WORST_CASE(Omega(1),?)

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

Initial linear ITS problem
   Start location: l31
      0: l0 -> l2 : __disjvr_0^0'=__disjvr_0^post_1, __disjvr_10^0'=__disjvr_10^post_1, __disjvr_11^0'=__disjvr_11^post_1, __disjvr_12^0'=__disjvr_12^post_1, __disjvr_1^0'=__disjvr_1^post_1, __disjvr_2^0'=__disjvr_2^post_1, __disjvr_3^0'=__disjvr_3^post_1, __disjvr_4^0'=__disjvr_4^post_1, __disjvr_5^0'=__disjvr_5^post_1, __disjvr_6^0'=__disjvr_6^post_1, __disjvr_7^0'=__disjvr_7^post_1, __disjvr_8^0'=__disjvr_8^post_1, __disjvr_9^0'=__disjvr_9^post_1, a_137^0'=a_137^post_1, a_163^0'=a_163^post_1, a_193^0'=a_193^post_1, head_16^0'=head_16^post_1, head_29^0'=head_29^post_1, head_SLAM_f_26^0'=head_SLAM_f_26^post_1, i_108^0'=i_108^post_1, i_127^0'=i_127^post_1, i_27^0'=i_27^post_1, length_25^0'=length_25^post_1, nondet_12^0'=nondet_12^post_1, r_37^0'=r_37^post_1, rcd_102^0'=rcd_102^post_1, rcd_110^0'=rcd_110^post_1, rcd_168^0'=rcd_168^post_1, rcd_172^0'=rcd_172^post_1, rcd_192^0'=rcd_192^post_1, rcd_41^0'=rcd_41^post_1, rcd_67^0'=rcd_67^post_1, result_11^0'=result_11^post_1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_1, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_1, t_23^0'=t_23^post_1, tail_15^0'=tail_15^post_1, temp0_19^0'=temp0_19^post_1, temp0_28^0'=temp0_28^post_1, temp_32^0'=temp_32^post_1, temp_33^0'=temp_33^post_1, tmp_31^0'=tmp_31^post_1, x_22^0'=x_22^post_1, x_SLAM_f_20^0'=x_SLAM_f_20^post_1, y_21^0'=y_21^post_1, [ 0<=a_137^0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_1==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_1 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_1==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_1 && tail_15^post_1==tail_15^post_1 && head_16^post_1==head_16^post_1 && x_SLAM_f_20^post_1==x_SLAM_f_20^post_1 && __disjvr_0^0==__disjvr_0^post_1 && __disjvr_1^0==__disjvr_1^post_1 && __disjvr_10^0==__disjvr_10^post_1 && __disjvr_11^0==__disjvr_11^post_1 && __disjvr_12^0==__disjvr_12^post_1 && __disjvr_2^0==__disjvr_2^post_1 && __disjvr_3^0==__disjvr_3^post_1 && __disjvr_4^0==__disjvr_4^post_1 && __disjvr_5^0==__disjvr_5^post_1 && __disjvr_6^0==__disjvr_6^post_1 && __disjvr_7^0==__disjvr_7^post_1 && __disjvr_8^0==__disjvr_8^post_1 && __disjvr_9^0==__disjvr_9^post_1 && a_137^0==a_137^post_1 && a_163^0==a_163^post_1 && a_193^0==a_193^post_1 && head_29^0==head_29^post_1 && head_SLAM_f_26^0==head_SLAM_f_26^post_1 && i_108^0==i_108^post_1 && i_127^0==i_127^post_1 && i_27^0==i_27^post_1 && length_25^0==length_25^post_1 && nondet_12^0==nondet_12^post_1 && r_37^0==r_37^post_1 && rcd_102^0==rcd_102^post_1 && rcd_110^0==rcd_110^post_1 && rcd_168^0==rcd_168^post_1 && rcd_172^0==rcd_172^post_1 && rcd_192^0==rcd_192^post_1 && rcd_41^0==rcd_41^post_1 && rcd_67^0==rcd_67^post_1 && result_11^0==result_11^post_1 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_1 && t_23^0==t_23^post_1 && temp0_19^0==temp0_19^post_1 && temp0_28^0==temp0_28^post_1 && temp_32^0==temp_32^post_1 && temp_33^0==temp_33^post_1 && tmp_31^0==tmp_31^post_1 && x_22^0==x_22^post_1 && y_21^0==y_21^post_1 ], cost: 1
      6: l0 -> l8 : __disjvr_0^0'=__disjvr_0^post_7, __disjvr_10^0'=__disjvr_10^post_7, __disjvr_11^0'=__disjvr_11^post_7, __disjvr_12^0'=__disjvr_12^post_7, __disjvr_1^0'=__disjvr_1^post_7, __disjvr_2^0'=__disjvr_2^post_7, __disjvr_3^0'=__disjvr_3^post_7, __disjvr_4^0'=__disjvr_4^post_7, __disjvr_5^0'=__disjvr_5^post_7, __disjvr_6^0'=__disjvr_6^post_7, __disjvr_7^0'=__disjvr_7^post_7, __disjvr_8^0'=__disjvr_8^post_7, __disjvr_9^0'=__disjvr_9^post_7, a_137^0'=a_137^post_7, a_163^0'=a_163^post_7, a_193^0'=a_193^post_7, head_16^0'=head_16^post_7, head_29^0'=head_29^post_7, head_SLAM_f_26^0'=head_SLAM_f_26^post_7, i_108^0'=i_108^post_7, i_127^0'=i_127^post_7, i_27^0'=i_27^post_7, length_25^0'=length_25^post_7, nondet_12^0'=nondet_12^post_7, r_37^0'=r_37^post_7, rcd_102^0'=rcd_102^post_7, rcd_110^0'=rcd_110^post_7, rcd_168^0'=rcd_168^post_7, rcd_172^0'=rcd_172^post_7, rcd_192^0'=rcd_192^post_7, rcd_41^0'=rcd_41^post_7, rcd_67^0'=rcd_67^post_7, result_11^0'=result_11^post_7, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_7, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_7, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_7, t_23^0'=t_23^post_7, tail_15^0'=tail_15^post_7, temp0_19^0'=temp0_19^post_7, temp0_28^0'=temp0_28^post_7, temp_32^0'=temp_32^post_7, temp_33^0'=temp_33^post_7, tmp_31^0'=tmp_31^post_7, x_22^0'=x_22^post_7, x_SLAM_f_20^0'=x_SLAM_f_20^post_7, y_21^0'=y_21^post_7, [ 0<=a_137^0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_7==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_7 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_7==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_7 && head_16^post_7==head_16^post_7 && y_21^0<=x_22^0 && x_22^0<=y_21^0 && x_SLAM_f_20^post_7==x_SLAM_f_20^post_7 && y_21^post_7==y_21^post_7 && x_22^post_7==x_22^post_7 && t_23^post_7==t_23^post_7 && result_11^post_7==temp0_19^0 && __disjvr_0^0==__disjvr_0^post_7 && __disjvr_1^0==__disjvr_1^post_7 && __disjvr_10^0==__disjvr_10^post_7 && __disjvr_11^0==__disjvr_11^post_7 && __disjvr_12^0==__disjvr_12^post_7 && __disjvr_2^0==__disjvr_2^post_7 && __disjvr_3^0==__disjvr_3^post_7 && __disjvr_4^0==__disjvr_4^post_7 && __disjvr_5^0==__disjvr_5^post_7 && __disjvr_6^0==__disjvr_6^post_7 && __disjvr_7^0==__disjvr_7^post_7 && __disjvr_8^0==__disjvr_8^post_7 && __disjvr_9^0==__disjvr_9^post_7 && a_137^0==a_137^post_7 && a_163^0==a_163^post_7 && a_193^0==a_193^post_7 && head_29^0==head_29^post_7 && head_SLAM_f_26^0==head_SLAM_f_26^post_7 && i_108^0==i_108^post_7 && i_127^0==i_127^post_7 && i_27^0==i_27^post_7 && length_25^0==length_25^post_7 && nondet_12^0==nondet_12^post_7 && r_37^0==r_37^post_7 && rcd_102^0==rcd_102^post_7 && rcd_110^0==rcd_110^post_7 && rcd_168^0==rcd_168^post_7 && rcd_172^0==rcd_172^post_7 && rcd_192^0==rcd_192^post_7 && rcd_41^0==rcd_41^post_7 && rcd_67^0==rcd_67^post_7 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_7 && tail_15^0==tail_15^post_7 && temp0_19^0==temp0_19^post_7 && temp0_28^0==temp0_28^post_7 && temp_32^0==temp_32^post_7 && temp_33^0==temp_33^post_7 && tmp_31^0==tmp_31^post_7 ], cost: 1
      1: l2 -> l3 : __disjvr_0^0'=__disjvr_0^post_2, __disjvr_10^0'=__disjvr_10^post_2, __disjvr_11^0'=__disjvr_11^post_2, __disjvr_12^0'=__disjvr_12^post_2, __disjvr_1^0'=__disjvr_1^post_2, __disjvr_2^0'=__disjvr_2^post_2, __disjvr_3^0'=__disjvr_3^post_2, __disjvr_4^0'=__disjvr_4^post_2, __disjvr_5^0'=__disjvr_5^post_2, __disjvr_6^0'=__disjvr_6^post_2, __disjvr_7^0'=__disjvr_7^post_2, __disjvr_8^0'=__disjvr_8^post_2, __disjvr_9^0'=__disjvr_9^post_2, a_137^0'=a_137^post_2, a_163^0'=a_163^post_2, a_193^0'=a_193^post_2, head_16^0'=head_16^post_2, head_29^0'=head_29^post_2, head_SLAM_f_26^0'=head_SLAM_f_26^post_2, i_108^0'=i_108^post_2, i_127^0'=i_127^post_2, i_27^0'=i_27^post_2, length_25^0'=length_25^post_2, nondet_12^0'=nondet_12^post_2, r_37^0'=r_37^post_2, rcd_102^0'=rcd_102^post_2, rcd_110^0'=rcd_110^post_2, rcd_168^0'=rcd_168^post_2, rcd_172^0'=rcd_172^post_2, rcd_192^0'=rcd_192^post_2, rcd_41^0'=rcd_41^post_2, rcd_67^0'=rcd_67^post_2, result_11^0'=result_11^post_2, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_2, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_2, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2, t_23^0'=t_23^post_2, tail_15^0'=tail_15^post_2, temp0_19^0'=temp0_19^post_2, temp0_28^0'=temp0_28^post_2, temp_32^0'=temp_32^post_2, temp_33^0'=temp_33^post_2, tmp_31^0'=tmp_31^post_2, x_22^0'=x_22^post_2, x_SLAM_f_20^0'=x_SLAM_f_20^post_2, y_21^0'=y_21^post_2, [ __disjvr_0^post_2==__disjvr_0^0 && __disjvr_0^0==__disjvr_0^post_2 && __disjvr_1^0==__disjvr_1^post_2 && __disjvr_10^0==__disjvr_10^post_2 && __disjvr_11^0==__disjvr_11^post_2 && __disjvr_12^0==__disjvr_12^post_2 && __disjvr_2^0==__disjvr_2^post_2 && __disjvr_3^0==__disjvr_3^post_2 && __disjvr_4^0==__disjvr_4^post_2 && __disjvr_5^0==__disjvr_5^post_2 && __disjvr_6^0==__disjvr_6^post_2 && __disjvr_7^0==__disjvr_7^post_2 && __disjvr_8^0==__disjvr_8^post_2 && __disjvr_9^0==__disjvr_9^post_2 && a_137^0==a_137^post_2 && a_163^0==a_163^post_2 && a_193^0==a_193^post_2 && head_16^0==head_16^post_2 && head_29^0==head_29^post_2 && head_SLAM_f_26^0==head_SLAM_f_26^post_2 && i_108^0==i_108^post_2 && i_127^0==i_127^post_2 && i_27^0==i_27^post_2 && length_25^0==length_25^post_2 && nondet_12^0==nondet_12^post_2 && r_37^0==r_37^post_2 && rcd_102^0==rcd_102^post_2 && rcd_110^0==rcd_110^post_2 && rcd_168^0==rcd_168^post_2 && rcd_172^0==rcd_172^post_2 && rcd_192^0==rcd_192^post_2 && rcd_41^0==rcd_41^post_2 && rcd_67^0==rcd_67^post_2 && result_11^0==result_11^post_2 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_2 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_2 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2 && t_23^0==t_23^post_2 && tail_15^0==tail_15^post_2 && temp0_19^0==temp0_19^post_2 && temp0_28^0==temp0_28^post_2 && temp_32^0==temp_32^post_2 && temp_33^0==temp_33^post_2 && tmp_31^0==tmp_31^post_2 && x_22^0==x_22^post_2 && x_SLAM_f_20^0==x_SLAM_f_20^post_2 && y_21^0==y_21^post_2 ], cost: 1
      2: l3 -> l4 : __disjvr_0^0'=__disjvr_0^post_3, __disjvr_10^0'=__disjvr_10^post_3, __disjvr_11^0'=__disjvr_11^post_3, __disjvr_12^0'=__disjvr_12^post_3, __disjvr_1^0'=__disjvr_1^post_3, __disjvr_2^0'=__disjvr_2^post_3, __disjvr_3^0'=__disjvr_3^post_3, __disjvr_4^0'=__disjvr_4^post_3, __disjvr_5^0'=__disjvr_5^post_3, __disjvr_6^0'=__disjvr_6^post_3, __disjvr_7^0'=__disjvr_7^post_3, __disjvr_8^0'=__disjvr_8^post_3, __disjvr_9^0'=__disjvr_9^post_3, a_137^0'=a_137^post_3, a_163^0'=a_163^post_3, a_193^0'=a_193^post_3, head_16^0'=head_16^post_3, head_29^0'=head_29^post_3, head_SLAM_f_26^0'=head_SLAM_f_26^post_3, i_108^0'=i_108^post_3, i_127^0'=i_127^post_3, i_27^0'=i_27^post_3, length_25^0'=length_25^post_3, nondet_12^0'=nondet_12^post_3, r_37^0'=r_37^post_3, rcd_102^0'=rcd_102^post_3, rcd_110^0'=rcd_110^post_3, rcd_168^0'=rcd_168^post_3, rcd_172^0'=rcd_172^post_3, rcd_192^0'=rcd_192^post_3, rcd_41^0'=rcd_41^post_3, rcd_67^0'=rcd_67^post_3, result_11^0'=result_11^post_3, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_3, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_3, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_3, t_23^0'=t_23^post_3, tail_15^0'=tail_15^post_3, temp0_19^0'=temp0_19^post_3, temp0_28^0'=temp0_28^post_3, temp_32^0'=temp_32^post_3, temp_33^0'=temp_33^post_3, tmp_31^0'=tmp_31^post_3, x_22^0'=x_22^post_3, x_SLAM_f_20^0'=x_SLAM_f_20^post_3, y_21^0'=y_21^post_3, [ t_23^post_3==x_22^0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0<=tail_15^0 && tail_15^0<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0<=y_21^0 && y_21^0<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 && tail_15^0<=y_21^0 && y_21^0<=tail_15^0 && head_16^0<=x_SLAM_f_20^0 && x_SLAM_f_20^0<=head_16^0 && __disjvr_0^0==__disjvr_0^post_3 && __disjvr_1^0==__disjvr_1^post_3 && __disjvr_10^0==__disjvr_10^post_3 && __disjvr_11^0==__disjvr_11^post_3 && __disjvr_12^0==__disjvr_12^post_3 && __disjvr_2^0==__disjvr_2^post_3 && __disjvr_3^0==__disjvr_3^post_3 && __disjvr_4^0==__disjvr_4^post_3 && __disjvr_5^0==__disjvr_5^post_3 && __disjvr_6^0==__disjvr_6^post_3 && __disjvr_7^0==__disjvr_7^post_3 && __disjvr_8^0==__disjvr_8^post_3 && __disjvr_9^0==__disjvr_9^post_3 && a_137^0==a_137^post_3 && a_163^0==a_163^post_3 && a_193^0==a_193^post_3 && head_16^0==head_16^post_3 && head_29^0==head_29^post_3 && head_SLAM_f_26^0==head_SLAM_f_26^post_3 && i_108^0==i_108^post_3 && i_127^0==i_127^post_3 && i_27^0==i_27^post_3 && length_25^0==length_25^post_3 && nondet_12^0==nondet_12^post_3 && r_37^0==r_37^post_3 && rcd_102^0==rcd_102^post_3 && rcd_110^0==rcd_110^post_3 && rcd_168^0==rcd_168^post_3 && rcd_172^0==rcd_172^post_3 && rcd_192^0==rcd_192^post_3 && rcd_41^0==rcd_41^post_3 && rcd_67^0==rcd_67^post_3 && result_11^0==result_11^post_3 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_3 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_3 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_3 && tail_15^0==tail_15^post_3 && temp0_19^0==temp0_19^post_3 && temp0_28^0==temp0_28^post_3 && temp_32^0==temp_32^post_3 && temp_33^0==temp_33^post_3 && tmp_31^0==tmp_31^post_3 && x_22^0==x_22^post_3 && x_SLAM_f_20^0==x_SLAM_f_20^post_3 && y_21^0==y_21^post_3 ], cost: 1
      3: l4 -> l5 : __disjvr_0^0'=__disjvr_0^post_4, __disjvr_10^0'=__disjvr_10^post_4, __disjvr_11^0'=__disjvr_11^post_4, __disjvr_12^0'=__disjvr_12^post_4, __disjvr_1^0'=__disjvr_1^post_4, __disjvr_2^0'=__disjvr_2^post_4, __disjvr_3^0'=__disjvr_3^post_4, __disjvr_4^0'=__disjvr_4^post_4, __disjvr_5^0'=__disjvr_5^post_4, __disjvr_6^0'=__disjvr_6^post_4, __disjvr_7^0'=__disjvr_7^post_4, __disjvr_8^0'=__disjvr_8^post_4, __disjvr_9^0'=__disjvr_9^post_4, a_137^0'=a_137^post_4, a_163^0'=a_163^post_4, a_193^0'=a_193^post_4, head_16^0'=head_16^post_4, head_29^0'=head_29^post_4, head_SLAM_f_26^0'=head_SLAM_f_26^post_4, i_108^0'=i_108^post_4, i_127^0'=i_127^post_4, i_27^0'=i_27^post_4, length_25^0'=length_25^post_4, nondet_12^0'=nondet_12^post_4, r_37^0'=r_37^post_4, rcd_102^0'=rcd_102^post_4, rcd_110^0'=rcd_110^post_4, rcd_168^0'=rcd_168^post_4, rcd_172^0'=rcd_172^post_4, rcd_192^0'=rcd_192^post_4, rcd_41^0'=rcd_41^post_4, rcd_67^0'=rcd_67^post_4, result_11^0'=result_11^post_4, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_4, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_4, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_4, t_23^0'=t_23^post_4, tail_15^0'=tail_15^post_4, temp0_19^0'=temp0_19^post_4, temp0_28^0'=temp0_28^post_4, temp_32^0'=temp_32^post_4, temp_33^0'=temp_33^post_4, tmp_31^0'=tmp_31^post_4, x_22^0'=x_22^post_4, x_SLAM_f_20^0'=x_SLAM_f_20^post_4, y_21^0'=y_21^post_4, [ __disjvr_1^post_4==__disjvr_1^0 && __disjvr_0^0==__disjvr_0^post_4 && __disjvr_1^0==__disjvr_1^post_4 && __disjvr_10^0==__disjvr_10^post_4 && __disjvr_11^0==__disjvr_11^post_4 && __disjvr_12^0==__disjvr_12^post_4 && __disjvr_2^0==__disjvr_2^post_4 && __disjvr_3^0==__disjvr_3^post_4 && __disjvr_4^0==__disjvr_4^post_4 && __disjvr_5^0==__disjvr_5^post_4 && __disjvr_6^0==__disjvr_6^post_4 && __disjvr_7^0==__disjvr_7^post_4 && __disjvr_8^0==__disjvr_8^post_4 && __disjvr_9^0==__disjvr_9^post_4 && a_137^0==a_137^post_4 && a_163^0==a_163^post_4 && a_193^0==a_193^post_4 && head_16^0==head_16^post_4 && head_29^0==head_29^post_4 && head_SLAM_f_26^0==head_SLAM_f_26^post_4 && i_108^0==i_108^post_4 && i_127^0==i_127^post_4 && i_27^0==i_27^post_4 && length_25^0==length_25^post_4 && nondet_12^0==nondet_12^post_4 && r_37^0==r_37^post_4 && rcd_102^0==rcd_102^post_4 && rcd_110^0==rcd_110^post_4 && rcd_168^0==rcd_168^post_4 && rcd_172^0==rcd_172^post_4 && rcd_192^0==rcd_192^post_4 && rcd_41^0==rcd_41^post_4 && rcd_67^0==rcd_67^post_4 && result_11^0==result_11^post_4 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_4 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_4 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_4 && t_23^0==t_23^post_4 && tail_15^0==tail_15^post_4 && temp0_19^0==temp0_19^post_4 && temp0_28^0==temp0_28^post_4 && temp_32^0==temp_32^post_4 && temp_33^0==temp_33^post_4 && tmp_31^0==tmp_31^post_4 && x_22^0==x_22^post_4 && x_SLAM_f_20^0==x_SLAM_f_20^post_4 && y_21^0==y_21^post_4 ], cost: 1
      4: l5 -> l6 : __disjvr_0^0'=__disjvr_0^post_5, __disjvr_10^0'=__disjvr_10^post_5, __disjvr_11^0'=__disjvr_11^post_5, __disjvr_12^0'=__disjvr_12^post_5, __disjvr_1^0'=__disjvr_1^post_5, __disjvr_2^0'=__disjvr_2^post_5, __disjvr_3^0'=__disjvr_3^post_5, __disjvr_4^0'=__disjvr_4^post_5, __disjvr_5^0'=__disjvr_5^post_5, __disjvr_6^0'=__disjvr_6^post_5, __disjvr_7^0'=__disjvr_7^post_5, __disjvr_8^0'=__disjvr_8^post_5, __disjvr_9^0'=__disjvr_9^post_5, a_137^0'=a_137^post_5, a_163^0'=a_163^post_5, a_193^0'=a_193^post_5, head_16^0'=head_16^post_5, head_29^0'=head_29^post_5, head_SLAM_f_26^0'=head_SLAM_f_26^post_5, i_108^0'=i_108^post_5, i_127^0'=i_127^post_5, i_27^0'=i_27^post_5, length_25^0'=length_25^post_5, nondet_12^0'=nondet_12^post_5, r_37^0'=r_37^post_5, rcd_102^0'=rcd_102^post_5, rcd_110^0'=rcd_110^post_5, rcd_168^0'=rcd_168^post_5, rcd_172^0'=rcd_172^post_5, rcd_192^0'=rcd_192^post_5, rcd_41^0'=rcd_41^post_5, rcd_67^0'=rcd_67^post_5, result_11^0'=result_11^post_5, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_5, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_5, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_5, t_23^0'=t_23^post_5, tail_15^0'=tail_15^post_5, temp0_19^0'=temp0_19^post_5, temp0_28^0'=temp0_28^post_5, temp_32^0'=temp_32^post_5, temp_33^0'=temp_33^post_5, tmp_31^0'=tmp_31^post_5, x_22^0'=x_22^post_5, x_SLAM_f_20^0'=x_SLAM_f_20^post_5, y_21^0'=y_21^post_5, [ __disjvr_2^post_5==__disjvr_2^0 && __disjvr_0^0==__disjvr_0^post_5 && __disjvr_1^0==__disjvr_1^post_5 && __disjvr_10^0==__disjvr_10^post_5 && __disjvr_11^0==__disjvr_11^post_5 && __disjvr_12^0==__disjvr_12^post_5 && __disjvr_2^0==__disjvr_2^post_5 && __disjvr_3^0==__disjvr_3^post_5 && __disjvr_4^0==__disjvr_4^post_5 && __disjvr_5^0==__disjvr_5^post_5 && __disjvr_6^0==__disjvr_6^post_5 && __disjvr_7^0==__disjvr_7^post_5 && __disjvr_8^0==__disjvr_8^post_5 && __disjvr_9^0==__disjvr_9^post_5 && a_137^0==a_137^post_5 && a_163^0==a_163^post_5 && a_193^0==a_193^post_5 && head_16^0==head_16^post_5 && head_29^0==head_29^post_5 && head_SLAM_f_26^0==head_SLAM_f_26^post_5 && i_108^0==i_108^post_5 && i_127^0==i_127^post_5 && i_27^0==i_27^post_5 && length_25^0==length_25^post_5 && nondet_12^0==nondet_12^post_5 && r_37^0==r_37^post_5 && rcd_102^0==rcd_102^post_5 && rcd_110^0==rcd_110^post_5 && rcd_168^0==rcd_168^post_5 && rcd_172^0==rcd_172^post_5 && rcd_192^0==rcd_192^post_5 && rcd_41^0==rcd_41^post_5 && rcd_67^0==rcd_67^post_5 && result_11^0==result_11^post_5 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_5 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_5 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_5 && t_23^0==t_23^post_5 && tail_15^0==tail_15^post_5 && temp0_19^0==temp0_19^post_5 && temp0_28^0==temp0_28^post_5 && temp_32^0==temp_32^post_5 && temp_33^0==temp_33^post_5 && tmp_31^0==tmp_31^post_5 && x_22^0==x_22^post_5 && x_SLAM_f_20^0==x_SLAM_f_20^post_5 && y_21^0==y_21^post_5 ], cost: 1
      5: l6 -> l1 : __disjvr_0^0'=__disjvr_0^post_6, __disjvr_10^0'=__disjvr_10^post_6, __disjvr_11^0'=__disjvr_11^post_6, __disjvr_12^0'=__disjvr_12^post_6, __disjvr_1^0'=__disjvr_1^post_6, __disjvr_2^0'=__disjvr_2^post_6, __disjvr_3^0'=__disjvr_3^post_6, __disjvr_4^0'=__disjvr_4^post_6, __disjvr_5^0'=__disjvr_5^post_6, __disjvr_6^0'=__disjvr_6^post_6, __disjvr_7^0'=__disjvr_7^post_6, __disjvr_8^0'=__disjvr_8^post_6, __disjvr_9^0'=__disjvr_9^post_6, a_137^0'=a_137^post_6, a_163^0'=a_163^post_6, a_193^0'=a_193^post_6, head_16^0'=head_16^post_6, head_29^0'=head_29^post_6, head_SLAM_f_26^0'=head_SLAM_f_26^post_6, i_108^0'=i_108^post_6, i_127^0'=i_127^post_6, i_27^0'=i_27^post_6, length_25^0'=length_25^post_6, nondet_12^0'=nondet_12^post_6, r_37^0'=r_37^post_6, rcd_102^0'=rcd_102^post_6, rcd_110^0'=rcd_110^post_6, rcd_168^0'=rcd_168^post_6, rcd_172^0'=rcd_172^post_6, rcd_192^0'=rcd_192^post_6, rcd_41^0'=rcd_41^post_6, rcd_67^0'=rcd_67^post_6, result_11^0'=result_11^post_6, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_6, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_6, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_6, t_23^0'=t_23^post_6, tail_15^0'=tail_15^post_6, temp0_19^0'=temp0_19^post_6, temp0_28^0'=temp0_28^post_6, temp_32^0'=temp_32^post_6, temp_33^0'=temp_33^post_6, tmp_31^0'=tmp_31^post_6, x_22^0'=x_22^post_6, x_SLAM_f_20^0'=x_SLAM_f_20^post_6, y_21^0'=y_21^post_6, [ 1<=result_dot_nondet_sdv_special_RETURN_VALUE_14^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^0 && __disjvr_0^0==__disjvr_0^post_6 && __disjvr_1^0==__disjvr_1^post_6 && __disjvr_10^0==__disjvr_10^post_6 && __disjvr_11^0==__disjvr_11^post_6 && __disjvr_12^0==__disjvr_12^post_6 && __disjvr_2^0==__disjvr_2^post_6 && __disjvr_3^0==__disjvr_3^post_6 && __disjvr_4^0==__disjvr_4^post_6 && __disjvr_5^0==__disjvr_5^post_6 && __disjvr_6^0==__disjvr_6^post_6 && __disjvr_7^0==__disjvr_7^post_6 && __disjvr_8^0==__disjvr_8^post_6 && __disjvr_9^0==__disjvr_9^post_6 && a_137^0==a_137^post_6 && a_163^0==a_163^post_6 && a_193^0==a_193^post_6 && head_16^0==head_16^post_6 && head_29^0==head_29^post_6 && head_SLAM_f_26^0==head_SLAM_f_26^post_6 && i_108^0==i_108^post_6 && i_127^0==i_127^post_6 && i_27^0==i_27^post_6 && length_25^0==length_25^post_6 && nondet_12^0==nondet_12^post_6 && r_37^0==r_37^post_6 && rcd_102^0==rcd_102^post_6 && rcd_110^0==rcd_110^post_6 && rcd_168^0==rcd_168^post_6 && rcd_172^0==rcd_172^post_6 && rcd_192^0==rcd_192^post_6 && rcd_41^0==rcd_41^post_6 && rcd_67^0==rcd_67^post_6 && result_11^0==result_11^post_6 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_6 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_6 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_6 && t_23^0==t_23^post_6 && tail_15^0==tail_15^post_6 && temp0_19^0==temp0_19^post_6 && temp0_28^0==temp0_28^post_6 && temp_32^0==temp_32^post_6 && temp_33^0==temp_33^post_6 && tmp_31^0==tmp_31^post_6 && x_22^0==x_22^post_6 && x_SLAM_f_20^0==x_SLAM_f_20^post_6 && y_21^0==y_21^post_6 ], cost: 1
