp_32^0'=tmp_32^post_52, x_126^0'=x_126^post_52, x_14^0'=x_14^post_52, x_172^0'=x_172^post_52, x_17^0'=x_17^post_52, x_21^0'=x_21^post_52, x_SLAM_f_19^0'=x_SLAM_f_19^post_52, y_20^0'=y_20^post_52, [ 1+x_21^0<=y_20^0 && a_113^0==a_113^post_52 && a_144^0==a_144^post_52 && a_181^0==a_181^post_52 && a_212^0==a_212^post_52 && a_234^0==a_234^post_52 && a_257^0==a_257^post_52 && ct_18^0==ct_18^post_52 && f_167^0==f_167^post_52 && head_15^0==head_15^post_52 && head_30^0==head_30^post_52 && i_105^0==i_105^post_52 && i_164^0==i_164^post_52 && i_28^0==i_28^post_52 && i_92^0==i_92^post_52 && len_129^0==len_129^post_52 && len_180^0==len_180^post_52 && length_27^0==length_27^post_52 && nondet_12^0==nondet_12^post_52 && r_121^0==r_121^post_52 && r_160^0==r_160^post_52 && r_37^0==r_37^post_52 && rcd_56^0==rcd_56^post_52 && rcd_86^0==rcd_86^post_52 && result_11^0==result_11^post_52 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_52 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_52 && t_24^0==t_24^post_52 && temp0_16^0==temp0_16^post_52 && temp0_29^0==temp0_29^post_52 && temp_33^0==temp_33^post_52 && tmp_32^0==tmp_32^post_52 && x_126^0==x_126^post_52 && x_14^0==x_14^post_52 && x_17^0==x_17^post_52 && x_172^0==x_172^post_52 && x_21^0==x_21^post_52 && x_SLAM_f_19^0==x_SLAM_f_19^post_52 && y_20^0==y_20^post_52 ], cost: 1
     52: l35 -> l36 : a_113^0'=a_113^post_53, a_144^0'=a_144^post_53, a_181^0'=a_181^post_53, a_212^0'=a_212^post_53, a_234^0'=a_234^post_53, a_257^0'=a_257^post_53, ct_18^0'=ct_18^post_53, f_167^0'=f_167^post_53, head_15^0'=head_15^post_53, head_30^0'=head_30^post_53, i_105^0'=i_105^post_53, i_164^0'=i_164^post_53, i_28^0'=i_28^post_53, i_92^0'=i_92^post_53, len_129^0'=len_129^post_53, len_180^0'=len_180^post_53, length_27^0'=length_27^post_53, nondet_12^0'=nondet_12^post_53, r_121^0'=r_121^post_53, r_160^0'=r_160^post_53, r_37^0'=r_37^post_53, rcd_56^0'=rcd_56^post_53, rcd_86^0'=rcd_86^post_53, result_11^0'=result_11^post_53, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_53, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_53, t_24^0'=t_24^post_53, temp0_16^0'=temp0_16^post_53, temp0_29^0'=temp0_29^post_53, temp_33^0'=temp_33^post_53, tmp_32^0'=tmp_32^post_53, x_126^0'=x_126^post_53, x_14^0'=x_14^post_53, x_172^0'=x_172^post_53, x_17^0'=x_17^post_53, x_21^0'=x_21^post_53, x_SLAM_f_19^0'=x_SLAM_f_19^post_53, y_20^0'=y_20^post_53, [ t_24^post_53==x_21^0 && 0<=x_14^0 && x_14^0<=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<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0<=1 && head_15^0<=x_17^0 && x_17^0<=head_15^0 && head_15^0<=x_SLAM_f_19^0 && x_SLAM_f_19^0<=head_15^0 && head_15^0<=t_24^post_53 && t_24^post_53<=head_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_113^0==a_113^post_53 && a_144^0==a_144^post_53 && a_181^0==a_181^post_53 && a_212^0==a_212^post_53 && a_234^0==a_234^post_53 && a_257^0==a_257^post_53 && ct_18^0==ct_18^post_53 && f_167^0==f_167^post_53 && head_15^0==head_15^post_53 && head_30^0==head_30^post_53 && i_105^0==i_105^post_53 && i_164^0==i_164^post_53 && i_28^0==i_28^post_53 && i_92^0==i_92^post_53 && len_129^0==len_129^post_53 && len_180^0==len_180^post_53 && length_27^0==length_27^post_53 && nondet_12^0==nondet_12^post_53 && r_121^0==r_121^post_53 && r_160^0==r_160^post_53 && r_37^0==r_37^post_53 && rcd_56^0==rcd_56^post_53 && rcd_86^0==rcd_86^post_53 && result_11^0==result_11^post_53 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_53 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_53 && temp0_16^0==temp0_16^post_53 && temp0_29^0==temp0_29^post_53 && temp_33^0==temp_33^post_53 && tmp_32^0==tmp_32^post_53 && x_126^0==x_126^post_53 && x_14^0==x_14^post_53 && x_17^0==x_17^post_53 && x_172^0==x_172^post_53 && x_21^0==x_21^post_53 && x_SLAM_f_19^0==x_SLAM_f_19^post_53 && y_20^0==y_20^post_53 ], cost: 1
     53: l36 -> l37 : a_113^0'=a_113^post_54, a_144^0'=a_144^post_54, a_181^0'=a_181^post_54, a_212^0'=a_212^post_54, a_234^0'=a_234^post_54, a_257^0'=a_257^post_54, ct_18^0'=ct_18^post_54, f_167^0'=f_167^post_54, head_15^0'=head_15^post_54, head_30^0'=head_30^post_54, i_105^0'=i_105^post_54, i_164^0'=i_164^post_54, i_28^0'=i_28^post_54, i_92^0'=i_92^post_54, len_129^0'=len_129^post_54, len_180^0'=len_180^post_54, length_27^0'=length_27^post_54, nondet_12^0'=nondet_12^post_54, r_121^0'=r_121^post_54, r_160^0'=r_160^post_54, r_37^0'=r_37^post_54, rcd_56^0'=rcd_56^post_54, rcd_86^0'=rcd_86^post_54, result_11^0'=result_11^post_54, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_54, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_54, t_24^0'=t_24^post_54, temp0_16^0'=temp0_16^post_54, temp0_29^0'=temp0_29^post_54, temp_33^0'=temp_33^post_54, tmp_32^0'=tmp_32^post_54, x_126^0'=x_126^post_54, x_14^0'=x_14^post_54, x_172^0'=x_172^post_54, x_17^0'=x_17^post_54, x_21^0'=x_21^post_54, x_SLAM_f_19^0'=x_SLAM_f_19^post_54, y_20^0'=y_20^post_54, [ 1<=head_15^0 && a_113^0==a_113^post_54 && a_144^0==a_144^post_54 && a_181^0==a_181^post_54 && a_212^0==a_212^post_54 && a_234^0==a_234^post_54 && a_257^0==a_257^post_54 && ct_18^0==ct_18^post_54 && f_167^0==f_167^post_54 && head_15^0==head_15^post_54 && head_30^0==head_30^post_54 && i_105^0==i_105^post_54 && i_164^0==i_164^post_54 && i_28^0==i_28^post_54 && i_92^0==i_92^post_54 && len_129^0==len_129^post_54 && len_180^0==len_180^post_54 && length_27^0==length_27^post_54 && nondet_12^0==nondet_12^post_54 && r_121^0==r_121^post_54 && r_160^0==r_160^post_54 && r_37^0==r_37^post_54 && rcd_56^0==rcd_56^post_54 && rcd_86^0==rcd_86^post_54 && result_11^0==result_11^post_54 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_54 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_54 && t_24^0==t_24^post_54 && temp0_16^0==temp0_16^post_54 && temp0_29^0==temp0_29^post_54 && temp_33^0==temp_33^post_54 && tmp_32^0==tmp_32^post_54 && x_126^0==x_126^post_54 && x_14^0==x_14^post_54 && x_17^0==x_17^post_54 && x_172^0==x_172^post_54 && x_21^0==x_21^post_54 && x_SLAM_f_19^0==x_SLAM_f_19^post_54 && y_20^0==y_20^post_54 ], cost: 1
     54: l36 -> l37 : a_113^0'=a_113^post_55, a_144^0'=a_144^post_55, a_181^0'=a_181^post_55, a_212^0'=a_212^post_55, a_234^0'=a_234^post_55, a_257^0'=a_257^post_55, ct_18^0'=ct_18^post_55, f_167^0'=f_167^post_55, head_15^0'=head_15^post_55, head_30^0'=head_30^post_55, i_105^0'=i_105^post_55, i_164^0'=i_164^post_55, i_28^0'=i_28^post_55, i_92^0'=i_92^post_55, len_129^0'=len_129^post_55, len_180^0'=len_180^post_55, length_27^0'=length_27^post_55, nondet_12^0'=nondet_12^post_55, r_121^0'=r_121^post_55, r_160^0'=r_160^post_55, r_37^0'=r_37^post_55, rcd_56^0'=rcd_56^post_55, rcd_86^0'=rcd_86^post_55, result_11^0'=result_11^post_55, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_55, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_55, t_24^0'=t_24^post_55, temp0_16^0'=temp0_16^post_55, temp0_29^0'=temp0_29^post_55, temp_33^0'=temp_33^post_55, tmp_32^0'=tmp_32^post_55, x_126^0'=x_126^post_55, x_14^0'=x_14^post_55, x_172^0'=x_172^post_55, x_17^0'=x_17^post_55, x_21^0'=x_21^post_55, x_SLAM_f_19^0'=x_SLAM_f_19^post_55, y_20^0'=y_20^post_55, [ 1+head_15^0<=0 && a_113^0==a_113^post_55 && a_144^0==a_144^post_55 && a_181^0==a_181^post_55 && a_212^0==a_212^post_55 && a_234^0==a_234^post_55 && a_257^0==a_257^post_55 && ct_18^0==ct_18^post_55 && f_167^0==f_167^post_55 && head_15^0==head_15^post_55 && head_30^0==head_30^post_55 && i_105^0==i_105^post_55 && i_164^0==i_164^post_55 && i_28^0==i_28^post_55 && i_92^0==i_92^post_55 && len_129^0==len_129^post_55 && len_180^0==len_180^post_55 && length_27^0==length_27^post_55 && nondet_12^0==nondet_12^post_55 && r_121^0==r_121^post_55 && r_160^0==r_160^post_55 && r_37^0==r_37^post_55 && rcd_56^0==rcd_56^post_55 && rcd_86^0==rcd_86^post_55 && result_11^0==result_11^post_55 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_55 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_55 && t_24^0==t_24^post_55 && temp0_16^0==temp0_16^post_55 && temp0_29^0==temp0_29^post_55 && temp_33^0==temp_33^post_55 && tmp_32^0==tmp_32^post_55 && x_126^0==x_126^post_55 && x_14^0==x_14^post_55 && x_17^0==x_17^post_55 && x_172^0==x_172^post_55 && x_21^0==x_21^post_55 && x_SLAM_f_19^0==x_SLAM_f_19^post_55 && y_20^0==y_20^post_55 ], cost: 1
     55: l37 -> l38 : a_113^0'=a_113^post_56, a_144^0'=a_144^post_56, a_181^0'=a_181^post_56, a_212^0'=a_212^post_56, a_234^0'=a_234^post_56, a_257^0'=a_257^post_56, ct_18^0'=ct_18^post_56, f_167^0'=f_167^post_56, head_15^0'=head_15^post_56, head_30^0'=head_30^post_56, i_105^0'=i_105^post_56, i_164^0'=i_164^post_56, i_28^0'=i_28^post_56, i_92^0'=i_92^post_56, len_129^0'=len_129^post_56, len_180^0'=len_180^post_56, length_27^0'=length_27^post_56, nondet_12^0'=nondet_12^post_56, r_121^0'=r_121^post_56, r_160^0'=r_160^post_56, r_37^0'=r_37^post_56, rcd_56^0'=rcd_56^post_56, rcd_86^0'=rcd_86^post_56, result_11^0'=result_11^post_56, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_56, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_56, t_24^0'=t_24^post_56, temp0_16^0'=temp0_16^post_56, temp0_29^0'=temp0_29^post_56, temp_33^0'=temp_33^post_56, tmp_32^0'=tmp_32^post_56, x_126^0'=x_126^post_56, x_14^0'=x_14^post_56, x_172^0'=x_172^post_56, x_17^0'=x_17^post_56, x_21^0'=x_21^post_56, x_SLAM_f_19^0'=x_SLAM_f_19^post_56, y_20^0'=y_20^post_56, [ 1+head_15^0<=y_20^0 && a_113^0==a_113^post_56 && a_144^0==a_144^post_56 && a_181^0==a_181^post_56 && a_212^0==a_212^post_56 && a_234^0==a_234^post_56 && a_257^0==a_257^post_56 && ct_18^0==ct_18^post_56 && f_167^0==f_167^post_56 && head_15^0==head_15^post_56 && head_30^0==head_30^post_56 && i_105^0==i_105^post_56 && i_164^0==i_164^post_56 && i_28^0==i_28^post_56 && i_92^0==i_92^post_56 && len_129^0==len_129^post_56 && len_180^0==len_180^post_56 && length_27^0==length_27^post_56 && nondet_12^0==nondet_12^post_56 && r_121^0==r_121^post_56 && r_160^0==r_160^post_56 && r_37^0==r_37^post_56 && rcd_56^0==rcd_56^post_56 && rcd_86^0==rcd_86^post_56 && result_11^0==result_11^post_56 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_56 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_56 && t_24^0==t_24^post_56 && temp0_16^0==temp0_16^post_56 && temp0_29^0==temp0_29^post_56 && temp_33^0==temp_33^post_56 && tmp_32^0==tmp_32^post_56 && x_126^0==x_126^post_56 && x_14^0==x_14^post_56 && x_17^0==x_17^post_56 && x_172^0==x_172^post_56 && x_21^0==x_21^post_56 && x_SLAM_f_19^0==x_SLAM_f_19^post_56 && y_20^0==y_20^post_56 ], cost: 1
     56: l37 -> l38 : a_113^0'=a_113^post_57, a_144^0'=a_144^post_57, a_181^0'=a_181^post_57, a_212^0'=a_212^post_57, a_234^0'=a_234^post_57, a_257^0'=a_257^post_57, ct_18^0'=ct_18^post_57, f_167^0'=f_167^post_57, head_15^0'=head_15^post_57, head_30^0'=head_30^post_57, i_105^0'=i_105^post_57, i_164^0'=i_164^post_57, i_28^0'=i_28^post_57, i_92^0'=i_92^post_57, len_129^0'=len_129^post_57, len_180^0'=len_180^post_57, length_27^0'=length_27^post_57, nondet_12^0'=nondet_12^post_57, r_121^0'=r_121^post_57, r_160^0'=r_160^post_57, r_37^0'=r_37^post_57, rcd_56^0'=rcd_56^post_57, rcd_86^0'=rcd_86^post_57, result_11^0'=result_11^post_57, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_57, t_24^0'=t_24^post_57, temp0_16^0'=temp0_16^post_57, temp0_29^0'=temp0_29^post_57, temp_33^0'=temp_33^post_57, tmp_32^0'=tmp_32^post_57, x_126^0'=x_126^post_57, x_14^0'=x_14^post_57, x_172^0'=x_172^post_57, x_17^0'=x_17^post_57, x_21^0'=x_21^post_57, x_SLAM_f_19^0'=x_SLAM_f_19^post_57, y_20^0'=y_20^post_57, [ 1+y_20^0<=head_15^0 && a_113^0==a_113^post_57 && a_144^0==a_144^post_57 && a_181^0==a_181^post_57 && a_212^0==a_212^post_57 && a_234^0==a_234^post_57 && a_257^0==a_257^post_57 && ct_18^0==ct_18^post_57 && f_167^0==f_167^post_57 && head_15^0==head_15^post_57 && head_30^0==head_30^post_57 && i_105^0==i_105^post_57 && i_164^0==i_164^post_57 && i_28^0==i_28^post_57 && i_92^0==i_92^post_57 && len_129^0==len_129^post_57 && len_180^0==len_180^post_57 && length_27^0==length_27^post_57 && nondet_12^0==nondet_12^post_57 && r_121^0==r_121^post_57 && r_160^0==r_160^post_57 && r_37^0==r_37^post_57 && rcd_56^0==rcd_56^post_57 && rcd_86^0==rcd_86^post_57 && result_11^0==result_11^post_57 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_57 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_57 && t_24^0==t_24^post_57 && temp0_16^0==temp0_16^post_57 && temp0_29^0==temp0_29^post_57 && temp_33^0==temp_33^post_57 && tmp_32^0==tmp_32^post_57 && x_126^0==x_126^post_57 && x_14^0==x_14^post_57 && x_17^0==x_17^post_57 && x_172^0==x_172^post_57 && x_21^0==x_21^post_57 && x_SLAM_f_19^0==x_SLAM_f_19^post_57 && y_20^0==y_20^post_57 ], cost: 1
     57: l38 -> l39 : a_113^0'=a_113^post_58, a_144^0'=a_144^post_58, a_181^0'=a_181^post_58, a_212^0'=a_212^post_58, a_234^0'=a_234^post_58, a_257^0'=a_257^post_58, ct_18^0'=ct_18^post_58, f_167^0'=f_167^post_58, head_15^0'=head_15^post_58, head_30^0'=head_30^post_58, i_105^0'=i_105^post_58, i_164^0'=i_164^post_58, i_28^0'=i_28^post_58, i_92^0'=i_92^post_58, len_129^0'=len_129^post_58, len_180^0'=len_180^post_58, length_27^0'=length_27^post_58, nondet_12^0'=nondet_12^post_58, r_121^0'=r_121^post_58, r_160^0'=r_160^post_58, r_37^0'=r_37^post_58, rcd_56^0'=rcd_56^post_58, rcd_86^0'=rcd_86^post_58, result_11^0'=result_11^post_58, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_58, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_58, t_24^0'=t_24^post_58, temp0_16^0'=temp0_16^post_58, temp0_29^0'=temp0_29^post_58, temp_33^0'=temp_33^post_58, tmp_32^0'=tmp_32^post_58, x_126^0'=x_126^post_58, x_14^0'=x_14^post_58, x_172^0'=x_172^post_58, x_17^0'=x_17^post_58, x_21^0'=x_21^post_58, x_SLAM_f_19^0'=x_SLAM_f_19^post_58, y_20^0'=y_20^post_58, [ 1<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0<=1 && head_15^post_58==head_15^post_58 && 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_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_3==ct_18^1_3 && x_17^post_58==x_17^post_58 && ct_18^post_58==ct_18^post_58 && x_SLAM_f_19^post_58==x_SLAM_f_19^post_58 && y_20^post_58==y_20^post_58 && x_21^post_58==x_21^post_58 && t_24^post_58==t_24^post_58 && result_11^post_58==temp0_16^0 && a_113^0==a_113^post_58 && a_144^0==a_144^post_58 && a_181^0==a_181^post_58 && a_212^0==a_212^post_58 && a_234^0==a_234^post_58 && a_257^0==a_257^post_58 && f_167^0==f_167^post_58 && head_30^0==head_30^post_58 && i_105^0==i_105^post_58 && i_164^0==i_164^post_58 && i_28^0==i_28^post_58 && i_92^0==i_92^post_58 && len_129^0==len_129^post_58 && len_180^0==len_180^post_58 && length_27^0==length_27^post_58 && nondet_12^0==nondet_12^post_58 && r_121^0==r_121^post_58 && r_160^0==r_160^post_58 && r_37^0==r_37^post_58 && rcd_56^0==rcd_56^post_58 && rcd_86^0==rcd_86^post_58 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_58 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_58 && temp0_16^0==temp0_16^post_58 && temp0_29^0==temp0_29^post_58 && temp_33^0==temp_33^post_58 && tmp_32^0==tmp_32^post_58 && x_126^0==x_126^post_58 && x_14^0==x_14^post_58 && x_172^0==x_172^post_58 ], cost: 1
     58: l39 -> l3 : a_113^0'=a_113^post_59, a_144^0'=a_144^post_59, a_181^0'=a_181^post_59, a_212^0'=a_212^post_59, a_234^0'=a_234^post_59, a_257^0'=a_257^post_59, ct_18^0'=ct_18^post_59, f_167^0'=f_167^post_59, head_15^0'=head_15^post_59, head_30^0'=head_30^post_59, i_105^0'=i_105^post_59, i_164^0'=i_164^post_59, i_28^0'=i_28^post_59, i_92^0'=i_92^post_59, len_129^0'=len_129^post_59, len_180^0'=len_180^post_59, length_27^0'=length_27^post_59, nondet_12^0'=nondet_12^post_59, r_121^0'=r_121^post_59, r_160^0'=r_160^post_59, r_37^0'=r_37^post_59, rcd_56^0'=rcd_56^post_59, rcd_86^0'=rcd_86^post_59, result_11^0'=result_11^post_59, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_59, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_59, t_24^0'=t_24^post_59, temp0_16^0'=temp0_16^post_59, temp0_29^0'=temp0_29^post_59, temp_33^0'=temp_33^post_59, tmp_32^0'=tmp_32^post_59, x_126^0'=x_126^post_59, x_14^0'=x_14^post_59, x_172^0'=x_172^post_59, x_17^0'=x_17^post_59, x_21^0'=x_21^post_59, x_SLAM_f_19^0'=x_SLAM_f_19^post_59, y_20^0'=y_20^post_59, [ 1<=head_15^0 && a_113^0==a_113^post_59 && a_144^0==a_144^post_59 && a_181^0==a_181^post_59 && a_212^0==a_212^post_59 && a_234^0==a_234^post_59 && a_257^0==a_257^post_59 && ct_18^0==ct_18^post_59 && f_167^0==f_167^post_59 && head_15^0==head_15^post_59 && head_30^0==head_30^post_59 && i_105^0==i_105^post_59 && i_164^0==i_164^post_59 && i_28^0==i_28^post_59 && i_92^0==i_92^post_59 && len_129^0==len_129^post_59 && len_180^0==len_180^post_59 && length_27^0==length_27^post_59 && nondet_12^0==nondet_12^post_59 && r_121^0==r_121^post_59 && r_160^0==r_160^post_59 && r_37^0==r_37^post_59 && rcd_56^0==rcd_56^post_59 && rcd_86^0==rcd_86^post_59 && result_11^0==result_11^post_59 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_59 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_59 && t_24^0==t_24^post_59 && temp0_16^0==temp0_16^post_59 && temp0_29^0==temp0_29^post_59 && temp_33^0==temp_33^post_59 && tmp_32^0==tmp_32^post_59 && x_126^0==x_126^post_59 && x_14^0==x_14^post_59 && x_17^0==x_17^post_59 && x_172^0==x_172^post_59 && x_21^0==x_21^post_59 && x_SLAM_f_19^0==x_SLAM_f_19^post_59 && y_20^0==y_20^post_59 ], cost: 1
     59: l39 -> l3 : a_113^0'=a_113^post_60, a_144^0'=a_144^post_60, a_181^0'=a_181^post_60, a_212^0'=a_212^post_60, a_234^0'=a_234^post_60, a_257^0'=a_257^post_60, ct_18^0'=ct_18^post_60, f_167^0'=f_167^post_60, head_15^0'=head_15^post_60, head_30^0'=head_30^post_60, i_105^0'=i_105^post_60, i_164^0'=i_164^post_60, i_28^0'=i_28^post_60, i_92^0'=i_92^post_60, len_129^0'=len_129^post_60, len_180^0'=len_180^post_60, length_27^0'=length_27^post_60, nondet_12^0'=nondet_12^post_60, r_121^0'=r_121^post_60, r_160^0'=r_160^post_60, r_37^0'=r_37^post_60, rcd_56^0'=rcd_56^post_60, rcd_86^0'=rcd_86^post_60, result_11^0'=result_11^post_60, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_60, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_60, t_24^0'=t_24^post_60, temp0_16^0'=temp0_16^post_60, temp0_29^0'=temp0_29^post_60, temp_33^0'=temp_33^post_60, tmp_32^0'=tmp_32^post_60, x_126^0'=x_126^post_60, x_14^0'=x_14^post_60, x_172^0'=x_172^post_60, x_17^0'=x_17^post_60, x_21^0'=x_21^post_60, x_SLAM_f_19^0'=x_SLAM_f_19^post_60, y_20^0'=y_20^post_60, [ 1+head_15^0<=0 && a_113^0==a_113^post_60 && a_144^0==a_144^post_60 && a_181^0==a_181^post_60 && a_212^0==a_212^post_60 && a_234^0==a_234^post_60 && a_257^0==a_257^post_60 && ct_18^0==ct_18^post_60 && f_167^0==f_167^post_60 && head_15^0==head_15^post_60 && head_30^0==head_30^post_60 && i_105^0==i_105^post_60 && i_164^0==i_164^post_60 && i_28^0==i_28^post_60 && i_92^0==i_92^post_60 && len_129^0==len_129^post_60 && len_180^0==len_180^post_60 && length_27^0==length_27^post_60 && nondet_12^0==nondet_12^post_60 && r_121^0==r_121^post_60 && r_160^0==r_160^post_60 && r_37^0==r_37^post_60 && rcd_56^0==rcd_56^post_60 && rcd_86^0==rcd_86^post_60 && result_11^0==result_11^post_60 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_60 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_60 && t_24^0==t_24^post_60 && temp0_16^0==temp0_16^post_60 && temp0_29^0==temp0_29^post_60 && temp_33^0==temp_33^post_60 && tmp_32^0==tmp_32^post_60 && x_126^0==x_126^post_60 && x_14^0==x_14^post_60 && x_17^0==x_17^post_60 && x_172^0==x_172^post_60 && x_21^0==x_21^post_60 && x_SLAM_f_19^0==x_SLAM_f_19^post_60 && y_20^0==y_20^post_60 ], cost: 1
     94: l40 -> l62 : a_113^0'=a_113^post_95, a_144^0'=a_144^post_95, a_181^0'=a_181^post_95, a_212^0'=a_212^post_95, a_234^0'=a_234^post_95, a_257^0'=a_257^post_95, ct_18^0'=ct_18^post_95, f_167^0'=f_167^post_95, head_15^0'=head_15^post_95, head_30^0'=head_30^post_95, i_105^0'=i_105^post_95, i_164^0'=i_164^post_95, i_28^0'=i_28^post_95, i_92^0'=i_92^post_95, len_129^0'=len_129^post_95, len_180^0'=len_180^post_95, length_27^0'=length_27^post_95, nondet_12^0'=nondet_12^post_95, r_121^0'=r_121^post_95, r_160^0'=r_160^post_95, r_37^0'=r_37^post_95, rcd_56^0'=rcd_56^post_95, rcd_86^0'=rcd_86^post_95, result_11^0'=result_11^post_95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_95, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95, t_24^0'=t_24^post_95, temp0_16^0'=temp0_16^post_95, temp0_29^0'=temp0_29^post_95, temp_33^0'=temp_33^post_95, tmp_32^0'=tmp_32^post_95, x_126^0'=x_126^post_95, x_14^0'=x_14^post_95, x_172^0'=x_172^post_95, x_17^0'=x_17^post_95, x_21^0'=x_21^post_95, x_SLAM_f_19^0'=x_SLAM_f_19^post_95, y_20^0'=y_20^post_95, [ 0<=i_28^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95 && i_164^post_95==i_164^post_95 && length_27^0<=i_28^0 && temp0_29^1_2_1==head_30^0 && result_11^1_2==temp0_29^1_2_1 && length_27^post_95==length_27^post_95 && i_28^post_95==i_28^post_95 && temp0_29^post_95==temp0_29^post_95 && head_30^post_95==head_30^post_95 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_95==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_95 && tmp_32^post_95==tmp_32^post_95 && temp_33^post_95==temp_33^post_95 && head_15^post_95==result_11^1_2 && result_11^post_95==result_11^post_95 && x_14^post_95==head_15^post_95 && 0<=len_129^0 && len_129^0<=0 && 0<=a_144^0-i_28^post_95 && a_144^0-i_28^post_95<=0 && x_14^post_95<=head_15^post_95 && head_15^post_95<=x_14^post_95 && i_28^post_95<=a_144^0 && a_144^0<=i_28^post_95 && a_113^0==a_113^post_95 && a_144^0==a_144^post_95 && a_181^0==a_181^post_95 && a_212^0==a_212^post_95 && a_234^0==a_234^post_95 && a_257^0==a_257^post_95 && ct_18^0==ct_18^post_95 && f_167^0==f_167^post_95 && i_105^0==i_105^post_95 && i_92^0==i_92^post_95 && len_129^0==len_129^post_95 && len_180^0==len_180^post_95 && nondet_12^0==nondet_12^post_95 && r_121^0==r_121^post_95 && r_160^0==r_160^post_95 && r_37^0==r_37^post_95 && rcd_56^0==rcd_56^post_95 && rcd_86^0==rcd_86^post_95 && t_24^0==t_24^post_95 && temp0_16^0==temp0_16^post_95 && x_126^0==x_126^post_95 && x_17^0==x_17^post_95 && x_172^0==x_172^post_95 && x_21^0==x_21^post_95 && x_SLAM_f_19^0==x_SLAM_f_19^post_95 && y_20^0==y_20^post_95 ], cost: 1
     98: l40 -> l64 : a_113^0'=a_113^post_99, a_144^0'=a_144^post_99, a_181^0'=a_181^post_99, a_212^0'=a_212^post_99, a_234^0'=a_234^post_99, a_257^0'=a_257^post_99, ct_18^0'=ct_18^post_99, f_167^0'=f_167^post_99, head_15^0'=head_15^post_99, head_30^0'=head_30^post_99, i_105^0'=i_105^post_99, i_164^0'=i_164^post_99, i_28^0'=i_28^post_99, i_92^0'=i_92^post_99, len_129^0'=len_129^post_99, len_180^0'=len_180^post_99, length_27^0'=length_27^post_99, nondet_12^0'=nondet_12^post_99, r_121^0'=r_121^post_99, r_160^0'=r_160^post_99, r_37^0'=r_37^post_99, rcd_56^0'=rcd_56^post_99, rcd_86^0'=rcd_86^post_99, result_11^0'=result_11^post_99, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_99, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_99, t_24^0'=t_24^post_99, temp0_16^0'=temp0_16^post_99, temp0_29^0'=temp0_29^post_99, temp_33^0'=temp_33^post_99, tmp_32^0'=tmp_32^post_99, x_126^0'=x_126^post_99, x_14^0'=x_14^post_99, x_172^0'=x_172^post_99, x_17^0'=x_17^post_99, x_21^0'=x_21^post_99, x_SLAM_f_19^0'=x_SLAM_f_19^post_99, y_20^0'=y_20^post_99, [ 0<=i_28^0 && rcd_86^post_99==rcd_86^post_99 && i_92^post_99==i_92^post_99 && 1+i_28^0<=length_27^0 && tmp_32^post_99==temp_33^0 && temp_33^post_99==temp_33^post_99 && head_30^post_99==tmp_32^post_99 && i_28^post_99==1+i_28^0 && i_28^post_99<=1+i_92^post_99 && 1+i_92^post_99<=i_28^post_99 && i_92^post_99<=-1+i_28^post_99 && -1+i_28^post_99<=i_92^post_99 && 1+i_92^post_99<=length_27^0 && a_113^0==a_113^post_99 && a_144^0==a_144^post_99 && a_181^0==a_181^post_99 && a_212^0==a_212^post_99 && a_234^0==a_234^post_99 && a_257^0==a_257^post_99 && ct_18^0==ct_18^post_99 && f_167^0==f_167^post_99 && head_15^0==head_15^post_99 && i_105^0==i_105^post_99 && i_164^0==i_164^post_99 && len_129^0==len_129^post_99 && len_180^0==len_180^post_99 && length_27^0==length_27^post_99 && nondet_12^0==nondet_12^post_99 && r_121^0==r_121^post_99 && r_160^0==r_160^post_99 && r_37^0==r_37^post_99 && rcd_56^0==rcd_56^post_99 && result_11^0==result_11^post_99 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_99 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_99 && t_24^0==t_24^post_99 && temp0_16^0==temp0_16^post_99 && temp0_29^0==temp0_29^post_99 && x_126^0==x_126^post_99 && x_14^0==x_14^post_99 && x_17^0==x_17^post_99 && x_172^0==x_172^post_99 && x_21^0==x_21^post_99 && x_SLAM_f_19^0==x_SLAM_f_19^post_99 && y_20^0==y_20^post_99 ], cost: 1
     61: l41 -> l42 : a_113^0'=a_113^post_62, a_144^0'=a_144^post_62, a_181^0'=a_181^post_62, a_212^0'=a_212^post_62, a_234^0'=a_234^post_62, a_257^0'=a_257^post_62, ct_18^0'=ct_18^post_62, f_167^0'=f_167^post_62, head_15^0'=head_15^post_62, head_30^0'=head_30^post_62, i_105^0'=i_105^post_62, i_164^0'=i_164^post_62, i_28^0'=i_28^post_62, i_92^0'=i_92^post_62, len_129^0'=len_129^post_62, len_180^0'=len_180^post_62, length_27^0'=length_27^post_62, nondet_12^0'=nondet_12^post_62, r_121^0'=r_121^post_62, r_160^0'=r_160^post_62, r_37^0'=r_37^post_62, rcd_56^0'=rcd_56^post_62, rcd_86^0'=rcd_86^post_62, result_11^0'=result_11^post_62, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_62, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_62, t_24^0'=t_24^post_62, temp0_16^0'=temp0_16^post_62, temp0_29^0'=temp0_29^post_62, temp_33^0'=temp_33^post_62, tmp_32^0'=tmp_32^post_62, x_126^0'=x_126^post_62, x_14^0'=x_14^post_62, x_172^0'=x_172^post_62, x_17^0'=x_17^post_62, x_21^0'=x_21^post_62, x_SLAM_f_19^0'=x_SLAM_f_19^post_62, y_20^0'=y_20^post_62, [ 0<=a_144^0 && 0<=len_129^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_62==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_62 && 0<=x_14^0 && x_14^0<=0 && x_17^post_62==head_15^0 && ct_18^post_62==0 && x_SLAM_f_19^post_62==x_17^post_62 && y_20^post_62==ct_18^post_62 && x_21^post_62==x_SLAM_f_19^post_62 && 0<=x_14^0 && x_14^0<=0 && 0<=ct_18^post_62 && ct_18^post_62<=0 && 0<=y_20^post_62 && y_20^post_62<=0 && head_15^0<=x_17^post_62 && x_17^post_62<=head_15^0 && head_15^0<=x_SLAM_f_19^post_62 && x_SLAM_f_19^post_62<=head_15^0 && head_15^0<=x_21^post_62 && x_21^post_62<=head_15^0 && x_17^post_62<=x_SLAM_f_19^post_62 && x_SLAM_f_19^post_62<=x_17^post_62 && ct_18^post_62<=y_20^post_62 && y_20^post_62<=ct_18^post_62 && x_SLAM_f_19^post_62<=x_21^post_62 && x_21^post_62<=x_SLAM_f_19^post_62 && a_113^0==a_113^post_62 && a_144^0==a_144^post_62 && a_181^0==a_181^post_62 && a_212^0==a_212^post_62 && a_234^0==a_234^post_62 && a_257^0==a_257^post_62 && f_167^0==f_167^post_62 && head_15^0==head_15^post_62 && head_30^0==head_30^post_62 && i_105^0==i_105^post_62 && i_164^0==i_164^post_62 && i_28^0==i_28^post_62 && i_92^0==i_92^post_62 && len_129^0==len_129^post_62 && len_180^0==len_180^post_62 && length_27^0==length_27^post_62 && nondet_12^0==nondet_12^post_62 && r_121^0==r_121^post_62 && r_160^0==r_160^post_62 && r_37^0==r_37^post_62 && rcd_56^0==rcd_56^post_62 && rcd_86^0==rcd_86^post_62 && result_11^0==result_11^post_62 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_62 && t_24^0==t_24^post_62 && temp0_16^0==temp0_16^post_62 && temp0_29^0==temp0_29^post_62 && temp_33^0==temp_33^post_62 && tmp_32^0==tmp_32^post_62 && x_126^0==x_126^post_62 && x_14^0==x_14^post_62 && x_172^0==x_172^post_62 ], cost: 1
     65: l41 -> l45 : a_113^0'=a_113^post_66, a_144^0'=a_144^post_66, a_181^0'=a_181^post_66, a_212^0'=a_212^post_66, a_234^0'=a_234^post_66, a_257^0'=a_257^post_66, ct_18^0'=ct_18^post_66, f_167^0'=f_167^post_66, head_15^0'=head_15^post_66, head_30^0'=head_30^post_66, i_105^0'=i_105^post_66, i_164^0'=i_164^post_66, i_28^0'=i_28^post_66, i_92^0'=i_92^post_66, len_129^0'=len_129^post_66, len_180^0'=len_180^post_66, length_27^0'=length_27^post_66, nondet_12^0'=nondet_12^post_66, r_121^0'=r_121^post_66, r_160^0'=r_160^post_66, r_37^0'=r_37^post_66, rcd_56^0'=rcd_56^post_66, rcd_86^0'=rcd_86^post_66, result_11^0'=result_11^post_66, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_66, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66, t_24^0'=t_24^post_66, temp0_16^0'=temp0_16^post_66, temp0_29^0'=temp0_29^post_66, temp_33^0'=temp_33^post_66, tmp_32^0'=tmp_32^post_66, x_126^0'=x_126^post_66, x_14^0'=x_14^post_66, x_172^0'=x_172^post_66, x_17^0'=x_17^post_66, x_21^0'=x_21^post_66, x_SLAM_f_19^0'=x_SLAM_f_19^post_66, y_20^0'=y_20^post_66, [ 0<=a_144^0 && 0<=len_129^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66 && head_15^post_66==head_15^post_66 && r_37^post_66==r_37^post_66 && f_167^post_66==f_167^post_66 && x_172^post_66==x_172^post_66 && a_113^0==a_113^post_66 && a_144^0==a_144^post_66 && a_181^0==a_181^post_66 && a_212^0==a_212^post_66 && a_234^0==a_234^post_66 && a_257^0==a_257^post_66 && ct_18^0==ct_18^post_66 && head_30^0==head_30^post_66 && i_105^0==i_105^post_66 && i_164^0==i_164^post_66 && i_28^0==i_28^post_66 && i_92^0==i_92^post_66 && len_129^0==len_129^post_66 && len_180^0==len_180^post_66 && length_27^0==length_27^post_66 && nondet_12^0==nondet_12^post_66 && r_121^0==r_121^post_66 && r_160^0==r_160^post_66 && rcd_56^0==rcd_56^post_66 && rcd_86^0==rcd_86^post_66 && result_11^0==result_11^post_66 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_66 && t_24^0==t_24^post_66 && temp0_16^0==temp0_16^post_66 && temp0_29^0==temp0_29^post_66 && temp_33^0==temp_33^post_66 && tmp_32^0==tmp_32^post_66 && x_126^0==x_126^post_66 && x_14^0==x_14^post_66 && x_17^0==x_17^post_66 && x_21^0==x_21^post_66 && x_SLAM_f_19^0==x_SLAM_f_19^post_66 && y_20^0==y_20^post_66 ], cost: 1
     62: l42 -> l43 : a_113^0'=a_113^post_63, a_144^0'=a_144^post_63, a_181^0'=a_181^post_63, a_212^0'=a_212^post_63, a_234^0'=a_234^post_63, a_257^0'=a_257^post_63, ct_18^0'=ct_18^post_63, f_167^0'=f_167^post_63, head_15^0'=head_15^post_63, head_30^0'=head_30^post_63, i_105^0'=i_105^post_63, i_164^0'=i_164^post_63, i_28^0'=i_28^post_63, i_92^0'=i_92^post_63, len_129^0'=len_129^post_63, len_180^0'=len_180^post_63, length_27^0'=length_27^post_63, nondet_12^0'=nondet_12^post_63, r_121^0'=r_121^post_63, r_160^0'=r_160^post_63, r_37^0'=r_37^post_63, rcd_56^0'=rcd_56^post_63, rcd_86^0'=rcd_86^post_63, result_11^0'=result_11^post_63, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_63, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_63, t_24^0'=t_24^post_63, temp0_16^0'=temp0_16^post_63, temp0_29^0'=temp0_29^post_63, temp_33^0'=temp_33^post_63, tmp_32^0'=tmp_32^post_63, x_126^0'=x_126^post_63, x_14^0'=x_14^post_63, x_172^0'=x_172^post_63, x_17^0'=x_17^post_63, x_21^0'=x_21^post_63, x_SLAM_f_19^0'=x_SLAM_f_19^post_63, y_20^0'=y_20^post_63, [ 1<=head_15^0 && a_113^0==a_113^post_63 && a_144^0==a_144^post_63 && a_181^0==a_181^post_63 && a_212^0==a_212^post_63 && a_234^0==a_234^post_63 && a_257^0==a_257^post_63 && ct_18^0==ct_18^post_63 && f_167^0==f_167^post_63 && head_15^0==head_15^post_63 && head_30^0==head_30^post_63 && i_105^0==i_105^post_63 && i_164^0==i_164^post_63 && i_28^0==i_28^post_63 && i_92^0==i_92^post_63 && len_129^0==len_129^post_63 && len_180^0==len_180^post_63 && length_27^0==length_27^post_63 && nondet_12^0==nondet_12^post_63 && r_121^0==r_121^post_63 && r_160^0==r_160^post_63 && r_37^0==r_37^post_63 && rcd_56^0==rcd_56^post_63 && rcd_86^0==rcd_86^post_63 && result_11^0==result_11^post_63 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_63 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_63 && t_24^0==t_24^post_63 && temp0_16^0==temp0_16^post_63 && temp0_29^0==temp0_29^post_63 && temp_33^0==temp_33^post_63 && tmp_32^0==tmp_32^post_63 && x_126^0==x_126^post_63 && x_14^0==x_14^post_63 && x_17^0==x_17^post_63 && x_172^0==x_172^post_63 && x_21^0==x_21^post_63 && x_SLAM_f_19^0==x_SLAM_f_19^post_63 && y_20^0==y_20^post_63 ], cost: 1
     63: l42 -> l43 : a_113^0'=a_113^post_64, a_144^0'=a_144^post_64, a_181^0'=a_181^post_64, a_212^0'=a_212^post_64, a_234^0'=a_234^post_64, a_257^0'=a_257^post_64, ct_18^0'=ct_18^post_64, f_167^0'=f_167^post_64, head_15^0'=head_15^post_64, head_30^0'=head_30^post_64, i_105^0'=i_105^post_64, i_164^0'=i_164^post_64, i_28^0'=i_28^post_64, i_92^0'=i_92^post_64, len_129^0'=len_129^post_64, len_180^0'=len_180^post_64, length_27^0'=length_27^post_64, nondet_12^0'=nondet_12^post_64, r_121^0'=r_121^post_64, r_160^0'=r_160^post_64, r_37^0'=r_37^post_64, rcd_56^0'=rcd_56^post_64, rcd_86^0'=rcd_86^post_64, result_11^0'=result_11^post_64, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_64, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_64, t_24^0'=t_24^post_64, temp0_16^0'=temp0_16^post_64, temp0_29^0'=temp0_29^post_64, temp_33^0'=temp_33^post_64, tmp_32^0'=tmp_32^post_64, x_126^0'=x_126^post_64, x_14^0'=x_14^post_64, x_172^0'=x_172^post_64, x_17^0'=x_17^post_64, x_21^0'=x_21^post_64, x_SLAM_f_19^0'=x_SLAM_f_19^post_64, y_20^0'=y_20^post_64, [ 1+head_15^0<=0 && a_113^0==a_113^post_64 && a_144^0==a_144^post_64 && a_181^0==a_181^post_64 && a_212^0==a_212^post_64 && a_234^0==a_234^post_64 && a_257^0==a_257^post_64 && ct_18^0==ct_18^post_64 && f_167^0==f_167^post_64 && head_15^0==head_15^post_64 && head_30^0==head_30^post_64 && i_105^0==i_105^post_64 && i_164^0==i_164^post_64 && i_28^0==i_28^post_64 && i_92^0==i_92^post_64 && len_129^0==len_129^post_64 && len_180^0==len_180^post_64 && length_27^0==length_27^post_64 && nondet_12^0==nondet_12^post_64 && r_121^0==r_121^post_64 && r_160^0==r_160^post_64 && r_37^0==r_37^post_64 && rcd_56^0==rcd_56^post_64 && rcd_86^0==rcd_86^post_64 && result_11^0==result_11^post_64 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_64 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_64 && t_24^0==t_24^post_64 && temp0_16^0==temp0_16^post_64 && temp0_29^0==temp0_29^post_64 && temp_33^0==temp_33^post_64 && tmp_32^0==tmp_32^post_64 && x_126^0==x_126^post_64 && x_14^0==x_14^post_64 && x_17^0==x_17^post_64 && x_172^0==x_172^post_64 && x_21^0==x_21^post_64 && x_SLAM_f_19^0==x_SLAM_f_19^post_64 && y_20^0==y_20^post_64 ], cost: 1
     64: l43 -> l20 : a_113^0'=a_113^post_65, a_144^0'=a_144^post_65, a_181^0'=a_181^post_65, a_212^0'=a_212^post_65, a_234^0'=a_234^post_65, a_257^0'=a_257^post_65, ct_18^0'=ct_18^post_65, f_167^0'=f_167^post_65, head_15^0'=head_15^post_65, head_30^0'=head_30^post_65, i_105^0'=i_105^post_65, i_164^0'=i_164^post_65, i_28^0'=i_28^post_65, i_92^0'=i_92^post_65, len_129^0'=len_129^post_65, len_180^0'=len_180^post_65, length_27^0'=length_27^post_65, nondet_12^0'=nondet_12^post_65, r_121^0'=r_121^post_65, r_160^0'=r_160^post_65, r_37^0'=r_37^post_65, rcd_56^0'=rcd_56^post_65, rcd_86^0'=rcd_86^post_65, result_11^0'=result_11^post_65, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_65, t_24^0'=t_24^post_65, temp0_16^0'=temp0_16^post_65, temp0_29^0'=temp0_29^post_65, temp_33^0'=temp_33^post_65, tmp_32^0'=tmp_32^post_65, x_126^0'=x_126^post_65, x_14^0'=x_14^post_65, x_172^0'=x_172^post_65, x_17^0'=x_17^post_65, x_21^0'=x_21^post_65, x_SLAM_f_19^0'=x_SLAM_f_19^post_65, y_20^0'=y_20^post_65, [ 1<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && a_113^0==a_113^post_65 && a_144^0==a_144^post_65 && a_181^0==a_181^post_65 && a_212^0==a_212^post_65 && a_234^0==a_234^post_65 && a_257^0==a_257^post_65 && ct_18^0==ct_18^post_65 && f_167^0==f_167^post_65 && head_15^0==head_15^post_65 && head_30^0==head_30^post_65 && i_105^0==i_105^post_65 && i_164^0==i_164^post_65 && i_28^0==i_28^post_65 && i_92^0==i_92^post_65 && len_129^0==len_129^post_65 && len_180^0==len_180^post_65 && length_27^0==length_27^post_65 && nondet_12^0==nondet_12^post_65 && r_121^0==r_121^post_65 && r_160^0==r_160^post_65 && r_37^0==r_37^post_65 && rcd_56^0==rcd_56^post_65 && rcd_86^0==rcd_86^post_65 && result_11^0==result_11^post_65 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_65 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_65 && t_24^0==t_24^post_65 && temp0_16^0==temp0_16^post_65 && temp0_29^0==temp0_29^post_65 && temp_33^0==temp_33^post_65 && tmp_32^0==tmp_32^post_65 && x_126^0==x_126^post_65 && x_14^0==x_14^post_65 && x_17^0==x_17^post_65 && x_172^0==x_172^post_65 && x_21^0==x_21^post_65 && x_SLAM_f_19^0==x_SLAM_f_19^post_65 && y_20^0==y_20^post_65 ], cost: 1
     66: l45 -> l46 : a_113^0'=a_113^post_67, a_144^0'=a_144^post_67, a_181^0'=a_181^post_67, a_212^0'=a_212^post_67, a_234^0'=a_234^post_67, a_257^0'=a_257^post_67, ct_18^0'=ct_18^post_67, f_167^0'=f_167^post_67, head_15^0'=head_15^post_67, head_30^0'=head_30^post_67, i_105^0'=i_105^post_67, i_164^0'=i_164^post_67, i_28^0'=i_28^post_67, i_92^0'=i_92^post_67, len_129^0'=len_129^post_67, len_180^0'=len_180^post_67, length_27^0'=length_27^post_67, nondet_12^0'=nondet_12^post_67, r_121^0'=r_121^post_67, r_160^0'=r_160^post_67, r_37^0'=r_37^post_67, rcd_56^0'=rcd_56^post_67, rcd_86^0'=rcd_86^post_67, result_11^0'=result_11^post_67, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_67, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_67, t_24^0'=t_24^post_67, temp0_16^0'=temp0_16^post_67, temp0_29^0'=temp0_29^post_67, temp_33^0'=temp_33^post_67, tmp_32^0'=tmp_32^post_67, x_126^0'=x_126^post_67, x_14^0'=x_14^post_67, x_172^0'=x_172^post_67, x_17^0'=x_17^post_67, x_21^0'=x_21^post_67, x_SLAM_f_19^0'=x_SLAM_f_19^post_67, y_20^0'=y_20^post_67, [ 1<=x_14^0 && a_113^0==a_113^post_67 && a_144^0==a_144^post_67 && a_181^0==a_181^post_67 && a_212^0==a_212^post_67 && a_234^0==a_234^post_67 && a_257^0==a_257^post_67 && ct_18^0==ct_18^post_67 && f_167^0==f_167^post_67 && head_15^0==head_15^post_67 && head_30^0==head_30^post_67 && i_105^0==i_105^post_67 && i_164^0==i_164^post_67 && i_28^0==i_28^post_67 && i_92^0==i_92^post_67 && len_129^0==len_129^post_67 && len_180^0==len_180^post_67 && length_27^0==length_27^post_67 && nondet_12^0==nondet_12^post_67 && r_121^0==r_121^post_67 && r_160^0==r_160^post_67 && r_37^0==r_37^post_67 && rcd_56^0==rcd_56^post_67 && rcd_86^0==rcd_86^post_67 && result_11^0==result_11^post_67 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_67 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_67 && t_24^0==t_24^post_67 && temp0_16^0==temp0_16^post_67 && temp0_29^0==temp0_29^post_67 && temp_33^0==temp_33^post_67 && tmp_32^0==tmp_32^post_67 && x_126^0==x_126^post_67 && x_14^0==x_14^post_67 && x_17^0==x_17^post_67 && x_172^0==x_172^post_67 && x_21^0==x_21^post_67 && x_SLAM_f_19^0==x_SLAM_f_19^post_67 && y_20^0==y_20^post_67 ], cost: 1
     67: l45 -> l46 : a_113^0'=a_113^post_68, a_144^0'=a_144^post_68, a_181^0'=a_181^post_68, a_212^0'=a_212^post_68, a_234^0'=a_234^post_68, a_257^0'=a_257^post_68, ct_18^0'=ct_18^post_68, f_167^0'=f_167^post_68, head_15^0'=head_15^post_68, head_30^0'=head_30^post_68, i_105^0'=i_105^post_68, i_164^0'=i_164^post_68, i_28^0'=i_28^post_68, i_92^0'=i_92^post_68, len_129^0'=len_129^post_68, len_180^0'=len_180^post_68, length_27^0'=length_27^post_68, nondet_12^0'=nondet_12^post_68, r_121^0'=r_121^post_68, r_160^0'=r_160^post_68, r_37^0'=r_37^post_68, rcd_56^0'=rcd_56^post_68, rcd_86^0'=rcd_86^post_68, result_11^0'=result_11^post_68, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_68, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_68, t_24^0'=t_24^post_68, temp0_16^0'=temp0_16^post_68, temp0_29^0'=temp0_29^post_68, temp_33^0'=temp_33^post_68, tmp_32^0'=tmp_32^post_68, x_126^0'=x_126^post_68, x_14^0'=x_14^post_68, x_172^0'=x_172^post_68, x_17^0'=x_17^post_68, x_21^0'=x_21^post_68, x_SLAM_f_19^0'=x_SLAM_f_19^post_68, y_20^0'=y_20^post_68, [ 1+x_14^0<=0 && a_113^0==a_113^post_68 && a_144^0==a_144^post_68 && a_181^0==a_181^post_68 && a_212^0==a_212^post_68 && a_234^0==a_234^post_68 && a_257^0==a_257^post_68 && ct_18^0==ct_18^post_68 && f_167^0==f_167^post_68 && head_15^0==head_15^post_68 && head_30^0==head_30^post_68 && i_105^0==i_105^post_68 && i_164^0==i_164^post_68 && i_28^0==i_28^post_68 && i_92^0==i_92^post_68 && len_129^0==len_129^post_68 && len_180^0==len_180^post_68 && length_27^0==length_27^post_68 && nondet_12^0==nondet_12^post_68 && r_121^0==r_121^post_68 && r_160^0==r_160^post_68 && r_37^0==r_37^post_68 && rcd_56^0==rcd_56^post_68 && rcd_86^0==rcd_86^post_68 && result_11^0==result_11^post_68 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_68 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_68 && t_24^0==t_24^post_68 && temp0_16^0==temp0_16^post_68 && temp0_29^0==temp0_29^post_68 && temp_33^0==temp_33^post_68 && tmp_32^0==tmp_32^post_68 && x_126^0==x_126^post_68 && x_14^0==x_14^post_68 && x_17^0==x_17^post_68 && x_172^0==x_172^post_68 && x_21^0==x_21^post_68 && x_SLAM_f_19^0==x_SLAM_f_19^post_68 && y_20^0==y_20^post_68 ], cost: 1
     68: l46 -> l47 : a_113^0'=a_113^post_69, a_144^0'=a_144^post_69, a_181^0'=a_181^post_69, a_212^0'=a_212^post_69, a_234^0'=a_234^post_69, a_257^0'=a_257^post_69, ct_18^0'=ct_18^post_69, f_167^0'=f_167^post_69, head_15^0'=head_15^post_69, head_30^0'=head_30^post_69, i_105^0'=i_105^post_69, i_164^0'=i_164^post_69, i_28^0'=i_28^post_69, i_92^0'=i_92^post_69, len_129^0'=len_129^post_69, len_180^0'=len_180^post_69, length_27^0'=length_27^post_69, nondet_12^0'=nondet_12^post_69, r_121^0'=r_121^post_69, r_160^0'=r_160^post_69, r_37^0'=r_37^post_69, rcd_56^0'=rcd_56^post_69, rcd_86^0'=rcd_86^post_69, result_11^0'=result_11^post_69, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_69, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_69, t_24^0'=t_24^post_69, temp0_16^0'=temp0_16^post_69, temp0_29^0'=temp0_29^post_69, temp_33^0'=temp_33^post_69, tmp_32^0'=tmp_32^post_69, x_126^0'=x_126^post_69, x_14^0'=x_14^post_69, x_172^0'=x_172^post_69, x_17^0'=x_17^post_69, x_21^0'=x_21^post_69, x_SLAM_f_19^0'=x_SLAM_f_19^post_69, y_20^0'=y_20^post_69, [ len_180^post_69==len_180^post_69 && a_181^post_69==a_181^post_69 && 1<=-len_129^0+len_180^post_69 && -len_129^0+len_180^post_69<=1 && x_14^0<=f_167^0 && f_167^0<=x_14^0 && a_181^post_69<=-1+a_144^0 && -1+a_144^0<=a_181^post_69 && a_113^0==a_113^post_69 && a_144^0==a_144^post_69 && a_212^0==a_212^post_69 && a_234^0==a_234^post_69 && a_257^0==a_257^post_69 && ct_18^0==ct_18^post_69 && f_167^0==f_167^post_69 && head_15^0==head_15^post_69 && head_30^0==head_30^post_69 && i_105^0==i_105^post_69 && i_164^0==i_164^post_69 && i_28^0==i_28^post_69 && i_92^0==i_92^post_69 && len_129^0==len_129^post_69 && length_27^0==length_27^post_69 && nondet_12^0==nondet_12^post_69 && r_121^0==r_121^post_69 && r_160^0==r_160^post_69 && r_37^0==r_37^post_69 && rcd_56^0==rcd_56^post_69 && rcd_86^0==rcd_86^post_69 && result_11^0==result_11^post_69 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_69 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_69 && t_24^0==t_24^post_69 && temp0_16^0==temp0_16^post_69 && temp0_29^0==temp0_29^post_69 && temp_33^0==temp_33^post_69 && tmp_32^0==tmp_32^post_69 && x_126^0==x_126^post_69 && x_14^0==x_14^post_69 && x_17^0==x_17^post_69 && x_172^0==x_172^post_69 && x_21^0==x_21^post_69 && x_SLAM_f_19^0==x_SLAM_f_19^post_69 && y_20^0==y_20^post_69 ], cost: 1
     69: l47 -> l48 : a_113^0'=a_113^post_70, a_144^0'=a_144^post_70, a_181^0'=a_181^post_70, a_212^0'=a_212^post_70, a_234^0'=a_234^post_70, a_257^0'=a_257^post_70, ct_18^0'=ct_18^post_70, f_167^0'=f_167^post_70, head_15^0'=head_15^post_70, head_30^0'=head_30^post_70, i_105^0'=i_105^post_70, i_164^0'=i_164^post_70, i_28^0'=i_28^post_70, i_92^0'=i_92^post_70, len_129^0'=len_129^post_70, len_180^0'=len_180^post_70, length_27^0'=length_27^post_70, nondet_12^0'=nondet_12^post_70, r_121^0'=r_121^post_70, r_160^0'=r_160^post_70, r_37^0'=r_37^post_70, rcd_56^0'=rcd_56^post_70, rcd_86^0'=rcd_86^post_70, result_11^0'=result_11^post_70, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_70, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_70, t_24^0'=t_24^post_70, temp0_16^0'=temp0_16^post_70, temp0_29^0'=temp0_29^post_70, temp_33^0'=temp_33^post_70, tmp_32^0'=tmp_32^post_70, x_126^0'=x_126^post_70, x_14^0'=x_14^post_70, x_172^0'=x_172^post_70, x_17^0'=x_17^post_70, x_21^0'=x_21^post_70, x_SLAM_f_19^0'=x_SLAM_f_19^post_70, y_20^0'=y_20^post_70, [ 1<=head_15^0 && a_113^0==a_113^post_70 && a_144^0==a_144^post_70 && a_181^0==a_181^post_70 && a_212^0==a_212^post_70 && a_234^0==a_234^post_70 && a_257^0==a_257^post_70 && ct_18^0==ct_18^post_70 && f_167^0==f_167^post_70 && head_15^0==head_15^post_70 && head_30^0==head_30^post_70 && i_105^0==i_105^post_70 && i_164^0==i_164^post_70 && i_28^0==i_28^post_70 && i_92^0==i_92^post_70 && len_129^0==len_129^post_70 && len_180^0==len_180^post_70 && length_27^0==length_27^post_70 && nondet_12^0==nondet_12^post_70 && r_121^0==r_121^post_70 && r_160^0==r_160^post_70 && r_37^0==r_37^post_70 && rcd_56^0==rcd_56^post_70 && rcd_86^0==rcd_86^post_70 && result_11^0==result_11^post_70 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_70 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_70 && t_24^0==t_24^post_70 && temp0_16^0==temp0_16^post_70 && temp0_29^0==temp0_29^post_70 && temp_33^0==temp_33^post_70 && tmp_32^0==tmp_32^post_70 && x_126^0==x_126^post_70 && x_14^0==x_14^post_70 && x_17^0==x_17^post_70 && x_172^0==x_172^post_70 && x_21^0==x_21^post_70 && x_SLAM_f_19^0==x_SLAM_f_19^post_70 && y_20^0==y_20^post_70 ], cost: 1
     70: l47 -> l48 : a_113^0'=a_113^post_71, a_144^0'=a_144^post_71, a_181^0'=a_181^post_71, a_212^0'=a_212^post_71, a_234^0'=a_234^post_71, a_257^0'=a_257^post_71, ct_18^0'=ct_18^post_71, f_167^0'=f_167^post_71, head_15^0'=head_15^post_71, head_30^0'=head_30^post_71, i_105^0'=i_105^post_71, i_164^0'=i_164^post_71, i_28^0'=i_28^post_71, i_92^0'=i_92^post_71, len_129^0'=len_129^post_71, len_180^0'=len_180^post_71, length_27^0'=length_27^post_71, nondet_12^0'=nondet_12^post_71, r_121^0'=r_121^post_71, r_160^0'=r_160^post_71, r_37^0'=r_37^post_71, rcd_56^0'=rcd_56^post_71, rcd_86^0'=rcd_86^post_71, result_11^0'=result_11^post_71, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_71, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_71, t_24^0'=t_24^post_71, temp0_16^0'=temp0_16^post_71, temp0_29^0'=temp0_29^post_71, temp_33^0'=temp_33^post_71, tmp_32^0'=tmp_32^post_71, x_126^0'=x_126^post_71, x_14^0'=x_14^post_71, x_172^0'=x_172^post_71, x_17^0'=x_17^post_71, x_21^0'=x_21^post_71, x_SLAM_f_19^0'=x_SLAM_f_19^post_71, y_20^0'=y_20^post_71, [ 1+head_15^0<=0 && a_113^0==a_113^post_71 && a_144^0==a_144^post_71 && a_181^0==a_181^post_71 && a_212^0==a_212^post_71 && a_234^0==a_234^post_71 && a_257^0==a_257^post_71 && ct_18^0==ct_18^post_71 && f_167^0==f_167^post_71 && head_15^0==head_15^post_71 && head_30^0==head_30^post_71 && i_105^0==i_105^post_71 && i_164^0==i_164^post_71 && i_28^0==i_28^post_71 && i_92^0==i_92^post_71 && len_129^0==len_129^post_71 && len_180^0==len_180^post_71 && length_27^0==length_27^post_71 && nondet_12^0==nondet_12^post_71 && r_121^0==r_121^post_71 && r_160^0==r_160^post_71 && r_37^0==r_37^post_71 && rcd_56^0==rcd_56^post_71 && rcd_86^0==rcd_86^post_71 && result_11^0==result_11^post_71 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_71 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_71 && t_24^0==t_24^post_71 && temp0_16^0==temp0_16^post_71 && temp0_29^0==temp0_29^post_71 && temp_33^0==temp_33^post_71 && tmp_32^0==tmp_32^post_71 && x_126^0==x_126^post_71 && x_14^0==x_14^post_71 && x_17^0==x_17^post_71 && x_172^0==x_172^post_71 && x_21^0==x_21^post_71 && x_SLAM_f_19^0==x_SLAM_f_19^post_71 && y_20^0==y_20^post_71 ], cost: 1
     71: l48 -> l49 : a_113^0'=a_113^post_72, a_144^0'=a_144^post_72, a_181^0'=a_181^post_72, a_212^0'=a_212^post_72, a_234^0'=a_234^post_72, a_257^0'=a_257^post_72, ct_18^0'=ct_18^post_72, f_167^0'=f_167^post_72, head_15^0'=head_15^post_72, head_30^0'=head_30^post_72, i_105^0'=i_105^post_72, i_164^0'=i_164^post_72, i_28^0'=i_28^post_72, i_92^0'=i_92^post_72, len_129^0'=len_129^post_72, len_180^0'=len_180^post_72, length_27^0'=length_27^post_72, nondet_12^0'=nondet_12^post_72, r_121^0'=r_121^post_72, r_160^0'=r_160^post_72, r_37^0'=r_37^post_72, rcd_56^0'=rcd_56^post_72, rcd_86^0'=rcd_86^post_72, result_11^0'=result_11^post_72, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_72, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_72, t_24^0'=t_24^post_72, temp0_16^0'=temp0_16^post_72, temp0_29^0'=temp0_29^post_72, temp_33^0'=temp_33^post_72, tmp_32^0'=tmp_32^post_72, x_126^0'=x_126^post_72, x_14^0'=x_14^post_72, x_172^0'=x_172^post_72, x_17^0'=x_17^post_72, x_21^0'=x_21^post_72, x_SLAM_f_19^0'=x_SLAM_f_19^post_72, y_20^0'=y_20^post_72, [ 1<=x_172^0 && a_113^0==a_113^post_72 && a_144^0==a_144^post_72 && a_181^0==a_181^post_72 && a_212^0==a_212^post_72 && a_234^0==a_234^post_72 && a_257^0==a_257^post_72 && ct_18^0==ct_18^post_72 && f_167^0==f_167^post_72 && head_15^0==head_15^post_72 && head_30^0==head_30^post_72 && i_105^0==i_105^post_72 && i_164^0==i_164^post_72 && i_28^0==i_28^post_72 && i_92^0==i_92^post_72 && len_129^0==len_129^post_72 && len_180^0==len_180^post_72 && length_27^0==length_27^post_72 && nondet_12^0==nondet_12^post_72 && r_121^0==r_121^post_72 && r_160^0==r_160^post_72 && r_37^0==r_37^post_72 && rcd_56^0==rcd_56^post_72 && rcd_86^0==rcd_86^post_72 && result_11^0==result_11^post_72 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_72 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_72 && t_24^0==t_24^post_72 && temp0_16^0==temp0_16^post_72 && temp0_29^0==temp0_29^post_72 && temp_33^0==temp_33^post_72 && tmp_32^0==tmp_32^post_72 && x_126^0==x_126^post_72 && x_14^0==x_14^post_72 && x_17^0==x_17^post_72 && x_172^0==x_172^post_72 && x_21^0==x_21^post_72 && x_SLAM_f_19^0==x_SLAM_f_19^post_72 && y_20^0==y_20^post_72 ], cost: 1
     72: l48 -> l49 : a_113^0'=a_113^post_73, a_144^0'=a_144^post_73, a_181^0'=a_181^post_73, a_212^0'=a_212^post_73, a_234^0'=a_234^post_73, a_257^0'=a_257^post_73, ct_18^0'=ct_18^post_73, f_167^0'=f_167^post_73, head_15^0'=head_15^post_73, head_30^0'=head_30^post_73, i_105^0'=i_105^post_73, i_164^0'=i_164^post_73, i_28^0'=i_28^post_73, i_92^0'=i_92^post_73, len_129^0'=len_129^post_73, len_180^0'=len_180^post_73, length_27^0'=length_27^post_73, nondet_12^0'=nondet_12^post_73, r_121^0'=r_121^post_73, r_160^0'=r_160^post_73, r_37^0'=r_37^post_73, rcd_56^0'=rcd_56^post_73, rcd_86^0'=rcd_86^post_73, result_11^0'=result_11^post_73, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_73, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_73, t_24^0'=t_24^post_73, temp0_16^0'=temp0_16^post_73, temp0_29^0'=temp0_29^post_73, temp_33^0'=temp_33^post_73, tmp_32^0'=tmp_32^post_73, x_126^0'=x_126^post_73, x_14^0'=x_14^post_73, x_172^0'=x_172^post_73, x_17^0'=x_17^post_73, x_21^0'=x_21^post_73, x_SLAM_f_19^0'=x_SLAM_f_19^post_73, y_20^0'=y_20^post_73, [ 1+x_172^0<=0 && a_113^0==a_113^post_73 && a_144^0==a_144^post_73 && a_181^0==a_181^post_73 && a_212^0==a_212^post_73 && a_234^0==a_234^post_73 && a_257^0==a_257^post_73 && ct_18^0==ct_18^post_73 && f_167^0==f_167^post_73 && head_15^0==head_15^post_73 && head_30^0==head_30^post_73 && i_105^0==i_105^post_73 && i_164^0==i_164^post_73 && i_28^0==i_28^post_73 && i_92^0==i_92^post_73 && len_129^0==len_129^post_73 && len_180^0==len_180^post_73 && length_27^0==length_27^post_73 && nondet_12^0==nondet_12^post_73 && r_121^0==r_121^post_73 && r_160^0==r_160^post_73 && r_37^0==r_37^post_73 && rcd_56^0==rcd_56^post_73 && rcd_86^0==rcd_86^post_73 && result_11^0==result_11^post_73 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_73 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_73 && t_24^0==t_24^post_73 && temp0_16^0==temp0_16^post_73 && temp0_29^0==temp0_29^post_73 && temp_33^0==temp_33^post_73 && tmp_32^0==tmp_32^post_73 && x_126^0==x_126^post_73 && x_14^0==x_14^post_73 && x_17^0==x_17^post_73 && x_172^0==x_172^post_73 && x_21^0==x_21^post_73 && x_SLAM_f_19^0==x_SLAM_f_19^post_73 && y_20^0==y_20^post_73 ], cost: 1
     73: l49 -> l44 : a_113^0'=a_113^post_74, a_144^0'=a_144^post_74, a_181^0'=a_181^post_74, a_212^0'=a_212^post_74, a_234^0'=a_234^post_74, a_257^0'=a_257^post_74, ct_18^0'=ct_18^post_74, f_167^0'=f_167^post_74, head_15^0'=head_15^post_74, head_30^0'=head_30^post_74, i_105^0'=i_105^post_74, i_164^0'=i_164^post_74, i_28^0'=i_28^post_74, i_92^0'=i_92^post_74, len_129^0'=len_129^post_74, len_180^0'=len_180^post_74, length_27^0'=length_27^post_74, nondet_12^0'=nondet_12^post_74, r_121^0'=r_121^post_74, r_160^0'=r_160^post_74, r_37^0'=r_37^post_74, rcd_56^0'=rcd_56^post_74, rcd_86^0'=rcd_86^post_74, result_11^0'=result_11^post_74, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_74, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_74, t_24^0'=t_24^post_74, temp0_16^0'=temp0_16^post_74, temp0_29^0'=temp0_29^post_74, temp_33^0'=temp_33^post_74, tmp_32^0'=tmp_32^post_74, x_126^0'=x_126^post_74, x_14^0'=x_14^post_74, x_172^0'=x_172^post_74, x_17^0'=x_17^post_74, x_21^0'=x_21^post_74, x_SLAM_f_19^0'=x_SLAM_f_19^post_74, y_20^0'=y_20^post_74, [ 1<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && a_144^post_74==a_144^post_74 && a_144^post_74<=a_181^0 && a_181^0<=a_144^post_74 && len_129^post_74==len_129^post_74 && len_129^post_74<=len_180^0 && len_180^0<=len_129^post_74 && a_113^0==a_113^post_74 && a_181^0==a_181^post_74 && a_212^0==a_212^post_74 && a_234^0==a_234^post_74 && a_257^0==a_257^post_74 && ct_18^0==ct_18^post_74 && f_167^0==f_167^post_74 && head_15^0==head_15^post_74 && head_30^0==head_30^post_74 && i_105^0==i_105^post_74 && i_164^0==i_164^post_74 && i_28^0==i_28^post_74 && i_92^0==i_92^post_74 && len_180^0==len_180^post_74 && length_27^0==length_27^post_74 && nondet_12^0==nondet_12^post_74 && r_121^0==r_121^post_74 && r_160^0==r_160^post_74 && r_37^0==r_37^post_74 && rcd_56^0==rcd_56^post_74 && rcd_86^0==rcd_86^post_74 && result_11^0==result_11^post_74 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_74 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_74 && t_24^0==t_24^post_74 && temp0_16^0==temp0_16^post_74 && temp0_29^0==temp0_29^post_74 && temp_33^0==temp_33^post_74 && tmp_32^0==tmp_32^post_74 && x_126^0==x_126^post_74 && x_14^0==x_14^post_74 && x_17^0==x_17^post_74 && x_172^0==x_172^post_74 && x_21^0==x_21^post_74 && x_SLAM_f_19^0==x_SLAM_f_19^post_74 && y_20^0==y_20^post_74 ], cost: 1
     74: l44 -> l41 : a_113^0'=a_113^post_75, a_144^0'=a_144^post_75, a_181^0'=a_181^post_75, a_212^0'=a_212^post_75, a_234^0'=a_234^post_75, a_257^0'=a_257^post_75, ct_18^0'=ct_18^post_75, f_167^0'=f_167^post_75, head_15^0'=head_15^post_75, head_30^0'=head_30^post_75, i_105^0'=i_105^post_75, i_164^0'=i_164^post_75, i_28^0'=i_28^post_75, i_92^0'=i_92^post_75, len_129^0'=len_129^post_75, len_180^0'=len_180^post_75, length_27^0'=length_27^post_75, nondet_12^0'=nondet_12^post_75, r_121^0'=r_121^post_75, r_160^0'=r_160^post_75, r_37^0'=r_37^post_75, rcd_56^0'=rcd_56^post_75, rcd_86^0'=rcd_86^post_75, result_11^0'=result_11^post_75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_75, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_75, t_24^0'=t_24^post_75, temp0_16^0'=temp0_16^post_75, temp0_29^0'=temp0_29^post_75, temp_33^0'=temp_33^post_75, tmp_32^0'=tmp_32^post_75, x_126^0'=x_126^post_75, x_14^0'=x_14^post_75, x_172^0'=x_172^post_75, x_17^0'=x_17^post_75, x_21^0'=x_21^post_75, x_SLAM_f_19^0'=x_SLAM_f_19^post_75, y_20^0'=y_20^post_75, [ a_113^0==a_113^post_75 && a_144^0==a_144^post_75 && a_181^0==a_181^post_75 && a_212^0==a_212^post_75 && a_234^0==a_234^post_75 && a_257^0==a_257^post_75 && ct_18^0==ct_18^post_75 && f_167^0==f_167^post_75 && head_15^0==head_15^post_75 && head_30^0==head_30^post_75 && i_105^0==i_105^post_75 && i_164^0==i_164^post_75 && i_28^0==i_28^post_75 && i_92^0==i_92^post_75 && len_129^0==len_129^post_75 && len_180^0==len_180^post_75 && length_27^0==length_27^post_75 && nondet_12^0==nondet_12^post_75 && r_121^0==r_121^post_75 && r_160^0==r_160^post_75 && r_37^0==r_37^post_75 && rcd_56^0==rcd_56^post_75 && rcd_86^0==rcd_86^post_75 && result_11^0==result_11^post_75 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_75 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_75 && t_24^0==t_24^post_75 && temp0_16^0==temp0_16^post_75 && temp0_29^0==temp0_29^post_75 && temp_33^0==temp_33^post_75 && tmp_32^0==tmp_32^post_75 && x_126^0==x_126^post_75 && x_14^0==x_14^post_75 && x_17^0==x_17^post_75 && x_172^0==x_172^post_75 && x_21^0==x_21^post_75 && x_SLAM_f_19^0==x_SLAM_f_19^post_75 && y_20^0==y_20^post_75 ], cost: 1
     75: l50 -> l51 : a_113^0'=a_113^post_76, a_144^0'=a_144^post_76, a_181^0'=a_181^post_76, a_212^0'=a_212^post_76, a_234^0'=a_234^post_76, a_257^0'=a_257^post_76, ct_18^0'=ct_18^post_76, f_167^0'=f_167^post_76, head_15^0'=head_15^post_76, head_30^0'=head_30^post_76, i_105^0'=i_105^post_76, i_164^0'=i_164^post_76, i_28^0'=i_28^post_76, i_92^0'=i_92^post_76, len_129^0'=len_129^post_76, len_180^0'=len_180^post_76, length_27^0'=length_27^post_76, nondet_12^0'=nondet_12^post_76, r_121^0'=r_121^post_76, r_160^0'=r_160^post_76, r_37^0'=r_37^post_76, rcd_56^0'=rcd_56^post_76, rcd_86^0'=rcd_86^post_76, result_11^0'=result_11^post_76, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_76, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_76, t_24^0'=t_24^post_76, temp0_16^0'=temp0_16^post_76, temp0_29^0'=temp0_29^post_76, temp_33^0'=temp_33^post_76, tmp_32^0'=tmp_32^post_76, x_126^0'=x_126^post_76, x_14^0'=x_14^post_76, x_172^0'=x_172^post_76, x_17^0'=x_17^post_76, x_21^0'=x_21^post_76, x_SLAM_f_19^0'=x_SLAM_f_19^post_76, y_20^0'=y_20^post_76, [ 0<=a_113^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_76==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_76 && 0<=x_14^0 && x_14^0<=0 && x_17^post_76==head_15^0 && ct_18^post_76==0 && x_SLAM_f_19^post_76==x_17^post_76 && y_20^post_76==ct_18^post_76 && x_21^post_76==x_SLAM_f_19^post_76 && 0<=x_14^0 && x_14^0<=0 && 0<=ct_18^post_76 && ct_18^post_76<=0 && 0<=y_20^post_76 && y_20^post_76<=0 && 0<=a_113^0 && a_113^0<=0 && 1<=len_129^0 && len_129^0<=1 && head_15^0<=x_17^post_76 && x_17^post_76<=head_15^0 && head_15^0<=x_SLAM_f_19^post_76 && x_SLAM_f_19^post_76<=head_15^0 && head_15^0<=x_21^post_76 && x_21^post_76<=head_15^0 && x_17^post_76<=x_SLAM_f_19^post_76 && x_SLAM_f_19^post_76<=x_17^post_76 && ct_18^post_76<=y_20^post_76 && y_20^post_76<=ct_18^post_76 && x_SLAM_f_19^post_76<=x_21^post_76 && x_21^post_76<=x_SLAM_f_19^post_76 && a_113^0==a_113^post_76 && a_144^0==a_144^post_76 && a_181^0==a_181^post_76 && a_212^0==a_212^post_76 && a_234^0==a_234^post_76 && a_257^0==a_257^post_76 && f_167^0==f_167^post_76 && head_15^0==head_15^post_76 && head_30^0==head_30^post_76 && i_105^0==i_105^post_76 && i_164^0==i_164^post_76 && i_28^0==i_28^post_76 && i_92^0==i_92^post_76 && len_129^0==len_129^post_76 && len_180^0==len_180^post_76 && length_27^0==length_27^post_76 && nondet_12^0==nondet_12^post_76 && r_121^0==r_121^post_76 && r_160^0==r_160^post_76 && r_37^0==r_37^post_76 && rcd_56^0==rcd_56^post_76 && rcd_86^0==rcd_86^post_76 && result_11^0==result_11^post_76 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_76 && t_24^0==t_24^post_76 && temp0_16^0==temp0_16^post_76 && temp0_29^0==temp0_29^post_76 && temp_33^0==temp_33^post_76 && tmp_32^0==tmp_32^post_76 && x_126^0==x_126^post_76 && x_14^0==x_14^post_76 && x_172^0==x_172^post_76 ], cost: 1
     79: l50 -> l53 : a_113^0'=a_113^post_80, a_144^0'=a_144^post_80, a_181^0'=a_181^post_80, a_212^0'=a_212^post_80, a_234^0'=a_234^post_80, a_257^0'=a_257^post_80, ct_18^0'=ct_18^post_80, f_167^0'=f_167^post_80, head_15^0'=head_15^post_80, head_30^0'=head_30^post_80, i_105^0'=i_105^post_80, i_164^0'=i_164^post_80, i_28^0'=i_28^post_80, i_92^0'=i_92^post_80, len_129^0'=len_129^post_80, len_180^0'=len_180^post_80, length_27^0'=length_27^post_80, nondet_12^0'=nondet_12^post_80, r_121^0'=r_121^post_80, r_160^0'=r_160^post_80, r_37^0'=r_37^post_80, rcd_56^0'=rcd_56^post_80, rcd_86^0'=rcd_86^post_80, result_11^0'=result_11^post_80, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_80, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_80, t_24^0'=t_24^post_80, temp0_16^0'=temp0_16^post_80, temp0_29^0'=temp0_29^post_80, temp_33^0'=temp_33^post_80, tmp_32^0'=tmp_32^post_80, x_126^0'=x_126^post_80, x_14^0'=x_14^post_80, x_172^0'=x_172^post_80, x_17^0'=x_17^post_80, x_21^0'=x_21^post_80, x_SLAM_f_19^0'=x_SLAM_f_19^post_80, y_20^0'=y_20^post_80, [ 0<=a_113^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_80==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_80 && head_15^post_80==head_15^post_80 && r_121^post_80==r_121^post_80 && x_126^post_80==x_126^post_80 && a_113^0==a_113^post_80 && a_144^0==a_144^post_80 && a_181^0==a_181^post_80 && a_212^0==a_212^post_80 && a_234^0==a_234^post_80 && a_257^0==a_257^post_80 && ct_18^0==ct_18^post_80 && f_167^0==f_167^post_80 && head_30^0==head_30^post_80 && i_105^0==i_105^post_80 && i_164^0==i_164^post_80 && i_28^0==i_28^post_80 && i_92^0==i_92^post_80 && len_129^0==len_129^post_80 && len_180^0==len_180^post_80 && length_27^0==length_27^post_80 && nondet_12^0==nondet_12^post_80 && r_160^0==r_160^post_80 && r_37^0==r_37^post_80 && rcd_56^0==rcd_56^post_80 && rcd_86^0==rcd_86^post_80 && result_11^0==result_11^post_80 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_80 && t_24^0==t_24^post_80 && temp0_16^0==temp0_16^post_80 && temp0_29^0==temp0_29^post_80 && temp_33^0==temp_33^post_80 && tmp_32^0==tmp_32^post_80 && x_14^0==x_14^post_80 && x_17^0==x_17^post_80 && x_172^0==x_172^post_80 && x_21^0==x_21^post_80 && x_SLAM_f_19^0==x_SLAM_f_19^post_80 && y_20^0==y_20^post_80 ], cost: 1
     76: l51 -> l52 : a_113^0'=a_113^post_77, a_144^0'=a_144^post_77, a_181^0'=a_181^post_77, a_212^0'=a_212^post_77, a_234^0'=a_234^post_77, a_257^0'=a_257^post_77, ct_18^0'=ct_18^post_77, f_167^0'=f_167^post_77, head_15^0'=head_15^post_77, head_30^0'=head_30^post_77, i_105^0'=i_105^post_77, i_164^0'=i_164^post_77, i_28^0'=i_28^post_77, i_92^0'=i_92^post_77, len_129^0'=len_129^post_77, len_180^0'=len_180^post_77, length_27^0'=length_27^post_77, nondet_12^0'=nondet_12^post_77, r_121^0'=r_121^post_77, r_160^0'=r_160^post_77, r_37^0'=r_37^post_77, rcd_56^0'=rcd_56^post_77, rcd_86^0'=rcd_86^post_77, result_11^0'=result_11^post_77, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_77, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_77, t_24^0'=t_24^post_77, temp0_16^0'=temp0_16^post_77, temp0_29^0'=temp0_29^post_77, temp_33^0'=temp_33^post_77, tmp_32^0'=tmp_32^post_77, x_126^0'=x_126^post_77, x_14^0'=x_14^post_77, x_172^0'=x_172^post_77, x_17^0'=x_17^post_77, x_21^0'=x_21^post_77, x_SLAM_f_19^0'=x_SLAM_f_19^post_77, y_20^0'=y_20^post_77, [ 1<=head_15^0 && a_113^0==a_113^post_77 && a_144^0==a_144^post_77 && a_181^0==a_181^post_77 && a_212^0==a_212^post_77 && a_234^0==a_234^post_77 && a_257^0==a_257^post_77 && ct_18^0==ct_18^post_77 && f_167^0==f_167^post_77 && head_15^0==head_15^post_77 && head_30^0==head_30^post_77 && i_105^0==i_105^post_77 && i_164^0==i_164^post_77 && i_28^0==i_28^post_77 && i_92^0==i_92^post_77 && len_129^0==len_129^post_77 && len_180^0==len_180^post_77 && length_27^0==length_27^post_77 && nondet_12^0==nondet_12^post_77 && r_121^0==r_121^post_77 && r_160^0==r_160^post_77 && r_37^0==r_37^post_77 && rcd_56^0==rcd_56^post_77 && rcd_86^0==rcd_86^post_77 && result_11^0==result_11^post_77 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_77 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_77 && t_24^0==t_24^post_77 && temp0_16^0==temp0_16^post_77 && temp0_29^0==temp0_29^post_77 && temp_33^0==temp_33^post_77 && tmp_32^0==tmp_32^post_77 && x_126^0==x_126^post_77 && x_14^0==x_14^post_77 && x_17^0==x_17^post_77 && x_172^0==x_172^post_77 && x_21^0==x_21^post_77 && x_SLAM_f_19^0==x_SLAM_f_19^post_77 && y_20^0==y_20^post_77 ], cost: 1
     77: l51 -> l52 : a_113^0'=a_113^post_78, a_144^0'=a_144^post_78, a_181^0'=a_181^post_78, a_212^0'=a_212^post_78, a_234^0'=a_234^post_78, a_257^0'=a_257^post_78, ct_18^0'=ct_18^post_78, f_167^0'=f_167^post_78, head_15^0'=head_15^post_78, head_30^0'=head_30^post_78, i_105^0'=i_105^post_78, i_164^0'=i_164^post_78, i_28^0'=i_28^post_78, i_92^0'=i_92^post_78, len_129^0'=len_129^post_78, len_180^0'=len_180^post_78, length_27^0'=length_27^post_78, nondet_12^0'=nondet_12^post_78, r_121^0'=r_121^post_78, r_160^0'=r_160^post_78, r_37^0'=r_37^post_78, rcd_56^0'=rcd_56^post_78, rcd_86^0'=rcd_86^post_78, result_11^0'=result_11^post_78, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_78, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_78, t_24^0'=t_24^post_78, temp0_16^0'=temp0_16^post_78, temp0_29^0'=temp0_29^post_78, temp_33^0'=temp_33^post_78, tmp_32^0'=tmp_32^post_78, x_126^0'=x_126^post_78, x_14^0'=x_14^post_78, x_172^0'=x_172^post_78, x_17^0'=x_17^post_78, x_21^0'=x_21^post_78, x_SLAM_f_19^0'=x_SLAM_f_19^post_78, y_20^0'=y_20^post_78, [ 1+head_15^0<=0 && a_113^0==a_113^post_78 && a_144^0==a_144^post_78 && a_181^0==a_181^post_78 && a_212^0==a_212^post_78 && a_234^0==a_234^post_78 && a_257^0==a_257^post_78 && ct_18^0==ct_18^post_78 && f_167^0==f_167^post_78 && head_15^0==head_15^post_78 && head_30^0==head_30^post_78 && i_105^0==i_105^post_78 && i_164^0==i_164^post_78 && i_28^0==i_28^post_78 && i_92^0==i_92^post_78 && len_129^0==len_129^post_78 && len_180^0==len_180^post_78 && length_27^0==length_27^post_78 && nondet_12^0==nondet_12^post_78 && r_121^0==r_121^post_78 && r_160^0==r_160^post_78 && r_37^0==r_37^post_78 && rcd_56^0==rcd_56^post_78 && rcd_86^0==rcd_86^post_78 && result_11^0==result_11^post_78 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_78 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_78 && t_24^0==t_24^post_78 && temp0_16^0==temp0_16^post_78 && temp0_29^0==temp0_29^post_78 && temp_33^0==temp_33^post_78 && tmp_32^0==tmp_32^post_78 && x_126^0==x_126^post_78 && x_14^0==x_14^post_78 && x_17^0==x_17^post_78 && x_172^0==x_172^post_78 && x_21^0==x_21^post_78 && x_SLAM_f_19^0==x_SLAM_f_19^post_78 && y_20^0==y_20^post_78 ], cost: 1
     78: l52 -> l20 : a_113^0'=a_113^post_79, a_144^0'=a_144^post_79, a_181^0'=a_181^post_79, a_212^0'=a_212^post_79, a_234^0'=a_234^post_79, a_257^0'=a_257^post_79, ct_18^0'=ct_18^post_79, f_167^0'=f_167^post_79, head_15^0'=head_15^post_79, head_30^0'=head_30^post_79, i_105^0'=i_105^post_79, i_164^0'=i_164^post_79, i_28^0'=i_28^post_79, i_92^0'=i_92^post_79, len_129^0'=len_129^post_79, len_180^0'=len_180^post_79, length_27^0'=length_27^post_79, nondet_12^0'=nondet_12^post_79, r_121^0'=r_121^post_79, r_160^0'=r_160^post_79, r_37^0'=r_37^post_79, rcd_56^0'=rcd_56^post_79, rcd_86^0'=rcd_86^post_79, result_11^0'=result_11^post_79, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_79, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_79, t_24^0'=t_24^post_79, temp0_16^0'=temp0_16^post_79, temp0_29^0'=temp0_29^post_79, temp_33^0'=temp_33^post_79, tmp_32^0'=tmp_32^post_79, x_126^0'=x_126^post_79, x_14^0'=x_14^post_79, x_172^0'=x_172^post_79, x_17^0'=x_17^post_79, x_21^0'=x_21^post_79, x_SLAM_f_19^0'=x_SLAM_f_19^post_79, y_20^0'=y_20^post_79, [ 1<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && a_113^0==a_113^post_79 && a_144^0==a_144^post_79 && a_181^0==a_181^post_79 && a_212^0==a_212^post_79 && a_234^0==a_234^post_79 && a_257^0==a_257^post_79 && ct_18^0==ct_18^post_79 && f_167^0==f_167^post_79 && head_15^0==head_15^post_79 && head_30^0==head_30^post_79 && i_105^0==i_105^post_79 && i_164^0==i_164^post_79 && i_28^0==i_28^post_79 && i_92^0==i_92^post_79 && len_129^0==len_129^post_79 && len_180^0==len_180^post_79 && length_27^0==length_27^post_79 && nondet_12^0==nondet_12^post_79 && r_121^0==r_121^post_79 && r_160^0==r_160^post_79 && r_37^0==r_37^post_79 && rcd_56^0==rcd_56^post_79 && rcd_86^0==rcd_86^post_79 && result_11^0==result_11^post_79 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_79 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_79 && t_24^0==t_24^post_79 && temp0_16^0==temp0_16^post_79 && temp0_29^0==temp0_29^post_79 && temp_33^0==temp_33^post_79 && tmp_32^0==tmp_32^post_79 && x_126^0==x_126^post_79 && x_14^0==x_14^post_79 && x_17^0==x_17^post_79 && x_172^0==x_172^post_79 && x_21^0==x_21^post_79 && x_SLAM_f_19^0==x_SLAM_f_19^post_79 && y_20^0==y_20^post_79 ], cost: 1
     80: l53 -> l54 : a_113^0'=a_113^post_81, a_144^0'=a_144^post_81, a_181^0'=a_181^post_81, a_212^0'=a_212^post_81, a_234^0'=a_234^post_81, a_257^0'=a_257^post_81, ct_18^0'=ct_18^post_81, f_167^0'=f_167^post_81, head_15^0'=head_15^post_81, head_30^0'=head_30^post_81, i_105^0'=i_105^post_81, i_164^0'=i_164^post_81, i_28^0'=i_28^post_81, i_92^0'=i_92^post_81, len_129^0'=len_129^post_81, len_180^0'=len_180^post_81, length_27^0'=length_27^post_81, nondet_12^0'=nondet_12^post_81, r_121^0'=r_121^post_81, r_160^0'=r_160^post_81, r_37^0'=r_37^post_81, rcd_56^0'=rcd_56^post_81, rcd_86^0'=rcd_86^post_81, result_11^0'=result_11^post_81, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_81, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_81, t_24^0'=t_24^post_81, temp0_16^0'=temp0_16^post_81, temp0_29^0'=temp0_29^post_81, temp_33^0'=temp_33^post_81, tmp_32^0'=tmp_32^post_81, x_126^0'=x_126^post_81, x_14^0'=x_14^post_81, x_172^0'=x_172^post_81, x_17^0'=x_17^post_81, x_21^0'=x_21^post_81, x_SLAM_f_19^0'=x_SLAM_f_19^post_81, y_20^0'=y_20^post_81, [ 1<=x_14^0 && a_113^0==a_113^post_81 && a_144^0==a_144^post_81 && a_181^0==a_181^post_81 && a_212^0==a_212^post_81 && a_234^0==a_234^post_81 && a_257^0==a_257^post_81 && ct_18^0==ct_18^post_81 && f_167^0==f_167^post_81 && head_15^0==head_15^post_81 && head_30^0==head_30^post_81 && i_105^0==i_105^post_81 && i_164^0==i_164^post_81 && i_28^0==i_28^post_81 && i_92^0==i_92^post_81 && len_129^0==len_129^post_81 && len_180^0==len_180^post_81 && length_27^0==length_27^post_81 && nondet_12^0==nondet_12^post_81 && r_121^0==r_121^post_81 && r_160^0==r_160^post_81 && r_37^0==r_37^post_81 && rcd_56^0==rcd_56^post_81 && rcd_86^0==rcd_86^post_81 && result_11^0==result_11^post_81 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_81 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_81 && t_24^0==t_24^post_81 && temp0_16^0==temp0_16^post_81 && temp0_29^0==temp0_29^post_81 && temp_33^0==temp_33^post_81 && tmp_32^0==tmp_32^post_81 && x_126^0==x_126^post_81 && x_14^0==x_14^post_81 && x_17^0==x_17^post_81 && x_172^0==x_172^post_81 && x_21^0==x_21^post_81 && x_SLAM_f_19^0==x_SLAM_f_19^post_81 && y_20^0==y_20^post_81 ], cost: 1
     81: l53 -> l54 : a_113^0'=a_113^post_82, a_144^0'=a_144^post_82, a_181^0'=a_181^post_82, a_212^0'=a_212^post_82, a_234^0'=a_234^post_82, a_257^0'=a_257^post_82, ct_18^0'=ct_18^post_82, f_167^0'=f_167^post_82, head_15^0'=head_15^post_82, head_30^0'=head_30^post_82, i_105^0'=i_105^post_82, i_164^0'=i_164^post_82, i_28^0'=i_28^post_82, i_92^0'=i_92^post_82, len_129^0'=len_129^post_82, len_180^0'=len_180^post_82, length_27^0'=length_27^post_82, nondet_12^0'=nondet_12^post_82, r_121^0'=r_121^post_82, r_160^0'=r_160^post_82, r_37^0'=r_37^post_82, rcd_56^0'=rcd_56^post_82, rcd_86^0'=rcd_86^post_82, result_11^0'=result_11^post_82, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_82, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_82, t_24^0'=t_24^post_82, temp0_16^0'=temp0_16^post_82, temp0_29^0'=temp0_29^post_82, temp_33^0'=temp_33^post_82, tmp_32^0'=tmp_32^post_82, x_126^0'=x_126^post_82, x_14^0'=x_14^post_82, x_172^0'=x_172^post_82, x_17^0'=x_17^post_82, x_21^0'=x_21^post_82, x_SLAM_f_19^0'=x_SLAM_f_19^post_82, y_20^0'=y_20^post_82, [ 1+x_14^0<=0 && a_113^0==a_113^post_82 && a_144^0==a_144^post_82 && a_181^0==a_181^post_82 && a_212^0==a_212^post_82 && a_234^0==a_234^post_82 && a_257^0==a_257^post_82 && ct_18^0==ct_18^post_82 && f_167^0==f_167^post_82 && head_15^0==head_15^post_82 && head_30^0==head_30^post_82 && i_105^0==i_105^post_82 && i_164^0==i_164^post_82 && i_28^0==i_28^post_82 && i_92^0==i_92^post_82 && len_129^0==len_129^post_82 && len_180^0==len_180^post_82 && length_27^0==length_27^post_82 && nondet_12^0==nondet_12^post_82 && r_121^0==r_121^post_82 && r_160^0==r_160^post_82 && r_37^0==r_37^post_82 && rcd_56^0==rcd_56^post_82 && rcd_86^0==rcd_86^post_82 && result_11^0==result_11^post_82 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_82 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_82 && t_24^0==t_24^post_82 && temp0_16^0==temp0_16^post_82 && temp0_29^0==temp0_29^post_82 && temp_33^0==temp_33^post_82 && tmp_32^0==tmp_32^post_82 && x_126^0==x_126^post_82 && x_14^0==x_14^post_82 && x_17^0==x_17^post_82 && x_172^0==x_172^post_82 && x_21^0==x_21^post_82 && x_SLAM_f_19^0==x_SLAM_f_19^post_82 && y_20^0==y_20^post_82 ], cost: 1
     82: l54 -> l55 : a_113^0'=a_113^post_83, a_144^0'=a_144^post_83, a_181^0'=a_181^post_83, a_212^0'=a_212^post_83, a_234^0'=a_234^post_83, a_257^0'=a_257^post_83, ct_18^0'=ct_18^post_83, f_167^0'=f_167^post_83, head_15^0'=head_15^post_83, head_30^0'=head_30^post_83, i_105^0'=i_105^post_83, i_164^0'=i_164^post_83, i_28^0'=i_28^post_83, i_92^0'=i_92^post_83, len_129^0'=len_129^post_83, len_180^0'=len_180^post_83, length_27^0'=length_27^post_83, nondet_12^0'=nondet_12^post_83, r_121^0'=r_121^post_83, r_160^0'=r_160^post_83, r_37^0'=r_37^post_83, rcd_56^0'=rcd_56^post_83, rcd_86^0'=rcd_86^post_83, result_11^0'=result_11^post_83, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_83, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_83, t_24^0'=t_24^post_83, temp0_16^0'=temp0_16^post_83, temp0_29^0'=temp0_29^post_83, temp_33^0'=temp_33^post_83, tmp_32^0'=tmp_32^post_83, x_126^0'=x_126^post_83, x_14^0'=x_14^post_83, x_172^0'=x_172^post_83, x_17^0'=x_17^post_83, x_21^0'=x_21^post_83, x_SLAM_f_19^0'=x_SLAM_f_19^post_83, y_20^0'=y_20^post_83, [ 1<=head_15^0 && a_113^0==a_113^post_83 && a_144^0==a_144^post_83 && a_181^0==a_181^post_83 && a_212^0==a_212^post_83 && a_234^0==a_234^post_83 && a_257^0==a_257^post_83 && ct_18^0==ct_18^post_83 && f_167^0==f_167^post_83 && head_15^0==head_15^post_83 && head_30^0==head_30^post_83 && i_105^0==i_105^post_83 && i_164^0==i_164^post_83 && i_28^0==i_28^post_83 && i_92^0==i_92^post_83 && len_129^0==len_129^post_83 && len_180^0==len_180^post_83 && length_27^0==length_27^post_83 && nondet_12^0==nondet_12^post_83 && r_121^0==r_121^post_83 && r_160^0==r_160^post_83 && r_37^0==r_37^post_83 && rcd_56^0==rcd_56^post_83 && rcd_86^0==rcd_86^post_83 && result_11^0==result_11^post_83 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_83 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_83 && t_24^0==t_24^post_83 && temp0_16^0==temp0_16^post_83 && temp0_29^0==temp0_29^post_83 && temp_33^0==temp_33^post_83 && tmp_32^0==tmp_32^post_83 && x_126^0==x_126^post_83 && x_14^0==x_14^post_83 && x_17^0==x_17^post_83 && x_172^0==x_172^post_83 && x_21^0==x_21^post_83 && x_SLAM_f_19^0==x_SLAM_f_19^post_83 && y_20^0==y_20^post_83 ], cost: 1
     83: l54 -> l55 : a_113^0'=a_113^post_84, a_144^0'=a_144^post_84, a_181^0'=a_181^post_84, a_212^0'=a_212^post_84, a_234^0'=a_234^post_84, a_257^0'=a_257^post_84, ct_18^0'=ct_18^post_84, f_167^0'=f_167^post_84, head_15^0'=head_15^post_84, head_30^0'=head_30^post_84, i_105^0'=i_105^post_84, i_164^0'=i_164^post_84, i_28^0'=i_28^post_84, i_92^0'=i_92^post_84, len_129^0'=len_129^post_84, len_180^0'=len_180^post_84, length_27^0'=length_27^post_84, nondet_12^0'=nondet_12^post_84, r_121^0'=r_121^post_84, r_160^0'=r_160^post_84, r_37^0'=r_37^post_84, rcd_56^0'=rcd_56^post_84, rcd_86^0'=rcd_86^post_84, result_11^0'=result_11^post_84, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_84, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_84, t_24^0'=t_24^post_84, temp0_16^0'=temp0_16^post_84, temp0_29^0'=temp0_29^post_84, temp_33^0'=temp_33^post_84, tmp_32^0'=tmp_32^post_84, x_126^0'=x_126^post_84, x_14^0'=x_14^post_84, x_172^0'=x_172^post_84, x_17^0'=x_17^post_84, x_21^0'=x_21^post_84, x_SLAM_f_19^0'=x_SLAM_f_19^post_84, y_20^0'=y_20^post_84, [ 1+head_15^0<=0 && a_113^0==a_113^post_84 && a_144^0==a_144^post_84 && a_181^0==a_181^post_84 && a_212^0==a_212^post_84 && a_234^0==a_234^post_84 && a_257^0==a_257^post_84 && ct_18^0==ct_18^post_84 && f_167^0==f_167^post_84 && head_15^0==head_15^post_84 && head_30^0==head_30^post_84 && i_105^0==i_105^post_84 && i_164^0==i_164^post_84 && i_28^0==i_28^post_84 && i_92^0==i_92^post_84 && len_129^0==len_129^post_84 && len_180^0==len_180^post_84 && length_27^0==length_27^post_84 && nondet_12^0==nondet_12^post_84 && r_121^0==r_121^post_84 && r_160^0==r_160^post_84 && r_37^0==r_37^post_84 && rcd_56^0==rcd_56^post_84 && rcd_86^0==rcd_86^post_84 && result_11^0==result_11^post_84 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_84 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_84 && t_24^0==t_24^post_84 && temp0_16^0==temp0_16^post_84 && temp0_29^0==temp0_29^post_84 && temp_33^0==temp_33^post_84 && tmp_32^0==tmp_32^post_84 && x_126^0==x_126^post_84 && x_14^0==x_14^post_84 && x_17^0==x_17^post_84 && x_172^0==x_172^post_84 && x_21^0==x_21^post_84 && x_SLAM_f_19^0==x_SLAM_f_19^post_84 && y_20^0==y_20^post_84 ], cost: 1
     84: l55 -> l56 : a_113^0'=a_113^post_85, a_144^0'=a_144^post_85, a_181^0'=a_181^post_85, a_212^0'=a_212^post_85, a_234^0'=a_234^post_85, a_257^0'=a_257^post_85, ct_18^0'=ct_18^post_85, f_167^0'=f_167^post_85, head_15^0'=head_15^post_85, head_30^0'=head_30^post_85, i_105^0'=i_105^post_85, i_164^0'=i_164^post_85, i_28^0'=i_28^post_85, i_92^0'=i_92^post_85, len_129^0'=len_129^post_85, len_180^0'=len_180^post_85, length_27^0'=length_27^post_85, nondet_12^0'=nondet_12^post_85, r_121^0'=r_121^post_85, r_160^0'=r_160^post_85, r_37^0'=r_37^post_85, rcd_56^0'=rcd_56^post_85, rcd_86^0'=rcd_86^post_85, result_11^0'=result_11^post_85, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_85, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_85, t_24^0'=t_24^post_85, temp0_16^0'=temp0_16^post_85, temp0_29^0'=temp0_29^post_85, temp_33^0'=temp_33^post_85, tmp_32^0'=tmp_32^post_85, x_126^0'=x_126^post_85, x_14^0'=x_14^post_85, x_172^0'=x_172^post_85, x_17^0'=x_17^post_85, x_21^0'=x_21^post_85, x_SLAM_f_19^0'=x_SLAM_f_19^post_85, y_20^0'=y_20^post_85, [ 1<=x_126^0 && a_113^0==a_113^post_85 && a_144^0==a_144^post_85 && a_181^0==a_181^post_85 && a_212^0==a_212^post_85 && a_234^0==a_234^post_85 && a_257^0==a_257^post_85 && ct_18^0==ct_18^post_85 && f_167^0==f_167^post_85 && head_15^0==head_15^post_85 && head_30^0==head_30^post_85 && i_105^0==i_105^post_85 && i_164^0==i_164^post_85 && i_28^0==i_28^post_85 && i_92^0==i_92^post_85 && len_129^0==len_129^post_85 && len_180^0==len_180^post_85 && length_27^0==length_27^post_85 && nondet_12^0==nondet_12^post_85 && r_121^0==r_121^post_85 && r_160^0==r_160^post_85 && r_37^0==r_37^post_85 && rcd_56^0==rcd_56^post_85 && rcd_86^0==rcd_86^post_85 && result_11^0==result_11^post_85 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_85 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_85 && t_24^0==t_24^post_85 && temp0_16^0==temp0_16^post_85 && temp0_29^0==temp0_29^post_85 && temp_33^0==temp_33^post_85 && tmp_32^0==tmp_32^post_85 && x_126^0==x_126^post_85 && x_14^0==x_14^post_85 && x_17^0==x_17^post_85 && x_172^0==x_172^post_85 && x_21^0==x_21^post_85 && x_SLAM_f_19^0==x_SLAM_f_19^post_85 && y_20^0==y_20^post_85 ], cost: 1
     85: l55 -> l56 : a_113^0'=a_113^post_86, a_144^0'=a_144^post_86, a_181^0'=a_181^post_86, a_212^0'=a_212^post_86, a_234^0'=a_234^post_86, a_257^0'=a_257^post_86, ct_18^0'=ct_18^post_86, f_167^0'=f_167^post_86, head_15^0'=head_15^post_86, head_30^0'=head_30^post_86, i_105^0'=i_105^post_86, i_164^0'=i_164^post_86, i_28^0'=i_28^post_86, i_92^0'=i_92^post_86, len_129^0'=len_129^post_86, len_180^0'=len_180^post_86, length_27^0'=length_27^post_86, nondet_12^0'=nondet_12^post_86, r_121^0'=r_121^post_86, r_160^0'=r_160^post_86, r_37^0'=r_37^post_86, rcd_56^0'=rcd_56^post_86, rcd_86^0'=rcd_86^post_86, result_11^0'=result_11^post_86, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_86, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_86, t_24^0'=t_24^post_86, temp0_16^0'=temp0_16^post_86, temp0_29^0'=temp0_29^post_86, temp_33^0'=temp_33^post_86, tmp_32^0'=tmp_32^post_86, x_126^0'=x_126^post_86, x_14^0'=x_14^post_86, x_172^0'=x_172^post_86, x_17^0'=x_17^post_86, x_21^0'=x_21^post_86, x_SLAM_f_19^0'=x_SLAM_f_19^post_86, y_20^0'=y_20^post_86, [ 1+x_126^0<=0 && a_113^0==a_113^post_86 && a_144^0==a_144^post_86 && a_181^0==a_181^post_86 && a_212^0==a_212^post_86 && a_234^0==a_234^post_86 && a_257^0==a_257^post_86 && ct_18^0==ct_18^post_86 && f_167^0==f_167^post_86 && head_15^0==head_15^post_86 && head_30^0==head_30^post_86 && i_105^0==i_105^post_86 && i_164^0==i_164^post_86 && i_28^0==i_28^post_86 && i_92^0==i_92^post_86 && len_129^0==len_129^post_86 && len_180^0==len_180^post_86 && length_27^0==length_27^post_86 && nondet_12^0==nondet_12^post_86 && r_121^0==r_121^post_86 && r_160^0==r_160^post_86 && r_37^0==r_37^post_86 && rcd_56^0==rcd_56^post_86 && rcd_86^0==rcd_86^post_86 && result_11^0==result_11^post_86 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_86 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_86 && t_24^0==t_24^post_86 && temp0_16^0==temp0_16^post_86 && temp0_29^0==temp0_29^post_86 && temp_33^0==temp_33^post_86 && tmp_32^0==tmp_32^post_86 && x_126^0==x_126^post_86 && x_14^0==x_14^post_86 && x_17^0==x_17^post_86 && x_172^0==x_172^post_86 && x_21^0==x_21^post_86 && x_SLAM_f_19^0==x_SLAM_f_19^post_86 && y_20^0==y_20^post_86 ], cost: 1
     86: l56 -> l41 : a_113^0'=a_113^post_87, a_144^0'=a_144^post_87, a_181^0'=a_181^post_87, a_212^0'=a_212^post_87, a_234^0'=a_234^post_87, a_257^0'=a_257^post_87, ct_18^0'=ct_18^post_87, f_167^0'=f_167^post_87, head_15^0'=head_15^post_87, head_30^0'=head_30^post_87, i_105^0'=i_105^post_87, i_164^0'=i_164^post_87, i_28^0'=i_28^post_87, i_92^0'=i_92^post_87, len_129^0'=len_129^post_87, len_180^0'=len_180^post_87, length_27^0'=length_27^post_87, nondet_12^0'=nondet_12^post_87, r_121^0'=r_121^post_87, r_160^0'=r_160^post_87, r_37^0'=r_37^post_87, rcd_56^0'=rcd_56^post_87, rcd_86^0'=rcd_86^post_87, result_11^0'=result_11^post_87, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_87, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_87, t_24^0'=t_24^post_87, temp0_16^0'=temp0_16^post_87, temp0_29^0'=temp0_29^post_87, temp_33^0'=temp_33^post_87, tmp_32^0'=tmp_32^post_87, x_126^0'=x_126^post_87, x_14^0'=x_14^post_87, x_172^0'=x_172^post_87, x_17^0'=x_17^post_87, x_21^0'=x_21^post_87, x_SLAM_f_19^0'=x_SLAM_f_19^post_87, y_20^0'=y_20^post_87, [ 1<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && a_113^0==a_113^post_87 && a_144^0==a_144^post_87 && a_181^0==a_181^post_87 && a_212^0==a_212^post_87 && a_234^0==a_234^post_87 && a_257^0==a_257^post_87 && ct_18^0==ct_18^post_87 && f_167^0==f_167^post_87 && head_15^0==head_15^post_87 && head_30^0==head_30^post_87 && i_105^0==i_105^post_87 && i_164^0==i_164^post_87 && i_28^0==i_28^post_87 && i_92^0==i_92^post_87 && len_129^0==len_129^post_87 && len_180^0==len_180^post_87 && length_27^0==length_27^post_87 && nondet_12^0==nondet_12^post_87 && r_121^0==r_121^post_87 && r_160^0==r_160^post_87 && r_37^0==r_37^post_87 && rcd_56^0==rcd_56^post_87 && rcd_86^0==rcd_86^post_87 && result_11^0==result_11^post_87 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_87 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_87 && t_24^0==t_24^post_87 && temp0_16^0==temp0_16^post_87 && temp0_29^0==temp0_29^post_87 && temp_33^0==temp_33^post_87 && tmp_32^0==tmp_32^post_87 && x_126^0==x_126^post_87 && x_14^0==x_14^post_87 && x_17^0==x_17^post_87 && x_172^0==x_172^post_87 && x_21^0==x_21^post_87 && x_SLAM_f_19^0==x_SLAM_f_19^post_87 && y_20^0==y_20^post_87 ], cost: 1
     87: l57 -> l58 : a_113^0'=a_113^post_88, a_144^0'=a_144^post_88, a_181^0'=a_181^post_88, a_212^0'=a_212^post_88, a_234^0'=a_234^post_88, a_257^0'=a_257^post_88, ct_18^0'=ct_18^post_88, f_167^0'=f_167^post_88, head_15^0'=head_15^post_88, head_30^0'=head_30^post_88, i_105^0'=i_105^post_88, i_164^0'=i_164^post_88, i_28^0'=i_28^post_88, i_92^0'=i_92^post_88, len_129^0'=len_129^post_88, len_180^0'=len_180^post_88, length_27^0'=length_27^post_88, nondet_12^0'=nondet_12^post_88, r_121^0'=r_121^post_88, r_160^0'=r_160^post_88, r_37^0'=r_37^post_88, rcd_56^0'=rcd_56^post_88, rcd_86^0'=rcd_86^post_88, result_11^0'=result_11^post_88, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_88, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_88, t_24^0'=t_24^post_88, temp0_16^0'=temp0_16^post_88, temp0_29^0'=temp0_29^post_88, temp_33^0'=temp_33^post_88, tmp_32^0'=tmp_32^post_88, x_126^0'=x_126^post_88, x_14^0'=x_14^post_88, x_172^0'=x_172^post_88, x_17^0'=x_17^post_88, x_21^0'=x_21^post_88, x_SLAM_f_19^0'=x_SLAM_f_19^post_88, y_20^0'=y_20^post_88, [ 0<=i_28^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_88==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_88 && head_15^post_88==head_15^post_88 && r_37^post_88==r_37^post_88 && i_105^post_88==i_105^post_88 && r_160^post_88==r_160^post_88 && a_113^0==a_113^post_88 && a_144^0==a_144^post_88 && a_181^0==a_181^post_88 && a_212^0==a_212^post_88 && a_234^0==a_234^post_88 && a_257^0==a_257^post_88 && ct_18^0==ct_18^post_88 && f_167^0==f_167^post_88 && head_30^0==head_30^post_88 && i_164^0==i_164^post_88 && i_28^0==i_28^post_88 && i_92^0==i_92^post_88 && len_129^0==len_129^post_88 && len_180^0==len_180^post_88 && length_27^0==length_27^post_88 && nondet_12^0==nondet_12^post_88 && r_121^0==r_121^post_88 && rcd_56^0==rcd_56^post_88 && rcd_86^0==rcd_86^post_88 && result_11^0==result_11^post_88 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_88 && t_24^0==t_24^post_88 && temp0_16^0==temp0_16^post_88 && temp0_29^0==temp0_29^post_88 && temp_33^0==temp_33^post_88 && tmp_32^0==tmp_32^post_88 && x_126^0==x_126^post_88 && x_14^0==x_14^post_88 && x_17^0==x_17^post_88 && x_172^0==x_172^post_88 && x_21^0==x_21^post_88 && x_SLAM_f_19^0==x_SLAM_f_19^post_88 && y_20^0==y_20^post_88 ], cost: 1
     88: l58 -> l59 : a_113^0'=a_113^post_89, a_144^0'=a_144^post_89, a_181^0'=a_181^post_89, a_212^0'=a_212^post_89, a_234^0'=a_234^post_89, a_257^0'=a_257^post_89, ct_18^0'=ct_18^post_89, f_167^0'=f_167^post_89, head_15^0'=head_15^post_89, head_30^0'=head_30^post_89, i_105^0'=i_105^post_89, i_164^0'=i_164^post_89, i_28^0'=i_28^post_89, i_92^0'=i_92^post_89, len_129^0'=len_129^post_89, len_180^0'=len_180^post_89, length_27^0'=length_27^post_89, nondet_12^0'=nondet_12^post_89, r_121^0'=r_121^post_89, r_160^0'=r_160^post_89, r_37^0'=r_37^post_89, rcd_56^0'=rcd_56^post_89, rcd_86^0'=rcd_86^post_89, result_11^0'=result_11^post_89, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_89, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_89, t_24^0'=t_24^post_89, temp0_16^0'=temp0_16^post_89, temp0_29^0'=temp0_29^post_89, temp_33^0'=temp_33^post_89, tmp_32^0'=tmp_32^post_89, x_126^0'=x_126^post_89, x_14^0'=x_14^post_89, x_172^0'=x_172^post_89, x_17^0'=x_17^post_89, x_21^0'=x_21^post_89, x_SLAM_f_19^0'=x_SLAM_f_19^post_89, y_20^0'=y_20^post_89, [ 1<=x_14^0 && a_113^0==a_113^post_89 && a_144^0==a_144^post_89 && a_181^0==a_181^post_89 && a_212^0==a_212^post_89 && a_234^0==a_234^post_89 && a_257^0==a_257^post_89 && ct_18^0==ct_18^post_89 && f_167^0==f_167^post_89 && head_15^0==head_15^post_89 && head_30^0==head_30^post_89 && i_105^0==i_105^post_89 && i_164^0==i_164^post_89 && i_28^0==i_28^post_89 && i_92^0==i_92^post_89 && len_129^0==len_129^post_89 && len_180^0==len_180^post_89 && length_27^0==length_27^post_89 && nondet_12^0==nondet_12^post_89 && r_121^0==r_121^post_89 && r_160^0==r_160^post_89 && r_37^0==r_37^post_89 && rcd_56^0==rcd_56^post_89 && rcd_86^0==rcd_86^post_89 && result_11^0==result_11^post_89 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_89 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_89 && t_24^0==t_24^post_89 && temp0_16^0==temp0_16^post_89 && temp0_29^0==temp0_29^post_89 && temp_33^0==temp_33^post_89 && tmp_32^0==tmp_32^post_89 && x_126^0==x_126^post_89 && x_14^0==x_14^post_89 && x_17^0==x_17^post_89 && x_172^0==x_172^post_89 && x_21^0==x_21^post_89 && x_SLAM_f_19^0==x_SLAM_f_19^post_89 && y_20^0==y_20^post_89 ], cost: 1
     89: l58 -> l59 : a_113^0'=a_113^post_90, a_144^0'=a_144^post_90, a_181^0'=a_181^post_90, a_212^0'=a_212^post_90, a_234^0'=a_234^post_90, a_257^0'=a_257^post_90, ct_18^0'=ct_18^post_90, f_167^0'=f_167^post_90, head_15^0'=head_15^post_90, head_30^0'=head_30^post_90, i_105^0'=i_105^post_90, i_164^0'=i_164^post_90, i_28^0'=i_28^post_90, i_92^0'=i_92^post_90, len_129^0'=len_129^post_90, len_180^0'=len_180^post_90, length_27^0'=length_27^post_90, nondet_12^0'=nondet_12^post_90, r_121^0'=r_121^post_90, r_160^0'=r_160^post_90, r_37^0'=r_37^post_90, rcd_56^0'=rcd_56^post_90, rcd_86^0'=rcd_86^post_90, result_11^0'=result_11^post_90, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_90, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_90, t_24^0'=t_24^post_90, temp0_16^0'=temp0_16^post_90, temp0_29^0'=temp0_29^post_90, temp_33^0'=temp_33^post_90, tmp_32^0'=tmp_32^post_90, x_126^0'=x_126^post_90, x_14^0'=x_14^post_90, x_172^0'=x_172^post_90, x_17^0'=x_17^post_90, x_21^0'=x_21^post_90, x_SLAM_f_19^0'=x_SLAM_f_19^post_90, y_20^0'=y_20^post_90, [ 1+x_14^0<=0 && a_113^0==a_113^post_90 && a_144^0==a_144^post_90 && a_181^0==a_181^post_90 && a_212^0==a_212^post_90 && a_234^0==a_234^post_90 && a_257^0==a_257^post_90 && ct_18^0==ct_18^post_90 && f_167^0==f_167^post_90 && head_15^0==head_15^post_90 && head_30^0==head_30^post_90 && i_105^0==i_105^post_90 && i_164^0==i_164^post_90 && i_28^0==i_28^post_90 && i_92^0==i_92^post_90 && len_129^0==len_129^post_90 && len_180^0==len_180^post_90 && length_27^0==length_27^post_90 && nondet_12^0==nondet_12^post_90 && r_121^0==r_121^post_90 && r_160^0==r_160^post_90 && r_37^0==r_37^post_90 && rcd_56^0==rcd_56^post_90 && rcd_86^0==rcd_86^post_90 && result_11^0==result_11^post_90 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_90 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_90 && t_24^0==t_24^post_90 && temp0_16^0==temp0_16^post_90 && temp0_29^0==temp0_29^post_90 && temp_33^0==temp_33^post_90 && tmp_32^0==tmp_32^post_90 && x_126^0==x_126^post_90 && x_14^0==x_14^post_90 && x_17^0==x_17^post_90 && x_172^0==x_172^post_90 && x_21^0==x_21^post_90 && x_SLAM_f_19^0==x_SLAM_f_19^post_90 && y_20^0==y_20^post_90 ], cost: 1
     90: l59 -> l60 : a_113^0'=a_113^post_91, a_144^0'=a_144^post_91, a_181^0'=a_181^post_91, a_212^0'=a_212^post_91, a_234^0'=a_234^post_91, a_257^0'=a_257^post_91, ct_18^0'=ct_18^post_91, f_167^0'=f_167^post_91, head_15^0'=head_15^post_91, head_30^0'=head_30^post_91, i_105^0'=i_105^post_91, i_164^0'=i_164^post_91, i_28^0'=i_28^post_91, i_92^0'=i_92^post_91, len_129^0'=len_129^post_91, len_180^0'=len_180^post_91, length_27^0'=length_27^post_91, nondet_12^0'=nondet_12^post_91, r_121^0'=r_121^post_91, r_160^0'=r_160^post_91, r_37^0'=r_37^post_91, rcd_56^0'=rcd_56^post_91, rcd_86^0'=rcd_86^post_91, result_11^0'=result_11^post_91, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_91, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_91, t_24^0'=t_24^post_91, temp0_16^0'=temp0_16^post_91, temp0_29^0'=temp0_29^post_91, temp_33^0'=temp_33^post_91, tmp_32^0'=tmp_32^post_91, x_126^0'=x_126^post_91, x_14^0'=x_14^post_91, x_172^0'=x_172^post_91, x_17^0'=x_17^post_91, x_21^0'=x_21^post_91, x_SLAM_f_19^0'=x_SLAM_f_19^post_91, y_20^0'=y_20^post_91, [ a_113^post_91==a_113^post_91 && 0<=a_144^0-a_113^post_91 && a_144^0-a_113^post_91<=0 && 1<=len_129^0 && len_129^0<=1 && a_113^post_91<=a_144^0 && a_144^0<=a_113^post_91 && a_144^0==a_144^post_91 && a_181^0==a_181^post_91 && a_212^0==a_212^post_91 && a_234^0==a_234^post_91 && a_257^0==a_257^post_91 && ct_18^0==ct_18^post_91 && f_167^0==f_167^post_91 && head_15^0==head_15^post_91 && head_30^0==head_30^post_91 && i_105^0==i_105^post_91 && i_164^0==i_164^post_91 && i_28^0==i_28^post_91 && i_92^0==i_92^post_91 && len_129^0==len_129^post_91 && len_180^0==len_180^post_91 && length_27^0==length_27^post_91 && nondet_12^0==nondet_12^post_91 && r_121^0==r_121^post_91 && r_160^0==r_160^post_91 && r_37^0==r_37^post_91 && rcd_56^0==rcd_56^post_91 && rcd_86^0==rcd_86^post_91 && result_11^0==result_11^post_91 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_91 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_91 && t_24^0==t_24^post_91 && temp0_16^0==temp0_16^post_91 && temp0_29^0==temp0_29^post_91 && temp_33^0==temp_33^post_91 && tmp_32^0==tmp_32^post_91 && x_126^0==x_126^post_91 && x_14^0==x_14^post_91 && x_17^0==x_17^post_91 && x_172^0==x_172^post_91 && x_21^0==x_21^post_91 && x_SLAM_f_19^0==x_SLAM_f_19^post_91 && y_20^0==y_20^post_91 ], cost: 1
     91: l60 -> l61 : a_113^0'=a_113^post_92, a_144^0'=a_144^post_92, a_181^0'=a_181^post_92, a_212^0'=a_212^post_92, a_234^0'=a_234^post_92, a_257^0'=a_257^post_92, ct_18^0'=ct_18^post_92, f_167^0'=f_167^post_92, head_15^0'=head_15^post_92, head_30^0'=head_30^post_92, i_105^0'=i_105^post_92, i_164^0'=i_164^post_92, i_28^0'=i_28^post_92, i_92^0'=i_92^post_92, len_129^0'=len_129^post_92, len_180^0'=len_180^post_92, length_27^0'=length_27^post_92, nondet_12^0'=nondet_12^post_92, r_121^0'=r_121^post_92, r_160^0'=r_160^post_92, r_37^0'=r_37^post_92, rcd_56^0'=rcd_56^post_92, rcd_86^0'=rcd_86^post_92, result_11^0'=result_11^post_92, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_92, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_92, t_24^0'=t_24^post_92, temp0_16^0'=temp0_16^post_92, temp0_29^0'=temp0_29^post_92, temp_33^0'=temp_33^post_92, tmp_32^0'=tmp_32^post_92, x_126^0'=x_126^post_92, x_14^0'=x_14^post_92, x_172^0'=x_172^post_92, x_17^0'=x_17^post_92, x_21^0'=x_21^post_92, x_SLAM_f_19^0'=x_SLAM_f_19^post_92, y_20^0'=y_20^post_92, [ 1<=head_15^0 && a_113^0==a_113^post_92 && a_144^0==a_144^post_92 && a_181^0==a_181^post_92 && a_212^0==a_212^post_92 && a_234^0==a_234^post_92 && a_257^0==a_257^post_92 && ct_18^0==ct_18^post_92 && f_167^0==f_167^post_92 && head_15^0==head_15^post_92 && head_30^0==head_30^post_92 && i_105^0==i_105^post_92 && i_164^0==i_164^post_92 && i_28^0==i_28^post_92 && i_92^0==i_92^post_92 && len_129^0==len_129^post_92 && len_180^0==len_180^post_92 && length_27^0==length_27^post_92 && nondet_12^0==nondet_12^post_92 && r_121^0==r_121^post_92 && r_160^0==r_160^post_92 && r_37^0==r_37^post_92 && rcd_56^0==rcd_56^post_92 && rcd_86^0==rcd_86^post_92 && result_11^0==result_11^post_92 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_92 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_92 && t_24^0==t_24^post_92 && temp0_16^0==temp0_16^post_92 && temp0_29^0==temp0_29^post_92 && temp_33^0==temp_33^post_92 && tmp_32^0==tmp_32^post_92 && x_126^0==x_126^post_92 && x_14^0==x_14^post_92 && x_17^0==x_17^post_92 && x_172^0==x_172^post_92 && x_21^0==x_21^post_92 && x_SLAM_f_19^0==x_SLAM_f_19^post_92 && y_20^0==y_20^post_92 ], cost: 1
     92: l60 -> l61 : a_113^0'=a_113^post_93, a_144^0'=a_144^post_93, a_181^0'=a_181^post_93, a_212^0'=a_212^post_93, a_234^0'=a_234^post_93, a_257^0'=a_257^post_93, ct_18^0'=ct_18^post_93, f_167^0'=f_167^post_93, head_15^0'=head_15^post_93, head_30^0'=head_30^post_93, i_105^0'=i_105^post_93, i_164^0'=i_164^post_93, i_28^0'=i_28^post_93, i_92^0'=i_92^post_93, len_129^0'=len_129^post_93, len_180^0'=len_180^post_93, length_27^0'=length_27^post_93, nondet_12^0'=nondet_12^post_93, r_121^0'=r_121^post_93, r_160^0'=r_160^post_93, r_37^0'=r_37^post_93, rcd_56^0'=rcd_56^post_93, rcd_86^0'=rcd_86^post_93, result_11^0'=result_11^post_93, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_93, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_93, t_24^0'=t_24^post_93, temp0_16^0'=temp0_16^post_93, temp0_29^0'=temp0_29^post_93, temp_33^0'=temp_33^post_93, tmp_32^0'=tmp_32^post_93, x_126^0'=x_126^post_93, x_14^0'=x_14^post_93, x_172^0'=x_172^post_93, x_17^0'=x_17^post_93, x_21^0'=x_21^post_93, x_SLAM_f_19^0'=x_SLAM_f_19^post_93, y_20^0'=y_20^post_93, [ 1+head_15^0<=0 && a_113^0==a_113^post_93 && a_144^0==a_144^post_93 && a_181^0==a_181^post_93 && a_212^0==a_212^post_93 && a_234^0==a_234^post_93 && a_257^0==a_257^post_93 && ct_18^0==ct_18^post_93 && f_167^0==f_167^post_93 && head_15^0==head_15^post_93 && head_30^0==head_30^post_93 && i_105^0==i_105^post_93 && i_164^0==i_164^post_93 && i_28^0==i_28^post_93 && i_92^0==i_92^post_93 && len_129^0==len_129^post_93 && len_180^0==len_180^post_93 && length_27^0==length_27^post_93 && nondet_12^0==nondet_12^post_93 && r_121^0==r_121^post_93 && r_160^0==r_160^post_93 && r_37^0==r_37^post_93 && rcd_56^0==rcd_56^post_93 && rcd_86^0==rcd_86^post_93 && result_11^0==result_11^post_93 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_93 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_93 && t_24^0==t_24^post_93 && temp0_16^0==temp0_16^post_93 && temp0_29^0==temp0_29^post_93 && temp_33^0==temp_33^post_93 && tmp_32^0==tmp_32^post_93 && x_126^0==x_126^post_93 && x_14^0==x_14^post_93 && x_17^0==x_17^post_93 && x_172^0==x_172^post_93 && x_21^0==x_21^post_93 && x_SLAM_f_19^0==x_SLAM_f_19^post_93 && y_20^0==y_20^post_93 ], cost: 1
     93: l61 -> l41 : a_113^0'=a_113^post_94, a_144^0'=a_144^post_94, a_181^0'=a_181^post_94, a_212^0'=a_212^post_94, a_234^0'=a_234^post_94, a_257^0'=a_257^post_94, ct_18^0'=ct_18^post_94, f_167^0'=f_167^post_94, head_15^0'=head_15^post_94, head_30^0'=head_30^post_94, i_105^0'=i_105^post_94, i_164^0'=i_164^post_94, i_28^0'=i_28^post_94, i_92^0'=i_92^post_94, len_129^0'=len_129^post_94, len_180^0'=len_180^post_94, length_27^0'=length_27^post_94, nondet_12^0'=nondet_12^post_94, r_121^0'=r_121^post_94, r_160^0'=r_160^post_94, r_37^0'=r_37^post_94, rcd_56^0'=rcd_56^post_94, rcd_86^0'=rcd_86^post_94, result_11^0'=result_11^post_94, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_94, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_94, t_24^0'=t_24^post_94, temp0_16^0'=temp0_16^post_94, temp0_29^0'=temp0_29^post_94, temp_33^0'=temp_33^post_94, tmp_32^0'=tmp_32^post_94, x_126^0'=x_126^post_94, x_14^0'=x_14^post_94, x_172^0'=x_172^post_94, x_17^0'=x_17^post_94, x_21^0'=x_21^post_94, x_SLAM_f_19^0'=x_SLAM_f_19^post_94, y_20^0'=y_20^post_94, [ 1<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0<=i_105^0 && i_105^post_94==i_105^post_94 && -1+i_105^post_94<=a_113^0 && a_113^0<=-1+i_105^post_94 && a_113^0==a_113^post_94 && a_144^0==a_144^post_94 && a_181^0==a_181^post_94 && a_212^0==a_212^post_94 && a_234^0==a_234^post_94 && a_257^0==a_257^post_94 && ct_18^0==ct_18^post_94 && f_167^0==f_167^post_94 && head_15^0==head_15^post_94 && head_30^0==head_30^post_94 && i_164^0==i_164^post_94 && i_28^0==i_28^post_94 && i_92^0==i_92^post_94 && len_129^0==len_129^post_94 && len_180^0==len_180^post_94 && length_27^0==length_27^post_94 && nondet_12^0==nondet_12^post_94 && r_121^0==r_121^post_94 && r_160^0==r_160^post_94 && r_37^0==r_37^post_94 && rcd_56^0==rcd_56^post_94 && rcd_86^0==rcd_86^post_94 && result_11^0==result_11^post_94 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_94 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_94 && t_24^0==t_24^post_94 && temp0_16^0==temp0_16^post_94 && temp0_29^0==temp0_29^post_94 && temp_33^0==temp_33^post_94 && tmp_32^0==tmp_32^post_94 && x_126^0==x_126^post_94 && x_14^0==x_14^post_94 && x_17^0==x_17^post_94 && x_172^0==x_172^post_94 && x_21^0==x_21^post_94 && x_SLAM_f_19^0==x_SLAM_f_19^post_94 && y_20^0==y_20^post_94 ], cost: 1
     95: l62 -> l63 : a_113^0'=a_113^post_96, a_144^0'=a_144^post_96, a_181^0'=a_181^post_96, a_212^0'=a_212^post_96, a_234^0'=a_234^post_96, a_257^0'=a_257^post_96, ct_18^0'=ct_18^post_96, f_167^0'=f_167^post_96, head_15^0'=head_15^post_96, head_30^0'=head_30^post_96, i_105^0'=i_105^post_96, i_164^0'=i_164^post_96, i_28^0'=i_28^post_96, i_92^0'=i_92^post_96, len_129^0'=len_129^post_96, len_180^0'=len_180^post_96, length_27^0'=length_27^post_96, nondet_12^0'=nondet_12^post_96, r_121^0'=r_121^post_96, r_160^0'=r_160^post_96, r_37^0'=r_37^post_96, rcd_56^0'=rcd_56^post_96, rcd_86^0'=rcd_86^post_96, result_11^0'=result_11^post_96, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_96, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_96, t_24^0'=t_24^post_96, temp0_16^0'=temp0_16^post_96, temp0_29^0'=temp0_29^post_96, temp_33^0'=temp_33^post_96, tmp_32^0'=tmp_32^post_96, x_126^0'=x_126^post_96, x_14^0'=x_14^post_96, x_172^0'=x_172^post_96, x_17^0'=x_17^post_96, x_21^0'=x_21^post_96, x_SLAM_f_19^0'=x_SLAM_f_19^post_96, y_20^0'=y_20^post_96, [ 1<=head_15^0 && a_113^0==a_113^post_96 && a_144^0==a_144^post_96 && a_181^0==a_181^post_96 && a_212^0==a_212^post_96 && a_234^0==a_234^post_96 && a_257^0==a_257^post_96 && ct_18^0==ct_18^post_96 && f_167^0==f_167^post_96 && head_15^0==head_15^post_96 && head_30^0==head_30^post_96 && i_105^0==i_105^post_96 && i_164^0==i_164^post_96 && i_28^0==i_28^post_96 && i_92^0==i_92^post_96 && len_129^0==len_129^post_96 && len_180^0==len_180^post_96 && length_27^0==length_27^post_96 && nondet_12^0==nondet_12^post_96 && r_121^0==r_121^post_96 && r_160^0==r_160^post_96 && r_37^0==r_37^post_96 && rcd_56^0==rcd_56^post_96 && rcd_86^0==rcd_86^post_96 && result_11^0==result_11^post_96 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_96 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_96 && t_24^0==t_24^post_96 && temp0_16^0==temp0_16^post_96 && temp0_29^0==temp0_29^post_96 && temp_33^0==temp_33^post_96 && tmp_32^0==tmp_32^post_96 && x_126^0==x_126^post_96 && x_14^0==x_14^post_96 && x_17^0==x_17^post_96 && x_172^0==x_172^post_96 && x_21^0==x_21^post_96 && x_SLAM_f_19^0==x_SLAM_f_19^post_96 && y_20^0==y_20^post_96 ], cost: 1
     96: l62 -> l63 : a_113^0'=a_113^post_97, a_144^0'=a_144^post_97, a_181^0'=a_181^post_97, a_212^0'=a_212^post_97, a_234^0'=a_234^post_97, a_257^0'=a_257^post_97, ct_18^0'=ct_18^post_97, f_167^0'=f_167^post_97, head_15^0'=head_15^post_97, head_30^0'=head_30^post_97, i_105^0'=i_105^post_97, i_164^0'=i_164^post_97, i_28^0'=i_28^post_97, i_92^0'=i_92^post_97, len_129^0'=len_129^post_97, len_180^0'=len_180^post_97, length_27^0'=length_27^post_97, nondet_12^0'=nondet_12^post_97, r_121^0'=r_121^post_97, r_160^0'=r_160^post_97, r_37^0'=r_37^post_97, rcd_56^0'=rcd_56^post_97, rcd_86^0'=rcd_86^post_97, result_11^0'=result_11^post_97, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_97, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_97, t_24^0'=t_24^post_97, temp0_16^0'=temp0_16^post_97, temp0_29^0'=temp0_29^post_97, temp_33^0'=temp_33^post_97, tmp_32^0'=tmp_32^post_97, x_126^0'=x_126^post_97, x_14^0'=x_14^post_97, x_172^0'=x_172^post_97, x_17^0'=x_17^post_97, x_21^0'=x_21^post_97, x_SLAM_f_19^0'=x_SLAM_f_19^post_97, y_20^0'=y_20^post_97, [ 1+head_15^0<=0 && a_113^0==a_113^post_97 && a_144^0==a_144^post_97 && a_181^0==a_181^post_97 && a_212^0==a_212^post_97 && a_234^0==a_234^post_97 && a_257^0==a_257^post_97 && ct_18^0==ct_18^post_97 && f_167^0==f_167^post_97 && head_15^0==head_15^post_97 && head_30^0==head_30^post_97 && i_105^0==i_105^post_97 && i_164^0==i_164^post_97 && i_28^0==i_28^post_97 && i_92^0==i_92^post_97 && len_129^0==len_129^post_97 && len_180^0==len_180^post_97 && length_27^0==length_27^post_97 && nondet_12^0==nondet_12^post_97 && r_121^0==r_121^post_97 && r_160^0==r_160^post_97 && r_37^0==r_37^post_97 && rcd_56^0==rcd_56^post_97 && rcd_86^0==rcd_86^post_97 && result_11^0==result_11^post_97 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_97 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_97 && t_24^0==t_24^post_97 && temp0_16^0==temp0_16^post_97 && temp0_29^0==temp0_29^post_97 && temp_33^0==temp_33^post_97 && tmp_32^0==tmp_32^post_97 && x_126^0==x_126^post_97 && x_14^0==x_14^post_97 && x_17^0==x_17^post_97 && x_172^0==x_172^post_97 && x_21^0==x_21^post_97 && x_SLAM_f_19^0==x_SLAM_f_19^post_97 && y_20^0==y_20^post_97 ], cost: 1
     97: l63 -> l41 : a_113^0'=a_113^post_98, a_144^0'=a_144^post_98, a_181^0'=a_181^post_98, a_212^0'=a_212^post_98, a_234^0'=a_234^post_98, a_257^0'=a_257^post_98, ct_18^0'=ct_18^post_98, f_167^0'=f_167^post_98, head_15^0'=head_15^post_98, head_30^0'=head_30^post_98, i_105^0'=i_105^post_98, i_164^0'=i_164^post_98, i_28^0'=i_28^post_98, i_92^0'=i_92^post_98, len_129^0'=len_129^post_98, len_180^0'=len_180^post_98, length_27^0'=length_27^post_98, nondet_12^0'=nondet_12^post_98, r_121^0'=r_121^post_98, r_160^0'=r_160^post_98, r_37^0'=r_37^post_98, rcd_56^0'=rcd_56^post_98, rcd_86^0'=rcd_86^post_98, result_11^0'=result_11^post_98, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_98, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_98, t_24^0'=t_24^post_98, temp0_16^0'=temp0_16^post_98, temp0_29^0'=temp0_29^post_98, temp_33^0'=temp_33^post_98, tmp_32^0'=tmp_32^post_98, x_126^0'=x_126^post_98, x_14^0'=x_14^post_98, x_172^0'=x_172^post_98, x_17^0'=x_17^post_98, x_21^0'=x_21^post_98, x_SLAM_f_19^0'=x_SLAM_f_19^post_98, y_20^0'=y_20^post_98, [ 1<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0<=i_28^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0<=i_164^0 && a_113^0==a_113^post_98 && a_144^0==a_144^post_98 && a_181^0==a_181^post_98 && a_212^0==a_212^post_98 && a_234^0==a_234^post_98 && a_257^0==a_257^post_98 && ct_18^0==ct_18^post_98 && f_167^0==f_167^post_98 && head_15^0==head_15^post_98 && head_30^0==head_30^post_98 && i_105^0==i_105^post_98 && i_164^0==i_164^post_98 && i_28^0==i_28^post_98 && i_92^0==i_92^post_98 && len_129^0==len_129^post_98 && len_180^0==len_180^post_98 && length_27^0==length_27^post_98 && nondet_12^0==nondet_12^post_98 && r_121^0==r_121^post_98 && r_160^0==r_160^post_98 && r_37^0==r_37^post_98 && rcd_56^0==rcd_56^post_98 && rcd_86^0==rcd_86^post_98 && result_11^0==result_11^post_98 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_98 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_98 && t_24^0==t_24^post_98 && temp0_16^0==temp0_16^post_98 && temp0_29^0==temp0_29^post_98 && temp_33^0==temp_33^post_98 && tmp_32^0==tmp_32^post_98 && x_126^0==x_126^post_98 && x_14^0==x_14^post_98 && x_17^0==x_17^post_98 && x_172^0==x_172^post_98 && x_21^0==x_21^post_98 && x_SLAM_f_19^0==x_SLAM_f_19^post_98 && y_20^0==y_20^post_98 ], cost: 1
     99: l64 -> l40 : a_113^0'=a_113^post_100, a_144^0'=a_144^post_100, a_181^0'=a_181^post_100, a_212^0'=a_212^post_100, a_234^0'=a_234^post_100, a_257^0'=a_257^post_100, ct_18^0'=ct_18^post_100, f_167^0'=f_167^post_100, head_15^0'=head_15^post_100, head_30^0'=head_30^post_100, i_105^0'=i_105^post_100, i_164^0'=i_164^post_100, i_28^0'=i_28^post_100, i_92^0'=i_92^post_100, len_129^0'=len_129^post_100, len_180^0'=len_180^post_100, length_27^0'=length_27^post_100, nondet_12^0'=nondet_12^post_100, r_121^0'=r_121^post_100, r_160^0'=r_160^post_100, r_37^0'=r_37^post_100, rcd_56^0'=rcd_56^post_100, rcd_86^0'=rcd_86^post_100, result_11^0'=result_11^post_100, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_100, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_100, t_24^0'=t_24^post_100, temp0_16^0'=temp0_16^post_100, temp0_29^0'=temp0_29^post_100, temp_33^0'=temp_33^post_100, tmp_32^0'=tmp_32^post_100, x_126^0'=x_126^post_100, x_14^0'=x_14^post_100, x_172^0'=x_172^post_100, x_17^0'=x_17^post_100, x_21^0'=x_21^post_100, x_SLAM_f_19^0'=x_SLAM_f_19^post_100, y_20^0'=y_20^post_100, [ a_113^0==a_113^post_100 && a_144^0==a_144^post_100 && a_181^0==a_181^post_100 && a_212^0==a_212^post_100 && a_234^0==a_234^post_100 && a_257^0==a_257^post_100 && ct_18^0==ct_18^post_100 && f_167^0==f_167^post_100 && head_15^0==head_15^post_100 && head_30^0==head_30^post_100 && i_105^0==i_105^post_100 && i_164^0==i_164^post_100 && i_28^0==i_28^post_100 && i_92^0==i_92^post_100 && len_129^0==len_129^post_100 && len_180^0==len_180^post_100 && length_27^0==length_27^post_100 && nondet_12^0==nondet_12^post_100 && r_121^0==r_121^post_100 && r_160^0==r_160^post_100 && r_37^0==r_37^post_100 && rcd_56^0==rcd_56^post_100 && rcd_86^0==rcd_86^post_100 && result_11^0==result_11^post_100 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_100 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_100 && t_24^0==t_24^post_100 && temp0_16^0==temp0_16^post_100 && temp0_29^0==temp0_29^post_100 && temp_33^0==temp_33^post_100 && tmp_32^0==tmp_32^post_100 && x_126^0==x_126^post_100 && x_14^0==x_14^post_100 && x_17^0==x_17^post_100 && x_172^0==x_172^post_100 && x_21^0==x_21^post_100 && x_SLAM_f_19^0==x_SLAM_f_19^post_100 && y_20^0==y_20^post_100 ], cost: 1
    102: l65 -> l0 : a_113^0'=a_113^post_103, a_144^0'=a_144^post_103, a_181^0'=a_181^post_103, a_212^0'=a_212^post_103, a_234^0'=a_234^post_103, a_257^0'=a_257^post_103, ct_18^0'=ct_18^post_103, f_167^0'=f_167^post_103, head_15^0'=head_15^post_103, head_30^0'=head_30^post_103, i_105^0'=i_105^post_103, i_164^0'=i_164^post_103, i_28^0'=i_28^post_103, i_92^0'=i_92^post_103, len_129^0'=len_129^post_103, len_180^0'=len_180^post_103, length_27^0'=length_27^post_103, nondet_12^0'=nondet_12^post_103, r_121^0'=r_121^post_103, r_160^0'=r_160^post_103, r_37^0'=r_37^post_103, rcd_56^0'=rcd_56^post_103, rcd_86^0'=rcd_86^post_103, result_11^0'=result_11^post_103, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_103, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_103, t_24^0'=t_24^post_103, temp0_16^0'=temp0_16^post_103, temp0_29^0'=temp0_29^post_103, temp_33^0'=temp_33^post_103, tmp_32^0'=tmp_32^post_103, x_126^0'=x_126^post_103, x_14^0'=x_14^post_103, x_172^0'=x_172^post_103, x_17^0'=x_17^post_103, x_21^0'=x_21^post_103, x_SLAM_f_19^0'=x_SLAM_f_19^post_103, y_20^0'=y_20^post_103, [ a_113^0==a_113^post_103 && a_144^0==a_144^post_103 && a_181^0==a_181^post_103 && a_212^0==a_212^post_103 && a_234^0==a_234^post_103 && a_257^0==a_257^post_103 && ct_18^0==ct_18^post_103 && f_167^0==f_167^post_103 && head_15^0==head_15^post_103 && head_30^0==head_30^post_103 && i_105^0==i_105^post_103 && i_164^0==i_164^post_103 && i_28^0==i_28^post_103 && i_92^0==i_92^post_103 && len_129^0==len_129^post_103 && len_180^0==len_180^post_103 && length_27^0==length_27^post_103 && nondet_12^0==nondet_12^post_103 && r_121^0==r_121^post_103 && r_160^0==r_160^post_103 && r_37^0==r_37^post_103 && rcd_56^0==rcd_56^post_103 && rcd_86^0==rcd_86^post_103 && result_11^0==result_11^post_103 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_103 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_103 && t_24^0==t_24^post_103 && temp0_16^0==temp0_16^post_103 && temp0_29^0==temp0_29^post_103 && temp_33^0==temp_33^post_103 && tmp_32^0==tmp_32^post_103 && x_126^0==x_126^post_103 && x_14^0==x_14^post_103 && x_17^0==x_17^post_103 && x_172^0==x_172^post_103 && x_21^0==x_21^post_103 && x_SLAM_f_19^0==x_SLAM_f_19^post_103 && y_20^0==y_20^post_103 ], cost: 1