     17: l1 -> l7 : __disjvr_0^0'=__disjvr_0^post_18, __disjvr_10^0'=__disjvr_10^post_18, __disjvr_11^0'=__disjvr_11^post_18, __disjvr_12^0'=__disjvr_12^post_18, __disjvr_1^0'=__disjvr_1^post_18, __disjvr_2^0'=__disjvr_2^post_18, __disjvr_3^0'=__disjvr_3^post_18, __disjvr_4^0'=__disjvr_4^post_18, __disjvr_5^0'=__disjvr_5^post_18, __disjvr_6^0'=__disjvr_6^post_18, __disjvr_7^0'=__disjvr_7^post_18, __disjvr_8^0'=__disjvr_8^post_18, __disjvr_9^0'=__disjvr_9^post_18, a_137^0'=a_137^post_18, a_163^0'=a_163^post_18, a_193^0'=a_193^post_18, head_16^0'=head_16^post_18, head_29^0'=head_29^post_18, head_SLAM_f_26^0'=head_SLAM_f_26^post_18, i_108^0'=i_108^post_18, i_127^0'=i_127^post_18, i_27^0'=i_27^post_18, length_25^0'=length_25^post_18, nondet_12^0'=nondet_12^post_18, r_37^0'=r_37^post_18, rcd_102^0'=rcd_102^post_18, rcd_110^0'=rcd_110^post_18, rcd_168^0'=rcd_168^post_18, rcd_172^0'=rcd_172^post_18, rcd_192^0'=rcd_192^post_18, rcd_41^0'=rcd_41^post_18, rcd_67^0'=rcd_67^post_18, result_11^0'=result_11^post_18, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_18, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_18, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_18, t_23^0'=t_23^post_18, tail_15^0'=tail_15^post_18, temp0_19^0'=temp0_19^post_18, temp0_28^0'=temp0_28^post_18, temp_32^0'=temp_32^post_18, temp_33^0'=temp_33^post_18, tmp_31^0'=tmp_31^post_18, x_22^0'=x_22^post_18, x_SLAM_f_20^0'=x_SLAM_f_20^post_18, y_21^0'=y_21^post_18, [ 0<=a_163^0 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_18==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_18 && y_21^0<=x_22^0 && x_22^0<=y_21^0 && x_SLAM_f_20^post_18==x_SLAM_f_20^post_18 && y_21^post_18==y_21^post_18 && x_22^post_18==x_22^post_18 && t_23^post_18==t_23^post_18 && result_11^post_18==temp0_19^0 && 1<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_18 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_18 && __disjvr_0^0==__disjvr_0^post_18 && __disjvr_1^0==__disjvr_1^post_18 && __disjvr_10^0==__disjvr_10^post_18 && __disjvr_11^0==__disjvr_11^post_18 && __disjvr_12^0==__disjvr_12^post_18 && __disjvr_2^0==__disjvr_2^post_18 && __disjvr_3^0==__disjvr_3^post_18 && __disjvr_4^0==__disjvr_4^post_18 && __disjvr_5^0==__disjvr_5^post_18 && __disjvr_6^0==__disjvr_6^post_18 && __disjvr_7^0==__disjvr_7^post_18 && __disjvr_8^0==__disjvr_8^post_18 && __disjvr_9^0==__disjvr_9^post_18 && a_137^0==a_137^post_18 && a_163^0==a_163^post_18 && a_193^0==a_193^post_18 && head_16^0==head_16^post_18 && head_29^0==head_29^post_18 && head_SLAM_f_26^0==head_SLAM_f_26^post_18 && i_108^0==i_108^post_18 && i_127^0==i_127^post_18 && i_27^0==i_27^post_18 && length_25^0==length_25^post_18 && nondet_12^0==nondet_12^post_18 && r_37^0==r_37^post_18 && rcd_102^0==rcd_102^post_18 && rcd_110^0==rcd_110^post_18 && rcd_168^0==rcd_168^post_18 && rcd_172^0==rcd_172^post_18 && rcd_192^0==rcd_192^post_18 && rcd_41^0==rcd_41^post_18 && rcd_67^0==rcd_67^post_18 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_18 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_18 && tail_15^0==tail_15^post_18 && temp0_19^0==temp0_19^post_18 && temp0_28^0==temp0_28^post_18 && temp_32^0==temp_32^post_18 && temp_33^0==temp_33^post_18 && tmp_31^0==tmp_31^post_18 ], cost: 1
     18: l1 -> l20 : __disjvr_0^0'=__disjvr_0^post_19, __disjvr_10^0'=__disjvr_10^post_19, __disjvr_11^0'=__disjvr_11^post_19, __disjvr_12^0'=__disjvr_12^post_19, __disjvr_1^0'=__disjvr_1^post_19, __disjvr_2^0'=__disjvr_2^post_19, __disjvr_3^0'=__disjvr_3^post_19, __disjvr_4^0'=__disjvr_4^post_19, __disjvr_5^0'=__disjvr_5^post_19, __disjvr_6^0'=__disjvr_6^post_19, __disjvr_7^0'=__disjvr_7^post_19, __disjvr_8^0'=__disjvr_8^post_19, __disjvr_9^0'=__disjvr_9^post_19, a_137^0'=a_137^post_19, a_163^0'=a_163^post_19, a_193^0'=a_193^post_19, head_16^0'=head_16^post_19, head_29^0'=head_29^post_19, head_SLAM_f_26^0'=head_SLAM_f_26^post_19, i_108^0'=i_108^post_19, i_127^0'=i_127^post_19, i_27^0'=i_27^post_19, length_25^0'=length_25^post_19, nondet_12^0'=nondet_12^post_19, r_37^0'=r_37^post_19, rcd_102^0'=rcd_102^post_19, rcd_110^0'=rcd_110^post_19, rcd_168^0'=rcd_168^post_19, rcd_172^0'=rcd_172^post_19, rcd_192^0'=rcd_192^post_19, rcd_41^0'=rcd_41^post_19, rcd_67^0'=rcd_67^post_19, result_11^0'=result_11^post_19, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_19, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_19, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_19, t_23^0'=t_23^post_19, tail_15^0'=tail_15^post_19, temp0_19^0'=temp0_19^post_19, temp0_28^0'=temp0_28^post_19, temp_32^0'=temp_32^post_19, temp_33^0'=temp_33^post_19, tmp_31^0'=tmp_31^post_19, x_22^0'=x_22^post_19, x_SLAM_f_20^0'=x_SLAM_f_20^post_19, y_21^0'=y_21^post_19, [ 0<=a_163^0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_19==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_19 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_19==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_19 && tail_15^post_19==tail_15^post_19 && head_16^post_19==head_16^post_19 && x_SLAM_f_20^post_19==x_SLAM_f_20^post_19 && r_37^post_19==r_37^post_19 && __disjvr_0^0==__disjvr_0^post_19 && __disjvr_1^0==__disjvr_1^post_19 && __disjvr_10^0==__disjvr_10^post_19 && __disjvr_11^0==__disjvr_11^post_19 && __disjvr_12^0==__disjvr_12^post_19 && __disjvr_2^0==__disjvr_2^post_19 && __disjvr_3^0==__disjvr_3^post_19 && __disjvr_4^0==__disjvr_4^post_19 && __disjvr_5^0==__disjvr_5^post_19 && __disjvr_6^0==__disjvr_6^post_19 && __disjvr_7^0==__disjvr_7^post_19 && __disjvr_8^0==__disjvr_8^post_19 && __disjvr_9^0==__disjvr_9^post_19 && a_137^0==a_137^post_19 && a_163^0==a_163^post_19 && a_193^0==a_193^post_19 && head_29^0==head_29^post_19 && head_SLAM_f_26^0==head_SLAM_f_26^post_19 && i_108^0==i_108^post_19 && i_127^0==i_127^post_19 && i_27^0==i_27^post_19 && length_25^0==length_25^post_19 && nondet_12^0==nondet_12^post_19 && rcd_102^0==rcd_102^post_19 && rcd_110^0==rcd_110^post_19 && rcd_168^0==rcd_168^post_19 && rcd_172^0==rcd_172^post_19 && rcd_192^0==rcd_192^post_19 && rcd_41^0==rcd_41^post_19 && rcd_67^0==rcd_67^post_19 && result_11^0==result_11^post_19 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_19 && t_23^0==t_23^post_19 && temp0_19^0==temp0_19^post_19 && temp0_28^0==temp0_28^post_19 && temp_32^0==temp_32^post_19 && temp_33^0==temp_33^post_19 && tmp_31^0==tmp_31^post_19 && x_22^0==x_22^post_19 && y_21^0==y_21^post_19 ], cost: 1
      7: l8 -> l9 : __disjvr_0^0'=__disjvr_0^post_8, __disjvr_10^0'=__disjvr_10^post_8, __disjvr_11^0'=__disjvr_11^post_8, __disjvr_12^0'=__disjvr_12^post_8, __disjvr_1^0'=__disjvr_1^post_8, __disjvr_2^0'=__disjvr_2^post_8, __disjvr_3^0'=__disjvr_3^post_8, __disjvr_4^0'=__disjvr_4^post_8, __disjvr_5^0'=__disjvr_5^post_8, __disjvr_6^0'=__disjvr_6^post_8, __disjvr_7^0'=__disjvr_7^post_8, __disjvr_8^0'=__disjvr_8^post_8, __disjvr_9^0'=__disjvr_9^post_8, a_137^0'=a_137^post_8, a_163^0'=a_163^post_8, a_193^0'=a_193^post_8, head_16^0'=head_16^post_8, head_29^0'=head_29^post_8, head_SLAM_f_26^0'=head_SLAM_f_26^post_8, i_108^0'=i_108^post_8, i_127^0'=i_127^post_8, i_27^0'=i_27^post_8, length_25^0'=length_25^post_8, nondet_12^0'=nondet_12^post_8, r_37^0'=r_37^post_8, rcd_102^0'=rcd_102^post_8, rcd_110^0'=rcd_110^post_8, rcd_168^0'=rcd_168^post_8, rcd_172^0'=rcd_172^post_8, rcd_192^0'=rcd_192^post_8, rcd_41^0'=rcd_41^post_8, rcd_67^0'=rcd_67^post_8, result_11^0'=result_11^post_8, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_8, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_8, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_8, t_23^0'=t_23^post_8, tail_15^0'=tail_15^post_8, temp0_19^0'=temp0_19^post_8, temp0_28^0'=temp0_28^post_8, temp_32^0'=temp_32^post_8, temp_33^0'=temp_33^post_8, tmp_31^0'=tmp_31^post_8, x_22^0'=x_22^post_8, x_SLAM_f_20^0'=x_SLAM_f_20^post_8, y_21^0'=y_21^post_8, [ __disjvr_3^post_8==__disjvr_3^0 && __disjvr_0^0==__disjvr_0^post_8 && __disjvr_1^0==__disjvr_1^post_8 && __disjvr_10^0==__disjvr_10^post_8 && __disjvr_11^0==__disjvr_11^post_8 && __disjvr_12^0==__disjvr_12^post_8 && __disjvr_2^0==__disjvr_2^post_8 && __disjvr_3^0==__disjvr_3^post_8 && __disjvr_4^0==__disjvr_4^post_8 && __disjvr_5^0==__disjvr_5^post_8 && __disjvr_6^0==__disjvr_6^post_8 && __disjvr_7^0==__disjvr_7^post_8 && __disjvr_8^0==__disjvr_8^post_8 && __disjvr_9^0==__disjvr_9^post_8 && a_137^0==a_137^post_8 && a_163^0==a_163^post_8 && a_193^0==a_193^post_8 && head_16^0==head_16^post_8 && head_29^0==head_29^post_8 && head_SLAM_f_26^0==head_SLAM_f_26^post_8 && i_108^0==i_108^post_8 && i_127^0==i_127^post_8 && i_27^0==i_27^post_8 && length_25^0==length_25^post_8 && nondet_12^0==nondet_12^post_8 && r_37^0==r_37^post_8 && rcd_102^0==rcd_102^post_8 && rcd_110^0==rcd_110^post_8 && rcd_168^0==rcd_168^post_8 && rcd_172^0==rcd_172^post_8 && rcd_192^0==rcd_192^post_8 && rcd_41^0==rcd_41^post_8 && rcd_67^0==rcd_67^post_8 && result_11^0==result_11^post_8 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_8 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_8 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_8 && t_23^0==t_23^post_8 && tail_15^0==tail_15^post_8 && temp0_19^0==temp0_19^post_8 && temp0_28^0==temp0_28^post_8 && temp_32^0==temp_32^post_8 && temp_33^0==temp_33^post_8 && tmp_31^0==tmp_31^post_8 && x_22^0==x_22^post_8 && x_SLAM_f_20^0==x_SLAM_f_20^post_8 && y_21^0==y_21^post_8 ], cost: 1
      8: l9 -> l7 : __disjvr_0^0'=__disjvr_0^post_9, __disjvr_10^0'=__disjvr_10^post_9, __disjvr_11^0'=__disjvr_11^post_9, __disjvr_12^0'=__disjvr_12^post_9, __disjvr_1^0'=__disjvr_1^post_9, __disjvr_2^0'=__disjvr_2^post_9, __disjvr_3^0'=__disjvr_3^post_9, __disjvr_4^0'=__disjvr_4^post_9, __disjvr_5^0'=__disjvr_5^post_9, __disjvr_6^0'=__disjvr_6^post_9, __disjvr_7^0'=__disjvr_7^post_9, __disjvr_8^0'=__disjvr_8^post_9, __disjvr_9^0'=__disjvr_9^post_9, a_137^0'=a_137^post_9, a_163^0'=a_163^post_9, a_193^0'=a_193^post_9, head_16^0'=head_16^post_9, head_29^0'=head_29^post_9, head_SLAM_f_26^0'=head_SLAM_f_26^post_9, i_108^0'=i_108^post_9, i_127^0'=i_127^post_9, i_27^0'=i_27^post_9, length_25^0'=length_25^post_9, nondet_12^0'=nondet_12^post_9, r_37^0'=r_37^post_9, rcd_102^0'=rcd_102^post_9, rcd_110^0'=rcd_110^post_9, rcd_168^0'=rcd_168^post_9, rcd_172^0'=rcd_172^post_9, rcd_192^0'=rcd_192^post_9, rcd_41^0'=rcd_41^post_9, rcd_67^0'=rcd_67^post_9, result_11^0'=result_11^post_9, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_9, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_9, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_9, t_23^0'=t_23^post_9, tail_15^0'=tail_15^post_9, temp0_19^0'=temp0_19^post_9, temp0_28^0'=temp0_28^post_9, temp_32^0'=temp_32^post_9, temp_33^0'=temp_33^post_9, tmp_31^0'=tmp_31^post_9, x_22^0'=x_22^post_9, x_SLAM_f_20^0'=x_SLAM_f_20^post_9, y_21^0'=y_21^post_9, [ 1<=result_dot_nondet_sdv_special_RETURN_VALUE_14^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^0 && __disjvr_0^0==__disjvr_0^post_9 && __disjvr_1^0==__disjvr_1^post_9 && __disjvr_10^0==__disjvr_10^post_9 && __disjvr_11^0==__disjvr_11^post_9 && __disjvr_12^0==__disjvr_12^post_9 && __disjvr_2^0==__disjvr_2^post_9 && __disjvr_3^0==__disjvr_3^post_9 && __disjvr_4^0==__disjvr_4^post_9 && __disjvr_5^0==__disjvr_5^post_9 && __disjvr_6^0==__disjvr_6^post_9 && __disjvr_7^0==__disjvr_7^post_9 && __disjvr_8^0==__disjvr_8^post_9 && __disjvr_9^0==__disjvr_9^post_9 && a_137^0==a_137^post_9 && a_163^0==a_163^post_9 && a_193^0==a_193^post_9 && head_16^0==head_16^post_9 && head_29^0==head_29^post_9 && head_SLAM_f_26^0==head_SLAM_f_26^post_9 && i_108^0==i_108^post_9 && i_127^0==i_127^post_9 && i_27^0==i_27^post_9 && length_25^0==length_25^post_9 && nondet_12^0==nondet_12^post_9 && r_37^0==r_37^post_9 && rcd_102^0==rcd_102^post_9 && rcd_110^0==rcd_110^post_9 && rcd_168^0==rcd_168^post_9 && rcd_172^0==rcd_172^post_9 && rcd_192^0==rcd_192^post_9 && rcd_41^0==rcd_41^post_9 && rcd_67^0==rcd_67^post_9 && result_11^0==result_11^post_9 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_9 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_9 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_9 && t_23^0==t_23^post_9 && tail_15^0==tail_15^post_9 && temp0_19^0==temp0_19^post_9 && temp0_28^0==temp0_28^post_9 && temp_32^0==temp_32^post_9 && temp_33^0==temp_33^post_9 && tmp_31^0==tmp_31^post_9 && x_22^0==x_22^post_9 && x_SLAM_f_20^0==x_SLAM_f_20^post_9 && y_21^0==y_21^post_9 ], cost: 1
      9: l10 -> l11 : __disjvr_0^0'=__disjvr_0^post_10, __disjvr_10^0'=__disjvr_10^post_10, __disjvr_11^0'=__disjvr_11^post_10, __disjvr_12^0'=__disjvr_12^post_10, __disjvr_1^0'=__disjvr_1^post_10, __disjvr_2^0'=__disjvr_2^post_10, __disjvr_3^0'=__disjvr_3^post_10, __disjvr_4^0'=__disjvr_4^post_10, __disjvr_5^0'=__disjvr_5^post_10, __disjvr_6^0'=__disjvr_6^post_10, __disjvr_7^0'=__disjvr_7^post_10, __disjvr_8^0'=__disjvr_8^post_10, __disjvr_9^0'=__disjvr_9^post_10, a_137^0'=a_137^post_10, a_163^0'=a_163^post_10, a_193^0'=a_193^post_10, head_16^0'=head_16^post_10, head_29^0'=head_29^post_10, head_SLAM_f_26^0'=head_SLAM_f_26^post_10, i_108^0'=i_108^post_10, i_127^0'=i_127^post_10, i_27^0'=i_27^post_10, length_25^0'=length_25^post_10, nondet_12^0'=nondet_12^post_10, r_37^0'=r_37^post_10, rcd_102^0'=rcd_102^post_10, rcd_110^0'=rcd_110^post_10, rcd_168^0'=rcd_168^post_10, rcd_172^0'=rcd_172^post_10, rcd_192^0'=rcd_192^post_10, rcd_41^0'=rcd_41^post_10, rcd_67^0'=rcd_67^post_10, result_11^0'=result_11^post_10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_10, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_10, t_23^0'=t_23^post_10, tail_15^0'=tail_15^post_10, temp0_19^0'=temp0_19^post_10, temp0_28^0'=temp0_28^post_10, temp_32^0'=temp_32^post_10, temp_33^0'=temp_33^post_10, tmp_31^0'=tmp_31^post_10, x_22^0'=x_22^post_10, x_SLAM_f_20^0'=x_SLAM_f_20^post_10, y_21^0'=y_21^post_10, [ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_10==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_10 && tail_15^post_10==temp_33^0 && temp_33^post_10==temp_33^post_10 && nondet_12^1_1==nondet_12^1_1 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_10==nondet_12^1_1 && nondet_12^post_10==nondet_12^post_10 && length_25^post_10==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_10 && head_SLAM_f_26^post_10==tail_15^post_10 && head_29^post_10==head_SLAM_f_26^post_10 && i_27^post_10==0 && 0<=i_27^post_10 && i_27^post_10<=0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_10<=tail_15^post_10 && tail_15^post_10<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_10 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_10<=head_SLAM_f_26^post_10 && head_SLAM_f_26^post_10<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_10 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_10<=head_29^post_10 && head_29^post_10<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_10 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_10<=length_25^post_10 && length_25^post_10<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_10 && tail_15^post_10<=head_SLAM_f_26^post_10 && head_SLAM_f_26^post_10<=tail_15^post_10 && head_SLAM_f_26^post_10<=head_29^post_10 && head_29^post_10<=head_SLAM_f_26^post_10 && __disjvr_0^0==__disjvr_0^post_10 && __disjvr_1^0==__disjvr_1^post_10 && __disjvr_10^0==__disjvr_10^post_10 && __disjvr_11^0==__disjvr_11^post_10 && __disjvr_12^0==__disjvr_12^post_10 && __disjvr_2^0==__disjvr_2^post_10 && __disjvr_3^0==__disjvr_3^post_10 && __disjvr_4^0==__disjvr_4^post_10 && __disjvr_5^0==__disjvr_5^post_10 && __disjvr_6^0==__disjvr_6^post_10 && __disjvr_7^0==__disjvr_7^post_10 && __disjvr_8^0==__disjvr_8^post_10 && __disjvr_9^0==__disjvr_9^post_10 && a_137^0==a_137^post_10 && a_163^0==a_163^post_10 && a_193^0==a_193^post_10 && head_16^0==head_16^post_10 && i_108^0==i_108^post_10 && i_127^0==i_127^post_10 && r_37^0==r_37^post_10 && rcd_102^0==rcd_102^post_10 && rcd_110^0==rcd_110^post_10 && rcd_168^0==rcd_168^post_10 && rcd_172^0==rcd_172^post_10 && rcd_192^0==rcd_192^post_10 && rcd_41^0==rcd_41^post_10 && rcd_67^0==rcd_67^post_10 && result_11^0==result_11^post_10 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_10 && t_23^0==t_23^post_10 && temp0_19^0==temp0_19^post_10 && temp0_28^0==temp0_28^post_10 && temp_32^0==temp_32^post_10 && tmp_31^0==tmp_31^post_10 && x_22^0==x_22^post_10 && x_SLAM_f_20^0==x_SLAM_f_20^post_10 && y_21^0==y_21^post_10 ], cost: 1
     33: l11 -> l7 : __disjvr_0^0'=__disjvr_0^post_34, __disjvr_10^0'=__disjvr_10^post_34, __disjvr_11^0'=__disjvr_11^post_34, __disjvr_12^0'=__disjvr_12^post_34, __disjvr_1^0'=__disjvr_1^post_34, __disjvr_2^0'=__disjvr_2^post_34, __disjvr_3^0'=__disjvr_3^post_34, __disjvr_4^0'=__disjvr_4^post_34, __disjvr_5^0'=__disjvr_5^post_34, __disjvr_6^0'=__disjvr_6^post_34, __disjvr_7^0'=__disjvr_7^post_34, __disjvr_8^0'=__disjvr_8^post_34, __disjvr_9^0'=__disjvr_9^post_34, a_137^0'=a_137^post_34, a_163^0'=a_163^post_34, a_193^0'=a_193^post_34, head_16^0'=head_16^post_34, head_29^0'=head_29^post_34, head_SLAM_f_26^0'=head_SLAM_f_26^post_34, i_108^0'=i_108^post_34, i_127^0'=i_127^post_34, i_27^0'=i_27^post_34, length_25^0'=length_25^post_34, nondet_12^0'=nondet_12^post_34, r_37^0'=r_37^post_34, rcd_102^0'=rcd_102^post_34, rcd_110^0'=rcd_110^post_34, rcd_168^0'=rcd_168^post_34, rcd_172^0'=rcd_172^post_34, rcd_192^0'=rcd_192^post_34, rcd_41^0'=rcd_41^post_34, rcd_67^0'=rcd_67^post_34, result_11^0'=result_11^post_34, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_34, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_34, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_34, t_23^0'=t_23^post_34, tail_15^0'=tail_15^post_34, temp0_19^0'=temp0_19^post_34, temp0_28^0'=temp0_28^post_34, temp_32^0'=temp_32^post_34, temp_33^0'=temp_33^post_34, tmp_31^0'=tmp_31^post_34, x_22^0'=x_22^post_34, x_SLAM_f_20^0'=x_SLAM_f_20^post_34, y_21^0'=y_21^post_34, [ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_34==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_34 && result_dot_nondet_sdv_special_RETURN_VALUE_14^1_3_1==result_dot_nondet_sdv_special_RETURN_VALUE_14^1_3_1 && length_25^0<=i_27^0 && temp0_28^1_3_1==head_29^0 && result_11^1_2_2==temp0_28^1_3_1 && length_25^post_34==length_25^post_34 && head_SLAM_f_26^post_34==head_SLAM_f_26^post_34 && i_27^post_34==i_27^post_34 && temp0_28^post_34==temp0_28^post_34 && head_29^post_34==head_29^post_34 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_34==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_34 && tmp_31^post_34==tmp_31^post_34 && temp_32^post_34==temp_32^post_34 && head_16^post_34==result_11^1_2_2 && result_11^2_1==result_11^2_1 && x_SLAM_f_20^1_3_1==head_16^post_34 && y_21^1_1==tail_15^0 && x_22^1_1==x_SLAM_f_20^1_3_1 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_34<=tail_15^0 && tail_15^0<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_34 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_34<=head_16^post_34 && head_16^post_34<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_34 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_34<=x_SLAM_f_20^1_3_1 && x_SLAM_f_20^1_3_1<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_34 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_34<=y_21^1_1 && y_21^1_1<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_34 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_34<=x_22^1_1 && x_22^1_1<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_34 && tail_15^0<=y_21^1_1 && y_21^1_1<=tail_15^0 && head_16^post_34<=x_SLAM_f_20^1_3_1 && x_SLAM_f_20^1_3_1<=head_16^post_34 && x_SLAM_f_20^1_3_1<=x_22^1_1 && x_22^1_1<=x_SLAM_f_20^1_3_1 && result_dot_nondet_sdv_special_RETURN_VALUE_14^1_3_1<=0 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_34==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_34 && y_21^1_1<=x_22^1_1 && x_22^1_1<=y_21^1_1 && x_SLAM_f_20^post_34==x_SLAM_f_20^post_34 && y_21^post_34==y_21^post_34 && x_22^post_34==x_22^post_34 && t_23^post_34==t_23^post_34 && result_11^post_34==temp0_19^0 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_34<=0 && __disjvr_0^0==__disjvr_0^post_34 && __disjvr_1^0==__disjvr_1^post_34 && __disjvr_10^0==__disjvr_10^post_34 && __disjvr_11^0==__disjvr_11^post_34 && __disjvr_12^0==__disjvr_12^post_34 && __disjvr_2^0==__disjvr_2^post_34 && __disjvr_3^0==__disjvr_3^post_34 && __disjvr_4^0==__disjvr_4^post_34 && __disjvr_5^0==__disjvr_5^post_34 && __disjvr_6^0==__disjvr_6^post_34 && __disjvr_7^0==__disjvr_7^post_34 && __disjvr_8^0==__disjvr_8^post_34 && __disjvr_9^0==__disjvr_9^post_34 && a_137^0==a_137^post_34 && a_163^0==a_163^post_34 && a_193^0==a_193^post_34 && i_108^0==i_108^post_34 && i_127^0==i_127^post_34 && nondet_12^0==nondet_12^post_34 && r_37^0==r_37^post_34 && rcd_102^0==rcd_102^post_34 && rcd_110^0==rcd_110^post_34 && rcd_168^0==rcd_168^post_34 && rcd_172^0==rcd_172^post_34 && rcd_192^0==rcd_192^post_34 && rcd_41^0==rcd_41^post_34 && rcd_67^0==rcd_67^post_34 && tail_15^0==tail_15^post_34 && temp0_19^0==temp0_19^post_34 && temp_33^0==temp_33^post_34 ], cost: 1