Checking for constant complexity:
   The following rule is satisfiable with cost >= 1, yielding constant complexity:
    102: l65 -> l0 : a_113^0'=a_113^post_103, a_144^0'=a_144^post_103, a_181^0'=a_181^post_103, a_212^0'=a_212^post_103, a_234^0'=a_234^post_103, a_257^0'=a_257^post_103, ct_18^0'=ct_18^post_103, f_167^0'=f_167^post_103, head_15^0'=head_15^post_103, head_30^0'=head_30^post_103, i_105^0'=i_105^post_103, i_164^0'=i_164^post_103, i_28^0'=i_28^post_103, i_92^0'=i_92^post_103, len_129^0'=len_129^post_103, len_180^0'=len_180^post_103, length_27^0'=length_27^post_103, nondet_12^0'=nondet_12^post_103, r_121^0'=r_121^post_103, r_160^0'=r_160^post_103, r_37^0'=r_37^post_103, rcd_56^0'=rcd_56^post_103, rcd_86^0'=rcd_86^post_103, result_11^0'=result_11^post_103, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_103, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_103, t_24^0'=t_24^post_103, temp0_16^0'=temp0_16^post_103, temp0_29^0'=temp0_29^post_103, temp_33^0'=temp_33^post_103, tmp_32^0'=tmp_32^post_103, x_126^0'=x_126^post_103, x_14^0'=x_14^post_103, x_172^0'=x_172^post_103, x_17^0'=x_17^post_103, x_21^0'=x_21^post_103, x_SLAM_f_19^0'=x_SLAM_f_19^post_103, y_20^0'=y_20^post_103, [ a_113^0==a_113^post_103 && a_144^0==a_144^post_103 && a_181^0==a_181^post_103 && a_212^0==a_212^post_103 && a_234^0==a_234^post_103 && a_257^0==a_257^post_103 && ct_18^0==ct_18^post_103 && f_167^0==f_167^post_103 && head_15^0==head_15^post_103 && head_30^0==head_30^post_103 && i_105^0==i_105^post_103 && i_164^0==i_164^post_103 && i_28^0==i_28^post_103 && i_92^0==i_92^post_103 && len_129^0==len_129^post_103 && len_180^0==len_180^post_103 && length_27^0==length_27^post_103 && nondet_12^0==nondet_12^post_103 && r_121^0==r_121^post_103 && r_160^0==r_160^post_103 && r_37^0==r_37^post_103 && rcd_56^0==rcd_56^post_103 && rcd_86^0==rcd_86^post_103 && result_11^0==result_11^post_103 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_103 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_103 && t_24^0==t_24^post_103 && temp0_16^0==temp0_16^post_103 && temp0_29^0==temp0_29^post_103 && temp_33^0==temp_33^post_103 && tmp_32^0==tmp_32^post_103 && x_126^0==x_126^post_103 && x_14^0==x_14^post_103 && x_17^0==x_17^post_103 && x_172^0==x_172^post_103 && x_21^0==x_21^post_103 && x_SLAM_f_19^0==x_SLAM_f_19^post_103 && y_20^0==y_20^post_103 ], cost: 1

Removed unreachable and leaf rules:
   Start location: l65
      0: l0 -> l1 : a_113^0'=a_113^post_1, a_144^0'=a_144^post_1, a_181^0'=a_181^post_1, a_212^0'=a_212^post_1, a_234^0'=a_234^post_1, a_257^0'=a_257^post_1, ct_18^0'=ct_18^post_1, f_167^0'=f_167^post_1, head_15^0'=head_15^post_1, head_30^0'=head_30^post_1, i_105^0'=i_105^post_1, i_164^0'=i_164^post_1, i_28^0'=i_28^post_1, i_92^0'=i_92^post_1, len_129^0'=len_129^post_1, len_180^0'=len_180^post_1, length_27^0'=length_27^post_1, nondet_12^0'=nondet_12^post_1, r_121^0'=r_121^post_1, r_160^0'=r_160^post_1, r_37^0'=r_37^post_1, rcd_56^0'=rcd_56^post_1, rcd_86^0'=rcd_86^post_1, result_11^0'=result_11^post_1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1, t_24^0'=t_24^post_1, temp0_16^0'=temp0_16^post_1, temp0_29^0'=temp0_29^post_1, temp_33^0'=temp_33^post_1, tmp_32^0'=tmp_32^post_1, x_126^0'=x_126^post_1, x_14^0'=x_14^post_1, x_172^0'=x_172^post_1, x_17^0'=x_17^post_1, x_21^0'=x_21^post_1, x_SLAM_f_19^0'=x_SLAM_f_19^post_1, y_20^0'=y_20^post_1, [ nondet_12^1_1==nondet_12^1_1 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1==nondet_12^1_1 && nondet_12^post_1==nondet_12^post_1 && length_27^post_1==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1 && head_30^post_1==0 && i_28^post_1==0 && 0<=i_28^post_1 && i_28^post_1<=0 && 0<=head_30^post_1 && head_30^post_1<=0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1<=length_27^post_1 && length_27^post_1<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1 && a_113^0==a_113^post_1 && a_144^0==a_144^post_1 && a_181^0==a_181^post_1 && a_212^0==a_212^post_1 && a_234^0==a_234^post_1 && a_257^0==a_257^post_1 && ct_18^0==ct_18^post_1 && f_167^0==f_167^post_1 && head_15^0==head_15^post_1 && i_105^0==i_105^post_1 && i_164^0==i_164^post_1 && i_92^0==i_92^post_1 && len_129^0==len_129^post_1 && len_180^0==len_180^post_1 && r_121^0==r_121^post_1 && r_160^0==r_160^post_1 && r_37^0==r_37^post_1 && rcd_56^0==rcd_56^post_1 && rcd_86^0==rcd_86^post_1 && result_11^0==result_11^post_1 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_1 && t_24^0==t_24^post_1 && temp0_16^0==temp0_16^post_1 && temp0_29^0==temp0_29^post_1 && temp_33^0==temp_33^post_1 && tmp_32^0==tmp_32^post_1 && x_126^0==x_126^post_1 && x_14^0==x_14^post_1 && x_17^0==x_17^post_1 && x_172^0==x_172^post_1 && x_21^0==x_21^post_1 && x_SLAM_f_19^0==x_SLAM_f_19^post_1 && y_20^0==y_20^post_1 ], cost: 1
    101: l1 -> l27 : a_113^0'=a_113^post_102, a_144^0'=a_144^post_102, a_181^0'=a_181^post_102, a_212^0'=a_212^post_102, a_234^0'=a_234^post_102, a_257^0'=a_257^post_102, ct_18^0'=ct_18^post_102, f_167^0'=f_167^post_102, head_15^0'=head_15^post_102, head_30^0'=head_30^post_102, i_105^0'=i_105^post_102, i_164^0'=i_164^post_102, i_28^0'=i_28^post_102, i_92^0'=i_92^post_102, len_129^0'=len_129^post_102, len_180^0'=len_180^post_102, length_27^0'=length_27^post_102, nondet_12^0'=nondet_12^post_102, r_121^0'=r_121^post_102, r_160^0'=r_160^post_102, r_37^0'=r_37^post_102, rcd_56^0'=rcd_56^post_102, rcd_86^0'=rcd_86^post_102, result_11^0'=result_11^post_102, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_102, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_102, t_24^0'=t_24^post_102, temp0_16^0'=temp0_16^post_102, temp0_29^0'=temp0_29^post_102, temp_33^0'=temp_33^post_102, tmp_32^0'=tmp_32^post_102, x_126^0'=x_126^post_102, x_14^0'=x_14^post_102, x_172^0'=x_172^post_102, x_17^0'=x_17^post_102, x_21^0'=x_21^post_102, x_SLAM_f_19^0'=x_SLAM_f_19^post_102, y_20^0'=y_20^post_102, [ result_dot_nondet_sdv_special_RETURN_VALUE_13^post_102==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_102 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_102==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_102 && 1+i_28^0<=length_27^0 && tmp_32^post_102==temp_33^0 && temp_33^post_102==temp_33^post_102 && head_30^post_102==tmp_32^post_102 && i_28^post_102==1+i_28^0 && 1<=i_28^post_102 && i_28^post_102<=1 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_102<=length_27^0 && length_27^0<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_102 && head_30^post_102<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_102 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_102<=head_30^post_102 && head_30^post_102<=tmp_32^post_102 && tmp_32^post_102<=head_30^post_102 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_102<=tmp_32^post_102 && tmp_32^post_102<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_102 && 1<=length_27^0 && a_113^0==a_113^post_102 && a_144^0==a_144^post_102 && a_181^0==a_181^post_102 && a_212^0==a_212^post_102 && a_234^0==a_234^post_102 && a_257^0==a_257^post_102 && ct_18^0==ct_18^post_102 && f_167^0==f_167^post_102 && head_15^0==head_15^post_102 && i_105^0==i_105^post_102 && i_164^0==i_164^post_102 && i_92^0==i_92^post_102 && len_129^0==len_129^post_102 && len_180^0==len_180^post_102 && length_27^0==length_27^post_102 && nondet_12^0==nondet_12^post_102 && r_121^0==r_121^post_102 && r_160^0==r_160^post_102 && r_37^0==r_37^post_102 && rcd_56^0==rcd_56^post_102 && rcd_86^0==rcd_86^post_102 && result_11^0==result_11^post_102 && t_24^0==t_24^post_102 && temp0_16^0==temp0_16^post_102 && temp0_29^0==temp0_29^post_102 && x_126^0==x_126^post_102 && x_14^0==x_14^post_102 && x_17^0==x_17^post_102 && x_172^0==x_172^post_102 && x_21^0==x_21^post_102 && x_SLAM_f_19^0==x_SLAM_f_19^post_102 && y_20^0==y_20^post_102 ], cost: 1
      2: l2 -> l5 : a_113^0'=a_113^post_3, a_144^0'=a_144^post_3, a_181^0'=a_181^post_3, a_212^0'=a_212^post_3, a_234^0'=a_234^post_3, a_257^0'=a_257^post_3, ct_18^0'=ct_18^post_3, f_167^0'=f_167^post_3, head_15^0'=head_15^post_3, head_30^0'=head_30^post_3, i_105^0'=i_105^post_3, i_164^0'=i_164^post_3, i_28^0'=i_28^post_3, i_92^0'=i_92^post_3, len_129^0'=len_129^post_3, len_180^0'=len_180^post_3, length_27^0'=length_27^post_3, nondet_12^0'=nondet_12^post_3, r_121^0'=r_121^post_3, r_160^0'=r_160^post_3, r_37^0'=r_37^post_3, rcd_56^0'=rcd_56^post_3, rcd_86^0'=rcd_86^post_3, result_11^0'=result_11^post_3, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_3, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_3, t_24^0'=t_24^post_3, temp0_16^0'=temp0_16^post_3, temp0_29^0'=temp0_29^post_3, temp_33^0'=temp_33^post_3, tmp_32^0'=tmp_32^post_3, x_126^0'=x_126^post_3, x_14^0'=x_14^post_3, x_172^0'=x_172^post_3, x_17^0'=x_17^post_3, x_21^0'=x_21^post_3, x_SLAM_f_19^0'=x_SLAM_f_19^post_3, y_20^0'=y_20^post_3, [ 0<=a_234^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_3==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_3 && x_14^post_3==x_14^post_3 && head_15^post_3==head_15^post_3 && x_17^post_3==x_17^post_3 && ct_18^post_3==ct_18^post_3 && x_SLAM_f_19^post_3==x_SLAM_f_19^post_3 && r_37^post_3==r_37^post_3 && a_113^0==a_113^post_3 && a_144^0==a_144^post_3 && a_181^0==a_181^post_3 && a_212^0==a_212^post_3 && a_234^0==a_234^post_3 && a_257^0==a_257^post_3 && f_167^0==f_167^post_3 && head_30^0==head_30^post_3 && i_105^0==i_105^post_3 && i_164^0==i_164^post_3 && i_28^0==i_28^post_3 && i_92^0==i_92^post_3 && len_129^0==len_129^post_3 && len_180^0==len_180^post_3 && length_27^0==length_27^post_3 && nondet_12^0==nondet_12^post_3 && r_121^0==r_121^post_3 && r_160^0==r_160^post_3 && rcd_56^0==rcd_56^post_3 && rcd_86^0==rcd_86^post_3 && result_11^0==result_11^post_3 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_3 && t_24^0==t_24^post_3 && temp0_16^0==temp0_16^post_3 && temp0_29^0==temp0_29^post_3 && temp_33^0==temp_33^post_3 && tmp_32^0==tmp_32^post_3 && x_126^0==x_126^post_3 && x_172^0==x_172^post_3 && x_21^0==x_21^post_3 && y_20^0==y_20^post_3 ], cost: 1
      3: l5 -> l6 : a_113^0'=a_113^post_4, a_144^0'=a_144^post_4, a_181^0'=a_181^post_4, a_212^0'=a_212^post_4, a_234^0'=a_234^post_4, a_257^0'=a_257^post_4, ct_18^0'=ct_18^post_4, f_167^0'=f_167^post_4, head_15^0'=head_15^post_4, head_30^0'=head_30^post_4, i_105^0'=i_105^post_4, i_164^0'=i_164^post_4, i_28^0'=i_28^post_4, i_92^0'=i_92^post_4, len_129^0'=len_129^post_4, len_180^0'=len_180^post_4, length_27^0'=length_27^post_4, nondet_12^0'=nondet_12^post_4, r_121^0'=r_121^post_4, r_160^0'=r_160^post_4, r_37^0'=r_37^post_4, rcd_56^0'=rcd_56^post_4, rcd_86^0'=rcd_86^post_4, result_11^0'=result_11^post_4, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_4, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_4, t_24^0'=t_24^post_4, temp0_16^0'=temp0_16^post_4, temp0_29^0'=temp0_29^post_4, temp_33^0'=temp_33^post_4, tmp_32^0'=tmp_32^post_4, x_126^0'=x_126^post_4, x_14^0'=x_14^post_4, x_172^0'=x_172^post_4, x_17^0'=x_17^post_4, x_21^0'=x_21^post_4, x_SLAM_f_19^0'=x_SLAM_f_19^post_4, y_20^0'=y_20^post_4, [ 1+y_20^0<=x_21^0 && a_113^0==a_113^post_4 && a_144^0==a_144^post_4 && a_181^0==a_181^post_4 && a_212^0==a_212^post_4 && a_234^0==a_234^post_4 && a_257^0==a_257^post_4 && ct_18^0==ct_18^post_4 && f_167^0==f_167^post_4 && head_15^0==head_15^post_4 && head_30^0==head_30^post_4 && i_105^0==i_105^post_4 && i_164^0==i_164^post_4 && i_28^0==i_28^post_4 && i_92^0==i_92^post_4 && len_129^0==len_129^post_4 && len_180^0==len_180^post_4 && length_27^0==length_27^post_4 && nondet_12^0==nondet_12^post_4 && r_121^0==r_121^post_4 && r_160^0==r_160^post_4 && r_37^0==r_37^post_4 && rcd_56^0==rcd_56^post_4 && rcd_86^0==rcd_86^post_4 && result_11^0==result_11^post_4 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_4 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_4 && t_24^0==t_24^post_4 && temp0_16^0==temp0_16^post_4 && temp0_29^0==temp0_29^post_4 && temp_33^0==temp_33^post_4 && tmp_32^0==tmp_32^post_4 && x_126^0==x_126^post_4 && x_14^0==x_14^post_4 && x_17^0==x_17^post_4 && x_172^0==x_172^post_4 && x_21^0==x_21^post_4 && x_SLAM_f_19^0==x_SLAM_f_19^post_4 && y_20^0==y_20^post_4 ], cost: 1
      4: l5 -> l6 : a_113^0'=a_113^post_5, a_144^0'=a_144^post_5, a_181^0'=a_181^post_5, a_212^0'=a_212^post_5, a_234^0'=a_234^post_5, a_257^0'=a_257^post_5, ct_18^0'=ct_18^post_5, f_167^0'=f_167^post_5, head_15^0'=head_15^post_5, head_30^0'=head_30^post_5, i_105^0'=i_105^post_5, i_164^0'=i_164^post_5, i_28^0'=i_28^post_5, i_92^0'=i_92^post_5, len_129^0'=len_129^post_5, len_180^0'=len_180^post_5, length_27^0'=length_27^post_5, nondet_12^0'=nondet_12^post_5, r_121^0'=r_121^post_5, r_160^0'=r_160^post_5, r_37^0'=r_37^post_5, rcd_56^0'=rcd_56^post_5, rcd_86^0'=rcd_86^post_5, result_11^0'=result_11^post_5, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_5, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_5, t_24^0'=t_24^post_5, temp0_16^0'=temp0_16^post_5, temp0_29^0'=temp0_29^post_5, temp_33^0'=temp_33^post_5, tmp_32^0'=tmp_32^post_5, x_126^0'=x_126^post_5, x_14^0'=x_14^post_5, x_172^0'=x_172^post_5, x_17^0'=x_17^post_5, x_21^0'=x_21^post_5, x_SLAM_f_19^0'=x_SLAM_f_19^post_5, y_20^0'=y_20^post_5, [ 1+x_21^0<=y_20^0 && a_113^0==a_113^post_5 && a_144^0==a_144^post_5 && a_181^0==a_181^post_5 && a_212^0==a_212^post_5 && a_234^0==a_234^post_5 && a_257^0==a_257^post_5 && ct_18^0==ct_18^post_5 && f_167^0==f_167^post_5 && head_15^0==head_15^post_5 && head_30^0==head_30^post_5 && i_105^0==i_105^post_5 && i_164^0==i_164^post_5 && i_28^0==i_28^post_5 && i_92^0==i_92^post_5 && len_129^0==len_129^post_5 && len_180^0==len_180^post_5 && length_27^0==length_27^post_5 && nondet_12^0==nondet_12^post_5 && r_121^0==r_121^post_5 && r_160^0==r_160^post_5 && r_37^0==r_37^post_5 && rcd_56^0==rcd_56^post_5 && rcd_86^0==rcd_86^post_5 && result_11^0==result_11^post_5 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_5 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_5 && t_24^0==t_24^post_5 && temp0_16^0==temp0_16^post_5 && temp0_29^0==temp0_29^post_5 && temp_33^0==temp_33^post_5 && tmp_32^0==tmp_32^post_5 && x_126^0==x_126^post_5 && x_14^0==x_14^post_5 && x_17^0==x_17^post_5 && x_172^0==x_172^post_5 && x_21^0==x_21^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 : a_113^0'=a_113^post_6, a_144^0'=a_144^post_6, a_181^0'=a_181^post_6, a_212^0'=a_212^post_6, a_234^0'=a_234^post_6, a_257^0'=a_257^post_6, ct_18^0'=ct_18^post_6, f_167^0'=f_167^post_6, head_15^0'=head_15^post_6, head_30^0'=head_30^post_6, i_105^0'=i_105^post_6, i_164^0'=i_164^post_6, i_28^0'=i_28^post_6, i_92^0'=i_92^post_6, len_129^0'=len_129^post_6, len_180^0'=len_180^post_6, length_27^0'=length_27^post_6, nondet_12^0'=nondet_12^post_6, r_121^0'=r_121^post_6, r_160^0'=r_160^post_6, r_37^0'=r_37^post_6, rcd_56^0'=rcd_56^post_6, rcd_86^0'=rcd_86^post_6, result_11^0'=result_11^post_6, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_6, t_24^0'=t_24^post_6, temp0_16^0'=temp0_16^post_6, temp0_29^0'=temp0_29^post_6, temp_33^0'=temp_33^post_6, tmp_32^0'=tmp_32^post_6, x_126^0'=x_126^post_6, x_14^0'=x_14^post_6, x_172^0'=x_172^post_6, x_17^0'=x_17^post_6, x_21^0'=x_21^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 && a_257^post_6==a_257^post_6 && 0<=x_14^0 && x_14^0<=0 && 0<=ct_18^0 && ct_18^0<=0 && 0<=y_20^0 && y_20^0<=0 && head_15^0<=x_17^0 && x_17^0<=head_15^0 && head_15^0<=x_SLAM_f_19^0 && x_SLAM_f_19^0<=head_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_257^post_6<=-1+a_234^0 && -1+a_234^0<=a_257^post_6 && a_113^0==a_113^post_6 && a_144^0==a_144^post_6 && a_181^0==a_181^post_6 && a_212^0==a_212^post_6 && a_234^0==a_234^post_6 && ct_18^0==ct_18^post_6 && f_167^0==f_167^post_6 && head_15^0==head_15^post_6 && head_30^0==head_30^post_6 && i_105^0==i_105^post_6 && i_164^0==i_164^post_6 && i_28^0==i_28^post_6 && i_92^0==i_92^post_6 && len_129^0==len_129^post_6 && len_180^0==len_180^post_6 && length_27^0==length_27^post_6 && nondet_12^0==nondet_12^post_6 && r_121^0==r_121^post_6 && r_160^0==r_160^post_6 && r_37^0==r_37^post_6 && rcd_56^0==rcd_56^post_6 && rcd_86^0==rcd_86^post_6 && result_11^0==result_11^post_6 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_6 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_6 && temp0_16^0==temp0_16^post_6 && temp0_29^0==temp0_29^post_6 && temp_33^0==temp_33^post_6 && tmp_32^0==tmp_32^post_6 && x_126^0==x_126^post_6 && x_14^0==x_14^post_6 && x_17^0==x_17^post_6 && x_172^0==x_172^post_6 && x_21^0==x_21^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 : a_113^0'=a_113^post_7, a_144^0'=a_144^post_7, a_181^0'=a_181^post_7, a_212^0'=a_212^post_7, a_234^0'=a_234^post_7, a_257^0'=a_257^post_7, ct_18^0'=ct_18^post_7, f_167^0'=f_167^post_7, head_15^0'=head_15^post_7, head_30^0'=head_30^post_7, i_105^0'=i_105^post_7, i_164^0'=i_164^post_7, i_28^0'=i_28^post_7, i_92^0'=i_92^post_7, len_129^0'=len_129^post_7, len_180^0'=len_180^post_7, length_27^0'=length_27^post_7, nondet_12^0'=nondet_12^post_7, r_121^0'=r_121^post_7, r_160^0'=r_160^post_7, r_37^0'=r_37^post_7, rcd_56^0'=rcd_56^post_7, rcd_86^0'=rcd_86^post_7, result_11^0'=result_11^post_7, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_7, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7, t_24^0'=t_24^post_7, temp0_16^0'=temp0_16^post_7, temp0_29^0'=temp0_29^post_7, temp_33^0'=temp_33^post_7, tmp_32^0'=tmp_32^post_7, x_126^0'=x_126^post_7, x_14^0'=x_14^post_7, x_172^0'=x_172^post_7, x_17^0'=x_17^post_7, x_21^0'=x_21^post_7, x_SLAM_f_19^0'=x_SLAM_f_19^post_7, y_20^0'=y_20^post_7, [ 1<=head_15^0 && a_113^0==a_113^post_7 && a_144^0==a_144^post_7 && a_181^0==a_181^post_7 && a_212^0==a_212^post_7 && a_234^0==a_234^post_7 && a_257^0==a_257^post_7 && ct_18^0==ct_18^post_7 && f_167^0==f_167^post_7 && head_15^0==head_15^post_7 && head_30^0==head_30^post_7 && i_105^0==i_105^post_7 && i_164^0==i_164^post_7 && i_28^0==i_28^post_7 && i_92^0==i_92^post_7 && len_129^0==len_129^post_7 && len_180^0==len_180^post_7 && length_27^0==length_27^post_7 && nondet_12^0==nondet_12^post_7 && r_121^0==r_121^post_7 && r_160^0==r_160^post_7 && r_37^0==r_37^post_7 && rcd_56^0==rcd_56^post_7 && rcd_86^0==rcd_86^post_7 && result_11^0==result_11^post_7 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_7 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7 && t_24^0==t_24^post_7 && temp0_16^0==temp0_16^post_7 && temp0_29^0==temp0_29^post_7 && temp_33^0==temp_33^post_7 && tmp_32^0==tmp_32^post_7 && x_126^0==x_126^post_7 && x_14^0==x_14^post_7 && x_17^0==x_17^post_7 && x_172^0==x_172^post_7 && x_21^0==x_21^post_7 && x_SLAM_f_19^0==x_SLAM_f_19^post_7 && y_20^0==y_20^post_7 ], cost: 1
      7: l7 -> l8 : a_113^0'=a_113^post_8, a_144^0'=a_144^post_8, a_181^0'=a_181^post_8, a_212^0'=a_212^post_8, a_234^0'=a_234^post_8, a_257^0'=a_257^post_8, ct_18^0'=ct_18^post_8, f_167^0'=f_167^post_8, head_15^0'=head_15^post_8, head_30^0'=head_30^post_8, i_105^0'=i_105^post_8, i_164^0'=i_164^post_8, i_28^0'=i_28^post_8, i_92^0'=i_92^post_8, len_129^0'=len_129^post_8, len_180^0'=len_180^post_8, length_27^0'=length_27^post_8, nondet_12^0'=nondet_12^post_8, r_121^0'=r_121^post_8, r_160^0'=r_160^post_8, r_37^0'=r_37^post_8, rcd_56^0'=rcd_56^post_8, rcd_86^0'=rcd_86^post_8, result_11^0'=result_11^post_8, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_8, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_8, t_24^0'=t_24^post_8, temp0_16^0'=temp0_16^post_8, temp0_29^0'=temp0_29^post_8, temp_33^0'=temp_33^post_8, tmp_32^0'=tmp_32^post_8, x_126^0'=x_126^post_8, x_14^0'=x_14^post_8, x_172^0'=x_172^post_8, x_17^0'=x_17^post_8, x_21^0'=x_21^post_8, x_SLAM_f_19^0'=x_SLAM_f_19^post_8, y_20^0'=y_20^post_8, [ 1+head_15^0<=0 && a_113^0==a_113^post_8 && a_144^0==a_144^post_8 && a_181^0==a_181^post_8 && a_212^0==a_212^post_8 && a_234^0==a_234^post_8 && a_257^0==a_257^post_8 && ct_18^0==ct_18^post_8 && f_167^0==f_167^post_8 && head_15^0==head_15^post_8 && head_30^0==head_30^post_8 && i_105^0==i_105^post_8 && i_164^0==i_164^post_8 && i_28^0==i_28^post_8 && i_92^0==i_92^post_8 && len_129^0==len_129^post_8 && len_180^0==len_180^post_8 && length_27^0==length_27^post_8 && nondet_12^0==nondet_12^post_8 && r_121^0==r_121^post_8 && r_160^0==r_160^post_8 && r_37^0==r_37^post_8 && rcd_56^0==rcd_56^post_8 && rcd_86^0==rcd_86^post_8 && result_11^0==result_11^post_8 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_8 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_8 && t_24^0==t_24^post_8 && temp0_16^0==temp0_16^post_8 && temp0_29^0==temp0_29^post_8 && temp_33^0==temp_33^post_8 && tmp_32^0==tmp_32^post_8 && x_126^0==x_126^post_8 && x_14^0==x_14^post_8 && x_17^0==x_17^post_8 && x_172^0==x_172^post_8 && x_21^0==x_21^post_8 && x_SLAM_f_19^0==x_SLAM_f_19^post_8 && y_20^0==y_20^post_8 ], cost: 1
      8: l8 -> l9 : a_113^0'=a_113^post_9, a_144^0'=a_144^post_9, a_181^0'=a_181^post_9, a_212^0'=a_212^post_9, a_234^0'=a_234^post_9, a_257^0'=a_257^post_9, ct_18^0'=ct_18^post_9, f_167^0'=f_167^post_9, head_15^0'=head_15^post_9, head_30^0'=head_30^post_9, i_105^0'=i_105^post_9, i_164^0'=i_164^post_9, i_28^0'=i_28^post_9, i_92^0'=i_92^post_9, len_129^0'=len_129^post_9, len_180^0'=len_180^post_9, length_27^0'=length_27^post_9, nondet_12^0'=nondet_12^post_9, r_121^0'=r_121^post_9, r_160^0'=r_160^post_9, r_37^0'=r_37^post_9, rcd_56^0'=rcd_56^post_9, rcd_86^0'=rcd_86^post_9, result_11^0'=result_11^post_9, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_9, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_9, t_24^0'=t_24^post_9, temp0_16^0'=temp0_16^post_9, temp0_29^0'=temp0_29^post_9, temp_33^0'=temp_33^post_9, tmp_32^0'=tmp_32^post_9, x_126^0'=x_126^post_9, x_14^0'=x_14^post_9, x_172^0'=x_172^post_9, x_17^0'=x_17^post_9, x_21^0'=x_21^post_9, x_SLAM_f_19^0'=x_SLAM_f_19^post_9, y_20^0'=y_20^post_9, [ 1+head_15^0<=y_20^0 && a_113^0==a_113^post_9 && a_144^0==a_144^post_9 && a_181^0==a_181^post_9 && a_212^0==a_212^post_9 && a_234^0==a_234^post_9 && a_257^0==a_257^post_9 && ct_18^0==ct_18^post_9 && f_167^0==f_167^post_9 && head_15^0==head_15^post_9 && head_30^0==head_30^post_9 && i_105^0==i_105^post_9 && i_164^0==i_164^post_9 && i_28^0==i_28^post_9 && i_92^0==i_92^post_9 && len_129^0==len_129^post_9 && len_180^0==len_180^post_9 && length_27^0==length_27^post_9 && nondet_12^0==nondet_12^post_9 && r_121^0==r_121^post_9 && r_160^0==r_160^post_9 && r_37^0==r_37^post_9 && rcd_56^0==rcd_56^post_9 && rcd_86^0==rcd_86^post_9 && result_11^0==result_11^post_9 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_9 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_9 && t_24^0==t_24^post_9 && temp0_16^0==temp0_16^post_9 && temp0_29^0==temp0_29^post_9 && temp_33^0==temp_33^post_9 && tmp_32^0==tmp_32^post_9 && x_126^0==x_126^post_9 && x_14^0==x_14^post_9 && x_17^0==x_17^post_9 && x_172^0==x_172^post_9 && x_21^0==x_21^post_9 && x_SLAM_f_19^0==x_SLAM_f_19^post_9 && y_20^0==y_20^post_9 ], cost: 1
      9: l8 -> l9 : a_113^0'=a_113^post_10, a_144^0'=a_144^post_10, a_181^0'=a_181^post_10, a_212^0'=a_212^post_10, a_234^0'=a_234^post_10, a_257^0'=a_257^post_10, ct_18^0'=ct_18^post_10, f_167^0'=f_167^post_10, head_15^0'=head_15^post_10, head_30^0'=head_30^post_10, i_105^0'=i_105^post_10, i_164^0'=i_164^post_10, i_28^0'=i_28^post_10, i_92^0'=i_92^post_10, len_129^0'=len_129^post_10, len_180^0'=len_180^post_10, length_27^0'=length_27^post_10, nondet_12^0'=nondet_12^post_10, r_121^0'=r_121^post_10, r_160^0'=r_160^post_10, r_37^0'=r_37^post_10, rcd_56^0'=rcd_56^post_10, rcd_86^0'=rcd_86^post_10, result_11^0'=result_11^post_10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_10, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_10, t_24^0'=t_24^post_10, temp0_16^0'=temp0_16^post_10, temp0_29^0'=temp0_29^post_10, temp_33^0'=temp_33^post_10, tmp_32^0'=tmp_32^post_10, x_126^0'=x_126^post_10, x_14^0'=x_14^post_10, x_172^0'=x_172^post_10, x_17^0'=x_17^post_10, x_21^0'=x_21^post_10, x_SLAM_f_19^0'=x_SLAM_f_19^post_10, y_20^0'=y_20^post_10, [ 1+y_20^0<=head_15^0 && a_113^0==a_113^post_10 && a_144^0==a_144^post_10 && a_181^0==a_181^post_10 && a_212^0==a_212^post_10 && a_234^0==a_234^post_10 && a_257^0==a_257^post_10 && ct_18^0==ct_18^post_10 && f_167^0==f_167^post_10 && head_15^0==head_15^post_10 && head_30^0==head_30^post_10 && i_105^0==i_105^post_10 && i_164^0==i_164^post_10 && i_28^0==i_28^post_10 && i_92^0==i_92^post_10 && len_129^0==len_129^post_10 && len_180^0==len_180^post_10 && length_27^0==length_27^post_10 && nondet_12^0==nondet_12^post_10 && r_121^0==r_121^post_10 && r_160^0==r_160^post_10 && r_37^0==r_37^post_10 && rcd_56^0==rcd_56^post_10 && rcd_86^0==rcd_86^post_10 && result_11^0==result_11^post_10 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_10 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_10 && t_24^0==t_24^post_10 && temp0_16^0==temp0_16^post_10 && temp0_29^0==temp0_29^post_10 && temp_33^0==temp_33^post_10 && tmp_32^0==tmp_32^post_10 && x_126^0==x_126^post_10 && x_14^0==x_14^post_10 && x_17^0==x_17^post_10 && x_172^0==x_172^post_10 && x_21^0==x_21^post_10 && x_SLAM_f_19^0==x_SLAM_f_19^post_10 && y_20^0==y_20^post_10 ], cost: 1
     10: l9 -> l10 : a_113^0'=a_113^post_11, a_144^0'=a_144^post_11, a_181^0'=a_181^post_11, a_212^0'=a_212^post_11, a_234^0'=a_234^post_11, a_257^0'=a_257^post_11, ct_18^0'=ct_18^post_11, f_167^0'=f_167^post_11, head_15^0'=head_15^post_11, head_30^0'=head_30^post_11, i_105^0'=i_105^post_11, i_164^0'=i_164^post_11, i_28^0'=i_28^post_11, i_92^0'=i_92^post_11, len_129^0'=len_129^post_11, len_180^0'=len_180^post_11, length_27^0'=length_27^post_11, nondet_12^0'=nondet_12^post_11, r_121^0'=r_121^post_11, r_160^0'=r_160^post_11, r_37^0'=r_37^post_11, rcd_56^0'=rcd_56^post_11, rcd_86^0'=rcd_86^post_11, result_11^0'=result_11^post_11, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_11, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_11, t_24^0'=t_24^post_11, temp0_16^0'=temp0_16^post_11, temp0_29^0'=temp0_29^post_11, temp_33^0'=temp_33^post_11, tmp_32^0'=tmp_32^post_11, x_126^0'=x_126^post_11, x_14^0'=x_14^post_11, x_172^0'=x_172^post_11, x_17^0'=x_17^post_11, x_21^0'=x_21^post_11, x_SLAM_f_19^0'=x_SLAM_f_19^post_11, y_20^0'=y_20^post_11, [ 1+y_20^0<=t_24^0 && a_113^0==a_113^post_11 && a_144^0==a_144^post_11 && a_181^0==a_181^post_11 && a_212^0==a_212^post_11 && a_234^0==a_234^post_11 && a_257^0==a_257^post_11 && ct_18^0==ct_18^post_11 && f_167^0==f_167^post_11 && head_15^0==head_15^post_11 && head_30^0==head_30^post_11 && i_105^0==i_105^post_11 && i_164^0==i_164^post_11 && i_28^0==i_28^post_11 && i_92^0==i_92^post_11 && len_129^0==len_129^post_11 && len_180^0==len_180^post_11 && length_27^0==length_27^post_11 && nondet_12^0==nondet_12^post_11 && r_121^0==r_121^post_11 && r_160^0==r_160^post_11 && r_37^0==r_37^post_11 && rcd_56^0==rcd_56^post_11 && rcd_86^0==rcd_86^post_11 && result_11^0==result_11^post_11 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_11 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_11 && t_24^0==t_24^post_11 && temp0_16^0==temp0_16^post_11 && temp0_29^0==temp0_29^post_11 && temp_33^0==temp_33^post_11 && tmp_32^0==tmp_32^post_11 && x_126^0==x_126^post_11 && x_14^0==x_14^post_11 && x_17^0==x_17^post_11 && x_172^0==x_172^post_11 && x_21^0==x_21^post_11 && x_SLAM_f_19^0==x_SLAM_f_19^post_11 && y_20^0==y_20^post_11 ], cost: 1
     11: l9 -> l10 : a_113^0'=a_113^post_12, a_144^0'=a_144^post_12, a_181^0'=a_181^post_12, a_212^0'=a_212^post_12, a_234^0'=a_234^post_12, a_257^0'=a_257^post_12, ct_18^0'=ct_18^post_12, f_167^0'=f_167^post_12, head_15^0'=head_15^post_12, head_30^0'=head_30^post_12, i_105^0'=i_105^post_12, i_164^0'=i_164^post_12, i_28^0'=i_28^post_12, i_92^0'=i_92^post_12, len_129^0'=len_129^post_12, len_180^0'=len_180^post_12, length_27^0'=length_27^post_12, nondet_12^0'=nondet_12^post_12, r_121^0'=r_121^post_12, r_160^0'=r_160^post_12, r_37^0'=r_37^post_12, rcd_56^0'=rcd_56^post_12, rcd_86^0'=rcd_86^post_12, result_11^0'=result_11^post_12, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_12, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_12, t_24^0'=t_24^post_12, temp0_16^0'=temp0_16^post_12, temp0_29^0'=temp0_29^post_12, temp_33^0'=temp_33^post_12, tmp_32^0'=tmp_32^post_12, x_126^0'=x_126^post_12, x_14^0'=x_14^post_12, x_172^0'=x_172^post_12, x_17^0'=x_17^post_12, x_21^0'=x_21^post_12, x_SLAM_f_19^0'=x_SLAM_f_19^post_12, y_20^0'=y_20^post_12, [ 1+t_24^0<=y_20^0 && a_113^0==a_113^post_12 && a_144^0==a_144^post_12 && a_181^0==a_181^post_12 && a_212^0==a_212^post_12 && a_234^0==a_234^post_12 && a_257^0==a_257^post_12 && ct_18^0==ct_18^post_12 && f_167^0==f_167^post_12 && head_15^0==head_15^post_12 && head_30^0==head_30^post_12 && i_105^0==i_105^post_12 && i_164^0==i_164^post_12 && i_28^0==i_28^post_12 && i_92^0==i_92^post_12 && len_129^0==len_129^post_12 && len_180^0==len_180^post_12 && length_27^0==length_27^post_12 && nondet_12^0==nondet_12^post_12 && r_121^0==r_121^post_12 && r_160^0==r_160^post_12 && r_37^0==r_37^post_12 && rcd_56^0==rcd_56^post_12 && rcd_86^0==rcd_86^post_12 && result_11^0==result_11^post_12 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_12 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_12 && t_24^0==t_24^post_12 && temp0_16^0==temp0_16^post_12 && temp0_29^0==temp0_29^post_12 && temp_33^0==temp_33^post_12 && tmp_32^0==tmp_32^post_12 && x_126^0==x_126^post_12 && x_14^0==x_14^post_12 && x_17^0==x_17^post_12 && x_172^0==x_172^post_12 && x_21^0==x_21^post_12 && x_SLAM_f_19^0==x_SLAM_f_19^post_12 && y_20^0==y_20^post_12 ], cost: 1
     12: l10 -> l4 : a_113^0'=a_113^post_13, a_144^0'=a_144^post_13, a_181^0'=a_181^post_13, a_212^0'=a_212^post_13, a_234^0'=a_234^post_13, a_257^0'=a_257^post_13, ct_18^0'=ct_18^post_13, f_167^0'=f_167^post_13, head_15^0'=head_15^post_13, head_30^0'=head_30^post_13, i_105^0'=i_105^post_13, i_164^0'=i_164^post_13, i_28^0'=i_28^post_13, i_92^0'=i_92^post_13, len_129^0'=len_129^post_13, len_180^0'=len_180^post_13, length_27^0'=length_27^post_13, nondet_12^0'=nondet_12^post_13, r_121^0'=r_121^post_13, r_160^0'=r_160^post_13, r_37^0'=r_37^post_13, rcd_56^0'=rcd_56^post_13, rcd_86^0'=rcd_86^post_13, result_11^0'=result_11^post_13, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_13, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_13, t_24^0'=t_24^post_13, temp0_16^0'=temp0_16^post_13, temp0_29^0'=temp0_29^post_13, temp_33^0'=temp_33^post_13, tmp_32^0'=tmp_32^post_13, x_126^0'=x_126^post_13, x_14^0'=x_14^post_13, x_172^0'=x_172^post_13, x_17^0'=x_17^post_13, x_21^0'=x_21^post_13, x_SLAM_f_19^0'=x_SLAM_f_19^post_13, y_20^0'=y_20^post_13, [ 1<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && a_234^post_13==a_234^post_13 && a_234^post_13<=a_257^0 && a_257^0<=a_234^post_13 && a_113^0==a_113^post_13 && a_144^0==a_144^post_13 && a_181^0==a_181^post_13 && a_212^0==a_212^post_13 && a_257^0==a_257^post_13 && ct_18^0==ct_18^post_13 && f_167^0==f_167^post_13 && head_15^0==head_15^post_13 && head_30^0==head_30^post_13 && i_105^0==i_105^post_13 && i_164^0==i_164^post_13 && i_28^0==i_28^post_13 && i_92^0==i_92^post_13 && len_129^0==len_129^post_13 && len_180^0==len_180^post_13 && length_27^0==length_27^post_13 && nondet_12^0==nondet_12^post_13 && r_121^0==r_121^post_13 && r_160^0==r_160^post_13 && r_37^0==r_37^post_13 && rcd_56^0==rcd_56^post_13 && rcd_86^0==rcd_86^post_13 && result_11^0==result_11^post_13 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_13 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_13 && t_24^0==t_24^post_13 && temp0_16^0==temp0_16^post_13 && temp0_29^0==temp0_29^post_13 && temp_33^0==temp_33^post_13 && tmp_32^0==tmp_32^post_13 && x_126^0==x_126^post_13 && x_14^0==x_14^post_13 && x_17^0==x_17^post_13 && x_172^0==x_172^post_13 && x_21^0==x_21^post_13 && x_SLAM_f_19^0==x_SLAM_f_19^post_13 && y_20^0==y_20^post_13 ], cost: 1
     13: l4 -> l2 : a_113^0'=a_113^post_14, a_144^0'=a_144^post_14, a_181^0'=a_181^post_14, a_212^0'=a_212^post_14, a_234^0'=a_234^post_14, a_257^0'=a_257^post_14, ct_18^0'=ct_18^post_14, f_167^0'=f_167^post_14, head_15^0'=head_15^post_14, head_30^0'=head_30^post_14, i_105^0'=i_105^post_14, i_164^0'=i_164^post_14, i_28^0'=i_28^post_14, i_92^0'=i_92^post_14, len_129^0'=len_129^post_14, len_180^0'=len_180^post_14, length_27^0'=length_27^post_14, nondet_12^0'=nondet_12^post_14, r_121^0'=r_121^post_14, r_160^0'=r_160^post_14, r_37^0'=r_37^post_14, rcd_56^0'=rcd_56^post_14, rcd_86^0'=rcd_86^post_14, result_11^0'=result_11^post_14, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_14, t_24^0'=t_24^post_14, temp0_16^0'=temp0_16^post_14, temp0_29^0'=temp0_29^post_14, temp_33^0'=temp_33^post_14, tmp_32^0'=tmp_32^post_14, x_126^0'=x_126^post_14, x_14^0'=x_14^post_14, x_172^0'=x_172^post_14, x_17^0'=x_17^post_14, x_21^0'=x_21^post_14, x_SLAM_f_19^0'=x_SLAM_f_19^post_14, y_20^0'=y_20^post_14, [ a_113^0==a_113^post_14 && a_144^0==a_144^post_14 && a_181^0==a_181^post_14 && a_212^0==a_212^post_14 && a_234^0==a_234^post_14 && a_257^0==a_257^post_14 && ct_18^0==ct_18^post_14 && f_167^0==f_167^post_14 && head_15^0==head_15^post_14 && head_30^0==head_30^post_14 && i_105^0==i_105^post_14 && i_164^0==i_164^post_14 && i_28^0==i_28^post_14 && i_92^0==i_92^post_14 && len_129^0==len_129^post_14 && len_180^0==len_180^post_14 && length_27^0==length_27^post_14 && nondet_12^0==nondet_12^post_14 && r_121^0==r_121^post_14 && r_160^0==r_160^post_14 && r_37^0==r_37^post_14 && rcd_56^0==rcd_56^post_14 && rcd_86^0==rcd_86^post_14 && result_11^0==result_11^post_14 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_14 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_14 && t_24^0==t_24^post_14 && temp0_16^0==temp0_16^post_14 && temp0_29^0==temp0_29^post_14 && temp_33^0==temp_33^post_14 && tmp_32^0==tmp_32^post_14 && x_126^0==x_126^post_14 && x_14^0==x_14^post_14 && x_17^0==x_17^post_14 && x_172^0==x_172^post_14 && x_21^0==x_21^post_14 && x_SLAM_f_19^0==x_SLAM_f_19^post_14 && y_20^0==y_20^post_14 ], cost: 1
     29: l20 -> l21 : a_113^0'=a_113^post_30, a_144^0'=a_144^post_30, a_181^0'=a_181^post_30, a_212^0'=a_212^post_30, a_234^0'=a_234^post_30, a_257^0'=a_257^post_30, ct_18^0'=ct_18^post_30, f_167^0'=f_167^post_30, head_15^0'=head_15^post_30, head_30^0'=head_30^post_30, i_105^0'=i_105^post_30, i_164^0'=i_164^post_30, i_28^0'=i_28^post_30, i_92^0'=i_92^post_30, len_129^0'=len_129^post_30, len_180^0'=len_180^post_30, length_27^0'=length_27^post_30, nondet_12^0'=nondet_12^post_30, r_121^0'=r_121^post_30, r_160^0'=r_160^post_30, r_37^0'=r_37^post_30, rcd_56^0'=rcd_56^post_30, rcd_86^0'=rcd_86^post_30, result_11^0'=result_11^post_30, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_30, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_30, t_24^0'=t_24^post_30, temp0_16^0'=temp0_16^post_30, temp0_29^0'=temp0_29^post_30, temp_33^0'=temp_33^post_30, tmp_32^0'=tmp_32^post_30, x_126^0'=x_126^post_30, x_14^0'=x_14^post_30, x_172^0'=x_172^post_30, x_17^0'=x_17^post_30, x_21^0'=x_21^post_30, x_SLAM_f_19^0'=x_SLAM_f_19^post_30, y_20^0'=y_20^post_30, [ 0<=len_129^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_30==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_30 && x_14^post_30==x_14^post_30 && head_15^post_30==head_15^post_30 && x_17^post_30==x_17^post_30 && ct_18^post_30==ct_18^post_30 && x_SLAM_f_19^post_30==x_SLAM_f_19^post_30 && a_113^0==a_113^post_30 && a_144^0==a_144^post_30 && a_181^0==a_181^post_30 && a_212^0==a_212^post_30 && a_234^0==a_234^post_30 && a_257^0==a_257^post_30 && f_167^0==f_167^post_30 && head_30^0==head_30^post_30 && i_105^0==i_105^post_30 && i_164^0==i_164^post_30 && i_28^0==i_28^post_30 && i_92^0==i_92^post_30 && len_129^0==len_129^post_30 && len_180^0==len_180^post_30 && length_27^0==length_27^post_30 && nondet_12^0==nondet_12^post_30 && r_121^0==r_121^post_30 && r_160^0==r_160^post_30 && r_37^0==r_37^post_30 && rcd_56^0==rcd_56^post_30 && rcd_86^0==rcd_86^post_30 && result_11^0==result_11^post_30 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_30 && t_24^0==t_24^post_30 && temp0_16^0==temp0_16^post_30 && temp0_29^0==temp0_29^post_30 && temp_33^0==temp_33^post_30 && tmp_32^0==tmp_32^post_30 && x_126^0==x_126^post_30 && x_172^0==x_172^post_30 && x_21^0==x_21^post_30 && y_20^0==y_20^post_30 ], cost: 1
     30: l21 -> l22 : a_113^0'=a_113^post_31, a_144^0'=a_144^post_31, a_181^0'=a_181^post_31, a_212^0'=a_212^post_31, a_234^0'=a_234^post_31, a_257^0'=a_257^post_31, ct_18^0'=ct_18^post_31, f_167^0'=f_167^post_31, head_15^0'=head_15^post_31, head_30^0'=head_30^post_31, i_105^0'=i_105^post_31, i_164^0'=i_164^post_31, i_28^0'=i_28^post_31, i_92^0'=i_92^post_31, len_129^0'=len_129^post_31, len_180^0'=len_180^post_31, length_27^0'=length_27^post_31, nondet_12^0'=nondet_12^post_31, r_121^0'=r_121^post_31, r_160^0'=r_160^post_31, r_37^0'=r_37^post_31, rcd_56^0'=rcd_56^post_31, rcd_86^0'=rcd_86^post_31, result_11^0'=result_11^post_31, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_31, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_31, t_24^0'=t_24^post_31, temp0_16^0'=temp0_16^post_31, temp0_29^0'=temp0_29^post_31, temp_33^0'=temp_33^post_31, tmp_32^0'=tmp_32^post_31, x_126^0'=x_126^post_31, x_14^0'=x_14^post_31, x_172^0'=x_172^post_31, x_17^0'=x_17^post_31, x_21^0'=x_21^post_31, x_SLAM_f_19^0'=x_SLAM_f_19^post_31, y_20^0'=y_20^post_31, [ 1+y_20^0<=x_21^0 && a_113^0==a_113^post_31 && a_144^0==a_144^post_31 && a_181^0==a_181^post_31 && a_212^0==a_212^post_31 && a_234^0==a_234^post_31 && a_257^0==a_257^post_31 && ct_18^0==ct_18^post_31 && f_167^0==f_167^post_31 && head_15^0==head_15^post_31 && head_30^0==head_30^post_31 && i_105^0==i_105^post_31 && i_164^0==i_164^post_31 && i_28^0==i_28^post_31 && i_92^0==i_92^post_31 && len_129^0==len_129^post_31 && len_180^0==len_180^post_31 && length_27^0==length_27^post_31 && nondet_12^0==nondet_12^post_31 && r_121^0==r_121^post_31 && r_160^0==r_160^post_31 && r_37^0==r_37^post_31 && rcd_56^0==rcd_56^post_31 && rcd_86^0==rcd_86^post_31 && result_11^0==result_11^post_31 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_31 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_31 && t_24^0==t_24^post_31 && temp0_16^0==temp0_16^post_31 && temp0_29^0==temp0_29^post_31 && temp_33^0==temp_33^post_31 && tmp_32^0==tmp_32^post_31 && x_126^0==x_126^post_31 && x_14^0==x_14^post_31 && x_17^0==x_17^post_31 && x_172^0==x_172^post_31 && x_21^0==x_21^post_31 && x_SLAM_f_19^0==x_SLAM_f_19^post_31 && y_20^0==y_20^post_31 ], cost: 1
     31: l21 -> l22 : a_113^0'=a_113^post_32, a_144^0'=a_144^post_32, a_181^0'=a_181^post_32, a_212^0'=a_212^post_32, a_234^0'=a_234^post_32, a_257^0'=a_257^post_32, ct_18^0'=ct_18^post_32, f_167^0'=f_167^post_32, head_15^0'=head_15^post_32, head_30^0'=head_30^post_32, i_105^0'=i_105^post_32, i_164^0'=i_164^post_32, i_28^0'=i_28^post_32, i_92^0'=i_92^post_32, len_129^0'=len_129^post_32, len_180^0'=len_180^post_32, length_27^0'=length_27^post_32, nondet_12^0'=nondet_12^post_32, r_121^0'=r_121^post_32, r_160^0'=r_160^post_32, r_37^0'=r_37^post_32, rcd_56^0'=rcd_56^post_32, rcd_86^0'=rcd_86^post_32, result_11^0'=result_11^post_32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_32, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_32, t_24^0'=t_24^post_32, temp0_16^0'=temp0_16^post_32, temp0_29^0'=temp0_29^post_32, temp_33^0'=temp_33^post_32, tmp_32^0'=tmp_32^post_32, x_126^0'=x_126^post_32, x_14^0'=x_14^post_32, x_172^0'=x_172^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, [ 1+x_21^0<=y_20^0 && a_113^0==a_113^post_32 && a_144^0==a_144^post_32 && a_181^0==a_181^post_32 && a_212^0==a_212^post_32 && a_234^0==a_234^post_32 && a_257^0==a_257^post_32 && ct_18^0==ct_18^post_32 && f_167^0==f_167^post_32 && head_15^0==head_15^post_32 && head_30^0==head_30^post_32 && i_105^0==i_105^post_32 && i_164^0==i_164^post_32 && i_28^0==i_28^post_32 && i_92^0==i_92^post_32 && len_129^0==len_129^post_32 && len_180^0==len_180^post_32 && length_27^0==length_27^post_32 && nondet_12^0==nondet_12^post_32 && r_121^0==r_121^post_32 && r_160^0==r_160^post_32 && r_37^0==r_37^post_32 && rcd_56^0==rcd_56^post_32 && rcd_86^0==rcd_86^post_32 && result_11^0==result_11^post_32 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_32 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_32 && t_24^0==t_24^post_32 && temp0_16^0==temp0_16^post_32 && temp0_29^0==temp0_29^post_32 && temp_33^0==temp_33^post_32 && tmp_32^0==tmp_32^post_32 && x_126^0==x_126^post_32 && x_14^0==x_14^post_32 && x_17^0==x_17^post_32 && x_172^0==x_172^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
     32: l22 -> l23 : a_113^0'=a_113^post_33, a_144^0'=a_144^post_33, a_181^0'=a_181^post_33, a_212^0'=a_212^post_33, a_234^0'=a_234^post_33, a_257^0'=a_257^post_33, ct_18^0'=ct_18^post_33, f_167^0'=f_167^post_33, head_15^0'=head_15^post_33, head_30^0'=head_30^post_33, i_105^0'=i_105^post_33, i_164^0'=i_164^post_33, i_28^0'=i_28^post_33, i_92^0'=i_92^post_33, len_129^0'=len_129^post_33, len_180^0'=len_180^post_33, length_27^0'=length_27^post_33, nondet_12^0'=nondet_12^post_33, r_121^0'=r_121^post_33, r_160^0'=r_160^post_33, r_37^0'=r_37^post_33, rcd_56^0'=rcd_56^post_33, rcd_86^0'=rcd_86^post_33, result_11^0'=result_11^post_33, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_33, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_33, t_24^0'=t_24^post_33, temp0_16^0'=temp0_16^post_33, temp0_29^0'=temp0_29^post_33, temp_33^0'=temp_33^post_33, tmp_32^0'=tmp_32^post_33, x_126^0'=x_126^post_33, x_14^0'=x_14^post_33, x_172^0'=x_172^post_33, x_17^0'=x_17^post_33, x_21^0'=x_21^post_33, x_SLAM_f_19^0'=x_SLAM_f_19^post_33, y_20^0'=y_20^post_33, [ t_24^post_33==x_21^0 && a_212^post_33==a_212^post_33 && 0<=x_14^0 && x_14^0<=0 && 0<=ct_18^0 && ct_18^0<=0 && 0<=y_20^0 && y_20^0<=0 && 0<=a_234^0-a_212^post_33 && a_234^0-a_212^post_33<=0 && head_15^0<=x_17^0 && x_17^0<=head_15^0 && head_15^0<=x_SLAM_f_19^0 && x_SLAM_f_19^0<=head_15^0 && head_15^0<=t_24^post_33 && t_24^post_33<=head_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_212^post_33<=a_234^0 && a_234^0<=a_212^post_33 && a_113^0==a_113^post_33 && a_144^0==a_144^post_33 && a_181^0==a_181^post_33 && a_234^0==a_234^post_33 && a_257^0==a_257^post_33 && ct_18^0==ct_18^post_33 && f_167^0==f_167^post_33 && head_15^0==head_15^post_33 && head_30^0==head_30^post_33 && i_105^0==i_105^post_33 && i_164^0==i_164^post_33 && i_28^0==i_28^post_33 && i_92^0==i_92^post_33 && len_129^0==len_129^post_33 && len_180^0==len_180^post_33 && length_27^0==length_27^post_33 && nondet_12^0==nondet_12^post_33 && r_121^0==r_121^post_33 && r_160^0==r_160^post_33 && r_37^0==r_37^post_33 && rcd_56^0==rcd_56^post_33 && rcd_86^0==rcd_86^post_33 && result_11^0==result_11^post_33 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_33 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_33 && temp0_16^0==temp0_16^post_33 && temp0_29^0==temp0_29^post_33 && temp_33^0==temp_33^post_33 && tmp_32^0==tmp_32^post_33 && x_126^0==x_126^post_33 && x_14^0==x_14^post_33 && x_17^0==x_17^post_33 && x_172^0==x_172^post_33 && x_21^0==x_21^post_33 && x_SLAM_f_19^0==x_SLAM_f_19^post_33 && y_20^0==y_20^post_33 ], cost: 1
     33: l23 -> l24 : a_113^0'=a_113^post_34, a_144^0'=a_144^post_34, a_181^0'=a_181^post_34, a_212^0'=a_212^post_34, a_234^0'=a_234^post_34, a_257^0'=a_257^post_34, ct_18^0'=ct_18^post_34, f_167^0'=f_167^post_34, head_15^0'=head_15^post_34, head_30^0'=head_30^post_34, i_105^0'=i_105^post_34, i_164^0'=i_164^post_34, i_28^0'=i_28^post_34, i_92^0'=i_92^post_34, len_129^0'=len_129^post_34, len_180^0'=len_180^post_34, length_27^0'=length_27^post_34, nondet_12^0'=nondet_12^post_34, r_121^0'=r_121^post_34, r_160^0'=r_160^post_34, r_37^0'=r_37^post_34, rcd_56^0'=rcd_56^post_34, rcd_86^0'=rcd_86^post_34, result_11^0'=result_11^post_34, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_34, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_34, t_24^0'=t_24^post_34, temp0_16^0'=temp0_16^post_34, temp0_29^0'=temp0_29^post_34, temp_33^0'=temp_33^post_34, tmp_32^0'=tmp_32^post_34, x_126^0'=x_126^post_34, x_14^0'=x_14^post_34, x_172^0'=x_172^post_34, x_17^0'=x_17^post_34, x_21^0'=x_21^post_34, x_SLAM_f_19^0'=x_SLAM_f_19^post_34, y_20^0'=y_20^post_34, [ 1<=head_15^0 && a_113^0==a_113^post_34 && a_144^0==a_144^post_34 && a_181^0==a_181^post_34 && a_212^0==a_212^post_34 && a_234^0==a_234^post_34 && a_257^0==a_257^post_34 && ct_18^0==ct_18^post_34 && f_167^0==f_167^post_34 && head_15^0==head_15^post_34 && head_30^0==head_30^post_34 && i_105^0==i_105^post_34 && i_164^0==i_164^post_34 && i_28^0==i_28^post_34 && i_92^0==i_92^post_34 && len_129^0==len_129^post_34 && len_180^0==len_180^post_34 && length_27^0==length_27^post_34 && nondet_12^0==nondet_12^post_34 && r_121^0==r_121^post_34 && r_160^0==r_160^post_34 && r_37^0==r_37^post_34 && rcd_56^0==rcd_56^post_34 && rcd_86^0==rcd_86^post_34 && result_11^0==result_11^post_34 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_34 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_34 && t_24^0==t_24^post_34 && temp0_16^0==temp0_16^post_34 && temp0_29^0==temp0_29^post_34 && temp_33^0==temp_33^post_34 && tmp_32^0==tmp_32^post_34 && x_126^0==x_126^post_34 && x_14^0==x_14^post_34 && x_17^0==x_17^post_34 && x_172^0==x_172^post_34 && x_21^0==x_21^post_34 && x_SLAM_f_19^0==x_SLAM_f_19^post_34 && y_20^0==y_20^post_34 ], cost: 1
     34: l23 -> l24 : a_113^0'=a_113^post_35, a_144^0'=a_144^post_35, a_181^0'=a_181^post_35, a_212^0'=a_212^post_35, a_234^0'=a_234^post_35, a_257^0'=a_257^post_35, ct_18^0'=ct_18^post_35, f_167^0'=f_167^post_35, head_15^0'=head_15^post_35, head_30^0'=head_30^post_35, i_105^0'=i_105^post_35, i_164^0'=i_164^post_35, i_28^0'=i_28^post_35, i_92^0'=i_92^post_35, len_129^0'=len_129^post_35, len_180^0'=len_180^post_35, length_27^0'=length_27^post_35, nondet_12^0'=nondet_12^post_35, r_121^0'=r_121^post_35, r_160^0'=r_160^post_35, r_37^0'=r_37^post_35, rcd_56^0'=rcd_56^post_35, rcd_86^0'=rcd_86^post_35, result_11^0'=result_11^post_35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_35, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_35, t_24^0'=t_24^post_35, temp0_16^0'=temp0_16^post_35, temp0_29^0'=temp0_29^post_35, temp_33^0'=temp_33^post_35, tmp_32^0'=tmp_32^post_35, x_126^0'=x_126^post_35, x_14^0'=x_14^post_35, x_172^0'=x_172^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, [ 1+head_15^0<=0 && a_113^0==a_113^post_35 && a_144^0==a_144^post_35 && a_181^0==a_181^post_35 && a_212^0==a_212^post_35 && a_234^0==a_234^post_35 && a_257^0==a_257^post_35 && ct_18^0==ct_18^post_35 && f_167^0==f_167^post_35 && head_15^0==head_15^post_35 && head_30^0==head_30^post_35 && i_105^0==i_105^post_35 && i_164^0==i_164^post_35 && i_28^0==i_28^post_35 && i_92^0==i_92^post_35 && len_129^0==len_129^post_35 && len_180^0==len_180^post_35 && length_27^0==length_27^post_35 && nondet_12^0==nondet_12^post_35 && r_121^0==r_121^post_35 && r_160^0==r_160^post_35 && r_37^0==r_37^post_35 && rcd_56^0==rcd_56^post_35 && rcd_86^0==rcd_86^post_35 && result_11^0==result_11^post_35 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_35 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_35 && t_24^0==t_24^post_35 && temp0_16^0==temp0_16^post_35 && temp0_29^0==temp0_29^post_35 && temp_33^0==temp_33^post_35 && tmp_32^0==tmp_32^post_35 && x_126^0==x_126^post_35 && x_14^0==x_14^post_35 && x_17^0==x_17^post_35 && x_172^0==x_172^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
     35: l24 -> l25 : a_113^0'=a_113^post_36, a_144^0'=a_144^post_36, a_181^0'=a_181^post_36, a_212^0'=a_212^post_36, a_234^0'=a_234^post_36, a_257^0'=a_257^post_36, ct_18^0'=ct_18^post_36, f_167^0'=f_167^post_36, head_15^0'=head_15^post_36, head_30^0'=head_30^post_36, i_105^0'=i_105^post_36, i_164^0'=i_164^post_36, i_28^0'=i_28^post_36, i_92^0'=i_92^post_36, len_129^0'=len_129^post_36, len_180^0'=len_180^post_36, length_27^0'=length_27^post_36, nondet_12^0'=nondet_12^post_36, r_121^0'=r_121^post_36, r_160^0'=r_160^post_36, r_37^0'=r_37^post_36, rcd_56^0'=rcd_56^post_36, rcd_86^0'=rcd_86^post_36, result_11^0'=result_11^post_36, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_36, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_36, t_24^0'=t_24^post_36, temp0_16^0'=temp0_16^post_36, temp0_29^0'=temp0_29^post_36, temp_33^0'=temp_33^post_36, tmp_32^0'=tmp_32^post_36, x_126^0'=x_126^post_36, x_14^0'=x_14^post_36, x_172^0'=x_172^post_36, x_17^0'=x_17^post_36, x_21^0'=x_21^post_36, x_SLAM_f_19^0'=x_SLAM_f_19^post_36, y_20^0'=y_20^post_36, [ 1+head_15^0<=y_20^0 && a_113^0==a_113^post_36 && a_144^0==a_144^post_36 && a_181^0==a_181^post_36 && a_212^0==a_212^post_36 && a_234^0==a_234^post_36 && a_257^0==a_257^post_36 && ct_18^0==ct_18^post_36 && f_167^0==f_167^post_36 && head_15^0==head_15^post_36 && head_30^0==head_30^post_36 && i_105^0==i_105^post_36 && i_164^0==i_164^post_36 && i_28^0==i_28^post_36 && i_92^0==i_92^post_36 && len_129^0==len_129^post_36 && len_180^0==len_180^post_36 && length_27^0==length_27^post_36 && nondet_12^0==nondet_12^post_36 && r_121^0==r_121^post_36 && r_160^0==r_160^post_36 && r_37^0==r_37^post_36 && rcd_56^0==rcd_56^post_36 && rcd_86^0==rcd_86^post_36 && result_11^0==result_11^post_36 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_36 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_36 && t_24^0==t_24^post_36 && temp0_16^0==temp0_16^post_36 && temp0_29^0==temp0_29^post_36 && temp_33^0==temp_33^post_36 && tmp_32^0==tmp_32^post_36 && x_126^0==x_126^post_36 && x_14^0==x_14^post_36 && x_17^0==x_17^post_36 && x_172^0==x_172^post_36 && x_21^0==x_21^post_36 && x_SLAM_f_19^0==x_SLAM_f_19^post_36 && y_20^0==y_20^post_36 ], cost: 1
     36: l24 -> l25 : a_113^0'=a_113^post_37, a_144^0'=a_144^post_37, a_181^0'=a_181^post_37, a_212^0'=a_212^post_37, a_234^0'=a_234^post_37, a_257^0'=a_257^post_37, ct_18^0'=ct_18^post_37, f_167^0'=f_167^post_37, head_15^0'=head_15^post_37, head_30^0'=head_30^post_37, i_105^0'=i_105^post_37, i_164^0'=i_164^post_37, i_28^0'=i_28^post_37, i_92^0'=i_92^post_37, len_129^0'=len_129^post_37, len_180^0'=len_180^post_37, length_27^0'=length_27^post_37, nondet_12^0'=nondet_12^post_37, r_121^0'=r_121^post_37, r_160^0'=r_160^post_37, r_37^0'=r_37^post_37, rcd_56^0'=rcd_56^post_37, rcd_86^0'=rcd_86^post_37, result_11^0'=result_11^post_37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_37, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_37, t_24^0'=t_24^post_37, temp0_16^0'=temp0_16^post_37, temp0_29^0'=temp0_29^post_37, temp_33^0'=temp_33^post_37, tmp_32^0'=tmp_32^post_37, x_126^0'=x_126^post_37, x_14^0'=x_14^post_37, x_172^0'=x_172^post_37, x_17^0'=x_17^post_37, x_21^0'=x_21^post_37, x_SLAM_f_19^0'=x_SLAM_f_19^post_37, y_20^0'=y_20^post_37, [ 1+y_20^0<=head_15^0 && a_113^0==a_113^post_37 && a_144^0==a_144^post_37 && a_181^0==a_181^post_37 && a_212^0==a_212^post_37 && a_234^0==a_234^post_37 && a_257^0==a_257^post_37 && ct_18^0==ct_18^post_37 && f_167^0==f_167^post_37 && head_15^0==head_15^post_37 && head_30^0==head_30^post_37 && i_105^0==i_105^post_37 && i_164^0==i_164^post_37 && i_28^0==i_28^post_37 && i_92^0==i_92^post_37 && len_129^0==len_129^post_37 && len_180^0==len_180^post_37 && length_27^0==length_27^post_37 && nondet_12^0==nondet_12^post_37 && r_121^0==r_121^post_37 && r_160^0==r_160^post_37 && r_37^0==r_37^post_37 && rcd_56^0==rcd_56^post_37 && rcd_86^0==rcd_86^post_37 && result_11^0==result_11^post_37 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_37 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_37 && t_24^0==t_24^post_37 && temp0_16^0==temp0_16^post_37 && temp0_29^0==temp0_29^post_37 && temp_33^0==temp_33^post_37 && tmp_32^0==tmp_32^post_37 && x_126^0==x_126^post_37 && x_14^0==x_14^post_37 && x_17^0==x_17^post_37 && x_172^0==x_172^post_37 && x_21^0==x_21^post_37 && x_SLAM_f_19^0==x_SLAM_f_19^post_37 && y_20^0==y_20^post_37 ], cost: 1
     37: l25 -> l26 : a_113^0'=a_113^post_38, a_144^0'=a_144^post_38, a_181^0'=a_181^post_38, a_212^0'=a_212^post_38, a_234^0'=a_234^post_38, a_257^0'=a_257^post_38, ct_18^0'=ct_18^post_38, f_167^0'=f_167^post_38, head_15^0'=head_15^post_38, head_30^0'=head_30^post_38, i_105^0'=i_105^post_38, i_164^0'=i_164^post_38, i_28^0'=i_28^post_38, i_92^0'=i_92^post_38, len_129^0'=len_129^post_38, len_180^0'=len_180^post_38, length_27^0'=length_27^post_38, nondet_12^0'=nondet_12^post_38, r_121^0'=r_121^post_38, r_160^0'=r_160^post_38, r_37^0'=r_37^post_38, rcd_56^0'=rcd_56^post_38, rcd_86^0'=rcd_86^post_38, result_11^0'=result_11^post_38, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_38, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_38, t_24^0'=t_24^post_38, temp0_16^0'=temp0_16^post_38, temp0_29^0'=temp0_29^post_38, temp_33^0'=temp_33^post_38, tmp_32^0'=tmp_32^post_38, x_126^0'=x_126^post_38, x_14^0'=x_14^post_38, x_172^0'=x_172^post_38, x_17^0'=x_17^post_38, x_21^0'=x_21^post_38, x_SLAM_f_19^0'=x_SLAM_f_19^post_38, y_20^0'=y_20^post_38, [ 1+y_20^0<=t_24^0 && a_113^0==a_113^post_38 && a_144^0==a_144^post_38 && a_181^0==a_181^post_38 && a_212^0==a_212^post_38 && a_234^0==a_234^post_38 && a_257^0==a_257^post_38 && ct_18^0==ct_18^post_38 && f_167^0==f_167^post_38 && head_15^0==head_15^post_38 && head_30^0==head_30^post_38 && i_105^0==i_105^post_38 && i_164^0==i_164^post_38 && i_28^0==i_28^post_38 && i_92^0==i_92^post_38 && len_129^0==len_129^post_38 && len_180^0==len_180^post_38 && length_27^0==length_27^post_38 && nondet_12^0==nondet_12^post_38 && r_121^0==r_121^post_38 && r_160^0==r_160^post_38 && r_37^0==r_37^post_38 && rcd_56^0==rcd_56^post_38 && rcd_86^0==rcd_86^post_38 && result_11^0==result_11^post_38 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_38 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_38 && t_24^0==t_24^post_38 && temp0_16^0==temp0_16^post_38 && temp0_29^0==temp0_29^post_38 && temp_33^0==temp_33^post_38 && tmp_32^0==tmp_32^post_38 && x_126^0==x_126^post_38 && x_14^0==x_14^post_38 && x_17^0==x_17^post_38 && x_172^0==x_172^post_38 && x_21^0==x_21^post_38 && x_SLAM_f_19^0==x_SLAM_f_19^post_38 && y_20^0==y_20^post_38 ], cost: 1
     38: l25 -> l26 : a_113^0'=a_113^post_39, a_144^0'=a_144^post_39, a_181^0'=a_181^post_39, a_212^0'=a_212^post_39, a_234^0'=a_234^post_39, a_257^0'=a_257^post_39, ct_18^0'=ct_18^post_39, f_167^0'=f_167^post_39, head_15^0'=head_15^post_39, head_30^0'=head_30^post_39, i_105^0'=i_105^post_39, i_164^0'=i_164^post_39, i_28^0'=i_28^post_39, i_92^0'=i_92^post_39, len_129^0'=len_129^post_39, len_180^0'=len_180^post_39, length_27^0'=length_27^post_39, nondet_12^0'=nondet_12^post_39, r_121^0'=r_121^post_39, r_160^0'=r_160^post_39, r_37^0'=r_37^post_39, rcd_56^0'=rcd_56^post_39, rcd_86^0'=rcd_86^post_39, result_11^0'=result_11^post_39, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_39, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_39, t_24^0'=t_24^post_39, temp0_16^0'=temp0_16^post_39, temp0_29^0'=temp0_29^post_39, temp_33^0'=temp_33^post_39, tmp_32^0'=tmp_32^post_39, x_126^0'=x_126^post_39, x_14^0'=x_14^post_39, x_172^0'=x_172^post_39, x_17^0'=x_17^post_39, x_21^0'=x_21^post_39, x_SLAM_f_19^0'=x_SLAM_f_19^post_39, y_20^0'=y_20^post_39, [ 1+t_24^0<=y_20^0 && a_113^0==a_113^post_39 && a_144^0==a_144^post_39 && a_181^0==a_181^post_39 && a_212^0==a_212^post_39 && a_234^0==a_234^post_39 && a_257^0==a_257^post_39 && ct_18^0==ct_18^post_39 && f_167^0==f_167^post_39 && head_15^0==head_15^post_39 && head_30^0==head_30^post_39 && i_105^0==i_105^post_39 && i_164^0==i_164^post_39 && i_28^0==i_28^post_39 && i_92^0==i_92^post_39 && len_129^0==len_129^post_39 && len_180^0==len_180^post_39 && length_27^0==length_27^post_39 && nondet_12^0==nondet_12^post_39 && r_121^0==r_121^post_39 && r_160^0==r_160^post_39 && r_37^0==r_37^post_39 && rcd_56^0==rcd_56^post_39 && rcd_86^0==rcd_86^post_39 && result_11^0==result_11^post_39 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_39 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_39 && t_24^0==t_24^post_39 && temp0_16^0==temp0_16^post_39 && temp0_29^0==temp0_29^post_39 && temp_33^0==temp_33^post_39 && tmp_32^0==tmp_32^post_39 && x_126^0==x_126^post_39 && x_14^0==x_14^post_39 && x_17^0==x_17^post_39 && x_172^0==x_172^post_39 && x_21^0==x_21^post_39 && x_SLAM_f_19^0==x_SLAM_f_19^post_39 && y_20^0==y_20^post_39 ], cost: 1
     39: l26 -> l2 : a_113^0'=a_113^post_40, a_144^0'=a_144^post_40, a_181^0'=a_181^post_40, a_212^0'=a_212^post_40, a_234^0'=a_234^post_40, a_257^0'=a_257^post_40, ct_18^0'=ct_18^post_40, f_167^0'=f_167^post_40, head_15^0'=head_15^post_40, head_30^0'=head_30^post_40, i_105^0'=i_105^post_40, i_164^0'=i_164^post_40, i_28^0'=i_28^post_40, i_92^0'=i_92^post_40, len_129^0'=len_129^post_40, len_180^0'=len_180^post_40, length_27^0'=length_27^post_40, nondet_12^0'=nondet_12^post_40, r_121^0'=r_121^post_40, r_160^0'=r_160^post_40, r_37^0'=r_37^post_40, rcd_56^0'=rcd_56^post_40, rcd_86^0'=rcd_86^post_40, result_11^0'=result_11^post_40, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_40, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_40, t_24^0'=t_24^post_40, temp0_16^0'=temp0_16^post_40, temp0_29^0'=temp0_29^post_40, temp_33^0'=temp_33^post_40, tmp_32^0'=tmp_32^post_40, x_126^0'=x_126^post_40, x_14^0'=x_14^post_40, x_172^0'=x_172^post_40, x_17^0'=x_17^post_40, x_21^0'=x_21^post_40, x_SLAM_f_19^0'=x_SLAM_f_19^post_40, y_20^0'=y_20^post_40, [ 1<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && len_129^post_40==len_129^post_40 && -1+len_129^post_40<=a_212^0 && a_212^0<=-1+len_129^post_40 && a_113^0==a_113^post_40 && a_144^0==a_144^post_40 && a_181^0==a_181^post_40 && a_212^0==a_212^post_40 && a_234^0==a_234^post_40 && a_257^0==a_257^post_40 && ct_18^0==ct_18^post_40 && f_167^0==f_167^post_40 && head_15^0==head_15^post_40 && head_30^0==head_30^post_40 && i_105^0==i_105^post_40 && i_164^0==i_164^post_40 && i_28^0==i_28^post_40 && i_92^0==i_92^post_40 && len_180^0==len_180^post_40 && length_27^0==length_27^post_40 && nondet_12^0==nondet_12^post_40 && r_121^0==r_121^post_40 && r_160^0==r_160^post_40 && r_37^0==r_37^post_40 && rcd_56^0==rcd_56^post_40 && rcd_86^0==rcd_86^post_40 && result_11^0==result_11^post_40 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_40 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_40 && t_24^0==t_24^post_40 && temp0_16^0==temp0_16^post_40 && temp0_29^0==temp0_29^post_40 && temp_33^0==temp_33^post_40 && tmp_32^0==tmp_32^post_40 && x_126^0==x_126^post_40 && x_14^0==x_14^post_40 && x_17^0==x_17^post_40 && x_172^0==x_172^post_40 && x_21^0==x_21^post_40 && x_SLAM_f_19^0==x_SLAM_f_19^post_40 && y_20^0==y_20^post_40 ], cost: 1
     60: l27 -> l40 : a_113^0'=a_113^post_61, a_144^0'=a_144^post_61, a_181^0'=a_181^post_61, a_212^0'=a_212^post_61, a_234^0'=a_234^post_61, a_257^0'=a_257^post_61, ct_18^0'=ct_18^post_61, f_167^0'=f_167^post_61, head_15^0'=head_15^post_61, head_30^0'=head_30^post_61, i_105^0'=i_105^post_61, i_164^0'=i_164^post_61, i_28^0'=i_28^post_61, i_92^0'=i_92^post_61, len_129^0'=len_129^post_61, len_180^0'=len_180^post_61, length_27^0'=length_27^post_61, nondet_12^0'=nondet_12^post_61, r_121^0'=r_121^post_61, r_160^0'=r_160^post_61, r_37^0'=r_37^post_61, rcd_56^0'=rcd_56^post_61, rcd_86^0'=rcd_86^post_61, result_11^0'=result_11^post_61, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_61, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_61, t_24^0'=t_24^post_61, temp0_16^0'=temp0_16^post_61, temp0_29^0'=temp0_29^post_61, temp_33^0'=temp_33^post_61, tmp_32^0'=tmp_32^post_61, x_126^0'=x_126^post_61, x_14^0'=x_14^post_61, x_172^0'=x_172^post_61, x_17^0'=x_17^post_61, x_21^0'=x_21^post_61, x_SLAM_f_19^0'=x_SLAM_f_19^post_61, y_20^0'=y_20^post_61, [ result_dot_nondet_sdv_special_RETURN_VALUE_13^post_61==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_61 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_61==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_61 && rcd_56^post_61==rcd_56^post_61 && 1+i_28^0<=length_27^0 && tmp_32^post_61==temp_33^0 && temp_33^post_61==temp_33^post_61 && head_30^post_61==tmp_32^post_61 && i_28^post_61==1+i_28^0 && 2<=i_28^post_61 && i_28^post_61<=2 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_61<=length_27^0 && length_27^0<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_61 && head_30^post_61<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_61 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_61<=head_30^post_61 && head_30^post_61<=tmp_32^post_61 && tmp_32^post_61<=head_30^post_61 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_61<=tmp_32^post_61 && tmp_32^post_61<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_61 && 1<=length_27^0 && 2<=length_27^0 && a_113^0==a_113^post_61 && a_144^0==a_144^post_61 && a_181^0==a_181^post_61 && a_212^0==a_212^post_61 && a_234^0==a_234^post_61 && a_257^0==a_257^post_61 && ct_18^0==ct_18^post_61 && f_167^0==f_167^post_61 && head_15^0==head_15^post_61 && i_105^0==i_105^post_61 && i_164^0==i_164^post_61 && i_92^0==i_92^post_61 && len_129^0==len_129^post_61 && len_180^0==len_180^post_61 && length_27^0==length_27^post_61 && nondet_12^0==nondet_12^post_61 && r_121^0==r_121^post_61 && r_160^0==r_160^post_61 && r_37^0==r_37^post_61 && rcd_86^0==rcd_86^post_61 && result_11^0==result_11^post_61 && t_24^0==t_24^post_61 && temp0_16^0==temp0_16^post_61 && temp0_29^0==temp0_29^post_61 && x_126^0==x_126^post_61 && x_14^0==x_14^post_61 && x_17^0==x_17^post_61 && x_172^0==x_172^post_61 && x_21^0==x_21^post_61 && x_SLAM_f_19^0==x_SLAM_f_19^post_61 && y_20^0==y_20^post_61 ], cost: 1
     94: l40 -> l62 : a_113^0'=a_113^post_95, a_144^0'=a_144^post_95, a_181^0'=a_181^post_95, a_212^0'=a_212^post_95, a_234^0'=a_234^post_95, a_257^0'=a_257^post_95, ct_18^0'=ct_18^post_95, f_167^0'=f_167^post_95, head_15^0'=head_15^post_95, head_30^0'=head_30^post_95, i_105^0'=i_105^post_95, i_164^0'=i_164^post_95, i_28^0'=i_28^post_95, i_92^0'=i_92^post_95, len_129^0'=len_129^post_95, len_180^0'=len_180^post_95, length_27^0'=length_27^post_95, nondet_12^0'=nondet_12^post_95, r_121^0'=r_121^post_95, r_160^0'=r_160^post_95, r_37^0'=r_37^post_95, rcd_56^0'=rcd_56^post_95, rcd_86^0'=rcd_86^post_95, result_11^0'=result_11^post_95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_95, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95, t_24^0'=t_24^post_95, temp0_16^0'=temp0_16^post_95, temp0_29^0'=temp0_29^post_95, temp_33^0'=temp_33^post_95, tmp_32^0'=tmp_32^post_95, x_126^0'=x_126^post_95, x_14^0'=x_14^post_95, x_172^0'=x_172^post_95, x_17^0'=x_17^post_95, x_21^0'=x_21^post_95, x_SLAM_f_19^0'=x_SLAM_f_19^post_95, y_20^0'=y_20^post_95, [ 0<=i_28^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95 && i_164^post_95==i_164^post_95 && length_27^0<=i_28^0 && temp0_29^1_2_1==head_30^0 && result_11^1_2==temp0_29^1_2_1 && length_27^post_95==length_27^post_95 && i_28^post_95==i_28^post_95 && temp0_29^post_95==temp0_29^post_95 && head_30^post_95==head_30^post_95 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_95==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_95 && tmp_32^post_95==tmp_32^post_95 && temp_33^post_95==temp_33^post_95 && head_15^post_95==result_11^1_2 && result_11^post_95==result_11^post_95 && x_14^post_95==head_15^post_95 && 0<=len_129^0 && len_129^0<=0 && 0<=a_144^0-i_28^post_95 && a_144^0-i_28^post_95<=0 && x_14^post_95<=head_15^post_95 && head_15^post_95<=x_14^post_95 && i_28^post_95<=a_144^0 && a_144^0<=i_28^post_95 && a_113^0==a_113^post_95 && a_144^0==a_144^post_95 && a_181^0==a_181^post_95 && a_212^0==a_212^post_95 && a_234^0==a_234^post_95 && a_257^0==a_257^post_95 && ct_18^0==ct_18^post_95 && f_167^0==f_167^post_95 && i_105^0==i_105^post_95 && i_92^0==i_92^post_95 && len_129^0==len_129^post_95 && len_180^0==len_180^post_95 && nondet_12^0==nondet_12^post_95 && r_121^0==r_121^post_95 && r_160^0==r_160^post_95 && r_37^0==r_37^post_95 && rcd_56^0==rcd_56^post_95 && rcd_86^0==rcd_86^post_95 && t_24^0==t_24^post_95 && temp0_16^0==temp0_16^post_95 && x_126^0==x_126^post_95 && x_17^0==x_17^post_95 && x_172^0==x_172^post_95 && x_21^0==x_21^post_95 && x_SLAM_f_19^0==x_SLAM_f_19^post_95 && y_20^0==y_20^post_95 ], cost: 1
     98: l40 -> l64 : a_113^0'=a_113^post_99, a_144^0'=a_144^post_99, a_181^0'=a_181^post_99, a_212^0'=a_212^post_99, a_234^0'=a_234^post_99, a_257^0'=a_257^post_99, ct_18^0'=ct_18^post_99, f_167^0'=f_167^post_99, head_15^0'=head_15^post_99, head_30^0'=head_30^post_99, i_105^0'=i_105^post_99, i_164^0'=i_164^post_99, i_28^0'=i_28^post_99, i_92^0'=i_92^post_99, len_129^0'=len_129^post_99, len_180^0'=len_180^post_99, length_27^0'=length_27^post_99, nondet_12^0'=nondet_12^post_99, r_121^0'=r_121^post_99, r_160^0'=r_160^post_99, r_37^0'=r_37^post_99, rcd_56^0'=rcd_56^post_99, rcd_86^0'=rcd_86^post_99, result_11^0'=result_11^post_99, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_99, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_99, t_24^0'=t_24^post_99, temp0_16^0'=temp0_16^post_99, temp0_29^0'=temp0_29^post_99, temp_33^0'=temp_33^post_99, tmp_32^0'=tmp_32^post_99, x_126^0'=x_126^post_99, x_14^0'=x_14^post_99, x_172^0'=x_172^post_99, x_17^0'=x_17^post_99, x_21^0'=x_21^post_99, x_SLAM_f_19^0'=x_SLAM_f_19^post_99, y_20^0'=y_20^post_99, [ 0<=i_28^0 && rcd_86^post_99==rcd_86^post_99 && i_92^post_99==i_92^post_99 && 1+i_28^0<=length_27^0 && tmp_32^post_99==temp_33^0 && temp_33^post_99==temp_33^post_99 && head_30^post_99==tmp_32^post_99 && i_28^post_99==1+i_28^0 && i_28^post_99<=1+i_92^post_99 && 1+i_92^post_99<=i_28^post_99 && i_92^post_99<=-1+i_28^post_99 && -1+i_28^post_99<=i_92^post_99 && 1+i_92^post_99<=length_27^0 && a_113^0==a_113^post_99 && a_144^0==a_144^post_99 && a_181^0==a_181^post_99 && a_212^0==a_212^post_99 && a_234^0==a_234^post_99 && a_257^0==a_257^post_99 && ct_18^0==ct_18^post_99 && f_167^0==f_167^post_99 && head_15^0==head_15^post_99 && i_105^0==i_105^post_99 && i_164^0==i_164^post_99 && len_129^0==len_129^post_99 && len_180^0==len_180^post_99 && length_27^0==length_27^post_99 && nondet_12^0==nondet_12^post_99 && r_121^0==r_121^post_99 && r_160^0==r_160^post_99 && r_37^0==r_37^post_99 && rcd_56^0==rcd_56^post_99 && result_11^0==result_11^post_99 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_99 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_99 && t_24^0==t_24^post_99 && temp0_16^0==temp0_16^post_99 && temp0_29^0==temp0_29^post_99 && x_126^0==x_126^post_99 && x_14^0==x_14^post_99 && x_17^0==x_17^post_99 && x_172^0==x_172^post_99 && x_21^0==x_21^post_99 && x_SLAM_f_19^0==x_SLAM_f_19^post_99 && y_20^0==y_20^post_99 ], cost: 1
     61: l41 -> l42 : a_113^0'=a_113^post_62, a_144^0'=a_144^post_62, a_181^0'=a_181^post_62, a_212^0'=a_212^post_62, a_234^0'=a_234^post_62, a_257^0'=a_257^post_62, ct_18^0'=ct_18^post_62, f_167^0'=f_167^post_62, head_15^0'=head_15^post_62, head_30^0'=head_30^post_62, i_105^0'=i_105^post_62, i_164^0'=i_164^post_62, i_28^0'=i_28^post_62, i_92^0'=i_92^post_62, len_129^0'=len_129^post_62, len_180^0'=len_180^post_62, length_27^0'=length_27^post_62, nondet_12^0'=nondet_12^post_62, r_121^0'=r_121^post_62, r_160^0'=r_160^post_62, r_37^0'=r_37^post_62, rcd_56^0'=rcd_56^post_62, rcd_86^0'=rcd_86^post_62, result_11^0'=result_11^post_62, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_62, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_62, t_24^0'=t_24^post_62, temp0_16^0'=temp0_16^post_62, temp0_29^0'=temp0_29^post_62, temp_33^0'=temp_33^post_62, tmp_32^0'=tmp_32^post_62, x_126^0'=x_126^post_62, x_14^0'=x_14^post_62, x_172^0'=x_172^post_62, x_17^0'=x_17^post_62, x_21^0'=x_21^post_62, x_SLAM_f_19^0'=x_SLAM_f_19^post_62, y_20^0'=y_20^post_62, [ 0<=a_144^0 && 0<=len_129^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_62==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_62 && 0<=x_14^0 && x_14^0<=0 && x_17^post_62==head_15^0 && ct_18^post_62==0 && x_SLAM_f_19^post_62==x_17^post_62 && y_20^post_62==ct_18^post_62 && x_21^post_62==x_SLAM_f_19^post_62 && 0<=x_14^0 && x_14^0<=0 && 0<=ct_18^post_62 && ct_18^post_62<=0 && 0<=y_20^post_62 && y_20^post_62<=0 && head_15^0<=x_17^post_62 && x_17^post_62<=head_15^0 && head_15^0<=x_SLAM_f_19^post_62 && x_SLAM_f_19^post_62<=head_15^0 && head_15^0<=x_21^post_62 && x_21^post_62<=head_15^0 && x_17^post_62<=x_SLAM_f_19^post_62 && x_SLAM_f_19^post_62<=x_17^post_62 && ct_18^post_62<=y_20^post_62 && y_20^post_62<=ct_18^post_62 && x_SLAM_f_19^post_62<=x_21^post_62 && x_21^post_62<=x_SLAM_f_19^post_62 && a_113^0==a_113^post_62 && a_144^0==a_144^post_62 && a_181^0==a_181^post_62 && a_212^0==a_212^post_62 && a_234^0==a_234^post_62 && a_257^0==a_257^post_62 && f_167^0==f_167^post_62 && head_15^0==head_15^post_62 && head_30^0==head_30^post_62 && i_105^0==i_105^post_62 && i_164^0==i_164^post_62 && i_28^0==i_28^post_62 && i_92^0==i_92^post_62 && len_129^0==len_129^post_62 && len_180^0==len_180^post_62 && length_27^0==length_27^post_62 && nondet_12^0==nondet_12^post_62 && r_121^0==r_121^post_62 && r_160^0==r_160^post_62 && r_37^0==r_37^post_62 && rcd_56^0==rcd_56^post_62 && rcd_86^0==rcd_86^post_62 && result_11^0==result_11^post_62 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_62 && t_24^0==t_24^post_62 && temp0_16^0==temp0_16^post_62 && temp0_29^0==temp0_29^post_62 && temp_33^0==temp_33^post_62 && tmp_32^0==tmp_32^post_62 && x_126^0==x_126^post_62 && x_14^0==x_14^post_62 && x_172^0==x_172^post_62 ], cost: 1
     65: l41 -> l45 : a_113^0'=a_113^post_66, a_144^0'=a_144^post_66, a_181^0'=a_181^post_66, a_212^0'=a_212^post_66, a_234^0'=a_234^post_66, a_257^0'=a_257^post_66, ct_18^0'=ct_18^post_66, f_167^0'=f_167^post_66, head_15^0'=head_15^post_66, head_30^0'=head_30^post_66, i_105^0'=i_105^post_66, i_164^0'=i_164^post_66, i_28^0'=i_28^post_66, i_92^0'=i_92^post_66, len_129^0'=len_129^post_66, len_180^0'=len_180^post_66, length_27^0'=length_27^post_66, nondet_12^0'=nondet_12^post_66, r_121^0'=r_121^post_66, r_160^0'=r_160^post_66, r_37^0'=r_37^post_66, rcd_56^0'=rcd_56^post_66, rcd_86^0'=rcd_86^post_66, result_11^0'=result_11^post_66, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_66, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66, t_24^0'=t_24^post_66, temp0_16^0'=temp0_16^post_66, temp0_29^0'=temp0_29^post_66, temp_33^0'=temp_33^post_66, tmp_32^0'=tmp_32^post_66, x_126^0'=x_126^post_66, x_14^0'=x_14^post_66, x_172^0'=x_172^post_66, x_17^0'=x_17^post_66, x_21^0'=x_21^post_66, x_SLAM_f_19^0'=x_SLAM_f_19^post_66, y_20^0'=y_20^post_66, [ 0<=a_144^0 && 0<=len_129^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66 && head_15^post_66==head_15^post_66 && r_37^post_66==r_37^post_66 && f_167^post_66==f_167^post_66 && x_172^post_66==x_172^post_66 && a_113^0==a_113^post_66 && a_144^0==a_144^post_66 && a_181^0==a_181^post_66 && a_212^0==a_212^post_66 && a_234^0==a_234^post_66 && a_257^0==a_257^post_66 && ct_18^0==ct_18^post_66 && head_30^0==head_30^post_66 && i_105^0==i_105^post_66 && i_164^0==i_164^post_66 && i_28^0==i_28^post_66 && i_92^0==i_92^post_66 && len_129^0==len_129^post_66 && len_180^0==len_180^post_66 && length_27^0==length_27^post_66 && nondet_12^0==nondet_12^post_66 && r_121^0==r_121^post_66 && r_160^0==r_160^post_66 && rcd_56^0==rcd_56^post_66 && rcd_86^0==rcd_86^post_66 && result_11^0==result_11^post_66 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_66 && t_24^0==t_24^post_66 && temp0_16^0==temp0_16^post_66 && temp0_29^0==temp0_29^post_66 && temp_33^0==temp_33^post_66 && tmp_32^0==tmp_32^post_66 && x_126^0==x_126^post_66 && x_14^0==x_14^post_66 && x_17^0==x_17^post_66 && x_21^0==x_21^post_66 && x_SLAM_f_19^0==x_SLAM_f_19^post_66 && y_20^0==y_20^post_66 ], cost: 1
     62: l42 -> l43 : a_113^0'=a_113^post_63, a_144^0'=a_144^post_63, a_181^0'=a_181^post_63, a_212^0'=a_212^post_63, a_234^0'=a_234^post_63, a_257^0'=a_257^post_63, ct_18^0'=ct_18^post_63, f_167^0'=f_167^post_63, head_15^0'=head_15^post_63, head_30^0'=head_30^post_63, i_105^0'=i_105^post_63, i_164^0'=i_164^post_63, i_28^0'=i_28^post_63, i_92^0'=i_92^post_63, len_129^0'=len_129^post_63, len_180^0'=len_180^post_63, length_27^0'=length_27^post_63, nondet_12^0'=nondet_12^post_63, r_121^0'=r_121^post_63, r_160^0'=r_160^post_63, r_37^0'=r_37^post_63, rcd_56^0'=rcd_56^post_63, rcd_86^0'=rcd_86^post_63, result_11^0'=result_11^post_63, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_63, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_63, t_24^0'=t_24^post_63, temp0_16^0'=temp0_16^post_63, temp0_29^0'=temp0_29^post_63, temp_33^0'=temp_33^post_63, tmp_32^0'=tmp_32^post_63, x_126^0'=x_126^post_63, x_14^0'=x_14^post_63, x_172^0'=x_172^post_63, x_17^0'=x_17^post_63, x_21^0'=x_21^post_63, x_SLAM_f_19^0'=x_SLAM_f_19^post_63, y_20^0'=y_20^post_63, [ 1<=head_15^0 && a_113^0==a_113^post_63 && a_144^0==a_144^post_63 && a_181^0==a_181^post_63 && a_212^0==a_212^post_63 && a_234^0==a_234^post_63 && a_257^0==a_257^post_63 && ct_18^0==ct_18^post_63 && f_167^0==f_167^post_63 && head_15^0==head_15^post_63 && head_30^0==head_30^post_63 && i_105^0==i_105^post_63 && i_164^0==i_164^post_63 && i_28^0==i_28^post_63 && i_92^0==i_92^post_63 && len_129^0==len_129^post_63 && len_180^0==len_180^post_63 && length_27^0==length_27^post_63 && nondet_12^0==nondet_12^post_63 && r_121^0==r_121^post_63 && r_160^0==r_160^post_63 && r_37^0==r_37^post_63 && rcd_56^0==rcd_56^post_63 && rcd_86^0==rcd_86^post_63 && result_11^0==result_11^post_63 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_63 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_63 && t_24^0==t_24^post_63 && temp0_16^0==temp0_16^post_63 && temp0_29^0==temp0_29^post_63 && temp_33^0==temp_33^post_63 && tmp_32^0==tmp_32^post_63 && x_126^0==x_126^post_63 && x_14^0==x_14^post_63 && x_17^0==x_17^post_63 && x_172^0==x_172^post_63 && x_21^0==x_21^post_63 && x_SLAM_f_19^0==x_SLAM_f_19^post_63 && y_20^0==y_20^post_63 ], cost: 1
     63: l42 -> l43 : a_113^0'=a_113^post_64, a_144^0'=a_144^post_64, a_181^0'=a_181^post_64, a_212^0'=a_212^post_64, a_234^0'=a_234^post_64, a_257^0'=a_257^post_64, ct_18^0'=ct_18^post_64, f_167^0'=f_167^post_64, head_15^0'=head_15^post_64, head_30^0'=head_30^post_64, i_105^0'=i_105^post_64, i_164^0'=i_164^post_64, i_28^0'=i_28^post_64, i_92^0'=i_92^post_64, len_129^0'=len_129^post_64, len_180^0'=len_180^post_64, length_27^0'=length_27^post_64, nondet_12^0'=nondet_12^post_64, r_121^0'=r_121^post_64, r_160^0'=r_160^post_64, r_37^0'=r_37^post_64, rcd_56^0'=rcd_56^post_64, rcd_86^0'=rcd_86^post_64, result_11^0'=result_11^post_64, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_64, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_64, t_24^0'=t_24^post_64, temp0_16^0'=temp0_16^post_64, temp0_29^0'=temp0_29^post_64, temp_33^0'=temp_33^post_64, tmp_32^0'=tmp_32^post_64, x_126^0'=x_126^post_64, x_14^0'=x_14^post_64, x_172^0'=x_172^post_64, x_17^0'=x_17^post_64, x_21^0'=x_21^post_64, x_SLAM_f_19^0'=x_SLAM_f_19^post_64, y_20^0'=y_20^post_64, [ 1+head_15^0<=0 && a_113^0==a_113^post_64 && a_144^0==a_144^post_64 && a_181^0==a_181^post_64 && a_212^0==a_212^post_64 && a_234^0==a_234^post_64 && a_257^0==a_257^post_64 && ct_18^0==ct_18^post_64 && f_167^0==f_167^post_64 && head_15^0==head_15^post_64 && head_30^0==head_30^post_64 && i_105^0==i_105^post_64 && i_164^0==i_164^post_64 && i_28^0==i_28^post_64 && i_92^0==i_92^post_64 && len_129^0==len_129^post_64 && len_180^0==len_180^post_64 && length_27^0==length_27^post_64 && nondet_12^0==nondet_12^post_64 && r_121^0==r_121^post_64 && r_160^0==r_160^post_64 && r_37^0==r_37^post_64 && rcd_56^0==rcd_56^post_64 && rcd_86^0==rcd_86^post_64 && result_11^0==result_11^post_64 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_64 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_64 && t_24^0==t_24^post_64 && temp0_16^0==temp0_16^post_64 && temp0_29^0==temp0_29^post_64 && temp_33^0==temp_33^post_64 && tmp_32^0==tmp_32^post_64 && x_126^0==x_126^post_64 && x_14^0==x_14^post_64 && x_17^0==x_17^post_64 && x_172^0==x_172^post_64 && x_21^0==x_21^post_64 && x_SLAM_f_19^0==x_SLAM_f_19^post_64 && y_20^0==y_20^post_64 ], cost: 1
     64: l43 -> l20 : a_113^0'=a_113^post_65, a_144^0'=a_144^post_65, a_181^0'=a_181^post_65, a_212^0'=a_212^post_65, a_234^0'=a_234^post_65, a_257^0'=a_257^post_65, ct_18^0'=ct_18^post_65, f_167^0'=f_167^post_65, head_15^0'=head_15^post_65, head_30^0'=head_30^post_65, i_105^0'=i_105^post_65, i_164^0'=i_164^post_65, i_28^0'=i_28^post_65, i_92^0'=i_92^post_65, len_129^0'=len_129^post_65, len_180^0'=len_180^post_65, length_27^0'=length_27^post_65, nondet_12^0'=nondet_12^post_65, r_121^0'=r_121^post_65, r_160^0'=r_160^post_65, r_37^0'=r_37^post_65, rcd_56^0'=rcd_56^post_65, rcd_86^0'=rcd_86^post_65, result_11^0'=result_11^post_65, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_65, t_24^0'=t_24^post_65, temp0_16^0'=temp0_16^post_65, temp0_29^0'=temp0_29^post_65, temp_33^0'=temp_33^post_65, tmp_32^0'=tmp_32^post_65, x_126^0'=x_126^post_65, x_14^0'=x_14^post_65, x_172^0'=x_172^post_65, x_17^0'=x_17^post_65, x_21^0'=x_21^post_65, x_SLAM_f_19^0'=x_SLAM_f_19^post_65, y_20^0'=y_20^post_65, [ 1<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && a_113^0==a_113^post_65 && a_144^0==a_144^post_65 && a_181^0==a_181^post_65 && a_212^0==a_212^post_65 && a_234^0==a_234^post_65 && a_257^0==a_257^post_65 && ct_18^0==ct_18^post_65 && f_167^0==f_167^post_65 && head_15^0==head_15^post_65 && head_30^0==head_30^post_65 && i_105^0==i_105^post_65 && i_164^0==i_164^post_65 && i_28^0==i_28^post_65 && i_92^0==i_92^post_65 && len_129^0==len_129^post_65 && len_180^0==len_180^post_65 && length_27^0==length_27^post_65 && nondet_12^0==nondet_12^post_65 && r_121^0==r_121^post_65 && r_160^0==r_160^post_65 && r_37^0==r_37^post_65 && rcd_56^0==rcd_56^post_65 && rcd_86^0==rcd_86^post_65 && result_11^0==result_11^post_65 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_65 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_65 && t_24^0==t_24^post_65 && temp0_16^0==temp0_16^post_65 && temp0_29^0==temp0_29^post_65 && temp_33^0==temp_33^post_65 && tmp_32^0==tmp_32^post_65 && x_126^0==x_126^post_65 && x_14^0==x_14^post_65 && x_17^0==x_17^post_65 && x_172^0==x_172^post_65 && x_21^0==x_21^post_65 && x_SLAM_f_19^0==x_SLAM_f_19^post_65 && y_20^0==y_20^post_65 ], cost: 1
     66: l45 -> l46 : a_113^0'=a_113^post_67, a_144^0'=a_144^post_67, a_181^0'=a_181^post_67, a_212^0'=a_212^post_67, a_234^0'=a_234^post_67, a_257^0'=a_257^post_67, ct_18^0'=ct_18^post_67, f_167^0'=f_167^post_67, head_15^0'=head_15^post_67, head_30^0'=head_30^post_67, i_105^0'=i_105^post_67, i_164^0'=i_164^post_67, i_28^0'=i_28^post_67, i_92^0'=i_92^post_67, len_129^0'=len_129^post_67, len_180^0'=len_180^post_67, length_27^0'=length_27^post_67, nondet_12^0'=nondet_12^post_67, r_121^0'=r_121^post_67, r_160^0'=r_160^post_67, r_37^0'=r_37^post_67, rcd_56^0'=rcd_56^post_67, rcd_86^0'=rcd_86^post_67, result_11^0'=result_11^post_67, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_67, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_67, t_24^0'=t_24^post_67, temp0_16^0'=temp0_16^post_67, temp0_29^0'=temp0_29^post_67, temp_33^0'=temp_33^post_67, tmp_32^0'=tmp_32^post_67, x_126^0'=x_126^post_67, x_14^0'=x_14^post_67, x_172^0'=x_172^post_67, x_17^0'=x_17^post_67, x_21^0'=x_21^post_67, x_SLAM_f_19^0'=x_SLAM_f_19^post_67, y_20^0'=y_20^post_67, [ 1<=x_14^0 && a_113^0==a_113^post_67 && a_144^0==a_144^post_67 && a_181^0==a_181^post_67 && a_212^0==a_212^post_67 && a_234^0==a_234^post_67 && a_257^0==a_257^post_67 && ct_18^0==ct_18^post_67 && f_167^0==f_167^post_67 && head_15^0==head_15^post_67 && head_30^0==head_30^post_67 && i_105^0==i_105^post_67 && i_164^0==i_164^post_67 && i_28^0==i_28^post_67 && i_92^0==i_92^post_67 && len_129^0==len_129^post_67 && len_180^0==len_180^post_67 && length_27^0==length_27^post_67 && nondet_12^0==nondet_12^post_67 && r_121^0==r_121^post_67 && r_160^0==r_160^post_67 && r_37^0==r_37^post_67 && rcd_56^0==rcd_56^post_67 && rcd_86^0==rcd_86^post_67 && result_11^0==result_11^post_67 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_67 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_67 && t_24^0==t_24^post_67 && temp0_16^0==temp0_16^post_67 && temp0_29^0==temp0_29^post_67 && temp_33^0==temp_33^post_67 && tmp_32^0==tmp_32^post_67 && x_126^0==x_126^post_67 && x_14^0==x_14^post_67 && x_17^0==x_17^post_67 && x_172^0==x_172^post_67 && x_21^0==x_21^post_67 && x_SLAM_f_19^0==x_SLAM_f_19^post_67 && y_20^0==y_20^post_67 ], cost: 1
     67: l45 -> l46 : a_113^0'=a_113^post_68, a_144^0'=a_144^post_68, a_181^0'=a_181^post_68, a_212^0'=a_212^post_68, a_234^0'=a_234^post_68, a_257^0'=a_257^post_68, ct_18^0'=ct_18^post_68, f_167^0'=f_167^post_68, head_15^0'=head_15^post_68, head_30^0'=head_30^post_68, i_105^0'=i_105^post_68, i_164^0'=i_164^post_68, i_28^0'=i_28^post_68, i_92^0'=i_92^post_68, len_129^0'=len_129^post_68, len_180^0'=len_180^post_68, length_27^0'=length_27^post_68, nondet_12^0'=nondet_12^post_68, r_121^0'=r_121^post_68, r_160^0'=r_160^post_68, r_37^0'=r_37^post_68, rcd_56^0'=rcd_56^post_68, rcd_86^0'=rcd_86^post_68, result_11^0'=result_11^post_68, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_68, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_68, t_24^0'=t_24^post_68, temp0_16^0'=temp0_16^post_68, temp0_29^0'=temp0_29^post_68, temp_33^0'=temp_33^post_68, tmp_32^0'=tmp_32^post_68, x_126^0'=x_126^post_68, x_14^0'=x_14^post_68, x_172^0'=x_172^post_68, x_17^0'=x_17^post_68, x_21^0'=x_21^post_68, x_SLAM_f_19^0'=x_SLAM_f_19^post_68, y_20^0'=y_20^post_68, [ 1+x_14^0<=0 && a_113^0==a_113^post_68 && a_144^0==a_144^post_68 && a_181^0==a_181^post_68 && a_212^0==a_212^post_68 && a_234^0==a_234^post_68 && a_257^0==a_257^post_68 && ct_18^0==ct_18^post_68 && f_167^0==f_167^post_68 && head_15^0==head_15^post_68 && head_30^0==head_30^post_68 && i_105^0==i_105^post_68 && i_164^0==i_164^post_68 && i_28^0==i_28^post_68 && i_92^0==i_92^post_68 && len_129^0==len_129^post_68 && len_180^0==len_180^post_68 && length_27^0==length_27^post_68 && nondet_12^0==nondet_12^post_68 && r_121^0==r_121^post_68 && r_160^0==r_160^post_68 && r_37^0==r_37^post_68 && rcd_56^0==rcd_56^post_68 && rcd_86^0==rcd_86^post_68 && result_11^0==result_11^post_68 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_68 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_68 && t_24^0==t_24^post_68 && temp0_16^0==temp0_16^post_68 && temp0_29^0==temp0_29^post_68 && temp_33^0==temp_33^post_68 && tmp_32^0==tmp_32^post_68 && x_126^0==x_126^post_68 && x_14^0==x_14^post_68 && x_17^0==x_17^post_68 && x_172^0==x_172^post_68 && x_21^0==x_21^post_68 && x_SLAM_f_19^0==x_SLAM_f_19^post_68 && y_20^0==y_20^post_68 ], cost: 1
     68: l46 -> l47 : a_113^0'=a_113^post_69, a_144^0'=a_144^post_69, a_181^0'=a_181^post_69, a_212^0'=a_212^post_69, a_234^0'=a_234^post_69, a_257^0'=a_257^post_69, ct_18^0'=ct_18^post_69, f_167^0'=f_167^post_69, head_15^0'=head_15^post_69, head_30^0'=head_30^post_69, i_105^0'=i_105^post_69, i_164^0'=i_164^post_69, i_28^0'=i_28^post_69, i_92^0'=i_92^post_69, len_129^0'=len_129^post_69, len_180^0'=len_180^post_69, length_27^0'=length_27^post_69, nondet_12^0'=nondet_12^post_69, r_121^0'=r_121^post_69, r_160^0'=r_160^post_69, r_37^0'=r_37^post_69, rcd_56^0'=rcd_56^post_69, rcd_86^0'=rcd_86^post_69, result_11^0'=result_11^post_69, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_69, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_69, t_24^0'=t_24^post_69, temp0_16^0'=temp0_16^post_69, temp0_29^0'=temp0_29^post_69, temp_33^0'=temp_33^post_69, tmp_32^0'=tmp_32^post_69, x_126^0'=x_126^post_69, x_14^0'=x_14^post_69, x_172^0'=x_172^post_69, x_17^0'=x_17^post_69, x_21^0'=x_21^post_69, x_SLAM_f_19^0'=x_SLAM_f_19^post_69, y_20^0'=y_20^post_69, [ len_180^post_69==len_180^post_69 && a_181^post_69==a_181^post_69 && 1<=-len_129^0+len_180^post_69 && -len_129^0+len_180^post_69<=1 && x_14^0<=f_167^0 && f_167^0<=x_14^0 && a_181^post_69<=-1+a_144^0 && -1+a_144^0<=a_181^post_69 && a_113^0==a_113^post_69 && a_144^0==a_144^post_69 && a_212^0==a_212^post_69 && a_234^0==a_234^post_69 && a_257^0==a_257^post_69 && ct_18^0==ct_18^post_69 && f_167^0==f_167^post_69 && head_15^0==head_15^post_69 && head_30^0==head_30^post_69 && i_105^0==i_105^post_69 && i_164^0==i_164^post_69 && i_28^0==i_28^post_69 && i_92^0==i_92^post_69 && len_129^0==len_129^post_69 && length_27^0==length_27^post_69 && nondet_12^0==nondet_12^post_69 && r_121^0==r_121^post_69 && r_160^0==r_160^post_69 && r_37^0==r_37^post_69 && rcd_56^0==rcd_56^post_69 && rcd_86^0==rcd_86^post_69 && result_11^0==result_11^post_69 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_69 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_69 && t_24^0==t_24^post_69 && temp0_16^0==temp0_16^post_69 && temp0_29^0==temp0_29^post_69 && temp_33^0==temp_33^post_69 && tmp_32^0==tmp_32^post_69 && x_126^0==x_126^post_69 && x_14^0==x_14^post_69 && x_17^0==x_17^post_69 && x_172^0==x_172^post_69 && x_21^0==x_21^post_69 && x_SLAM_f_19^0==x_SLAM_f_19^post_69 && y_20^0==y_20^post_69 ], cost: 1
     69: l47 -> l48 : a_113^0'=a_113^post_70, a_144^0'=a_144^post_70, a_181^0'=a_181^post_70, a_212^0'=a_212^post_70, a_234^0'=a_234^post_70, a_257^0'=a_257^post_70, ct_18^0'=ct_18^post_70, f_167^0'=f_167^post_70, head_15^0'=head_15^post_70, head_30^0'=head_30^post_70, i_105^0'=i_105^post_70, i_164^0'=i_164^post_70, i_28^0'=i_28^post_70, i_92^0'=i_92^post_70, len_129^0'=len_129^post_70, len_180^0'=len_180^post_70, length_27^0'=length_27^post_70, nondet_12^0'=nondet_12^post_70, r_121^0'=r_121^post_70, r_160^0'=r_160^post_70, r_37^0'=r_37^post_70, rcd_56^0'=rcd_56^post_70, rcd_86^0'=rcd_86^post_70, result_11^0'=result_11^post_70, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_70, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_70, t_24^0'=t_24^post_70, temp0_16^0'=temp0_16^post_70, temp0_29^0'=temp0_29^post_70, temp_33^0'=temp_33^post_70, tmp_32^0'=tmp_32^post_70, x_126^0'=x_126^post_70, x_14^0'=x_14^post_70, x_172^0'=x_172^post_70, x_17^0'=x_17^post_70, x_21^0'=x_21^post_70, x_SLAM_f_19^0'=x_SLAM_f_19^post_70, y_20^0'=y_20^post_70, [ 1<=head_15^0 && a_113^0==a_113^post_70 && a_144^0==a_144^post_70 && a_181^0==a_181^post_70 && a_212^0==a_212^post_70 && a_234^0==a_234^post_70 && a_257^0==a_257^post_70 && ct_18^0==ct_18^post_70 && f_167^0==f_167^post_70 && head_15^0==head_15^post_70 && head_30^0==head_30^post_70 && i_105^0==i_105^post_70 && i_164^0==i_164^post_70 && i_28^0==i_28^post_70 && i_92^0==i_92^post_70 && len_129^0==len_129^post_70 && len_180^0==len_180^post_70 && length_27^0==length_27^post_70 && nondet_12^0==nondet_12^post_70 && r_121^0==r_121^post_70 && r_160^0==r_160^post_70 && r_37^0==r_37^post_70 && rcd_56^0==rcd_56^post_70 && rcd_86^0==rcd_86^post_70 && result_11^0==result_11^post_70 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_70 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_70 && t_24^0==t_24^post_70 && temp0_16^0==temp0_16^post_70 && temp0_29^0==temp0_29^post_70 && temp_33^0==temp_33^post_70 && tmp_32^0==tmp_32^post_70 && x_126^0==x_126^post_70 && x_14^0==x_14^post_70 && x_17^0==x_17^post_70 && x_172^0==x_172^post_70 && x_21^0==x_21^post_70 && x_SLAM_f_19^0==x_SLAM_f_19^post_70 && y_20^0==y_20^post_70 ], cost: 1
     70: l47 -> l48 : a_113^0'=a_113^post_71, a_144^0'=a_144^post_71, a_181^0'=a_181^post_71, a_212^0'=a_212^post_71, a_234^0'=a_234^post_71, a_257^0'=a_257^post_71, ct_18^0'=ct_18^post_71, f_167^0'=f_167^post_71, head_15^0'=head_15^post_71, head_30^0'=head_30^post_71, i_105^0'=i_105^post_71, i_164^0'=i_164^post_71, i_28^0'=i_28^post_71, i_92^0'=i_92^post_71, len_129^0'=len_129^post_71, len_180^0'=len_180^post_71, length_27^0'=length_27^post_71, nondet_12^0'=nondet_12^post_71, r_121^0'=r_121^post_71, r_160^0'=r_160^post_71, r_37^0'=r_37^post_71, rcd_56^0'=rcd_56^post_71, rcd_86^0'=rcd_86^post_71, result_11^0'=result_11^post_71, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_71, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_71, t_24^0'=t_24^post_71, temp0_16^0'=temp0_16^post_71, temp0_29^0'=temp0_29^post_71, temp_33^0'=temp_33^post_71, tmp_32^0'=tmp_32^post_71, x_126^0'=x_126^post_71, x_14^0'=x_14^post_71, x_172^0'=x_172^post_71, x_17^0'=x_17^post_71, x_21^0'=x_21^post_71, x_SLAM_f_19^0'=x_SLAM_f_19^post_71, y_20^0'=y_20^post_71, [ 1+head_15^0<=0 && a_113^0==a_113^post_71 && a_144^0==a_144^post_71 && a_181^0==a_181^post_71 && a_212^0==a_212^post_71 && a_234^0==a_234^post_71 && a_257^0==a_257^post_71 && ct_18^0==ct_18^post_71 && f_167^0==f_167^post_71 && head_15^0==head_15^post_71 && head_30^0==head_30^post_71 && i_105^0==i_105^post_71 && i_164^0==i_164^post_71 && i_28^0==i_28^post_71 && i_92^0==i_92^post_71 && len_129^0==len_129^post_71 && len_180^0==len_180^post_71 && length_27^0==length_27^post_71 && nondet_12^0==nondet_12^post_71 && r_121^0==r_121^post_71 && r_160^0==r_160^post_71 && r_37^0==r_37^post_71 && rcd_56^0==rcd_56^post_71 && rcd_86^0==rcd_86^post_71 && result_11^0==result_11^post_71 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_71 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_71 && t_24^0==t_24^post_71 && temp0_16^0==temp0_16^post_71 && temp0_29^0==temp0_29^post_71 && temp_33^0==temp_33^post_71 && tmp_32^0==tmp_32^post_71 && x_126^0==x_126^post_71 && x_14^0==x_14^post_71 && x_17^0==x_17^post_71 && x_172^0==x_172^post_71 && x_21^0==x_21^post_71 && x_SLAM_f_19^0==x_SLAM_f_19^post_71 && y_20^0==y_20^post_71 ], cost: 1
     71: l48 -> l49 : a_113^0'=a_113^post_72, a_144^0'=a_144^post_72, a_181^0'=a_181^post_72, a_212^0'=a_212^post_72, a_234^0'=a_234^post_72, a_257^0'=a_257^post_72, ct_18^0'=ct_18^post_72, f_167^0'=f_167^post_72, head_15^0'=head_15^post_72, head_30^0'=head_30^post_72, i_105^0'=i_105^post_72, i_164^0'=i_164^post_72, i_28^0'=i_28^post_72, i_92^0'=i_92^post_72, len_129^0'=len_129^post_72, len_180^0'=len_180^post_72, length_27^0'=length_27^post_72, nondet_12^0'=nondet_12^post_72, r_121^0'=r_121^post_72, r_160^0'=r_160^post_72, r_37^0'=r_37^post_72, rcd_56^0'=rcd_56^post_72, rcd_86^0'=rcd_86^post_72, result_11^0'=result_11^post_72, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_72, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_72, t_24^0'=t_24^post_72, temp0_16^0'=temp0_16^post_72, temp0_29^0'=temp0_29^post_72, temp_33^0'=temp_33^post_72, tmp_32^0'=tmp_32^post_72, x_126^0'=x_126^post_72, x_14^0'=x_14^post_72, x_172^0'=x_172^post_72, x_17^0'=x_17^post_72, x_21^0'=x_21^post_72, x_SLAM_f_19^0'=x_SLAM_f_19^post_72, y_20^0'=y_20^post_72, [ 1<=x_172^0 && a_113^0==a_113^post_72 && a_144^0==a_144^post_72 && a_181^0==a_181^post_72 && a_212^0==a_212^post_72 && a_234^0==a_234^post_72 && a_257^0==a_257^post_72 && ct_18^0==ct_18^post_72 && f_167^0==f_167^post_72 && head_15^0==head_15^post_72 && head_30^0==head_30^post_72 && i_105^0==i_105^post_72 && i_164^0==i_164^post_72 && i_28^0==i_28^post_72 && i_92^0==i_92^post_72 && len_129^0==len_129^post_72 && len_180^0==len_180^post_72 && length_27^0==length_27^post_72 && nondet_12^0==nondet_12^post_72 && r_121^0==r_121^post_72 && r_160^0==r_160^post_72 && r_37^0==r_37^post_72 && rcd_56^0==rcd_56^post_72 && rcd_86^0==rcd_86^post_72 && result_11^0==result_11^post_72 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_72 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_72 && t_24^0==t_24^post_72 && temp0_16^0==temp0_16^post_72 && temp0_29^0==temp0_29^post_72 && temp_33^0==temp_33^post_72 && tmp_32^0==tmp_32^post_72 && x_126^0==x_126^post_72 && x_14^0==x_14^post_72 && x_17^0==x_17^post_72 && x_172^0==x_172^post_72 && x_21^0==x_21^post_72 && x_SLAM_f_19^0==x_SLAM_f_19^post_72 && y_20^0==y_20^post_72 ], cost: 1
     72: l48 -> l49 : a_113^0'=a_113^post_73, a_144^0'=a_144^post_73, a_181^0'=a_181^post_73, a_212^0'=a_212^post_73, a_234^0'=a_234^post_73, a_257^0'=a_257^post_73, ct_18^0'=ct_18^post_73, f_167^0'=f_167^post_73, head_15^0'=head_15^post_73, head_30^0'=head_30^post_73, i_105^0'=i_105^post_73, i_164^0'=i_164^post_73, i_28^0'=i_28^post_73, i_92^0'=i_92^post_73, len_129^0'=len_129^post_73, len_180^0'=len_180^post_73, length_27^0'=length_27^post_73, nondet_12^0'=nondet_12^post_73, r_121^0'=r_121^post_73, r_160^0'=r_160^post_73, r_37^0'=r_37^post_73, rcd_56^0'=rcd_56^post_73, rcd_86^0'=rcd_86^post_73, result_11^0'=result_11^post_73, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_73, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_73, t_24^0'=t_24^post_73, temp0_16^0'=temp0_16^post_73, temp0_29^0'=temp0_29^post_73, temp_33^0'=temp_33^post_73, tmp_32^0'=tmp_32^post_73, x_126^0'=x_126^post_73, x_14^0'=x_14^post_73, x_172^0'=x_172^post_73, x_17^0'=x_17^post_73, x_21^0'=x_21^post_73, x_SLAM_f_19^0'=x_SLAM_f_19^post_73, y_20^0'=y_20^post_73, [ 1+x_172^0<=0 && a_113^0==a_113^post_73 && a_144^0==a_144^post_73 && a_181^0==a_181^post_73 && a_212^0==a_212^post_73 && a_234^0==a_234^post_73 && a_257^0==a_257^post_73 && ct_18^0==ct_18^post_73 && f_167^0==f_167^post_73 && head_15^0==head_15^post_73 && head_30^0==head_30^post_73 && i_105^0==i_105^post_73 && i_164^0==i_164^post_73 && i_28^0==i_28^post_73 && i_92^0==i_92^post_73 && len_129^0==len_129^post_73 && len_180^0==len_180^post_73 && length_27^0==length_27^post_73 && nondet_12^0==nondet_12^post_73 && r_121^0==r_121^post_73 && r_160^0==r_160^post_73 && r_37^0==r_37^post_73 && rcd_56^0==rcd_56^post_73 && rcd_86^0==rcd_86^post_73 && result_11^0==result_11^post_73 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_73 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_73 && t_24^0==t_24^post_73 && temp0_16^0==temp0_16^post_73 && temp0_29^0==temp0_29^post_73 && temp_33^0==temp_33^post_73 && tmp_32^0==tmp_32^post_73 && x_126^0==x_126^post_73 && x_14^0==x_14^post_73 && x_17^0==x_17^post_73 && x_172^0==x_172^post_73 && x_21^0==x_21^post_73 && x_SLAM_f_19^0==x_SLAM_f_19^post_73 && y_20^0==y_20^post_73 ], cost: 1
     73: l49 -> l44 : a_113^0'=a_113^post_74, a_144^0'=a_144^post_74, a_181^0'=a_181^post_74, a_212^0'=a_212^post_74, a_234^0'=a_234^post_74, a_257^0'=a_257^post_74, ct_18^0'=ct_18^post_74, f_167^0'=f_167^post_74, head_15^0'=head_15^post_74, head_30^0'=head_30^post_74, i_105^0'=i_105^post_74, i_164^0'=i_164^post_74, i_28^0'=i_28^post_74, i_92^0'=i_92^post_74, len_129^0'=len_129^post_74, len_180^0'=len_180^post_74, length_27^0'=length_27^post_74, nondet_12^0'=nondet_12^post_74, r_121^0'=r_121^post_74, r_160^0'=r_160^post_74, r_37^0'=r_37^post_74, rcd_56^0'=rcd_56^post_74, rcd_86^0'=rcd_86^post_74, result_11^0'=result_11^post_74, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_74, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_74, t_24^0'=t_24^post_74, temp0_16^0'=temp0_16^post_74, temp0_29^0'=temp0_29^post_74, temp_33^0'=temp_33^post_74, tmp_32^0'=tmp_32^post_74, x_126^0'=x_126^post_74, x_14^0'=x_14^post_74, x_172^0'=x_172^post_74, x_17^0'=x_17^post_74, x_21^0'=x_21^post_74, x_SLAM_f_19^0'=x_SLAM_f_19^post_74, y_20^0'=y_20^post_74, [ 1<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && a_144^post_74==a_144^post_74 && a_144^post_74<=a_181^0 && a_181^0<=a_144^post_74 && len_129^post_74==len_129^post_74 && len_129^post_74<=len_180^0 && len_180^0<=len_129^post_74 && a_113^0==a_113^post_74 && a_181^0==a_181^post_74 && a_212^0==a_212^post_74 && a_234^0==a_234^post_74 && a_257^0==a_257^post_74 && ct_18^0==ct_18^post_74 && f_167^0==f_167^post_74 && head_15^0==head_15^post_74 && head_30^0==head_30^post_74 && i_105^0==i_105^post_74 && i_164^0==i_164^post_74 && i_28^0==i_28^post_74 && i_92^0==i_92^post_74 && len_180^0==len_180^post_74 && length_27^0==length_27^post_74 && nondet_12^0==nondet_12^post_74 && r_121^0==r_121^post_74 && r_160^0==r_160^post_74 && r_37^0==r_37^post_74 && rcd_56^0==rcd_56^post_74 && rcd_86^0==rcd_86^post_74 && result_11^0==result_11^post_74 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_74 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_74 && t_24^0==t_24^post_74 && temp0_16^0==temp0_16^post_74 && temp0_29^0==temp0_29^post_74 && temp_33^0==temp_33^post_74 && tmp_32^0==tmp_32^post_74 && x_126^0==x_126^post_74 && x_14^0==x_14^post_74 && x_17^0==x_17^post_74 && x_172^0==x_172^post_74 && x_21^0==x_21^post_74 && x_SLAM_f_19^0==x_SLAM_f_19^post_74 && y_20^0==y_20^post_74 ], cost: 1
     74: l44 -> l41 : a_113^0'=a_113^post_75, a_144^0'=a_144^post_75, a_181^0'=a_181^post_75, a_212^0'=a_212^post_75, a_234^0'=a_234^post_75, a_257^0'=a_257^post_75, ct_18^0'=ct_18^post_75, f_167^0'=f_167^post_75, head_15^0'=head_15^post_75, head_30^0'=head_30^post_75, i_105^0'=i_105^post_75, i_164^0'=i_164^post_75, i_28^0'=i_28^post_75, i_92^0'=i_92^post_75, len_129^0'=len_129^post_75, len_180^0'=len_180^post_75, length_27^0'=length_27^post_75, nondet_12^0'=nondet_12^post_75, r_121^0'=r_121^post_75, r_160^0'=r_160^post_75, r_37^0'=r_37^post_75, rcd_56^0'=rcd_56^post_75, rcd_86^0'=rcd_86^post_75, result_11^0'=result_11^post_75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_75, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_75, t_24^0'=t_24^post_75, temp0_16^0'=temp0_16^post_75, temp0_29^0'=temp0_29^post_75, temp_33^0'=temp_33^post_75, tmp_32^0'=tmp_32^post_75, x_126^0'=x_126^post_75, x_14^0'=x_14^post_75, x_172^0'=x_172^post_75, x_17^0'=x_17^post_75, x_21^0'=x_21^post_75, x_SLAM_f_19^0'=x_SLAM_f_19^post_75, y_20^0'=y_20^post_75, [ a_113^0==a_113^post_75 && a_144^0==a_144^post_75 && a_181^0==a_181^post_75 && a_212^0==a_212^post_75 && a_234^0==a_234^post_75 && a_257^0==a_257^post_75 && ct_18^0==ct_18^post_75 && f_167^0==f_167^post_75 && head_15^0==head_15^post_75 && head_30^0==head_30^post_75 && i_105^0==i_105^post_75 && i_164^0==i_164^post_75 && i_28^0==i_28^post_75 && i_92^0==i_92^post_75 && len_129^0==len_129^post_75 && len_180^0==len_180^post_75 && length_27^0==length_27^post_75 && nondet_12^0==nondet_12^post_75 && r_121^0==r_121^post_75 && r_160^0==r_160^post_75 && r_37^0==r_37^post_75 && rcd_56^0==rcd_56^post_75 && rcd_86^0==rcd_86^post_75 && result_11^0==result_11^post_75 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_75 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_75 && t_24^0==t_24^post_75 && temp0_16^0==temp0_16^post_75 && temp0_29^0==temp0_29^post_75 && temp_33^0==temp_33^post_75 && tmp_32^0==tmp_32^post_75 && x_126^0==x_126^post_75 && x_14^0==x_14^post_75 && x_17^0==x_17^post_75 && x_172^0==x_172^post_75 && x_21^0==x_21^post_75 && x_SLAM_f_19^0==x_SLAM_f_19^post_75 && y_20^0==y_20^post_75 ], cost: 1
     95: l62 -> l63 : a_113^0'=a_113^post_96, a_144^0'=a_144^post_96, a_181^0'=a_181^post_96, a_212^0'=a_212^post_96, a_234^0'=a_234^post_96, a_257^0'=a_257^post_96, ct_18^0'=ct_18^post_96, f_167^0'=f_167^post_96, head_15^0'=head_15^post_96, head_30^0'=head_30^post_96, i_105^0'=i_105^post_96, i_164^0'=i_164^post_96, i_28^0'=i_28^post_96, i_92^0'=i_92^post_96, len_129^0'=len_129^post_96, len_180^0'=len_180^post_96, length_27^0'=length_27^post_96, nondet_12^0'=nondet_12^post_96, r_121^0'=r_121^post_96, r_160^0'=r_160^post_96, r_37^0'=r_37^post_96, rcd_56^0'=rcd_56^post_96, rcd_86^0'=rcd_86^post_96, result_11^0'=result_11^post_96, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_96, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_96, t_24^0'=t_24^post_96, temp0_16^0'=temp0_16^post_96, temp0_29^0'=temp0_29^post_96, temp_33^0'=temp_33^post_96, tmp_32^0'=tmp_32^post_96, x_126^0'=x_126^post_96, x_14^0'=x_14^post_96, x_172^0'=x_172^post_96, x_17^0'=x_17^post_96, x_21^0'=x_21^post_96, x_SLAM_f_19^0'=x_SLAM_f_19^post_96, y_20^0'=y_20^post_96, [ 1<=head_15^0 && a_113^0==a_113^post_96 && a_144^0==a_144^post_96 && a_181^0==a_181^post_96 && a_212^0==a_212^post_96 && a_234^0==a_234^post_96 && a_257^0==a_257^post_96 && ct_18^0==ct_18^post_96 && f_167^0==f_167^post_96 && head_15^0==head_15^post_96 && head_30^0==head_30^post_96 && i_105^0==i_105^post_96 && i_164^0==i_164^post_96 && i_28^0==i_28^post_96 && i_92^0==i_92^post_96 && len_129^0==len_129^post_96 && len_180^0==len_180^post_96 && length_27^0==length_27^post_96 && nondet_12^0==nondet_12^post_96 && r_121^0==r_121^post_96 && r_160^0==r_160^post_96 && r_37^0==r_37^post_96 && rcd_56^0==rcd_56^post_96 && rcd_86^0==rcd_86^post_96 && result_11^0==result_11^post_96 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_96 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_96 && t_24^0==t_24^post_96 && temp0_16^0==temp0_16^post_96 && temp0_29^0==temp0_29^post_96 && temp_33^0==temp_33^post_96 && tmp_32^0==tmp_32^post_96 && x_126^0==x_126^post_96 && x_14^0==x_14^post_96 && x_17^0==x_17^post_96 && x_172^0==x_172^post_96 && x_21^0==x_21^post_96 && x_SLAM_f_19^0==x_SLAM_f_19^post_96 && y_20^0==y_20^post_96 ], cost: 1
     96: l62 -> l63 : a_113^0'=a_113^post_97, a_144^0'=a_144^post_97, a_181^0'=a_181^post_97, a_212^0'=a_212^post_97, a_234^0'=a_234^post_97, a_257^0'=a_257^post_97, ct_18^0'=ct_18^post_97, f_167^0'=f_167^post_97, head_15^0'=head_15^post_97, head_30^0'=head_30^post_97, i_105^0'=i_105^post_97, i_164^0'=i_164^post_97, i_28^0'=i_28^post_97, i_92^0'=i_92^post_97, len_129^0'=len_129^post_97, len_180^0'=len_180^post_97, length_27^0'=length_27^post_97, nondet_12^0'=nondet_12^post_97, r_121^0'=r_121^post_97, r_160^0'=r_160^post_97, r_37^0'=r_37^post_97, rcd_56^0'=rcd_56^post_97, rcd_86^0'=rcd_86^post_97, result_11^0'=result_11^post_97, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_97, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_97, t_24^0'=t_24^post_97, temp0_16^0'=temp0_16^post_97, temp0_29^0'=temp0_29^post_97, temp_33^0'=temp_33^post_97, tmp_32^0'=tmp_32^post_97, x_126^0'=x_126^post_97, x_14^0'=x_14^post_97, x_172^0'=x_172^post_97, x_17^0'=x_17^post_97, x_21^0'=x_21^post_97, x_SLAM_f_19^0'=x_SLAM_f_19^post_97, y_20^0'=y_20^post_97, [ 1+head_15^0<=0 && a_113^0==a_113^post_97 && a_144^0==a_144^post_97 && a_181^0==a_181^post_97 && a_212^0==a_212^post_97 && a_234^0==a_234^post_97 && a_257^0==a_257^post_97 && ct_18^0==ct_18^post_97 && f_167^0==f_167^post_97 && head_15^0==head_15^post_97 && head_30^0==head_30^post_97 && i_105^0==i_105^post_97 && i_164^0==i_164^post_97 && i_28^0==i_28^post_97 && i_92^0==i_92^post_97 && len_129^0==len_129^post_97 && len_180^0==len_180^post_97 && length_27^0==length_27^post_97 && nondet_12^0==nondet_12^post_97 && r_121^0==r_121^post_97 && r_160^0==r_160^post_97 && r_37^0==r_37^post_97 && rcd_56^0==rcd_56^post_97 && rcd_86^0==rcd_86^post_97 && result_11^0==result_11^post_97 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_97 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_97 && t_24^0==t_24^post_97 && temp0_16^0==temp0_16^post_97 && temp0_29^0==temp0_29^post_97 && temp_33^0==temp_33^post_97 && tmp_32^0==tmp_32^post_97 && x_126^0==x_126^post_97 && x_14^0==x_14^post_97 && x_17^0==x_17^post_97 && x_172^0==x_172^post_97 && x_21^0==x_21^post_97 && x_SLAM_f_19^0==x_SLAM_f_19^post_97 && y_20^0==y_20^post_97 ], cost: 1
     97: l63 -> l41 : a_113^0'=a_113^post_98, a_144^0'=a_144^post_98, a_181^0'=a_181^post_98, a_212^0'=a_212^post_98, a_234^0'=a_234^post_98, a_257^0'=a_257^post_98, ct_18^0'=ct_18^post_98, f_167^0'=f_167^post_98, head_15^0'=head_15^post_98, head_30^0'=head_30^post_98, i_105^0'=i_105^post_98, i_164^0'=i_164^post_98, i_28^0'=i_28^post_98, i_92^0'=i_92^post_98, len_129^0'=len_129^post_98, len_180^0'=len_180^post_98, length_27^0'=length_27^post_98, nondet_12^0'=nondet_12^post_98, r_121^0'=r_121^post_98, r_160^0'=r_160^post_98, r_37^0'=r_37^post_98, rcd_56^0'=rcd_56^post_98, rcd_86^0'=rcd_86^post_98, result_11^0'=result_11^post_98, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_98, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_98, t_24^0'=t_24^post_98, temp0_16^0'=temp0_16^post_98, temp0_29^0'=temp0_29^post_98, temp_33^0'=temp_33^post_98, tmp_32^0'=tmp_32^post_98, x_126^0'=x_126^post_98, x_14^0'=x_14^post_98, x_172^0'=x_172^post_98, x_17^0'=x_17^post_98, x_21^0'=x_21^post_98, x_SLAM_f_19^0'=x_SLAM_f_19^post_98, y_20^0'=y_20^post_98, [ 1<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0<=i_28^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0<=i_164^0 && a_113^0==a_113^post_98 && a_144^0==a_144^post_98 && a_181^0==a_181^post_98 && a_212^0==a_212^post_98 && a_234^0==a_234^post_98 && a_257^0==a_257^post_98 && ct_18^0==ct_18^post_98 && f_167^0==f_167^post_98 && head_15^0==head_15^post_98 && head_30^0==head_30^post_98 && i_105^0==i_105^post_98 && i_164^0==i_164^post_98 && i_28^0==i_28^post_98 && i_92^0==i_92^post_98 && len_129^0==len_129^post_98 && len_180^0==len_180^post_98 && length_27^0==length_27^post_98 && nondet_12^0==nondet_12^post_98 && r_121^0==r_121^post_98 && r_160^0==r_160^post_98 && r_37^0==r_37^post_98 && rcd_56^0==rcd_56^post_98 && rcd_86^0==rcd_86^post_98 && result_11^0==result_11^post_98 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_98 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_98 && t_24^0==t_24^post_98 && temp0_16^0==temp0_16^post_98 && temp0_29^0==temp0_29^post_98 && temp_33^0==temp_33^post_98 && tmp_32^0==tmp_32^post_98 && x_126^0==x_126^post_98 && x_14^0==x_14^post_98 && x_17^0==x_17^post_98 && x_172^0==x_172^post_98 && x_21^0==x_21^post_98 && x_SLAM_f_19^0==x_SLAM_f_19^post_98 && y_20^0==y_20^post_98 ], cost: 1
     99: l64 -> l40 : a_113^0'=a_113^post_100, a_144^0'=a_144^post_100, a_181^0'=a_181^post_100, a_212^0'=a_212^post_100, a_234^0'=a_234^post_100, a_257^0'=a_257^post_100, ct_18^0'=ct_18^post_100, f_167^0'=f_167^post_100, head_15^0'=head_15^post_100, head_30^0'=head_30^post_100, i_105^0'=i_105^post_100, i_164^0'=i_164^post_100, i_28^0'=i_28^post_100, i_92^0'=i_92^post_100, len_129^0'=len_129^post_100, len_180^0'=len_180^post_100, length_27^0'=length_27^post_100, nondet_12^0'=nondet_12^post_100, r_121^0'=r_121^post_100, r_160^0'=r_160^post_100, r_37^0'=r_37^post_100, rcd_56^0'=rcd_56^post_100, rcd_86^0'=rcd_86^post_100, result_11^0'=result_11^post_100, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_100, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_100, t_24^0'=t_24^post_100, temp0_16^0'=temp0_16^post_100, temp0_29^0'=temp0_29^post_100, temp_33^0'=temp_33^post_100, tmp_32^0'=tmp_32^post_100, x_126^0'=x_126^post_100, x_14^0'=x_14^post_100, x_172^0'=x_172^post_100, x_17^0'=x_17^post_100, x_21^0'=x_21^post_100, x_SLAM_f_19^0'=x_SLAM_f_19^post_100, y_20^0'=y_20^post_100, [ a_113^0==a_113^post_100 && a_144^0==a_144^post_100 && a_181^0==a_181^post_100 && a_212^0==a_212^post_100 && a_234^0==a_234^post_100 && a_257^0==a_257^post_100 && ct_18^0==ct_18^post_100 && f_167^0==f_167^post_100 && head_15^0==head_15^post_100 && head_30^0==head_30^post_100 && i_105^0==i_105^post_100 && i_164^0==i_164^post_100 && i_28^0==i_28^post_100 && i_92^0==i_92^post_100 && len_129^0==len_129^post_100 && len_180^0==len_180^post_100 && length_27^0==length_27^post_100 && nondet_12^0==nondet_12^post_100 && r_121^0==r_121^post_100 && r_160^0==r_160^post_100 && r_37^0==r_37^post_100 && rcd_56^0==rcd_56^post_100 && rcd_86^0==rcd_86^post_100 && result_11^0==result_11^post_100 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_100 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_100 && t_24^0==t_24^post_100 && temp0_16^0==temp0_16^post_100 && temp0_29^0==temp0_29^post_100 && temp_33^0==temp_33^post_100 && tmp_32^0==tmp_32^post_100 && x_126^0==x_126^post_100 && x_14^0==x_14^post_100 && x_17^0==x_17^post_100 && x_172^0==x_172^post_100 && x_21^0==x_21^post_100 && x_SLAM_f_19^0==x_SLAM_f_19^post_100 && y_20^0==y_20^post_100 ], cost: 1
    102: l65 -> l0 : a_113^0'=a_113^post_103, a_144^0'=a_144^post_103, a_181^0'=a_181^post_103, a_212^0'=a_212^post_103, a_234^0'=a_234^post_103, a_257^0'=a_257^post_103, ct_18^0'=ct_18^post_103, f_167^0'=f_167^post_103, head_15^0'=head_15^post_103, head_30^0'=head_30^post_103, i_105^0'=i_105^post_103, i_164^0'=i_164^post_103, i_28^0'=i_28^post_103, i_92^0'=i_92^post_103, len_129^0'=len_129^post_103, len_180^0'=len_180^post_103, length_27^0'=length_27^post_103, nondet_12^0'=nondet_12^post_103, r_121^0'=r_121^post_103, r_160^0'=r_160^post_103, r_37^0'=r_37^post_103, rcd_56^0'=rcd_56^post_103, rcd_86^0'=rcd_86^post_103, result_11^0'=result_11^post_103, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_103, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_103, t_24^0'=t_24^post_103, temp0_16^0'=temp0_16^post_103, temp0_29^0'=temp0_29^post_103, temp_33^0'=temp_33^post_103, tmp_32^0'=tmp_32^post_103, x_126^0'=x_126^post_103, x_14^0'=x_14^post_103, x_172^0'=x_172^post_103, x_17^0'=x_17^post_103, x_21^0'=x_21^post_103, x_SLAM_f_19^0'=x_SLAM_f_19^post_103, y_20^0'=y_20^post_103, [ a_113^0==a_113^post_103 && a_144^0==a_144^post_103 && a_181^0==a_181^post_103 && a_212^0==a_212^post_103 && a_234^0==a_234^post_103 && a_257^0==a_257^post_103 && ct_18^0==ct_18^post_103 && f_167^0==f_167^post_103 && head_15^0==head_15^post_103 && head_30^0==head_30^post_103 && i_105^0==i_105^post_103 && i_164^0==i_164^post_103 && i_28^0==i_28^post_103 && i_92^0==i_92^post_103 && len_129^0==len_129^post_103 && len_180^0==len_180^post_103 && length_27^0==length_27^post_103 && nondet_12^0==nondet_12^post_103 && r_121^0==r_121^post_103 && r_160^0==r_160^post_103 && r_37^0==r_37^post_103 && rcd_56^0==rcd_56^post_103 && rcd_86^0==rcd_86^post_103 && result_11^0==result_11^post_103 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_103 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_103 && t_24^0==t_24^post_103 && temp0_16^0==temp0_16^post_103 && temp0_29^0==temp0_29^post_103 && temp_33^0==temp_33^post_103 && tmp_32^0==tmp_32^post_103 && x_126^0==x_126^post_103 && x_14^0==x_14^post_103 && x_17^0==x_17^post_103 && x_172^0==x_172^post_103 && x_21^0==x_21^post_103 && x_SLAM_f_19^0==x_SLAM_f_19^post_103 && y_20^0==y_20^post_103 ], cost: 1