     34: l11 -> l12 : __disjvr_0^0'=__disjvr_0^post_35, __disjvr_10^0'=__disjvr_10^post_35, __disjvr_11^0'=__disjvr_11^post_35, __disjvr_12^0'=__disjvr_12^post_35, __disjvr_1^0'=__disjvr_1^post_35, __disjvr_2^0'=__disjvr_2^post_35, __disjvr_3^0'=__disjvr_3^post_35, __disjvr_4^0'=__disjvr_4^post_35, __disjvr_5^0'=__disjvr_5^post_35, __disjvr_6^0'=__disjvr_6^post_35, __disjvr_7^0'=__disjvr_7^post_35, __disjvr_8^0'=__disjvr_8^post_35, __disjvr_9^0'=__disjvr_9^post_35, a_137^0'=a_137^post_35, a_163^0'=a_163^post_35, a_193^0'=a_193^post_35, head_16^0'=head_16^post_35, head_29^0'=head_29^post_35, head_SLAM_f_26^0'=head_SLAM_f_26^post_35, i_108^0'=i_108^post_35, i_127^0'=i_127^post_35, i_27^0'=i_27^post_35, length_25^0'=length_25^post_35, nondet_12^0'=nondet_12^post_35, r_37^0'=r_37^post_35, rcd_102^0'=rcd_102^post_35, rcd_110^0'=rcd_110^post_35, rcd_168^0'=rcd_168^post_35, rcd_172^0'=rcd_172^post_35, rcd_192^0'=rcd_192^post_35, rcd_41^0'=rcd_41^post_35, rcd_67^0'=rcd_67^post_35, result_11^0'=result_11^post_35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_35, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_35, t_23^0'=t_23^post_35, tail_15^0'=tail_15^post_35, temp0_19^0'=temp0_19^post_35, temp0_28^0'=temp0_28^post_35, temp_32^0'=temp_32^post_35, temp_33^0'=temp_33^post_35, tmp_31^0'=tmp_31^post_35, x_22^0'=x_22^post_35, x_SLAM_f_20^0'=x_SLAM_f_20^post_35, y_21^0'=y_21^post_35, [ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_35==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_35 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_35==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_35 && tail_15^post_35==tail_15^post_35 && head_SLAM_f_26^post_35==head_SLAM_f_26^post_35 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_35==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_35 && 1+i_27^0<=length_25^0 && tmp_31^post_35==temp_32^0 && temp_32^post_35==temp_32^post_35 && head_29^post_35==tmp_31^post_35 && i_27^post_35==1+i_27^0 && 1<=i_27^post_35 && i_27^post_35<=1 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_35<=tail_15^post_35 && tail_15^post_35<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_35 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_35<=head_SLAM_f_26^post_35 && head_SLAM_f_26^post_35<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_35 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_35<=length_25^0 && length_25^0<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_35 && tail_15^post_35<=head_SLAM_f_26^post_35 && head_SLAM_f_26^post_35<=tail_15^post_35 && head_29^post_35<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_35 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_35<=head_29^post_35 && head_29^post_35<=tmp_31^post_35 && tmp_31^post_35<=head_29^post_35 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_35<=tmp_31^post_35 && tmp_31^post_35<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_35 && 1<=length_25^0 && __disjvr_0^0==__disjvr_0^post_35 && __disjvr_1^0==__disjvr_1^post_35 && __disjvr_10^0==__disjvr_10^post_35 && __disjvr_11^0==__disjvr_11^post_35 && __disjvr_12^0==__disjvr_12^post_35 && __disjvr_2^0==__disjvr_2^post_35 && __disjvr_3^0==__disjvr_3^post_35 && __disjvr_4^0==__disjvr_4^post_35 && __disjvr_5^0==__disjvr_5^post_35 && __disjvr_6^0==__disjvr_6^post_35 && __disjvr_7^0==__disjvr_7^post_35 && __disjvr_8^0==__disjvr_8^post_35 && __disjvr_9^0==__disjvr_9^post_35 && a_137^0==a_137^post_35 && a_163^0==a_163^post_35 && a_193^0==a_193^post_35 && head_16^0==head_16^post_35 && i_108^0==i_108^post_35 && i_127^0==i_127^post_35 && length_25^0==length_25^post_35 && nondet_12^0==nondet_12^post_35 && r_37^0==r_37^post_35 && rcd_102^0==rcd_102^post_35 && rcd_110^0==rcd_110^post_35 && rcd_168^0==rcd_168^post_35 && rcd_172^0==rcd_172^post_35 && rcd_192^0==rcd_192^post_35 && rcd_41^0==rcd_41^post_35 && rcd_67^0==rcd_67^post_35 && result_11^0==result_11^post_35 && t_23^0==t_23^post_35 && temp0_19^0==temp0_19^post_35 && temp0_28^0==temp0_28^post_35 && temp_33^0==temp_33^post_35 && x_22^0==x_22^post_35 && x_SLAM_f_20^0==x_SLAM_f_20^post_35 && y_21^0==y_21^post_35 ], cost: 1
     10: l12 -> l13 : __disjvr_0^0'=__disjvr_0^post_11, __disjvr_10^0'=__disjvr_10^post_11, __disjvr_11^0'=__disjvr_11^post_11, __disjvr_12^0'=__disjvr_12^post_11, __disjvr_1^0'=__disjvr_1^post_11, __disjvr_2^0'=__disjvr_2^post_11, __disjvr_3^0'=__disjvr_3^post_11, __disjvr_4^0'=__disjvr_4^post_11, __disjvr_5^0'=__disjvr_5^post_11, __disjvr_6^0'=__disjvr_6^post_11, __disjvr_7^0'=__disjvr_7^post_11, __disjvr_8^0'=__disjvr_8^post_11, __disjvr_9^0'=__disjvr_9^post_11, a_137^0'=a_137^post_11, a_163^0'=a_163^post_11, a_193^0'=a_193^post_11, head_16^0'=head_16^post_11, head_29^0'=head_29^post_11, head_SLAM_f_26^0'=head_SLAM_f_26^post_11, i_108^0'=i_108^post_11, i_127^0'=i_127^post_11, i_27^0'=i_27^post_11, length_25^0'=length_25^post_11, nondet_12^0'=nondet_12^post_11, r_37^0'=r_37^post_11, rcd_102^0'=rcd_102^post_11, rcd_110^0'=rcd_110^post_11, rcd_168^0'=rcd_168^post_11, rcd_172^0'=rcd_172^post_11, rcd_192^0'=rcd_192^post_11, rcd_41^0'=rcd_41^post_11, rcd_67^0'=rcd_67^post_11, result_11^0'=result_11^post_11, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_11, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_11, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_11, t_23^0'=t_23^post_11, tail_15^0'=tail_15^post_11, temp0_19^0'=temp0_19^post_11, temp0_28^0'=temp0_28^post_11, temp_32^0'=temp_32^post_11, temp_33^0'=temp_33^post_11, tmp_31^0'=tmp_31^post_11, x_22^0'=x_22^post_11, x_SLAM_f_20^0'=x_SLAM_f_20^post_11, y_21^0'=y_21^post_11, [ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^1_1==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^1_1 && result_dot_nondet_sdv_special_RETURN_VALUE_14^1_1==result_dot_nondet_sdv_special_RETURN_VALUE_14^1_1 && length_25^0<=i_27^0 && temp0_28^1_1==head_29^0 && result_11^1_1==temp0_28^1_1 && length_25^post_11==length_25^post_11 && head_SLAM_f_26^post_11==head_SLAM_f_26^post_11 && i_27^post_11==i_27^post_11 && temp0_28^post_11==temp0_28^post_11 && head_29^post_11==head_29^post_11 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_11==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_11 && tmp_31^post_11==tmp_31^post_11 && temp_32^post_11==temp_32^post_11 && head_16^1_1==result_11^1_1 && result_11^post_11==result_11^post_11 && x_SLAM_f_20^1_1==head_16^1_1 && y_21^post_11==tail_15^0 && x_22^post_11==x_SLAM_f_20^1_1 && 1<=result_dot_nondet_sdv_special_RETURN_VALUE_14^1_1 && result_dot_nondet_sdv_special_RETURN_VALUE_14^1_1<=1 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^1_1<=tail_15^0 && tail_15^0<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^1_1 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^1_1<=y_21^post_11 && y_21^post_11<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^1_1 && tail_15^0<=y_21^post_11 && y_21^post_11<=tail_15^0 && head_16^1_1<=x_SLAM_f_20^1_1 && x_SLAM_f_20^1_1<=head_16^1_1 && head_16^1_1<=x_22^post_11 && x_22^post_11<=head_16^1_1 && x_SLAM_f_20^1_1<=x_22^post_11 && x_22^post_11<=x_SLAM_f_20^1_1 && 1<=result_dot_nondet_sdv_special_RETURN_VALUE_14^1_1 && result_dot_nondet_sdv_special_RETURN_VALUE_14^1_1<=1 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_11==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_11 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_11==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_11 && tail_15^post_11==tail_15^post_11 && head_16^post_11==head_16^post_11 && x_SLAM_f_20^post_11==x_SLAM_f_20^post_11 && __disjvr_0^0==__disjvr_0^post_11 && __disjvr_1^0==__disjvr_1^post_11 && __disjvr_10^0==__disjvr_10^post_11 && __disjvr_11^0==__disjvr_11^post_11 && __disjvr_12^0==__disjvr_12^post_11 && __disjvr_2^0==__disjvr_2^post_11 && __disjvr_3^0==__disjvr_3^post_11 && __disjvr_4^0==__disjvr_4^post_11 && __disjvr_5^0==__disjvr_5^post_11 && __disjvr_6^0==__disjvr_6^post_11 && __disjvr_7^0==__disjvr_7^post_11 && __disjvr_8^0==__disjvr_8^post_11 && __disjvr_9^0==__disjvr_9^post_11 && a_137^0==a_137^post_11 && a_163^0==a_163^post_11 && a_193^0==a_193^post_11 && i_108^0==i_108^post_11 && i_127^0==i_127^post_11 && nondet_12^0==nondet_12^post_11 && r_37^0==r_37^post_11 && rcd_102^0==rcd_102^post_11 && rcd_110^0==rcd_110^post_11 && rcd_168^0==rcd_168^post_11 && rcd_172^0==rcd_172^post_11 && rcd_192^0==rcd_192^post_11 && rcd_41^0==rcd_41^post_11 && rcd_67^0==rcd_67^post_11 && t_23^0==t_23^post_11 && temp0_19^0==temp0_19^post_11 && temp_33^0==temp_33^post_11 ], cost: 1
     16: l12 -> l18 : __disjvr_0^0'=__disjvr_0^post_17, __disjvr_10^0'=__disjvr_10^post_17, __disjvr_11^0'=__disjvr_11^post_17, __disjvr_12^0'=__disjvr_12^post_17, __disjvr_1^0'=__disjvr_1^post_17, __disjvr_2^0'=__disjvr_2^post_17, __disjvr_3^0'=__disjvr_3^post_17, __disjvr_4^0'=__disjvr_4^post_17, __disjvr_5^0'=__disjvr_5^post_17, __disjvr_6^0'=__disjvr_6^post_17, __disjvr_7^0'=__disjvr_7^post_17, __disjvr_8^0'=__disjvr_8^post_17, __disjvr_9^0'=__disjvr_9^post_17, a_137^0'=a_137^post_17, a_163^0'=a_163^post_17, a_193^0'=a_193^post_17, head_16^0'=head_16^post_17, head_29^0'=head_29^post_17, head_SLAM_f_26^0'=head_SLAM_f_26^post_17, i_108^0'=i_108^post_17, i_127^0'=i_127^post_17, i_27^0'=i_27^post_17, length_25^0'=length_25^post_17, nondet_12^0'=nondet_12^post_17, r_37^0'=r_37^post_17, rcd_102^0'=rcd_102^post_17, rcd_110^0'=rcd_110^post_17, rcd_168^0'=rcd_168^post_17, rcd_172^0'=rcd_172^post_17, rcd_192^0'=rcd_192^post_17, rcd_41^0'=rcd_41^post_17, rcd_67^0'=rcd_67^post_17, result_11^0'=result_11^post_17, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_17, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_17, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_17, t_23^0'=t_23^post_17, tail_15^0'=tail_15^post_17, temp0_19^0'=temp0_19^post_17, temp0_28^0'=temp0_28^post_17, temp_32^0'=temp_32^post_17, temp_33^0'=temp_33^post_17, tmp_31^0'=tmp_31^post_17, x_22^0'=x_22^post_17, x_SLAM_f_20^0'=x_SLAM_f_20^post_17, y_21^0'=y_21^post_17, [ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_17==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_17 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_17==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_17 && tail_15^post_17==tail_15^post_17 && head_SLAM_f_26^post_17==head_SLAM_f_26^post_17 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_17==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_17 && rcd_67^post_17==rcd_67^post_17 && 1+i_27^0<=length_25^0 && tmp_31^post_17==temp_32^0 && temp_32^post_17==temp_32^post_17 && head_29^post_17==tmp_31^post_17 && i_27^post_17==1+i_27^0 && 2<=i_27^post_17 && i_27^post_17<=2 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_17<=tail_15^post_17 && tail_15^post_17<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_17 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_17<=head_SLAM_f_26^post_17 && head_SLAM_f_26^post_17<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_17 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_17<=length_25^0 && length_25^0<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_17 && tail_15^post_17<=head_SLAM_f_26^post_17 && head_SLAM_f_26^post_17<=tail_15^post_17 && head_29^post_17<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_17 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_17<=head_29^post_17 && head_29^post_17<=tmp_31^post_17 && tmp_31^post_17<=head_29^post_17 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_17<=tmp_31^post_17 && tmp_31^post_17<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_17 && 1<=length_25^0 && 2<=length_25^0 && __disjvr_0^0==__disjvr_0^post_17 && __disjvr_1^0==__disjvr_1^post_17 && __disjvr_10^0==__disjvr_10^post_17 && __disjvr_11^0==__disjvr_11^post_17 && __disjvr_12^0==__disjvr_12^post_17 && __disjvr_2^0==__disjvr_2^post_17 && __disjvr_3^0==__disjvr_3^post_17 && __disjvr_4^0==__disjvr_4^post_17 && __disjvr_5^0==__disjvr_5^post_17 && __disjvr_6^0==__disjvr_6^post_17 && __disjvr_7^0==__disjvr_7^post_17 && __disjvr_8^0==__disjvr_8^post_17 && __disjvr_9^0==__disjvr_9^post_17 && a_137^0==a_137^post_17 && a_163^0==a_163^post_17 && a_193^0==a_193^post_17 && head_16^0==head_16^post_17 && i_108^0==i_108^post_17 && i_127^0==i_127^post_17 && length_25^0==length_25^post_17 && nondet_12^0==nondet_12^post_17 && r_37^0==r_37^post_17 && rcd_102^0==rcd_102^post_17 && rcd_110^0==rcd_110^post_17 && rcd_168^0==rcd_168^post_17 && rcd_172^0==rcd_172^post_17 && rcd_192^0==rcd_192^post_17 && rcd_41^0==rcd_41^post_17 && result_11^0==result_11^post_17 && t_23^0==t_23^post_17 && temp0_19^0==temp0_19^post_17 && temp0_28^0==temp0_28^post_17 && temp_33^0==temp_33^post_17 && x_22^0==x_22^post_17 && x_SLAM_f_20^0==x_SLAM_f_20^post_17 && y_21^0==y_21^post_17 ], cost: 1
     11: l13 -> l14 : __disjvr_0^0'=__disjvr_0^post_12, __disjvr_10^0'=__disjvr_10^post_12, __disjvr_11^0'=__disjvr_11^post_12, __disjvr_12^0'=__disjvr_12^post_12, __disjvr_1^0'=__disjvr_1^post_12, __disjvr_2^0'=__disjvr_2^post_12, __disjvr_3^0'=__disjvr_3^post_12, __disjvr_4^0'=__disjvr_4^post_12, __disjvr_5^0'=__disjvr_5^post_12, __disjvr_6^0'=__disjvr_6^post_12, __disjvr_7^0'=__disjvr_7^post_12, __disjvr_8^0'=__disjvr_8^post_12, __disjvr_9^0'=__disjvr_9^post_12, a_137^0'=a_137^post_12, a_163^0'=a_163^post_12, a_193^0'=a_193^post_12, head_16^0'=head_16^post_12, head_29^0'=head_29^post_12, head_SLAM_f_26^0'=head_SLAM_f_26^post_12, i_108^0'=i_108^post_12, i_127^0'=i_127^post_12, i_27^0'=i_27^post_12, length_25^0'=length_25^post_12, nondet_12^0'=nondet_12^post_12, r_37^0'=r_37^post_12, rcd_102^0'=rcd_102^post_12, rcd_110^0'=rcd_110^post_12, rcd_168^0'=rcd_168^post_12, rcd_172^0'=rcd_172^post_12, rcd_192^0'=rcd_192^post_12, rcd_41^0'=rcd_41^post_12, rcd_67^0'=rcd_67^post_12, result_11^0'=result_11^post_12, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_12, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_12, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_12, t_23^0'=t_23^post_12, tail_15^0'=tail_15^post_12, temp0_19^0'=temp0_19^post_12, temp0_28^0'=temp0_28^post_12, temp_32^0'=temp_32^post_12, temp_33^0'=temp_33^post_12, tmp_31^0'=tmp_31^post_12, x_22^0'=x_22^post_12, x_SLAM_f_20^0'=x_SLAM_f_20^post_12, y_21^0'=y_21^post_12, [ __disjvr_4^post_12==__disjvr_4^0 && __disjvr_0^0==__disjvr_0^post_12 && __disjvr_1^0==__disjvr_1^post_12 && __disjvr_10^0==__disjvr_10^post_12 && __disjvr_11^0==__disjvr_11^post_12 && __disjvr_12^0==__disjvr_12^post_12 && __disjvr_2^0==__disjvr_2^post_12 && __disjvr_3^0==__disjvr_3^post_12 && __disjvr_4^0==__disjvr_4^post_12 && __disjvr_5^0==__disjvr_5^post_12 && __disjvr_6^0==__disjvr_6^post_12 && __disjvr_7^0==__disjvr_7^post_12 && __disjvr_8^0==__disjvr_8^post_12 && __disjvr_9^0==__disjvr_9^post_12 && a_137^0==a_137^post_12 && a_163^0==a_163^post_12 && a_193^0==a_193^post_12 && head_16^0==head_16^post_12 && head_29^0==head_29^post_12 && head_SLAM_f_26^0==head_SLAM_f_26^post_12 && i_108^0==i_108^post_12 && i_127^0==i_127^post_12 && i_27^0==i_27^post_12 && length_25^0==length_25^post_12 && nondet_12^0==nondet_12^post_12 && r_37^0==r_37^post_12 && rcd_102^0==rcd_102^post_12 && rcd_110^0==rcd_110^post_12 && rcd_168^0==rcd_168^post_12 && rcd_172^0==rcd_172^post_12 && rcd_192^0==rcd_192^post_12 && rcd_41^0==rcd_41^post_12 && rcd_67^0==rcd_67^post_12 && result_11^0==result_11^post_12 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_12 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_12 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_12 && t_23^0==t_23^post_12 && tail_15^0==tail_15^post_12 && temp0_19^0==temp0_19^post_12 && temp0_28^0==temp0_28^post_12 && temp_32^0==temp_32^post_12 && temp_33^0==temp_33^post_12 && tmp_31^0==tmp_31^post_12 && x_22^0==x_22^post_12 && x_SLAM_f_20^0==x_SLAM_f_20^post_12 && y_21^0==y_21^post_12 ], cost: 1
     12: l14 -> l15 : __disjvr_0^0'=__disjvr_0^post_13, __disjvr_10^0'=__disjvr_10^post_13, __disjvr_11^0'=__disjvr_11^post_13, __disjvr_12^0'=__disjvr_12^post_13, __disjvr_1^0'=__disjvr_1^post_13, __disjvr_2^0'=__disjvr_2^post_13, __disjvr_3^0'=__disjvr_3^post_13, __disjvr_4^0'=__disjvr_4^post_13, __disjvr_5^0'=__disjvr_5^post_13, __disjvr_6^0'=__disjvr_6^post_13, __disjvr_7^0'=__disjvr_7^post_13, __disjvr_8^0'=__disjvr_8^post_13, __disjvr_9^0'=__disjvr_9^post_13, a_137^0'=a_137^post_13, a_163^0'=a_163^post_13, a_193^0'=a_193^post_13, head_16^0'=head_16^post_13, head_29^0'=head_29^post_13, head_SLAM_f_26^0'=head_SLAM_f_26^post_13, i_108^0'=i_108^post_13, i_127^0'=i_127^post_13, i_27^0'=i_27^post_13, length_25^0'=length_25^post_13, nondet_12^0'=nondet_12^post_13, r_37^0'=r_37^post_13, rcd_102^0'=rcd_102^post_13, rcd_110^0'=rcd_110^post_13, rcd_168^0'=rcd_168^post_13, rcd_172^0'=rcd_172^post_13, rcd_192^0'=rcd_192^post_13, rcd_41^0'=rcd_41^post_13, rcd_67^0'=rcd_67^post_13, result_11^0'=result_11^post_13, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_13, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_13, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_13, t_23^0'=t_23^post_13, tail_15^0'=tail_15^post_13, temp0_19^0'=temp0_19^post_13, temp0_28^0'=temp0_28^post_13, temp_32^0'=temp_32^post_13, temp_33^0'=temp_33^post_13, tmp_31^0'=tmp_31^post_13, x_22^0'=x_22^post_13, x_SLAM_f_20^0'=x_SLAM_f_20^post_13, y_21^0'=y_21^post_13, [ t_23^post_13==x_22^0 && 1<=result_dot_nondet_sdv_special_RETURN_VALUE_14^0 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0<=1 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0<=tail_15^0 && tail_15^0<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0<=y_21^0 && y_21^0<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0<=x_22^0 && x_22^0<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 && tail_15^0<=y_21^0 && y_21^0<=tail_15^0 && head_16^0<=x_SLAM_f_20^0 && x_SLAM_f_20^0<=head_16^0 && head_16^0<=t_23^post_13 && t_23^post_13<=head_16^0 && __disjvr_0^0==__disjvr_0^post_13 && __disjvr_1^0==__disjvr_1^post_13 && __disjvr_10^0==__disjvr_10^post_13 && __disjvr_11^0==__disjvr_11^post_13 && __disjvr_12^0==__disjvr_12^post_13 && __disjvr_2^0==__disjvr_2^post_13 && __disjvr_3^0==__disjvr_3^post_13 && __disjvr_4^0==__disjvr_4^post_13 && __disjvr_5^0==__disjvr_5^post_13 && __disjvr_6^0==__disjvr_6^post_13 && __disjvr_7^0==__disjvr_7^post_13 && __disjvr_8^0==__disjvr_8^post_13 && __disjvr_9^0==__disjvr_9^post_13 && a_137^0==a_137^post_13 && a_163^0==a_163^post_13 && a_193^0==a_193^post_13 && head_16^0==head_16^post_13 && head_29^0==head_29^post_13 && head_SLAM_f_26^0==head_SLAM_f_26^post_13 && i_108^0==i_108^post_13 && i_127^0==i_127^post_13 && i_27^0==i_27^post_13 && length_25^0==length_25^post_13 && nondet_12^0==nondet_12^post_13 && r_37^0==r_37^post_13 && rcd_102^0==rcd_102^post_13 && rcd_110^0==rcd_110^post_13 && rcd_168^0==rcd_168^post_13 && rcd_172^0==rcd_172^post_13 && rcd_192^0==rcd_192^post_13 && rcd_41^0==rcd_41^post_13 && rcd_67^0==rcd_67^post_13 && result_11^0==result_11^post_13 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_13 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_13 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_13 && tail_15^0==tail_15^post_13 && temp0_19^0==temp0_19^post_13 && temp0_28^0==temp0_28^post_13 && temp_32^0==temp_32^post_13 && temp_33^0==temp_33^post_13 && tmp_31^0==tmp_31^post_13 && x_22^0==x_22^post_13 && x_SLAM_f_20^0==x_SLAM_f_20^post_13 && y_21^0==y_21^post_13 ], cost: 1
     13: l15 -> l16 : __disjvr_0^0'=__disjvr_0^post_14, __disjvr_10^0'=__disjvr_10^post_14, __disjvr_11^0'=__disjvr_11^post_14, __disjvr_12^0'=__disjvr_12^post_14, __disjvr_1^0'=__disjvr_1^post_14, __disjvr_2^0'=__disjvr_2^post_14, __disjvr_3^0'=__disjvr_3^post_14, __disjvr_4^0'=__disjvr_4^post_14, __disjvr_5^0'=__disjvr_5^post_14, __disjvr_6^0'=__disjvr_6^post_14, __disjvr_7^0'=__disjvr_7^post_14, __disjvr_8^0'=__disjvr_8^post_14, __disjvr_9^0'=__disjvr_9^post_14, a_137^0'=a_137^post_14, a_163^0'=a_163^post_14, a_193^0'=a_193^post_14, head_16^0'=head_16^post_14, head_29^0'=head_29^post_14, head_SLAM_f_26^0'=head_SLAM_f_26^post_14, i_108^0'=i_108^post_14, i_127^0'=i_127^post_14, i_27^0'=i_27^post_14, length_25^0'=length_25^post_14, nondet_12^0'=nondet_12^post_14, r_37^0'=r_37^post_14, rcd_102^0'=rcd_102^post_14, rcd_110^0'=rcd_110^post_14, rcd_168^0'=rcd_168^post_14, rcd_172^0'=rcd_172^post_14, rcd_192^0'=rcd_192^post_14, rcd_41^0'=rcd_41^post_14, rcd_67^0'=rcd_67^post_14, result_11^0'=result_11^post_14, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_14, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_14, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_14, t_23^0'=t_23^post_14, tail_15^0'=tail_15^post_14, temp0_19^0'=temp0_19^post_14, temp0_28^0'=temp0_28^post_14, temp_32^0'=temp_32^post_14, temp_33^0'=temp_33^post_14, tmp_31^0'=tmp_31^post_14, x_22^0'=x_22^post_14, x_SLAM_f_20^0'=x_SLAM_f_20^post_14, y_21^0'=y_21^post_14, [ __disjvr_5^post_14==__disjvr_5^0 && __disjvr_0^0==__disjvr_0^post_14 && __disjvr_1^0==__disjvr_1^post_14 && __disjvr_10^0==__disjvr_10^post_14 && __disjvr_11^0==__disjvr_11^post_14 && __disjvr_12^0==__disjvr_12^post_14 && __disjvr_2^0==__disjvr_2^post_14 && __disjvr_3^0==__disjvr_3^post_14 && __disjvr_4^0==__disjvr_4^post_14 && __disjvr_5^0==__disjvr_5^post_14 && __disjvr_6^0==__disjvr_6^post_14 && __disjvr_7^0==__disjvr_7^post_14 && __disjvr_8^0==__disjvr_8^post_14 && __disjvr_9^0==__disjvr_9^post_14 && a_137^0==a_137^post_14 && a_163^0==a_163^post_14 && a_193^0==a_193^post_14 && head_16^0==head_16^post_14 && head_29^0==head_29^post_14 && head_SLAM_f_26^0==head_SLAM_f_26^post_14 && i_108^0==i_108^post_14 && i_127^0==i_127^post_14 && i_27^0==i_27^post_14 && length_25^0==length_25^post_14 && nondet_12^0==nondet_12^post_14 && r_37^0==r_37^post_14 && rcd_102^0==rcd_102^post_14 && rcd_110^0==rcd_110^post_14 && rcd_168^0==rcd_168^post_14 && rcd_172^0==rcd_172^post_14 && rcd_192^0==rcd_192^post_14 && rcd_41^0==rcd_41^post_14 && rcd_67^0==rcd_67^post_14 && result_11^0==result_11^post_14 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_14 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_14 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_14 && t_23^0==t_23^post_14 && tail_15^0==tail_15^post_14 && temp0_19^0==temp0_19^post_14 && temp0_28^0==temp0_28^post_14 && temp_32^0==temp_32^post_14 && temp_33^0==temp_33^post_14 && tmp_31^0==tmp_31^post_14 && x_22^0==x_22^post_14 && x_SLAM_f_20^0==x_SLAM_f_20^post_14 && y_21^0==y_21^post_14 ], cost: 1