Removed unreachable and leaf rules:
   Start location: l65
      0: l0 -> l1 : a_113^0'=a_113^post_1, a_144^0'=a_144^post_1, a_181^0'=a_181^post_1, a_212^0'=a_212^post_1, a_234^0'=a_234^post_1, a_257^0'=a_257^post_1, ct_18^0'=ct_18^post_1, f_167^0'=f_167^post_1, head_15^0'=head_15^post_1, head_30^0'=head_30^post_1, i_105^0'=i_105^post_1, i_164^0'=i_164^post_1, i_28^0'=i_28^post_1, i_92^0'=i_92^post_1, len_129^0'=len_129^post_1, len_180^0'=len_180^post_1, length_27^0'=length_27^post_1, nondet_12^0'=nondet_12^post_1, r_121^0'=r_121^post_1, r_160^0'=r_160^post_1, r_37^0'=r_37^post_1, rcd_56^0'=rcd_56^post_1, rcd_86^0'=rcd_86^post_1, result_11^0'=result_11^post_1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1, t_24^0'=t_24^post_1, temp0_16^0'=temp0_16^post_1, temp0_29^0'=temp0_29^post_1, temp_33^0'=temp_33^post_1, tmp_32^0'=tmp_32^post_1, x_126^0'=x_126^post_1, x_14^0'=x_14^post_1, x_172^0'=x_172^post_1, x_17^0'=x_17^post_1, x_21^0'=x_21^post_1, x_SLAM_f_19^0'=x_SLAM_f_19^post_1, y_20^0'=y_20^post_1, [ nondet_12^1_1==nondet_12^1_1 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1==nondet_12^1_1 && nondet_12^post_1==nondet_12^post_1 && length_27^post_1==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1 && head_30^post_1==0 && i_28^post_1==0 && 0<=i_28^post_1 && i_28^post_1<=0 && 0<=head_30^post_1 && head_30^post_1<=0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1<=length_27^post_1 && length_27^post_1<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1 && a_113^0==a_113^post_1 && a_144^0==a_144^post_1 && a_181^0==a_181^post_1 && a_212^0==a_212^post_1 && a_234^0==a_234^post_1 && a_257^0==a_257^post_1 && ct_18^0==ct_18^post_1 && f_167^0==f_167^post_1 && head_15^0==head_15^post_1 && i_105^0==i_105^post_1 && i_164^0==i_164^post_1 && i_92^0==i_92^post_1 && len_129^0==len_129^post_1 && len_180^0==len_180^post_1 && r_121^0==r_121^post_1 && r_160^0==r_160^post_1 && r_37^0==r_37^post_1 && rcd_56^0==rcd_56^post_1 && rcd_86^0==rcd_86^post_1 && result_11^0==result_11^post_1 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_1 && t_24^0==t_24^post_1 && temp0_16^0==temp0_16^post_1 && temp0_29^0==temp0_29^post_1 && temp_33^0==temp_33^post_1 && tmp_32^0==tmp_32^post_1 && x_126^0==x_126^post_1 && x_14^0==x_14^post_1 && x_17^0==x_17^post_1 && x_172^0==x_172^post_1 && x_21^0==x_21^post_1 && x_SLAM_f_19^0==x_SLAM_f_19^post_1 && y_20^0==y_20^post_1 ], cost: 1
    101: l1 -> l27 : a_113^0'=a_113^post_102, a_144^0'=a_144^post_102, a_181^0'=a_181^post_102, a_212^0'=a_212^post_102, a_234^0'=a_234^post_102, a_257^0'=a_257^post_102, ct_18^0'=ct_18^post_102, f_167^0'=f_167^post_102, head_15^0'=head_15^post_102, head_30^0'=head_30^post_102, i_105^0'=i_105^post_102, i_164^0'=i_164^post_102, i_28^0'=i_28^post_102, i_92^0'=i_92^post_102, len_129^0'=len_129^post_102, len_180^0'=len_180^post_102, length_27^0'=length_27^post_102, nondet_12^0'=nondet_12^post_102, r_121^0'=r_121^post_102, r_160^0'=r_160^post_102, r_37^0'=r_37^post_102, rcd_56^0'=rcd_56^post_102, rcd_86^0'=rcd_86^post_102, result_11^0'=result_11^post_102, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_102, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_102, t_24^0'=t_24^post_102, temp0_16^0'=temp0_16^post_102, temp0_29^0'=temp0_29^post_102, temp_33^0'=temp_33^post_102, tmp_32^0'=tmp_32^post_102, x_126^0'=x_126^post_102, x_14^0'=x_14^post_102, x_172^0'=x_172^post_102, x_17^0'=x_17^post_102, x_21^0'=x_21^post_102, x_SLAM_f_19^0'=x_SLAM_f_19^post_102, y_20^0'=y_20^post_102, [ result_dot_nondet_sdv_special_RETURN_VALUE_13^post_102==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_102 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_102==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_102 && 1+i_28^0<=length_27^0 && tmp_32^post_102==temp_33^0 && temp_33^post_102==temp_33^post_102 && head_30^post_102==tmp_32^post_102 && i_28^post_102==1+i_28^0 && 1<=i_28^post_102 && i_28^post_102<=1 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_102<=length_27^0 && length_27^0<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_102 && head_30^post_102<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_102 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_102<=head_30^post_102 && head_30^post_102<=tmp_32^post_102 && tmp_32^post_102<=head_30^post_102 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_102<=tmp_32^post_102 && tmp_32^post_102<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_102 && 1<=length_27^0 && a_113^0==a_113^post_102 && a_144^0==a_144^post_102 && a_181^0==a_181^post_102 && a_212^0==a_212^post_102 && a_234^0==a_234^post_102 && a_257^0==a_257^post_102 && ct_18^0==ct_18^post_102 && f_167^0==f_167^post_102 && head_15^0==head_15^post_102 && i_105^0==i_105^post_102 && i_164^0==i_164^post_102 && i_92^0==i_92^post_102 && len_129^0==len_129^post_102 && len_180^0==len_180^post_102 && length_27^0==length_27^post_102 && nondet_12^0==nondet_12^post_102 && r_121^0==r_121^post_102 && r_160^0==r_160^post_102 && r_37^0==r_37^post_102 && rcd_56^0==rcd_56^post_102 && rcd_86^0==rcd_86^post_102 && result_11^0==result_11^post_102 && t_24^0==t_24^post_102 && temp0_16^0==temp0_16^post_102 && temp0_29^0==temp0_29^post_102 && x_126^0==x_126^post_102 && x_14^0==x_14^post_102 && x_17^0==x_17^post_102 && x_172^0==x_172^post_102 && x_21^0==x_21^post_102 && x_SLAM_f_19^0==x_SLAM_f_19^post_102 && y_20^0==y_20^post_102 ], cost: 1
      2: l2 -> l5 : a_113^0'=a_113^post_3, a_144^0'=a_144^post_3, a_181^0'=a_181^post_3, a_212^0'=a_212^post_3, a_234^0'=a_234^post_3, a_257^0'=a_257^post_3, ct_18^0'=ct_18^post_3, f_167^0'=f_167^post_3, head_15^0'=head_15^post_3, head_30^0'=head_30^post_3, i_105^0'=i_105^post_3, i_164^0'=i_164^post_3, i_28^0'=i_28^post_3, i_92^0'=i_92^post_3, len_129^0'=len_129^post_3, len_180^0'=len_180^post_3, length_27^0'=length_27^post_3, nondet_12^0'=nondet_12^post_3, r_121^0'=r_121^post_3, r_160^0'=r_160^post_3, r_37^0'=r_37^post_3, rcd_56^0'=rcd_56^post_3, rcd_86^0'=rcd_86^post_3, result_11^0'=result_11^post_3, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_3, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_3, t_24^0'=t_24^post_3, temp0_16^0'=temp0_16^post_3, temp0_29^0'=temp0_29^post_3, temp_33^0'=temp_33^post_3, tmp_32^0'=tmp_32^post_3, x_126^0'=x_126^post_3, x_14^0'=x_14^post_3, x_172^0'=x_172^post_3, x_17^0'=x_17^post_3, x_21^0'=x_21^post_3, x_SLAM_f_19^0'=x_SLAM_f_19^post_3, y_20^0'=y_20^post_3, [ 0<=a_234^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_3==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_3 && x_14^post_3==x_14^post_3 && head_15^post_3==head_15^post_3 && x_17^post_3==x_17^post_3 && ct_18^post_3==ct_18^post_3 && x_SLAM_f_19^post_3==x_SLAM_f_19^post_3 && r_37^post_3==r_37^post_3 && a_113^0==a_113^post_3 && a_144^0==a_144^post_3 && a_181^0==a_181^post_3 && a_212^0==a_212^post_3 && a_234^0==a_234^post_3 && a_257^0==a_257^post_3 && f_167^0==f_167^post_3 && head_30^0==head_30^post_3 && i_105^0==i_105^post_3 && i_164^0==i_164^post_3 && i_28^0==i_28^post_3 && i_92^0==i_92^post_3 && len_129^0==len_129^post_3 && len_180^0==len_180^post_3 && length_27^0==length_27^post_3 && nondet_12^0==nondet_12^post_3 && r_121^0==r_121^post_3 && r_160^0==r_160^post_3 && rcd_56^0==rcd_56^post_3 && rcd_86^0==rcd_86^post_3 && result_11^0==result_11^post_3 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_3 && t_24^0==t_24^post_3 && temp0_16^0==temp0_16^post_3 && temp0_29^0==temp0_29^post_3 && temp_33^0==temp_33^post_3 && tmp_32^0==tmp_32^post_3 && x_126^0==x_126^post_3 && x_172^0==x_172^post_3 && x_21^0==x_21^post_3 && y_20^0==y_20^post_3 ], cost: 1
      3: l5 -> l6 : a_113^0'=a_113^post_4, a_144^0'=a_144^post_4, a_181^0'=a_181^post_4, a_212^0'=a_212^post_4, a_234^0'=a_234^post_4, a_257^0'=a_257^post_4, ct_18^0'=ct_18^post_4, f_167^0'=f_167^post_4, head_15^0'=head_15^post_4, head_30^0'=head_30^post_4, i_105^0'=i_105^post_4, i_164^0'=i_164^post_4, i_28^0'=i_28^post_4, i_92^0'=i_92^post_4, len_129^0'=len_129^post_4, len_180^0'=len_180^post_4, length_27^0'=length_27^post_4, nondet_12^0'=nondet_12^post_4, r_121^0'=r_121^post_4, r_160^0'=r_160^post_4, r_37^0'=r_37^post_4, rcd_56^0'=rcd_56^post_4, rcd_86^0'=rcd_86^post_4, result_11^0'=result_11^post_4, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_4, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_4, t_24^0'=t_24^post_4, temp0_16^0'=temp0_16^post_4, temp0_29^0'=temp0_29^post_4, temp_33^0'=temp_33^post_4, tmp_32^0'=tmp_32^post_4, x_126^0'=x_126^post_4, x_14^0'=x_14^post_4, x_172^0'=x_172^post_4, x_17^0'=x_17^post_4, x_21^0'=x_21^post_4, x_SLAM_f_19^0'=x_SLAM_f_19^post_4, y_20^0'=y_20^post_4, [ 1+y_20^0<=x_21^0 && a_113^0==a_113^post_4 && a_144^0==a_144^post_4 && a_181^0==a_181^post_4 && a_212^0==a_212^post_4 && a_234^0==a_234^post_4 && a_257^0==a_257^post_4 && ct_18^0==ct_18^post_4 && f_167^0==f_167^post_4 && head_15^0==head_15^post_4 && head_30^0==head_30^post_4 && i_105^0==i_105^post_4 && i_164^0==i_164^post_4 && i_28^0==i_28^post_4 && i_92^0==i_92^post_4 && len_129^0==len_129^post_4 && len_180^0==len_180^post_4 && length_27^0==length_27^post_4 && nondet_12^0==nondet_12^post_4 && r_121^0==r_121^post_4 && r_160^0==r_160^post_4 && r_37^0==r_37^post_4 && rcd_56^0==rcd_56^post_4 && rcd_86^0==rcd_86^post_4 && result_11^0==result_11^post_4 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_4 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_4 && t_24^0==t_24^post_4 && temp0_16^0==temp0_16^post_4 && temp0_29^0==temp0_29^post_4 && temp_33^0==temp_33^post_4 && tmp_32^0==tmp_32^post_4 && x_126^0==x_126^post_4 && x_14^0==x_14^post_4 && x_17^0==x_17^post_4 && x_172^0==x_172^post_4 && x_21^0==x_21^post_4 && x_SLAM_f_19^0==x_SLAM_f_19^post_4 && y_20^0==y_20^post_4 ], cost: 1
      4: l5 -> l6 : a_113^0'=a_113^post_5, a_144^0'=a_144^post_5, a_181^0'=a_181^post_5, a_212^0'=a_212^post_5, a_234^0'=a_234^post_5, a_257^0'=a_257^post_5, ct_18^0'=ct_18^post_5, f_167^0'=f_167^post_5, head_15^0'=head_15^post_5, head_30^0'=head_30^post_5, i_105^0'=i_105^post_5, i_164^0'=i_164^post_5, i_28^0'=i_28^post_5, i_92^0'=i_92^post_5, len_129^0'=len_129^post_5, len_180^0'=len_180^post_5, length_27^0'=length_27^post_5, nondet_12^0'=nondet_12^post_5, r_121^0'=r_121^post_5, r_160^0'=r_160^post_5, r_37^0'=r_37^post_5, rcd_56^0'=rcd_56^post_5, rcd_86^0'=rcd_86^post_5, result_11^0'=result_11^post_5, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_5, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_5, t_24^0'=t_24^post_5, temp0_16^0'=temp0_16^post_5, temp0_29^0'=temp0_29^post_5, temp_33^0'=temp_33^post_5, tmp_32^0'=tmp_32^post_5, x_126^0'=x_126^post_5, x_14^0'=x_14^post_5, x_172^0'=x_172^post_5, x_17^0'=x_17^post_5, x_21^0'=x_21^post_5, x_SLAM_f_19^0'=x_SLAM_f_19^post_5, y_20^0'=y_20^post_5, [ 1+x_21^0<=y_20^0 && a_113^0==a_113^post_5 && a_144^0==a_144^post_5 && a_181^0==a_181^post_5 && a_212^0==a_212^post_5 && a_234^0==a_234^post_5 && a_257^0==a_257^post_5 && ct_18^0==ct_18^post_5 && f_167^0==f_167^post_5 && head_15^0==head_15^post_5 && head_30^0==head_30^post_5 && i_105^0==i_105^post_5 && i_164^0==i_164^post_5 && i_28^0==i_28^post_5 && i_92^0==i_92^post_5 && len_129^0==len_129^post_5 && len_180^0==len_180^post_5 && length_27^0==length_27^post_5 && nondet_12^0==nondet_12^post_5 && r_121^0==r_121^post_5 && r_160^0==r_160^post_5 && r_37^0==r_37^post_5 && rcd_56^0==rcd_56^post_5 && rcd_86^0==rcd_86^post_5 && result_11^0==result_11^post_5 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_5 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_5 && t_24^0==t_24^post_5 && temp0_16^0==temp0_16^post_5 && temp0_29^0==temp0_29^post_5 && temp_33^0==temp_33^post_5 && tmp_32^0==tmp_32^post_5 && x_126^0==x_126^post_5 && x_14^0==x_14^post_5 && x_17^0==x_17^post_5 && x_172^0==x_172^post_5 && x_21^0==x_21^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 : a_113^0'=a_113^post_6, a_144^0'=a_144^post_6, a_181^0'=a_181^post_6, a_212^0'=a_212^post_6, a_234^0'=a_234^post_6, a_257^0'=a_257^post_6, ct_18^0'=ct_18^post_6, f_167^0'=f_167^post_6, head_15^0'=head_15^post_6, head_30^0'=head_30^post_6, i_105^0'=i_105^post_6, i_164^0'=i_164^post_6, i_28^0'=i_28^post_6, i_92^0'=i_92^post_6, len_129^0'=len_129^post_6, len_180^0'=len_180^post_6, length_27^0'=length_27^post_6, nondet_12^0'=nondet_12^post_6, r_121^0'=r_121^post_6, r_160^0'=r_160^post_6, r_37^0'=r_37^post_6, rcd_56^0'=rcd_56^post_6, rcd_86^0'=rcd_86^post_6, result_11^0'=result_11^post_6, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_6, t_24^0'=t_24^post_6, temp0_16^0'=temp0_16^post_6, temp0_29^0'=temp0_29^post_6, temp_33^0'=temp_33^post_6, tmp_32^0'=tmp_32^post_6, x_126^0'=x_126^post_6, x_14^0'=x_14^post_6, x_172^0'=x_172^post_6, x_17^0'=x_17^post_6, x_21^0'=x_21^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 && a_257^post_6==a_257^post_6 && 0<=x_14^0 && x_14^0<=0 && 0<=ct_18^0 && ct_18^0<=0 && 0<=y_20^0 && y_20^0<=0 && head_15^0<=x_17^0 && x_17^0<=head_15^0 && head_15^0<=x_SLAM_f_19^0 && x_SLAM_f_19^0<=head_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_257^post_6<=-1+a_234^0 && -1+a_234^0<=a_257^post_6 && a_113^0==a_113^post_6 && a_144^0==a_144^post_6 && a_181^0==a_181^post_6 && a_212^0==a_212^post_6 && a_234^0==a_234^post_6 && ct_18^0==ct_18^post_6 && f_167^0==f_167^post_6 && head_15^0==head_15^post_6 && head_30^0==head_30^post_6 && i_105^0==i_105^post_6 && i_164^0==i_164^post_6 && i_28^0==i_28^post_6 && i_92^0==i_92^post_6 && len_129^0==len_129^post_6 && len_180^0==len_180^post_6 && length_27^0==length_27^post_6 && nondet_12^0==nondet_12^post_6 && r_121^0==r_121^post_6 && r_160^0==r_160^post_6 && r_37^0==r_37^post_6 && rcd_56^0==rcd_56^post_6 && rcd_86^0==rcd_86^post_6 && result_11^0==result_11^post_6 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_6 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_6 && temp0_16^0==temp0_16^post_6 && temp0_29^0==temp0_29^post_6 && temp_33^0==temp_33^post_6 && tmp_32^0==tmp_32^post_6 && x_126^0==x_126^post_6 && x_14^0==x_14^post_6 && x_17^0==x_17^post_6 && x_172^0==x_172^post_6 && x_21^0==x_21^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 : a_113^0'=a_113^post_7, a_144^0'=a_144^post_7, a_181^0'=a_181^post_7, a_212^0'=a_212^post_7, a_234^0'=a_234^post_7, a_257^0'=a_257^post_7, ct_18^0'=ct_18^post_7, f_167^0'=f_167^post_7, head_15^0'=head_15^post_7, head_30^0'=head_30^post_7, i_105^0'=i_105^post_7, i_164^0'=i_164^post_7, i_28^0'=i_28^post_7, i_92^0'=i_92^post_7, len_129^0'=len_129^post_7, len_180^0'=len_180^post_7, length_27^0'=length_27^post_7, nondet_12^0'=nondet_12^post_7, r_121^0'=r_121^post_7, r_160^0'=r_160^post_7, r_37^0'=r_37^post_7, rcd_56^0'=rcd_56^post_7, rcd_86^0'=rcd_86^post_7, result_11^0'=result_11^post_7, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_7, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7, t_24^0'=t_24^post_7, temp0_16^0'=temp0_16^post_7, temp0_29^0'=temp0_29^post_7, temp_33^0'=temp_33^post_7, tmp_32^0'=tmp_32^post_7, x_126^0'=x_126^post_7, x_14^0'=x_14^post_7, x_172^0'=x_172^post_7, x_17^0'=x_17^post_7, x_21^0'=x_21^post_7, x_SLAM_f_19^0'=x_SLAM_f_19^post_7, y_20^0'=y_20^post_7, [ 1<=head_15^0 && a_113^0==a_113^post_7 && a_144^0==a_144^post_7 && a_181^0==a_181^post_7 && a_212^0==a_212^post_7 && a_234^0==a_234^post_7 && a_257^0==a_257^post_7 && ct_18^0==ct_18^post_7 && f_167^0==f_167^post_7 && head_15^0==head_15^post_7 && head_30^0==head_30^post_7 && i_105^0==i_105^post_7 && i_164^0==i_164^post_7 && i_28^0==i_28^post_7 && i_92^0==i_92^post_7 && len_129^0==len_129^post_7 && len_180^0==len_180^post_7 && length_27^0==length_27^post_7 && nondet_12^0==nondet_12^post_7 && r_121^0==r_121^post_7 && r_160^0==r_160^post_7 && r_37^0==r_37^post_7 && rcd_56^0==rcd_56^post_7 && rcd_86^0==rcd_86^post_7 && result_11^0==result_11^post_7 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_7 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7 && t_24^0==t_24^post_7 && temp0_16^0==temp0_16^post_7 && temp0_29^0==temp0_29^post_7 && temp_33^0==temp_33^post_7 && tmp_32^0==tmp_32^post_7 && x_126^0==x_126^post_7 && x_14^0==x_14^post_7 && x_17^0==x_17^post_7 && x_172^0==x_172^post_7 && x_21^0==x_21^post_7 && x_SLAM_f_19^0==x_SLAM_f_19^post_7 && y_20^0==y_20^post_7 ], cost: 1
      7: l7 -> l8 : a_113^0'=a_113^post_8, a_144^0'=a_144^post_8, a_181^0'=a_181^post_8, a_212^0'=a_212^post_8, a_234^0'=a_234^post_8, a_257^0'=a_257^post_8, ct_18^0'=ct_18^post_8, f_167^0'=f_167^post_8, head_15^0'=head_15^post_8, head_30^0'=head_30^post_8, i_105^0'=i_105^post_8, i_164^0'=i_164^post_8, i_28^0'=i_28^post_8, i_92^0'=i_92^post_8, len_129^0'=len_129^post_8, len_180^0'=len_180^post_8, length_27^0'=length_27^post_8, nondet_12^0'=nondet_12^post_8, r_121^0'=r_121^post_8, r_160^0'=r_160^post_8, r_37^0'=r_37^post_8, rcd_56^0'=rcd_56^post_8, rcd_86^0'=rcd_86^post_8, result_11^0'=result_11^post_8, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_8, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_8, t_24^0'=t_24^post_8, temp0_16^0'=temp0_16^post_8, temp0_29^0'=temp0_29^post_8, temp_33^0'=temp_33^post_8, tmp_32^0'=tmp_32^post_8, x_126^0'=x_126^post_8, x_14^0'=x_14^post_8, x_172^0'=x_172^post_8, x_17^0'=x_17^post_8, x_21^0'=x_21^post_8, x_SLAM_f_19^0'=x_SLAM_f_19^post_8, y_20^0'=y_20^post_8, [ 1+head_15^0<=0 && a_113^0==a_113^post_8 && a_144^0==a_144^post_8 && a_181^0==a_181^post_8 && a_212^0==a_212^post_8 && a_234^0==a_234^post_8 && a_257^0==a_257^post_8 && ct_18^0==ct_18^post_8 && f_167^0==f_167^post_8 && head_15^0==head_15^post_8 && head_30^0==head_30^post_8 && i_105^0==i_105^post_8 && i_164^0==i_164^post_8 && i_28^0==i_28^post_8 && i_92^0==i_92^post_8 && len_129^0==len_129^post_8 && len_180^0==len_180^post_8 && length_27^0==length_27^post_8 && nondet_12^0==nondet_12^post_8 && r_121^0==r_121^post_8 && r_160^0==r_160^post_8 && r_37^0==r_37^post_8 && rcd_56^0==rcd_56^post_8 && rcd_86^0==rcd_86^post_8 && result_11^0==result_11^post_8 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_8 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_8 && t_24^0==t_24^post_8 && temp0_16^0==temp0_16^post_8 && temp0_29^0==temp0_29^post_8 && temp_33^0==temp_33^post_8 && tmp_32^0==tmp_32^post_8 && x_126^0==x_126^post_8 && x_14^0==x_14^post_8 && x_17^0==x_17^post_8 && x_172^0==x_172^post_8 && x_21^0==x_21^post_8 && x_SLAM_f_19^0==x_SLAM_f_19^post_8 && y_20^0==y_20^post_8 ], cost: 1
      8: l8 -> l9 : a_113^0'=a_113^post_9, a_144^0'=a_144^post_9, a_181^0'=a_181^post_9, a_212^0'=a_212^post_9, a_234^0'=a_234^post_9, a_257^0'=a_257^post_9, ct_18^0'=ct_18^post_9, f_167^0'=f_167^post_9, head_15^0'=head_15^post_9, head_30^0'=head_30^post_9, i_105^0'=i_105^post_9, i_164^0'=i_164^post_9, i_28^0'=i_28^post_9, i_92^0'=i_92^post_9, len_129^0'=len_129^post_9, len_180^0'=len_180^post_9, length_27^0'=length_27^post_9, nondet_12^0'=nondet_12^post_9, r_121^0'=r_121^post_9, r_160^0'=r_160^post_9, r_37^0'=r_37^post_9, rcd_56^0'=rcd_56^post_9, rcd_86^0'=rcd_86^post_9, result_11^0'=result_11^post_9, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_9, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_9, t_24^0'=t_24^post_9, temp0_16^0'=temp0_16^post_9, temp0_29^0'=temp0_29^post_9, temp_33^0'=temp_33^post_9, tmp_32^0'=tmp_32^post_9, x_126^0'=x_126^post_9, x_14^0'=x_14^post_9, x_172^0'=x_172^post_9, x_17^0'=x_17^post_9, x_21^0'=x_21^post_9, x_SLAM_f_19^0'=x_SLAM_f_19^post_9, y_20^0'=y_20^post_9, [ 1+head_15^0<=y_20^0 && a_113^0==a_113^post_9 && a_144^0==a_144^post_9 && a_181^0==a_181^post_9 && a_212^0==a_212^post_9 && a_234^0==a_234^post_9 && a_257^0==a_257^post_9 && ct_18^0==ct_18^post_9 && f_167^0==f_167^post_9 && head_15^0==head_15^post_9 && head_30^0==head_30^post_9 && i_105^0==i_105^post_9 && i_164^0==i_164^post_9 && i_28^0==i_28^post_9 && i_92^0==i_92^post_9 && len_129^0==len_129^post_9 && len_180^0==len_180^post_9 && length_27^0==length_27^post_9 && nondet_12^0==nondet_12^post_9 && r_121^0==r_121^post_9 && r_160^0==r_160^post_9 && r_37^0==r_37^post_9 && rcd_56^0==rcd_56^post_9 && rcd_86^0==rcd_86^post_9 && result_11^0==result_11^post_9 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_9 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_9 && t_24^0==t_24^post_9 && temp0_16^0==temp0_16^post_9 && temp0_29^0==temp0_29^post_9 && temp_33^0==temp_33^post_9 && tmp_32^0==tmp_32^post_9 && x_126^0==x_126^post_9 && x_14^0==x_14^post_9 && x_17^0==x_17^post_9 && x_172^0==x_172^post_9 && x_21^0==x_21^post_9 && x_SLAM_f_19^0==x_SLAM_f_19^post_9 && y_20^0==y_20^post_9 ], cost: 1
      9: l8 -> l9 : a_113^0'=a_113^post_10, a_144^0'=a_144^post_10, a_181^0'=a_181^post_10, a_212^0'=a_212^post_10, a_234^0'=a_234^post_10, a_257^0'=a_257^post_10, ct_18^0'=ct_18^post_10, f_167^0'=f_167^post_10, head_15^0'=head_15^post_10, head_30^0'=head_30^post_10, i_105^0'=i_105^post_10, i_164^0'=i_164^post_10, i_28^0'=i_28^post_10, i_92^0'=i_92^post_10, len_129^0'=len_129^post_10, len_180^0'=len_180^post_10, length_27^0'=length_27^post_10, nondet_12^0'=nondet_12^post_10, r_121^0'=r_121^post_10, r_160^0'=r_160^post_10, r_37^0'=r_37^post_10, rcd_56^0'=rcd_56^post_10, rcd_86^0'=rcd_86^post_10, result_11^0'=result_11^post_10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_10, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_10, t_24^0'=t_24^post_10, temp0_16^0'=temp0_16^post_10, temp0_29^0'=temp0_29^post_10, temp_33^0'=temp_33^post_10, tmp_32^0'=tmp_32^post_10, x_126^0'=x_126^post_10, x_14^0'=x_14^post_10, x_172^0'=x_172^post_10, x_17^0'=x_17^post_10, x_21^0'=x_21^post_10, x_SLAM_f_19^0'=x_SLAM_f_19^post_10, y_20^0'=y_20^post_10, [ 1+y_20^0<=head_15^0 && a_113^0==a_113^post_10 && a_144^0==a_144^post_10 && a_181^0==a_181^post_10 && a_212^0==a_212^post_10 && a_234^0==a_234^post_10 && a_257^0==a_257^post_10 && ct_18^0==ct_18^post_10 && f_167^0==f_167^post_10 && head_15^0==head_15^post_10 && head_30^0==head_30^post_10 && i_105^0==i_105^post_10 && i_164^0==i_164^post_10 && i_28^0==i_28^post_10 && i_92^0==i_92^post_10 && len_129^0==len_129^post_10 && len_180^0==len_180^post_10 && length_27^0==length_27^post_10 && nondet_12^0==nondet_12^post_10 && r_121^0==r_121^post_10 && r_160^0==r_160^post_10 && r_37^0==r_37^post_10 && rcd_56^0==rcd_56^post_10 && rcd_86^0==rcd_86^post_10 && result_11^0==result_11^post_10 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_10 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_10 && t_24^0==t_24^post_10 && temp0_16^0==temp0_16^post_10 && temp0_29^0==temp0_29^post_10 && temp_33^0==temp_33^post_10 && tmp_32^0==tmp_32^post_10 && x_126^0==x_126^post_10 && x_14^0==x_14^post_10 && x_17^0==x_17^post_10 && x_172^0==x_172^post_10 && x_21^0==x_21^post_10 && x_SLAM_f_19^0==x_SLAM_f_19^post_10 && y_20^0==y_20^post_10 ], cost: 1
     10: l9 -> l10 : a_113^0'=a_113^post_11, a_144^0'=a_144^post_11, a_181^0'=a_181^post_11, a_212^0'=a_212^post_11, a_234^0'=a_234^post_11, a_257^0'=a_257^post_11, ct_18^0'=ct_18^post_11, f_167^0'=f_167^post_11, head_15^0'=head_15^post_11, head_30^0'=head_30^post_11, i_105^0'=i_105^post_11, i_164^0'=i_164^post_11, i_28^0'=i_28^post_11, i_92^0'=i_92^post_11, len_129^0'=len_129^post_11, len_180^0'=len_180^post_11, length_27^0'=length_27^post_11, nondet_12^0'=nondet_12^post_11, r_121^0'=r_121^post_11, r_160^0'=r_160^post_11, r_37^0'=r_37^post_11, rcd_56^0'=rcd_56^post_11, rcd_86^0'=rcd_86^post_11, result_11^0'=result_11^post_11, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_11, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_11, t_24^0'=t_24^post_11, temp0_16^0'=temp0_16^post_11, temp0_29^0'=temp0_29^post_11, temp_33^0'=temp_33^post_11, tmp_32^0'=tmp_32^post_11, x_126^0'=x_126^post_11, x_14^0'=x_14^post_11, x_172^0'=x_172^post_11, x_17^0'=x_17^post_11, x_21^0'=x_21^post_11, x_SLAM_f_19^0'=x_SLAM_f_19^post_11, y_20^0'=y_20^post_11, [ 1+y_20^0<=t_24^0 && a_113^0==a_113^post_11 && a_144^0==a_144^post_11 && a_181^0==a_181^post_11 && a_212^0==a_212^post_11 && a_234^0==a_234^post_11 && a_257^0==a_257^post_11 && ct_18^0==ct_18^post_11 && f_167^0==f_167^post_11 && head_15^0==head_15^post_11 && head_30^0==head_30^post_11 && i_105^0==i_105^post_11 && i_164^0==i_164^post_11 && i_28^0==i_28^post_11 && i_92^0==i_92^post_11 && len_129^0==len_129^post_11 && len_180^0==len_180^post_11 && length_27^0==length_27^post_11 && nondet_12^0==nondet_12^post_11 && r_121^0==r_121^post_11 && r_160^0==r_160^post_11 && r_37^0==r_37^post_11 && rcd_56^0==rcd_56^post_11 && rcd_86^0==rcd_86^post_11 && result_11^0==result_11^post_11 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_11 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_11 && t_24^0==t_24^post_11 && temp0_16^0==temp0_16^post_11 && temp0_29^0==temp0_29^post_11 && temp_33^0==temp_33^post_11 && tmp_32^0==tmp_32^post_11 && x_126^0==x_126^post_11 && x_14^0==x_14^post_11 && x_17^0==x_17^post_11 && x_172^0==x_172^post_11 && x_21^0==x_21^post_11 && x_SLAM_f_19^0==x_SLAM_f_19^post_11 && y_20^0==y_20^post_11 ], cost: 1
     11: l9 -> l10 : a_113^0'=a_113^post_12, a_144^0'=a_144^post_12, a_181^0'=a_181^post_12, a_212^0'=a_212^post_12, a_234^0'=a_234^post_12, a_257^0'=a_257^post_12, ct_18^0'=ct_18^post_12, f_167^0'=f_167^post_12, head_15^0'=head_15^post_12, head_30^0'=head_30^post_12, i_105^0'=i_105^post_12, i_164^0'=i_164^post_12, i_28^0'=i_28^post_12, i_92^0'=i_92^post_12, len_129^0'=len_129^post_12, len_180^0'=len_180^post_12, length_27^0'=length_27^post_12, nondet_12^0'=nondet_12^post_12, r_121^0'=r_121^post_12, r_160^0'=r_160^post_12, r_37^0'=r_37^post_12, rcd_56^0'=rcd_56^post_12, rcd_86^0'=rcd_86^post_12, result_11^0'=result_11^post_12, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_12, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_12, t_24^0'=t_24^post_12, temp0_16^0'=temp0_16^post_12, temp0_29^0'=temp0_29^post_12, temp_33^0'=temp_33^post_12, tmp_32^0'=tmp_32^post_12, x_126^0'=x_126^post_12, x_14^0'=x_14^post_12, x_172^0'=x_172^post_12, x_17^0'=x_17^post_12, x_21^0'=x_21^post_12, x_SLAM_f_19^0'=x_SLAM_f_19^post_12, y_20^0'=y_20^post_12, [ 1+t_24^0<=y_20^0 && a_113^0==a_113^post_12 && a_144^0==a_144^post_12 && a_181^0==a_181^post_12 && a_212^0==a_212^post_12 && a_234^0==a_234^post_12 && a_257^0==a_257^post_12 && ct_18^0==ct_18^post_12 && f_167^0==f_167^post_12 && head_15^0==head_15^post_12 && head_30^0==head_30^post_12 && i_105^0==i_105^post_12 && i_164^0==i_164^post_12 && i_28^0==i_28^post_12 && i_92^0==i_92^post_12 && len_129^0==len_129^post_12 && len_180^0==len_180^post_12 && length_27^0==length_27^post_12 && nondet_12^0==nondet_12^post_12 && r_121^0==r_121^post_12 && r_160^0==r_160^post_12 && r_37^0==r_37^post_12 && rcd_56^0==rcd_56^post_12 && rcd_86^0==rcd_86^post_12 && result_11^0==result_11^post_12 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_12 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_12 && t_24^0==t_24^post_12 && temp0_16^0==temp0_16^post_12 && temp0_29^0==temp0_29^post_12 && temp_33^0==temp_33^post_12 && tmp_32^0==tmp_32^post_12 && x_126^0==x_126^post_12 && x_14^0==x_14^post_12 && x_17^0==x_17^post_12 && x_172^0==x_172^post_12 && x_21^0==x_21^post_12 && x_SLAM_f_19^0==x_SLAM_f_19^post_12 && y_20^0==y_20^post_12 ], cost: 1
     12: l10 -> l4 : a_113^0'=a_113^post_13, a_144^0'=a_144^post_13, a_181^0'=a_181^post_13, a_212^0'=a_212^post_13, a_234^0'=a_234^post_13, a_257^0'=a_257^post_13, ct_18^0'=ct_18^post_13, f_167^0'=f_167^post_13, head_15^0'=head_15^post_13, head_30^0'=head_30^post_13, i_105^0'=i_105^post_13, i_164^0'=i_164^post_13, i_28^0'=i_28^post_13, i_92^0'=i_92^post_13, len_129^0'=len_129^post_13, len_180^0'=len_180^post_13, length_27^0'=length_27^post_13, nondet_12^0'=nondet_12^post_13, r_121^0'=r_121^post_13, r_160^0'=r_160^post_13, r_37^0'=r_37^post_13, rcd_56^0'=rcd_56^post_13, rcd_86^0'=rcd_86^post_13, result_11^0'=result_11^post_13, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_13, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_13, t_24^0'=t_24^post_13, temp0_16^0'=temp0_16^post_13, temp0_29^0'=temp0_29^post_13, temp_33^0'=temp_33^post_13, tmp_32^0'=tmp_32^post_13, x_126^0'=x_126^post_13, x_14^0'=x_14^post_13, x_172^0'=x_172^post_13, x_17^0'=x_17^post_13, x_21^0'=x_21^post_13, x_SLAM_f_19^0'=x_SLAM_f_19^post_13, y_20^0'=y_20^post_13, [ 1<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && a_234^post_13==a_234^post_13 && a_234^post_13<=a_257^0 && a_257^0<=a_234^post_13 && a_113^0==a_113^post_13 && a_144^0==a_144^post_13 && a_181^0==a_181^post_13 && a_212^0==a_212^post_13 && a_257^0==a_257^post_13 && ct_18^0==ct_18^post_13 && f_167^0==f_167^post_13 && head_15^0==head_15^post_13 && head_30^0==head_30^post_13 && i_105^0==i_105^post_13 && i_164^0==i_164^post_13 && i_28^0==i_28^post_13 && i_92^0==i_92^post_13 && len_129^0==len_129^post_13 && len_180^0==len_180^post_13 && length_27^0==length_27^post_13 && nondet_12^0==nondet_12^post_13 && r_121^0==r_121^post_13 && r_160^0==r_160^post_13 && r_37^0==r_37^post_13 && rcd_56^0==rcd_56^post_13 && rcd_86^0==rcd_86^post_13 && result_11^0==result_11^post_13 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_13 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_13 && t_24^0==t_24^post_13 && temp0_16^0==temp0_16^post_13 && temp0_29^0==temp0_29^post_13 && temp_33^0==temp_33^post_13 && tmp_32^0==tmp_32^post_13 && x_126^0==x_126^post_13 && x_14^0==x_14^post_13 && x_17^0==x_17^post_13 && x_172^0==x_172^post_13 && x_21^0==x_21^post_13 && x_SLAM_f_19^0==x_SLAM_f_19^post_13 && y_20^0==y_20^post_13 ], cost: 1
     13: l4 -> l2 : a_113^0'=a_113^post_14, a_144^0'=a_144^post_14, a_181^0'=a_181^post_14, a_212^0'=a_212^post_14, a_234^0'=a_234^post_14, a_257^0'=a_257^post_14, ct_18^0'=ct_18^post_14, f_167^0'=f_167^post_14, head_15^0'=head_15^post_14, head_30^0'=head_30^post_14, i_105^0'=i_105^post_14, i_164^0'=i_164^post_14, i_28^0'=i_28^post_14, i_92^0'=i_92^post_14, len_129^0'=len_129^post_14, len_180^0'=len_180^post_14, length_27^0'=length_27^post_14, nondet_12^0'=nondet_12^post_14, r_121^0'=r_121^post_14, r_160^0'=r_160^post_14, r_37^0'=r_37^post_14, rcd_56^0'=rcd_56^post_14, rcd_86^0'=rcd_86^post_14, result_11^0'=result_11^post_14, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_14, t_24^0'=t_24^post_14, temp0_16^0'=temp0_16^post_14, temp0_29^0'=temp0_29^post_14, temp_33^0'=temp_33^post_14, tmp_32^0'=tmp_32^post_14, x_126^0'=x_126^post_14, x_14^0'=x_14^post_14, x_172^0'=x_172^post_14, x_17^0'=x_17^post_14, x_21^0'=x_21^post_14, x_SLAM_f_19^0'=x_SLAM_f_19^post_14, y_20^0'=y_20^post_14, [ a_113^0==a_113^post_14 && a_144^0==a_144^post_14 && a_181^0==a_181^post_14 && a_212^0==a_212^post_14 && a_234^0==a_234^post_14 && a_257^0==a_257^post_14 && ct_18^0==ct_18^post_14 && f_167^0==f_167^post_14 && head_15^0==head_15^post_14 && head_30^0==head_30^post_14 && i_105^0==i_105^post_14 && i_164^0==i_164^post_14 && i_28^0==i_28^post_14 && i_92^0==i_92^post_14 && len_129^0==len_129^post_14 && len_180^0==len_180^post_14 && length_27^0==length_27^post_14 && nondet_12^0==nondet_12^post_14 && r_121^0==r_121^post_14 && r_160^0==r_160^post_14 && r_37^0==r_37^post_14 && rcd_56^0==rcd_56^post_14 && rcd_86^0==rcd_86^post_14 && result_11^0==result_11^post_14 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_14 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_14 && t_24^0==t_24^post_14 && temp0_16^0==temp0_16^post_14 && temp0_29^0==temp0_29^post_14 && temp_33^0==temp_33^post_14 && tmp_32^0==tmp_32^post_14 && x_126^0==x_126^post_14 && x_14^0==x_14^post_14 && x_17^0==x_17^post_14 && x_172^0==x_172^post_14 && x_21^0==x_21^post_14 && x_SLAM_f_19^0==x_SLAM_f_19^post_14 && y_20^0==y_20^post_14 ], cost: 1
     29: l20 -> l21 : a_113^0'=a_113^post_30, a_144^0'=a_144^post_30, a_181^0'=a_181^post_30, a_212^0'=a_212^post_30, a_234^0'=a_234^post_30, a_257^0'=a_257^post_30, ct_18^0'=ct_18^post_30, f_167^0'=f_167^post_30, head_15^0'=head_15^post_30, head_30^0'=head_30^post_30, i_105^0'=i_105^post_30, i_164^0'=i_164^post_30, i_28^0'=i_28^post_30, i_92^0'=i_92^post_30, len_129^0'=len_129^post_30, len_180^0'=len_180^post_30, length_27^0'=length_27^post_30, nondet_12^0'=nondet_12^post_30, r_121^0'=r_121^post_30, r_160^0'=r_160^post_30, r_37^0'=r_37^post_30, rcd_56^0'=rcd_56^post_30, rcd_86^0'=rcd_86^post_30, result_11^0'=result_11^post_30, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_30, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_30, t_24^0'=t_24^post_30, temp0_16^0'=temp0_16^post_30, temp0_29^0'=temp0_29^post_30, temp_33^0'=temp_33^post_30, tmp_32^0'=tmp_32^post_30, x_126^0'=x_126^post_30, x_14^0'=x_14^post_30, x_172^0'=x_172^post_30, x_17^0'=x_17^post_30, x_21^0'=x_21^post_30, x_SLAM_f_19^0'=x_SLAM_f_19^post_30, y_20^0'=y_20^post_30, [ 0<=len_129^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_30==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_30 && x_14^post_30==x_14^post_30 && head_15^post_30==head_15^post_30 && x_17^post_30==x_17^post_30 && ct_18^post_30==ct_18^post_30 && x_SLAM_f_19^post_30==x_SLAM_f_19^post_30 && a_113^0==a_113^post_30 && a_144^0==a_144^post_30 && a_181^0==a_181^post_30 && a_212^0==a_212^post_30 && a_234^0==a_234^post_30 && a_257^0==a_257^post_30 && f_167^0==f_167^post_30 && head_30^0==head_30^post_30 && i_105^0==i_105^post_30 && i_164^0==i_164^post_30 && i_28^0==i_28^post_30 && i_92^0==i_92^post_30 && len_129^0==len_129^post_30 && len_180^0==len_180^post_30 && length_27^0==length_27^post_30 && nondet_12^0==nondet_12^post_30 && r_121^0==r_121^post_30 && r_160^0==r_160^post_30 && r_37^0==r_37^post_30 && rcd_56^0==rcd_56^post_30 && rcd_86^0==rcd_86^post_30 && result_11^0==result_11^post_30 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_30 && t_24^0==t_24^post_30 && temp0_16^0==temp0_16^post_30 && temp0_29^0==temp0_29^post_30 && temp_33^0==temp_33^post_30 && tmp_32^0==tmp_32^post_30 && x_126^0==x_126^post_30 && x_172^0==x_172^post_30 && x_21^0==x_21^post_30 && y_20^0==y_20^post_30 ], cost: 1
     30: l21 -> l22 : a_113^0'=a_113^post_31, a_144^0'=a_144^post_31, a_181^0'=a_181^post_31, a_212^0'=a_212^post_31, a_234^0'=a_234^post_31, a_257^0'=a_257^post_31, ct_18^0'=ct_18^post_31, f_167^0'=f_167^post_31, head_15^0'=head_15^post_31, head_30^0'=head_30^post_31, i_105^0'=i_105^post_31, i_164^0'=i_164^post_31, i_28^0'=i_28^post_31, i_92^0'=i_92^post_31, len_129^0'=len_129^post_31, len_180^0'=len_180^post_31, length_27^0'=length_27^post_31, nondet_12^0'=nondet_12^post_31, r_121^0'=r_121^post_31, r_160^0'=r_160^post_31, r_37^0'=r_37^post_31, rcd_56^0'=rcd_56^post_31, rcd_86^0'=rcd_86^post_31, result_11^0'=result_11^post_31, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_31, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_31, t_24^0'=t_24^post_31, temp0_16^0'=temp0_16^post_31, temp0_29^0'=temp0_29^post_31, temp_33^0'=temp_33^post_31, tmp_32^0'=tmp_32^post_31, x_126^0'=x_126^post_31, x_14^0'=x_14^post_31, x_172^0'=x_172^post_31, x_17^0'=x_17^post_31, x_21^0'=x_21^post_31, x_SLAM_f_19^0'=x_SLAM_f_19^post_31, y_20^0'=y_20^post_31, [ 1+y_20^0<=x_21^0 && a_113^0==a_113^post_31 && a_144^0==a_144^post_31 && a_181^0==a_181^post_31 && a_212^0==a_212^post_31 && a_234^0==a_234^post_31 && a_257^0==a_257^post_31 && ct_18^0==ct_18^post_31 && f_167^0==f_167^post_31 && head_15^0==head_15^post_31 && head_30^0==head_30^post_31 && i_105^0==i_105^post_31 && i_164^0==i_164^post_31 && i_28^0==i_28^post_31 && i_92^0==i_92^post_31 && len_129^0==len_129^post_31 && len_180^0==len_180^post_31 && length_27^0==length_27^post_31 && nondet_12^0==nondet_12^post_31 && r_121^0==r_121^post_31 && r_160^0==r_160^post_31 && r_37^0==r_37^post_31 && rcd_56^0==rcd_56^post_31 && rcd_86^0==rcd_86^post_31 && result_11^0==result_11^post_31 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_31 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_31 && t_24^0==t_24^post_31 && temp0_16^0==temp0_16^post_31 && temp0_29^0==temp0_29^post_31 && temp_33^0==temp_33^post_31 && tmp_32^0==tmp_32^post_31 && x_126^0==x_126^post_31 && x_14^0==x_14^post_31 && x_17^0==x_17^post_31 && x_172^0==x_172^post_31 && x_21^0==x_21^post_31 && x_SLAM_f_19^0==x_SLAM_f_19^post_31 && y_20^0==y_20^post_31 ], cost: 1
     31: l21 -> l22 : a_113^0'=a_113^post_32, a_144^0'=a_144^post_32, a_181^0'=a_181^post_32, a_212^0'=a_212^post_32, a_234^0'=a_234^post_32, a_257^0'=a_257^post_32, ct_18^0'=ct_18^post_32, f_167^0'=f_167^post_32, head_15^0'=head_15^post_32, head_30^0'=head_30^post_32, i_105^0'=i_105^post_32, i_164^0'=i_164^post_32, i_28^0'=i_28^post_32, i_92^0'=i_92^post_32, len_129^0'=len_129^post_32, len_180^0'=len_180^post_32, length_27^0'=length_27^post_32, nondet_12^0'=nondet_12^post_32, r_121^0'=r_121^post_32, r_160^0'=r_160^post_32, r_37^0'=r_37^post_32, rcd_56^0'=rcd_56^post_32, rcd_86^0'=rcd_86^post_32, result_11^0'=result_11^post_32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_32, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_32, t_24^0'=t_24^post_32, temp0_16^0'=temp0_16^post_32, temp0_29^0'=temp0_29^post_32, temp_33^0'=temp_33^post_32, tmp_32^0'=tmp_32^post_32, x_126^0'=x_126^post_32, x_14^0'=x_14^post_32, x_172^0'=x_172^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, [ 1+x_21^0<=y_20^0 && a_113^0==a_113^post_32 && a_144^0==a_144^post_32 && a_181^0==a_181^post_32 && a_212^0==a_212^post_32 && a_234^0==a_234^post_32 && a_257^0==a_257^post_32 && ct_18^0==ct_18^post_32 && f_167^0==f_167^post_32 && head_15^0==head_15^post_32 && head_30^0==head_30^post_32 && i_105^0==i_105^post_32 && i_164^0==i_164^post_32 && i_28^0==i_28^post_32 && i_92^0==i_92^post_32 && len_129^0==len_129^post_32 && len_180^0==len_180^post_32 && length_27^0==length_27^post_32 && nondet_12^0==nondet_12^post_32 && r_121^0==r_121^post_32 && r_160^0==r_160^post_32 && r_37^0==r_37^post_32 && rcd_56^0==rcd_56^post_32 && rcd_86^0==rcd_86^post_32 && result_11^0==result_11^post_32 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_32 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_32 && t_24^0==t_24^post_32 && temp0_16^0==temp0_16^post_32 && temp0_29^0==temp0_29^post_32 && temp_33^0==temp_33^post_32 && tmp_32^0==tmp_32^post_32 && x_126^0==x_126^post_32 && x_14^0==x_14^post_32 && x_17^0==x_17^post_32 && x_172^0==x_172^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
     32: l22 -> l23 : a_113^0'=a_113^post_33, a_144^0'=a_144^post_33, a_181^0'=a_181^post_33, a_212^0'=a_212^post_33, a_234^0'=a_234^post_33, a_257^0'=a_257^post_33, ct_18^0'=ct_18^post_33, f_167^0'=f_167^post_33, head_15^0'=head_15^post_33, head_30^0'=head_30^post_33, i_105^0'=i_105^post_33, i_164^0'=i_164^post_33, i_28^0'=i_28^post_33, i_92^0'=i_92^post_33, len_129^0'=len_129^post_33, len_180^0'=len_180^post_33, length_27^0'=length_27^post_33, nondet_12^0'=nondet_12^post_33, r_121^0'=r_121^post_33, r_160^0'=r_160^post_33, r_37^0'=r_37^post_33, rcd_56^0'=rcd_56^post_33, rcd_86^0'=rcd_86^post_33, result_11^0'=result_11^post_33, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_33, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_33, t_24^0'=t_24^post_33, temp0_16^0'=temp0_16^post_33, temp0_29^0'=temp0_29^post_33, temp_33^0'=temp_33^post_33, tmp_32^0'=tmp_32^post_33, x_126^0'=x_126^post_33, x_14^0'=x_14^post_33, x_172^0'=x_172^post_33, x_17^0'=x_17^post_33, x_21^0'=x_21^post_33, x_SLAM_f_19^0'=x_SLAM_f_19^post_33, y_20^0'=y_20^post_33, [ t_24^post_33==x_21^0 && a_212^post_33==a_212^post_33 && 0<=x_14^0 && x_14^0<=0 && 0<=ct_18^0 && ct_18^0<=0 && 0<=y_20^0 && y_20^0<=0 && 0<=a_234^0-a_212^post_33 && a_234^0-a_212^post_33<=0 && head_15^0<=x_17^0 && x_17^0<=head_15^0 && head_15^0<=x_SLAM_f_19^0 && x_SLAM_f_19^0<=head_15^0 && head_15^0<=t_24^post_33 && t_24^post_33<=head_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_212^post_33<=a_234^0 && a_234^0<=a_212^post_33 && a_113^0==a_113^post_33 && a_144^0==a_144^post_33 && a_181^0==a_181^post_33 && a_234^0==a_234^post_33 && a_257^0==a_257^post_33 && ct_18^0==ct_18^post_33 && f_167^0==f_167^post_33 && head_15^0==head_15^post_33 && head_30^0==head_30^post_33 && i_105^0==i_105^post_33 && i_164^0==i_164^post_33 && i_28^0==i_28^post_33 && i_92^0==i_92^post_33 && len_129^0==len_129^post_33 && len_180^0==len_180^post_33 && length_27^0==length_27^post_33 && nondet_12^0==nondet_12^post_33 && r_121^0==r_121^post_33 && r_160^0==r_160^post_33 && r_37^0==r_37^post_33 && rcd_56^0==rcd_56^post_33 && rcd_86^0==rcd_86^post_33 && result_11^0==result_11^post_33 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_33 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_33 && temp0_16^0==temp0_16^post_33 && temp0_29^0==temp0_29^post_33 && temp_33^0==temp_33^post_33 && tmp_32^0==tmp_32^post_33 && x_126^0==x_126^post_33 && x_14^0==x_14^post_33 && x_17^0==x_17^post_33 && x_172^0==x_172^post_33 && x_21^0==x_21^post_33 && x_SLAM_f_19^0==x_SLAM_f_19^post_33 && y_20^0==y_20^post_33 ], cost: 1
     33: l23 -> l24 : a_113^0'=a_113^post_34, a_144^0'=a_144^post_34, a_181^0'=a_181^post_34, a_212^0'=a_212^post_34, a_234^0'=a_234^post_34, a_257^0'=a_257^post_34, ct_18^0'=ct_18^post_34, f_167^0'=f_167^post_34, head_15^0'=head_15^post_34, head_30^0'=head_30^post_34, i_105^0'=i_105^post_34, i_164^0'=i_164^post_34, i_28^0'=i_28^post_34, i_92^0'=i_92^post_34, len_129^0'=len_129^post_34, len_180^0'=len_180^post_34, length_27^0'=length_27^post_34, nondet_12^0'=nondet_12^post_34, r_121^0'=r_121^post_34, r_160^0'=r_160^post_34, r_37^0'=r_37^post_34, rcd_56^0'=rcd_56^post_34, rcd_86^0'=rcd_86^post_34, result_11^0'=result_11^post_34, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_34, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_34, t_24^0'=t_24^post_34, temp0_16^0'=temp0_16^post_34, temp0_29^0'=temp0_29^post_34, temp_33^0'=temp_33^post_34, tmp_32^0'=tmp_32^post_34, x_126^0'=x_126^post_34, x_14^0'=x_14^post_34, x_172^0'=x_172^post_34, x_17^0'=x_17^post_34, x_21^0'=x_21^post_34, x_SLAM_f_19^0'=x_SLAM_f_19^post_34, y_20^0'=y_20^post_34, [ 1<=head_15^0 && a_113^0==a_113^post_34 && a_144^0==a_144^post_34 && a_181^0==a_181^post_34 && a_212^0==a_212^post_34 && a_234^0==a_234^post_34 && a_257^0==a_257^post_34 && ct_18^0==ct_18^post_34 && f_167^0==f_167^post_34 && head_15^0==head_15^post_34 && head_30^0==head_30^post_34 && i_105^0==i_105^post_34 && i_164^0==i_164^post_34 && i_28^0==i_28^post_34 && i_92^0==i_92^post_34 && len_129^0==len_129^post_34 && len_180^0==len_180^post_34 && length_27^0==length_27^post_34 && nondet_12^0==nondet_12^post_34 && r_121^0==r_121^post_34 && r_160^0==r_160^post_34 && r_37^0==r_37^post_34 && rcd_56^0==rcd_56^post_34 && rcd_86^0==rcd_86^post_34 && result_11^0==result_11^post_34 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_34 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_34 && t_24^0==t_24^post_34 && temp0_16^0==temp0_16^post_34 && temp0_29^0==temp0_29^post_34 && temp_33^0==temp_33^post_34 && tmp_32^0==tmp_32^post_34 && x_126^0==x_126^post_34 && x_14^0==x_14^post_34 && x_17^0==x_17^post_34 && x_172^0==x_172^post_34 && x_21^0==x_21^post_34 && x_SLAM_f_19^0==x_SLAM_f_19^post_34 && y_20^0==y_20^post_34 ], cost: 1
     34: l23 -> l24 : a_113^0'=a_113^post_35, a_144^0'=a_144^post_35, a_181^0'=a_181^post_35, a_212^0'=a_212^post_35, a_234^0'=a_234^post_35, a_257^0'=a_257^post_35, ct_18^0'=ct_18^post_35, f_167^0'=f_167^post_35, head_15^0'=head_15^post_35, head_30^0'=head_30^post_35, i_105^0'=i_105^post_35, i_164^0'=i_164^post_35, i_28^0'=i_28^post_35, i_92^0'=i_92^post_35, len_129^0'=len_129^post_35, len_180^0'=len_180^post_35, length_27^0'=length_27^post_35, nondet_12^0'=nondet_12^post_35, r_121^0'=r_121^post_35, r_160^0'=r_160^post_35, r_37^0'=r_37^post_35, rcd_56^0'=rcd_56^post_35, rcd_86^0'=rcd_86^post_35, result_11^0'=result_11^post_35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_35, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_35, t_24^0'=t_24^post_35, temp0_16^0'=temp0_16^post_35, temp0_29^0'=temp0_29^post_35, temp_33^0'=temp_33^post_35, tmp_32^0'=tmp_32^post_35, x_126^0'=x_126^post_35, x_14^0'=x_14^post_35, x_172^0'=x_172^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, [ 1+head_15^0<=0 && a_113^0==a_113^post_35 && a_144^0==a_144^post_35 && a_181^0==a_181^post_35 && a_212^0==a_212^post_35 && a_234^0==a_234^post_35 && a_257^0==a_257^post_35 && ct_18^0==ct_18^post_35 && f_167^0==f_167^post_35 && head_15^0==head_15^post_35 && head_30^0==head_30^post_35 && i_105^0==i_105^post_35 && i_164^0==i_164^post_35 && i_28^0==i_28^post_35 && i_92^0==i_92^post_35 && len_129^0==len_129^post_35 && len_180^0==len_180^post_35 && length_27^0==length_27^post_35 && nondet_12^0==nondet_12^post_35 && r_121^0==r_121^post_35 && r_160^0==r_160^post_35 && r_37^0==r_37^post_35 && rcd_56^0==rcd_56^post_35 && rcd_86^0==rcd_86^post_35 && result_11^0==result_11^post_35 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_35 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_35 && t_24^0==t_24^post_35 && temp0_16^0==temp0_16^post_35 && temp0_29^0==temp0_29^post_35 && temp_33^0==temp_33^post_35 && tmp_32^0==tmp_32^post_35 && x_126^0==x_126^post_35 && x_14^0==x_14^post_35 && x_17^0==x_17^post_35 && x_172^0==x_172^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
     35: l24 -> l25 : a_113^0'=a_113^post_36, a_144^0'=a_144^post_36, a_181^0'=a_181^post_36, a_212^0'=a_212^post_36, a_234^0'=a_234^post_36, a_257^0'=a_257^post_36, ct_18^0'=ct_18^post_36, f_167^0'=f_167^post_36, head_15^0'=head_15^post_36, head_30^0'=head_30^post_36, i_105^0'=i_105^post_36, i_164^0'=i_164^post_36, i_28^0'=i_28^post_36, i_92^0'=i_92^post_36, len_129^0'=len_129^post_36, len_180^0'=len_180^post_36, length_27^0'=length_27^post_36, nondet_12^0'=nondet_12^post_36, r_121^0'=r_121^post_36, r_160^0'=r_160^post_36, r_37^0'=r_37^post_36, rcd_56^0'=rcd_56^post_36, rcd_86^0'=rcd_86^post_36, result_11^0'=result_11^post_36, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_36, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_36, t_24^0'=t_24^post_36, temp0_16^0'=temp0_16^post_36, temp0_29^0'=temp0_29^post_36, temp_33^0'=temp_33^post_36, tmp_32^0'=tmp_32^post_36, x_126^0'=x_126^post_36, x_14^0'=x_14^post_36, x_172^0'=x_172^post_36, x_17^0'=x_17^post_36, x_21^0'=x_21^post_36, x_SLAM_f_19^0'=x_SLAM_f_19^post_36, y_20^0'=y_20^post_36, [ 1+head_15^0<=y_20^0 && a_113^0==a_113^post_36 && a_144^0==a_144^post_36 && a_181^0==a_181^post_36 && a_212^0==a_212^post_36 && a_234^0==a_234^post_36 && a_257^0==a_257^post_36 && ct_18^0==ct_18^post_36 && f_167^0==f_167^post_36 && head_15^0==head_15^post_36 && head_30^0==head_30^post_36 && i_105^0==i_105^post_36 && i_164^0==i_164^post_36 && i_28^0==i_28^post_36 && i_92^0==i_92^post_36 && len_129^0==len_129^post_36 && len_180^0==len_180^post_36 && length_27^0==length_27^post_36 && nondet_12^0==nondet_12^post_36 && r_121^0==r_121^post_36 && r_160^0==r_160^post_36 && r_37^0==r_37^post_36 && rcd_56^0==rcd_56^post_36 && rcd_86^0==rcd_86^post_36 && result_11^0==result_11^post_36 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_36 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_36 && t_24^0==t_24^post_36 && temp0_16^0==temp0_16^post_36 && temp0_29^0==temp0_29^post_36 && temp_33^0==temp_33^post_36 && tmp_32^0==tmp_32^post_36 && x_126^0==x_126^post_36 && x_14^0==x_14^post_36 && x_17^0==x_17^post_36 && x_172^0==x_172^post_36 && x_21^0==x_21^post_36 && x_SLAM_f_19^0==x_SLAM_f_19^post_36 && y_20^0==y_20^post_36 ], cost: 1
     36: l24 -> l25 : a_113^0'=a_113^post_37, a_144^0'=a_144^post_37, a_181^0'=a_181^post_37, a_212^0'=a_212^post_37, a_234^0'=a_234^post_37, a_257^0'=a_257^post_37, ct_18^0'=ct_18^post_37, f_167^0'=f_167^post_37, head_15^0'=head_15^post_37, head_30^0'=head_30^post_37, i_105^0'=i_105^post_37, i_164^0'=i_164^post_37, i_28^0'=i_28^post_37, i_92^0'=i_92^post_37, len_129^0'=len_129^post_37, len_180^0'=len_180^post_37, length_27^0'=length_27^post_37, nondet_12^0'=nondet_12^post_37, r_121^0'=r_121^post_37, r_160^0'=r_160^post_37, r_37^0'=r_37^post_37, rcd_56^0'=rcd_56^post_37, rcd_86^0'=rcd_86^post_37, result_11^0'=result_11^post_37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_37, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_37, t_24^0'=t_24^post_37, temp0_16^0'=temp0_16^post_37, temp0_29^0'=temp0_29^post_37, temp_33^0'=temp_33^post_37, tmp_32^0'=tmp_32^post_37, x_126^0'=x_126^post_37, x_14^0'=x_14^post_37, x_172^0'=x_172^post_37, x_17^0'=x_17^post_37, x_21^0'=x_21^post_37, x_SLAM_f_19^0'=x_SLAM_f_19^post_37, y_20^0'=y_20^post_37, [ 1+y_20^0<=head_15^0 && a_113^0==a_113^post_37 && a_144^0==a_144^post_37 && a_181^0==a_181^post_37 && a_212^0==a_212^post_37 && a_234^0==a_234^post_37 && a_257^0==a_257^post_37 && ct_18^0==ct_18^post_37 && f_167^0==f_167^post_37 && head_15^0==head_15^post_37 && head_30^0==head_30^post_37 && i_105^0==i_105^post_37 && i_164^0==i_164^post_37 && i_28^0==i_28^post_37 && i_92^0==i_92^post_37 && len_129^0==len_129^post_37 && len_180^0==len_180^post_37 && length_27^0==length_27^post_37 && nondet_12^0==nondet_12^post_37 && r_121^0==r_121^post_37 && r_160^0==r_160^post_37 && r_37^0==r_37^post_37 && rcd_56^0==rcd_56^post_37 && rcd_86^0==rcd_86^post_37 && result_11^0==result_11^post_37 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_37 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_37 && t_24^0==t_24^post_37 && temp0_16^0==temp0_16^post_37 && temp0_29^0==temp0_29^post_37 && temp_33^0==temp_33^post_37 && tmp_32^0==tmp_32^post_37 && x_126^0==x_126^post_37 && x_14^0==x_14^post_37 && x_17^0==x_17^post_37 && x_172^0==x_172^post_37 && x_21^0==x_21^post_37 && x_SLAM_f_19^0==x_SLAM_f_19^post_37 && y_20^0==y_20^post_37 ], cost: 1
     37: l25 -> l26 : a_113^0'=a_113^post_38, a_144^0'=a_144^post_38, a_181^0'=a_181^post_38, a_212^0'=a_212^post_38, a_234^0'=a_234^post_38, a_257^0'=a_257^post_38, ct_18^0'=ct_18^post_38, f_167^0'=f_167^post_38, head_15^0'=head_15^post_38, head_30^0'=head_30^post_38, i_105^0'=i_105^post_38, i_164^0'=i_164^post_38, i_28^0'=i_28^post_38, i_92^0'=i_92^post_38, len_129^0'=len_129^post_38, len_180^0'=len_180^post_38, length_27^0'=length_27^post_38, nondet_12^0'=nondet_12^post_38, r_121^0'=r_121^post_38, r_160^0'=r_160^post_38, r_37^0'=r_37^post_38, rcd_56^0'=rcd_56^post_38, rcd_86^0'=rcd_86^post_38, result_11^0'=result_11^post_38, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_38, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_38, t_24^0'=t_24^post_38, temp0_16^0'=temp0_16^post_38, temp0_29^0'=temp0_29^post_38, temp_33^0'=temp_33^post_38, tmp_32^0'=tmp_32^post_38, x_126^0'=x_126^post_38, x_14^0'=x_14^post_38, x_172^0'=x_172^post_38, x_17^0'=x_17^post_38, x_21^0'=x_21^post_38, x_SLAM_f_19^0'=x_SLAM_f_19^post_38, y_20^0'=y_20^post_38, [ 1+y_20^0<=t_24^0 && a_113^0==a_113^post_38 && a_144^0==a_144^post_38 && a_181^0==a_181^post_38 && a_212^0==a_212^post_38 && a_234^0==a_234^post_38 && a_257^0==a_257^post_38 && ct_18^0==ct_18^post_38 && f_167^0==f_167^post_38 && head_15^0==head_15^post_38 && head_30^0==head_30^post_38 && i_105^0==i_105^post_38 && i_164^0==i_164^post_38 && i_28^0==i_28^post_38 && i_92^0==i_92^post_38 && len_129^0==len_129^post_38 && len_180^0==len_180^post_38 && length_27^0==length_27^post_38 && nondet_12^0==nondet_12^post_38 && r_121^0==r_121^post_38 && r_160^0==r_160^post_38 && r_37^0==r_37^post_38 && rcd_56^0==rcd_56^post_38 && rcd_86^0==rcd_86^post_38 && result_11^0==result_11^post_38 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_38 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_38 && t_24^0==t_24^post_38 && temp0_16^0==temp0_16^post_38 && temp0_29^0==temp0_29^post_38 && temp_33^0==temp_33^post_38 && tmp_32^0==tmp_32^post_38 && x_126^0==x_126^post_38 && x_14^0==x_14^post_38 && x_17^0==x_17^post_38 && x_172^0==x_172^post_38 && x_21^0==x_21^post_38 && x_SLAM_f_19^0==x_SLAM_f_19^post_38 && y_20^0==y_20^post_38 ], cost: 1
     38: l25 -> l26 : a_113^0'=a_113^post_39, a_144^0'=a_144^post_39, a_181^0'=a_181^post_39, a_212^0'=a_212^post_39, a_234^0'=a_234^post_39, a_257^0'=a_257^post_39, ct_18^0'=ct_18^post_39, f_167^0'=f_167^post_39, head_15^0'=head_15^post_39, head_30^0'=head_30^post_39, i_105^0'=i_105^post_39, i_164^0'=i_164^post_39, i_28^0'=i_28^post_39, i_92^0'=i_92^post_39, len_129^0'=len_129^post_39, len_180^0'=len_180^post_39, length_27^0'=length_27^post_39, nondet_12^0'=nondet_12^post_39, r_121^0'=r_121^post_39, r_160^0'=r_160^post_39, r_37^0'=r_37^post_39, rcd_56^0'=rcd_56^post_39, rcd_86^0'=rcd_86^post_39, result_11^0'=result_11^post_39, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_39, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_39, t_24^0'=t_24^post_39, temp0_16^0'=temp0_16^post_39, temp0_29^0'=temp0_29^post_39, temp_33^0'=temp_33^post_39, tmp_32^0'=tmp_32^post_39, x_126^0'=x_126^post_39, x_14^0'=x_14^post_39, x_172^0'=x_172^post_39, x_17^0'=x_17^post_39, x_21^0'=x_21^post_39, x_SLAM_f_19^0'=x_SLAM_f_19^post_39, y_20^0'=y_20^post_39, [ 1+t_24^0<=y_20^0 && a_113^0==a_113^post_39 && a_144^0==a_144^post_39 && a_181^0==a_181^post_39 && a_212^0==a_212^post_39 && a_234^0==a_234^post_39 && a_257^0==a_257^post_39 && ct_18^0==ct_18^post_39 && f_167^0==f_167^post_39 && head_15^0==head_15^post_39 && head_30^0==head_30^post_39 && i_105^0==i_105^post_39 && i_164^0==i_164^post_39 && i_28^0==i_28^post_39 && i_92^0==i_92^post_39 && len_129^0==len_129^post_39 && len_180^0==len_180^post_39 && length_27^0==length_27^post_39 && nondet_12^0==nondet_12^post_39 && r_121^0==r_121^post_39 && r_160^0==r_160^post_39 && r_37^0==r_37^post_39 && rcd_56^0==rcd_56^post_39 && rcd_86^0==rcd_86^post_39 && result_11^0==result_11^post_39 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_39 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_39 && t_24^0==t_24^post_39 && temp0_16^0==temp0_16^post_39 && temp0_29^0==temp0_29^post_39 && temp_33^0==temp_33^post_39 && tmp_32^0==tmp_32^post_39 && x_126^0==x_126^post_39 && x_14^0==x_14^post_39 && x_17^0==x_17^post_39 && x_172^0==x_172^post_39 && x_21^0==x_21^post_39 && x_SLAM_f_19^0==x_SLAM_f_19^post_39 && y_20^0==y_20^post_39 ], cost: 1
     39: l26 -> l2 : a_113^0'=a_113^post_40, a_144^0'=a_144^post_40, a_181^0'=a_181^post_40, a_212^0'=a_212^post_40, a_234^0'=a_234^post_40, a_257^0'=a_257^post_40, ct_18^0'=ct_18^post_40, f_167^0'=f_167^post_40, head_15^0'=head_15^post_40, head_30^0'=head_30^post_40, i_105^0'=i_105^post_40, i_164^0'=i_164^post_40, i_28^0'=i_28^post_40, i_92^0'=i_92^post_40, len_129^0'=len_129^post_40, len_180^0'=len_180^post_40, length_27^0'=length_27^post_40, nondet_12^0'=nondet_12^post_40, r_121^0'=r_121^post_40, r_160^0'=r_160^post_40, r_37^0'=r_37^post_40, rcd_56^0'=rcd_56^post_40, rcd_86^0'=rcd_86^post_40, result_11^0'=result_11^post_40, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_40, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_40, t_24^0'=t_24^post_40, temp0_16^0'=temp0_16^post_40, temp0_29^0'=temp0_29^post_40, temp_33^0'=temp_33^post_40, tmp_32^0'=tmp_32^post_40, x_126^0'=x_126^post_40, x_14^0'=x_14^post_40, x_172^0'=x_172^post_40, x_17^0'=x_17^post_40, x_21^0'=x_21^post_40, x_SLAM_f_19^0'=x_SLAM_f_19^post_40, y_20^0'=y_20^post_40, [ 1<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && len_129^post_40==len_129^post_40 && -1+len_129^post_40<=a_212^0 && a_212^0<=-1+len_129^post_40 && a_113^0==a_113^post_40 && a_144^0==a_144^post_40 && a_181^0==a_181^post_40 && a_212^0==a_212^post_40 && a_234^0==a_234^post_40 && a_257^0==a_257^post_40 && ct_18^0==ct_18^post_40 && f_167^0==f_167^post_40 && head_15^0==head_15^post_40 && head_30^0==head_30^post_40 && i_105^0==i_105^post_40 && i_164^0==i_164^post_40 && i_28^0==i_28^post_40 && i_92^0==i_92^post_40 && len_180^0==len_180^post_40 && length_27^0==length_27^post_40 && nondet_12^0==nondet_12^post_40 && r_121^0==r_121^post_40 && r_160^0==r_160^post_40 && r_37^0==r_37^post_40 && rcd_56^0==rcd_56^post_40 && rcd_86^0==rcd_86^post_40 && result_11^0==result_11^post_40 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_40 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_40 && t_24^0==t_24^post_40 && temp0_16^0==temp0_16^post_40 && temp0_29^0==temp0_29^post_40 && temp_33^0==temp_33^post_40 && tmp_32^0==tmp_32^post_40 && x_126^0==x_126^post_40 && x_14^0==x_14^post_40 && x_17^0==x_17^post_40 && x_172^0==x_172^post_40 && x_21^0==x_21^post_40 && x_SLAM_f_19^0==x_SLAM_f_19^post_40 && y_20^0==y_20^post_40 ], cost: 1
     60: l27 -> l40 : a_113^0'=a_113^post_61, a_144^0'=a_144^post_61, a_181^0'=a_181^post_61, a_212^0'=a_212^post_61, a_234^0'=a_234^post_61, a_257^0'=a_257^post_61, ct_18^0'=ct_18^post_61, f_167^0'=f_167^post_61, head_15^0'=head_15^post_61, head_30^0'=head_30^post_61, i_105^0'=i_105^post_61, i_164^0'=i_164^post_61, i_28^0'=i_28^post_61, i_92^0'=i_92^post_61, len_129^0'=len_129^post_61, len_180^0'=len_180^post_61, length_27^0'=length_27^post_61, nondet_12^0'=nondet_12^post_61, r_121^0'=r_121^post_61, r_160^0'=r_160^post_61, r_37^0'=r_37^post_61, rcd_56^0'=rcd_56^post_61, rcd_86^0'=rcd_86^post_61, result_11^0'=result_11^post_61, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_61, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_61, t_24^0'=t_24^post_61, temp0_16^0'=temp0_16^post_61, temp0_29^0'=temp0_29^post_61, temp_33^0'=temp_33^post_61, tmp_32^0'=tmp_32^post_61, x_126^0'=x_126^post_61, x_14^0'=x_14^post_61, x_172^0'=x_172^post_61, x_17^0'=x_17^post_61, x_21^0'=x_21^post_61, x_SLAM_f_19^0'=x_SLAM_f_19^post_61, y_20^0'=y_20^post_61, [ result_dot_nondet_sdv_special_RETURN_VALUE_13^post_61==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_61 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_61==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_61 && rcd_56^post_61==rcd_56^post_61 && 1+i_28^0<=length_27^0 && tmp_32^post_61==temp_33^0 && temp_33^post_61==temp_33^post_61 && head_30^post_61==tmp_32^post_61 && i_28^post_61==1+i_28^0 && 2<=i_28^post_61 && i_28^post_61<=2 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_61<=length_27^0 && length_27^0<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_61 && head_30^post_61<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_61 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_61<=head_30^post_61 && head_30^post_61<=tmp_32^post_61 && tmp_32^post_61<=head_30^post_61 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_61<=tmp_32^post_61 && tmp_32^post_61<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_61 && 1<=length_27^0 && 2<=length_27^0 && a_113^0==a_113^post_61 && a_144^0==a_144^post_61 && a_181^0==a_181^post_61 && a_212^0==a_212^post_61 && a_234^0==a_234^post_61 && a_257^0==a_257^post_61 && ct_18^0==ct_18^post_61 && f_167^0==f_167^post_61 && head_15^0==head_15^post_61 && i_105^0==i_105^post_61 && i_164^0==i_164^post_61 && i_92^0==i_92^post_61 && len_129^0==len_129^post_61 && len_180^0==len_180^post_61 && length_27^0==length_27^post_61 && nondet_12^0==nondet_12^post_61 && r_121^0==r_121^post_61 && r_160^0==r_160^post_61 && r_37^0==r_37^post_61 && rcd_86^0==rcd_86^post_61 && result_11^0==result_11^post_61 && t_24^0==t_24^post_61 && temp0_16^0==temp0_16^post_61 && temp0_29^0==temp0_29^post_61 && x_126^0==x_126^post_61 && x_14^0==x_14^post_61 && x_17^0==x_17^post_61 && x_172^0==x_172^post_61 && x_21^0==x_21^post_61 && x_SLAM_f_19^0==x_SLAM_f_19^post_61 && y_20^0==y_20^post_61 ], cost: 1
     94: l40 -> l62 : a_113^0'=a_113^post_95, a_144^0'=a_144^post_95, a_181^0'=a_181^post_95, a_212^0'=a_212^post_95, a_234^0'=a_234^post_95, a_257^0'=a_257^post_95, ct_18^0'=ct_18^post_95, f_167^0'=f_167^post_95, head_15^0'=head_15^post_95, head_30^0'=head_30^post_95, i_105^0'=i_105^post_95, i_164^0'=i_164^post_95, i_28^0'=i_28^post_95, i_92^0'=i_92^post_95, len_129^0'=len_129^post_95, len_180^0'=len_180^post_95, length_27^0'=length_27^post_95, nondet_12^0'=nondet_12^post_95, r_121^0'=r_121^post_95, r_160^0'=r_160^post_95, r_37^0'=r_37^post_95, rcd_56^0'=rcd_56^post_95, rcd_86^0'=rcd_86^post_95, result_11^0'=result_11^post_95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_95, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95, t_24^0'=t_24^post_95, temp0_16^0'=temp0_16^post_95, temp0_29^0'=temp0_29^post_95, temp_33^0'=temp_33^post_95, tmp_32^0'=tmp_32^post_95, x_126^0'=x_126^post_95, x_14^0'=x_14^post_95, x_172^0'=x_172^post_95, x_17^0'=x_17^post_95, x_21^0'=x_21^post_95, x_SLAM_f_19^0'=x_SLAM_f_19^post_95, y_20^0'=y_20^post_95, [ 0<=i_28^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95 && i_164^post_95==i_164^post_95 && length_27^0<=i_28^0 && temp0_29^1_2_1==head_30^0 && result_11^1_2==temp0_29^1_2_1 && length_27^post_95==length_27^post_95 && i_28^post_95==i_28^post_95 && temp0_29^post_95==temp0_29^post_95 && head_30^post_95==head_30^post_95 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_95==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_95 && tmp_32^post_95==tmp_32^post_95 && temp_33^post_95==temp_33^post_95 && head_15^post_95==result_11^1_2 && result_11^post_95==result_11^post_95 && x_14^post_95==head_15^post_95 && 0<=len_129^0 && len_129^0<=0 && 0<=a_144^0-i_28^post_95 && a_144^0-i_28^post_95<=0 && x_14^post_95<=head_15^post_95 && head_15^post_95<=x_14^post_95 && i_28^post_95<=a_144^0 && a_144^0<=i_28^post_95 && a_113^0==a_113^post_95 && a_144^0==a_144^post_95 && a_181^0==a_181^post_95 && a_212^0==a_212^post_95 && a_234^0==a_234^post_95 && a_257^0==a_257^post_95 && ct_18^0==ct_18^post_95 && f_167^0==f_167^post_95 && i_105^0==i_105^post_95 && i_92^0==i_92^post_95 && len_129^0==len_129^post_95 && len_180^0==len_180^post_95 && nondet_12^0==nondet_12^post_95 && r_121^0==r_121^post_95 && r_160^0==r_160^post_95 && r_37^0==r_37^post_95 && rcd_56^0==rcd_56^post_95 && rcd_86^0==rcd_86^post_95 && t_24^0==t_24^post_95 && temp0_16^0==temp0_16^post_95 && x_126^0==x_126^post_95 && x_17^0==x_17^post_95 && x_172^0==x_172^post_95 && x_21^0==x_21^post_95 && x_SLAM_f_19^0==x_SLAM_f_19^post_95 && y_20^0==y_20^post_95 ], cost: 1
     98: l40 -> l64 : a_113^0'=a_113^post_99, a_144^0'=a_144^post_99, a_181^0'=a_181^post_99, a_212^0'=a_212^post_99, a_234^0'=a_234^post_99, a_257^0'=a_257^post_99, ct_18^0'=ct_18^post_99, f_167^0'=f_167^post_99, head_15^0'=head_15^post_99, head_30^0'=head_30^post_99, i_105^0'=i_105^post_99, i_164^0'=i_164^post_99, i_28^0'=i_28^post_99, i_92^0'=i_92^post_99, len_129^0'=len_129^post_99, len_180^0'=len_180^post_99, length_27^0'=length_27^post_99, nondet_12^0'=nondet_12^post_99, r_121^0'=r_121^post_99, r_160^0'=r_160^post_99, r_37^0'=r_37^post_99, rcd_56^0'=rcd_56^post_99, rcd_86^0'=rcd_86^post_99, result_11^0'=result_11^post_99, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_99, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_99, t_24^0'=t_24^post_99, temp0_16^0'=temp0_16^post_99, temp0_29^0'=temp0_29^post_99, temp_33^0'=temp_33^post_99, tmp_32^0'=tmp_32^post_99, x_126^0'=x_126^post_99, x_14^0'=x_14^post_99, x_172^0'=x_172^post_99, x_17^0'=x_17^post_99, x_21^0'=x_21^post_99, x_SLAM_f_19^0'=x_SLAM_f_19^post_99, y_20^0'=y_20^post_99, [ 0<=i_28^0 && rcd_86^post_99==rcd_86^post_99 && i_92^post_99==i_92^post_99 && 1+i_28^0<=length_27^0 && tmp_32^post_99==temp_33^0 && temp_33^post_99==temp_33^post_99 && head_30^post_99==tmp_32^post_99 && i_28^post_99==1+i_28^0 && i_28^post_99<=1+i_92^post_99 && 1+i_92^post_99<=i_28^post_99 && i_92^post_99<=-1+i_28^post_99 && -1+i_28^post_99<=i_92^post_99 && 1+i_92^post_99<=length_27^0 && a_113^0==a_113^post_99 && a_144^0==a_144^post_99 && a_181^0==a_181^post_99 && a_212^0==a_212^post_99 && a_234^0==a_234^post_99 && a_257^0==a_257^post_99 && ct_18^0==ct_18^post_99 && f_167^0==f_167^post_99 && head_15^0==head_15^post_99 && i_105^0==i_105^post_99 && i_164^0==i_164^post_99 && len_129^0==len_129^post_99 && len_180^0==len_180^post_99 && length_27^0==length_27^post_99 && nondet_12^0==nondet_12^post_99 && r_121^0==r_121^post_99 && r_160^0==r_160^post_99 && r_37^0==r_37^post_99 && rcd_56^0==rcd_56^post_99 && result_11^0==result_11^post_99 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_99 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_99 && t_24^0==t_24^post_99 && temp0_16^0==temp0_16^post_99 && temp0_29^0==temp0_29^post_99 && x_126^0==x_126^post_99 && x_14^0==x_14^post_99 && x_17^0==x_17^post_99 && x_172^0==x_172^post_99 && x_21^0==x_21^post_99 && x_SLAM_f_19^0==x_SLAM_f_19^post_99 && y_20^0==y_20^post_99 ], cost: 1
     61: l41 -> l42 : a_113^0'=a_113^post_62, a_144^0'=a_144^post_62, a_181^0'=a_181^post_62, a_212^0'=a_212^post_62, a_234^0'=a_234^post_62, a_257^0'=a_257^post_62, ct_18^0'=ct_18^post_62, f_167^0'=f_167^post_62, head_15^0'=head_15^post_62, head_30^0'=head_30^post_62, i_105^0'=i_105^post_62, i_164^0'=i_164^post_62, i_28^0'=i_28^post_62, i_92^0'=i_92^post_62, len_129^0'=len_129^post_62, len_180^0'=len_180^post_62, length_27^0'=length_27^post_62, nondet_12^0'=nondet_12^post_62, r_121^0'=r_121^post_62, r_160^0'=r_160^post_62, r_37^0'=r_37^post_62, rcd_56^0'=rcd_56^post_62, rcd_86^0'=rcd_86^post_62, result_11^0'=result_11^post_62, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_62, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_62, t_24^0'=t_24^post_62, temp0_16^0'=temp0_16^post_62, temp0_29^0'=temp0_29^post_62, temp_33^0'=temp_33^post_62, tmp_32^0'=tmp_32^post_62, x_126^0'=x_126^post_62, x_14^0'=x_14^post_62, x_172^0'=x_172^post_62, x_17^0'=x_17^post_62, x_21^0'=x_21^post_62, x_SLAM_f_19^0'=x_SLAM_f_19^post_62, y_20^0'=y_20^post_62, [ 0<=a_144^0 && 0<=len_129^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_62==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_62 && 0<=x_14^0 && x_14^0<=0 && x_17^post_62==head_15^0 && ct_18^post_62==0 && x_SLAM_f_19^post_62==x_17^post_62 && y_20^post_62==ct_18^post_62 && x_21^post_62==x_SLAM_f_19^post_62 && 0<=x_14^0 && x_14^0<=0 && 0<=ct_18^post_62 && ct_18^post_62<=0 && 0<=y_20^post_62 && y_20^post_62<=0 && head_15^0<=x_17^post_62 && x_17^post_62<=head_15^0 && head_15^0<=x_SLAM_f_19^post_62 && x_SLAM_f_19^post_62<=head_15^0 && head_15^0<=x_21^post_62 && x_21^post_62<=head_15^0 && x_17^post_62<=x_SLAM_f_19^post_62 && x_SLAM_f_19^post_62<=x_17^post_62 && ct_18^post_62<=y_20^post_62 && y_20^post_62<=ct_18^post_62 && x_SLAM_f_19^post_62<=x_21^post_62 && x_21^post_62<=x_SLAM_f_19^post_62 && a_113^0==a_113^post_62 && a_144^0==a_144^post_62 && a_181^0==a_181^post_62 && a_212^0==a_212^post_62 && a_234^0==a_234^post_62 && a_257^0==a_257^post_62 && f_167^0==f_167^post_62 && head_15^0==head_15^post_62 && head_30^0==head_30^post_62 && i_105^0==i_105^post_62 && i_164^0==i_164^post_62 && i_28^0==i_28^post_62 && i_92^0==i_92^post_62 && len_129^0==len_129^post_62 && len_180^0==len_180^post_62 && length_27^0==length_27^post_62 && nondet_12^0==nondet_12^post_62 && r_121^0==r_121^post_62 && r_160^0==r_160^post_62 && r_37^0==r_37^post_62 && rcd_56^0==rcd_56^post_62 && rcd_86^0==rcd_86^post_62 && result_11^0==result_11^post_62 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_62 && t_24^0==t_24^post_62 && temp0_16^0==temp0_16^post_62 && temp0_29^0==temp0_29^post_62 && temp_33^0==temp_33^post_62 && tmp_32^0==tmp_32^post_62 && x_126^0==x_126^post_62 && x_14^0==x_14^post_62 && x_172^0==x_172^post_62 ], cost: 1
     65: l41 -> l45 : a_113^0'=a_113^post_66, a_144^0'=a_144^post_66, a_181^0'=a_181^post_66, a_212^0'=a_212^post_66, a_234^0'=a_234^post_66, a_257^0'=a_257^post_66, ct_18^0'=ct_18^post_66, f_167^0'=f_167^post_66, head_15^0'=head_15^post_66, head_30^0'=head_30^post_66, i_105^0'=i_105^post_66, i_164^0'=i_164^post_66, i_28^0'=i_28^post_66, i_92^0'=i_92^post_66, len_129^0'=len_129^post_66, len_180^0'=len_180^post_66, length_27^0'=length_27^post_66, nondet_12^0'=nondet_12^post_66, r_121^0'=r_121^post_66, r_160^0'=r_160^post_66, r_37^0'=r_37^post_66, rcd_56^0'=rcd_56^post_66, rcd_86^0'=rcd_86^post_66, result_11^0'=result_11^post_66, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_66, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66, t_24^0'=t_24^post_66, temp0_16^0'=temp0_16^post_66, temp0_29^0'=temp0_29^post_66, temp_33^0'=temp_33^post_66, tmp_32^0'=tmp_32^post_66, x_126^0'=x_126^post_66, x_14^0'=x_14^post_66, x_172^0'=x_172^post_66, x_17^0'=x_17^post_66, x_21^0'=x_21^post_66, x_SLAM_f_19^0'=x_SLAM_f_19^post_66, y_20^0'=y_20^post_66, [ 0<=a_144^0 && 0<=len_129^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66 && head_15^post_66==head_15^post_66 && r_37^post_66==r_37^post_66 && f_167^post_66==f_167^post_66 && x_172^post_66==x_172^post_66 && a_113^0==a_113^post_66 && a_144^0==a_144^post_66 && a_181^0==a_181^post_66 && a_212^0==a_212^post_66 && a_234^0==a_234^post_66 && a_257^0==a_257^post_66 && ct_18^0==ct_18^post_66 && head_30^0==head_30^post_66 && i_105^0==i_105^post_66 && i_164^0==i_164^post_66 && i_28^0==i_28^post_66 && i_92^0==i_92^post_66 && len_129^0==len_129^post_66 && len_180^0==len_180^post_66 && length_27^0==length_27^post_66 && nondet_12^0==nondet_12^post_66 && r_121^0==r_121^post_66 && r_160^0==r_160^post_66 && rcd_56^0==rcd_56^post_66 && rcd_86^0==rcd_86^post_66 && result_11^0==result_11^post_66 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_66 && t_24^0==t_24^post_66 && temp0_16^0==temp0_16^post_66 && temp0_29^0==temp0_29^post_66 && temp_33^0==temp_33^post_66 && tmp_32^0==tmp_32^post_66 && x_126^0==x_126^post_66 && x_14^0==x_14^post_66 && x_17^0==x_17^post_66 && x_21^0==x_21^post_66 && x_SLAM_f_19^0==x_SLAM_f_19^post_66 && y_20^0==y_20^post_66 ], cost: 1
     62: l42 -> l43 : a_113^0'=a_113^post_63, a_144^0'=a_144^post_63, a_181^0'=a_181^post_63, a_212^0'=a_212^post_63, a_234^0'=a_234^post_63, a_257^0'=a_257^post_63, ct_18^0'=ct_18^post_63, f_167^0'=f_167^post_63, head_15^0'=head_15^post_63, head_30^0'=head_30^post_63, i_105^0'=i_105^post_63, i_164^0'=i_164^post_63, i_28^0'=i_28^post_63, i_92^0'=i_92^post_63, len_129^0'=len_129^post_63, len_180^0'=len_180^post_63, length_27^0'=length_27^post_63, nondet_12^0'=nondet_12^post_63, r_121^0'=r_121^post_63, r_160^0'=r_160^post_63, r_37^0'=r_37^post_63, rcd_56^0'=rcd_56^post_63, rcd_86^0'=rcd_86^post_63, result_11^0'=result_11^post_63, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_63, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_63, t_24^0'=t_24^post_63, temp0_16^0'=temp0_16^post_63, temp0_29^0'=temp0_29^post_63, temp_33^0'=temp_33^post_63, tmp_32^0'=tmp_32^post_63, x_126^0'=x_126^post_63, x_14^0'=x_14^post_63, x_172^0'=x_172^post_63, x_17^0'=x_17^post_63, x_21^0'=x_21^post_63, x_SLAM_f_19^0'=x_SLAM_f_19^post_63, y_20^0'=y_20^post_63, [ 1<=head_15^0 && a_113^0==a_113^post_63 && a_144^0==a_144^post_63 && a_181^0==a_181^post_63 && a_212^0==a_212^post_63 && a_234^0==a_234^post_63 && a_257^0==a_257^post_63 && ct_18^0==ct_18^post_63 && f_167^0==f_167^post_63 && head_15^0==head_15^post_63 && head_30^0==head_30^post_63 && i_105^0==i_105^post_63 && i_164^0==i_164^post_63 && i_28^0==i_28^post_63 && i_92^0==i_92^post_63 && len_129^0==len_129^post_63 && len_180^0==len_180^post_63 && length_27^0==length_27^post_63 && nondet_12^0==nondet_12^post_63 && r_121^0==r_121^post_63 && r_160^0==r_160^post_63 && r_37^0==r_37^post_63 && rcd_56^0==rcd_56^post_63 && rcd_86^0==rcd_86^post_63 && result_11^0==result_11^post_63 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_63 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_63 && t_24^0==t_24^post_63 && temp0_16^0==temp0_16^post_63 && temp0_29^0==temp0_29^post_63 && temp_33^0==temp_33^post_63 && tmp_32^0==tmp_32^post_63 && x_126^0==x_126^post_63 && x_14^0==x_14^post_63 && x_17^0==x_17^post_63 && x_172^0==x_172^post_63 && x_21^0==x_21^post_63 && x_SLAM_f_19^0==x_SLAM_f_19^post_63 && y_20^0==y_20^post_63 ], cost: 1
     63: l42 -> l43 : a_113^0'=a_113^post_64, a_144^0'=a_144^post_64, a_181^0'=a_181^post_64, a_212^0'=a_212^post_64, a_234^0'=a_234^post_64, a_257^0'=a_257^post_64, ct_18^0'=ct_18^post_64, f_167^0'=f_167^post_64, head_15^0'=head_15^post_64, head_30^0'=head_30^post_64, i_105^0'=i_105^post_64, i_164^0'=i_164^post_64, i_28^0'=i_28^post_64, i_92^0'=i_92^post_64, len_129^0'=len_129^post_64, len_180^0'=len_180^post_64, length_27^0'=length_27^post_64, nondet_12^0'=nondet_12^post_64, r_121^0'=r_121^post_64, r_160^0'=r_160^post_64, r_37^0'=r_37^post_64, rcd_56^0'=rcd_56^post_64, rcd_86^0'=rcd_86^post_64, result_11^0'=result_11^post_64, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_64, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_64, t_24^0'=t_24^post_64, temp0_16^0'=temp0_16^post_64, temp0_29^0'=temp0_29^post_64, temp_33^0'=temp_33^post_64, tmp_32^0'=tmp_32^post_64, x_126^0'=x_126^post_64, x_14^0'=x_14^post_64, x_172^0'=x_172^post_64, x_17^0'=x_17^post_64, x_21^0'=x_21^post_64, x_SLAM_f_19^0'=x_SLAM_f_19^post_64, y_20^0'=y_20^post_64, [ 1+head_15^0<=0 && a_113^0==a_113^post_64 && a_144^0==a_144^post_64 && a_181^0==a_181^post_64 && a_212^0==a_212^post_64 && a_234^0==a_234^post_64 && a_257^0==a_257^post_64 && ct_18^0==ct_18^post_64 && f_167^0==f_167^post_64 && head_15^0==head_15^post_64 && head_30^0==head_30^post_64 && i_105^0==i_105^post_64 && i_164^0==i_164^post_64 && i_28^0==i_28^post_64 && i_92^0==i_92^post_64 && len_129^0==len_129^post_64 && len_180^0==len_180^post_64 && length_27^0==length_27^post_64 && nondet_12^0==nondet_12^post_64 && r_121^0==r_121^post_64 && r_160^0==r_160^post_64 && r_37^0==r_37^post_64 && rcd_56^0==rcd_56^post_64 && rcd_86^0==rcd_86^post_64 && result_11^0==result_11^post_64 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_64 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_64 && t_24^0==t_24^post_64 && temp0_16^0==temp0_16^post_64 && temp0_29^0==temp0_29^post_64 && temp_33^0==temp_33^post_64 && tmp_32^0==tmp_32^post_64 && x_126^0==x_126^post_64 && x_14^0==x_14^post_64 && x_17^0==x_17^post_64 && x_172^0==x_172^post_64 && x_21^0==x_21^post_64 && x_SLAM_f_19^0==x_SLAM_f_19^post_64 && y_20^0==y_20^post_64 ], cost: 1
     64: l43 -> l20 : a_113^0'=a_113^post_65, a_144^0'=a_144^post_65, a_181^0'=a_181^post_65, a_212^0'=a_212^post_65, a_234^0'=a_234^post_65, a_257^0'=a_257^post_65, ct_18^0'=ct_18^post_65, f_167^0'=f_167^post_65, head_15^0'=head_15^post_65, head_30^0'=head_30^post_65, i_105^0'=i_105^post_65, i_164^0'=i_164^post_65, i_28^0'=i_28^post_65, i_92^0'=i_92^post_65, len_129^0'=len_129^post_65, len_180^0'=len_180^post_65, length_27^0'=length_27^post_65, nondet_12^0'=nondet_12^post_65, r_121^0'=r_121^post_65, r_160^0'=r_160^post_65, r_37^0'=r_37^post_65, rcd_56^0'=rcd_56^post_65, rcd_86^0'=rcd_86^post_65, result_11^0'=result_11^post_65, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_65, t_24^0'=t_24^post_65, temp0_16^0'=temp0_16^post_65, temp0_29^0'=temp0_29^post_65, temp_33^0'=temp_33^post_65, tmp_32^0'=tmp_32^post_65, x_126^0'=x_126^post_65, x_14^0'=x_14^post_65, x_172^0'=x_172^post_65, x_17^0'=x_17^post_65, x_21^0'=x_21^post_65, x_SLAM_f_19^0'=x_SLAM_f_19^post_65, y_20^0'=y_20^post_65, [ 1<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && a_113^0==a_113^post_65 && a_144^0==a_144^post_65 && a_181^0==a_181^post_65 && a_212^0==a_212^post_65 && a_234^0==a_234^post_65 && a_257^0==a_257^post_65 && ct_18^0==ct_18^post_65 && f_167^0==f_167^post_65 && head_15^0==head_15^post_65 && head_30^0==head_30^post_65 && i_105^0==i_105^post_65 && i_164^0==i_164^post_65 && i_28^0==i_28^post_65 && i_92^0==i_92^post_65 && len_129^0==len_129^post_65 && len_180^0==len_180^post_65 && length_27^0==length_27^post_65 && nondet_12^0==nondet_12^post_65 && r_121^0==r_121^post_65 && r_160^0==r_160^post_65 && r_37^0==r_37^post_65 && rcd_56^0==rcd_56^post_65 && rcd_86^0==rcd_86^post_65 && result_11^0==result_11^post_65 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_65 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_65 && t_24^0==t_24^post_65 && temp0_16^0==temp0_16^post_65 && temp0_29^0==temp0_29^post_65 && temp_33^0==temp_33^post_65 && tmp_32^0==tmp_32^post_65 && x_126^0==x_126^post_65 && x_14^0==x_14^post_65 && x_17^0==x_17^post_65 && x_172^0==x_172^post_65 && x_21^0==x_21^post_65 && x_SLAM_f_19^0==x_SLAM_f_19^post_65 && y_20^0==y_20^post_65 ], cost: 1
     66: l45 -> l46 : a_113^0'=a_113^post_67, a_144^0'=a_144^post_67, a_181^0'=a_181^post_67, a_212^0'=a_212^post_67, a_234^0'=a_234^post_67, a_257^0'=a_257^post_67, ct_18^0'=ct_18^post_67, f_167^0'=f_167^post_67, head_15^0'=head_15^post_67, head_30^0'=head_30^post_67, i_105^0'=i_105^post_67, i_164^0'=i_164^post_67, i_28^0'=i_28^post_67, i_92^0'=i_92^post_67, len_129^0'=len_129^post_67, len_180^0'=len_180^post_67, length_27^0'=length_27^post_67, nondet_12^0'=nondet_12^post_67, r_121^0'=r_121^post_67, r_160^0'=r_160^post_67, r_37^0'=r_37^post_67, rcd_56^0'=rcd_56^post_67, rcd_86^0'=rcd_86^post_67, result_11^0'=result_11^post_67, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_67, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_67, t_24^0'=t_24^post_67, temp0_16^0'=temp0_16^post_67, temp0_29^0'=temp0_29^post_67, temp_33^0'=temp_33^post_67, tmp_32^0'=tmp_32^post_67, x_126^0'=x_126^post_67, x_14^0'=x_14^post_67, x_172^0'=x_172^post_67, x_17^0'=x_17^post_67, x_21^0'=x_21^post_67, x_SLAM_f_19^0'=x_SLAM_f_19^post_67, y_20^0'=y_20^post_67, [ 1<=x_14^0 && a_113^0==a_113^post_67 && a_144^0==a_144^post_67 && a_181^0==a_181^post_67 && a_212^0==a_212^post_67 && a_234^0==a_234^post_67 && a_257^0==a_257^post_67 && ct_18^0==ct_18^post_67 && f_167^0==f_167^post_67 && head_15^0==head_15^post_67 && head_30^0==head_30^post_67 && i_105^0==i_105^post_67 && i_164^0==i_164^post_67 && i_28^0==i_28^post_67 && i_92^0==i_92^post_67 && len_129^0==len_129^post_67 && len_180^0==len_180^post_67 && length_27^0==length_27^post_67 && nondet_12^0==nondet_12^post_67 && r_121^0==r_121^post_67 && r_160^0==r_160^post_67 && r_37^0==r_37^post_67 && rcd_56^0==rcd_56^post_67 && rcd_86^0==rcd_86^post_67 && result_11^0==result_11^post_67 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_67 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_67 && t_24^0==t_24^post_67 && temp0_16^0==temp0_16^post_67 && temp0_29^0==temp0_29^post_67 && temp_33^0==temp_33^post_67 && tmp_32^0==tmp_32^post_67 && x_126^0==x_126^post_67 && x_14^0==x_14^post_67 && x_17^0==x_17^post_67 && x_172^0==x_172^post_67 && x_21^0==x_21^post_67 && x_SLAM_f_19^0==x_SLAM_f_19^post_67 && y_20^0==y_20^post_67 ], cost: 1
     67: l45 -> l46 : a_113^0'=a_113^post_68, a_144^0'=a_144^post_68, a_181^0'=a_181^post_68, a_212^0'=a_212^post_68, a_234^0'=a_234^post_68, a_257^0'=a_257^post_68, ct_18^0'=ct_18^post_68, f_167^0'=f_167^post_68, head_15^0'=head_15^post_68, head_30^0'=head_30^post_68, i_105^0'=i_105^post_68, i_164^0'=i_164^post_68, i_28^0'=i_28^post_68, i_92^0'=i_92^post_68, len_129^0'=len_129^post_68, len_180^0'=len_180^post_68, length_27^0'=length_27^post_68, nondet_12^0'=nondet_12^post_68, r_121^0'=r_121^post_68, r_160^0'=r_160^post_68, r_37^0'=r_37^post_68, rcd_56^0'=rcd_56^post_68, rcd_86^0'=rcd_86^post_68, result_11^0'=result_11^post_68, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_68, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_68, t_24^0'=t_24^post_68, temp0_16^0'=temp0_16^post_68, temp0_29^0'=temp0_29^post_68, temp_33^0'=temp_33^post_68, tmp_32^0'=tmp_32^post_68, x_126^0'=x_126^post_68, x_14^0'=x_14^post_68, x_172^0'=x_172^post_68, x_17^0'=x_17^post_68, x_21^0'=x_21^post_68, x_SLAM_f_19^0'=x_SLAM_f_19^post_68, y_20^0'=y_20^post_68, [ 1+x_14^0<=0 && a_113^0==a_113^post_68 && a_144^0==a_144^post_68 && a_181^0==a_181^post_68 && a_212^0==a_212^post_68 && a_234^0==a_234^post_68 && a_257^0==a_257^post_68 && ct_18^0==ct_18^post_68 && f_167^0==f_167^post_68 && head_15^0==head_15^post_68 && head_30^0==head_30^post_68 && i_105^0==i_105^post_68 && i_164^0==i_164^post_68 && i_28^0==i_28^post_68 && i_92^0==i_92^post_68 && len_129^0==len_129^post_68 && len_180^0==len_180^post_68 && length_27^0==length_27^post_68 && nondet_12^0==nondet_12^post_68 && r_121^0==r_121^post_68 && r_160^0==r_160^post_68 && r_37^0==r_37^post_68 && rcd_56^0==rcd_56^post_68 && rcd_86^0==rcd_86^post_68 && result_11^0==result_11^post_68 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_68 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_68 && t_24^0==t_24^post_68 && temp0_16^0==temp0_16^post_68 && temp0_29^0==temp0_29^post_68 && temp_33^0==temp_33^post_68 && tmp_32^0==tmp_32^post_68 && x_126^0==x_126^post_68 && x_14^0==x_14^post_68 && x_17^0==x_17^post_68 && x_172^0==x_172^post_68 && x_21^0==x_21^post_68 && x_SLAM_f_19^0==x_SLAM_f_19^post_68 && y_20^0==y_20^post_68 ], cost: 1
     68: l46 -> l47 : a_113^0'=a_113^post_69, a_144^0'=a_144^post_69, a_181^0'=a_181^post_69, a_212^0'=a_212^post_69, a_234^0'=a_234^post_69, a_257^0'=a_257^post_69, ct_18^0'=ct_18^post_69, f_167^0'=f_167^post_69, head_15^0'=head_15^post_69, head_30^0'=head_30^post_69, i_105^0'=i_105^post_69, i_164^0'=i_164^post_69, i_28^0'=i_28^post_69, i_92^0'=i_92^post_69, len_129^0'=len_129^post_69, len_180^0'=len_180^post_69, length_27^0'=length_27^post_69, nondet_12^0'=nondet_12^post_69, r_121^0'=r_121^post_69, r_160^0'=r_160^post_69, r_37^0'=r_37^post_69, rcd_56^0'=rcd_56^post_69, rcd_86^0'=rcd_86^post_69, result_11^0'=result_11^post_69, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_69, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_69, t_24^0'=t_24^post_69, temp0_16^0'=temp0_16^post_69, temp0_29^0'=temp0_29^post_69, temp_33^0'=temp_33^post_69, tmp_32^0'=tmp_32^post_69, x_126^0'=x_126^post_69, x_14^0'=x_14^post_69, x_172^0'=x_172^post_69, x_17^0'=x_17^post_69, x_21^0'=x_21^post_69, x_SLAM_f_19^0'=x_SLAM_f_19^post_69, y_20^0'=y_20^post_69, [ len_180^post_69==len_180^post_69 && a_181^post_69==a_181^post_69 && 1<=-len_129^0+len_180^post_69 && -len_129^0+len_180^post_69<=1 && x_14^0<=f_167^0 && f_167^0<=x_14^0 && a_181^post_69<=-1+a_144^0 && -1+a_144^0<=a_181^post_69 && a_113^0==a_113^post_69 && a_144^0==a_144^post_69 && a_212^0==a_212^post_69 && a_234^0==a_234^post_69 && a_257^0==a_257^post_69 && ct_18^0==ct_18^post_69 && f_167^0==f_167^post_69 && head_15^0==head_15^post_69 && head_30^0==head_30^post_69 && i_105^0==i_105^post_69 && i_164^0==i_164^post_69 && i_28^0==i_28^post_69 && i_92^0==i_92^post_69 && len_129^0==len_129^post_69 && length_27^0==length_27^post_69 && nondet_12^0==nondet_12^post_69 && r_121^0==r_121^post_69 && r_160^0==r_160^post_69 && r_37^0==r_37^post_69 && rcd_56^0==rcd_56^post_69 && rcd_86^0==rcd_86^post_69 && result_11^0==result_11^post_69 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_69 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_69 && t_24^0==t_24^post_69 && temp0_16^0==temp0_16^post_69 && temp0_29^0==temp0_29^post_69 && temp_33^0==temp_33^post_69 && tmp_32^0==tmp_32^post_69 && x_126^0==x_126^post_69 && x_14^0==x_14^post_69 && x_17^0==x_17^post_69 && x_172^0==x_172^post_69 && x_21^0==x_21^post_69 && x_SLAM_f_19^0==x_SLAM_f_19^post_69 && y_20^0==y_20^post_69 ], cost: 1
     69: l47 -> l48 : a_113^0'=a_113^post_70, a_144^0'=a_144^post_70, a_181^0'=a_181^post_70, a_212^0'=a_212^post_70, a_234^0'=a_234^post_70, a_257^0'=a_257^post_70, ct_18^0'=ct_18^post_70, f_167^0'=f_167^post_70, head_15^0'=head_15^post_70, head_30^0'=head_30^post_70, i_105^0'=i_105^post_70, i_164^0'=i_164^post_70, i_28^0'=i_28^post_70, i_92^0'=i_92^post_70, len_129^0'=len_129^post_70, len_180^0'=len_180^post_70, length_27^0'=length_27^post_70, nondet_12^0'=nondet_12^post_70, r_121^0'=r_121^post_70, r_160^0'=r_160^post_70, r_37^0'=r_37^post_70, rcd_56^0'=rcd_56^post_70, rcd_86^0'=rcd_86^post_70, result_11^0'=result_11^post_70, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_70, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_70, t_24^0'=t_24^post_70, temp0_16^0'=temp0_16^post_70, temp0_29^0'=temp0_29^post_70, temp_33^0'=temp_33^post_70, tmp_32^0'=tmp_32^post_70, x_126^0'=x_126^post_70, x_14^0'=x_14^post_70, x_172^0'=x_172^post_70, x_17^0'=x_17^post_70, x_21^0'=x_21^post_70, x_SLAM_f_19^0'=x_SLAM_f_19^post_70, y_20^0'=y_20^post_70, [ 1<=head_15^0 && a_113^0==a_113^post_70 && a_144^0==a_144^post_70 && a_181^0==a_181^post_70 && a_212^0==a_212^post_70 && a_234^0==a_234^post_70 && a_257^0==a_257^post_70 && ct_18^0==ct_18^post_70 && f_167^0==f_167^post_70 && head_15^0==head_15^post_70 && head_30^0==head_30^post_70 && i_105^0==i_105^post_70 && i_164^0==i_164^post_70 && i_28^0==i_28^post_70 && i_92^0==i_92^post_70 && len_129^0==len_129^post_70 && len_180^0==len_180^post_70 && length_27^0==length_27^post_70 && nondet_12^0==nondet_12^post_70 && r_121^0==r_121^post_70 && r_160^0==r_160^post_70 && r_37^0==r_37^post_70 && rcd_56^0==rcd_56^post_70 && rcd_86^0==rcd_86^post_70 && result_11^0==result_11^post_70 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_70 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_70 && t_24^0==t_24^post_70 && temp0_16^0==temp0_16^post_70 && temp0_29^0==temp0_29^post_70 && temp_33^0==temp_33^post_70 && tmp_32^0==tmp_32^post_70 && x_126^0==x_126^post_70 && x_14^0==x_14^post_70 && x_17^0==x_17^post_70 && x_172^0==x_172^post_70 && x_21^0==x_21^post_70 && x_SLAM_f_19^0==x_SLAM_f_19^post_70 && y_20^0==y_20^post_70 ], cost: 1
     70: l47 -> l48 : a_113^0'=a_113^post_71, a_144^0'=a_144^post_71, a_181^0'=a_181^post_71, a_212^0'=a_212^post_71, a_234^0'=a_234^post_71, a_257^0'=a_257^post_71, ct_18^0'=ct_18^post_71, f_167^0'=f_167^post_71, head_15^0'=head_15^post_71, head_30^0'=head_30^post_71, i_105^0'=i_105^post_71, i_164^0'=i_164^post_71, i_28^0'=i_28^post_71, i_92^0'=i_92^post_71, len_129^0'=len_129^post_71, len_180^0'=len_180^post_71, length_27^0'=length_27^post_71, nondet_12^0'=nondet_12^post_71, r_121^0'=r_121^post_71, r_160^0'=r_160^post_71, r_37^0'=r_37^post_71, rcd_56^0'=rcd_56^post_71, rcd_86^0'=rcd_86^post_71, result_11^0'=result_11^post_71, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_71, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_71, t_24^0'=t_24^post_71, temp0_16^0'=temp0_16^post_71, temp0_29^0'=temp0_29^post_71, temp_33^0'=temp_33^post_71, tmp_32^0'=tmp_32^post_71, x_126^0'=x_126^post_71, x_14^0'=x_14^post_71, x_172^0'=x_172^post_71, x_17^0'=x_17^post_71, x_21^0'=x_21^post_71, x_SLAM_f_19^0'=x_SLAM_f_19^post_71, y_20^0'=y_20^post_71, [ 1+head_15^0<=0 && a_113^0==a_113^post_71 && a_144^0==a_144^post_71 && a_181^0==a_181^post_71 && a_212^0==a_212^post_71 && a_234^0==a_234^post_71 && a_257^0==a_257^post_71 && ct_18^0==ct_18^post_71 && f_167^0==f_167^post_71 && head_15^0==head_15^post_71 && head_30^0==head_30^post_71 && i_105^0==i_105^post_71 && i_164^0==i_164^post_71 && i_28^0==i_28^post_71 && i_92^0==i_92^post_71 && len_129^0==len_129^post_71 && len_180^0==len_180^post_71 && length_27^0==length_27^post_71 && nondet_12^0==nondet_12^post_71 && r_121^0==r_121^post_71 && r_160^0==r_160^post_71 && r_37^0==r_37^post_71 && rcd_56^0==rcd_56^post_71 && rcd_86^0==rcd_86^post_71 && result_11^0==result_11^post_71 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_71 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_71 && t_24^0==t_24^post_71 && temp0_16^0==temp0_16^post_71 && temp0_29^0==temp0_29^post_71 && temp_33^0==temp_33^post_71 && tmp_32^0==tmp_32^post_71 && x_126^0==x_126^post_71 && x_14^0==x_14^post_71 && x_17^0==x_17^post_71 && x_172^0==x_172^post_71 && x_21^0==x_21^post_71 && x_SLAM_f_19^0==x_SLAM_f_19^post_71 && y_20^0==y_20^post_71 ], cost: 1
     71: l48 -> l49 : a_113^0'=a_113^post_72, a_144^0'=a_144^post_72, a_181^0'=a_181^post_72, a_212^0'=a_212^post_72, a_234^0'=a_234^post_72, a_257^0'=a_257^post_72, ct_18^0'=ct_18^post_72, f_167^0'=f_167^post_72, head_15^0'=head_15^post_72, head_30^0'=head_30^post_72, i_105^0'=i_105^post_72, i_164^0'=i_164^post_72, i_28^0'=i_28^post_72, i_92^0'=i_92^post_72, len_129^0'=len_129^post_72, len_180^0'=len_180^post_72, length_27^0'=length_27^post_72, nondet_12^0'=nondet_12^post_72, r_121^0'=r_121^post_72, r_160^0'=r_160^post_72, r_37^0'=r_37^post_72, rcd_56^0'=rcd_56^post_72, rcd_86^0'=rcd_86^post_72, result_11^0'=result_11^post_72, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_72, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_72, t_24^0'=t_24^post_72, temp0_16^0'=temp0_16^post_72, temp0_29^0'=temp0_29^post_72, temp_33^0'=temp_33^post_72, tmp_32^0'=tmp_32^post_72, x_126^0'=x_126^post_72, x_14^0'=x_14^post_72, x_172^0'=x_172^post_72, x_17^0'=x_17^post_72, x_21^0'=x_21^post_72, x_SLAM_f_19^0'=x_SLAM_f_19^post_72, y_20^0'=y_20^post_72, [ 1<=x_172^0 && a_113^0==a_113^post_72 && a_144^0==a_144^post_72 && a_181^0==a_181^post_72 && a_212^0==a_212^post_72 && a_234^0==a_234^post_72 && a_257^0==a_257^post_72 && ct_18^0==ct_18^post_72 && f_167^0==f_167^post_72 && head_15^0==head_15^post_72 && head_30^0==head_30^post_72 && i_105^0==i_105^post_72 && i_164^0==i_164^post_72 && i_28^0==i_28^post_72 && i_92^0==i_92^post_72 && len_129^0==len_129^post_72 && len_180^0==len_180^post_72 && length_27^0==length_27^post_72 && nondet_12^0==nondet_12^post_72 && r_121^0==r_121^post_72 && r_160^0==r_160^post_72 && r_37^0==r_37^post_72 && rcd_56^0==rcd_56^post_72 && rcd_86^0==rcd_86^post_72 && result_11^0==result_11^post_72 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_72 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_72 && t_24^0==t_24^post_72 && temp0_16^0==temp0_16^post_72 && temp0_29^0==temp0_29^post_72 && temp_33^0==temp_33^post_72 && tmp_32^0==tmp_32^post_72 && x_126^0==x_126^post_72 && x_14^0==x_14^post_72 && x_17^0==x_17^post_72 && x_172^0==x_172^post_72 && x_21^0==x_21^post_72 && x_SLAM_f_19^0==x_SLAM_f_19^post_72 && y_20^0==y_20^post_72 ], cost: 1
     72: l48 -> l49 : a_113^0'=a_113^post_73, a_144^0'=a_144^post_73, a_181^0'=a_181^post_73, a_212^0'=a_212^post_73, a_234^0'=a_234^post_73, a_257^0'=a_257^post_73, ct_18^0'=ct_18^post_73, f_167^0'=f_167^post_73, head_15^0'=head_15^post_73, head_30^0'=head_30^post_73, i_105^0'=i_105^post_73, i_164^0'=i_164^post_73, i_28^0'=i_28^post_73, i_92^0'=i_92^post_73, len_129^0'=len_129^post_73, len_180^0'=len_180^post_73, length_27^0'=length_27^post_73, nondet_12^0'=nondet_12^post_73, r_121^0'=r_121^post_73, r_160^0'=r_160^post_73, r_37^0'=r_37^post_73, rcd_56^0'=rcd_56^post_73, rcd_86^0'=rcd_86^post_73, result_11^0'=result_11^post_73, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_73, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_73, t_24^0'=t_24^post_73, temp0_16^0'=temp0_16^post_73, temp0_29^0'=temp0_29^post_73, temp_33^0'=temp_33^post_73, tmp_32^0'=tmp_32^post_73, x_126^0'=x_126^post_73, x_14^0'=x_14^post_73, x_172^0'=x_172^post_73, x_17^0'=x_17^post_73, x_21^0'=x_21^post_73, x_SLAM_f_19^0'=x_SLAM_f_19^post_73, y_20^0'=y_20^post_73, [ 1+x_172^0<=0 && a_113^0==a_113^post_73 && a_144^0==a_144^post_73 && a_181^0==a_181^post_73 && a_212^0==a_212^post_73 && a_234^0==a_234^post_73 && a_257^0==a_257^post_73 && ct_18^0==ct_18^post_73 && f_167^0==f_167^post_73 && head_15^0==head_15^post_73 && head_30^0==head_30^post_73 && i_105^0==i_105^post_73 && i_164^0==i_164^post_73 && i_28^0==i_28^post_73 && i_92^0==i_92^post_73 && len_129^0==len_129^post_73 && len_180^0==len_180^post_73 && length_27^0==length_27^post_73 && nondet_12^0==nondet_12^post_73 && r_121^0==r_121^post_73 && r_160^0==r_160^post_73 && r_37^0==r_37^post_73 && rcd_56^0==rcd_56^post_73 && rcd_86^0==rcd_86^post_73 && result_11^0==result_11^post_73 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_73 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_73 && t_24^0==t_24^post_73 && temp0_16^0==temp0_16^post_73 && temp0_29^0==temp0_29^post_73 && temp_33^0==temp_33^post_73 && tmp_32^0==tmp_32^post_73 && x_126^0==x_126^post_73 && x_14^0==x_14^post_73 && x_17^0==x_17^post_73 && x_172^0==x_172^post_73 && x_21^0==x_21^post_73 && x_SLAM_f_19^0==x_SLAM_f_19^post_73 && y_20^0==y_20^post_73 ], cost: 1
     73: l49 -> l44 : a_113^0'=a_113^post_74, a_144^0'=a_144^post_74, a_181^0'=a_181^post_74, a_212^0'=a_212^post_74, a_234^0'=a_234^post_74, a_257^0'=a_257^post_74, ct_18^0'=ct_18^post_74, f_167^0'=f_167^post_74, head_15^0'=head_15^post_74, head_30^0'=head_30^post_74, i_105^0'=i_105^post_74, i_164^0'=i_164^post_74, i_28^0'=i_28^post_74, i_92^0'=i_92^post_74, len_129^0'=len_129^post_74, len_180^0'=len_180^post_74, length_27^0'=length_27^post_74, nondet_12^0'=nondet_12^post_74, r_121^0'=r_121^post_74, r_160^0'=r_160^post_74, r_37^0'=r_37^post_74, rcd_56^0'=rcd_56^post_74, rcd_86^0'=rcd_86^post_74, result_11^0'=result_11^post_74, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_74, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_74, t_24^0'=t_24^post_74, temp0_16^0'=temp0_16^post_74, temp0_29^0'=temp0_29^post_74, temp_33^0'=temp_33^post_74, tmp_32^0'=tmp_32^post_74, x_126^0'=x_126^post_74, x_14^0'=x_14^post_74, x_172^0'=x_172^post_74, x_17^0'=x_17^post_74, x_21^0'=x_21^post_74, x_SLAM_f_19^0'=x_SLAM_f_19^post_74, y_20^0'=y_20^post_74, [ 1<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && a_144^post_74==a_144^post_74 && a_144^post_74<=a_181^0 && a_181^0<=a_144^post_74 && len_129^post_74==len_129^post_74 && len_129^post_74<=len_180^0 && len_180^0<=len_129^post_74 && a_113^0==a_113^post_74 && a_181^0==a_181^post_74 && a_212^0==a_212^post_74 && a_234^0==a_234^post_74 && a_257^0==a_257^post_74 && ct_18^0==ct_18^post_74 && f_167^0==f_167^post_74 && head_15^0==head_15^post_74 && head_30^0==head_30^post_74 && i_105^0==i_105^post_74 && i_164^0==i_164^post_74 && i_28^0==i_28^post_74 && i_92^0==i_92^post_74 && len_180^0==len_180^post_74 && length_27^0==length_27^post_74 && nondet_12^0==nondet_12^post_74 && r_121^0==r_121^post_74 && r_160^0==r_160^post_74 && r_37^0==r_37^post_74 && rcd_56^0==rcd_56^post_74 && rcd_86^0==rcd_86^post_74 && result_11^0==result_11^post_74 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_74 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_74 && t_24^0==t_24^post_74 && temp0_16^0==temp0_16^post_74 && temp0_29^0==temp0_29^post_74 && temp_33^0==temp_33^post_74 && tmp_32^0==tmp_32^post_74 && x_126^0==x_126^post_74 && x_14^0==x_14^post_74 && x_17^0==x_17^post_74 && x_172^0==x_172^post_74 && x_21^0==x_21^post_74 && x_SLAM_f_19^0==x_SLAM_f_19^post_74 && y_20^0==y_20^post_74 ], cost: 1
     74: l44 -> l41 : a_113^0'=a_113^post_75, a_144^0'=a_144^post_75, a_181^0'=a_181^post_75, a_212^0'=a_212^post_75, a_234^0'=a_234^post_75, a_257^0'=a_257^post_75, ct_18^0'=ct_18^post_75, f_167^0'=f_167^post_75, head_15^0'=head_15^post_75, head_30^0'=head_30^post_75, i_105^0'=i_105^post_75, i_164^0'=i_164^post_75, i_28^0'=i_28^post_75, i_92^0'=i_92^post_75, len_129^0'=len_129^post_75, len_180^0'=len_180^post_75, length_27^0'=length_27^post_75, nondet_12^0'=nondet_12^post_75, r_121^0'=r_121^post_75, r_160^0'=r_160^post_75, r_37^0'=r_37^post_75, rcd_56^0'=rcd_56^post_75, rcd_86^0'=rcd_86^post_75, result_11^0'=result_11^post_75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_75, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_75, t_24^0'=t_24^post_75, temp0_16^0'=temp0_16^post_75, temp0_29^0'=temp0_29^post_75, temp_33^0'=temp_33^post_75, tmp_32^0'=tmp_32^post_75, x_126^0'=x_126^post_75, x_14^0'=x_14^post_75, x_172^0'=x_172^post_75, x_17^0'=x_17^post_75, x_21^0'=x_21^post_75, x_SLAM_f_19^0'=x_SLAM_f_19^post_75, y_20^0'=y_20^post_75, [ a_113^0==a_113^post_75 && a_144^0==a_144^post_75 && a_181^0==a_181^post_75 && a_212^0==a_212^post_75 && a_234^0==a_234^post_75 && a_257^0==a_257^post_75 && ct_18^0==ct_18^post_75 && f_167^0==f_167^post_75 && head_15^0==head_15^post_75 && head_30^0==head_30^post_75 && i_105^0==i_105^post_75 && i_164^0==i_164^post_75 && i_28^0==i_28^post_75 && i_92^0==i_92^post_75 && len_129^0==len_129^post_75 && len_180^0==len_180^post_75 && length_27^0==length_27^post_75 && nondet_12^0==nondet_12^post_75 && r_121^0==r_121^post_75 && r_160^0==r_160^post_75 && r_37^0==r_37^post_75 && rcd_56^0==rcd_56^post_75 && rcd_86^0==rcd_86^post_75 && result_11^0==result_11^post_75 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_75 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_75 && t_24^0==t_24^post_75 && temp0_16^0==temp0_16^post_75 && temp0_29^0==temp0_29^post_75 && temp_33^0==temp_33^post_75 && tmp_32^0==tmp_32^post_75 && x_126^0==x_126^post_75 && x_14^0==x_14^post_75 && x_17^0==x_17^post_75 && x_172^0==x_172^post_75 && x_21^0==x_21^post_75 && x_SLAM_f_19^0==x_SLAM_f_19^post_75 && y_20^0==y_20^post_75 ], cost: 1
     95: l62 -> l63 : a_113^0'=a_113^post_96, a_144^0'=a_144^post_96, a_181^0'=a_181^post_96, a_212^0'=a_212^post_96, a_234^0'=a_234^post_96, a_257^0'=a_257^post_96, ct_18^0'=ct_18^post_96, f_167^0'=f_167^post_96, head_15^0'=head_15^post_96, head_30^0'=head_30^post_96, i_105^0'=i_105^post_96, i_164^0'=i_164^post_96, i_28^0'=i_28^post_96, i_92^0'=i_92^post_96, len_129^0'=len_129^post_96, len_180^0'=len_180^post_96, length_27^0'=length_27^post_96, nondet_12^0'=nondet_12^post_96, r_121^0'=r_121^post_96, r_160^0'=r_160^post_96, r_37^0'=r_37^post_96, rcd_56^0'=rcd_56^post_96, rcd_86^0'=rcd_86^post_96, result_11^0'=result_11^post_96, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_96, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_96, t_24^0'=t_24^post_96, temp0_16^0'=temp0_16^post_96, temp0_29^0'=temp0_29^post_96, temp_33^0'=temp_33^post_96, tmp_32^0'=tmp_32^post_96, x_126^0'=x_126^post_96, x_14^0'=x_14^post_96, x_172^0'=x_172^post_96, x_17^0'=x_17^post_96, x_21^0'=x_21^post_96, x_SLAM_f_19^0'=x_SLAM_f_19^post_96, y_20^0'=y_20^post_96, [ 1<=head_15^0 && a_113^0==a_113^post_96 && a_144^0==a_144^post_96 && a_181^0==a_181^post_96 && a_212^0==a_212^post_96 && a_234^0==a_234^post_96 && a_257^0==a_257^post_96 && ct_18^0==ct_18^post_96 && f_167^0==f_167^post_96 && head_15^0==head_15^post_96 && head_30^0==head_30^post_96 && i_105^0==i_105^post_96 && i_164^0==i_164^post_96 && i_28^0==i_28^post_96 && i_92^0==i_92^post_96 && len_129^0==len_129^post_96 && len_180^0==len_180^post_96 && length_27^0==length_27^post_96 && nondet_12^0==nondet_12^post_96 && r_121^0==r_121^post_96 && r_160^0==r_160^post_96 && r_37^0==r_37^post_96 && rcd_56^0==rcd_56^post_96 && rcd_86^0==rcd_86^post_96 && result_11^0==result_11^post_96 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_96 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_96 && t_24^0==t_24^post_96 && temp0_16^0==temp0_16^post_96 && temp0_29^0==temp0_29^post_96 && temp_33^0==temp_33^post_96 && tmp_32^0==tmp_32^post_96 && x_126^0==x_126^post_96 && x_14^0==x_14^post_96 && x_17^0==x_17^post_96 && x_172^0==x_172^post_96 && x_21^0==x_21^post_96 && x_SLAM_f_19^0==x_SLAM_f_19^post_96 && y_20^0==y_20^post_96 ], cost: 1
     96: l62 -> l63 : a_113^0'=a_113^post_97, a_144^0'=a_144^post_97, a_181^0'=a_181^post_97, a_212^0'=a_212^post_97, a_234^0'=a_234^post_97, a_257^0'=a_257^post_97, ct_18^0'=ct_18^post_97, f_167^0'=f_167^post_97, head_15^0'=head_15^post_97, head_30^0'=head_30^post_97, i_105^0'=i_105^post_97, i_164^0'=i_164^post_97, i_28^0'=i_28^post_97, i_92^0'=i_92^post_97, len_129^0'=len_129^post_97, len_180^0'=len_180^post_97, length_27^0'=length_27^post_97, nondet_12^0'=nondet_12^post_97, r_121^0'=r_121^post_97, r_160^0'=r_160^post_97, r_37^0'=r_37^post_97, rcd_56^0'=rcd_56^post_97, rcd_86^0'=rcd_86^post_97, result_11^0'=result_11^post_97, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_97, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_97, t_24^0'=t_24^post_97, temp0_16^0'=temp0_16^post_97, temp0_29^0'=temp0_29^post_97, temp_33^0'=temp_33^post_97, tmp_32^0'=tmp_32^post_97, x_126^0'=x_126^post_97, x_14^0'=x_14^post_97, x_172^0'=x_172^post_97, x_17^0'=x_17^post_97, x_21^0'=x_21^post_97, x_SLAM_f_19^0'=x_SLAM_f_19^post_97, y_20^0'=y_20^post_97, [ 1+head_15^0<=0 && a_113^0==a_113^post_97 && a_144^0==a_144^post_97 && a_181^0==a_181^post_97 && a_212^0==a_212^post_97 && a_234^0==a_234^post_97 && a_257^0==a_257^post_97 && ct_18^0==ct_18^post_97 && f_167^0==f_167^post_97 && head_15^0==head_15^post_97 && head_30^0==head_30^post_97 && i_105^0==i_105^post_97 && i_164^0==i_164^post_97 && i_28^0==i_28^post_97 && i_92^0==i_92^post_97 && len_129^0==len_129^post_97 && len_180^0==len_180^post_97 && length_27^0==length_27^post_97 && nondet_12^0==nondet_12^post_97 && r_121^0==r_121^post_97 && r_160^0==r_160^post_97 && r_37^0==r_37^post_97 && rcd_56^0==rcd_56^post_97 && rcd_86^0==rcd_86^post_97 && result_11^0==result_11^post_97 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_97 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_97 && t_24^0==t_24^post_97 && temp0_16^0==temp0_16^post_97 && temp0_29^0==temp0_29^post_97 && temp_33^0==temp_33^post_97 && tmp_32^0==tmp_32^post_97 && x_126^0==x_126^post_97 && x_14^0==x_14^post_97 && x_17^0==x_17^post_97 && x_172^0==x_172^post_97 && x_21^0==x_21^post_97 && x_SLAM_f_19^0==x_SLAM_f_19^post_97 && y_20^0==y_20^post_97 ], cost: 1
     97: l63 -> l41 : a_113^0'=a_113^post_98, a_144^0'=a_144^post_98, a_181^0'=a_181^post_98, a_212^0'=a_212^post_98, a_234^0'=a_234^post_98, a_257^0'=a_257^post_98, ct_18^0'=ct_18^post_98, f_167^0'=f_167^post_98, head_15^0'=head_15^post_98, head_30^0'=head_30^post_98, i_105^0'=i_105^post_98, i_164^0'=i_164^post_98, i_28^0'=i_28^post_98, i_92^0'=i_92^post_98, len_129^0'=len_129^post_98, len_180^0'=len_180^post_98, length_27^0'=length_27^post_98, nondet_12^0'=nondet_12^post_98, r_121^0'=r_121^post_98, r_160^0'=r_160^post_98, r_37^0'=r_37^post_98, rcd_56^0'=rcd_56^post_98, rcd_86^0'=rcd_86^post_98, result_11^0'=result_11^post_98, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_98, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_98, t_24^0'=t_24^post_98, temp0_16^0'=temp0_16^post_98, temp0_29^0'=temp0_29^post_98, temp_33^0'=temp_33^post_98, tmp_32^0'=tmp_32^post_98, x_126^0'=x_126^post_98, x_14^0'=x_14^post_98, x_172^0'=x_172^post_98, x_17^0'=x_17^post_98, x_21^0'=x_21^post_98, x_SLAM_f_19^0'=x_SLAM_f_19^post_98, y_20^0'=y_20^post_98, [ 1<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0<=i_28^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0<=i_164^0 && a_113^0==a_113^post_98 && a_144^0==a_144^post_98 && a_181^0==a_181^post_98 && a_212^0==a_212^post_98 && a_234^0==a_234^post_98 && a_257^0==a_257^post_98 && ct_18^0==ct_18^post_98 && f_167^0==f_167^post_98 && head_15^0==head_15^post_98 && head_30^0==head_30^post_98 && i_105^0==i_105^post_98 && i_164^0==i_164^post_98 && i_28^0==i_28^post_98 && i_92^0==i_92^post_98 && len_129^0==len_129^post_98 && len_180^0==len_180^post_98 && length_27^0==length_27^post_98 && nondet_12^0==nondet_12^post_98 && r_121^0==r_121^post_98 && r_160^0==r_160^post_98 && r_37^0==r_37^post_98 && rcd_56^0==rcd_56^post_98 && rcd_86^0==rcd_86^post_98 && result_11^0==result_11^post_98 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_98 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_98 && t_24^0==t_24^post_98 && temp0_16^0==temp0_16^post_98 && temp0_29^0==temp0_29^post_98 && temp_33^0==temp_33^post_98 && tmp_32^0==tmp_32^post_98 && x_126^0==x_126^post_98 && x_14^0==x_14^post_98 && x_17^0==x_17^post_98 && x_172^0==x_172^post_98 && x_21^0==x_21^post_98 && x_SLAM_f_19^0==x_SLAM_f_19^post_98 && y_20^0==y_20^post_98 ], cost: 1
     99: l64 -> l40 : a_113^0'=a_113^post_100, a_144^0'=a_144^post_100, a_181^0'=a_181^post_100, a_212^0'=a_212^post_100, a_234^0'=a_234^post_100, a_257^0'=a_257^post_100, ct_18^0'=ct_18^post_100, f_167^0'=f_167^post_100, head_15^0'=head_15^post_100, head_30^0'=head_30^post_100, i_105^0'=i_105^post_100, i_164^0'=i_164^post_100, i_28^0'=i_28^post_100, i_92^0'=i_92^post_100, len_129^0'=len_129^post_100, len_180^0'=len_180^post_100, length_27^0'=length_27^post_100, nondet_12^0'=nondet_12^post_100, r_121^0'=r_121^post_100, r_160^0'=r_160^post_100, r_37^0'=r_37^post_100, rcd_56^0'=rcd_56^post_100, rcd_86^0'=rcd_86^post_100, result_11^0'=result_11^post_100, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_100, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_100, t_24^0'=t_24^post_100, temp0_16^0'=temp0_16^post_100, temp0_29^0'=temp0_29^post_100, temp_33^0'=temp_33^post_100, tmp_32^0'=tmp_32^post_100, x_126^0'=x_126^post_100, x_14^0'=x_14^post_100, x_172^0'=x_172^post_100, x_17^0'=x_17^post_100, x_21^0'=x_21^post_100, x_SLAM_f_19^0'=x_SLAM_f_19^post_100, y_20^0'=y_20^post_100, [ a_113^0==a_113^post_100 && a_144^0==a_144^post_100 && a_181^0==a_181^post_100 && a_212^0==a_212^post_100 && a_234^0==a_234^post_100 && a_257^0==a_257^post_100 && ct_18^0==ct_18^post_100 && f_167^0==f_167^post_100 && head_15^0==head_15^post_100 && head_30^0==head_30^post_100 && i_105^0==i_105^post_100 && i_164^0==i_164^post_100 && i_28^0==i_28^post_100 && i_92^0==i_92^post_100 && len_129^0==len_129^post_100 && len_180^0==len_180^post_100 && length_27^0==length_27^post_100 && nondet_12^0==nondet_12^post_100 && r_121^0==r_121^post_100 && r_160^0==r_160^post_100 && r_37^0==r_37^post_100 && rcd_56^0==rcd_56^post_100 && rcd_86^0==rcd_86^post_100 && result_11^0==result_11^post_100 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_100 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_100 && t_24^0==t_24^post_100 && temp0_16^0==temp0_16^post_100 && temp0_29^0==temp0_29^post_100 && temp_33^0==temp_33^post_100 && tmp_32^0==tmp_32^post_100 && x_126^0==x_126^post_100 && x_14^0==x_14^post_100 && x_17^0==x_17^post_100 && x_172^0==x_172^post_100 && x_21^0==x_21^post_100 && x_SLAM_f_19^0==x_SLAM_f_19^post_100 && y_20^0==y_20^post_100 ], cost: 1
    102: l65 -> l0 : a_113^0'=a_113^post_103, a_144^0'=a_144^post_103, a_181^0'=a_181^post_103, a_212^0'=a_212^post_103, a_234^0'=a_234^post_103, a_257^0'=a_257^post_103, ct_18^0'=ct_18^post_103, f_167^0'=f_167^post_103, head_15^0'=head_15^post_103, head_30^0'=head_30^post_103, i_105^0'=i_105^post_103, i_164^0'=i_164^post_103, i_28^0'=i_28^post_103, i_92^0'=i_92^post_103, len_129^0'=len_129^post_103, len_180^0'=len_180^post_103, length_27^0'=length_27^post_103, nondet_12^0'=nondet_12^post_103, r_121^0'=r_121^post_103, r_160^0'=r_160^post_103, r_37^0'=r_37^post_103, rcd_56^0'=rcd_56^post_103, rcd_86^0'=rcd_86^post_103, result_11^0'=result_11^post_103, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_103, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_103, t_24^0'=t_24^post_103, temp0_16^0'=temp0_16^post_103, temp0_29^0'=temp0_29^post_103, temp_33^0'=temp_33^post_103, tmp_32^0'=tmp_32^post_103, x_126^0'=x_126^post_103, x_14^0'=x_14^post_103, x_172^0'=x_172^post_103, x_17^0'=x_17^post_103, x_21^0'=x_21^post_103, x_SLAM_f_19^0'=x_SLAM_f_19^post_103, y_20^0'=y_20^post_103, [ a_113^0==a_113^post_103 && a_144^0==a_144^post_103 && a_181^0==a_181^post_103 && a_212^0==a_212^post_103 && a_234^0==a_234^post_103 && a_257^0==a_257^post_103 && ct_18^0==ct_18^post_103 && f_167^0==f_167^post_103 && head_15^0==head_15^post_103 && head_30^0==head_30^post_103 && i_105^0==i_105^post_103 && i_164^0==i_164^post_103 && i_28^0==i_28^post_103 && i_92^0==i_92^post_103 && len_129^0==len_129^post_103 && len_180^0==len_180^post_103 && length_27^0==length_27^post_103 && nondet_12^0==nondet_12^post_103 && r_121^0==r_121^post_103 && r_160^0==r_160^post_103 && r_37^0==r_37^post_103 && rcd_56^0==rcd_56^post_103 && rcd_86^0==rcd_86^post_103 && result_11^0==result_11^post_103 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_103 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_103 && t_24^0==t_24^post_103 && temp0_16^0==temp0_16^post_103 && temp0_29^0==temp0_29^post_103 && temp_33^0==temp_33^post_103 && tmp_32^0==tmp_32^post_103 && x_126^0==x_126^post_103 && x_14^0==x_14^post_103 && x_17^0==x_17^post_103 && x_172^0==x_172^post_103 && x_21^0==x_21^post_103 && x_SLAM_f_19^0==x_SLAM_f_19^post_103 && y_20^0==y_20^post_103 ], cost: 1