     14: l16 -> l17 : __disjvr_0^0'=__disjvr_0^post_15, __disjvr_10^0'=__disjvr_10^post_15, __disjvr_11^0'=__disjvr_11^post_15, __disjvr_12^0'=__disjvr_12^post_15, __disjvr_1^0'=__disjvr_1^post_15, __disjvr_2^0'=__disjvr_2^post_15, __disjvr_3^0'=__disjvr_3^post_15, __disjvr_4^0'=__disjvr_4^post_15, __disjvr_5^0'=__disjvr_5^post_15, __disjvr_6^0'=__disjvr_6^post_15, __disjvr_7^0'=__disjvr_7^post_15, __disjvr_8^0'=__disjvr_8^post_15, __disjvr_9^0'=__disjvr_9^post_15, a_137^0'=a_137^post_15, a_163^0'=a_163^post_15, a_193^0'=a_193^post_15, head_16^0'=head_16^post_15, head_29^0'=head_29^post_15, head_SLAM_f_26^0'=head_SLAM_f_26^post_15, i_108^0'=i_108^post_15, i_127^0'=i_127^post_15, i_27^0'=i_27^post_15, length_25^0'=length_25^post_15, nondet_12^0'=nondet_12^post_15, r_37^0'=r_37^post_15, rcd_102^0'=rcd_102^post_15, rcd_110^0'=rcd_110^post_15, rcd_168^0'=rcd_168^post_15, rcd_172^0'=rcd_172^post_15, rcd_192^0'=rcd_192^post_15, rcd_41^0'=rcd_41^post_15, rcd_67^0'=rcd_67^post_15, result_11^0'=result_11^post_15, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_15, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_15, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_15, t_23^0'=t_23^post_15, tail_15^0'=tail_15^post_15, temp0_19^0'=temp0_19^post_15, temp0_28^0'=temp0_28^post_15, temp_32^0'=temp_32^post_15, temp_33^0'=temp_33^post_15, tmp_31^0'=tmp_31^post_15, x_22^0'=x_22^post_15, x_SLAM_f_20^0'=x_SLAM_f_20^post_15, y_21^0'=y_21^post_15, [ 1<=result_dot_nondet_sdv_special_RETURN_VALUE_14^0 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0<=1 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_15==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_15 && head_16^post_15==head_16^post_15 && y_21^0<=x_22^0 && x_22^0<=y_21^0 && x_SLAM_f_20^post_15==x_SLAM_f_20^post_15 && y_21^post_15==y_21^post_15 && x_22^post_15==x_22^post_15 && t_23^post_15==t_23^post_15 && result_11^post_15==temp0_19^0 && __disjvr_0^0==__disjvr_0^post_15 && __disjvr_1^0==__disjvr_1^post_15 && __disjvr_10^0==__disjvr_10^post_15 && __disjvr_11^0==__disjvr_11^post_15 && __disjvr_12^0==__disjvr_12^post_15 && __disjvr_2^0==__disjvr_2^post_15 && __disjvr_3^0==__disjvr_3^post_15 && __disjvr_4^0==__disjvr_4^post_15 && __disjvr_5^0==__disjvr_5^post_15 && __disjvr_6^0==__disjvr_6^post_15 && __disjvr_7^0==__disjvr_7^post_15 && __disjvr_8^0==__disjvr_8^post_15 && __disjvr_9^0==__disjvr_9^post_15 && a_137^0==a_137^post_15 && a_163^0==a_163^post_15 && a_193^0==a_193^post_15 && head_29^0==head_29^post_15 && head_SLAM_f_26^0==head_SLAM_f_26^post_15 && i_108^0==i_108^post_15 && i_127^0==i_127^post_15 && i_27^0==i_27^post_15 && length_25^0==length_25^post_15 && nondet_12^0==nondet_12^post_15 && r_37^0==r_37^post_15 && rcd_102^0==rcd_102^post_15 && rcd_110^0==rcd_110^post_15 && rcd_168^0==rcd_168^post_15 && rcd_172^0==rcd_172^post_15 && rcd_192^0==rcd_192^post_15 && rcd_41^0==rcd_41^post_15 && rcd_67^0==rcd_67^post_15 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_15 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_15 && tail_15^0==tail_15^post_15 && temp0_19^0==temp0_19^post_15 && temp0_28^0==temp0_28^post_15 && temp_32^0==temp_32^post_15 && temp_33^0==temp_33^post_15 && tmp_31^0==tmp_31^post_15 ], cost: 1
     15: l17 -> l7 : __disjvr_0^0'=__disjvr_0^post_16, __disjvr_10^0'=__disjvr_10^post_16, __disjvr_11^0'=__disjvr_11^post_16, __disjvr_12^0'=__disjvr_12^post_16, __disjvr_1^0'=__disjvr_1^post_16, __disjvr_2^0'=__disjvr_2^post_16, __disjvr_3^0'=__disjvr_3^post_16, __disjvr_4^0'=__disjvr_4^post_16, __disjvr_5^0'=__disjvr_5^post_16, __disjvr_6^0'=__disjvr_6^post_16, __disjvr_7^0'=__disjvr_7^post_16, __disjvr_8^0'=__disjvr_8^post_16, __disjvr_9^0'=__disjvr_9^post_16, a_137^0'=a_137^post_16, a_163^0'=a_163^post_16, a_193^0'=a_193^post_16, head_16^0'=head_16^post_16, head_29^0'=head_29^post_16, head_SLAM_f_26^0'=head_SLAM_f_26^post_16, i_108^0'=i_108^post_16, i_127^0'=i_127^post_16, i_27^0'=i_27^post_16, length_25^0'=length_25^post_16, nondet_12^0'=nondet_12^post_16, r_37^0'=r_37^post_16, rcd_102^0'=rcd_102^post_16, rcd_110^0'=rcd_110^post_16, rcd_168^0'=rcd_168^post_16, rcd_172^0'=rcd_172^post_16, rcd_192^0'=rcd_192^post_16, rcd_41^0'=rcd_41^post_16, rcd_67^0'=rcd_67^post_16, result_11^0'=result_11^post_16, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_16, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_16, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_16, t_23^0'=t_23^post_16, tail_15^0'=tail_15^post_16, temp0_19^0'=temp0_19^post_16, temp0_28^0'=temp0_28^post_16, temp_32^0'=temp_32^post_16, temp_33^0'=temp_33^post_16, tmp_31^0'=tmp_31^post_16, x_22^0'=x_22^post_16, x_SLAM_f_20^0'=x_SLAM_f_20^post_16, y_21^0'=y_21^post_16, [ __disjvr_6^post_16==__disjvr_6^0 && __disjvr_0^0==__disjvr_0^post_16 && __disjvr_1^0==__disjvr_1^post_16 && __disjvr_10^0==__disjvr_10^post_16 && __disjvr_11^0==__disjvr_11^post_16 && __disjvr_12^0==__disjvr_12^post_16 && __disjvr_2^0==__disjvr_2^post_16 && __disjvr_3^0==__disjvr_3^post_16 && __disjvr_4^0==__disjvr_4^post_16 && __disjvr_5^0==__disjvr_5^post_16 && __disjvr_6^0==__disjvr_6^post_16 && __disjvr_7^0==__disjvr_7^post_16 && __disjvr_8^0==__disjvr_8^post_16 && __disjvr_9^0==__disjvr_9^post_16 && a_137^0==a_137^post_16 && a_163^0==a_163^post_16 && a_193^0==a_193^post_16 && head_16^0==head_16^post_16 && head_29^0==head_29^post_16 && head_SLAM_f_26^0==head_SLAM_f_26^post_16 && i_108^0==i_108^post_16 && i_127^0==i_127^post_16 && i_27^0==i_27^post_16 && length_25^0==length_25^post_16 && nondet_12^0==nondet_12^post_16 && r_37^0==r_37^post_16 && rcd_102^0==rcd_102^post_16 && rcd_110^0==rcd_110^post_16 && rcd_168^0==rcd_168^post_16 && rcd_172^0==rcd_172^post_16 && rcd_192^0==rcd_192^post_16 && rcd_41^0==rcd_41^post_16 && rcd_67^0==rcd_67^post_16 && result_11^0==result_11^post_16 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_16 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_16 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_16 && t_23^0==t_23^post_16 && tail_15^0==tail_15^post_16 && temp0_19^0==temp0_19^post_16 && temp0_28^0==temp0_28^post_16 && temp_32^0==temp_32^post_16 && temp_33^0==temp_33^post_16 && tmp_31^0==tmp_31^post_16 && x_22^0==x_22^post_16 && x_SLAM_f_20^0==x_SLAM_f_20^post_16 && y_21^0==y_21^post_16 ], cost: 1
     25: l18 -> l25 : __disjvr_0^0'=__disjvr_0^post_26, __disjvr_10^0'=__disjvr_10^post_26, __disjvr_11^0'=__disjvr_11^post_26, __disjvr_12^0'=__disjvr_12^post_26, __disjvr_1^0'=__disjvr_1^post_26, __disjvr_2^0'=__disjvr_2^post_26, __disjvr_3^0'=__disjvr_3^post_26, __disjvr_4^0'=__disjvr_4^post_26, __disjvr_5^0'=__disjvr_5^post_26, __disjvr_6^0'=__disjvr_6^post_26, __disjvr_7^0'=__disjvr_7^post_26, __disjvr_8^0'=__disjvr_8^post_26, __disjvr_9^0'=__disjvr_9^post_26, a_137^0'=a_137^post_26, a_163^0'=a_163^post_26, a_193^0'=a_193^post_26, head_16^0'=head_16^post_26, head_29^0'=head_29^post_26, head_SLAM_f_26^0'=head_SLAM_f_26^post_26, i_108^0'=i_108^post_26, i_127^0'=i_127^post_26, i_27^0'=i_27^post_26, length_25^0'=length_25^post_26, nondet_12^0'=nondet_12^post_26, r_37^0'=r_37^post_26, rcd_102^0'=rcd_102^post_26, rcd_110^0'=rcd_110^post_26, rcd_168^0'=rcd_168^post_26, rcd_172^0'=rcd_172^post_26, rcd_192^0'=rcd_192^post_26, rcd_41^0'=rcd_41^post_26, rcd_67^0'=rcd_67^post_26, result_11^0'=result_11^post_26, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_26, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_26, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_26, t_23^0'=t_23^post_26, tail_15^0'=tail_15^post_26, temp0_19^0'=temp0_19^post_26, temp0_28^0'=temp0_28^post_26, temp_32^0'=temp_32^post_26, temp_33^0'=temp_33^post_26, tmp_31^0'=tmp_31^post_26, x_22^0'=x_22^post_26, x_SLAM_f_20^0'=x_SLAM_f_20^post_26, y_21^0'=y_21^post_26, [ 0<=i_27^0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^1_2_1==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^1_2_1 && result_dot_nondet_sdv_special_RETURN_VALUE_14^1_2_1==result_dot_nondet_sdv_special_RETURN_VALUE_14^1_2_1 && length_25^0<=i_27^0 && temp0_28^1_2_1==head_29^0 && result_11^1_2_1==temp0_28^1_2_1 && length_25^post_26==length_25^post_26 && head_SLAM_f_26^post_26==head_SLAM_f_26^post_26 && i_27^post_26==i_27^post_26 && temp0_28^post_26==temp0_28^post_26 && head_29^post_26==head_29^post_26 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_26==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_26 && tmp_31^post_26==tmp_31^post_26 && temp_32^post_26==temp_32^post_26 && head_16^1_2==result_11^1_2_1 && result_11^post_26==result_11^post_26 && x_SLAM_f_20^1_2_1==head_16^1_2 && y_21^post_26==tail_15^0 && x_22^post_26==x_SLAM_f_20^1_2_1 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^1_2_1<=tail_15^0 && tail_15^0<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^1_2_1 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^1_2_1<=y_21^post_26 && y_21^post_26<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^1_2_1 && tail_15^0<=y_21^post_26 && y_21^post_26<=tail_15^0 && head_16^1_2<=x_SLAM_f_20^1_2_1 && x_SLAM_f_20^1_2_1<=head_16^1_2 && head_16^1_2<=x_22^post_26 && x_22^post_26<=head_16^1_2 && x_SLAM_f_20^1_2_1<=x_22^post_26 && x_22^post_26<=x_SLAM_f_20^1_2_1 && 1<=result_dot_nondet_sdv_special_RETURN_VALUE_14^1_2_1 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^1_2_1 && result_dot_nondet_sdv_special_RETURN_VALUE_14^1_2_1<=i_27^post_26 && 0<=i_27^post_26 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_26==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_26 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_26==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_26 && tail_15^post_26==tail_15^post_26 && head_16^post_26==head_16^post_26 && x_SLAM_f_20^post_26==x_SLAM_f_20^post_26 && i_127^post_26==i_127^post_26 && rcd_168^post_26==rcd_168^post_26 && rcd_172^post_26==rcd_172^post_26 && __disjvr_0^0==__disjvr_0^post_26 && __disjvr_1^0==__disjvr_1^post_26 && __disjvr_10^0==__disjvr_10^post_26 && __disjvr_11^0==__disjvr_11^post_26 && __disjvr_12^0==__disjvr_12^post_26 && __disjvr_2^0==__disjvr_2^post_26 && __disjvr_3^0==__disjvr_3^post_26 && __disjvr_4^0==__disjvr_4^post_26 && __disjvr_5^0==__disjvr_5^post_26 && __disjvr_6^0==__disjvr_6^post_26 && __disjvr_7^0==__disjvr_7^post_26 && __disjvr_8^0==__disjvr_8^post_26 && __disjvr_9^0==__disjvr_9^post_26 && a_137^0==a_137^post_26 && a_163^0==a_163^post_26 && a_193^0==a_193^post_26 && i_108^0==i_108^post_26 && nondet_12^0==nondet_12^post_26 && r_37^0==r_37^post_26 && rcd_102^0==rcd_102^post_26 && rcd_110^0==rcd_110^post_26 && rcd_192^0==rcd_192^post_26 && rcd_41^0==rcd_41^post_26 && rcd_67^0==rcd_67^post_26 && t_23^0==t_23^post_26 && temp0_19^0==temp0_19^post_26 && temp_33^0==temp_33^post_26 ], cost: 1
     31: l18 -> l30 : __disjvr_0^0'=__disjvr_0^post_32, __disjvr_10^0'=__disjvr_10^post_32, __disjvr_11^0'=__disjvr_11^post_32, __disjvr_12^0'=__disjvr_12^post_32, __disjvr_1^0'=__disjvr_1^post_32, __disjvr_2^0'=__disjvr_2^post_32, __disjvr_3^0'=__disjvr_3^post_32, __disjvr_4^0'=__disjvr_4^post_32, __disjvr_5^0'=__disjvr_5^post_32, __disjvr_6^0'=__disjvr_6^post_32, __disjvr_7^0'=__disjvr_7^post_32, __disjvr_8^0'=__disjvr_8^post_32, __disjvr_9^0'=__disjvr_9^post_32, a_137^0'=a_137^post_32, a_163^0'=a_163^post_32, a_193^0'=a_193^post_32, head_16^0'=head_16^post_32, head_29^0'=head_29^post_32, head_SLAM_f_26^0'=head_SLAM_f_26^post_32, i_108^0'=i_108^post_32, i_127^0'=i_127^post_32, i_27^0'=i_27^post_32, length_25^0'=length_25^post_32, nondet_12^0'=nondet_12^post_32, r_37^0'=r_37^post_32, rcd_102^0'=rcd_102^post_32, rcd_110^0'=rcd_110^post_32, rcd_168^0'=rcd_168^post_32, rcd_172^0'=rcd_172^post_32, rcd_192^0'=rcd_192^post_32, rcd_41^0'=rcd_41^post_32, rcd_67^0'=rcd_67^post_32, result_11^0'=result_11^post_32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_32, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_32, t_23^0'=t_23^post_32, tail_15^0'=tail_15^post_32, temp0_19^0'=temp0_19^post_32, temp0_28^0'=temp0_28^post_32, temp_32^0'=temp_32^post_32, temp_33^0'=temp_33^post_32, tmp_31^0'=tmp_31^post_32, x_22^0'=x_22^post_32, x_SLAM_f_20^0'=x_SLAM_f_20^post_32, y_21^0'=y_21^post_32, [ 0<=i_27^0 && rcd_102^post_32==rcd_102^post_32 && i_108^post_32==i_108^post_32 && 1+i_27^0<=length_25^0 && tmp_31^post_32==temp_32^0 && temp_32^post_32==temp_32^post_32 && head_29^post_32==tmp_31^post_32 && i_27^post_32==1+i_27^0 && rcd_110^post_32==rcd_110^post_32 && i_27^post_32<=1+i_108^post_32 && 1+i_108^post_32<=i_27^post_32 && i_108^post_32<=-1+i_27^post_32 && -1+i_27^post_32<=i_108^post_32 && rcd_41^0<=rcd_110^post_32 && rcd_110^post_32<=rcd_41^0 && 1+i_108^post_32<=length_25^0 && rcd_41^post_32==rcd_41^post_32 && rcd_41^post_32<=rcd_110^post_32 && rcd_110^post_32<=rcd_41^post_32 && __disjvr_0^0==__disjvr_0^post_32 && __disjvr_1^0==__disjvr_1^post_32 && __disjvr_10^0==__disjvr_10^post_32 && __disjvr_11^0==__disjvr_11^post_32 && __disjvr_12^0==__disjvr_12^post_32 && __disjvr_2^0==__disjvr_2^post_32 && __disjvr_3^0==__disjvr_3^post_32 && __disjvr_4^0==__disjvr_4^post_32 && __disjvr_5^0==__disjvr_5^post_32 && __disjvr_6^0==__disjvr_6^post_32 && __disjvr_7^0==__disjvr_7^post_32 && __disjvr_8^0==__disjvr_8^post_32 && __disjvr_9^0==__disjvr_9^post_32 && a_137^0==a_137^post_32 && a_163^0==a_163^post_32 && a_193^0==a_193^post_32 && head_16^0==head_16^post_32 && head_SLAM_f_26^0==head_SLAM_f_26^post_32 && i_127^0==i_127^post_32 && length_25^0==length_25^post_32 && nondet_12^0==nondet_12^post_32 && r_37^0==r_37^post_32 && rcd_168^0==rcd_168^post_32 && rcd_172^0==rcd_172^post_32 && rcd_192^0==rcd_192^post_32 && rcd_67^0==rcd_67^post_32 && result_11^0==result_11^post_32 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_32 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_32 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_32 && t_23^0==t_23^post_32 && tail_15^0==tail_15^post_32 && temp0_19^0==temp0_19^post_32 && temp0_28^0==temp0_28^post_32 && temp_33^0==temp_33^post_32 && x_22^0==x_22^post_32 && x_SLAM_f_20^0==x_SLAM_f_20^post_32 && y_21^0==y_21^post_32 ], cost: 1
     19: l20 -> l21 : __disjvr_0^0'=__disjvr_0^post_20, __disjvr_10^0'=__disjvr_10^post_20, __disjvr_11^0'=__disjvr_11^post_20, __disjvr_12^0'=__disjvr_12^post_20, __disjvr_1^0'=__disjvr_1^post_20, __disjvr_2^0'=__disjvr_2^post_20, __disjvr_3^0'=__disjvr_3^post_20, __disjvr_4^0'=__disjvr_4^post_20, __disjvr_5^0'=__disjvr_5^post_20, __disjvr_6^0'=__disjvr_6^post_20, __disjvr_7^0'=__disjvr_7^post_20, __disjvr_8^0'=__disjvr_8^post_20, __disjvr_9^0'=__disjvr_9^post_20, a_137^0'=a_137^post_20, a_163^0'=a_163^post_20, a_193^0'=a_193^post_20, head_16^0'=head_16^post_20, head_29^0'=head_29^post_20, head_SLAM_f_26^0'=head_SLAM_f_26^post_20, i_108^0'=i_108^post_20, i_127^0'=i_127^post_20, i_27^0'=i_27^post_20, length_25^0'=length_25^post_20, nondet_12^0'=nondet_12^post_20, r_37^0'=r_37^post_20, rcd_102^0'=rcd_102^post_20, rcd_110^0'=rcd_110^post_20, rcd_168^0'=rcd_168^post_20, rcd_172^0'=rcd_172^post_20, rcd_192^0'=rcd_192^post_20, rcd_41^0'=rcd_41^post_20, rcd_67^0'=rcd_67^post_20, result_11^0'=result_11^post_20, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_20, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_20, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_20, t_23^0'=t_23^post_20, tail_15^0'=tail_15^post_20, temp0_19^0'=temp0_19^post_20, temp0_28^0'=temp0_28^post_20, temp_32^0'=temp_32^post_20, temp_33^0'=temp_33^post_20, tmp_31^0'=tmp_31^post_20, x_22^0'=x_22^post_20, x_SLAM_f_20^0'=x_SLAM_f_20^post_20, y_21^0'=y_21^post_20, [ __disjvr_7^post_20==__disjvr_7^0 && __disjvr_0^0==__disjvr_0^post_20 && __disjvr_1^0==__disjvr_1^post_20 && __disjvr_10^0==__disjvr_10^post_20 && __disjvr_11^0==__disjvr_11^post_20 && __disjvr_12^0==__disjvr_12^post_20 && __disjvr_2^0==__disjvr_2^post_20 && __disjvr_3^0==__disjvr_3^post_20 && __disjvr_4^0==__disjvr_4^post_20 && __disjvr_5^0==__disjvr_5^post_20 && __disjvr_6^0==__disjvr_6^post_20 && __disjvr_7^0==__disjvr_7^post_20 && __disjvr_8^0==__disjvr_8^post_20 && __disjvr_9^0==__disjvr_9^post_20 && a_137^0==a_137^post_20 && a_163^0==a_163^post_20 && a_193^0==a_193^post_20 && head_16^0==head_16^post_20 && head_29^0==head_29^post_20 && head_SLAM_f_26^0==head_SLAM_f_26^post_20 && i_108^0==i_108^post_20 && i_127^0==i_127^post_20 && i_27^0==i_27^post_20 && length_25^0==length_25^post_20 && nondet_12^0==nondet_12^post_20 && r_37^0==r_37^post_20 && rcd_102^0==rcd_102^post_20 && rcd_110^0==rcd_110^post_20 && rcd_168^0==rcd_168^post_20 && rcd_172^0==rcd_172^post_20 && rcd_192^0==rcd_192^post_20 && rcd_41^0==rcd_41^post_20 && rcd_67^0==rcd_67^post_20 && result_11^0==result_11^post_20 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_20 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_20 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_20 && t_23^0==t_23^post_20 && tail_15^0==tail_15^post_20 && temp0_19^0==temp0_19^post_20 && temp0_28^0==temp0_28^post_20 && temp_32^0==temp_32^post_20 && temp_33^0==temp_33^post_20 && tmp_31^0==tmp_31^post_20 && x_22^0==x_22^post_20 && x_SLAM_f_20^0==x_SLAM_f_20^post_20 && y_21^0==y_21^post_20 ], cost: 1
     20: l21 -> l22 : __disjvr_0^0'=__disjvr_0^post_21, __disjvr_10^0'=__disjvr_10^post_21, __disjvr_11^0'=__disjvr_11^post_21, __disjvr_12^0'=__disjvr_12^post_21, __disjvr_1^0'=__disjvr_1^post_21, __disjvr_2^0'=__disjvr_2^post_21, __disjvr_3^0'=__disjvr_3^post_21, __disjvr_4^0'=__disjvr_4^post_21, __disjvr_5^0'=__disjvr_5^post_21, __disjvr_6^0'=__disjvr_6^post_21, __disjvr_7^0'=__disjvr_7^post_21, __disjvr_8^0'=__disjvr_8^post_21, __disjvr_9^0'=__disjvr_9^post_21, a_137^0'=a_137^post_21, a_163^0'=a_163^post_21, a_193^0'=a_193^post_21, head_16^0'=head_16^post_21, head_29^0'=head_29^post_21, head_SLAM_f_26^0'=head_SLAM_f_26^post_21, i_108^0'=i_108^post_21, i_127^0'=i_127^post_21, i_27^0'=i_27^post_21, length_25^0'=length_25^post_21, nondet_12^0'=nondet_12^post_21, r_37^0'=r_37^post_21, rcd_102^0'=rcd_102^post_21, rcd_110^0'=rcd_110^post_21, rcd_168^0'=rcd_168^post_21, rcd_172^0'=rcd_172^post_21, rcd_192^0'=rcd_192^post_21, rcd_41^0'=rcd_41^post_21, rcd_67^0'=rcd_67^post_21, result_11^0'=result_11^post_21, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_21, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_21, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_21, t_23^0'=t_23^post_21, tail_15^0'=tail_15^post_21, temp0_19^0'=temp0_19^post_21, temp0_28^0'=temp0_28^post_21, temp_32^0'=temp_32^post_21, temp_33^0'=temp_33^post_21, tmp_31^0'=tmp_31^post_21, x_22^0'=x_22^post_21, x_SLAM_f_20^0'=x_SLAM_f_20^post_21, y_21^0'=y_21^post_21, [ t_23^post_21==x_22^0 && rcd_192^post_21==rcd_192^post_21 && a_193^post_21==a_193^post_21 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0<=tail_15^0 && tail_15^0<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0<=y_21^0 && y_21^0<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 && tail_15^0<=y_21^0 && y_21^0<=tail_15^0 && head_16^0<=x_SLAM_f_20^0 && x_SLAM_f_20^0<=head_16^0 && a_193^post_21<=-1+a_163^0 && -1+a_163^0<=a_193^post_21 && rcd_41^0<=rcd_192^post_21 && rcd_192^post_21<=rcd_41^0 && __disjvr_0^0==__disjvr_0^post_21 && __disjvr_1^0==__disjvr_1^post_21 && __disjvr_10^0==__disjvr_10^post_21 && __disjvr_11^0==__disjvr_11^post_21 && __disjvr_12^0==__disjvr_12^post_21 && __disjvr_2^0==__disjvr_2^post_21 && __disjvr_3^0==__disjvr_3^post_21 && __disjvr_4^0==__disjvr_4^post_21 && __disjvr_5^0==__disjvr_5^post_21 && __disjvr_6^0==__disjvr_6^post_21 && __disjvr_7^0==__disjvr_7^post_21 && __disjvr_8^0==__disjvr_8^post_21 && __disjvr_9^0==__disjvr_9^post_21 && a_137^0==a_137^post_21 && a_163^0==a_163^post_21 && head_16^0==head_16^post_21 && head_29^0==head_29^post_21 && head_SLAM_f_26^0==head_SLAM_f_26^post_21 && i_108^0==i_108^post_21 && i_127^0==i_127^post_21 && i_27^0==i_27^post_21 && length_25^0==length_25^post_21 && nondet_12^0==nondet_12^post_21 && r_37^0==r_37^post_21 && rcd_102^0==rcd_102^post_21 && rcd_110^0==rcd_110^post_21 && rcd_168^0==rcd_168^post_21 && rcd_172^0==rcd_172^post_21 && rcd_41^0==rcd_41^post_21 && rcd_67^0==rcd_67^post_21 && result_11^0==result_11^post_21 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_21 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_21 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_21 && tail_15^0==tail_15^post_21 && temp0_19^0==temp0_19^post_21 && temp0_28^0==temp0_28^post_21 && temp_32^0==temp_32^post_21 && temp_33^0==temp_33^post_21 && tmp_31^0==tmp_31^post_21 && x_22^0==x_22^post_21 && x_SLAM_f_20^0==x_SLAM_f_20^post_21 && y_21^0==y_21^post_21 ], cost: 1
     21: l22 -> l23 : __disjvr_0^0'=__disjvr_0^post_22, __disjvr_10^0'=__disjvr_10^post_22, __disjvr_11^0'=__disjvr_11^post_22, __disjvr_12^0'=__disjvr_12^post_22, __disjvr_1^0'=__disjvr_1^post_22, __disjvr_2^0'=__disjvr_2^post_22, __disjvr_3^0'=__disjvr_3^post_22, __disjvr_4^0'=__disjvr_4^post_22, __disjvr_5^0'=__disjvr_5^post_22, __disjvr_6^0'=__disjvr_6^post_22, __disjvr_7^0'=__disjvr_7^post_22, __disjvr_8^0'=__disjvr_8^post_22, __disjvr_9^0'=__disjvr_9^post_22, a_137^0'=a_137^post_22, a_163^0'=a_163^post_22, a_193^0'=a_193^post_22, head_16^0'=head_16^post_22, head_29^0'=head_29^post_22, head_SLAM_f_26^0'=head_SLAM_f_26^post_22, i_108^0'=i_108^post_22, i_127^0'=i_127^post_22, i_27^0'=i_27^post_22, length_25^0'=length_25^post_22, nondet_12^0'=nondet_12^post_22, r_37^0'=r_37^post_22, rcd_102^0'=rcd_102^post_22, rcd_110^0'=rcd_110^post_22, rcd_168^0'=rcd_168^post_22, rcd_172^0'=rcd_172^post_22, rcd_192^0'=rcd_192^post_22, rcd_41^0'=rcd_41^post_22, rcd_67^0'=rcd_67^post_22, result_11^0'=result_11^post_22, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_22, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_22, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_22, t_23^0'=t_23^post_22, tail_15^0'=tail_15^post_22, temp0_19^0'=temp0_19^post_22, temp0_28^0'=temp0_28^post_22, temp_32^0'=temp_32^post_22, temp_33^0'=temp_33^post_22, tmp_31^0'=tmp_31^post_22, x_22^0'=x_22^post_22, x_SLAM_f_20^0'=x_SLAM_f_20^post_22, y_21^0'=y_21^post_22, [ __disjvr_8^post_22==__disjvr_8^0 && __disjvr_0^0==__disjvr_0^post_22 && __disjvr_1^0==__disjvr_1^post_22 && __disjvr_10^0==__disjvr_10^post_22 && __disjvr_11^0==__disjvr_11^post_22 && __disjvr_12^0==__disjvr_12^post_22 && __disjvr_2^0==__disjvr_2^post_22 && __disjvr_3^0==__disjvr_3^post_22 && __disjvr_4^0==__disjvr_4^post_22 && __disjvr_5^0==__disjvr_5^post_22 && __disjvr_6^0==__disjvr_6^post_22 && __disjvr_7^0==__disjvr_7^post_22 && __disjvr_8^0==__disjvr_8^post_22 && __disjvr_9^0==__disjvr_9^post_22 && a_137^0==a_137^post_22 && a_163^0==a_163^post_22 && a_193^0==a_193^post_22 && head_16^0==head_16^post_22 && head_29^0==head_29^post_22 && head_SLAM_f_26^0==head_SLAM_f_26^post_22 && i_108^0==i_108^post_22 && i_127^0==i_127^post_22 && i_27^0==i_27^post_22 && length_25^0==length_25^post_22 && nondet_12^0==nondet_12^post_22 && r_37^0==r_37^post_22 && rcd_102^0==rcd_102^post_22 && rcd_110^0==rcd_110^post_22 && rcd_168^0==rcd_168^post_22 && rcd_172^0==rcd_172^post_22 && rcd_192^0==rcd_192^post_22 && rcd_41^0==rcd_41^post_22 && rcd_67^0==rcd_67^post_22 && result_11^0==result_11^post_22 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_22 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_22 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_22 && t_23^0==t_23^post_22 && tail_15^0==tail_15^post_22 && temp0_19^0==temp0_19^post_22 && temp0_28^0==temp0_28^post_22 && temp_32^0==temp_32^post_22 && temp_33^0==temp_33^post_22 && tmp_31^0==tmp_31^post_22 && x_22^0==x_22^post_22 && x_SLAM_f_20^0==x_SLAM_f_20^post_22 && y_21^0==y_21^post_22 ], cost: 1
     22: l23 -> l24 : __disjvr_0^0'=__disjvr_0^post_23, __disjvr_10^0'=__disjvr_10^post_23, __disjvr_11^0'=__disjvr_11^post_23, __disjvr_12^0'=__disjvr_12^post_23, __disjvr_1^0'=__disjvr_1^post_23, __disjvr_2^0'=__disjvr_2^post_23, __disjvr_3^0'=__disjvr_3^post_23, __disjvr_4^0'=__disjvr_4^post_23, __disjvr_5^0'=__disjvr_5^post_23, __disjvr_6^0'=__disjvr_6^post_23, __disjvr_7^0'=__disjvr_7^post_23, __disjvr_8^0'=__disjvr_8^post_23, __disjvr_9^0'=__disjvr_9^post_23, a_137^0'=a_137^post_23, a_163^0'=a_163^post_23, a_193^0'=a_193^post_23, head_16^0'=head_16^post_23, head_29^0'=head_29^post_23, head_SLAM_f_26^0'=head_SLAM_f_26^post_23, i_108^0'=i_108^post_23, i_127^0'=i_127^post_23, i_27^0'=i_27^post_23, length_25^0'=length_25^post_23, nondet_12^0'=nondet_12^post_23, r_37^0'=r_37^post_23, rcd_102^0'=rcd_102^post_23, rcd_110^0'=rcd_110^post_23, rcd_168^0'=rcd_168^post_23, rcd_172^0'=rcd_172^post_23, rcd_192^0'=rcd_192^post_23, rcd_41^0'=rcd_41^post_23, rcd_67^0'=rcd_67^post_23, result_11^0'=result_11^post_23, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_23, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_23, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_23, t_23^0'=t_23^post_23, tail_15^0'=tail_15^post_23, temp0_19^0'=temp0_19^post_23, temp0_28^0'=temp0_28^post_23, temp_32^0'=temp_32^post_23, temp_33^0'=temp_33^post_23, tmp_31^0'=tmp_31^post_23, x_22^0'=x_22^post_23, x_SLAM_f_20^0'=x_SLAM_f_20^post_23, y_21^0'=y_21^post_23, [ __disjvr_9^post_23==__disjvr_9^0 && __disjvr_0^0==__disjvr_0^post_23 && __disjvr_1^0==__disjvr_1^post_23 && __disjvr_10^0==__disjvr_10^post_23 && __disjvr_11^0==__disjvr_11^post_23 && __disjvr_12^0==__disjvr_12^post_23 && __disjvr_2^0==__disjvr_2^post_23 && __disjvr_3^0==__disjvr_3^post_23 && __disjvr_4^0==__disjvr_4^post_23 && __disjvr_5^0==__disjvr_5^post_23 && __disjvr_6^0==__disjvr_6^post_23 && __disjvr_7^0==__disjvr_7^post_23 && __disjvr_8^0==__disjvr_8^post_23 && __disjvr_9^0==__disjvr_9^post_23 && a_137^0==a_137^post_23 && a_163^0==a_163^post_23 && a_193^0==a_193^post_23 && head_16^0==head_16^post_23 && head_29^0==head_29^post_23 && head_SLAM_f_26^0==head_SLAM_f_26^post_23 && i_108^0==i_108^post_23 && i_127^0==i_127^post_23 && i_27^0==i_27^post_23 && length_25^0==length_25^post_23 && nondet_12^0==nondet_12^post_23 && r_37^0==r_37^post_23 && rcd_102^0==rcd_102^post_23 && rcd_110^0==rcd_110^post_23 && rcd_168^0==rcd_168^post_23 && rcd_172^0==rcd_172^post_23 && rcd_192^0==rcd_192^post_23 && rcd_41^0==rcd_41^post_23 && rcd_67^0==rcd_67^post_23 && result_11^0==result_11^post_23 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_23 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_23 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_23 && t_23^0==t_23^post_23 && tail_15^0==tail_15^post_23 && temp0_19^0==temp0_19^post_23 && temp0_28^0==temp0_28^post_23 && temp_32^0==temp_32^post_23 && temp_33^0==temp_33^post_23 && tmp_31^0==tmp_31^post_23 && x_22^0==x_22^post_23 && x_SLAM_f_20^0==x_SLAM_f_20^post_23 && y_21^0==y_21^post_23 ], cost: 1
     23: l24 -> l19 : __disjvr_0^0'=__disjvr_0^post_24, __disjvr_10^0'=__disjvr_10^post_24, __disjvr_11^0'=__disjvr_11^post_24, __disjvr_12^0'=__disjvr_12^post_24, __disjvr_1^0'=__disjvr_1^post_24, __disjvr_2^0'=__disjvr_2^post_24, __disjvr_3^0'=__disjvr_3^post_24, __disjvr_4^0'=__disjvr_4^post_24, __disjvr_5^0'=__disjvr_5^post_24, __disjvr_6^0'=__disjvr_6^post_24, __disjvr_7^0'=__disjvr_7^post_24, __disjvr_8^0'=__disjvr_8^post_24, __disjvr_9^0'=__disjvr_9^post_24, a_137^0'=a_137^post_24, a_163^0'=a_163^post_24, a_193^0'=a_193^post_24, head_16^0'=head_16^post_24, head_29^0'=head_29^post_24, head_SLAM_f_26^0'=head_SLAM_f_26^post_24, i_108^0'=i_108^post_24, i_127^0'=i_127^post_24, i_27^0'=i_27^post_24, length_25^0'=length_25^post_24, nondet_12^0'=nondet_12^post_24, r_37^0'=r_37^post_24, rcd_102^0'=rcd_102^post_24, rcd_110^0'=rcd_110^post_24, rcd_168^0'=rcd_168^post_24, rcd_172^0'=rcd_172^post_24, rcd_192^0'=rcd_192^post_24, rcd_41^0'=rcd_41^post_24, rcd_67^0'=rcd_67^post_24, result_11^0'=result_11^post_24, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_24, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_24, t_23^0'=t_23^post_24, tail_15^0'=tail_15^post_24, temp0_19^0'=temp0_19^post_24, temp0_28^0'=temp0_28^post_24, temp_32^0'=temp_32^post_24, temp_33^0'=temp_33^post_24, tmp_31^0'=tmp_31^post_24, x_22^0'=x_22^post_24, x_SLAM_f_20^0'=x_SLAM_f_20^post_24, y_21^0'=y_21^post_24, [ 1<=result_dot_nondet_sdv_special_RETURN_VALUE_14^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^0 && rcd_41^post_24==rcd_41^post_24 && rcd_41^post_24<=rcd_192^0 && rcd_192^0<=rcd_41^post_24 && a_163^post_24==a_163^post_24 && a_163^post_24<=a_193^0 && a_193^0<=a_163^post_24 && __disjvr_0^0==__disjvr_0^post_24 && __disjvr_1^0==__disjvr_1^post_24 && __disjvr_10^0==__disjvr_10^post_24 && __disjvr_11^0==__disjvr_11^post_24 && __disjvr_12^0==__disjvr_12^post_24 && __disjvr_2^0==__disjvr_2^post_24 && __disjvr_3^0==__disjvr_3^post_24 && __disjvr_4^0==__disjvr_4^post_24 && __disjvr_5^0==__disjvr_5^post_24 && __disjvr_6^0==__disjvr_6^post_24 && __disjvr_7^0==__disjvr_7^post_24 && __disjvr_8^0==__disjvr_8^post_24 && __disjvr_9^0==__disjvr_9^post_24 && a_137^0==a_137^post_24 && a_193^0==a_193^post_24 && head_16^0==head_16^post_24 && head_29^0==head_29^post_24 && head_SLAM_f_26^0==head_SLAM_f_26^post_24 && i_108^0==i_108^post_24 && i_127^0==i_127^post_24 && i_27^0==i_27^post_24 && length_25^0==length_25^post_24 && nondet_12^0==nondet_12^post_24 && r_37^0==r_37^post_24 && rcd_102^0==rcd_102^post_24 && rcd_110^0==rcd_110^post_24 && rcd_168^0==rcd_168^post_24 && rcd_172^0==rcd_172^post_24 && rcd_192^0==rcd_192^post_24 && rcd_67^0==rcd_67^post_24 && result_11^0==result_11^post_24 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_24 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_24 && t_23^0==t_23^post_24 && tail_15^0==tail_15^post_24 && temp0_19^0==temp0_19^post_24 && temp0_28^0==temp0_28^post_24 && temp_32^0==temp_32^post_24 && temp_33^0==temp_33^post_24 && tmp_31^0==tmp_31^post_24 && x_22^0==x_22^post_24 && x_SLAM_f_20^0==x_SLAM_f_20^post_24 && y_21^0==y_21^post_24 ], cost: 1
     24: l19 -> l1 : __disjvr_0^0'=__disjvr_0^post_25, __disjvr_10^0'=__disjvr_10^post_25, __disjvr_11^0'=__disjvr_11^post_25, __disjvr_12^0'=__disjvr_12^post_25, __disjvr_1^0'=__disjvr_1^post_25, __disjvr_2^0'=__disjvr_2^post_25, __disjvr_3^0'=__disjvr_3^post_25, __disjvr_4^0'=__disjvr_4^post_25, __disjvr_5^0'=__disjvr_5^post_25, __disjvr_6^0'=__disjvr_6^post_25, __disjvr_7^0'=__disjvr_7^post_25, __disjvr_8^0'=__disjvr_8^post_25, __disjvr_9^0'=__disjvr_9^post_25, a_137^0'=a_137^post_25, a_163^0'=a_163^post_25, a_193^0'=a_193^post_25, head_16^0'=head_16^post_25, head_29^0'=head_29^post_25, head_SLAM_f_26^0'=head_SLAM_f_26^post_25, i_108^0'=i_108^post_25, i_127^0'=i_127^post_25, i_27^0'=i_27^post_25, length_25^0'=length_25^post_25, nondet_12^0'=nondet_12^post_25, r_37^0'=r_37^post_25, rcd_102^0'=rcd_102^post_25, rcd_110^0'=rcd_110^post_25, rcd_168^0'=rcd_168^post_25, rcd_172^0'=rcd_172^post_25, rcd_192^0'=rcd_192^post_25, rcd_41^0'=rcd_41^post_25, rcd_67^0'=rcd_67^post_25, result_11^0'=result_11^post_25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_25, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_25, t_23^0'=t_23^post_25, tail_15^0'=tail_15^post_25, temp0_19^0'=temp0_19^post_25, temp0_28^0'=temp0_28^post_25, temp_32^0'=temp_32^post_25, temp_33^0'=temp_33^post_25, tmp_31^0'=tmp_31^post_25, x_22^0'=x_22^post_25, x_SLAM_f_20^0'=x_SLAM_f_20^post_25, y_21^0'=y_21^post_25, [ __disjvr_0^0==__disjvr_0^post_25 && __disjvr_1^0==__disjvr_1^post_25 && __disjvr_10^0==__disjvr_10^post_25 && __disjvr_11^0==__disjvr_11^post_25 && __disjvr_12^0==__disjvr_12^post_25 && __disjvr_2^0==__disjvr_2^post_25 && __disjvr_3^0==__disjvr_3^post_25 && __disjvr_4^0==__disjvr_4^post_25 && __disjvr_5^0==__disjvr_5^post_25 && __disjvr_6^0==__disjvr_6^post_25 && __disjvr_7^0==__disjvr_7^post_25 && __disjvr_8^0==__disjvr_8^post_25 && __disjvr_9^0==__disjvr_9^post_25 && a_137^0==a_137^post_25 && a_163^0==a_163^post_25 && a_193^0==a_193^post_25 && head_16^0==head_16^post_25 && head_29^0==head_29^post_25 && head_SLAM_f_26^0==head_SLAM_f_26^post_25 && i_108^0==i_108^post_25 && i_127^0==i_127^post_25 && i_27^0==i_27^post_25 && length_25^0==length_25^post_25 && nondet_12^0==nondet_12^post_25 && r_37^0==r_37^post_25 && rcd_102^0==rcd_102^post_25 && rcd_110^0==rcd_110^post_25 && rcd_168^0==rcd_168^post_25 && rcd_172^0==rcd_172^post_25 && rcd_192^0==rcd_192^post_25 && rcd_41^0==rcd_41^post_25 && rcd_67^0==rcd_67^post_25 && result_11^0==result_11^post_25 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_25 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_25 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_25 && t_23^0==t_23^post_25 && tail_15^0==tail_15^post_25 && temp0_19^0==temp0_19^post_25 && temp0_28^0==temp0_28^post_25 && temp_32^0==temp_32^post_25 && temp_33^0==temp_33^post_25 && tmp_31^0==tmp_31^post_25 && x_22^0==x_22^post_25 && x_SLAM_f_20^0==x_SLAM_f_20^post_25 && y_21^0==y_21^post_25 ], cost: 1
     26: l25 -> l26 : __disjvr_0^0'=__disjvr_0^post_27, __disjvr_10^0'=__disjvr_10^post_27, __disjvr_11^0'=__disjvr_11^post_27, __disjvr_12^0'=__disjvr_12^post_27, __disjvr_1^0'=__disjvr_1^post_27, __disjvr_2^0'=__disjvr_2^post_27, __disjvr_3^0'=__disjvr_3^post_27, __disjvr_4^0'=__disjvr_4^post_27, __disjvr_5^0'=__disjvr_5^post_27, __disjvr_6^0'=__disjvr_6^post_27, __disjvr_7^0'=__disjvr_7^post_27, __disjvr_8^0'=__disjvr_8^post_27, __disjvr_9^0'=__disjvr_9^post_27, a_137^0'=a_137^post_27, a_163^0'=a_163^post_27, a_193^0'=a_193^post_27, head_16^0'=head_16^post_27, head_29^0'=head_29^post_27, head_SLAM_f_26^0'=head_SLAM_f_26^post_27, i_108^0'=i_108^post_27, i_127^0'=i_127^post_27, i_27^0'=i_27^post_27, length_25^0'=length_25^post_27, nondet_12^0'=nondet_12^post_27, r_37^0'=r_37^post_27, rcd_102^0'=rcd_102^post_27, rcd_110^0'=rcd_110^post_27, rcd_168^0'=rcd_168^post_27, rcd_172^0'=rcd_172^post_27, rcd_192^0'=rcd_192^post_27, rcd_41^0'=rcd_41^post_27, rcd_67^0'=rcd_67^post_27, result_11^0'=result_11^post_27, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_27, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_27, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_27, t_23^0'=t_23^post_27, tail_15^0'=tail_15^post_27, temp0_19^0'=temp0_19^post_27, temp0_28^0'=temp0_28^post_27, temp_32^0'=temp_32^post_27, temp_33^0'=temp_33^post_27, tmp_31^0'=tmp_31^post_27, x_22^0'=x_22^post_27, x_SLAM_f_20^0'=x_SLAM_f_20^post_27, y_21^0'=y_21^post_27, [ __disjvr_10^post_27==__disjvr_10^0 && __disjvr_0^0==__disjvr_0^post_27 && __disjvr_1^0==__disjvr_1^post_27 && __disjvr_10^0==__disjvr_10^post_27 && __disjvr_11^0==__disjvr_11^post_27 && __disjvr_12^0==__disjvr_12^post_27 && __disjvr_2^0==__disjvr_2^post_27 && __disjvr_3^0==__disjvr_3^post_27 && __disjvr_4^0==__disjvr_4^post_27 && __disjvr_5^0==__disjvr_5^post_27 && __disjvr_6^0==__disjvr_6^post_27 && __disjvr_7^0==__disjvr_7^post_27 && __disjvr_8^0==__disjvr_8^post_27 && __disjvr_9^0==__disjvr_9^post_27 && a_137^0==a_137^post_27 && a_163^0==a_163^post_27 && a_193^0==a_193^post_27 && head_16^0==head_16^post_27 && head_29^0==head_29^post_27 && head_SLAM_f_26^0==head_SLAM_f_26^post_27 && i_108^0==i_108^post_27 && i_127^0==i_127^post_27 && i_27^0==i_27^post_27 && length_25^0==length_25^post_27 && nondet_12^0==nondet_12^post_27 && r_37^0==r_37^post_27 && rcd_102^0==rcd_102^post_27 && rcd_110^0==rcd_110^post_27 && rcd_168^0==rcd_168^post_27 && rcd_172^0==rcd_172^post_27 && rcd_192^0==rcd_192^post_27 && rcd_41^0==rcd_41^post_27 && rcd_67^0==rcd_67^post_27 && result_11^0==result_11^post_27 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_27 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_27 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_27 && t_23^0==t_23^post_27 && tail_15^0==tail_15^post_27 && temp0_19^0==temp0_19^post_27 && temp0_28^0==temp0_28^post_27 && temp_32^0==temp_32^post_27 && temp_33^0==temp_33^post_27 && tmp_31^0==tmp_31^post_27 && x_22^0==x_22^post_27 && x_SLAM_f_20^0==x_SLAM_f_20^post_27 && y_21^0==y_21^post_27 ], cost: 1
     27: l26 -> l27 : __disjvr_0^0'=__disjvr_0^post_28, __disjvr_10^0'=__disjvr_10^post_28, __disjvr_11^0'=__disjvr_11^post_28, __disjvr_12^0'=__disjvr_12^post_28, __disjvr_1^0'=__disjvr_1^post_28, __disjvr_2^0'=__disjvr_2^post_28, __disjvr_3^0'=__disjvr_3^post_28, __disjvr_4^0'=__disjvr_4^post_28, __disjvr_5^0'=__disjvr_5^post_28, __disjvr_6^0'=__disjvr_6^post_28, __disjvr_7^0'=__disjvr_7^post_28, __disjvr_8^0'=__disjvr_8^post_28, __disjvr_9^0'=__disjvr_9^post_28, a_137^0'=a_137^post_28, a_163^0'=a_163^post_28, a_193^0'=a_193^post_28, head_16^0'=head_16^post_28, head_29^0'=head_29^post_28, head_SLAM_f_26^0'=head_SLAM_f_26^post_28, i_108^0'=i_108^post_28, i_127^0'=i_127^post_28, i_27^0'=i_27^post_28, length_25^0'=length_25^post_28, nondet_12^0'=nondet_12^post_28, r_37^0'=r_37^post_28, rcd_102^0'=rcd_102^post_28, rcd_110^0'=rcd_110^post_28, rcd_168^0'=rcd_168^post_28, rcd_172^0'=rcd_172^post_28, rcd_192^0'=rcd_192^post_28, rcd_41^0'=rcd_41^post_28, rcd_67^0'=rcd_67^post_28, result_11^0'=result_11^post_28, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_28, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_28, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_28, t_23^0'=t_23^post_28, tail_15^0'=tail_15^post_28, temp0_19^0'=temp0_19^post_28, temp0_28^0'=temp0_28^post_28, temp_32^0'=temp_32^post_28, temp_33^0'=temp_33^post_28, tmp_31^0'=tmp_31^post_28, x_22^0'=x_22^post_28, x_SLAM_f_20^0'=x_SLAM_f_20^post_28, y_21^0'=y_21^post_28, [ t_23^post_28==x_22^0 && a_137^post_28==a_137^post_28 && 0<=-a_137^post_28+a_163^0 && -a_137^post_28+a_163^0<=0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0<=tail_15^0 && tail_15^0<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0<=y_21^0 && y_21^0<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 && tail_15^0<=y_21^0 && y_21^0<=tail_15^0 && head_16^0<=x_SLAM_f_20^0 && x_SLAM_f_20^0<=head_16^0 && head_16^0<=t_23^post_28 && t_23^post_28<=head_16^0 && a_137^post_28<=a_163^0 && a_163^0<=a_137^post_28 && rcd_41^0<=rcd_168^0 && rcd_168^0<=rcd_41^0 && __disjvr_0^0==__disjvr_0^post_28 && __disjvr_1^0==__disjvr_1^post_28 && __disjvr_10^0==__disjvr_10^post_28 && __disjvr_11^0==__disjvr_11^post_28 && __disjvr_12^0==__disjvr_12^post_28 && __disjvr_2^0==__disjvr_2^post_28 && __disjvr_3^0==__disjvr_3^post_28 && __disjvr_4^0==__disjvr_4^post_28 && __disjvr_5^0==__disjvr_5^post_28 && __disjvr_6^0==__disjvr_6^post_28 && __disjvr_7^0==__disjvr_7^post_28 && __disjvr_8^0==__disjvr_8^post_28 && __disjvr_9^0==__disjvr_9^post_28 && a_163^0==a_163^post_28 && a_193^0==a_193^post_28 && head_16^0==head_16^post_28 && head_29^0==head_29^post_28 && head_SLAM_f_26^0==head_SLAM_f_26^post_28 && i_108^0==i_108^post_28 && i_127^0==i_127^post_28 && i_27^0==i_27^post_28 && length_25^0==length_25^post_28 && nondet_12^0==nondet_12^post_28 && r_37^0==r_37^post_28 && rcd_102^0==rcd_102^post_28 && rcd_110^0==rcd_110^post_28 && rcd_168^0==rcd_168^post_28 && rcd_172^0==rcd_172^post_28 && rcd_192^0==rcd_192^post_28 && rcd_41^0==rcd_41^post_28 && rcd_67^0==rcd_67^post_28 && result_11^0==result_11^post_28 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_28 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_28 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_28 && tail_15^0==tail_15^post_28 && temp0_19^0==temp0_19^post_28 && temp0_28^0==temp0_28^post_28 && temp_32^0==temp_32^post_28 && temp_33^0==temp_33^post_28 && tmp_31^0==tmp_31^post_28 && x_22^0==x_22^post_28 && x_SLAM_f_20^0==x_SLAM_f_20^post_28 && y_21^0==y_21^post_28 ], cost: 1
     28: l27 -> l28 : __disjvr_0^0'=__disjvr_0^post_29, __disjvr_10^0'=__disjvr_10^post_29, __disjvr_11^0'=__disjvr_11^post_29, __disjvr_12^0'=__disjvr_12^post_29, __disjvr_1^0'=__disjvr_1^post_29, __disjvr_2^0'=__disjvr_2^post_29, __disjvr_3^0'=__disjvr_3^post_29, __disjvr_4^0'=__disjvr_4^post_29, __disjvr_5^0'=__disjvr_5^post_29, __disjvr_6^0'=__disjvr_6^post_29, __disjvr_7^0'=__disjvr_7^post_29, __disjvr_8^0'=__disjvr_8^post_29, __disjvr_9^0'=__disjvr_9^post_29, a_137^0'=a_137^post_29, a_163^0'=a_163^post_29, a_193^0'=a_193^post_29, head_16^0'=head_16^post_29, head_29^0'=head_29^post_29, head_SLAM_f_26^0'=head_SLAM_f_26^post_29, i_108^0'=i_108^post_29, i_127^0'=i_127^post_29, i_27^0'=i_27^post_29, length_25^0'=length_25^post_29, nondet_12^0'=nondet_12^post_29, r_37^0'=r_37^post_29, rcd_102^0'=rcd_102^post_29, rcd_110^0'=rcd_110^post_29, rcd_168^0'=rcd_168^post_29, rcd_172^0'=rcd_172^post_29, rcd_192^0'=rcd_192^post_29, rcd_41^0'=rcd_41^post_29, rcd_67^0'=rcd_67^post_29, result_11^0'=result_11^post_29, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_29, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_29, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_29, t_23^0'=t_23^post_29, tail_15^0'=tail_15^post_29, temp0_19^0'=temp0_19^post_29, temp0_28^0'=temp0_28^post_29, temp_32^0'=temp_32^post_29, temp_33^0'=temp_33^post_29, tmp_31^0'=tmp_31^post_29, x_22^0'=x_22^post_29, x_SLAM_f_20^0'=x_SLAM_f_20^post_29, y_21^0'=y_21^post_29, [ __disjvr_11^post_29==__disjvr_11^0 && __disjvr_0^0==__disjvr_0^post_29 && __disjvr_1^0==__disjvr_1^post_29 && __disjvr_10^0==__disjvr_10^post_29 && __disjvr_11^0==__disjvr_11^post_29 && __disjvr_12^0==__disjvr_12^post_29 && __disjvr_2^0==__disjvr_2^post_29 && __disjvr_3^0==__disjvr_3^post_29 && __disjvr_4^0==__disjvr_4^post_29 && __disjvr_5^0==__disjvr_5^post_29 && __disjvr_6^0==__disjvr_6^post_29 && __disjvr_7^0==__disjvr_7^post_29 && __disjvr_8^0==__disjvr_8^post_29 && __disjvr_9^0==__disjvr_9^post_29 && a_137^0==a_137^post_29 && a_163^0==a_163^post_29 && a_193^0==a_193^post_29 && head_16^0==head_16^post_29 && head_29^0==head_29^post_29 && head_SLAM_f_26^0==head_SLAM_f_26^post_29 && i_108^0==i_108^post_29 && i_127^0==i_127^post_29 && i_27^0==i_27^post_29 && length_25^0==length_25^post_29 && nondet_12^0==nondet_12^post_29 && r_37^0==r_37^post_29 && rcd_102^0==rcd_102^post_29 && rcd_110^0==rcd_110^post_29 && rcd_168^0==rcd_168^post_29 && rcd_172^0==rcd_172^post_29 && rcd_192^0==rcd_192^post_29 && rcd_41^0==rcd_41^post_29 && rcd_67^0==rcd_67^post_29 && result_11^0==result_11^post_29 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_29 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_29 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_29 && t_23^0==t_23^post_29 && tail_15^0==tail_15^post_29 && temp0_19^0==temp0_19^post_29 && temp0_28^0==temp0_28^post_29 && temp_32^0==temp_32^post_29 && temp_33^0==temp_33^post_29 && tmp_31^0==tmp_31^post_29 && x_22^0==x_22^post_29 && x_SLAM_f_20^0==x_SLAM_f_20^post_29 && y_21^0==y_21^post_29 ], cost: 1
     29: l28 -> l29 : __disjvr_0^0'=__disjvr_0^post_30, __disjvr_10^0'=__disjvr_10^post_30, __disjvr_11^0'=__disjvr_11^post_30, __disjvr_12^0'=__disjvr_12^post_30, __disjvr_1^0'=__disjvr_1^post_30, __disjvr_2^0'=__disjvr_2^post_30, __disjvr_3^0'=__disjvr_3^post_30, __disjvr_4^0'=__disjvr_4^post_30, __disjvr_5^0'=__disjvr_5^post_30, __disjvr_6^0'=__disjvr_6^post_30, __disjvr_7^0'=__disjvr_7^post_30, __disjvr_8^0'=__disjvr_8^post_30, __disjvr_9^0'=__disjvr_9^post_30, a_137^0'=a_137^post_30, a_163^0'=a_163^post_30, a_193^0'=a_193^post_30, head_16^0'=head_16^post_30, head_29^0'=head_29^post_30, head_SLAM_f_26^0'=head_SLAM_f_26^post_30, i_108^0'=i_108^post_30, i_127^0'=i_127^post_30, i_27^0'=i_27^post_30, length_25^0'=length_25^post_30, nondet_12^0'=nondet_12^post_30, r_37^0'=r_37^post_30, rcd_102^0'=rcd_102^post_30, rcd_110^0'=rcd_110^post_30, rcd_168^0'=rcd_168^post_30, rcd_172^0'=rcd_172^post_30, rcd_192^0'=rcd_192^post_30, rcd_41^0'=rcd_41^post_30, rcd_67^0'=rcd_67^post_30, result_11^0'=result_11^post_30, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_30, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_30, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_30, t_23^0'=t_23^post_30, tail_15^0'=tail_15^post_30, temp0_19^0'=temp0_19^post_30, temp0_28^0'=temp0_28^post_30, temp_32^0'=temp_32^post_30, temp_33^0'=temp_33^post_30, tmp_31^0'=tmp_31^post_30, x_22^0'=x_22^post_30, x_SLAM_f_20^0'=x_SLAM_f_20^post_30, y_21^0'=y_21^post_30, [ __disjvr_12^post_30==__disjvr_12^0 && __disjvr_0^0==__disjvr_0^post_30 && __disjvr_1^0==__disjvr_1^post_30 && __disjvr_10^0==__disjvr_10^post_30 && __disjvr_11^0==__disjvr_11^post_30 && __disjvr_12^0==__disjvr_12^post_30 && __disjvr_2^0==__disjvr_2^post_30 && __disjvr_3^0==__disjvr_3^post_30 && __disjvr_4^0==__disjvr_4^post_30 && __disjvr_5^0==__disjvr_5^post_30 && __disjvr_6^0==__disjvr_6^post_30 && __disjvr_7^0==__disjvr_7^post_30 && __disjvr_8^0==__disjvr_8^post_30 && __disjvr_9^0==__disjvr_9^post_30 && a_137^0==a_137^post_30 && a_163^0==a_163^post_30 && a_193^0==a_193^post_30 && head_16^0==head_16^post_30 && head_29^0==head_29^post_30 && head_SLAM_f_26^0==head_SLAM_f_26^post_30 && i_108^0==i_108^post_30 && i_127^0==i_127^post_30 && i_27^0==i_27^post_30 && length_25^0==length_25^post_30 && nondet_12^0==nondet_12^post_30 && r_37^0==r_37^post_30 && rcd_102^0==rcd_102^post_30 && rcd_110^0==rcd_110^post_30 && rcd_168^0==rcd_168^post_30 && rcd_172^0==rcd_172^post_30 && rcd_192^0==rcd_192^post_30 && rcd_41^0==rcd_41^post_30 && rcd_67^0==rcd_67^post_30 && result_11^0==result_11^post_30 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_30 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_30 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_30 && t_23^0==t_23^post_30 && tail_15^0==tail_15^post_30 && temp0_19^0==temp0_19^post_30 && temp0_28^0==temp0_28^post_30 && temp_32^0==temp_32^post_30 && temp_33^0==temp_33^post_30 && tmp_31^0==tmp_31^post_30 && x_22^0==x_22^post_30 && x_SLAM_f_20^0==x_SLAM_f_20^post_30 && y_21^0==y_21^post_30 ], cost: 1