Simplified all rules, resulting in:
   Start location: l65
      0: l0 -> l1 : head_30^0'=0, i_28^0'=0, length_27^0'=nondet_12^1_1, nondet_12^0'=nondet_12^post_1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^1_1, [], cost: 1
    101: l1 -> l27 : head_30^0'=temp_33^0, i_28^0'=1+i_28^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=temp_33^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=length_27^0, temp_33^0'=temp_33^post_102, tmp_32^0'=temp_33^0, [ 1+i_28^0<=length_27^0 && -i_28^0==0 ], cost: 1
      2: l2 -> l5 : ct_18^0'=ct_18^post_3, head_15^0'=head_15^post_3, r_37^0'=r_37^post_3, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_3, x_14^0'=x_14^post_3, x_17^0'=x_17^post_3, x_SLAM_f_19^0'=x_SLAM_f_19^post_3, [ 0<=a_234^0 ], cost: 1
      3: l5 -> l6 : [ 1+y_20^0<=x_21^0 ], cost: 1
      4: l5 -> l6 : [ 1+x_21^0<=y_20^0 ], cost: 1
      5: l6 -> l7 : a_257^0'=-1+a_234^0, t_24^0'=x_21^0, [ -x_14^0==0 && -ct_18^0==0 && -y_20^0==0 && head_15^0-x_17^0==0 && -x_SLAM_f_19^0+head_15^0==0 ], cost: 1
      6: l7 -> l8 : [ 1<=head_15^0 ], cost: 1
      7: l7 -> l8 : [ 1+head_15^0<=0 ], cost: 1
      8: l8 -> l9 : [ 1+head_15^0<=y_20^0 ], cost: 1
      9: l8 -> l9 : [ 1+y_20^0<=head_15^0 ], cost: 1
     10: l9 -> l10 : [ 1+y_20^0<=t_24^0 ], cost: 1
     11: l9 -> l10 : [ 1+t_24^0<=y_20^0 ], cost: 1
     12: l10 -> l4 : a_234^0'=a_257^0, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 ], cost: 1
     13: l4 -> l2 : [], cost: 1
     29: l20 -> l21 : ct_18^0'=ct_18^post_30, head_15^0'=head_15^post_30, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_30, x_14^0'=x_14^post_30, x_17^0'=x_17^post_30, x_SLAM_f_19^0'=x_SLAM_f_19^post_30, [ 0<=len_129^0 ], cost: 1
     30: l21 -> l22 : [ 1+y_20^0<=x_21^0 ], cost: 1
     31: l21 -> l22 : [ 1+x_21^0<=y_20^0 ], cost: 1
     32: l22 -> l23 : a_212^0'=a_234^0, t_24^0'=x_21^0, [ -x_14^0==0 && -ct_18^0==0 && -y_20^0==0 && head_15^0-x_17^0==0 && -x_SLAM_f_19^0+head_15^0==0 && head_15^0-x_21^0==0 ], cost: 1
     33: l23 -> l24 : [ 1<=head_15^0 ], cost: 1
     34: l23 -> l24 : [ 1+head_15^0<=0 ], cost: 1
     35: l24 -> l25 : [ 1+head_15^0<=y_20^0 ], cost: 1
     36: l24 -> l25 : [ 1+y_20^0<=head_15^0 ], cost: 1
     37: l25 -> l26 : [ 1+y_20^0<=t_24^0 ], cost: 1
     38: l25 -> l26 : [ 1+t_24^0<=y_20^0 ], cost: 1
     39: l26 -> l2 : len_129^0'=1+a_212^0, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 ], cost: 1
     60: l27 -> l40 : head_30^0'=temp_33^0, i_28^0'=1+i_28^0, rcd_56^0'=rcd_56^post_61, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=temp_33^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=length_27^0, temp_33^0'=temp_33^post_61, tmp_32^0'=temp_33^0, [ 1+i_28^0<=length_27^0 && 1-i_28^0==0 ], cost: 1
     94: l40 -> l62 : head_15^0'=head_30^0, head_30^0'=head_30^post_95, i_164^0'=i_164^post_95, i_28^0'=a_144^0, length_27^0'=length_27^post_95, result_11^0'=result_11^post_95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_95, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95, temp0_29^0'=temp0_29^post_95, temp_33^0'=temp_33^post_95, tmp_32^0'=tmp_32^post_95, x_14^0'=head_30^0, [ 0<=i_28^0 && length_27^0<=i_28^0 && -len_129^0==0 ], cost: 1
     98: l40 -> l64 : head_30^0'=temp_33^0, i_28^0'=1+i_28^0, i_92^0'=i_28^0, rcd_86^0'=rcd_86^post_99, temp_33^0'=temp_33^post_99, tmp_32^0'=temp_33^0, [ 0<=i_28^0 && 1+i_28^0<=length_27^0 ], cost: 1
     61: l41 -> l42 : ct_18^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_62, x_17^0'=head_15^0, x_21^0'=head_15^0, x_SLAM_f_19^0'=head_15^0, y_20^0'=0, [ 0<=a_144^0 && 0<=len_129^0 && -x_14^0==0 ], cost: 1
     65: l41 -> l45 : f_167^0'=f_167^post_66, head_15^0'=head_15^post_66, r_37^0'=r_37^post_66, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66, x_172^0'=x_172^post_66, [ 0<=a_144^0 && 0<=len_129^0 ], cost: 1
     62: l42 -> l43 : [ 1<=head_15^0 ], cost: 1
     63: l42 -> l43 : [ 1+head_15^0<=0 ], cost: 1
     64: l43 -> l20 : [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 ], cost: 1
     66: l45 -> l46 : [ 1<=x_14^0 ], cost: 1
     67: l45 -> l46 : [ 1+x_14^0<=0 ], cost: 1
     68: l46 -> l47 : a_181^0'=-1+a_144^0, len_180^0'=1+len_129^0, [ x_14^0-f_167^0==0 ], cost: 1
     69: l47 -> l48 : [ 1<=head_15^0 ], cost: 1
     70: l47 -> l48 : [ 1+head_15^0<=0 ], cost: 1
     71: l48 -> l49 : [ 1<=x_172^0 ], cost: 1
     72: l48 -> l49 : [ 1+x_172^0<=0 ], cost: 1
     73: l49 -> l44 : a_144^0'=a_181^0, len_129^0'=len_180^0, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 ], cost: 1
     74: l44 -> l41 : [], cost: 1
     95: l62 -> l63 : [ 1<=head_15^0 ], cost: 1
     96: l62 -> l63 : [ 1+head_15^0<=0 ], cost: 1
     97: l63 -> l41 : [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0<=i_28^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0<=i_164^0 ], cost: 1
     99: l64 -> l40 : [], cost: 1
    102: l65 -> l0 : [], cost: 1

### Simplification by acceleration and chaining ###

Eliminated locations (on linear paths):
   Start location: l65
      2: l2 -> l5 : ct_18^0'=ct_18^post_3, head_15^0'=head_15^post_3, r_37^0'=r_37^post_3, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_3, x_14^0'=x_14^post_3, x_17^0'=x_17^post_3, x_SLAM_f_19^0'=x_SLAM_f_19^post_3, [ 0<=a_234^0 ], cost: 1
      3: l5 -> l6 : [ 1+y_20^0<=x_21^0 ], cost: 1
      4: l5 -> l6 : [ 1+x_21^0<=y_20^0 ], cost: 1
      5: l6 -> l7 : a_257^0'=-1+a_234^0, t_24^0'=x_21^0, [ -x_14^0==0 && -ct_18^0==0 && -y_20^0==0 && head_15^0-x_17^0==0 && -x_SLAM_f_19^0+head_15^0==0 ], cost: 1
      6: l7 -> l8 : [ 1<=head_15^0 ], cost: 1
      7: l7 -> l8 : [ 1+head_15^0<=0 ], cost: 1
      8: l8 -> l9 : [ 1+head_15^0<=y_20^0 ], cost: 1
      9: l8 -> l9 : [ 1+y_20^0<=head_15^0 ], cost: 1
     10: l9 -> l10 : [ 1+y_20^0<=t_24^0 ], cost: 1
     11: l9 -> l10 : [ 1+t_24^0<=y_20^0 ], cost: 1
    108: l10 -> l2 : a_234^0'=a_257^0, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 ], cost: 2
     30: l21 -> l22 : [ 1+y_20^0<=x_21^0 ], cost: 1
     31: l21 -> l22 : [ 1+x_21^0<=y_20^0 ], cost: 1
     32: l22 -> l23 : a_212^0'=a_234^0, t_24^0'=x_21^0, [ -x_14^0==0 && -ct_18^0==0 && -y_20^0==0 && head_15^0-x_17^0==0 && -x_SLAM_f_19^0+head_15^0==0 && head_15^0-x_21^0==0 ], cost: 1
     33: l23 -> l24 : [ 1<=head_15^0 ], cost: 1
     34: l23 -> l24 : [ 1+head_15^0<=0 ], cost: 1
     35: l24 -> l25 : [ 1+head_15^0<=y_20^0 ], cost: 1
     36: l24 -> l25 : [ 1+y_20^0<=head_15^0 ], cost: 1
     37: l25 -> l26 : [ 1+y_20^0<=t_24^0 ], cost: 1
     38: l25 -> l26 : [ 1+t_24^0<=y_20^0 ], cost: 1
     39: l26 -> l2 : len_129^0'=1+a_212^0, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 ], cost: 1
     94: l40 -> l62 : head_15^0'=head_30^0, head_30^0'=head_30^post_95, i_164^0'=i_164^post_95, i_28^0'=a_144^0, length_27^0'=length_27^post_95, result_11^0'=result_11^post_95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_95, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95, temp0_29^0'=temp0_29^post_95, temp_33^0'=temp_33^post_95, tmp_32^0'=tmp_32^post_95, x_14^0'=head_30^0, [ 0<=i_28^0 && length_27^0<=i_28^0 && -len_129^0==0 ], cost: 1
    106: l40 -> l40 : head_30^0'=temp_33^0, i_28^0'=1+i_28^0, i_92^0'=i_28^0, rcd_86^0'=rcd_86^post_99, temp_33^0'=temp_33^post_99, tmp_32^0'=temp_33^0, [ 0<=i_28^0 && 1+i_28^0<=length_27^0 ], cost: 2
     61: l41 -> l42 : ct_18^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_62, x_17^0'=head_15^0, x_21^0'=head_15^0, x_SLAM_f_19^0'=head_15^0, y_20^0'=0, [ 0<=a_144^0 && 0<=len_129^0 && -x_14^0==0 ], cost: 1
     65: l41 -> l45 : f_167^0'=f_167^post_66, head_15^0'=head_15^post_66, r_37^0'=r_37^post_66, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66, x_172^0'=x_172^post_66, [ 0<=a_144^0 && 0<=len_129^0 ], cost: 1
     62: l42 -> l43 : [ 1<=head_15^0 ], cost: 1
     63: l42 -> l43 : [ 1+head_15^0<=0 ], cost: 1
    107: l43 -> l21 : ct_18^0'=ct_18^post_30, head_15^0'=head_15^post_30, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_30, x_14^0'=x_14^post_30, x_17^0'=x_17^post_30, x_SLAM_f_19^0'=x_SLAM_f_19^post_30, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && 0<=len_129^0 ], cost: 2
     66: l45 -> l46 : [ 1<=x_14^0 ], cost: 1
     67: l45 -> l46 : [ 1+x_14^0<=0 ], cost: 1
     68: l46 -> l47 : a_181^0'=-1+a_144^0, len_180^0'=1+len_129^0, [ x_14^0-f_167^0==0 ], cost: 1
     69: l47 -> l48 : [ 1<=head_15^0 ], cost: 1
     70: l47 -> l48 : [ 1+head_15^0<=0 ], cost: 1
     71: l48 -> l49 : [ 1<=x_172^0 ], cost: 1
     72: l48 -> l49 : [ 1+x_172^0<=0 ], cost: 1
    109: l49 -> l41 : a_144^0'=a_181^0, len_129^0'=len_180^0, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 ], cost: 2
     95: l62 -> l63 : [ 1<=head_15^0 ], cost: 1
     96: l62 -> l63 : [ 1+head_15^0<=0 ], cost: 1
     97: l63 -> l41 : [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0<=i_28^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0<=i_164^0 ], cost: 1
    105: l65 -> l40 : head_30^0'=temp_33^post_102, i_28^0'=2, length_27^0'=nondet_12^1_1, nondet_12^0'=nondet_12^post_1, rcd_56^0'=rcd_56^post_61, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=temp_33^post_102, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^1_1, temp_33^0'=temp_33^post_61, tmp_32^0'=temp_33^post_102, [ 2<=nondet_12^1_1 ], cost: 4

Accelerating simple loops of location 40.
   Accelerating the following rules:
    106: l40 -> l40 : head_30^0'=temp_33^0, i_28^0'=1+i_28^0, i_92^0'=i_28^0, rcd_86^0'=rcd_86^post_99, temp_33^0'=temp_33^post_99, tmp_32^0'=temp_33^0, [ 0<=i_28^0 && 1+i_28^0<=length_27^0 ], cost: 2

   Accelerated rule 106 with backward acceleration, yielding the new rule 110.
[accelerate] Nesting with 1 inner and 1 outer candidates
   Removing the simple loops: 106.

Accelerated all simple loops using metering functions (where possible):
   Start location: l65
      2: l2 -> l5 : ct_18^0'=ct_18^post_3, head_15^0'=head_15^post_3, r_37^0'=r_37^post_3, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_3, x_14^0'=x_14^post_3, x_17^0'=x_17^post_3, x_SLAM_f_19^0'=x_SLAM_f_19^post_3, [ 0<=a_234^0 ], cost: 1
      3: l5 -> l6 : [ 1+y_20^0<=x_21^0 ], cost: 1
      4: l5 -> l6 : [ 1+x_21^0<=y_20^0 ], cost: 1
      5: l6 -> l7 : a_257^0'=-1+a_234^0, t_24^0'=x_21^0, [ -x_14^0==0 && -ct_18^0==0 && -y_20^0==0 && head_15^0-x_17^0==0 && -x_SLAM_f_19^0+head_15^0==0 ], cost: 1
      6: l7 -> l8 : [ 1<=head_15^0 ], cost: 1
      7: l7 -> l8 : [ 1+head_15^0<=0 ], cost: 1
      8: l8 -> l9 : [ 1+head_15^0<=y_20^0 ], cost: 1
      9: l8 -> l9 : [ 1+y_20^0<=head_15^0 ], cost: 1
     10: l9 -> l10 : [ 1+y_20^0<=t_24^0 ], cost: 1
     11: l9 -> l10 : [ 1+t_24^0<=y_20^0 ], cost: 1
    108: l10 -> l2 : a_234^0'=a_257^0, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 ], cost: 2
     30: l21 -> l22 : [ 1+y_20^0<=x_21^0 ], cost: 1
     31: l21 -> l22 : [ 1+x_21^0<=y_20^0 ], cost: 1
     32: l22 -> l23 : a_212^0'=a_234^0, t_24^0'=x_21^0, [ -x_14^0==0 && -ct_18^0==0 && -y_20^0==0 && head_15^0-x_17^0==0 && -x_SLAM_f_19^0+head_15^0==0 && head_15^0-x_21^0==0 ], cost: 1
     33: l23 -> l24 : [ 1<=head_15^0 ], cost: 1
     34: l23 -> l24 : [ 1+head_15^0<=0 ], cost: 1
     35: l24 -> l25 : [ 1+head_15^0<=y_20^0 ], cost: 1
     36: l24 -> l25 : [ 1+y_20^0<=head_15^0 ], cost: 1
     37: l25 -> l26 : [ 1+y_20^0<=t_24^0 ], cost: 1
     38: l25 -> l26 : [ 1+t_24^0<=y_20^0 ], cost: 1
     39: l26 -> l2 : len_129^0'=1+a_212^0, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 ], cost: 1
     94: l40 -> l62 : head_15^0'=head_30^0, head_30^0'=head_30^post_95, i_164^0'=i_164^post_95, i_28^0'=a_144^0, length_27^0'=length_27^post_95, result_11^0'=result_11^post_95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_95, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95, temp0_29^0'=temp0_29^post_95, temp_33^0'=temp_33^post_95, tmp_32^0'=tmp_32^post_95, x_14^0'=head_30^0, [ 0<=i_28^0 && length_27^0<=i_28^0 && -len_129^0==0 ], cost: 1
    110: l40 -> l40 : head_30^0'=temp_33^post_99, i_28^0'=length_27^0, i_92^0'=-1+length_27^0, rcd_86^0'=rcd_86^post_99, temp_33^0'=temp_33^post_99, tmp_32^0'=temp_33^post_99, [ 0<=i_28^0 && -i_28^0+length_27^0>=1 ], cost: -2*i_28^0+2*length_27^0
     61: l41 -> l42 : ct_18^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_62, x_17^0'=head_15^0, x_21^0'=head_15^0, x_SLAM_f_19^0'=head_15^0, y_20^0'=0, [ 0<=a_144^0 && 0<=len_129^0 && -x_14^0==0 ], cost: 1
     65: l41 -> l45 : f_167^0'=f_167^post_66, head_15^0'=head_15^post_66, r_37^0'=r_37^post_66, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66, x_172^0'=x_172^post_66, [ 0<=a_144^0 && 0<=len_129^0 ], cost: 1
     62: l42 -> l43 : [ 1<=head_15^0 ], cost: 1
     63: l42 -> l43 : [ 1+head_15^0<=0 ], cost: 1
    107: l43 -> l21 : ct_18^0'=ct_18^post_30, head_15^0'=head_15^post_30, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_30, x_14^0'=x_14^post_30, x_17^0'=x_17^post_30, x_SLAM_f_19^0'=x_SLAM_f_19^post_30, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && 0<=len_129^0 ], cost: 2
     66: l45 -> l46 : [ 1<=x_14^0 ], cost: 1
     67: l45 -> l46 : [ 1+x_14^0<=0 ], cost: 1
     68: l46 -> l47 : a_181^0'=-1+a_144^0, len_180^0'=1+len_129^0, [ x_14^0-f_167^0==0 ], cost: 1
     69: l47 -> l48 : [ 1<=head_15^0 ], cost: 1
     70: l47 -> l48 : [ 1+head_15^0<=0 ], cost: 1
     71: l48 -> l49 : [ 1<=x_172^0 ], cost: 1
     72: l48 -> l49 : [ 1+x_172^0<=0 ], cost: 1
    109: l49 -> l41 : a_144^0'=a_181^0, len_129^0'=len_180^0, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 ], cost: 2
     95: l62 -> l63 : [ 1<=head_15^0 ], cost: 1
     96: l62 -> l63 : [ 1+head_15^0<=0 ], cost: 1
     97: l63 -> l41 : [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0<=i_28^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0<=i_164^0 ], cost: 1
    105: l65 -> l40 : head_30^0'=temp_33^post_102, i_28^0'=2, length_27^0'=nondet_12^1_1, nondet_12^0'=nondet_12^post_1, rcd_56^0'=rcd_56^post_61, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=temp_33^post_102, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^1_1, temp_33^0'=temp_33^post_61, tmp_32^0'=temp_33^post_102, [ 2<=nondet_12^1_1 ], cost: 4

Chained accelerated rules (with incoming rules):
   Start location: l65
      2: l2 -> l5 : ct_18^0'=ct_18^post_3, head_15^0'=head_15^post_3, r_37^0'=r_37^post_3, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_3, x_14^0'=x_14^post_3, x_17^0'=x_17^post_3, x_SLAM_f_19^0'=x_SLAM_f_19^post_3, [ 0<=a_234^0 ], cost: 1
      3: l5 -> l6 : [ 1+y_20^0<=x_21^0 ], cost: 1
      4: l5 -> l6 : [ 1+x_21^0<=y_20^0 ], cost: 1
      5: l6 -> l7 : a_257^0'=-1+a_234^0, t_24^0'=x_21^0, [ -x_14^0==0 && -ct_18^0==0 && -y_20^0==0 && head_15^0-x_17^0==0 && -x_SLAM_f_19^0+head_15^0==0 ], cost: 1
      6: l7 -> l8 : [ 1<=head_15^0 ], cost: 1
      7: l7 -> l8 : [ 1+head_15^0<=0 ], cost: 1
      8: l8 -> l9 : [ 1+head_15^0<=y_20^0 ], cost: 1
      9: l8 -> l9 : [ 1+y_20^0<=head_15^0 ], cost: 1
     10: l9 -> l10 : [ 1+y_20^0<=t_24^0 ], cost: 1
     11: l9 -> l10 : [ 1+t_24^0<=y_20^0 ], cost: 1
    108: l10 -> l2 : a_234^0'=a_257^0, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 ], cost: 2
     30: l21 -> l22 : [ 1+y_20^0<=x_21^0 ], cost: 1
     31: l21 -> l22 : [ 1+x_21^0<=y_20^0 ], cost: 1
     32: l22 -> l23 : a_212^0'=a_234^0, t_24^0'=x_21^0, [ -x_14^0==0 && -ct_18^0==0 && -y_20^0==0 && head_15^0-x_17^0==0 && -x_SLAM_f_19^0+head_15^0==0 && head_15^0-x_21^0==0 ], cost: 1
     33: l23 -> l24 : [ 1<=head_15^0 ], cost: 1
     34: l23 -> l24 : [ 1+head_15^0<=0 ], cost: 1
     35: l24 -> l25 : [ 1+head_15^0<=y_20^0 ], cost: 1
     36: l24 -> l25 : [ 1+y_20^0<=head_15^0 ], cost: 1
     37: l25 -> l26 : [ 1+y_20^0<=t_24^0 ], cost: 1
     38: l25 -> l26 : [ 1+t_24^0<=y_20^0 ], cost: 1
     39: l26 -> l2 : len_129^0'=1+a_212^0, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 ], cost: 1
     94: l40 -> l62 : head_15^0'=head_30^0, head_30^0'=head_30^post_95, i_164^0'=i_164^post_95, i_28^0'=a_144^0, length_27^0'=length_27^post_95, result_11^0'=result_11^post_95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_95, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95, temp0_29^0'=temp0_29^post_95, temp_33^0'=temp_33^post_95, tmp_32^0'=tmp_32^post_95, x_14^0'=head_30^0, [ 0<=i_28^0 && length_27^0<=i_28^0 && -len_129^0==0 ], cost: 1
     61: l41 -> l42 : ct_18^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_62, x_17^0'=head_15^0, x_21^0'=head_15^0, x_SLAM_f_19^0'=head_15^0, y_20^0'=0, [ 0<=a_144^0 && 0<=len_129^0 && -x_14^0==0 ], cost: 1
     65: l41 -> l45 : f_167^0'=f_167^post_66, head_15^0'=head_15^post_66, r_37^0'=r_37^post_66, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66, x_172^0'=x_172^post_66, [ 0<=a_144^0 && 0<=len_129^0 ], cost: 1
     62: l42 -> l43 : [ 1<=head_15^0 ], cost: 1
     63: l42 -> l43 : [ 1+head_15^0<=0 ], cost: 1
    107: l43 -> l21 : ct_18^0'=ct_18^post_30, head_15^0'=head_15^post_30, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_30, x_14^0'=x_14^post_30, x_17^0'=x_17^post_30, x_SLAM_f_19^0'=x_SLAM_f_19^post_30, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && 0<=len_129^0 ], cost: 2
     66: l45 -> l46 : [ 1<=x_14^0 ], cost: 1
     67: l45 -> l46 : [ 1+x_14^0<=0 ], cost: 1
     68: l46 -> l47 : a_181^0'=-1+a_144^0, len_180^0'=1+len_129^0, [ x_14^0-f_167^0==0 ], cost: 1
     69: l47 -> l48 : [ 1<=head_15^0 ], cost: 1
     70: l47 -> l48 : [ 1+head_15^0<=0 ], cost: 1
     71: l48 -> l49 : [ 1<=x_172^0 ], cost: 1
     72: l48 -> l49 : [ 1+x_172^0<=0 ], cost: 1
    109: l49 -> l41 : a_144^0'=a_181^0, len_129^0'=len_180^0, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 ], cost: 2
     95: l62 -> l63 : [ 1<=head_15^0 ], cost: 1
     96: l62 -> l63 : [ 1+head_15^0<=0 ], cost: 1
     97: l63 -> l41 : [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0<=i_28^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0<=i_164^0 ], cost: 1
    105: l65 -> l40 : head_30^0'=temp_33^post_102, i_28^0'=2, length_27^0'=nondet_12^1_1, nondet_12^0'=nondet_12^post_1, rcd_56^0'=rcd_56^post_61, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=temp_33^post_102, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^1_1, temp_33^0'=temp_33^post_61, tmp_32^0'=temp_33^post_102, [ 2<=nondet_12^1_1 ], cost: 4
    111: l65 -> l40 : head_30^0'=temp_33^post_99, i_28^0'=nondet_12^1_1, i_92^0'=-1+nondet_12^1_1, length_27^0'=nondet_12^1_1, nondet_12^0'=nondet_12^post_1, rcd_56^0'=rcd_56^post_61, rcd_86^0'=rcd_86^post_99, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=temp_33^post_102, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^1_1, temp_33^0'=temp_33^post_99, tmp_32^0'=temp_33^post_99, [ -2+nondet_12^1_1>=1 ], cost: 2*nondet_12^1_1

Eliminated locations (on tree-shaped paths):
   Start location: l65
    128: l2 -> l6 : ct_18^0'=ct_18^post_3, head_15^0'=head_15^post_3, r_37^0'=r_37^post_3, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_3, x_14^0'=x_14^post_3, x_17^0'=x_17^post_3, x_SLAM_f_19^0'=x_SLAM_f_19^post_3, [ 0<=a_234^0 && 1+y_20^0<=x_21^0 ], cost: 2
    129: l2 -> l6 : ct_18^0'=ct_18^post_3, head_15^0'=head_15^post_3, r_37^0'=r_37^post_3, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_3, x_14^0'=x_14^post_3, x_17^0'=x_17^post_3, x_SLAM_f_19^0'=x_SLAM_f_19^post_3, [ 0<=a_234^0 && 1+x_21^0<=y_20^0 ], cost: 2
    130: l6 -> l8 : a_257^0'=-1+a_234^0, t_24^0'=x_21^0, [ -x_14^0==0 && -ct_18^0==0 && -y_20^0==0 && head_15^0-x_17^0==0 && -x_SLAM_f_19^0+head_15^0==0 && 1<=head_15^0 ], cost: 2
    131: l6 -> l8 : a_257^0'=-1+a_234^0, t_24^0'=x_21^0, [ -x_14^0==0 && -ct_18^0==0 && -y_20^0==0 && head_15^0-x_17^0==0 && -x_SLAM_f_19^0+head_15^0==0 && 1+head_15^0<=0 ], cost: 2
    132: l8 -> l10 : [ 1+head_15^0<=y_20^0 && 1+y_20^0<=t_24^0 ], cost: 2
    133: l8 -> l10 : [ 1+head_15^0<=y_20^0 && 1+t_24^0<=y_20^0 ], cost: 2
    134: l8 -> l10 : [ 1+y_20^0<=head_15^0 && 1+y_20^0<=t_24^0 ], cost: 2
    135: l8 -> l10 : [ 1+y_20^0<=head_15^0 && 1+t_24^0<=y_20^0 ], cost: 2
    108: l10 -> l2 : a_234^0'=a_257^0, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 ], cost: 2
    122: l22 -> l24 : a_212^0'=a_234^0, t_24^0'=x_21^0, [ -x_14^0==0 && -ct_18^0==0 && -y_20^0==0 && head_15^0-x_17^0==0 && -x_SLAM_f_19^0+head_15^0==0 && head_15^0-x_21^0==0 && 1<=head_15^0 ], cost: 2
    123: l22 -> l24 : a_212^0'=a_234^0, t_24^0'=x_21^0, [ -x_14^0==0 && -ct_18^0==0 && -y_20^0==0 && head_15^0-x_17^0==0 && -x_SLAM_f_19^0+head_15^0==0 && head_15^0-x_21^0==0 && 1+head_15^0<=0 ], cost: 2
    124: l24 -> l26 : [ 1+head_15^0<=y_20^0 && 1+y_20^0<=t_24^0 ], cost: 2
    125: l24 -> l26 : [ 1+head_15^0<=y_20^0 && 1+t_24^0<=y_20^0 ], cost: 2
    126: l24 -> l26 : [ 1+y_20^0<=head_15^0 && 1+y_20^0<=t_24^0 ], cost: 2
    127: l24 -> l26 : [ 1+y_20^0<=head_15^0 && 1+t_24^0<=y_20^0 ], cost: 2
     39: l26 -> l2 : len_129^0'=1+a_212^0, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 ], cost: 1
    116: l41 -> l43 : ct_18^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_62, x_17^0'=head_15^0, x_21^0'=head_15^0, x_SLAM_f_19^0'=head_15^0, y_20^0'=0, [ 0<=a_144^0 && 0<=len_129^0 && -x_14^0==0 && 1<=head_15^0 ], cost: 2
    117: l41 -> l43 : ct_18^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_62, x_17^0'=head_15^0, x_21^0'=head_15^0, x_SLAM_f_19^0'=head_15^0, y_20^0'=0, [ 0<=a_144^0 && 0<=len_129^0 && -x_14^0==0 && 1+head_15^0<=0 ], cost: 2
    118: l41 -> l46 : f_167^0'=f_167^post_66, head_15^0'=head_15^post_66, r_37^0'=r_37^post_66, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66, x_172^0'=x_172^post_66, [ 0<=a_144^0 && 0<=len_129^0 && 1<=x_14^0 ], cost: 2
    119: l41 -> l46 : f_167^0'=f_167^post_66, head_15^0'=head_15^post_66, r_37^0'=r_37^post_66, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66, x_172^0'=x_172^post_66, [ 0<=a_144^0 && 0<=len_129^0 && 1+x_14^0<=0 ], cost: 2
    120: l43 -> l22 : ct_18^0'=ct_18^post_30, head_15^0'=head_15^post_30, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_30, x_14^0'=x_14^post_30, x_17^0'=x_17^post_30, x_SLAM_f_19^0'=x_SLAM_f_19^post_30, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && 0<=len_129^0 && 1+y_20^0<=x_21^0 ], cost: 3
    121: l43 -> l22 : ct_18^0'=ct_18^post_30, head_15^0'=head_15^post_30, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_30, x_14^0'=x_14^post_30, x_17^0'=x_17^post_30, x_SLAM_f_19^0'=x_SLAM_f_19^post_30, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && 0<=len_129^0 && 1+x_21^0<=y_20^0 ], cost: 3
    136: l46 -> l48 : a_181^0'=-1+a_144^0, len_180^0'=1+len_129^0, [ x_14^0-f_167^0==0 && 1<=head_15^0 ], cost: 2
    137: l46 -> l48 : a_181^0'=-1+a_144^0, len_180^0'=1+len_129^0, [ x_14^0-f_167^0==0 && 1+head_15^0<=0 ], cost: 2
    138: l48 -> l41 : a_144^0'=a_181^0, len_129^0'=len_180^0, [ 1<=x_172^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 ], cost: 3
    139: l48 -> l41 : a_144^0'=a_181^0, len_129^0'=len_180^0, [ 1+x_172^0<=0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 ], cost: 3
    114: l62 -> l41 : [ 1<=head_15^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0<=i_28^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0<=i_164^0 ], cost: 2
    115: l62 -> l41 : [ 1+head_15^0<=0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0<=i_28^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0<=i_164^0 ], cost: 2
    112: l65 -> l62 : head_15^0'=temp_33^post_102, head_30^0'=head_30^post_95, i_164^0'=i_164^post_95, i_28^0'=a_144^0, length_27^0'=length_27^post_95, nondet_12^0'=nondet_12^post_1, rcd_56^0'=rcd_56^post_61, result_11^0'=result_11^post_95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_95, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95, temp0_29^0'=temp0_29^post_95, temp_33^0'=temp_33^post_95, tmp_32^0'=tmp_32^post_95, x_14^0'=temp_33^post_102, [ 2<=nondet_12^1_1 && nondet_12^1_1<=2 && -len_129^0==0 ], cost: 5
    113: l65 -> l62 : head_15^0'=temp_33^post_99, head_30^0'=head_30^post_95, i_164^0'=i_164^post_95, i_28^0'=a_144^0, i_92^0'=-1+nondet_12^1_1, length_27^0'=length_27^post_95, nondet_12^0'=nondet_12^post_1, rcd_56^0'=rcd_56^post_61, rcd_86^0'=rcd_86^post_99, result_11^0'=result_11^post_95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_95, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95, temp0_29^0'=temp0_29^post_95, temp_33^0'=temp_33^post_95, tmp_32^0'=tmp_32^post_95, x_14^0'=temp_33^post_99, [ -2+nondet_12^1_1>=1 && -len_129^0==0 ], cost: 1+2*nondet_12^1_1

Eliminated locations (on tree-shaped paths):
   Start location: l65
    152: l2 -> l8 : a_257^0'=-1+a_234^0, ct_18^0'=ct_18^post_3, head_15^0'=head_15^post_3, r_37^0'=r_37^post_3, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_3, t_24^0'=x_21^0, x_14^0'=x_14^post_3, x_17^0'=x_17^post_3, x_SLAM_f_19^0'=x_SLAM_f_19^post_3, [ 0<=a_234^0 && 1+y_20^0<=x_21^0 && -x_14^post_3==0 && -ct_18^post_3==0 && -y_20^0==0 && head_15^post_3-x_17^post_3==0 && head_15^post_3-x_SLAM_f_19^post_3==0 && 1<=head_15^post_3 ], cost: 4
    153: l2 -> l8 : a_257^0'=-1+a_234^0, ct_18^0'=ct_18^post_3, head_15^0'=head_15^post_3, r_37^0'=r_37^post_3, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_3, t_24^0'=x_21^0, x_14^0'=x_14^post_3, x_17^0'=x_17^post_3, x_SLAM_f_19^0'=x_SLAM_f_19^post_3, [ 0<=a_234^0 && 1+y_20^0<=x_21^0 && -x_14^post_3==0 && -ct_18^post_3==0 && -y_20^0==0 && head_15^post_3-x_17^post_3==0 && head_15^post_3-x_SLAM_f_19^post_3==0 && 1+head_15^post_3<=0 ], cost: 4
    154: l2 -> l8 : a_257^0'=-1+a_234^0, ct_18^0'=ct_18^post_3, head_15^0'=head_15^post_3, r_37^0'=r_37^post_3, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_3, t_24^0'=x_21^0, x_14^0'=x_14^post_3, x_17^0'=x_17^post_3, x_SLAM_f_19^0'=x_SLAM_f_19^post_3, [ 0<=a_234^0 && 1+x_21^0<=y_20^0 && -x_14^post_3==0 && -ct_18^post_3==0 && -y_20^0==0 && head_15^post_3-x_17^post_3==0 && head_15^post_3-x_SLAM_f_19^post_3==0 && 1<=head_15^post_3 ], cost: 4
    155: l2 -> l8 : a_257^0'=-1+a_234^0, ct_18^0'=ct_18^post_3, head_15^0'=head_15^post_3, r_37^0'=r_37^post_3, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_3, t_24^0'=x_21^0, x_14^0'=x_14^post_3, x_17^0'=x_17^post_3, x_SLAM_f_19^0'=x_SLAM_f_19^post_3, [ 0<=a_234^0 && 1+x_21^0<=y_20^0 && -x_14^post_3==0 && -ct_18^post_3==0 && -y_20^0==0 && head_15^post_3-x_17^post_3==0 && head_15^post_3-x_SLAM_f_19^post_3==0 && 1+head_15^post_3<=0 ], cost: 4
    156: l8 -> l2 : a_234^0'=a_257^0, [ 1+head_15^0<=y_20^0 && 1+y_20^0<=t_24^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 ], cost: 4
    157: l8 -> l2 : a_234^0'=a_257^0, [ 1+head_15^0<=y_20^0 && 1+t_24^0<=y_20^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 ], cost: 4
    158: l8 -> l2 : a_234^0'=a_257^0, [ 1+y_20^0<=head_15^0 && 1+y_20^0<=t_24^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 ], cost: 4
    159: l8 -> l2 : a_234^0'=a_257^0, [ 1+y_20^0<=head_15^0 && 1+t_24^0<=y_20^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 ], cost: 4
    150: l22 -> l26 : a_212^0'=a_234^0, t_24^0'=x_21^0, [ -x_14^0==0 && -ct_18^0==0 && -y_20^0==0 && head_15^0-x_17^0==0 && -x_SLAM_f_19^0+head_15^0==0 && head_15^0-x_21^0==0 && 1<=head_15^0 && 1+y_20^0<=head_15^0 && 1+y_20^0<=x_21^0 ], cost: 4
    151: l22 -> l26 : a_212^0'=a_234^0, t_24^0'=x_21^0, [ -x_14^0==0 && -ct_18^0==0 && -y_20^0==0 && head_15^0-x_17^0==0 && -x_SLAM_f_19^0+head_15^0==0 && head_15^0-x_21^0==0 && 1+head_15^0<=0 && 1+head_15^0<=y_20^0 && 1+x_21^0<=y_20^0 ], cost: 4
     39: l26 -> l2 : len_129^0'=1+a_212^0, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 ], cost: 1
    144: l41 -> l22 : ct_18^0'=ct_18^post_30, head_15^0'=head_15^post_30, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_30, x_14^0'=x_14^post_30, x_17^0'=x_17^post_30, x_21^0'=head_15^0, x_SLAM_f_19^0'=x_SLAM_f_19^post_30, y_20^0'=0, [ 0<=a_144^0 && 0<=len_129^0 && -x_14^0==0 && 1<=head_15^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_62 ], cost: 5
    145: l41 -> l22 : ct_18^0'=ct_18^post_30, head_15^0'=head_15^post_30, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_30, x_14^0'=x_14^post_30, x_17^0'=x_17^post_30, x_21^0'=head_15^0, x_SLAM_f_19^0'=x_SLAM_f_19^post_30, y_20^0'=0, [ 0<=a_144^0 && 0<=len_129^0 && -x_14^0==0 && 1+head_15^0<=0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_62 ], cost: 5
    146: l41 -> l48 : a_181^0'=-1+a_144^0, f_167^0'=f_167^post_66, head_15^0'=head_15^post_66, len_180^0'=1+len_129^0, r_37^0'=r_37^post_66, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66, x_172^0'=x_172^post_66, [ 0<=a_144^0 && 0<=len_129^0 && 1<=x_14^0 && x_14^0-f_167^post_66==0 && 1<=head_15^post_66 ], cost: 4
    147: l41 -> l48 : a_181^0'=-1+a_144^0, f_167^0'=f_167^post_66, head_15^0'=head_15^post_66, len_180^0'=1+len_129^0, r_37^0'=r_37^post_66, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66, x_172^0'=x_172^post_66, [ 0<=a_144^0 && 0<=len_129^0 && 1<=x_14^0 && x_14^0-f_167^post_66==0 && 1+head_15^post_66<=0 ], cost: 4
    148: l41 -> l48 : a_181^0'=-1+a_144^0, f_167^0'=f_167^post_66, head_15^0'=head_15^post_66, len_180^0'=1+len_129^0, r_37^0'=r_37^post_66, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66, x_172^0'=x_172^post_66, [ 0<=a_144^0 && 0<=len_129^0 && 1+x_14^0<=0 && x_14^0-f_167^post_66==0 && 1<=head_15^post_66 ], cost: 4
    149: l41 -> l48 : a_181^0'=-1+a_144^0, f_167^0'=f_167^post_66, head_15^0'=head_15^post_66, len_180^0'=1+len_129^0, r_37^0'=r_37^post_66, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66, x_172^0'=x_172^post_66, [ 0<=a_144^0 && 0<=len_129^0 && 1+x_14^0<=0 && x_14^0-f_167^post_66==0 && 1+head_15^post_66<=0 ], cost: 4
    138: l48 -> l41 : a_144^0'=a_181^0, len_129^0'=len_180^0, [ 1<=x_172^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 ], cost: 3
    139: l48 -> l41 : a_144^0'=a_181^0, len_129^0'=len_180^0, [ 1+x_172^0<=0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 ], cost: 3
    140: l65 -> l41 : head_15^0'=temp_33^post_102, head_30^0'=head_30^post_95, i_164^0'=i_164^post_95, i_28^0'=a_144^0, length_27^0'=length_27^post_95, nondet_12^0'=nondet_12^post_1, rcd_56^0'=rcd_56^post_61, result_11^0'=result_11^post_95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_95, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95, temp0_29^0'=temp0_29^post_95, temp_33^0'=temp_33^post_95, tmp_32^0'=tmp_32^post_95, x_14^0'=temp_33^post_102, [ 2<=nondet_12^1_1 && nondet_12^1_1<=2 && -len_129^0==0 && 1<=temp_33^post_102 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95<=a_144^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95<=i_164^post_95 ], cost: 7
    141: l65 -> l41 : head_15^0'=temp_33^post_102, head_30^0'=head_30^post_95, i_164^0'=i_164^post_95, i_28^0'=a_144^0, length_27^0'=length_27^post_95, nondet_12^0'=nondet_12^post_1, rcd_56^0'=rcd_56^post_61, result_11^0'=result_11^post_95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_95, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95, temp0_29^0'=temp0_29^post_95, temp_33^0'=temp_33^post_95, tmp_32^0'=tmp_32^post_95, x_14^0'=temp_33^post_102, [ 2<=nondet_12^1_1 && nondet_12^1_1<=2 && -len_129^0==0 && 1+temp_33^post_102<=0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95<=a_144^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95<=i_164^post_95 ], cost: 7
    142: l65 -> l41 : head_15^0'=temp_33^post_99, head_30^0'=head_30^post_95, i_164^0'=i_164^post_95, i_28^0'=a_144^0, i_92^0'=-1+nondet_12^1_1, length_27^0'=length_27^post_95, nondet_12^0'=nondet_12^post_1, rcd_56^0'=rcd_56^post_61, rcd_86^0'=rcd_86^post_99, result_11^0'=result_11^post_95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_95, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95, temp0_29^0'=temp0_29^post_95, temp_33^0'=temp_33^post_95, tmp_32^0'=tmp_32^post_95, x_14^0'=temp_33^post_99, [ -2+nondet_12^1_1>=1 && -len_129^0==0 && 1<=temp_33^post_99 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95<=a_144^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95<=i_164^post_95 ], cost: 3+2*nondet_12^1_1
    143: l65 -> l41 : head_15^0'=temp_33^post_99, head_30^0'=head_30^post_95, i_164^0'=i_164^post_95, i_28^0'=a_144^0, i_92^0'=-1+nondet_12^1_1, length_27^0'=length_27^post_95, nondet_12^0'=nondet_12^post_1, rcd_56^0'=rcd_56^post_61, rcd_86^0'=rcd_86^post_99, result_11^0'=result_11^post_95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_95, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95, temp0_29^0'=temp0_29^post_95, temp_33^0'=temp_33^post_95, tmp_32^0'=tmp_32^post_95, x_14^0'=temp_33^post_99, [ -2+nondet_12^1_1>=1 && -len_129^0==0 && 1+temp_33^post_99<=0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95<=a_144^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95<=i_164^post_95 ], cost: 3+2*nondet_12^1_1

Eliminated locations (on tree-shaped paths):
   Start location: l65
    170: l2 -> l2 : a_234^0'=-1+a_234^0, a_257^0'=-1+a_234^0, ct_18^0'=ct_18^post_3, head_15^0'=head_15^post_3, r_37^0'=r_37^post_3, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_3, t_24^0'=x_21^0, x_14^0'=x_14^post_3, x_17^0'=x_17^post_3, x_SLAM_f_19^0'=x_SLAM_f_19^post_3, [ 0<=a_234^0 && 1+y_20^0<=x_21^0 && -x_14^post_3==0 && -ct_18^post_3==0 && -y_20^0==0 && head_15^post_3-x_17^post_3==0 && head_15^post_3-x_SLAM_f_19^post_3==0 && 1<=head_15^post_3 && 1+y_20^0<=head_15^post_3 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_3 ], cost: 8
    171: l2 -> l2 : a_234^0'=-1+a_234^0, a_257^0'=-1+a_234^0, ct_18^0'=ct_18^post_3, head_15^0'=head_15^post_3, r_37^0'=r_37^post_3, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_3, t_24^0'=x_21^0, x_14^0'=x_14^post_3, x_17^0'=x_17^post_3, x_SLAM_f_19^0'=x_SLAM_f_19^post_3, [ 0<=a_234^0 && 1+y_20^0<=x_21^0 && -x_14^post_3==0 && -ct_18^post_3==0 && -y_20^0==0 && head_15^post_3-x_17^post_3==0 && head_15^post_3-x_SLAM_f_19^post_3==0 && 1+head_15^post_3<=0 && 1+head_15^post_3<=y_20^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_3 ], cost: 8
    172: l2 -> l2 : a_234^0'=-1+a_234^0, a_257^0'=-1+a_234^0, ct_18^0'=ct_18^post_3, head_15^0'=head_15^post_3, r_37^0'=r_37^post_3, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_3, t_24^0'=x_21^0, x_14^0'=x_14^post_3, x_17^0'=x_17^post_3, x_SLAM_f_19^0'=x_SLAM_f_19^post_3, [ 0<=a_234^0 && 1+x_21^0<=y_20^0 && -x_14^post_3==0 && -ct_18^post_3==0 && -y_20^0==0 && head_15^post_3-x_17^post_3==0 && head_15^post_3-x_SLAM_f_19^post_3==0 && 1<=head_15^post_3 && 1+y_20^0<=head_15^post_3 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_3 ], cost: 8
    173: l2 -> l2 : a_234^0'=-1+a_234^0, a_257^0'=-1+a_234^0, ct_18^0'=ct_18^post_3, head_15^0'=head_15^post_3, r_37^0'=r_37^post_3, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_3, t_24^0'=x_21^0, x_14^0'=x_14^post_3, x_17^0'=x_17^post_3, x_SLAM_f_19^0'=x_SLAM_f_19^post_3, [ 0<=a_234^0 && 1+x_21^0<=y_20^0 && -x_14^post_3==0 && -ct_18^post_3==0 && -y_20^0==0 && head_15^post_3-x_17^post_3==0 && head_15^post_3-x_SLAM_f_19^post_3==0 && 1+head_15^post_3<=0 && 1+head_15^post_3<=y_20^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_3 ], cost: 8
     39: l26 -> l2 : len_129^0'=1+a_212^0, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 ], cost: 1
    160: l41 -> l26 : a_212^0'=a_234^0, ct_18^0'=ct_18^post_30, head_15^0'=head_15^post_30, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_30, t_24^0'=head_15^0, x_14^0'=x_14^post_30, x_17^0'=x_17^post_30, x_21^0'=head_15^0, x_SLAM_f_19^0'=x_SLAM_f_19^post_30, y_20^0'=0, [ 0<=a_144^0 && 0<=len_129^0 && -x_14^0==0 && 1<=head_15^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_62 && -x_14^post_30==0 && -ct_18^post_30==0 && head_15^post_30-x_17^post_30==0 && head_15^post_30-x_SLAM_f_19^post_30==0 && head_15^post_30-head_15^0==0 && 1<=head_15^post_30 ], cost: 9
    161: l41 -> l26 : a_212^0'=a_234^0, ct_18^0'=ct_18^post_30, head_15^0'=head_15^post_30, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_30, t_24^0'=head_15^0, x_14^0'=x_14^post_30, x_17^0'=x_17^post_30, x_21^0'=head_15^0, x_SLAM_f_19^0'=x_SLAM_f_19^post_30, y_20^0'=0, [ 0<=a_144^0 && 0<=len_129^0 && -x_14^0==0 && 1+head_15^0<=0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_62 && -x_14^post_30==0 && -ct_18^post_30==0 && head_15^post_30-x_17^post_30==0 && head_15^post_30-x_SLAM_f_19^post_30==0 && head_15^post_30-head_15^0==0 && 1+head_15^post_30<=0 ], cost: 9
    162: l41 -> l41 : a_144^0'=-1+a_144^0, a_181^0'=-1+a_144^0, f_167^0'=f_167^post_66, head_15^0'=head_15^post_66, len_129^0'=1+len_129^0, len_180^0'=1+len_129^0, r_37^0'=r_37^post_66, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66, x_172^0'=x_172^post_66, [ 0<=a_144^0 && 0<=len_129^0 && 1<=x_14^0 && x_14^0-f_167^post_66==0 && 1<=head_15^post_66 && 1<=x_172^post_66 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66 ], cost: 7
    163: l41 -> l41 : a_144^0'=-1+a_144^0, a_181^0'=-1+a_144^0, f_167^0'=f_167^post_66, head_15^0'=head_15^post_66, len_129^0'=1+len_129^0, len_180^0'=1+len_129^0, r_37^0'=r_37^post_66, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66, x_172^0'=x_172^post_66, [ 0<=a_144^0 && 0<=len_129^0 && 1<=x_14^0 && x_14^0-f_167^post_66==0 && 1<=head_15^post_66 && 1+x_172^post_66<=0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66 ], cost: 7
    164: l41 -> l41 : a_144^0'=-1+a_144^0, a_181^0'=-1+a_144^0, f_167^0'=f_167^post_66, head_15^0'=head_15^post_66, len_129^0'=1+len_129^0, len_180^0'=1+len_129^0, r_37^0'=r_37^post_66, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66, x_172^0'=x_172^post_66, [ 0<=a_144^0 && 0<=len_129^0 && 1<=x_14^0 && x_14^0-f_167^post_66==0 && 1+head_15^post_66<=0 && 1<=x_172^post_66 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66 ], cost: 7
    165: l41 -> l41 : a_144^0'=-1+a_144^0, a_181^0'=-1+a_144^0, f_167^0'=f_167^post_66, head_15^0'=head_15^post_66, len_129^0'=1+len_129^0, len_180^0'=1+len_129^0, r_37^0'=r_37^post_66, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66, x_172^0'=x_172^post_66, [ 0<=a_144^0 && 0<=len_129^0 && 1<=x_14^0 && x_14^0-f_167^post_66==0 && 1+head_15^post_66<=0 && 1+x_172^post_66<=0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66 ], cost: 7
    166: l41 -> l41 : a_144^0'=-1+a_144^0, a_181^0'=-1+a_144^0, f_167^0'=f_167^post_66, head_15^0'=head_15^post_66, len_129^0'=1+len_129^0, len_180^0'=1+len_129^0, r_37^0'=r_37^post_66, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66, x_172^0'=x_172^post_66, [ 0<=a_144^0 && 0<=len_129^0 && 1+x_14^0<=0 && x_14^0-f_167^post_66==0 && 1<=head_15^post_66 && 1<=x_172^post_66 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66 ], cost: 7
    167: l41 -> l41 : a_144^0'=-1+a_144^0, a_181^0'=-1+a_144^0, f_167^0'=f_167^post_66, head_15^0'=head_15^post_66, len_129^0'=1+len_129^0, len_180^0'=1+len_129^0, r_37^0'=r_37^post_66, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66, x_172^0'=x_172^post_66, [ 0<=a_144^0 && 0<=len_129^0 && 1+x_14^0<=0 && x_14^0-f_167^post_66==0 && 1<=head_15^post_66 && 1+x_172^post_66<=0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66 ], cost: 7
    168: l41 -> l41 : a_144^0'=-1+a_144^0, a_181^0'=-1+a_144^0, f_167^0'=f_167^post_66, head_15^0'=head_15^post_66, len_129^0'=1+len_129^0, len_180^0'=1+len_129^0, r_37^0'=r_37^post_66, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66, x_172^0'=x_172^post_66, [ 0<=a_144^0 && 0<=len_129^0 && 1+x_14^0<=0 && x_14^0-f_167^post_66==0 && 1+head_15^post_66<=0 && 1<=x_172^post_66 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66 ], cost: 7
    169: l41 -> l41 : a_144^0'=-1+a_144^0, a_181^0'=-1+a_144^0, f_167^0'=f_167^post_66, head_15^0'=head_15^post_66, len_129^0'=1+len_129^0, len_180^0'=1+len_129^0, r_37^0'=r_37^post_66, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66, x_172^0'=x_172^post_66, [ 0<=a_144^0 && 0<=len_129^0 && 1+x_14^0<=0 && x_14^0-f_167^post_66==0 && 1+head_15^post_66<=0 && 1+x_172^post_66<=0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66 ], cost: 7
    140: l65 -> l41 : head_15^0'=temp_33^post_102, head_30^0'=head_30^post_95, i_164^0'=i_164^post_95, i_28^0'=a_144^0, length_27^0'=length_27^post_95, nondet_12^0'=nondet_12^post_1, rcd_56^0'=rcd_56^post_61, result_11^0'=result_11^post_95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_95, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95, temp0_29^0'=temp0_29^post_95, temp_33^0'=temp_33^post_95, tmp_32^0'=tmp_32^post_95, x_14^0'=temp_33^post_102, [ 2<=nondet_12^1_1 && nondet_12^1_1<=2 && -len_129^0==0 && 1<=temp_33^post_102 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95<=a_144^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95<=i_164^post_95 ], cost: 7
    141: l65 -> l41 : head_15^0'=temp_33^post_102, head_30^0'=head_30^post_95, i_164^0'=i_164^post_95, i_28^0'=a_144^0, length_27^0'=length_27^post_95, nondet_12^0'=nondet_12^post_1, rcd_56^0'=rcd_56^post_61, result_11^0'=result_11^post_95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_95, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95, temp0_29^0'=temp0_29^post_95, temp_33^0'=temp_33^post_95, tmp_32^0'=tmp_32^post_95, x_14^0'=temp_33^post_102, [ 2<=nondet_12^1_1 && nondet_12^1_1<=2 && -len_129^0==0 && 1+temp_33^post_102<=0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95<=a_144^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95<=i_164^post_95 ], cost: 7
    142: l65 -> l41 : head_15^0'=temp_33^post_99, head_30^0'=head_30^post_95, i_164^0'=i_164^post_95, i_28^0'=a_144^0, i_92^0'=-1+nondet_12^1_1, length_27^0'=length_27^post_95, nondet_12^0'=nondet_12^post_1, rcd_56^0'=rcd_56^post_61, rcd_86^0'=rcd_86^post_99, result_11^0'=result_11^post_95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_95, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95, temp0_29^0'=temp0_29^post_95, temp_33^0'=temp_33^post_95, tmp_32^0'=tmp_32^post_95, x_14^0'=temp_33^post_99, [ -2+nondet_12^1_1>=1 && -len_129^0==0 && 1<=temp_33^post_99 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95<=a_144^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95<=i_164^post_95 ], cost: 3+2*nondet_12^1_1
    143: l65 -> l41 : head_15^0'=temp_33^post_99, head_30^0'=head_30^post_95, i_164^0'=i_164^post_95, i_28^0'=a_144^0, i_92^0'=-1+nondet_12^1_1, length_27^0'=length_27^post_95, nondet_12^0'=nondet_12^post_1, rcd_56^0'=rcd_56^post_61, rcd_86^0'=rcd_86^post_99, result_11^0'=result_11^post_95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_95, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95, temp0_29^0'=temp0_29^post_95, temp_33^0'=temp_33^post_95, tmp_32^0'=tmp_32^post_95, x_14^0'=temp_33^post_99, [ -2+nondet_12^1_1>=1 && -len_129^0==0 && 1+temp_33^post_99<=0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95<=a_144^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95<=i_164^post_95 ], cost: 3+2*nondet_12^1_1

Applied pruning (of leafs and parallel rules):
   Start location: l65
    170: l2 -> l2 : a_234^0'=-1+a_234^0, a_257^0'=-1+a_234^0, ct_18^0'=ct_18^post_3, head_15^0'=head_15^post_3, r_37^0'=r_37^post_3, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_3, t_24^0'=x_21^0, x_14^0'=x_14^post_3, x_17^0'=x_17^post_3, x_SLAM_f_19^0'=x_SLAM_f_19^post_3, [ 0<=a_234^0 && 1+y_20^0<=x_21^0 && -x_14^post_3==0 && -ct_18^post_3==0 && -y_20^0==0 && head_15^post_3-x_17^post_3==0 && head_15^post_3-x_SLAM_f_19^post_3==0 && 1<=head_15^post_3 && 1+y_20^0<=head_15^post_3 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_3 ], cost: 8
    171: l2 -> l2 : a_234^0'=-1+a_234^0, a_257^0'=-1+a_234^0, ct_18^0'=ct_18^post_3, head_15^0'=head_15^post_3, r_37^0'=r_37^post_3, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_3, t_24^0'=x_21^0, x_14^0'=x_14^post_3, x_17^0'=x_17^post_3, x_SLAM_f_19^0'=x_SLAM_f_19^post_3, [ 0<=a_234^0 && 1+y_20^0<=x_21^0 && -x_14^post_3==0 && -ct_18^post_3==0 && -y_20^0==0 && head_15^post_3-x_17^post_3==0 && head_15^post_3-x_SLAM_f_19^post_3==0 && 1+head_15^post_3<=0 && 1+head_15^post_3<=y_20^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_3 ], cost: 8
    172: l2 -> l2 : a_234^0'=-1+a_234^0, a_257^0'=-1+a_234^0, ct_18^0'=ct_18^post_3, head_15^0'=head_15^post_3, r_37^0'=r_37^post_3, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_3, t_24^0'=x_21^0, x_14^0'=x_14^post_3, x_17^0'=x_17^post_3, x_SLAM_f_19^0'=x_SLAM_f_19^post_3, [ 0<=a_234^0 && 1+x_21^0<=y_20^0 && -x_14^post_3==0 && -ct_18^post_3==0 && -y_20^0==0 && head_15^post_3-x_17^post_3==0 && head_15^post_3-x_SLAM_f_19^post_3==0 && 1<=head_15^post_3 && 1+y_20^0<=head_15^post_3 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_3 ], cost: 8
    173: l2 -> l2 : a_234^0'=-1+a_234^0, a_257^0'=-1+a_234^0, ct_18^0'=ct_18^post_3, head_15^0'=head_15^post_3, r_37^0'=r_37^post_3, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_3, t_24^0'=x_21^0, x_14^0'=x_14^post_3, x_17^0'=x_17^post_3, x_SLAM_f_19^0'=x_SLAM_f_19^post_3, [ 0<=a_234^0 && 1+x_21^0<=y_20^0 && -x_14^post_3==0 && -ct_18^post_3==0 && -y_20^0==0 && head_15^post_3-x_17^post_3==0 && head_15^post_3-x_SLAM_f_19^post_3==0 && 1+head_15^post_3<=0 && 1+head_15^post_3<=y_20^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_3 ], cost: 8
     39: l26 -> l2 : len_129^0'=1+a_212^0, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 ], cost: 1
    160: l41 -> l26 : a_212^0'=a_234^0, ct_18^0'=ct_18^post_30, head_15^0'=head_15^post_30, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_30, t_24^0'=head_15^0, x_14^0'=x_14^post_30, x_17^0'=x_17^post_30, x_21^0'=head_15^0, x_SLAM_f_19^0'=x_SLAM_f_19^post_30, y_20^0'=0, [ 0<=a_144^0 && 0<=len_129^0 && -x_14^0==0 && 1<=head_15^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_62 && -x_14^post_30==0 && -ct_18^post_30==0 && head_15^post_30-x_17^post_30==0 && head_15^post_30-x_SLAM_f_19^post_30==0 && head_15^post_30-head_15^0==0 && 1<=head_15^post_30 ], cost: 9
    161: l41 -> l26 : a_212^0'=a_234^0, ct_18^0'=ct_18^post_30, head_15^0'=head_15^post_30, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_30, t_24^0'=head_15^0, x_14^0'=x_14^post_30, x_17^0'=x_17^post_30, x_21^0'=head_15^0, x_SLAM_f_19^0'=x_SLAM_f_19^post_30, y_20^0'=0, [ 0<=a_144^0 && 0<=len_129^0 && -x_14^0==0 && 1+head_15^0<=0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_62 && -x_14^post_30==0 && -ct_18^post_30==0 && head_15^post_30-x_17^post_30==0 && head_15^post_30-x_SLAM_f_19^post_30==0 && head_15^post_30-head_15^0==0 && 1+head_15^post_30<=0 ], cost: 9
    162: l41 -> l41 : a_144^0'=-1+a_144^0, a_181^0'=-1+a_144^0, f_167^0'=f_167^post_66, head_15^0'=head_15^post_66, len_129^0'=1+len_129^0, len_180^0'=1+len_129^0, r_37^0'=r_37^post_66, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66, x_172^0'=x_172^post_66, [ 0<=a_144^0 && 0<=len_129^0 && 1<=x_14^0 && x_14^0-f_167^post_66==0 && 1<=head_15^post_66 && 1<=x_172^post_66 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66 ], cost: 7
    163: l41 -> l41 : a_144^0'=-1+a_144^0, a_181^0'=-1+a_144^0, f_167^0'=f_167^post_66, head_15^0'=head_15^post_66, len_129^0'=1+len_129^0, len_180^0'=1+len_129^0, r_37^0'=r_37^post_66, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66, x_172^0'=x_172^post_66, [ 0<=a_144^0 && 0<=len_129^0 && 1<=x_14^0 && x_14^0-f_167^post_66==0 && 1<=head_15^post_66 && 1+x_172^post_66<=0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66 ], cost: 7
    165: l41 -> l41 : a_144^0'=-1+a_144^0, a_181^0'=-1+a_144^0, f_167^0'=f_167^post_66, head_15^0'=head_15^post_66, len_129^0'=1+len_129^0, len_180^0'=1+len_129^0, r_37^0'=r_37^post_66, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66, x_172^0'=x_172^post_66, [ 0<=a_144^0 && 0<=len_129^0 && 1<=x_14^0 && x_14^0-f_167^post_66==0 && 1+head_15^post_66<=0 && 1+x_172^post_66<=0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66 ], cost: 7
    166: l41 -> l41 : a_144^0'=-1+a_144^0, a_181^0'=-1+a_144^0, f_167^0'=f_167^post_66, head_15^0'=head_15^post_66, len_129^0'=1+len_129^0, len_180^0'=1+len_129^0, r_37^0'=r_37^post_66, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66, x_172^0'=x_172^post_66, [ 0<=a_144^0 && 0<=len_129^0 && 1+x_14^0<=0 && x_14^0-f_167^post_66==0 && 1<=head_15^post_66 && 1<=x_172^post_66 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66 ], cost: 7
    167: l41 -> l41 : a_144^0'=-1+a_144^0, a_181^0'=-1+a_144^0, f_167^0'=f_167^post_66, head_15^0'=head_15^post_66, len_129^0'=1+len_129^0, len_180^0'=1+len_129^0, r_37^0'=r_37^post_66, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66, x_172^0'=x_172^post_66, [ 0<=a_144^0 && 0<=len_129^0 && 1+x_14^0<=0 && x_14^0-f_167^post_66==0 && 1<=head_15^post_66 && 1+x_172^post_66<=0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66 ], cost: 7
    140: l65 -> l41 : head_15^0'=temp_33^post_102, head_30^0'=head_30^post_95, i_164^0'=i_164^post_95, i_28^0'=a_144^0, length_27^0'=length_27^post_95, nondet_12^0'=nondet_12^post_1, rcd_56^0'=rcd_56^post_61, result_11^0'=result_11^post_95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_95, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95, temp0_29^0'=temp0_29^post_95, temp_33^0'=temp_33^post_95, tmp_32^0'=tmp_32^post_95, x_14^0'=temp_33^post_102, [ 2<=nondet_12^1_1 && nondet_12^1_1<=2 && -len_129^0==0 && 1<=temp_33^post_102 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95<=a_144^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95<=i_164^post_95 ], cost: 7
    141: l65 -> l41 : head_15^0'=temp_33^post_102, head_30^0'=head_30^post_95, i_164^0'=i_164^post_95, i_28^0'=a_144^0, length_27^0'=length_27^post_95, nondet_12^0'=nondet_12^post_1, rcd_56^0'=rcd_56^post_61, result_11^0'=result_11^post_95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_95, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95, temp0_29^0'=temp0_29^post_95, temp_33^0'=temp_33^post_95, tmp_32^0'=tmp_32^post_95, x_14^0'=temp_33^post_102, [ 2<=nondet_12^1_1 && nondet_12^1_1<=2 && -len_129^0==0 && 1+temp_33^post_102<=0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95<=a_144^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95<=i_164^post_95 ], cost: 7
    142: l65 -> l41 : head_15^0'=temp_33^post_99, head_30^0'=head_30^post_95, i_164^0'=i_164^post_95, i_28^0'=a_144^0, i_92^0'=-1+nondet_12^1_1, length_27^0'=length_27^post_95, nondet_12^0'=nondet_12^post_1, rcd_56^0'=rcd_56^post_61, rcd_86^0'=rcd_86^post_99, result_11^0'=result_11^post_95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_95, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95, temp0_29^0'=temp0_29^post_95, temp_33^0'=temp_33^post_95, tmp_32^0'=tmp_32^post_95, x_14^0'=temp_33^post_99, [ -2+nondet_12^1_1>=1 && -len_129^0==0 && 1<=temp_33^post_99 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95<=a_144^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95<=i_164^post_95 ], cost: 3+2*nondet_12^1_1
    143: l65 -> l41 : head_15^0'=temp_33^post_99, head_30^0'=head_30^post_95, i_164^0'=i_164^post_95, i_28^0'=a_144^0, i_92^0'=-1+nondet_12^1_1, length_27^0'=length_27^post_95, nondet_12^0'=nondet_12^post_1, rcd_56^0'=rcd_56^post_61, rcd_86^0'=rcd_86^post_99, result_11^0'=result_11^post_95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_95, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95, temp0_29^0'=temp0_29^post_95, temp_33^0'=temp_33^post_95, tmp_32^0'=tmp_32^post_95, x_14^0'=temp_33^post_99, [ -2+nondet_12^1_1>=1 && -len_129^0==0 && 1+temp_33^post_99<=0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95<=a_144^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95<=i_164^post_95 ], cost: 3+2*nondet_12^1_1

Accelerating simple loops of location 2.
   Simplified some of the simple loops (and removed duplicate rules).
   Accelerating the following rules:
    170: l2 -> l2 : a_234^0'=-1+a_234^0, a_257^0'=-1+a_234^0, ct_18^0'=0, head_15^0'=x_17^post_3, r_37^0'=r_37^post_3, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_3, t_24^0'=x_21^0, x_14^0'=0, x_17^0'=x_17^post_3, x_SLAM_f_19^0'=x_17^post_3, [ 0<=a_234^0 && 1+y_20^0<=x_21^0 && -y_20^0==0 && 1<=x_17^post_3 && 1+y_20^0<=x_17^post_3 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_3 ], cost: 8
    171: l2 -> l2 : a_234^0'=-1+a_234^0, a_257^0'=-1+a_234^0, ct_18^0'=0, head_15^0'=x_17^post_3, r_37^0'=r_37^post_3, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_3, t_24^0'=x_21^0, x_14^0'=0, x_17^0'=x_17^post_3, x_SLAM_f_19^0'=x_17^post_3, [ 0<=a_234^0 && 1+y_20^0<=x_21^0 && -y_20^0==0 && 1+x_17^post_3<=0 && 1+x_17^post_3<=y_20^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_3 ], cost: 8
    172: l2 -> l2 : a_234^0'=-1+a_234^0, a_257^0'=-1+a_234^0, ct_18^0'=0, head_15^0'=x_17^post_3, r_37^0'=r_37^post_3, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_3, t_24^0'=x_21^0, x_14^0'=0, x_17^0'=x_17^post_3, x_SLAM_f_19^0'=x_17^post_3, [ 0<=a_234^0 && 1+x_21^0<=y_20^0 && -y_20^0==0 && 1<=x_17^post_3 && 1+y_20^0<=x_17^post_3 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_3 ], cost: 8
    173: l2 -> l2 : a_234^0'=-1+a_234^0, a_257^0'=-1+a_234^0, ct_18^0'=0, head_15^0'=x_17^post_3, r_37^0'=r_37^post_3, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_3, t_24^0'=x_21^0, x_14^0'=0, x_17^0'=x_17^post_3, x_SLAM_f_19^0'=x_17^post_3, [ 0<=a_234^0 && 1+x_21^0<=y_20^0 && -y_20^0==0 && 1+x_17^post_3<=0 && 1+x_17^post_3<=y_20^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_3 ], cost: 8

   Accelerated rule 170 with backward acceleration, yielding the new rule 174.
   Accelerated rule 171 with backward acceleration, yielding the new rule 175.
   Accelerated rule 172 with backward acceleration, yielding the new rule 176.
   Accelerated rule 173 with backward acceleration, yielding the new rule 177.
[accelerate] Nesting with 4 inner and 4 outer candidates
   Removing the simple loops: 170 171 172 173.