     30: l29 -> l1 : __disjvr_0^0'=__disjvr_0^post_31, __disjvr_10^0'=__disjvr_10^post_31, __disjvr_11^0'=__disjvr_11^post_31, __disjvr_12^0'=__disjvr_12^post_31, __disjvr_1^0'=__disjvr_1^post_31, __disjvr_2^0'=__disjvr_2^post_31, __disjvr_3^0'=__disjvr_3^post_31, __disjvr_4^0'=__disjvr_4^post_31, __disjvr_5^0'=__disjvr_5^post_31, __disjvr_6^0'=__disjvr_6^post_31, __disjvr_7^0'=__disjvr_7^post_31, __disjvr_8^0'=__disjvr_8^post_31, __disjvr_9^0'=__disjvr_9^post_31, a_137^0'=a_137^post_31, a_163^0'=a_163^post_31, a_193^0'=a_193^post_31, head_16^0'=head_16^post_31, head_29^0'=head_29^post_31, head_SLAM_f_26^0'=head_SLAM_f_26^post_31, i_108^0'=i_108^post_31, i_127^0'=i_127^post_31, i_27^0'=i_27^post_31, length_25^0'=length_25^post_31, nondet_12^0'=nondet_12^post_31, r_37^0'=r_37^post_31, rcd_102^0'=rcd_102^post_31, rcd_110^0'=rcd_110^post_31, rcd_168^0'=rcd_168^post_31, rcd_172^0'=rcd_172^post_31, rcd_192^0'=rcd_192^post_31, rcd_41^0'=rcd_41^post_31, rcd_67^0'=rcd_67^post_31, result_11^0'=result_11^post_31, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_31, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_31, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_31, t_23^0'=t_23^post_31, tail_15^0'=tail_15^post_31, temp0_19^0'=temp0_19^post_31, temp0_28^0'=temp0_28^post_31, temp_32^0'=temp_32^post_31, temp_33^0'=temp_33^post_31, tmp_31^0'=tmp_31^post_31, x_22^0'=x_22^post_31, x_SLAM_f_20^0'=x_SLAM_f_20^post_31, y_21^0'=y_21^post_31, [ 1<=result_dot_nondet_sdv_special_RETURN_VALUE_14^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^0 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0<=i_127^0 && i_127^post_31==i_127^post_31 && -1+i_127^post_31<=a_137^0 && a_137^0<=-1+i_127^post_31 && __disjvr_0^0==__disjvr_0^post_31 && __disjvr_1^0==__disjvr_1^post_31 && __disjvr_10^0==__disjvr_10^post_31 && __disjvr_11^0==__disjvr_11^post_31 && __disjvr_12^0==__disjvr_12^post_31 && __disjvr_2^0==__disjvr_2^post_31 && __disjvr_3^0==__disjvr_3^post_31 && __disjvr_4^0==__disjvr_4^post_31 && __disjvr_5^0==__disjvr_5^post_31 && __disjvr_6^0==__disjvr_6^post_31 && __disjvr_7^0==__disjvr_7^post_31 && __disjvr_8^0==__disjvr_8^post_31 && __disjvr_9^0==__disjvr_9^post_31 && a_137^0==a_137^post_31 && a_163^0==a_163^post_31 && a_193^0==a_193^post_31 && head_16^0==head_16^post_31 && head_29^0==head_29^post_31 && head_SLAM_f_26^0==head_SLAM_f_26^post_31 && i_108^0==i_108^post_31 && i_27^0==i_27^post_31 && length_25^0==length_25^post_31 && nondet_12^0==nondet_12^post_31 && r_37^0==r_37^post_31 && rcd_102^0==rcd_102^post_31 && rcd_110^0==rcd_110^post_31 && rcd_168^0==rcd_168^post_31 && rcd_172^0==rcd_172^post_31 && rcd_192^0==rcd_192^post_31 && rcd_41^0==rcd_41^post_31 && rcd_67^0==rcd_67^post_31 && result_11^0==result_11^post_31 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_31 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_31 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_31 && t_23^0==t_23^post_31 && tail_15^0==tail_15^post_31 && temp0_19^0==temp0_19^post_31 && temp0_28^0==temp0_28^post_31 && temp_32^0==temp_32^post_31 && temp_33^0==temp_33^post_31 && tmp_31^0==tmp_31^post_31 && x_22^0==x_22^post_31 && x_SLAM_f_20^0==x_SLAM_f_20^post_31 && y_21^0==y_21^post_31 ], cost: 1
     32: l30 -> l18 : __disjvr_0^0'=__disjvr_0^post_33, __disjvr_10^0'=__disjvr_10^post_33, __disjvr_11^0'=__disjvr_11^post_33, __disjvr_12^0'=__disjvr_12^post_33, __disjvr_1^0'=__disjvr_1^post_33, __disjvr_2^0'=__disjvr_2^post_33, __disjvr_3^0'=__disjvr_3^post_33, __disjvr_4^0'=__disjvr_4^post_33, __disjvr_5^0'=__disjvr_5^post_33, __disjvr_6^0'=__disjvr_6^post_33, __disjvr_7^0'=__disjvr_7^post_33, __disjvr_8^0'=__disjvr_8^post_33, __disjvr_9^0'=__disjvr_9^post_33, a_137^0'=a_137^post_33, a_163^0'=a_163^post_33, a_193^0'=a_193^post_33, head_16^0'=head_16^post_33, head_29^0'=head_29^post_33, head_SLAM_f_26^0'=head_SLAM_f_26^post_33, i_108^0'=i_108^post_33, i_127^0'=i_127^post_33, i_27^0'=i_27^post_33, length_25^0'=length_25^post_33, nondet_12^0'=nondet_12^post_33, r_37^0'=r_37^post_33, rcd_102^0'=rcd_102^post_33, rcd_110^0'=rcd_110^post_33, rcd_168^0'=rcd_168^post_33, rcd_172^0'=rcd_172^post_33, rcd_192^0'=rcd_192^post_33, rcd_41^0'=rcd_41^post_33, rcd_67^0'=rcd_67^post_33, result_11^0'=result_11^post_33, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_33, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_33, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_33, t_23^0'=t_23^post_33, tail_15^0'=tail_15^post_33, temp0_19^0'=temp0_19^post_33, temp0_28^0'=temp0_28^post_33, temp_32^0'=temp_32^post_33, temp_33^0'=temp_33^post_33, tmp_31^0'=tmp_31^post_33, x_22^0'=x_22^post_33, x_SLAM_f_20^0'=x_SLAM_f_20^post_33, y_21^0'=y_21^post_33, [ __disjvr_0^0==__disjvr_0^post_33 && __disjvr_1^0==__disjvr_1^post_33 && __disjvr_10^0==__disjvr_10^post_33 && __disjvr_11^0==__disjvr_11^post_33 && __disjvr_12^0==__disjvr_12^post_33 && __disjvr_2^0==__disjvr_2^post_33 && __disjvr_3^0==__disjvr_3^post_33 && __disjvr_4^0==__disjvr_4^post_33 && __disjvr_5^0==__disjvr_5^post_33 && __disjvr_6^0==__disjvr_6^post_33 && __disjvr_7^0==__disjvr_7^post_33 && __disjvr_8^0==__disjvr_8^post_33 && __disjvr_9^0==__disjvr_9^post_33 && a_137^0==a_137^post_33 && a_163^0==a_163^post_33 && a_193^0==a_193^post_33 && head_16^0==head_16^post_33 && head_29^0==head_29^post_33 && head_SLAM_f_26^0==head_SLAM_f_26^post_33 && i_108^0==i_108^post_33 && i_127^0==i_127^post_33 && i_27^0==i_27^post_33 && length_25^0==length_25^post_33 && nondet_12^0==nondet_12^post_33 && r_37^0==r_37^post_33 && rcd_102^0==rcd_102^post_33 && rcd_110^0==rcd_110^post_33 && rcd_168^0==rcd_168^post_33 && rcd_172^0==rcd_172^post_33 && rcd_192^0==rcd_192^post_33 && rcd_41^0==rcd_41^post_33 && rcd_67^0==rcd_67^post_33 && result_11^0==result_11^post_33 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_33 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_33 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_33 && t_23^0==t_23^post_33 && tail_15^0==tail_15^post_33 && temp0_19^0==temp0_19^post_33 && temp0_28^0==temp0_28^post_33 && temp_32^0==temp_32^post_33 && temp_33^0==temp_33^post_33 && tmp_31^0==tmp_31^post_33 && x_22^0==x_22^post_33 && x_SLAM_f_20^0==x_SLAM_f_20^post_33 && y_21^0==y_21^post_33 ], cost: 1
     35: l31 -> l10 : __disjvr_0^0'=__disjvr_0^post_36, __disjvr_10^0'=__disjvr_10^post_36, __disjvr_11^0'=__disjvr_11^post_36, __disjvr_12^0'=__disjvr_12^post_36, __disjvr_1^0'=__disjvr_1^post_36, __disjvr_2^0'=__disjvr_2^post_36, __disjvr_3^0'=__disjvr_3^post_36, __disjvr_4^0'=__disjvr_4^post_36, __disjvr_5^0'=__disjvr_5^post_36, __disjvr_6^0'=__disjvr_6^post_36, __disjvr_7^0'=__disjvr_7^post_36, __disjvr_8^0'=__disjvr_8^post_36, __disjvr_9^0'=__disjvr_9^post_36, a_137^0'=a_137^post_36, a_163^0'=a_163^post_36, a_193^0'=a_193^post_36, head_16^0'=head_16^post_36, head_29^0'=head_29^post_36, head_SLAM_f_26^0'=head_SLAM_f_26^post_36, i_108^0'=i_108^post_36, i_127^0'=i_127^post_36, i_27^0'=i_27^post_36, length_25^0'=length_25^post_36, nondet_12^0'=nondet_12^post_36, r_37^0'=r_37^post_36, rcd_102^0'=rcd_102^post_36, rcd_110^0'=rcd_110^post_36, rcd_168^0'=rcd_168^post_36, rcd_172^0'=rcd_172^post_36, rcd_192^0'=rcd_192^post_36, rcd_41^0'=rcd_41^post_36, rcd_67^0'=rcd_67^post_36, result_11^0'=result_11^post_36, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_36, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_36, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_36, t_23^0'=t_23^post_36, tail_15^0'=tail_15^post_36, temp0_19^0'=temp0_19^post_36, temp0_28^0'=temp0_28^post_36, temp_32^0'=temp_32^post_36, temp_33^0'=temp_33^post_36, tmp_31^0'=tmp_31^post_36, x_22^0'=x_22^post_36, x_SLAM_f_20^0'=x_SLAM_f_20^post_36, y_21^0'=y_21^post_36, [ __disjvr_0^0==__disjvr_0^post_36 && __disjvr_1^0==__disjvr_1^post_36 && __disjvr_10^0==__disjvr_10^post_36 && __disjvr_11^0==__disjvr_11^post_36 && __disjvr_12^0==__disjvr_12^post_36 && __disjvr_2^0==__disjvr_2^post_36 && __disjvr_3^0==__disjvr_3^post_36 && __disjvr_4^0==__disjvr_4^post_36 && __disjvr_5^0==__disjvr_5^post_36 && __disjvr_6^0==__disjvr_6^post_36 && __disjvr_7^0==__disjvr_7^post_36 && __disjvr_8^0==__disjvr_8^post_36 && __disjvr_9^0==__disjvr_9^post_36 && a_137^0==a_137^post_36 && a_163^0==a_163^post_36 && a_193^0==a_193^post_36 && head_16^0==head_16^post_36 && head_29^0==head_29^post_36 && head_SLAM_f_26^0==head_SLAM_f_26^post_36 && i_108^0==i_108^post_36 && i_127^0==i_127^post_36 && i_27^0==i_27^post_36 && length_25^0==length_25^post_36 && nondet_12^0==nondet_12^post_36 && r_37^0==r_37^post_36 && rcd_102^0==rcd_102^post_36 && rcd_110^0==rcd_110^post_36 && rcd_168^0==rcd_168^post_36 && rcd_172^0==rcd_172^post_36 && rcd_192^0==rcd_192^post_36 && rcd_41^0==rcd_41^post_36 && rcd_67^0==rcd_67^post_36 && result_11^0==result_11^post_36 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_36 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_36 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_36 && t_23^0==t_23^post_36 && tail_15^0==tail_15^post_36 && temp0_19^0==temp0_19^post_36 && temp0_28^0==temp0_28^post_36 && temp_32^0==temp_32^post_36 && temp_33^0==temp_33^post_36 && tmp_31^0==tmp_31^post_36 && x_22^0==x_22^post_36 && x_SLAM_f_20^0==x_SLAM_f_20^post_36 && y_21^0==y_21^post_36 ], cost: 1

Checking for constant complexity:
   The following rule is satisfiable with cost >= 1, yielding constant complexity:
     35: l31 -> l10 : __disjvr_0^0'=__disjvr_0^post_36, __disjvr_10^0'=__disjvr_10^post_36, __disjvr_11^0'=__disjvr_11^post_36, __disjvr_12^0'=__disjvr_12^post_36, __disjvr_1^0'=__disjvr_1^post_36, __disjvr_2^0'=__disjvr_2^post_36, __disjvr_3^0'=__disjvr_3^post_36, __disjvr_4^0'=__disjvr_4^post_36, __disjvr_5^0'=__disjvr_5^post_36, __disjvr_6^0'=__disjvr_6^post_36, __disjvr_7^0'=__disjvr_7^post_36, __disjvr_8^0'=__disjvr_8^post_36, __disjvr_9^0'=__disjvr_9^post_36, a_137^0'=a_137^post_36, a_163^0'=a_163^post_36, a_193^0'=a_193^post_36, head_16^0'=head_16^post_36, head_29^0'=head_29^post_36, head_SLAM_f_26^0'=head_SLAM_f_26^post_36, i_108^0'=i_108^post_36, i_127^0'=i_127^post_36, i_27^0'=i_27^post_36, length_25^0'=length_25^post_36, nondet_12^0'=nondet_12^post_36, r_37^0'=r_37^post_36, rcd_102^0'=rcd_102^post_36, rcd_110^0'=rcd_110^post_36, rcd_168^0'=rcd_168^post_36, rcd_172^0'=rcd_172^post_36, rcd_192^0'=rcd_192^post_36, rcd_41^0'=rcd_41^post_36, rcd_67^0'=rcd_67^post_36, result_11^0'=result_11^post_36, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_36, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_36, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_36, t_23^0'=t_23^post_36, tail_15^0'=tail_15^post_36, temp0_19^0'=temp0_19^post_36, temp0_28^0'=temp0_28^post_36, temp_32^0'=temp_32^post_36, temp_33^0'=temp_33^post_36, tmp_31^0'=tmp_31^post_36, x_22^0'=x_22^post_36, x_SLAM_f_20^0'=x_SLAM_f_20^post_36, y_21^0'=y_21^post_36, [ __disjvr_0^0==__disjvr_0^post_36 && __disjvr_1^0==__disjvr_1^post_36 && __disjvr_10^0==__disjvr_10^post_36 && __disjvr_11^0==__disjvr_11^post_36 && __disjvr_12^0==__disjvr_12^post_36 && __disjvr_2^0==__disjvr_2^post_36 && __disjvr_3^0==__disjvr_3^post_36 && __disjvr_4^0==__disjvr_4^post_36 && __disjvr_5^0==__disjvr_5^post_36 && __disjvr_6^0==__disjvr_6^post_36 && __disjvr_7^0==__disjvr_7^post_36 && __disjvr_8^0==__disjvr_8^post_36 && __disjvr_9^0==__disjvr_9^post_36 && a_137^0==a_137^post_36 && a_163^0==a_163^post_36 && a_193^0==a_193^post_36 && head_16^0==head_16^post_36 && head_29^0==head_29^post_36 && head_SLAM_f_26^0==head_SLAM_f_26^post_36 && i_108^0==i_108^post_36 && i_127^0==i_127^post_36 && i_27^0==i_27^post_36 && length_25^0==length_25^post_36 && nondet_12^0==nondet_12^post_36 && r_37^0==r_37^post_36 && rcd_102^0==rcd_102^post_36 && rcd_110^0==rcd_110^post_36 && rcd_168^0==rcd_168^post_36 && rcd_172^0==rcd_172^post_36 && rcd_192^0==rcd_192^post_36 && rcd_41^0==rcd_41^post_36 && rcd_67^0==rcd_67^post_36 && result_11^0==result_11^post_36 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_36 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_36 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_36 && t_23^0==t_23^post_36 && tail_15^0==tail_15^post_36 && temp0_19^0==temp0_19^post_36 && temp0_28^0==temp0_28^post_36 && temp_32^0==temp_32^post_36 && temp_33^0==temp_33^post_36 && tmp_31^0==tmp_31^post_36 && x_22^0==x_22^post_36 && x_SLAM_f_20^0==x_SLAM_f_20^post_36 && y_21^0==y_21^post_36 ], cost: 1

Removed unreachable and leaf rules:
   Start location: l31
     18: l1 -> l20 : __disjvr_0^0'=__disjvr_0^post_19, __disjvr_10^0'=__disjvr_10^post_19, __disjvr_11^0'=__disjvr_11^post_19, __disjvr_12^0'=__disjvr_12^post_19, __disjvr_1^0'=__disjvr_1^post_19, __disjvr_2^0'=__disjvr_2^post_19, __disjvr_3^0'=__disjvr_3^post_19, __disjvr_4^0'=__disjvr_4^post_19, __disjvr_5^0'=__disjvr_5^post_19, __disjvr_6^0'=__disjvr_6^post_19, __disjvr_7^0'=__disjvr_7^post_19, __disjvr_8^0'=__disjvr_8^post_19, __disjvr_9^0'=__disjvr_9^post_19, a_137^0'=a_137^post_19, a_163^0'=a_163^post_19, a_193^0'=a_193^post_19, head_16^0'=head_16^post_19, head_29^0'=head_29^post_19, head_SLAM_f_26^0'=head_SLAM_f_26^post_19, i_108^0'=i_108^post_19, i_127^0'=i_127^post_19, i_27^0'=i_27^post_19, length_25^0'=length_25^post_19, nondet_12^0'=nondet_12^post_19, r_37^0'=r_37^post_19, rcd_102^0'=rcd_102^post_19, rcd_110^0'=rcd_110^post_19, rcd_168^0'=rcd_168^post_19, rcd_172^0'=rcd_172^post_19, rcd_192^0'=rcd_192^post_19, rcd_41^0'=rcd_41^post_19, rcd_67^0'=rcd_67^post_19, result_11^0'=result_11^post_19, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_19, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_19, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_19, t_23^0'=t_23^post_19, tail_15^0'=tail_15^post_19, temp0_19^0'=temp0_19^post_19, temp0_28^0'=temp0_28^post_19, temp_32^0'=temp_32^post_19, temp_33^0'=temp_33^post_19, tmp_31^0'=tmp_31^post_19, x_22^0'=x_22^post_19, x_SLAM_f_20^0'=x_SLAM_f_20^post_19, y_21^0'=y_21^post_19, [ 0<=a_163^0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_19==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_19 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_19==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_19 && tail_15^post_19==tail_15^post_19 && head_16^post_19==head_16^post_19 && x_SLAM_f_20^post_19==x_SLAM_f_20^post_19 && r_37^post_19==r_37^post_19 && __disjvr_0^0==__disjvr_0^post_19 && __disjvr_1^0==__disjvr_1^post_19 && __disjvr_10^0==__disjvr_10^post_19 && __disjvr_11^0==__disjvr_11^post_19 && __disjvr_12^0==__disjvr_12^post_19 && __disjvr_2^0==__disjvr_2^post_19 && __disjvr_3^0==__disjvr_3^post_19 && __disjvr_4^0==__disjvr_4^post_19 && __disjvr_5^0==__disjvr_5^post_19 && __disjvr_6^0==__disjvr_6^post_19 && __disjvr_7^0==__disjvr_7^post_19 && __disjvr_8^0==__disjvr_8^post_19 && __disjvr_9^0==__disjvr_9^post_19 && a_137^0==a_137^post_19 && a_163^0==a_163^post_19 && a_193^0==a_193^post_19 && head_29^0==head_29^post_19 && head_SLAM_f_26^0==head_SLAM_f_26^post_19 && i_108^0==i_108^post_19 && i_127^0==i_127^post_19 && i_27^0==i_27^post_19 && length_25^0==length_25^post_19 && nondet_12^0==nondet_12^post_19 && rcd_102^0==rcd_102^post_19 && rcd_110^0==rcd_110^post_19 && rcd_168^0==rcd_168^post_19 && rcd_172^0==rcd_172^post_19 && rcd_192^0==rcd_192^post_19 && rcd_41^0==rcd_41^post_19 && rcd_67^0==rcd_67^post_19 && result_11^0==result_11^post_19 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_19 && t_23^0==t_23^post_19 && temp0_19^0==temp0_19^post_19 && temp0_28^0==temp0_28^post_19 && temp_32^0==temp_32^post_19 && temp_33^0==temp_33^post_19 && tmp_31^0==tmp_31^post_19 && x_22^0==x_22^post_19 && y_21^0==y_21^post_19 ], cost: 1
      9: l10 -> l11 : __disjvr_0^0'=__disjvr_0^post_10, __disjvr_10^0'=__disjvr_10^post_10, __disjvr_11^0'=__disjvr_11^post_10, __disjvr_12^0'=__disjvr_12^post_10, __disjvr_1^0'=__disjvr_1^post_10, __disjvr_2^0'=__disjvr_2^post_10, __disjvr_3^0'=__disjvr_3^post_10, __disjvr_4^0'=__disjvr_4^post_10, __disjvr_5^0'=__disjvr_5^post_10, __disjvr_6^0'=__disjvr_6^post_10, __disjvr_7^0'=__disjvr_7^post_10, __disjvr_8^0'=__disjvr_8^post_10, __disjvr_9^0'=__disjvr_9^post_10, a_137^0'=a_137^post_10, a_163^0'=a_163^post_10, a_193^0'=a_193^post_10, head_16^0'=head_16^post_10, head_29^0'=head_29^post_10, head_SLAM_f_26^0'=head_SLAM_f_26^post_10, i_108^0'=i_108^post_10, i_127^0'=i_127^post_10, i_27^0'=i_27^post_10, length_25^0'=length_25^post_10, nondet_12^0'=nondet_12^post_10, r_37^0'=r_37^post_10, rcd_102^0'=rcd_102^post_10, rcd_110^0'=rcd_110^post_10, rcd_168^0'=rcd_168^post_10, rcd_172^0'=rcd_172^post_10, rcd_192^0'=rcd_192^post_10, rcd_41^0'=rcd_41^post_10, rcd_67^0'=rcd_67^post_10, result_11^0'=result_11^post_10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_10, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_10, t_23^0'=t_23^post_10, tail_15^0'=tail_15^post_10, temp0_19^0'=temp0_19^post_10, temp0_28^0'=temp0_28^post_10, temp_32^0'=temp_32^post_10, temp_33^0'=temp_33^post_10, tmp_31^0'=tmp_31^post_10, x_22^0'=x_22^post_10, x_SLAM_f_20^0'=x_SLAM_f_20^post_10, y_21^0'=y_21^post_10, [ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_10==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_10 && tail_15^post_10==temp_33^0 && temp_33^post_10==temp_33^post_10 && nondet_12^1_1==nondet_12^1_1 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_10==nondet_12^1_1 && nondet_12^post_10==nondet_12^post_10 && length_25^post_10==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_10 && head_SLAM_f_26^post_10==tail_15^post_10 && head_29^post_10==head_SLAM_f_26^post_10 && i_27^post_10==0 && 0<=i_27^post_10 && i_27^post_10<=0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_10<=tail_15^post_10 && tail_15^post_10<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_10 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_10<=head_SLAM_f_26^post_10 && head_SLAM_f_26^post_10<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_10 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_10<=head_29^post_10 && head_29^post_10<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_10 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_10<=length_25^post_10 && length_25^post_10<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_10 && tail_15^post_10<=head_SLAM_f_26^post_10 && head_SLAM_f_26^post_10<=tail_15^post_10 && head_SLAM_f_26^post_10<=head_29^post_10 && head_29^post_10<=head_SLAM_f_26^post_10 && __disjvr_0^0==__disjvr_0^post_10 && __disjvr_1^0==__disjvr_1^post_10 && __disjvr_10^0==__disjvr_10^post_10 && __disjvr_11^0==__disjvr_11^post_10 && __disjvr_12^0==__disjvr_12^post_10 && __disjvr_2^0==__disjvr_2^post_10 && __disjvr_3^0==__disjvr_3^post_10 && __disjvr_4^0==__disjvr_4^post_10 && __disjvr_5^0==__disjvr_5^post_10 && __disjvr_6^0==__disjvr_6^post_10 && __disjvr_7^0==__disjvr_7^post_10 && __disjvr_8^0==__disjvr_8^post_10 && __disjvr_9^0==__disjvr_9^post_10 && a_137^0==a_137^post_10 && a_163^0==a_163^post_10 && a_193^0==a_193^post_10 && head_16^0==head_16^post_10 && i_108^0==i_108^post_10 && i_127^0==i_127^post_10 && r_37^0==r_37^post_10 && rcd_102^0==rcd_102^post_10 && rcd_110^0==rcd_110^post_10 && rcd_168^0==rcd_168^post_10 && rcd_172^0==rcd_172^post_10 && rcd_192^0==rcd_192^post_10 && rcd_41^0==rcd_41^post_10 && rcd_67^0==rcd_67^post_10 && result_11^0==result_11^post_10 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_10 && t_23^0==t_23^post_10 && temp0_19^0==temp0_19^post_10 && temp0_28^0==temp0_28^post_10 && temp_32^0==temp_32^post_10 && tmp_31^0==tmp_31^post_10 && x_22^0==x_22^post_10 && x_SLAM_f_20^0==x_SLAM_f_20^post_10 && y_21^0==y_21^post_10 ], cost: 1
     34: l11 -> l12 : __disjvr_0^0'=__disjvr_0^post_35, __disjvr_10^0'=__disjvr_10^post_35, __disjvr_11^0'=__disjvr_11^post_35, __disjvr_12^0'=__disjvr_12^post_35, __disjvr_1^0'=__disjvr_1^post_35, __disjvr_2^0'=__disjvr_2^post_35, __disjvr_3^0'=__disjvr_3^post_35, __disjvr_4^0'=__disjvr_4^post_35, __disjvr_5^0'=__disjvr_5^post_35, __disjvr_6^0'=__disjvr_6^post_35, __disjvr_7^0'=__disjvr_7^post_35, __disjvr_8^0'=__disjvr_8^post_35, __disjvr_9^0'=__disjvr_9^post_35, a_137^0'=a_137^post_35, a_163^0'=a_163^post_35, a_193^0'=a_193^post_35, head_16^0'=head_16^post_35, head_29^0'=head_29^post_35, head_SLAM_f_26^0'=head_SLAM_f_26^post_35, i_108^0'=i_108^post_35, i_127^0'=i_127^post_35, i_27^0'=i_27^post_35, length_25^0'=length_25^post_35, nondet_12^0'=nondet_12^post_35, r_37^0'=r_37^post_35, rcd_102^0'=rcd_102^post_35, rcd_110^0'=rcd_110^post_35, rcd_168^0'=rcd_168^post_35, rcd_172^0'=rcd_172^post_35, rcd_192^0'=rcd_192^post_35, rcd_41^0'=rcd_41^post_35, rcd_67^0'=rcd_67^post_35, result_11^0'=result_11^post_35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_35, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_35, t_23^0'=t_23^post_35, tail_15^0'=tail_15^post_35, temp0_19^0'=temp0_19^post_35, temp0_28^0'=temp0_28^post_35, temp_32^0'=temp_32^post_35, temp_33^0'=temp_33^post_35, tmp_31^0'=tmp_31^post_35, x_22^0'=x_22^post_35, x_SLAM_f_20^0'=x_SLAM_f_20^post_35, y_21^0'=y_21^post_35, [ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_35==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_35 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_35==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_35 && tail_15^post_35==tail_15^post_35 && head_SLAM_f_26^post_35==head_SLAM_f_26^post_35 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_35==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_35 && 1+i_27^0<=length_25^0 && tmp_31^post_35==temp_32^0 && temp_32^post_35==temp_32^post_35 && head_29^post_35==tmp_31^post_35 && i_27^post_35==1+i_27^0 && 1<=i_27^post_35 && i_27^post_35<=1 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_35<=tail_15^post_35 && tail_15^post_35<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_35 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_35<=head_SLAM_f_26^post_35 && head_SLAM_f_26^post_35<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_35 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_35<=length_25^0 && length_25^0<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_35 && tail_15^post_35<=head_SLAM_f_26^post_35 && head_SLAM_f_26^post_35<=tail_15^post_35 && head_29^post_35<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_35 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_35<=head_29^post_35 && head_29^post_35<=tmp_31^post_35 && tmp_31^post_35<=head_29^post_35 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_35<=tmp_31^post_35 && tmp_31^post_35<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_35 && 1<=length_25^0 && __disjvr_0^0==__disjvr_0^post_35 && __disjvr_1^0==__disjvr_1^post_35 && __disjvr_10^0==__disjvr_10^post_35 && __disjvr_11^0==__disjvr_11^post_35 && __disjvr_12^0==__disjvr_12^post_35 && __disjvr_2^0==__disjvr_2^post_35 && __disjvr_3^0==__disjvr_3^post_35 && __disjvr_4^0==__disjvr_4^post_35 && __disjvr_5^0==__disjvr_5^post_35 && __disjvr_6^0==__disjvr_6^post_35 && __disjvr_7^0==__disjvr_7^post_35 && __disjvr_8^0==__disjvr_8^post_35 && __disjvr_9^0==__disjvr_9^post_35 && a_137^0==a_137^post_35 && a_163^0==a_163^post_35 && a_193^0==a_193^post_35 && head_16^0==head_16^post_35 && i_108^0==i_108^post_35 && i_127^0==i_127^post_35 && length_25^0==length_25^post_35 && nondet_12^0==nondet_12^post_35 && r_37^0==r_37^post_35 && rcd_102^0==rcd_102^post_35 && rcd_110^0==rcd_110^post_35 && rcd_168^0==rcd_168^post_35 && rcd_172^0==rcd_172^post_35 && rcd_192^0==rcd_192^post_35 && rcd_41^0==rcd_41^post_35 && rcd_67^0==rcd_67^post_35 && result_11^0==result_11^post_35 && t_23^0==t_23^post_35 && temp0_19^0==temp0_19^post_35 && temp0_28^0==temp0_28^post_35 && temp_33^0==temp_33^post_35 && x_22^0==x_22^post_35 && x_SLAM_f_20^0==x_SLAM_f_20^post_35 && y_21^0==y_21^post_35 ], cost: 1
     16: l12 -> l18 : __disjvr_0^0'=__disjvr_0^post_17, __disjvr_10^0'=__disjvr_10^post_17, __disjvr_11^0'=__disjvr_11^post_17, __disjvr_12^0'=__disjvr_12^post_17, __disjvr_1^0'=__disjvr_1^post_17, __disjvr_2^0'=__disjvr_2^post_17, __disjvr_3^0'=__disjvr_3^post_17, __disjvr_4^0'=__disjvr_4^post_17, __disjvr_5^0'=__disjvr_5^post_17, __disjvr_6^0'=__disjvr_6^post_17, __disjvr_7^0'=__disjvr_7^post_17, __disjvr_8^0'=__disjvr_8^post_17, __disjvr_9^0'=__disjvr_9^post_17, a_137^0'=a_137^post_17, a_163^0'=a_163^post_17, a_193^0'=a_193^post_17, head_16^0'=head_16^post_17, head_29^0'=head_29^post_17, head_SLAM_f_26^0'=head_SLAM_f_26^post_17, i_108^0'=i_108^post_17, i_127^0'=i_127^post_17, i_27^0'=i_27^post_17, length_25^0'=length_25^post_17, nondet_12^0'=nondet_12^post_17, r_37^0'=r_37^post_17, rcd_102^0'=rcd_102^post_17, rcd_110^0'=rcd_110^post_17, rcd_168^0'=rcd_168^post_17, rcd_172^0'=rcd_172^post_17, rcd_192^0'=rcd_192^post_17, rcd_41^0'=rcd_41^post_17, rcd_67^0'=rcd_67^post_17, result_11^0'=result_11^post_17, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_17, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_17, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_17, t_23^0'=t_23^post_17, tail_15^0'=tail_15^post_17, temp0_19^0'=temp0_19^post_17, temp0_28^0'=temp0_28^post_17, temp_32^0'=temp_32^post_17, temp_33^0'=temp_33^post_17, tmp_31^0'=tmp_31^post_17, x_22^0'=x_22^post_17, x_SLAM_f_20^0'=x_SLAM_f_20^post_17, y_21^0'=y_21^post_17, [ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_17==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_17 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_17==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_17 && tail_15^post_17==tail_15^post_17 && head_SLAM_f_26^post_17==head_SLAM_f_26^post_17 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_17==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_17 && rcd_67^post_17==rcd_67^post_17 && 1+i_27^0<=length_25^0 && tmp_31^post_17==temp_32^0 && temp_32^post_17==temp_32^post_17 && head_29^post_17==tmp_31^post_17 && i_27^post_17==1+i_27^0 && 2<=i_27^post_17 && i_27^post_17<=2 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_17<=tail_15^post_17 && tail_15^post_17<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_17 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_17<=head_SLAM_f_26^post_17 && head_SLAM_f_26^post_17<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_17 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_17<=length_25^0 && length_25^0<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_17 && tail_15^post_17<=head_SLAM_f_26^post_17 && head_SLAM_f_26^post_17<=tail_15^post_17 && head_29^post_17<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_17 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_17<=head_29^post_17 && head_29^post_17<=tmp_31^post_17 && tmp_31^post_17<=head_29^post_17 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_17<=tmp_31^post_17 && tmp_31^post_17<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_17 && 1<=length_25^0 && 2<=length_25^0 && __disjvr_0^0==__disjvr_0^post_17 && __disjvr_1^0==__disjvr_1^post_17 && __disjvr_10^0==__disjvr_10^post_17 && __disjvr_11^0==__disjvr_11^post_17 && __disjvr_12^0==__disjvr_12^post_17 && __disjvr_2^0==__disjvr_2^post_17 && __disjvr_3^0==__disjvr_3^post_17 && __disjvr_4^0==__disjvr_4^post_17 && __disjvr_5^0==__disjvr_5^post_17 && __disjvr_6^0==__disjvr_6^post_17 && __disjvr_7^0==__disjvr_7^post_17 && __disjvr_8^0==__disjvr_8^post_17 && __disjvr_9^0==__disjvr_9^post_17 && a_137^0==a_137^post_17 && a_163^0==a_163^post_17 && a_193^0==a_193^post_17 && head_16^0==head_16^post_17 && i_108^0==i_108^post_17 && i_127^0==i_127^post_17 && length_25^0==length_25^post_17 && nondet_12^0==nondet_12^post_17 && r_37^0==r_37^post_17 && rcd_102^0==rcd_102^post_17 && rcd_110^0==rcd_110^post_17 && rcd_168^0==rcd_168^post_17 && rcd_172^0==rcd_172^post_17 && rcd_192^0==rcd_192^post_17 && rcd_41^0==rcd_41^post_17 && result_11^0==result_11^post_17 && t_23^0==t_23^post_17 && temp0_19^0==temp0_19^post_17 && temp0_28^0==temp0_28^post_17 && temp_33^0==temp_33^post_17 && x_22^0==x_22^post_17 && x_SLAM_f_20^0==x_SLAM_f_20^post_17 && y_21^0==y_21^post_17 ], cost: 1
     25: l18 -> l25 : __disjvr_0^0'=__disjvr_0^post_26, __disjvr_10^0'=__disjvr_10^post_26, __disjvr_11^0'=__disjvr_11^post_26, __disjvr_12^0'=__disjvr_12^post_26, __disjvr_1^0'=__disjvr_1^post_26, __disjvr_2^0'=__disjvr_2^post_26, __disjvr_3^0'=__disjvr_3^post_26, __disjvr_4^0'=__disjvr_4^post_26, __disjvr_5^0'=__disjvr_5^post_26, __disjvr_6^0'=__disjvr_6^post_26, __disjvr_7^0'=__disjvr_7^post_26, __disjvr_8^0'=__disjvr_8^post_26, __disjvr_9^0'=__disjvr_9^post_26, a_137^0'=a_137^post_26, a_163^0'=a_163^post_26, a_193^0'=a_193^post_26, head_16^0'=head_16^post_26, head_29^0'=head_29^post_26, head_SLAM_f_26^0'=head_SLAM_f_26^post_26, i_108^0'=i_108^post_26, i_127^0'=i_127^post_26, i_27^0'=i_27^post_26, length_25^0'=length_25^post_26, nondet_12^0'=nondet_12^post_26, r_37^0'=r_37^post_26, rcd_102^0'=rcd_102^post_26, rcd_110^0'=rcd_110^post_26, rcd_168^0'=rcd_168^post_26, rcd_172^0'=rcd_172^post_26, rcd_192^0'=rcd_192^post_26, rcd_41^0'=rcd_41^post_26, rcd_67^0'=rcd_67^post_26, result_11^0'=result_11^post_26, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_26, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_26, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_26, t_23^0'=t_23^post_26, tail_15^0'=tail_15^post_26, temp0_19^0'=temp0_19^post_26, temp0_28^0'=temp0_28^post_26, temp_32^0'=temp_32^post_26, temp_33^0'=temp_33^post_26, tmp_31^0'=tmp_31^post_26, x_22^0'=x_22^post_26, x_SLAM_f_20^0'=x_SLAM_f_20^post_26, y_21^0'=y_21^post_26, [ 0<=i_27^0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^1_2_1==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^1_2_1 && result_dot_nondet_sdv_special_RETURN_VALUE_14^1_2_1==result_dot_nondet_sdv_special_RETURN_VALUE_14^1_2_1 && length_25^0<=i_27^0 && temp0_28^1_2_1==head_29^0 && result_11^1_2_1==temp0_28^1_2_1 && length_25^post_26==length_25^post_26 && head_SLAM_f_26^post_26==head_SLAM_f_26^post_26 && i_27^post_26==i_27^post_26 && temp0_28^post_26==temp0_28^post_26 && head_29^post_26==head_29^post_26 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_26==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_26 && tmp_31^post_26==tmp_31^post_26 && temp_32^post_26==temp_32^post_26 && head_16^1_2==result_11^1_2_1 && result_11^post_26==result_11^post_26 && x_SLAM_f_20^1_2_1==head_16^1_2 && y_21^post_26==tail_15^0 && x_22^post_26==x_SLAM_f_20^1_2_1 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^1_2_1<=tail_15^0 && tail_15^0<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^1_2_1 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^1_2_1<=y_21^post_26 && y_21^post_26<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^1_2_1 && tail_15^0<=y_21^post_26 && y_21^post_26<=tail_15^0 && head_16^1_2<=x_SLAM_f_20^1_2_1 && x_SLAM_f_20^1_2_1<=head_16^1_2 && head_16^1_2<=x_22^post_26 && x_22^post_26<=head_16^1_2 && x_SLAM_f_20^1_2_1<=x_22^post_26 && x_22^post_26<=x_SLAM_f_20^1_2_1 && 1<=result_dot_nondet_sdv_special_RETURN_VALUE_14^1_2_1 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^1_2_1 && result_dot_nondet_sdv_special_RETURN_VALUE_14^1_2_1<=i_27^post_26 && 0<=i_27^post_26 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_26==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_26 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_26==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_26 && tail_15^post_26==tail_15^post_26 && head_16^post_26==head_16^post_26 && x_SLAM_f_20^post_26==x_SLAM_f_20^post_26 && i_127^post_26==i_127^post_26 && rcd_168^post_26==rcd_168^post_26 && rcd_172^post_26==rcd_172^post_26 && __disjvr_0^0==__disjvr_0^post_26 && __disjvr_1^0==__disjvr_1^post_26 && __disjvr_10^0==__disjvr_10^post_26 && __disjvr_11^0==__disjvr_11^post_26 && __disjvr_12^0==__disjvr_12^post_26 && __disjvr_2^0==__disjvr_2^post_26 && __disjvr_3^0==__disjvr_3^post_26 && __disjvr_4^0==__disjvr_4^post_26 && __disjvr_5^0==__disjvr_5^post_26 && __disjvr_6^0==__disjvr_6^post_26 && __disjvr_7^0==__disjvr_7^post_26 && __disjvr_8^0==__disjvr_8^post_26 && __disjvr_9^0==__disjvr_9^post_26 && a_137^0==a_137^post_26 && a_163^0==a_163^post_26 && a_193^0==a_193^post_26 && i_108^0==i_108^post_26 && nondet_12^0==nondet_12^post_26 && r_37^0==r_37^post_26 && rcd_102^0==rcd_102^post_26 && rcd_110^0==rcd_110^post_26 && rcd_192^0==rcd_192^post_26 && rcd_41^0==rcd_41^post_26 && rcd_67^0==rcd_67^post_26 && t_23^0==t_23^post_26 && temp0_19^0==temp0_19^post_26 && temp_33^0==temp_33^post_26 ], cost: 1
     31: l18 -> l30 : __disjvr_0^0'=__disjvr_0^post_32, __disjvr_10^0'=__disjvr_10^post_32, __disjvr_11^0'=__disjvr_11^post_32, __disjvr_12^0'=__disjvr_12^post_32, __disjvr_1^0'=__disjvr_1^post_32, __disjvr_2^0'=__disjvr_2^post_32, __disjvr_3^0'=__disjvr_3^post_32, __disjvr_4^0'=__disjvr_4^post_32, __disjvr_5^0'=__disjvr_5^post_32, __disjvr_6^0'=__disjvr_6^post_32, __disjvr_7^0'=__disjvr_7^post_32, __disjvr_8^0'=__disjvr_8^post_32, __disjvr_9^0'=__disjvr_9^post_32, a_137^0'=a_137^post_32, a_163^0'=a_163^post_32, a_193^0'=a_193^post_32, head_16^0'=head_16^post_32, head_29^0'=head_29^post_32, head_SLAM_f_26^0'=head_SLAM_f_26^post_32, i_108^0'=i_108^post_32, i_127^0'=i_127^post_32, i_27^0'=i_27^post_32, length_25^0'=length_25^post_32, nondet_12^0'=nondet_12^post_32, r_37^0'=r_37^post_32, rcd_102^0'=rcd_102^post_32, rcd_110^0'=rcd_110^post_32, rcd_168^0'=rcd_168^post_32, rcd_172^0'=rcd_172^post_32, rcd_192^0'=rcd_192^post_32, rcd_41^0'=rcd_41^post_32, rcd_67^0'=rcd_67^post_32, result_11^0'=result_11^post_32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_32, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_32, t_23^0'=t_23^post_32, tail_15^0'=tail_15^post_32, temp0_19^0'=temp0_19^post_32, temp0_28^0'=temp0_28^post_32, temp_32^0'=temp_32^post_32, temp_33^0'=temp_33^post_32, tmp_31^0'=tmp_31^post_32, x_22^0'=x_22^post_32, x_SLAM_f_20^0'=x_SLAM_f_20^post_32, y_21^0'=y_21^post_32, [ 0<=i_27^0 && rcd_102^post_32==rcd_102^post_32 && i_108^post_32==i_108^post_32 && 1+i_27^0<=length_25^0 && tmp_31^post_32==temp_32^0 && temp_32^post_32==temp_32^post_32 && head_29^post_32==tmp_31^post_32 && i_27^post_32==1+i_27^0 && rcd_110^post_32==rcd_110^post_32 && i_27^post_32<=1+i_108^post_32 && 1+i_108^post_32<=i_27^post_32 && i_108^post_32<=-1+i_27^post_32 && -1+i_27^post_32<=i_108^post_32 && rcd_41^0<=rcd_110^post_32 && rcd_110^post_32<=rcd_41^0 && 1+i_108^post_32<=length_25^0 && rcd_41^post_32==rcd_41^post_32 && rcd_41^post_32<=rcd_110^post_32 && rcd_110^post_32<=rcd_41^post_32 && __disjvr_0^0==__disjvr_0^post_32 && __disjvr_1^0==__disjvr_1^post_32 && __disjvr_10^0==__disjvr_10^post_32 && __disjvr_11^0==__disjvr_11^post_32 && __disjvr_12^0==__disjvr_12^post_32 && __disjvr_2^0==__disjvr_2^post_32 && __disjvr_3^0==__disjvr_3^post_32 && __disjvr_4^0==__disjvr_4^post_32 && __disjvr_5^0==__disjvr_5^post_32 && __disjvr_6^0==__disjvr_6^post_32 && __disjvr_7^0==__disjvr_7^post_32 && __disjvr_8^0==__disjvr_8^post_32 && __disjvr_9^0==__disjvr_9^post_32 && a_137^0==a_137^post_32 && a_163^0==a_163^post_32 && a_193^0==a_193^post_32 && head_16^0==head_16^post_32 && head_SLAM_f_26^0==head_SLAM_f_26^post_32 && i_127^0==i_127^post_32 && length_25^0==length_25^post_32 && nondet_12^0==nondet_12^post_32 && r_37^0==r_37^post_32 && rcd_168^0==rcd_168^post_32 && rcd_172^0==rcd_172^post_32 && rcd_192^0==rcd_192^post_32 && rcd_67^0==rcd_67^post_32 && result_11^0==result_11^post_32 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_32 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_32 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_32 && t_23^0==t_23^post_32 && tail_15^0==tail_15^post_32 && temp0_19^0==temp0_19^post_32 && temp0_28^0==temp0_28^post_32 && temp_33^0==temp_33^post_32 && x_22^0==x_22^post_32 && x_SLAM_f_20^0==x_SLAM_f_20^post_32 && y_21^0==y_21^post_32 ], cost: 1
     19: l20 -> l21 : __disjvr_0^0'=__disjvr_0^post_20, __disjvr_10^0'=__disjvr_10^post_20, __disjvr_11^0'=__disjvr_11^post_20, __disjvr_12^0'=__disjvr_12^post_20, __disjvr_1^0'=__disjvr_1^post_20, __disjvr_2^0'=__disjvr_2^post_20, __disjvr_3^0'=__disjvr_3^post_20, __disjvr_4^0'=__disjvr_4^post_20, __disjvr_5^0'=__disjvr_5^post_20, __disjvr_6^0'=__disjvr_6^post_20, __disjvr_7^0'=__disjvr_7^post_20, __disjvr_8^0'=__disjvr_8^post_20, __disjvr_9^0'=__disjvr_9^post_20, a_137^0'=a_137^post_20, a_163^0'=a_163^post_20, a_193^0'=a_193^post_20, head_16^0'=head_16^post_20, head_29^0'=head_29^post_20, head_SLAM_f_26^0'=head_SLAM_f_26^post_20, i_108^0'=i_108^post_20, i_127^0'=i_127^post_20, i_27^0'=i_27^post_20, length_25^0'=length_25^post_20, nondet_12^0'=nondet_12^post_20, r_37^0'=r_37^post_20, rcd_102^0'=rcd_102^post_20, rcd_110^0'=rcd_110^post_20, rcd_168^0'=rcd_168^post_20, rcd_172^0'=rcd_172^post_20, rcd_192^0'=rcd_192^post_20, rcd_41^0'=rcd_41^post_20, rcd_67^0'=rcd_67^post_20, result_11^0'=result_11^post_20, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_20, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_20, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_20, t_23^0'=t_23^post_20, tail_15^0'=tail_15^post_20, temp0_19^0'=temp0_19^post_20, temp0_28^0'=temp0_28^post_20, temp_32^0'=temp_32^post_20, temp_33^0'=temp_33^post_20, tmp_31^0'=tmp_31^post_20, x_22^0'=x_22^post_20, x_SLAM_f_20^0'=x_SLAM_f_20^post_20, y_21^0'=y_21^post_20, [ __disjvr_7^post_20==__disjvr_7^0 && __disjvr_0^0==__disjvr_0^post_20 && __disjvr_1^0==__disjvr_1^post_20 && __disjvr_10^0==__disjvr_10^post_20 && __disjvr_11^0==__disjvr_11^post_20 && __disjvr_12^0==__disjvr_12^post_20 && __disjvr_2^0==__disjvr_2^post_20 && __disjvr_3^0==__disjvr_3^post_20 && __disjvr_4^0==__disjvr_4^post_20 && __disjvr_5^0==__disjvr_5^post_20 && __disjvr_6^0==__disjvr_6^post_20 && __disjvr_7^0==__disjvr_7^post_20 && __disjvr_8^0==__disjvr_8^post_20 && __disjvr_9^0==__disjvr_9^post_20 && a_137^0==a_137^post_20 && a_163^0==a_163^post_20 && a_193^0==a_193^post_20 && head_16^0==head_16^post_20 && head_29^0==head_29^post_20 && head_SLAM_f_26^0==head_SLAM_f_26^post_20 && i_108^0==i_108^post_20 && i_127^0==i_127^post_20 && i_27^0==i_27^post_20 && length_25^0==length_25^post_20 && nondet_12^0==nondet_12^post_20 && r_37^0==r_37^post_20 && rcd_102^0==rcd_102^post_20 && rcd_110^0==rcd_110^post_20 && rcd_168^0==rcd_168^post_20 && rcd_172^0==rcd_172^post_20 && rcd_192^0==rcd_192^post_20 && rcd_41^0==rcd_41^post_20 && rcd_67^0==rcd_67^post_20 && result_11^0==result_11^post_20 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_20 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_20 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_20 && t_23^0==t_23^post_20 && tail_15^0==tail_15^post_20 && temp0_19^0==temp0_19^post_20 && temp0_28^0==temp0_28^post_20 && temp_32^0==temp_32^post_20 && temp_33^0==temp_33^post_20 && tmp_31^0==tmp_31^post_20 && x_22^0==x_22^post_20 && x_SLAM_f_20^0==x_SLAM_f_20^post_20 && y_21^0==y_21^post_20 ], cost: 1
     20: l21 -> l22 : __disjvr_0^0'=__disjvr_0^post_21, __disjvr_10^0'=__disjvr_10^post_21, __disjvr_11^0'=__disjvr_11^post_21, __disjvr_12^0'=__disjvr_12^post_21, __disjvr_1^0'=__disjvr_1^post_21, __disjvr_2^0'=__disjvr_2^post_21, __disjvr_3^0'=__disjvr_3^post_21, __disjvr_4^0'=__disjvr_4^post_21, __disjvr_5^0'=__disjvr_5^post_21, __disjvr_6^0'=__disjvr_6^post_21, __disjvr_7^0'=__disjvr_7^post_21, __disjvr_8^0'=__disjvr_8^post_21, __disjvr_9^0'=__disjvr_9^post_21, a_137^0'=a_137^post_21, a_163^0'=a_163^post_21, a_193^0'=a_193^post_21, head_16^0'=head_16^post_21, head_29^0'=head_29^post_21, head_SLAM_f_26^0'=head_SLAM_f_26^post_21, i_108^0'=i_108^post_21, i_127^0'=i_127^post_21, i_27^0'=i_27^post_21, length_25^0'=length_25^post_21, nondet_12^0'=nondet_12^post_21, r_37^0'=r_37^post_21, rcd_102^0'=rcd_102^post_21, rcd_110^0'=rcd_110^post_21, rcd_168^0'=rcd_168^post_21, rcd_172^0'=rcd_172^post_21, rcd_192^0'=rcd_192^post_21, rcd_41^0'=rcd_41^post_21, rcd_67^0'=rcd_67^post_21, result_11^0'=result_11^post_21, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_21, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_21, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_21, t_23^0'=t_23^post_21, tail_15^0'=tail_15^post_21, temp0_19^0'=temp0_19^post_21, temp0_28^0'=temp0_28^post_21, temp_32^0'=temp_32^post_21, temp_33^0'=temp_33^post_21, tmp_31^0'=tmp_31^post_21, x_22^0'=x_22^post_21, x_SLAM_f_20^0'=x_SLAM_f_20^post_21, y_21^0'=y_21^post_21, [ t_23^post_21==x_22^0 && rcd_192^post_21==rcd_192^post_21 && a_193^post_21==a_193^post_21 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0<=tail_15^0 && tail_15^0<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0<=y_21^0 && y_21^0<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 && tail_15^0<=y_21^0 && y_21^0<=tail_15^0 && head_16^0<=x_SLAM_f_20^0 && x_SLAM_f_20^0<=head_16^0 && a_193^post_21<=-1+a_163^0 && -1+a_163^0<=a_193^post_21 && rcd_41^0<=rcd_192^post_21 && rcd_192^post_21<=rcd_41^0 && __disjvr_0^0==__disjvr_0^post_21 && __disjvr_1^0==__disjvr_1^post_21 && __disjvr_10^0==__disjvr_10^post_21 && __disjvr_11^0==__disjvr_11^post_21 && __disjvr_12^0==__disjvr_12^post_21 && __disjvr_2^0==__disjvr_2^post_21 && __disjvr_3^0==__disjvr_3^post_21 && __disjvr_4^0==__disjvr_4^post_21 && __disjvr_5^0==__disjvr_5^post_21 && __disjvr_6^0==__disjvr_6^post_21 && __disjvr_7^0==__disjvr_7^post_21 && __disjvr_8^0==__disjvr_8^post_21 && __disjvr_9^0==__disjvr_9^post_21 && a_137^0==a_137^post_21 && a_163^0==a_163^post_21 && head_16^0==head_16^post_21 && head_29^0==head_29^post_21 && head_SLAM_f_26^0==head_SLAM_f_26^post_21 && i_108^0==i_108^post_21 && i_127^0==i_127^post_21 && i_27^0==i_27^post_21 && length_25^0==length_25^post_21 && nondet_12^0==nondet_12^post_21 && r_37^0==r_37^post_21 && rcd_102^0==rcd_102^post_21 && rcd_110^0==rcd_110^post_21 && rcd_168^0==rcd_168^post_21 && rcd_172^0==rcd_172^post_21 && rcd_41^0==rcd_41^post_21 && rcd_67^0==rcd_67^post_21 && result_11^0==result_11^post_21 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_21 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_21 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_21 && tail_15^0==tail_15^post_21 && temp0_19^0==temp0_19^post_21 && temp0_28^0==temp0_28^post_21 && temp_32^0==temp_32^post_21 && temp_33^0==temp_33^post_21 && tmp_31^0==tmp_31^post_21 && x_22^0==x_22^post_21 && x_SLAM_f_20^0==x_SLAM_f_20^post_21 && y_21^0==y_21^post_21 ], cost: 1