Accelerating simple loops of location 41.
   Simplified some of the simple loops (and removed duplicate rules).
   Accelerating the following rules:
    162: l41 -> l41 : a_144^0'=-1+a_144^0, a_181^0'=-1+a_144^0, f_167^0'=x_14^0, head_15^0'=head_15^post_66, len_129^0'=1+len_129^0, len_180^0'=1+len_129^0, r_37^0'=r_37^post_66, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66, x_172^0'=x_172^post_66, [ 0<=a_144^0 && 0<=len_129^0 && 1<=x_14^0 && 1<=head_15^post_66 && 1<=x_172^post_66 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66 ], cost: 7
    163: l41 -> l41 : a_144^0'=-1+a_144^0, a_181^0'=-1+a_144^0, f_167^0'=x_14^0, head_15^0'=head_15^post_66, len_129^0'=1+len_129^0, len_180^0'=1+len_129^0, r_37^0'=r_37^post_66, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66, x_172^0'=x_172^post_66, [ 0<=a_144^0 && 0<=len_129^0 && 1<=x_14^0 && 1<=head_15^post_66 && 1+x_172^post_66<=0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66 ], cost: 7
    165: l41 -> l41 : a_144^0'=-1+a_144^0, a_181^0'=-1+a_144^0, f_167^0'=x_14^0, head_15^0'=head_15^post_66, len_129^0'=1+len_129^0, len_180^0'=1+len_129^0, r_37^0'=r_37^post_66, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66, x_172^0'=x_172^post_66, [ 0<=a_144^0 && 0<=len_129^0 && 1<=x_14^0 && 1+head_15^post_66<=0 && 1+x_172^post_66<=0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66 ], cost: 7
    166: l41 -> l41 : a_144^0'=-1+a_144^0, a_181^0'=-1+a_144^0, f_167^0'=x_14^0, head_15^0'=head_15^post_66, len_129^0'=1+len_129^0, len_180^0'=1+len_129^0, r_37^0'=r_37^post_66, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66, x_172^0'=x_172^post_66, [ 0<=a_144^0 && 0<=len_129^0 && 1+x_14^0<=0 && 1<=head_15^post_66 && 1<=x_172^post_66 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66 ], cost: 7
    167: l41 -> l41 : a_144^0'=-1+a_144^0, a_181^0'=-1+a_144^0, f_167^0'=x_14^0, head_15^0'=head_15^post_66, len_129^0'=1+len_129^0, len_180^0'=1+len_129^0, r_37^0'=r_37^post_66, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66, x_172^0'=x_172^post_66, [ 0<=a_144^0 && 0<=len_129^0 && 1+x_14^0<=0 && 1<=head_15^post_66 && 1+x_172^post_66<=0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66 ], cost: 7

   Accelerated rule 162 with backward acceleration, yielding the new rule 178.
   Accelerated rule 163 with backward acceleration, yielding the new rule 179.
   Accelerated rule 165 with backward acceleration, yielding the new rule 180.
   Accelerated rule 166 with backward acceleration, yielding the new rule 181.
   Accelerated rule 167 with backward acceleration, yielding the new rule 182.
[accelerate] Nesting with 5 inner and 5 outer candidates
   Removing the simple loops: 162 163 165 166 167.

Accelerated all simple loops using metering functions (where possible):
   Start location: l65
    174: l2 -> l2 : a_234^0'=-1, a_257^0'=-1, ct_18^0'=0, head_15^0'=x_17^post_3, r_37^0'=r_37^post_3, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_3, t_24^0'=x_21^0, x_14^0'=0, x_17^0'=x_17^post_3, x_SLAM_f_19^0'=x_17^post_3, [ 1+y_20^0<=x_21^0 && -y_20^0==0 && 1<=x_17^post_3 && 1+y_20^0<=x_17^post_3 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_3 && 1+a_234^0>=1 ], cost: 8+8*a_234^0
    175: l2 -> l2 : a_234^0'=-1, a_257^0'=-1, ct_18^0'=0, head_15^0'=x_17^post_3, r_37^0'=r_37^post_3, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_3, t_24^0'=x_21^0, x_14^0'=0, x_17^0'=x_17^post_3, x_SLAM_f_19^0'=x_17^post_3, [ 1+y_20^0<=x_21^0 && -y_20^0==0 && 1+x_17^post_3<=0 && 1+x_17^post_3<=y_20^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_3 && 1+a_234^0>=1 ], cost: 8+8*a_234^0
    176: l2 -> l2 : a_234^0'=-1, a_257^0'=-1, ct_18^0'=0, head_15^0'=x_17^post_3, r_37^0'=r_37^post_3, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_3, t_24^0'=x_21^0, x_14^0'=0, x_17^0'=x_17^post_3, x_SLAM_f_19^0'=x_17^post_3, [ 1+x_21^0<=y_20^0 && -y_20^0==0 && 1<=x_17^post_3 && 1+y_20^0<=x_17^post_3 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_3 && 1+a_234^0>=1 ], cost: 8+8*a_234^0
    177: l2 -> l2 : a_234^0'=-1, a_257^0'=-1, ct_18^0'=0, head_15^0'=x_17^post_3, r_37^0'=r_37^post_3, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_3, t_24^0'=x_21^0, x_14^0'=0, x_17^0'=x_17^post_3, x_SLAM_f_19^0'=x_17^post_3, [ 1+x_21^0<=y_20^0 && -y_20^0==0 && 1+x_17^post_3<=0 && 1+x_17^post_3<=y_20^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_3 && 1+a_234^0>=1 ], cost: 8+8*a_234^0
     39: l26 -> l2 : len_129^0'=1+a_212^0, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 ], cost: 1
    160: l41 -> l26 : a_212^0'=a_234^0, ct_18^0'=ct_18^post_30, head_15^0'=head_15^post_30, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_30, t_24^0'=head_15^0, x_14^0'=x_14^post_30, x_17^0'=x_17^post_30, x_21^0'=head_15^0, x_SLAM_f_19^0'=x_SLAM_f_19^post_30, y_20^0'=0, [ 0<=a_144^0 && 0<=len_129^0 && -x_14^0==0 && 1<=head_15^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_62 && -x_14^post_30==0 && -ct_18^post_30==0 && head_15^post_30-x_17^post_30==0 && head_15^post_30-x_SLAM_f_19^post_30==0 && head_15^post_30-head_15^0==0 && 1<=head_15^post_30 ], cost: 9
    161: l41 -> l26 : a_212^0'=a_234^0, ct_18^0'=ct_18^post_30, head_15^0'=head_15^post_30, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_30, t_24^0'=head_15^0, x_14^0'=x_14^post_30, x_17^0'=x_17^post_30, x_21^0'=head_15^0, x_SLAM_f_19^0'=x_SLAM_f_19^post_30, y_20^0'=0, [ 0<=a_144^0 && 0<=len_129^0 && -x_14^0==0 && 1+head_15^0<=0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_62 && -x_14^post_30==0 && -ct_18^post_30==0 && head_15^post_30-x_17^post_30==0 && head_15^post_30-x_SLAM_f_19^post_30==0 && head_15^post_30-head_15^0==0 && 1+head_15^post_30<=0 ], cost: 9
    178: l41 -> l41 : a_144^0'=-1, a_181^0'=-1, f_167^0'=x_14^0, head_15^0'=head_15^post_66, len_129^0'=1+a_144^0+len_129^0, len_180^0'=1+a_144^0+len_129^0, r_37^0'=r_37^post_66, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66, x_172^0'=x_172^post_66, [ 0<=len_129^0 && 1<=x_14^0 && 1<=head_15^post_66 && 1<=x_172^post_66 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66 && 1+a_144^0>=1 ], cost: 7+7*a_144^0
    179: l41 -> l41 : a_144^0'=-1, a_181^0'=-1, f_167^0'=x_14^0, head_15^0'=head_15^post_66, len_129^0'=1+a_144^0+len_129^0, len_180^0'=1+a_144^0+len_129^0, r_37^0'=r_37^post_66, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66, x_172^0'=x_172^post_66, [ 0<=len_129^0 && 1<=x_14^0 && 1<=head_15^post_66 && 1+x_172^post_66<=0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66 && 1+a_144^0>=1 ], cost: 7+7*a_144^0
    180: l41 -> l41 : a_144^0'=-1, a_181^0'=-1, f_167^0'=x_14^0, head_15^0'=head_15^post_66, len_129^0'=1+a_144^0+len_129^0, len_180^0'=1+a_144^0+len_129^0, r_37^0'=r_37^post_66, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66, x_172^0'=x_172^post_66, [ 0<=len_129^0 && 1<=x_14^0 && 1+head_15^post_66<=0 && 1+x_172^post_66<=0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66 && 1+a_144^0>=1 ], cost: 7+7*a_144^0
    181: l41 -> l41 : a_144^0'=-1, a_181^0'=-1, f_167^0'=x_14^0, head_15^0'=head_15^post_66, len_129^0'=1+a_144^0+len_129^0, len_180^0'=1+a_144^0+len_129^0, r_37^0'=r_37^post_66, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66, x_172^0'=x_172^post_66, [ 0<=len_129^0 && 1+x_14^0<=0 && 1<=head_15^post_66 && 1<=x_172^post_66 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66 && 1+a_144^0>=1 ], cost: 7+7*a_144^0
    182: l41 -> l41 : a_144^0'=-1, a_181^0'=-1, f_167^0'=x_14^0, head_15^0'=head_15^post_66, len_129^0'=1+a_144^0+len_129^0, len_180^0'=1+a_144^0+len_129^0, r_37^0'=r_37^post_66, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66, x_172^0'=x_172^post_66, [ 0<=len_129^0 && 1+x_14^0<=0 && 1<=head_15^post_66 && 1+x_172^post_66<=0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66 && 1+a_144^0>=1 ], cost: 7+7*a_144^0
    140: l65 -> l41 : head_15^0'=temp_33^post_102, head_30^0'=head_30^post_95, i_164^0'=i_164^post_95, i_28^0'=a_144^0, length_27^0'=length_27^post_95, nondet_12^0'=nondet_12^post_1, rcd_56^0'=rcd_56^post_61, result_11^0'=result_11^post_95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_95, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95, temp0_29^0'=temp0_29^post_95, temp_33^0'=temp_33^post_95, tmp_32^0'=tmp_32^post_95, x_14^0'=temp_33^post_102, [ 2<=nondet_12^1_1 && nondet_12^1_1<=2 && -len_129^0==0 && 1<=temp_33^post_102 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95<=a_144^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95<=i_164^post_95 ], cost: 7
    141: l65 -> l41 : head_15^0'=temp_33^post_102, head_30^0'=head_30^post_95, i_164^0'=i_164^post_95, i_28^0'=a_144^0, length_27^0'=length_27^post_95, nondet_12^0'=nondet_12^post_1, rcd_56^0'=rcd_56^post_61, result_11^0'=result_11^post_95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_95, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95, temp0_29^0'=temp0_29^post_95, temp_33^0'=temp_33^post_95, tmp_32^0'=tmp_32^post_95, x_14^0'=temp_33^post_102, [ 2<=nondet_12^1_1 && nondet_12^1_1<=2 && -len_129^0==0 && 1+temp_33^post_102<=0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95<=a_144^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95<=i_164^post_95 ], cost: 7
    142: l65 -> l41 : head_15^0'=temp_33^post_99, head_30^0'=head_30^post_95, i_164^0'=i_164^post_95, i_28^0'=a_144^0, i_92^0'=-1+nondet_12^1_1, length_27^0'=length_27^post_95, nondet_12^0'=nondet_12^post_1, rcd_56^0'=rcd_56^post_61, rcd_86^0'=rcd_86^post_99, result_11^0'=result_11^post_95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_95, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95, temp0_29^0'=temp0_29^post_95, temp_33^0'=temp_33^post_95, tmp_32^0'=tmp_32^post_95, x_14^0'=temp_33^post_99, [ -2+nondet_12^1_1>=1 && -len_129^0==0 && 1<=temp_33^post_99 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95<=a_144^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95<=i_164^post_95 ], cost: 3+2*nondet_12^1_1
    143: l65 -> l41 : head_15^0'=temp_33^post_99, head_30^0'=head_30^post_95, i_164^0'=i_164^post_95, i_28^0'=a_144^0, i_92^0'=-1+nondet_12^1_1, length_27^0'=length_27^post_95, nondet_12^0'=nondet_12^post_1, rcd_56^0'=rcd_56^post_61, rcd_86^0'=rcd_86^post_99, result_11^0'=result_11^post_95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_95, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95, temp0_29^0'=temp0_29^post_95, temp_33^0'=temp_33^post_95, tmp_32^0'=tmp_32^post_95, x_14^0'=temp_33^post_99, [ -2+nondet_12^1_1>=1 && -len_129^0==0 && 1+temp_33^post_99<=0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95<=a_144^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95<=i_164^post_95 ], cost: 3+2*nondet_12^1_1

Chained accelerated rules (with incoming rules):
   Start location: l65
     39: l26 -> l2 : len_129^0'=1+a_212^0, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 ], cost: 1
    183: l26 -> l2 : a_234^0'=-1, a_257^0'=-1, ct_18^0'=0, head_15^0'=x_17^post_3, len_129^0'=1+a_212^0, r_37^0'=r_37^post_3, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_3, t_24^0'=x_21^0, x_14^0'=0, x_17^0'=x_17^post_3, x_SLAM_f_19^0'=x_17^post_3, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && 1+y_20^0<=x_21^0 && -y_20^0==0 && 1<=x_17^post_3 && 1+y_20^0<=x_17^post_3 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_3 && 1+a_234^0>=1 ], cost: 9+8*a_234^0
    184: l26 -> l2 : a_234^0'=-1, a_257^0'=-1, ct_18^0'=0, head_15^0'=x_17^post_3, len_129^0'=1+a_212^0, r_37^0'=r_37^post_3, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_3, t_24^0'=x_21^0, x_14^0'=0, x_17^0'=x_17^post_3, x_SLAM_f_19^0'=x_17^post_3, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && 1+y_20^0<=x_21^0 && -y_20^0==0 && 1+x_17^post_3<=0 && 1+x_17^post_3<=y_20^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_3 && 1+a_234^0>=1 ], cost: 9+8*a_234^0
    185: l26 -> l2 : a_234^0'=-1, a_257^0'=-1, ct_18^0'=0, head_15^0'=x_17^post_3, len_129^0'=1+a_212^0, r_37^0'=r_37^post_3, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_3, t_24^0'=x_21^0, x_14^0'=0, x_17^0'=x_17^post_3, x_SLAM_f_19^0'=x_17^post_3, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && 1+x_21^0<=y_20^0 && -y_20^0==0 && 1<=x_17^post_3 && 1+y_20^0<=x_17^post_3 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_3 && 1+a_234^0>=1 ], cost: 9+8*a_234^0
    186: l26 -> l2 : a_234^0'=-1, a_257^0'=-1, ct_18^0'=0, head_15^0'=x_17^post_3, len_129^0'=1+a_212^0, r_37^0'=r_37^post_3, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_3, t_24^0'=x_21^0, x_14^0'=0, x_17^0'=x_17^post_3, x_SLAM_f_19^0'=x_17^post_3, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && 1+x_21^0<=y_20^0 && -y_20^0==0 && 1+x_17^post_3<=0 && 1+x_17^post_3<=y_20^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_3 && 1+a_234^0>=1 ], cost: 9+8*a_234^0
    160: l41 -> l26 : a_212^0'=a_234^0, ct_18^0'=ct_18^post_30, head_15^0'=head_15^post_30, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_30, t_24^0'=head_15^0, x_14^0'=x_14^post_30, x_17^0'=x_17^post_30, x_21^0'=head_15^0, x_SLAM_f_19^0'=x_SLAM_f_19^post_30, y_20^0'=0, [ 0<=a_144^0 && 0<=len_129^0 && -x_14^0==0 && 1<=head_15^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_62 && -x_14^post_30==0 && -ct_18^post_30==0 && head_15^post_30-x_17^post_30==0 && head_15^post_30-x_SLAM_f_19^post_30==0 && head_15^post_30-head_15^0==0 && 1<=head_15^post_30 ], cost: 9
    161: l41 -> l26 : a_212^0'=a_234^0, ct_18^0'=ct_18^post_30, head_15^0'=head_15^post_30, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_30, t_24^0'=head_15^0, x_14^0'=x_14^post_30, x_17^0'=x_17^post_30, x_21^0'=head_15^0, x_SLAM_f_19^0'=x_SLAM_f_19^post_30, y_20^0'=0, [ 0<=a_144^0 && 0<=len_129^0 && -x_14^0==0 && 1+head_15^0<=0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_62 && -x_14^post_30==0 && -ct_18^post_30==0 && head_15^post_30-x_17^post_30==0 && head_15^post_30-x_SLAM_f_19^post_30==0 && head_15^post_30-head_15^0==0 && 1+head_15^post_30<=0 ], cost: 9
    140: l65 -> l41 : head_15^0'=temp_33^post_102, head_30^0'=head_30^post_95, i_164^0'=i_164^post_95, i_28^0'=a_144^0, length_27^0'=length_27^post_95, nondet_12^0'=nondet_12^post_1, rcd_56^0'=rcd_56^post_61, result_11^0'=result_11^post_95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_95, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95, temp0_29^0'=temp0_29^post_95, temp_33^0'=temp_33^post_95, tmp_32^0'=tmp_32^post_95, x_14^0'=temp_33^post_102, [ 2<=nondet_12^1_1 && nondet_12^1_1<=2 && -len_129^0==0 && 1<=temp_33^post_102 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95<=a_144^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95<=i_164^post_95 ], cost: 7
    141: l65 -> l41 : head_15^0'=temp_33^post_102, head_30^0'=head_30^post_95, i_164^0'=i_164^post_95, i_28^0'=a_144^0, length_27^0'=length_27^post_95, nondet_12^0'=nondet_12^post_1, rcd_56^0'=rcd_56^post_61, result_11^0'=result_11^post_95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_95, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95, temp0_29^0'=temp0_29^post_95, temp_33^0'=temp_33^post_95, tmp_32^0'=tmp_32^post_95, x_14^0'=temp_33^post_102, [ 2<=nondet_12^1_1 && nondet_12^1_1<=2 && -len_129^0==0 && 1+temp_33^post_102<=0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95<=a_144^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95<=i_164^post_95 ], cost: 7
    142: l65 -> l41 : head_15^0'=temp_33^post_99, head_30^0'=head_30^post_95, i_164^0'=i_164^post_95, i_28^0'=a_144^0, i_92^0'=-1+nondet_12^1_1, length_27^0'=length_27^post_95, nondet_12^0'=nondet_12^post_1, rcd_56^0'=rcd_56^post_61, rcd_86^0'=rcd_86^post_99, result_11^0'=result_11^post_95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_95, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95, temp0_29^0'=temp0_29^post_95, temp_33^0'=temp_33^post_95, tmp_32^0'=tmp_32^post_95, x_14^0'=temp_33^post_99, [ -2+nondet_12^1_1>=1 && -len_129^0==0 && 1<=temp_33^post_99 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95<=a_144^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95<=i_164^post_95 ], cost: 3+2*nondet_12^1_1
    143: l65 -> l41 : head_15^0'=temp_33^post_99, head_30^0'=head_30^post_95, i_164^0'=i_164^post_95, i_28^0'=a_144^0, i_92^0'=-1+nondet_12^1_1, length_27^0'=length_27^post_95, nondet_12^0'=nondet_12^post_1, rcd_56^0'=rcd_56^post_61, rcd_86^0'=rcd_86^post_99, result_11^0'=result_11^post_95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_95, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95, temp0_29^0'=temp0_29^post_95, temp_33^0'=temp_33^post_95, tmp_32^0'=tmp_32^post_95, x_14^0'=temp_33^post_99, [ -2+nondet_12^1_1>=1 && -len_129^0==0 && 1+temp_33^post_99<=0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95<=a_144^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95<=i_164^post_95 ], cost: 3+2*nondet_12^1_1
    187: l65 -> l41 : a_144^0'=-1, a_181^0'=-1, f_167^0'=temp_33^post_102, head_15^0'=head_15^post_66, head_30^0'=head_30^post_95, i_164^0'=i_164^post_95, i_28^0'=a_144^0, len_129^0'=1+a_144^0+len_129^0, len_180^0'=1+a_144^0+len_129^0, length_27^0'=length_27^post_95, nondet_12^0'=nondet_12^post_1, r_37^0'=r_37^post_66, rcd_56^0'=rcd_56^post_61, result_11^0'=result_11^post_95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_95, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66, temp0_29^0'=temp0_29^post_95, temp_33^0'=temp_33^post_95, tmp_32^0'=tmp_32^post_95, x_14^0'=temp_33^post_102, x_172^0'=x_172^post_66, [ -len_129^0==0 && 1<=temp_33^post_102 && 1<=head_15^post_66 && 1<=x_172^post_66 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66 && 2<=a_144^0 && 2<=i_164^post_95 ], cost: 14+7*a_144^0
    188: l65 -> l41 : a_144^0'=-1, a_181^0'=-1, f_167^0'=temp_33^post_99, head_15^0'=head_15^post_66, head_30^0'=head_30^post_95, i_164^0'=i_164^post_95, i_28^0'=a_144^0, i_92^0'=-1+nondet_12^1_1, len_129^0'=1+a_144^0+len_129^0, len_180^0'=1+a_144^0+len_129^0, length_27^0'=length_27^post_95, nondet_12^0'=nondet_12^post_1, r_37^0'=r_37^post_66, rcd_56^0'=rcd_56^post_61, rcd_86^0'=rcd_86^post_99, result_11^0'=result_11^post_95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_95, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66, temp0_29^0'=temp0_29^post_95, temp_33^0'=temp_33^post_95, tmp_32^0'=tmp_32^post_95, x_14^0'=temp_33^post_99, x_172^0'=x_172^post_66, [ -2+nondet_12^1_1>=1 && -len_129^0==0 && 1<=temp_33^post_99 && 1<=head_15^post_66 && 1<=x_172^post_66 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66 && 2<=a_144^0 && 2<=i_164^post_95 ], cost: 10+7*a_144^0+2*nondet_12^1_1
    189: l65 -> l41 : a_144^0'=-1, a_181^0'=-1, f_167^0'=temp_33^post_102, head_15^0'=head_15^post_66, head_30^0'=head_30^post_95, i_164^0'=i_164^post_95, i_28^0'=a_144^0, len_129^0'=1+a_144^0+len_129^0, len_180^0'=1+a_144^0+len_129^0, length_27^0'=length_27^post_95, nondet_12^0'=nondet_12^post_1, r_37^0'=r_37^post_66, rcd_56^0'=rcd_56^post_61, result_11^0'=result_11^post_95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_95, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66, temp0_29^0'=temp0_29^post_95, temp_33^0'=temp_33^post_95, tmp_32^0'=tmp_32^post_95, x_14^0'=temp_33^post_102, x_172^0'=x_172^post_66, [ -len_129^0==0 && 1<=temp_33^post_102 && 1<=head_15^post_66 && 1+x_172^post_66<=0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66 && 2<=a_144^0 && 2<=i_164^post_95 ], cost: 14+7*a_144^0
    190: l65 -> l41 : a_144^0'=-1, a_181^0'=-1, f_167^0'=temp_33^post_99, head_15^0'=head_15^post_66, head_30^0'=head_30^post_95, i_164^0'=i_164^post_95, i_28^0'=a_144^0, i_92^0'=-1+nondet_12^1_1, len_129^0'=1+a_144^0+len_129^0, len_180^0'=1+a_144^0+len_129^0, length_27^0'=length_27^post_95, nondet_12^0'=nondet_12^post_1, r_37^0'=r_37^post_66, rcd_56^0'=rcd_56^post_61, rcd_86^0'=rcd_86^post_99, result_11^0'=result_11^post_95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_95, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66, temp0_29^0'=temp0_29^post_95, temp_33^0'=temp_33^post_95, tmp_32^0'=tmp_32^post_95, x_14^0'=temp_33^post_99, x_172^0'=x_172^post_66, [ -2+nondet_12^1_1>=1 && -len_129^0==0 && 1<=temp_33^post_99 && 1<=head_15^post_66 && 1+x_172^post_66<=0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66 && 2<=a_144^0 && 2<=i_164^post_95 ], cost: 10+7*a_144^0+2*nondet_12^1_1
    191: l65 -> l41 : a_144^0'=-1, a_181^0'=-1, f_167^0'=temp_33^post_102, head_15^0'=head_15^post_66, head_30^0'=head_30^post_95, i_164^0'=i_164^post_95, i_28^0'=a_144^0, len_129^0'=1+a_144^0+len_129^0, len_180^0'=1+a_144^0+len_129^0, length_27^0'=length_27^post_95, nondet_12^0'=nondet_12^post_1, r_37^0'=r_37^post_66, rcd_56^0'=rcd_56^post_61, result_11^0'=result_11^post_95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_95, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66, temp0_29^0'=temp0_29^post_95, temp_33^0'=temp_33^post_95, tmp_32^0'=tmp_32^post_95, x_14^0'=temp_33^post_102, x_172^0'=x_172^post_66, [ -len_129^0==0 && 1<=temp_33^post_102 && 1+head_15^post_66<=0 && 1+x_172^post_66<=0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66 && 2<=a_144^0 && 2<=i_164^post_95 ], cost: 14+7*a_144^0
    192: l65 -> l41 : a_144^0'=-1, a_181^0'=-1, f_167^0'=temp_33^post_99, head_15^0'=head_15^post_66, head_30^0'=head_30^post_95, i_164^0'=i_164^post_95, i_28^0'=a_144^0, i_92^0'=-1+nondet_12^1_1, len_129^0'=1+a_144^0+len_129^0, len_180^0'=1+a_144^0+len_129^0, length_27^0'=length_27^post_95, nondet_12^0'=nondet_12^post_1, r_37^0'=r_37^post_66, rcd_56^0'=rcd_56^post_61, rcd_86^0'=rcd_86^post_99, result_11^0'=result_11^post_95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_95, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66, temp0_29^0'=temp0_29^post_95, temp_33^0'=temp_33^post_95, tmp_32^0'=tmp_32^post_95, x_14^0'=temp_33^post_99, x_172^0'=x_172^post_66, [ -2+nondet_12^1_1>=1 && -len_129^0==0 && 1<=temp_33^post_99 && 1+head_15^post_66<=0 && 1+x_172^post_66<=0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66 && 2<=a_144^0 && 2<=i_164^post_95 ], cost: 10+7*a_144^0+2*nondet_12^1_1
    193: l65 -> l41 : a_144^0'=-1, a_181^0'=-1, f_167^0'=temp_33^post_102, head_15^0'=head_15^post_66, head_30^0'=head_30^post_95, i_164^0'=i_164^post_95, i_28^0'=a_144^0, len_129^0'=1+a_144^0+len_129^0, len_180^0'=1+a_144^0+len_129^0, length_27^0'=length_27^post_95, nondet_12^0'=nondet_12^post_1, r_37^0'=r_37^post_66, rcd_56^0'=rcd_56^post_61, result_11^0'=result_11^post_95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_95, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66, temp0_29^0'=temp0_29^post_95, temp_33^0'=temp_33^post_95, tmp_32^0'=tmp_32^post_95, x_14^0'=temp_33^post_102, x_172^0'=x_172^post_66, [ -len_129^0==0 && 1+temp_33^post_102<=0 && 1<=head_15^post_66 && 1<=x_172^post_66 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66 && 2<=a_144^0 && 2<=i_164^post_95 ], cost: 14+7*a_144^0
    194: l65 -> l41 : a_144^0'=-1, a_181^0'=-1, f_167^0'=temp_33^post_99, head_15^0'=head_15^post_66, head_30^0'=head_30^post_95, i_164^0'=i_164^post_95, i_28^0'=a_144^0, i_92^0'=-1+nondet_12^1_1, len_129^0'=1+a_144^0+len_129^0, len_180^0'=1+a_144^0+len_129^0, length_27^0'=length_27^post_95, nondet_12^0'=nondet_12^post_1, r_37^0'=r_37^post_66, rcd_56^0'=rcd_56^post_61, rcd_86^0'=rcd_86^post_99, result_11^0'=result_11^post_95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_95, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66, temp0_29^0'=temp0_29^post_95, temp_33^0'=temp_33^post_95, tmp_32^0'=tmp_32^post_95, x_14^0'=temp_33^post_99, x_172^0'=x_172^post_66, [ -2+nondet_12^1_1>=1 && -len_129^0==0 && 1+temp_33^post_99<=0 && 1<=head_15^post_66 && 1<=x_172^post_66 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66 && 2<=a_144^0 && 2<=i_164^post_95 ], cost: 10+7*a_144^0+2*nondet_12^1_1
    195: l65 -> l41 : a_144^0'=-1, a_181^0'=-1, f_167^0'=temp_33^post_102, head_15^0'=head_15^post_66, head_30^0'=head_30^post_95, i_164^0'=i_164^post_95, i_28^0'=a_144^0, len_129^0'=1+a_144^0+len_129^0, len_180^0'=1+a_144^0+len_129^0, length_27^0'=length_27^post_95, nondet_12^0'=nondet_12^post_1, r_37^0'=r_37^post_66, rcd_56^0'=rcd_56^post_61, result_11^0'=result_11^post_95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_95, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66, temp0_29^0'=temp0_29^post_95, temp_33^0'=temp_33^post_95, tmp_32^0'=tmp_32^post_95, x_14^0'=temp_33^post_102, x_172^0'=x_172^post_66, [ -len_129^0==0 && 1+temp_33^post_102<=0 && 1<=head_15^post_66 && 1+x_172^post_66<=0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66 && 2<=a_144^0 && 2<=i_164^post_95 ], cost: 14+7*a_144^0
    196: l65 -> l41 : a_144^0'=-1, a_181^0'=-1, f_167^0'=temp_33^post_99, head_15^0'=head_15^post_66, head_30^0'=head_30^post_95, i_164^0'=i_164^post_95, i_28^0'=a_144^0, i_92^0'=-1+nondet_12^1_1, len_129^0'=1+a_144^0+len_129^0, len_180^0'=1+a_144^0+len_129^0, length_27^0'=length_27^post_95, nondet_12^0'=nondet_12^post_1, r_37^0'=r_37^post_66, rcd_56^0'=rcd_56^post_61, rcd_86^0'=rcd_86^post_99, result_11^0'=result_11^post_95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_95, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66, temp0_29^0'=temp0_29^post_95, temp_33^0'=temp_33^post_95, tmp_32^0'=tmp_32^post_95, x_14^0'=temp_33^post_99, x_172^0'=x_172^post_66, [ -2+nondet_12^1_1>=1 && -len_129^0==0 && 1+temp_33^post_99<=0 && 1<=head_15^post_66 && 1+x_172^post_66<=0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66 && 2<=a_144^0 && 2<=i_164^post_95 ], cost: 10+7*a_144^0+2*nondet_12^1_1

Removed unreachable locations (and leaf rules with constant cost):
   Start location: l65
    183: l26 -> l2 : a_234^0'=-1, a_257^0'=-1, ct_18^0'=0, head_15^0'=x_17^post_3, len_129^0'=1+a_212^0, r_37^0'=r_37^post_3, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_3, t_24^0'=x_21^0, x_14^0'=0, x_17^0'=x_17^post_3, x_SLAM_f_19^0'=x_17^post_3, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && 1+y_20^0<=x_21^0 && -y_20^0==0 && 1<=x_17^post_3 && 1+y_20^0<=x_17^post_3 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_3 && 1+a_234^0>=1 ], cost: 9+8*a_234^0
    184: l26 -> l2 : a_234^0'=-1, a_257^0'=-1, ct_18^0'=0, head_15^0'=x_17^post_3, len_129^0'=1+a_212^0, r_37^0'=r_37^post_3, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_3, t_24^0'=x_21^0, x_14^0'=0, x_17^0'=x_17^post_3, x_SLAM_f_19^0'=x_17^post_3, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && 1+y_20^0<=x_21^0 && -y_20^0==0 && 1+x_17^post_3<=0 && 1+x_17^post_3<=y_20^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_3 && 1+a_234^0>=1 ], cost: 9+8*a_234^0
    185: l26 -> l2 : a_234^0'=-1, a_257^0'=-1, ct_18^0'=0, head_15^0'=x_17^post_3, len_129^0'=1+a_212^0, r_37^0'=r_37^post_3, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_3, t_24^0'=x_21^0, x_14^0'=0, x_17^0'=x_17^post_3, x_SLAM_f_19^0'=x_17^post_3, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && 1+x_21^0<=y_20^0 && -y_20^0==0 && 1<=x_17^post_3 && 1+y_20^0<=x_17^post_3 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_3 && 1+a_234^0>=1 ], cost: 9+8*a_234^0
    186: l26 -> l2 : a_234^0'=-1, a_257^0'=-1, ct_18^0'=0, head_15^0'=x_17^post_3, len_129^0'=1+a_212^0, r_37^0'=r_37^post_3, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_3, t_24^0'=x_21^0, x_14^0'=0, x_17^0'=x_17^post_3, x_SLAM_f_19^0'=x_17^post_3, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && 1+x_21^0<=y_20^0 && -y_20^0==0 && 1+x_17^post_3<=0 && 1+x_17^post_3<=y_20^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_3 && 1+a_234^0>=1 ], cost: 9+8*a_234^0
    160: l41 -> l26 : a_212^0'=a_234^0, ct_18^0'=ct_18^post_30, head_15^0'=head_15^post_30, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_30, t_24^0'=head_15^0, x_14^0'=x_14^post_30, x_17^0'=x_17^post_30, x_21^0'=head_15^0, x_SLAM_f_19^0'=x_SLAM_f_19^post_30, y_20^0'=0, [ 0<=a_144^0 && 0<=len_129^0 && -x_14^0==0 && 1<=head_15^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_62 && -x_14^post_30==0 && -ct_18^post_30==0 && head_15^post_30-x_17^post_30==0 && head_15^post_30-x_SLAM_f_19^post_30==0 && head_15^post_30-head_15^0==0 && 1<=head_15^post_30 ], cost: 9
    161: l41 -> l26 : a_212^0'=a_234^0, ct_18^0'=ct_18^post_30, head_15^0'=head_15^post_30, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_30, t_24^0'=head_15^0, x_14^0'=x_14^post_30, x_17^0'=x_17^post_30, x_21^0'=head_15^0, x_SLAM_f_19^0'=x_SLAM_f_19^post_30, y_20^0'=0, [ 0<=a_144^0 && 0<=len_129^0 && -x_14^0==0 && 1+head_15^0<=0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_62 && -x_14^post_30==0 && -ct_18^post_30==0 && head_15^post_30-x_17^post_30==0 && head_15^post_30-x_SLAM_f_19^post_30==0 && head_15^post_30-head_15^0==0 && 1+head_15^post_30<=0 ], cost: 9
    140: l65 -> l41 : head_15^0'=temp_33^post_102, head_30^0'=head_30^post_95, i_164^0'=i_164^post_95, i_28^0'=a_144^0, length_27^0'=length_27^post_95, nondet_12^0'=nondet_12^post_1, rcd_56^0'=rcd_56^post_61, result_11^0'=result_11^post_95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_95, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95, temp0_29^0'=temp0_29^post_95, temp_33^0'=temp_33^post_95, tmp_32^0'=tmp_32^post_95, x_14^0'=temp_33^post_102, [ 2<=nondet_12^1_1 && nondet_12^1_1<=2 && -len_129^0==0 && 1<=temp_33^post_102 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95<=a_144^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95<=i_164^post_95 ], cost: 7
    141: l65 -> l41 : head_15^0'=temp_33^post_102, head_30^0'=head_30^post_95, i_164^0'=i_164^post_95, i_28^0'=a_144^0, length_27^0'=length_27^post_95, nondet_12^0'=nondet_12^post_1, rcd_56^0'=rcd_56^post_61, result_11^0'=result_11^post_95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_95, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95, temp0_29^0'=temp0_29^post_95, temp_33^0'=temp_33^post_95, tmp_32^0'=tmp_32^post_95, x_14^0'=temp_33^post_102, [ 2<=nondet_12^1_1 && nondet_12^1_1<=2 && -len_129^0==0 && 1+temp_33^post_102<=0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95<=a_144^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95<=i_164^post_95 ], cost: 7
    142: l65 -> l41 : head_15^0'=temp_33^post_99, head_30^0'=head_30^post_95, i_164^0'=i_164^post_95, i_28^0'=a_144^0, i_92^0'=-1+nondet_12^1_1, length_27^0'=length_27^post_95, nondet_12^0'=nondet_12^post_1, rcd_56^0'=rcd_56^post_61, rcd_86^0'=rcd_86^post_99, result_11^0'=result_11^post_95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_95, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95, temp0_29^0'=temp0_29^post_95, temp_33^0'=temp_33^post_95, tmp_32^0'=tmp_32^post_95, x_14^0'=temp_33^post_99, [ -2+nondet_12^1_1>=1 && -len_129^0==0 && 1<=temp_33^post_99 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95<=a_144^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95<=i_164^post_95 ], cost: 3+2*nondet_12^1_1
    143: l65 -> l41 : head_15^0'=temp_33^post_99, head_30^0'=head_30^post_95, i_164^0'=i_164^post_95, i_28^0'=a_144^0, i_92^0'=-1+nondet_12^1_1, length_27^0'=length_27^post_95, nondet_12^0'=nondet_12^post_1, rcd_56^0'=rcd_56^post_61, rcd_86^0'=rcd_86^post_99, result_11^0'=result_11^post_95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_95, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95, temp0_29^0'=temp0_29^post_95, temp_33^0'=temp_33^post_95, tmp_32^0'=tmp_32^post_95, x_14^0'=temp_33^post_99, [ -2+nondet_12^1_1>=1 && -len_129^0==0 && 1+temp_33^post_99<=0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95<=a_144^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95<=i_164^post_95 ], cost: 3+2*nondet_12^1_1
    187: l65 -> l41 : a_144^0'=-1, a_181^0'=-1, f_167^0'=temp_33^post_102, head_15^0'=head_15^post_66, head_30^0'=head_30^post_95, i_164^0'=i_164^post_95, i_28^0'=a_144^0, len_129^0'=1+a_144^0+len_129^0, len_180^0'=1+a_144^0+len_129^0, length_27^0'=length_27^post_95, nondet_12^0'=nondet_12^post_1, r_37^0'=r_37^post_66, rcd_56^0'=rcd_56^post_61, result_11^0'=result_11^post_95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_95, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66, temp0_29^0'=temp0_29^post_95, temp_33^0'=temp_33^post_95, tmp_32^0'=tmp_32^post_95, x_14^0'=temp_33^post_102, x_172^0'=x_172^post_66, [ -len_129^0==0 && 1<=temp_33^post_102 && 1<=head_15^post_66 && 1<=x_172^post_66 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66 && 2<=a_144^0 && 2<=i_164^post_95 ], cost: 14+7*a_144^0
    188: l65 -> l41 : a_144^0'=-1, a_181^0'=-1, f_167^0'=temp_33^post_99, head_15^0'=head_15^post_66, head_30^0'=head_30^post_95, i_164^0'=i_164^post_95, i_28^0'=a_144^0, i_92^0'=-1+nondet_12^1_1, len_129^0'=1+a_144^0+len_129^0, len_180^0'=1+a_144^0+len_129^0, length_27^0'=length_27^post_95, nondet_12^0'=nondet_12^post_1, r_37^0'=r_37^post_66, rcd_56^0'=rcd_56^post_61, rcd_86^0'=rcd_86^post_99, result_11^0'=result_11^post_95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_95, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66, temp0_29^0'=temp0_29^post_95, temp_33^0'=temp_33^post_95, tmp_32^0'=tmp_32^post_95, x_14^0'=temp_33^post_99, x_172^0'=x_172^post_66, [ -2+nondet_12^1_1>=1 && -len_129^0==0 && 1<=temp_33^post_99 && 1<=head_15^post_66 && 1<=x_172^post_66 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66 && 2<=a_144^0 && 2<=i_164^post_95 ], cost: 10+7*a_144^0+2*nondet_12^1_1
    189: l65 -> l41 : a_144^0'=-1, a_181^0'=-1, f_167^0'=temp_33^post_102, head_15^0'=head_15^post_66, head_30^0'=head_30^post_95, i_164^0'=i_164^post_95, i_28^0'=a_144^0, len_129^0'=1+a_144^0+len_129^0, len_180^0'=1+a_144^0+len_129^0, length_27^0'=length_27^post_95, nondet_12^0'=nondet_12^post_1, r_37^0'=r_37^post_66, rcd_56^0'=rcd_56^post_61, result_11^0'=result_11^post_95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_95, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66, temp0_29^0'=temp0_29^post_95, temp_33^0'=temp_33^post_95, tmp_32^0'=tmp_32^post_95, x_14^0'=temp_33^post_102, x_172^0'=x_172^post_66, [ -len_129^0==0 && 1<=temp_33^post_102 && 1<=head_15^post_66 && 1+x_172^post_66<=0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66 && 2<=a_144^0 && 2<=i_164^post_95 ], cost: 14+7*a_144^0
    190: l65 -> l41 : a_144^0'=-1, a_181^0'=-1, f_167^0'=temp_33^post_99, head_15^0'=head_15^post_66, head_30^0'=head_30^post_95, i_164^0'=i_164^post_95, i_28^0'=a_144^0, i_92^0'=-1+nondet_12^1_1, len_129^0'=1+a_144^0+len_129^0, len_180^0'=1+a_144^0+len_129^0, length_27^0'=length_27^post_95, nondet_12^0'=nondet_12^post_1, r_37^0'=r_37^post_66, rcd_56^0'=rcd_56^post_61, rcd_86^0'=rcd_86^post_99, result_11^0'=result_11^post_95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_95, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66, temp0_29^0'=temp0_29^post_95, temp_33^0'=temp_33^post_95, tmp_32^0'=tmp_32^post_95, x_14^0'=temp_33^post_99, x_172^0'=x_172^post_66, [ -2+nondet_12^1_1>=1 && -len_129^0==0 && 1<=temp_33^post_99 && 1<=head_15^post_66 && 1+x_172^post_66<=0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66 && 2<=a_144^0 && 2<=i_164^post_95 ], cost: 10+7*a_144^0+2*nondet_12^1_1
    191: l65 -> l41 : a_144^0'=-1, a_181^0'=-1, f_167^0'=temp_33^post_102, head_15^0'=head_15^post_66, head_30^0'=head_30^post_95, i_164^0'=i_164^post_95, i_28^0'=a_144^0, len_129^0'=1+a_144^0+len_129^0, len_180^0'=1+a_144^0+len_129^0, length_27^0'=length_27^post_95, nondet_12^0'=nondet_12^post_1, r_37^0'=r_37^post_66, rcd_56^0'=rcd_56^post_61, result_11^0'=result_11^post_95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_95, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66, temp0_29^0'=temp0_29^post_95, temp_33^0'=temp_33^post_95, tmp_32^0'=tmp_32^post_95, x_14^0'=temp_33^post_102, x_172^0'=x_172^post_66, [ -len_129^0==0 && 1<=temp_33^post_102 && 1+head_15^post_66<=0 && 1+x_172^post_66<=0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66 && 2<=a_144^0 && 2<=i_164^post_95 ], cost: 14+7*a_144^0
    192: l65 -> l41 : a_144^0'=-1, a_181^0'=-1, f_167^0'=temp_33^post_99, head_15^0'=head_15^post_66, head_30^0'=head_30^post_95, i_164^0'=i_164^post_95, i_28^0'=a_144^0, i_92^0'=-1+nondet_12^1_1, len_129^0'=1+a_144^0+len_129^0, len_180^0'=1+a_144^0+len_129^0, length_27^0'=length_27^post_95, nondet_12^0'=nondet_12^post_1, r_37^0'=r_37^post_66, rcd_56^0'=rcd_56^post_61, rcd_86^0'=rcd_86^post_99, result_11^0'=result_11^post_95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_95, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66, temp0_29^0'=temp0_29^post_95, temp_33^0'=temp_33^post_95, tmp_32^0'=tmp_32^post_95, x_14^0'=temp_33^post_99, x_172^0'=x_172^post_66, [ -2+nondet_12^1_1>=1 && -len_129^0==0 && 1<=temp_33^post_99 && 1+head_15^post_66<=0 && 1+x_172^post_66<=0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66 && 2<=a_144^0 && 2<=i_164^post_95 ], cost: 10+7*a_144^0+2*nondet_12^1_1
    193: l65 -> l41 : a_144^0'=-1, a_181^0'=-1, f_167^0'=temp_33^post_102, head_15^0'=head_15^post_66, head_30^0'=head_30^post_95, i_164^0'=i_164^post_95, i_28^0'=a_144^0, len_129^0'=1+a_144^0+len_129^0, len_180^0'=1+a_144^0+len_129^0, length_27^0'=length_27^post_95, nondet_12^0'=nondet_12^post_1, r_37^0'=r_37^post_66, rcd_56^0'=rcd_56^post_61, result_11^0'=result_11^post_95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_95, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66, temp0_29^0'=temp0_29^post_95, temp_33^0'=temp_33^post_95, tmp_32^0'=tmp_32^post_95, x_14^0'=temp_33^post_102, x_172^0'=x_172^post_66, [ -len_129^0==0 && 1+temp_33^post_102<=0 && 1<=head_15^post_66 && 1<=x_172^post_66 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66 && 2<=a_144^0 && 2<=i_164^post_95 ], cost: 14+7*a_144^0
    194: l65 -> l41 : a_144^0'=-1, a_181^0'=-1, f_167^0'=temp_33^post_99, head_15^0'=head_15^post_66, head_30^0'=head_30^post_95, i_164^0'=i_164^post_95, i_28^0'=a_144^0, i_92^0'=-1+nondet_12^1_1, len_129^0'=1+a_144^0+len_129^0, len_180^0'=1+a_144^0+len_129^0, length_27^0'=length_27^post_95, nondet_12^0'=nondet_12^post_1, r_37^0'=r_37^post_66, rcd_56^0'=rcd_56^post_61, rcd_86^0'=rcd_86^post_99, result_11^0'=result_11^post_95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_95, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66, temp0_29^0'=temp0_29^post_95, temp_33^0'=temp_33^post_95, tmp_32^0'=tmp_32^post_95, x_14^0'=temp_33^post_99, x_172^0'=x_172^post_66, [ -2+nondet_12^1_1>=1 && -len_129^0==0 && 1+temp_33^post_99<=0 && 1<=head_15^post_66 && 1<=x_172^post_66 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66 && 2<=a_144^0 && 2<=i_164^post_95 ], cost: 10+7*a_144^0+2*nondet_12^1_1
    195: l65 -> l41 : a_144^0'=-1, a_181^0'=-1, f_167^0'=temp_33^post_102, head_15^0'=head_15^post_66, head_30^0'=head_30^post_95, i_164^0'=i_164^post_95, i_28^0'=a_144^0, len_129^0'=1+a_144^0+len_129^0, len_180^0'=1+a_144^0+len_129^0, length_27^0'=length_27^post_95, nondet_12^0'=nondet_12^post_1, r_37^0'=r_37^post_66, rcd_56^0'=rcd_56^post_61, result_11^0'=result_11^post_95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_95, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66, temp0_29^0'=temp0_29^post_95, temp_33^0'=temp_33^post_95, tmp_32^0'=tmp_32^post_95, x_14^0'=temp_33^post_102, x_172^0'=x_172^post_66, [ -len_129^0==0 && 1+temp_33^post_102<=0 && 1<=head_15^post_66 && 1+x_172^post_66<=0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66 && 2<=a_144^0 && 2<=i_164^post_95 ], cost: 14+7*a_144^0
    196: l65 -> l41 : a_144^0'=-1, a_181^0'=-1, f_167^0'=temp_33^post_99, head_15^0'=head_15^post_66, head_30^0'=head_30^post_95, i_164^0'=i_164^post_95, i_28^0'=a_144^0, i_92^0'=-1+nondet_12^1_1, len_129^0'=1+a_144^0+len_129^0, len_180^0'=1+a_144^0+len_129^0, length_27^0'=length_27^post_95, nondet_12^0'=nondet_12^post_1, r_37^0'=r_37^post_66, rcd_56^0'=rcd_56^post_61, rcd_86^0'=rcd_86^post_99, result_11^0'=result_11^post_95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_95, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66, temp0_29^0'=temp0_29^post_95, temp_33^0'=temp_33^post_95, tmp_32^0'=tmp_32^post_95, x_14^0'=temp_33^post_99, x_172^0'=x_172^post_66, [ -2+nondet_12^1_1>=1 && -len_129^0==0 && 1+temp_33^post_99<=0 && 1<=head_15^post_66 && 1+x_172^post_66<=0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66 && 2<=a_144^0 && 2<=i_164^post_95 ], cost: 10+7*a_144^0+2*nondet_12^1_1

Eliminated locations (on tree-shaped paths):
   Start location: l65
    183: l26 -> l2 : a_234^0'=-1, a_257^0'=-1, ct_18^0'=0, head_15^0'=x_17^post_3, len_129^0'=1+a_212^0, r_37^0'=r_37^post_3, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_3, t_24^0'=x_21^0, x_14^0'=0, x_17^0'=x_17^post_3, x_SLAM_f_19^0'=x_17^post_3, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && 1+y_20^0<=x_21^0 && -y_20^0==0 && 1<=x_17^post_3 && 1+y_20^0<=x_17^post_3 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_3 && 1+a_234^0>=1 ], cost: 9+8*a_234^0
    184: l26 -> l2 : a_234^0'=-1, a_257^0'=-1, ct_18^0'=0, head_15^0'=x_17^post_3, len_129^0'=1+a_212^0, r_37^0'=r_37^post_3, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_3, t_24^0'=x_21^0, x_14^0'=0, x_17^0'=x_17^post_3, x_SLAM_f_19^0'=x_17^post_3, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && 1+y_20^0<=x_21^0 && -y_20^0==0 && 1+x_17^post_3<=0 && 1+x_17^post_3<=y_20^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_3 && 1+a_234^0>=1 ], cost: 9+8*a_234^0
    185: l26 -> l2 : a_234^0'=-1, a_257^0'=-1, ct_18^0'=0, head_15^0'=x_17^post_3, len_129^0'=1+a_212^0, r_37^0'=r_37^post_3, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_3, t_24^0'=x_21^0, x_14^0'=0, x_17^0'=x_17^post_3, x_SLAM_f_19^0'=x_17^post_3, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && 1+x_21^0<=y_20^0 && -y_20^0==0 && 1<=x_17^post_3 && 1+y_20^0<=x_17^post_3 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_3 && 1+a_234^0>=1 ], cost: 9+8*a_234^0
    186: l26 -> l2 : a_234^0'=-1, a_257^0'=-1, ct_18^0'=0, head_15^0'=x_17^post_3, len_129^0'=1+a_212^0, r_37^0'=r_37^post_3, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_3, t_24^0'=x_21^0, x_14^0'=0, x_17^0'=x_17^post_3, x_SLAM_f_19^0'=x_17^post_3, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && 1+x_21^0<=y_20^0 && -y_20^0==0 && 1+x_17^post_3<=0 && 1+x_17^post_3<=y_20^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_3 && 1+a_234^0>=1 ], cost: 9+8*a_234^0
    197: l65 -> [69] : [ -2+nondet_12^1_1>=1 && -len_129^0==0 && 1<=temp_33^post_99 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95<=a_144^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95<=i_164^post_95 ], cost: 3+2*nondet_12^1_1
    198: l65 -> [69] : [ -2+nondet_12^1_1>=1 && -len_129^0==0 && 1+temp_33^post_99<=0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95<=a_144^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95<=i_164^post_95 ], cost: 3+2*nondet_12^1_1
    199: l65 -> [69] : [ -len_129^0==0 && 1<=temp_33^post_102 && 1<=head_15^post_66 && 1<=x_172^post_66 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66 && 2<=a_144^0 && 2<=i_164^post_95 ], cost: 14+7*a_144^0
    200: l65 -> [69] : [ -2+nondet_12^1_1>=1 && -len_129^0==0 && 1<=temp_33^post_99 && 1<=head_15^post_66 && 1<=x_172^post_66 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66 && 2<=a_144^0 && 2<=i_164^post_95 ], cost: 10+7*a_144^0+2*nondet_12^1_1
    201: l65 -> [69] : [ -len_129^0==0 && 1<=temp_33^post_102 && 1<=head_15^post_66 && 1+x_172^post_66<=0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66 && 2<=a_144^0 && 2<=i_164^post_95 ], cost: 14+7*a_144^0
    202: l65 -> [69] : [ -2+nondet_12^1_1>=1 && -len_129^0==0 && 1<=temp_33^post_99 && 1<=head_15^post_66 && 1+x_172^post_66<=0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66 && 2<=a_144^0 && 2<=i_164^post_95 ], cost: 10+7*a_144^0+2*nondet_12^1_1
    203: l65 -> [69] : [ -len_129^0==0 && 1<=temp_33^post_102 && 1+head_15^post_66<=0 && 1+x_172^post_66<=0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66 && 2<=a_144^0 && 2<=i_164^post_95 ], cost: 14+7*a_144^0
    204: l65 -> [69] : [ -2+nondet_12^1_1>=1 && -len_129^0==0 && 1<=temp_33^post_99 && 1+head_15^post_66<=0 && 1+x_172^post_66<=0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66 && 2<=a_144^0 && 2<=i_164^post_95 ], cost: 10+7*a_144^0+2*nondet_12^1_1
    205: l65 -> [69] : [ -len_129^0==0 && 1+temp_33^post_102<=0 && 1<=head_15^post_66 && 1<=x_172^post_66 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66 && 2<=a_144^0 && 2<=i_164^post_95 ], cost: 14+7*a_144^0
    206: l65 -> [69] : [ -2+nondet_12^1_1>=1 && -len_129^0==0 && 1+temp_33^post_99<=0 && 1<=head_15^post_66 && 1<=x_172^post_66 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66 && 2<=a_144^0 && 2<=i_164^post_95 ], cost: 10+7*a_144^0+2*nondet_12^1_1
    207: l65 -> [69] : [ -len_129^0==0 && 1+temp_33^post_102<=0 && 1<=head_15^post_66 && 1+x_172^post_66<=0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66 && 2<=a_144^0 && 2<=i_164^post_95 ], cost: 14+7*a_144^0
    208: l65 -> [69] : [ -2+nondet_12^1_1>=1 && -len_129^0==0 && 1+temp_33^post_99<=0 && 1<=head_15^post_66 && 1+x_172^post_66<=0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66 && 2<=a_144^0 && 2<=i_164^post_95 ], cost: 10+7*a_144^0+2*nondet_12^1_1

Applied pruning (of leafs and parallel rules):
   Start location: l65
    200: l65 -> [69] : [ -2+nondet_12^1_1>=1 && -len_129^0==0 && 1<=temp_33^post_99 && 1<=head_15^post_66 && 1<=x_172^post_66 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66 && 2<=a_144^0 && 2<=i_164^post_95 ], cost: 10+7*a_144^0+2*nondet_12^1_1
    202: l65 -> [69] : [ -2+nondet_12^1_1>=1 && -len_129^0==0 && 1<=temp_33^post_99 && 1<=head_15^post_66 && 1+x_172^post_66<=0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66 && 2<=a_144^0 && 2<=i_164^post_95 ], cost: 10+7*a_144^0+2*nondet_12^1_1
    204: l65 -> [69] : [ -2+nondet_12^1_1>=1 && -len_129^0==0 && 1<=temp_33^post_99 && 1+head_15^post_66<=0 && 1+x_172^post_66<=0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66 && 2<=a_144^0 && 2<=i_164^post_95 ], cost: 10+7*a_144^0+2*nondet_12^1_1
    206: l65 -> [69] : [ -2+nondet_12^1_1>=1 && -len_129^0==0 && 1+temp_33^post_99<=0 && 1<=head_15^post_66 && 1<=x_172^post_66 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66 && 2<=a_144^0 && 2<=i_164^post_95 ], cost: 10+7*a_144^0+2*nondet_12^1_1
    208: l65 -> [69] : [ -2+nondet_12^1_1>=1 && -len_129^0==0 && 1+temp_33^post_99<=0 && 1<=head_15^post_66 && 1+x_172^post_66<=0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66 && 2<=a_144^0 && 2<=i_164^post_95 ], cost: 10+7*a_144^0+2*nondet_12^1_1

### Computing asymptotic complexity ###

Fully simplified ITS problem
   Start location: l65
    200: l65 -> [69] : [ -2+nondet_12^1_1>=1 && -len_129^0==0 && 1<=temp_33^post_99 && 1<=head_15^post_66 && 1<=x_172^post_66 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66 && 2<=a_144^0 && 2<=i_164^post_95 ], cost: 10+7*a_144^0+2*nondet_12^1_1
    202: l65 -> [69] : [ -2+nondet_12^1_1>=1 && -len_129^0==0 && 1<=temp_33^post_99 && 1<=head_15^post_66 && 1+x_172^post_66<=0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66 && 2<=a_144^0 && 2<=i_164^post_95 ], cost: 10+7*a_144^0+2*nondet_12^1_1
    204: l65 -> [69] : [ -2+nondet_12^1_1>=1 && -len_129^0==0 && 1<=temp_33^post_99 && 1+head_15^post_66<=0 && 1+x_172^post_66<=0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66 && 2<=a_144^0 && 2<=i_164^post_95 ], cost: 10+7*a_144^0+2*nondet_12^1_1
    206: l65 -> [69] : [ -2+nondet_12^1_1>=1 && -len_129^0==0 && 1+temp_33^post_99<=0 && 1<=head_15^post_66 && 1<=x_172^post_66 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66 && 2<=a_144^0 && 2<=i_164^post_95 ], cost: 10+7*a_144^0+2*nondet_12^1_1
    208: l65 -> [69] : [ -2+nondet_12^1_1>=1 && -len_129^0==0 && 1+temp_33^post_99<=0 && 1<=head_15^post_66 && 1+x_172^post_66<=0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66 && 2<=a_144^0 && 2<=i_164^post_95 ], cost: 10+7*a_144^0+2*nondet_12^1_1

Computing asymptotic complexity for rule 200
   Resulting cost 0 has complexity: Unknown

Computing asymptotic complexity for rule 202
   Resulting cost 0 has complexity: Unknown

Computing asymptotic complexity for rule 204
   Resulting cost 0 has complexity: Unknown

Computing asymptotic complexity for rule 206
   Resulting cost 0 has complexity: Unknown

Computing asymptotic complexity for rule 208
   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:  [ a_113^0==a_113^post_103 && a_144^0==a_144^post_103 && a_181^0==a_181^post_103 && a_212^0==a_212^post_103 && a_234^0==a_234^post_103 && a_257^0==a_257^post_103 && ct_18^0==ct_18^post_103 && f_167^0==f_167^post_103 && head_15^0==head_15^post_103 && head_30^0==head_30^post_103 && i_105^0==i_105^post_103 && i_164^0==i_164^post_103 && i_28^0==i_28^post_103 && i_92^0==i_92^post_103 && len_129^0==len_129^post_103 && len_180^0==len_180^post_103 && length_27^0==length_27^post_103 && nondet_12^0==nondet_12^post_103 && r_121^0==r_121^post_103 && r_160^0==r_160^post_103 && r_37^0==r_37^post_103 && rcd_56^0==rcd_56^post_103 && rcd_86^0==rcd_86^post_103 && result_11^0==result_11^post_103 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_31^post_103 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_103 && t_24^0==t_24^post_103 && temp0_16^0==temp0_16^post_103 && temp0_29^0==temp0_29^post_103 && temp_33^0==temp_33^post_103 && tmp_32^0==tmp_32^post_103 && x_126^0==x_126^post_103 && x_14^0==x_14^post_103 && x_17^0==x_17^post_103 && x_172^0==x_172^post_103 && x_21^0==x_21^post_103 && x_SLAM_f_19^0==x_SLAM_f_19^post_103 && y_20^0==y_20^post_103 ]

WORST_CASE(Omega(1),?)