     21: l22 -> l23 : __disjvr_0^0'=__disjvr_0^post_22, __disjvr_10^0'=__disjvr_10^post_22, __disjvr_11^0'=__disjvr_11^post_22, __disjvr_12^0'=__disjvr_12^post_22, __disjvr_1^0'=__disjvr_1^post_22, __disjvr_2^0'=__disjvr_2^post_22, __disjvr_3^0'=__disjvr_3^post_22, __disjvr_4^0'=__disjvr_4^post_22, __disjvr_5^0'=__disjvr_5^post_22, __disjvr_6^0'=__disjvr_6^post_22, __disjvr_7^0'=__disjvr_7^post_22, __disjvr_8^0'=__disjvr_8^post_22, __disjvr_9^0'=__disjvr_9^post_22, a_137^0'=a_137^post_22, a_163^0'=a_163^post_22, a_193^0'=a_193^post_22, head_16^0'=head_16^post_22, head_29^0'=head_29^post_22, head_SLAM_f_26^0'=head_SLAM_f_26^post_22, i_108^0'=i_108^post_22, i_127^0'=i_127^post_22, i_27^0'=i_27^post_22, length_25^0'=length_25^post_22, nondet_12^0'=nondet_12^post_22, r_37^0'=r_37^post_22, rcd_102^0'=rcd_102^post_22, rcd_110^0'=rcd_110^post_22, rcd_168^0'=rcd_168^post_22, rcd_172^0'=rcd_172^post_22, rcd_192^0'=rcd_192^post_22, rcd_41^0'=rcd_41^post_22, rcd_67^0'=rcd_67^post_22, result_11^0'=result_11^post_22, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_22, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_22, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_22, t_23^0'=t_23^post_22, tail_15^0'=tail_15^post_22, temp0_19^0'=temp0_19^post_22, temp0_28^0'=temp0_28^post_22, temp_32^0'=temp_32^post_22, temp_33^0'=temp_33^post_22, tmp_31^0'=tmp_31^post_22, x_22^0'=x_22^post_22, x_SLAM_f_20^0'=x_SLAM_f_20^post_22, y_21^0'=y_21^post_22, [ __disjvr_8^post_22==__disjvr_8^0 && __disjvr_0^0==__disjvr_0^post_22 && __disjvr_1^0==__disjvr_1^post_22 && __disjvr_10^0==__disjvr_10^post_22 && __disjvr_11^0==__disjvr_11^post_22 && __disjvr_12^0==__disjvr_12^post_22 && __disjvr_2^0==__disjvr_2^post_22 && __disjvr_3^0==__disjvr_3^post_22 && __disjvr_4^0==__disjvr_4^post_22 && __disjvr_5^0==__disjvr_5^post_22 && __disjvr_6^0==__disjvr_6^post_22 && __disjvr_7^0==__disjvr_7^post_22 && __disjvr_8^0==__disjvr_8^post_22 && __disjvr_9^0==__disjvr_9^post_22 && a_137^0==a_137^post_22 && a_163^0==a_163^post_22 && a_193^0==a_193^post_22 && head_16^0==head_16^post_22 && head_29^0==head_29^post_22 && head_SLAM_f_26^0==head_SLAM_f_26^post_22 && i_108^0==i_108^post_22 && i_127^0==i_127^post_22 && i_27^0==i_27^post_22 && length_25^0==length_25^post_22 && nondet_12^0==nondet_12^post_22 && r_37^0==r_37^post_22 && rcd_102^0==rcd_102^post_22 && rcd_110^0==rcd_110^post_22 && rcd_168^0==rcd_168^post_22 && rcd_172^0==rcd_172^post_22 && rcd_192^0==rcd_192^post_22 && rcd_41^0==rcd_41^post_22 && rcd_67^0==rcd_67^post_22 && result_11^0==result_11^post_22 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_22 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_22 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_22 && t_23^0==t_23^post_22 && tail_15^0==tail_15^post_22 && temp0_19^0==temp0_19^post_22 && temp0_28^0==temp0_28^post_22 && temp_32^0==temp_32^post_22 && temp_33^0==temp_33^post_22 && tmp_31^0==tmp_31^post_22 && x_22^0==x_22^post_22 && x_SLAM_f_20^0==x_SLAM_f_20^post_22 && y_21^0==y_21^post_22 ], cost: 1
     22: l23 -> l24 : __disjvr_0^0'=__disjvr_0^post_23, __disjvr_10^0'=__disjvr_10^post_23, __disjvr_11^0'=__disjvr_11^post_23, __disjvr_12^0'=__disjvr_12^post_23, __disjvr_1^0'=__disjvr_1^post_23, __disjvr_2^0'=__disjvr_2^post_23, __disjvr_3^0'=__disjvr_3^post_23, __disjvr_4^0'=__disjvr_4^post_23, __disjvr_5^0'=__disjvr_5^post_23, __disjvr_6^0'=__disjvr_6^post_23, __disjvr_7^0'=__disjvr_7^post_23, __disjvr_8^0'=__disjvr_8^post_23, __disjvr_9^0'=__disjvr_9^post_23, a_137^0'=a_137^post_23, a_163^0'=a_163^post_23, a_193^0'=a_193^post_23, head_16^0'=head_16^post_23, head_29^0'=head_29^post_23, head_SLAM_f_26^0'=head_SLAM_f_26^post_23, i_108^0'=i_108^post_23, i_127^0'=i_127^post_23, i_27^0'=i_27^post_23, length_25^0'=length_25^post_23, nondet_12^0'=nondet_12^post_23, r_37^0'=r_37^post_23, rcd_102^0'=rcd_102^post_23, rcd_110^0'=rcd_110^post_23, rcd_168^0'=rcd_168^post_23, rcd_172^0'=rcd_172^post_23, rcd_192^0'=rcd_192^post_23, rcd_41^0'=rcd_41^post_23, rcd_67^0'=rcd_67^post_23, result_11^0'=result_11^post_23, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_23, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_23, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_23, t_23^0'=t_23^post_23, tail_15^0'=tail_15^post_23, temp0_19^0'=temp0_19^post_23, temp0_28^0'=temp0_28^post_23, temp_32^0'=temp_32^post_23, temp_33^0'=temp_33^post_23, tmp_31^0'=tmp_31^post_23, x_22^0'=x_22^post_23, x_SLAM_f_20^0'=x_SLAM_f_20^post_23, y_21^0'=y_21^post_23, [ __disjvr_9^post_23==__disjvr_9^0 && __disjvr_0^0==__disjvr_0^post_23 && __disjvr_1^0==__disjvr_1^post_23 && __disjvr_10^0==__disjvr_10^post_23 && __disjvr_11^0==__disjvr_11^post_23 && __disjvr_12^0==__disjvr_12^post_23 && __disjvr_2^0==__disjvr_2^post_23 && __disjvr_3^0==__disjvr_3^post_23 && __disjvr_4^0==__disjvr_4^post_23 && __disjvr_5^0==__disjvr_5^post_23 && __disjvr_6^0==__disjvr_6^post_23 && __disjvr_7^0==__disjvr_7^post_23 && __disjvr_8^0==__disjvr_8^post_23 && __disjvr_9^0==__disjvr_9^post_23 && a_137^0==a_137^post_23 && a_163^0==a_163^post_23 && a_193^0==a_193^post_23 && head_16^0==head_16^post_23 && head_29^0==head_29^post_23 && head_SLAM_f_26^0==head_SLAM_f_26^post_23 && i_108^0==i_108^post_23 && i_127^0==i_127^post_23 && i_27^0==i_27^post_23 && length_25^0==length_25^post_23 && nondet_12^0==nondet_12^post_23 && r_37^0==r_37^post_23 && rcd_102^0==rcd_102^post_23 && rcd_110^0==rcd_110^post_23 && rcd_168^0==rcd_168^post_23 && rcd_172^0==rcd_172^post_23 && rcd_192^0==rcd_192^post_23 && rcd_41^0==rcd_41^post_23 && rcd_67^0==rcd_67^post_23 && result_11^0==result_11^post_23 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_23 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_23 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_23 && t_23^0==t_23^post_23 && tail_15^0==tail_15^post_23 && temp0_19^0==temp0_19^post_23 && temp0_28^0==temp0_28^post_23 && temp_32^0==temp_32^post_23 && temp_33^0==temp_33^post_23 && tmp_31^0==tmp_31^post_23 && x_22^0==x_22^post_23 && x_SLAM_f_20^0==x_SLAM_f_20^post_23 && y_21^0==y_21^post_23 ], cost: 1
     23: l24 -> l19 : __disjvr_0^0'=__disjvr_0^post_24, __disjvr_10^0'=__disjvr_10^post_24, __disjvr_11^0'=__disjvr_11^post_24, __disjvr_12^0'=__disjvr_12^post_24, __disjvr_1^0'=__disjvr_1^post_24, __disjvr_2^0'=__disjvr_2^post_24, __disjvr_3^0'=__disjvr_3^post_24, __disjvr_4^0'=__disjvr_4^post_24, __disjvr_5^0'=__disjvr_5^post_24, __disjvr_6^0'=__disjvr_6^post_24, __disjvr_7^0'=__disjvr_7^post_24, __disjvr_8^0'=__disjvr_8^post_24, __disjvr_9^0'=__disjvr_9^post_24, a_137^0'=a_137^post_24, a_163^0'=a_163^post_24, a_193^0'=a_193^post_24, head_16^0'=head_16^post_24, head_29^0'=head_29^post_24, head_SLAM_f_26^0'=head_SLAM_f_26^post_24, i_108^0'=i_108^post_24, i_127^0'=i_127^post_24, i_27^0'=i_27^post_24, length_25^0'=length_25^post_24, nondet_12^0'=nondet_12^post_24, r_37^0'=r_37^post_24, rcd_102^0'=rcd_102^post_24, rcd_110^0'=rcd_110^post_24, rcd_168^0'=rcd_168^post_24, rcd_172^0'=rcd_172^post_24, rcd_192^0'=rcd_192^post_24, rcd_41^0'=rcd_41^post_24, rcd_67^0'=rcd_67^post_24, result_11^0'=result_11^post_24, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_24, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_24, t_23^0'=t_23^post_24, tail_15^0'=tail_15^post_24, temp0_19^0'=temp0_19^post_24, temp0_28^0'=temp0_28^post_24, temp_32^0'=temp_32^post_24, temp_33^0'=temp_33^post_24, tmp_31^0'=tmp_31^post_24, x_22^0'=x_22^post_24, x_SLAM_f_20^0'=x_SLAM_f_20^post_24, y_21^0'=y_21^post_24, [ 1<=result_dot_nondet_sdv_special_RETURN_VALUE_14^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^0 && rcd_41^post_24==rcd_41^post_24 && rcd_41^post_24<=rcd_192^0 && rcd_192^0<=rcd_41^post_24 && a_163^post_24==a_163^post_24 && a_163^post_24<=a_193^0 && a_193^0<=a_163^post_24 && __disjvr_0^0==__disjvr_0^post_24 && __disjvr_1^0==__disjvr_1^post_24 && __disjvr_10^0==__disjvr_10^post_24 && __disjvr_11^0==__disjvr_11^post_24 && __disjvr_12^0==__disjvr_12^post_24 && __disjvr_2^0==__disjvr_2^post_24 && __disjvr_3^0==__disjvr_3^post_24 && __disjvr_4^0==__disjvr_4^post_24 && __disjvr_5^0==__disjvr_5^post_24 && __disjvr_6^0==__disjvr_6^post_24 && __disjvr_7^0==__disjvr_7^post_24 && __disjvr_8^0==__disjvr_8^post_24 && __disjvr_9^0==__disjvr_9^post_24 && a_137^0==a_137^post_24 && a_193^0==a_193^post_24 && head_16^0==head_16^post_24 && head_29^0==head_29^post_24 && head_SLAM_f_26^0==head_SLAM_f_26^post_24 && i_108^0==i_108^post_24 && i_127^0==i_127^post_24 && i_27^0==i_27^post_24 && length_25^0==length_25^post_24 && nondet_12^0==nondet_12^post_24 && r_37^0==r_37^post_24 && rcd_102^0==rcd_102^post_24 && rcd_110^0==rcd_110^post_24 && rcd_168^0==rcd_168^post_24 && rcd_172^0==rcd_172^post_24 && rcd_192^0==rcd_192^post_24 && rcd_67^0==rcd_67^post_24 && result_11^0==result_11^post_24 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_24 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_24 && t_23^0==t_23^post_24 && tail_15^0==tail_15^post_24 && temp0_19^0==temp0_19^post_24 && temp0_28^0==temp0_28^post_24 && temp_32^0==temp_32^post_24 && temp_33^0==temp_33^post_24 && tmp_31^0==tmp_31^post_24 && x_22^0==x_22^post_24 && x_SLAM_f_20^0==x_SLAM_f_20^post_24 && y_21^0==y_21^post_24 ], cost: 1
     24: l19 -> l1 : __disjvr_0^0'=__disjvr_0^post_25, __disjvr_10^0'=__disjvr_10^post_25, __disjvr_11^0'=__disjvr_11^post_25, __disjvr_12^0'=__disjvr_12^post_25, __disjvr_1^0'=__disjvr_1^post_25, __disjvr_2^0'=__disjvr_2^post_25, __disjvr_3^0'=__disjvr_3^post_25, __disjvr_4^0'=__disjvr_4^post_25, __disjvr_5^0'=__disjvr_5^post_25, __disjvr_6^0'=__disjvr_6^post_25, __disjvr_7^0'=__disjvr_7^post_25, __disjvr_8^0'=__disjvr_8^post_25, __disjvr_9^0'=__disjvr_9^post_25, a_137^0'=a_137^post_25, a_163^0'=a_163^post_25, a_193^0'=a_193^post_25, head_16^0'=head_16^post_25, head_29^0'=head_29^post_25, head_SLAM_f_26^0'=head_SLAM_f_26^post_25, i_108^0'=i_108^post_25, i_127^0'=i_127^post_25, i_27^0'=i_27^post_25, length_25^0'=length_25^post_25, nondet_12^0'=nondet_12^post_25, r_37^0'=r_37^post_25, rcd_102^0'=rcd_102^post_25, rcd_110^0'=rcd_110^post_25, rcd_168^0'=rcd_168^post_25, rcd_172^0'=rcd_172^post_25, rcd_192^0'=rcd_192^post_25, rcd_41^0'=rcd_41^post_25, rcd_67^0'=rcd_67^post_25, result_11^0'=result_11^post_25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_25, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_25, t_23^0'=t_23^post_25, tail_15^0'=tail_15^post_25, temp0_19^0'=temp0_19^post_25, temp0_28^0'=temp0_28^post_25, temp_32^0'=temp_32^post_25, temp_33^0'=temp_33^post_25, tmp_31^0'=tmp_31^post_25, x_22^0'=x_22^post_25, x_SLAM_f_20^0'=x_SLAM_f_20^post_25, y_21^0'=y_21^post_25, [ __disjvr_0^0==__disjvr_0^post_25 && __disjvr_1^0==__disjvr_1^post_25 && __disjvr_10^0==__disjvr_10^post_25 && __disjvr_11^0==__disjvr_11^post_25 && __disjvr_12^0==__disjvr_12^post_25 && __disjvr_2^0==__disjvr_2^post_25 && __disjvr_3^0==__disjvr_3^post_25 && __disjvr_4^0==__disjvr_4^post_25 && __disjvr_5^0==__disjvr_5^post_25 && __disjvr_6^0==__disjvr_6^post_25 && __disjvr_7^0==__disjvr_7^post_25 && __disjvr_8^0==__disjvr_8^post_25 && __disjvr_9^0==__disjvr_9^post_25 && a_137^0==a_137^post_25 && a_163^0==a_163^post_25 && a_193^0==a_193^post_25 && head_16^0==head_16^post_25 && head_29^0==head_29^post_25 && head_SLAM_f_26^0==head_SLAM_f_26^post_25 && i_108^0==i_108^post_25 && i_127^0==i_127^post_25 && i_27^0==i_27^post_25 && length_25^0==length_25^post_25 && nondet_12^0==nondet_12^post_25 && r_37^0==r_37^post_25 && rcd_102^0==rcd_102^post_25 && rcd_110^0==rcd_110^post_25 && rcd_168^0==rcd_168^post_25 && rcd_172^0==rcd_172^post_25 && rcd_192^0==rcd_192^post_25 && rcd_41^0==rcd_41^post_25 && rcd_67^0==rcd_67^post_25 && result_11^0==result_11^post_25 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_25 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_25 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_25 && t_23^0==t_23^post_25 && tail_15^0==tail_15^post_25 && temp0_19^0==temp0_19^post_25 && temp0_28^0==temp0_28^post_25 && temp_32^0==temp_32^post_25 && temp_33^0==temp_33^post_25 && tmp_31^0==tmp_31^post_25 && x_22^0==x_22^post_25 && x_SLAM_f_20^0==x_SLAM_f_20^post_25 && y_21^0==y_21^post_25 ], cost: 1
     26: l25 -> l26 : __disjvr_0^0'=__disjvr_0^post_27, __disjvr_10^0'=__disjvr_10^post_27, __disjvr_11^0'=__disjvr_11^post_27, __disjvr_12^0'=__disjvr_12^post_27, __disjvr_1^0'=__disjvr_1^post_27, __disjvr_2^0'=__disjvr_2^post_27, __disjvr_3^0'=__disjvr_3^post_27, __disjvr_4^0'=__disjvr_4^post_27, __disjvr_5^0'=__disjvr_5^post_27, __disjvr_6^0'=__disjvr_6^post_27, __disjvr_7^0'=__disjvr_7^post_27, __disjvr_8^0'=__disjvr_8^post_27, __disjvr_9^0'=__disjvr_9^post_27, a_137^0'=a_137^post_27, a_163^0'=a_163^post_27, a_193^0'=a_193^post_27, head_16^0'=head_16^post_27, head_29^0'=head_29^post_27, head_SLAM_f_26^0'=head_SLAM_f_26^post_27, i_108^0'=i_108^post_27, i_127^0'=i_127^post_27, i_27^0'=i_27^post_27, length_25^0'=length_25^post_27, nondet_12^0'=nondet_12^post_27, r_37^0'=r_37^post_27, rcd_102^0'=rcd_102^post_27, rcd_110^0'=rcd_110^post_27, rcd_168^0'=rcd_168^post_27, rcd_172^0'=rcd_172^post_27, rcd_192^0'=rcd_192^post_27, rcd_41^0'=rcd_41^post_27, rcd_67^0'=rcd_67^post_27, result_11^0'=result_11^post_27, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_27, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_27, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_27, t_23^0'=t_23^post_27, tail_15^0'=tail_15^post_27, temp0_19^0'=temp0_19^post_27, temp0_28^0'=temp0_28^post_27, temp_32^0'=temp_32^post_27, temp_33^0'=temp_33^post_27, tmp_31^0'=tmp_31^post_27, x_22^0'=x_22^post_27, x_SLAM_f_20^0'=x_SLAM_f_20^post_27, y_21^0'=y_21^post_27, [ __disjvr_10^post_27==__disjvr_10^0 && __disjvr_0^0==__disjvr_0^post_27 && __disjvr_1^0==__disjvr_1^post_27 && __disjvr_10^0==__disjvr_10^post_27 && __disjvr_11^0==__disjvr_11^post_27 && __disjvr_12^0==__disjvr_12^post_27 && __disjvr_2^0==__disjvr_2^post_27 && __disjvr_3^0==__disjvr_3^post_27 && __disjvr_4^0==__disjvr_4^post_27 && __disjvr_5^0==__disjvr_5^post_27 && __disjvr_6^0==__disjvr_6^post_27 && __disjvr_7^0==__disjvr_7^post_27 && __disjvr_8^0==__disjvr_8^post_27 && __disjvr_9^0==__disjvr_9^post_27 && a_137^0==a_137^post_27 && a_163^0==a_163^post_27 && a_193^0==a_193^post_27 && head_16^0==head_16^post_27 && head_29^0==head_29^post_27 && head_SLAM_f_26^0==head_SLAM_f_26^post_27 && i_108^0==i_108^post_27 && i_127^0==i_127^post_27 && i_27^0==i_27^post_27 && length_25^0==length_25^post_27 && nondet_12^0==nondet_12^post_27 && r_37^0==r_37^post_27 && rcd_102^0==rcd_102^post_27 && rcd_110^0==rcd_110^post_27 && rcd_168^0==rcd_168^post_27 && rcd_172^0==rcd_172^post_27 && rcd_192^0==rcd_192^post_27 && rcd_41^0==rcd_41^post_27 && rcd_67^0==rcd_67^post_27 && result_11^0==result_11^post_27 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_27 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_27 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_27 && t_23^0==t_23^post_27 && tail_15^0==tail_15^post_27 && temp0_19^0==temp0_19^post_27 && temp0_28^0==temp0_28^post_27 && temp_32^0==temp_32^post_27 && temp_33^0==temp_33^post_27 && tmp_31^0==tmp_31^post_27 && x_22^0==x_22^post_27 && x_SLAM_f_20^0==x_SLAM_f_20^post_27 && y_21^0==y_21^post_27 ], cost: 1
     27: l26 -> l27 : __disjvr_0^0'=__disjvr_0^post_28, __disjvr_10^0'=__disjvr_10^post_28, __disjvr_11^0'=__disjvr_11^post_28, __disjvr_12^0'=__disjvr_12^post_28, __disjvr_1^0'=__disjvr_1^post_28, __disjvr_2^0'=__disjvr_2^post_28, __disjvr_3^0'=__disjvr_3^post_28, __disjvr_4^0'=__disjvr_4^post_28, __disjvr_5^0'=__disjvr_5^post_28, __disjvr_6^0'=__disjvr_6^post_28, __disjvr_7^0'=__disjvr_7^post_28, __disjvr_8^0'=__disjvr_8^post_28, __disjvr_9^0'=__disjvr_9^post_28, a_137^0'=a_137^post_28, a_163^0'=a_163^post_28, a_193^0'=a_193^post_28, head_16^0'=head_16^post_28, head_29^0'=head_29^post_28, head_SLAM_f_26^0'=head_SLAM_f_26^post_28, i_108^0'=i_108^post_28, i_127^0'=i_127^post_28, i_27^0'=i_27^post_28, length_25^0'=length_25^post_28, nondet_12^0'=nondet_12^post_28, r_37^0'=r_37^post_28, rcd_102^0'=rcd_102^post_28, rcd_110^0'=rcd_110^post_28, rcd_168^0'=rcd_168^post_28, rcd_172^0'=rcd_172^post_28, rcd_192^0'=rcd_192^post_28, rcd_41^0'=rcd_41^post_28, rcd_67^0'=rcd_67^post_28, result_11^0'=result_11^post_28, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_28, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_28, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_28, t_23^0'=t_23^post_28, tail_15^0'=tail_15^post_28, temp0_19^0'=temp0_19^post_28, temp0_28^0'=temp0_28^post_28, temp_32^0'=temp_32^post_28, temp_33^0'=temp_33^post_28, tmp_31^0'=tmp_31^post_28, x_22^0'=x_22^post_28, x_SLAM_f_20^0'=x_SLAM_f_20^post_28, y_21^0'=y_21^post_28, [ t_23^post_28==x_22^0 && a_137^post_28==a_137^post_28 && 0<=-a_137^post_28+a_163^0 && -a_137^post_28+a_163^0<=0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0<=tail_15^0 && tail_15^0<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0<=y_21^0 && y_21^0<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 && tail_15^0<=y_21^0 && y_21^0<=tail_15^0 && head_16^0<=x_SLAM_f_20^0 && x_SLAM_f_20^0<=head_16^0 && head_16^0<=t_23^post_28 && t_23^post_28<=head_16^0 && a_137^post_28<=a_163^0 && a_163^0<=a_137^post_28 && rcd_41^0<=rcd_168^0 && rcd_168^0<=rcd_41^0 && __disjvr_0^0==__disjvr_0^post_28 && __disjvr_1^0==__disjvr_1^post_28 && __disjvr_10^0==__disjvr_10^post_28 && __disjvr_11^0==__disjvr_11^post_28 && __disjvr_12^0==__disjvr_12^post_28 && __disjvr_2^0==__disjvr_2^post_28 && __disjvr_3^0==__disjvr_3^post_28 && __disjvr_4^0==__disjvr_4^post_28 && __disjvr_5^0==__disjvr_5^post_28 && __disjvr_6^0==__disjvr_6^post_28 && __disjvr_7^0==__disjvr_7^post_28 && __disjvr_8^0==__disjvr_8^post_28 && __disjvr_9^0==__disjvr_9^post_28 && a_163^0==a_163^post_28 && a_193^0==a_193^post_28 && head_16^0==head_16^post_28 && head_29^0==head_29^post_28 && head_SLAM_f_26^0==head_SLAM_f_26^post_28 && i_108^0==i_108^post_28 && i_127^0==i_127^post_28 && i_27^0==i_27^post_28 && length_25^0==length_25^post_28 && nondet_12^0==nondet_12^post_28 && r_37^0==r_37^post_28 && rcd_102^0==rcd_102^post_28 && rcd_110^0==rcd_110^post_28 && rcd_168^0==rcd_168^post_28 && rcd_172^0==rcd_172^post_28 && rcd_192^0==rcd_192^post_28 && rcd_41^0==rcd_41^post_28 && rcd_67^0==rcd_67^post_28 && result_11^0==result_11^post_28 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_28 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_28 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_28 && tail_15^0==tail_15^post_28 && temp0_19^0==temp0_19^post_28 && temp0_28^0==temp0_28^post_28 && temp_32^0==temp_32^post_28 && temp_33^0==temp_33^post_28 && tmp_31^0==tmp_31^post_28 && x_22^0==x_22^post_28 && x_SLAM_f_20^0==x_SLAM_f_20^post_28 && y_21^0==y_21^post_28 ], cost: 1
     28: l27 -> l28 : __disjvr_0^0'=__disjvr_0^post_29, __disjvr_10^0'=__disjvr_10^post_29, __disjvr_11^0'=__disjvr_11^post_29, __disjvr_12^0'=__disjvr_12^post_29, __disjvr_1^0'=__disjvr_1^post_29, __disjvr_2^0'=__disjvr_2^post_29, __disjvr_3^0'=__disjvr_3^post_29, __disjvr_4^0'=__disjvr_4^post_29, __disjvr_5^0'=__disjvr_5^post_29, __disjvr_6^0'=__disjvr_6^post_29, __disjvr_7^0'=__disjvr_7^post_29, __disjvr_8^0'=__disjvr_8^post_29, __disjvr_9^0'=__disjvr_9^post_29, a_137^0'=a_137^post_29, a_163^0'=a_163^post_29, a_193^0'=a_193^post_29, head_16^0'=head_16^post_29, head_29^0'=head_29^post_29, head_SLAM_f_26^0'=head_SLAM_f_26^post_29, i_108^0'=i_108^post_29, i_127^0'=i_127^post_29, i_27^0'=i_27^post_29, length_25^0'=length_25^post_29, nondet_12^0'=nondet_12^post_29, r_37^0'=r_37^post_29, rcd_102^0'=rcd_102^post_29, rcd_110^0'=rcd_110^post_29, rcd_168^0'=rcd_168^post_29, rcd_172^0'=rcd_172^post_29, rcd_192^0'=rcd_192^post_29, rcd_41^0'=rcd_41^post_29, rcd_67^0'=rcd_67^post_29, result_11^0'=result_11^post_29, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_29, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_29, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_29, t_23^0'=t_23^post_29, tail_15^0'=tail_15^post_29, temp0_19^0'=temp0_19^post_29, temp0_28^0'=temp0_28^post_29, temp_32^0'=temp_32^post_29, temp_33^0'=temp_33^post_29, tmp_31^0'=tmp_31^post_29, x_22^0'=x_22^post_29, x_SLAM_f_20^0'=x_SLAM_f_20^post_29, y_21^0'=y_21^post_29, [ __disjvr_11^post_29==__disjvr_11^0 && __disjvr_0^0==__disjvr_0^post_29 && __disjvr_1^0==__disjvr_1^post_29 && __disjvr_10^0==__disjvr_10^post_29 && __disjvr_11^0==__disjvr_11^post_29 && __disjvr_12^0==__disjvr_12^post_29 && __disjvr_2^0==__disjvr_2^post_29 && __disjvr_3^0==__disjvr_3^post_29 && __disjvr_4^0==__disjvr_4^post_29 && __disjvr_5^0==__disjvr_5^post_29 && __disjvr_6^0==__disjvr_6^post_29 && __disjvr_7^0==__disjvr_7^post_29 && __disjvr_8^0==__disjvr_8^post_29 && __disjvr_9^0==__disjvr_9^post_29 && a_137^0==a_137^post_29 && a_163^0==a_163^post_29 && a_193^0==a_193^post_29 && head_16^0==head_16^post_29 && head_29^0==head_29^post_29 && head_SLAM_f_26^0==head_SLAM_f_26^post_29 && i_108^0==i_108^post_29 && i_127^0==i_127^post_29 && i_27^0==i_27^post_29 && length_25^0==length_25^post_29 && nondet_12^0==nondet_12^post_29 && r_37^0==r_37^post_29 && rcd_102^0==rcd_102^post_29 && rcd_110^0==rcd_110^post_29 && rcd_168^0==rcd_168^post_29 && rcd_172^0==rcd_172^post_29 && rcd_192^0==rcd_192^post_29 && rcd_41^0==rcd_41^post_29 && rcd_67^0==rcd_67^post_29 && result_11^0==result_11^post_29 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_29 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_29 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_29 && t_23^0==t_23^post_29 && tail_15^0==tail_15^post_29 && temp0_19^0==temp0_19^post_29 && temp0_28^0==temp0_28^post_29 && temp_32^0==temp_32^post_29 && temp_33^0==temp_33^post_29 && tmp_31^0==tmp_31^post_29 && x_22^0==x_22^post_29 && x_SLAM_f_20^0==x_SLAM_f_20^post_29 && y_21^0==y_21^post_29 ], cost: 1
     29: l28 -> l29 : __disjvr_0^0'=__disjvr_0^post_30, __disjvr_10^0'=__disjvr_10^post_30, __disjvr_11^0'=__disjvr_11^post_30, __disjvr_12^0'=__disjvr_12^post_30, __disjvr_1^0'=__disjvr_1^post_30, __disjvr_2^0'=__disjvr_2^post_30, __disjvr_3^0'=__disjvr_3^post_30, __disjvr_4^0'=__disjvr_4^post_30, __disjvr_5^0'=__disjvr_5^post_30, __disjvr_6^0'=__disjvr_6^post_30, __disjvr_7^0'=__disjvr_7^post_30, __disjvr_8^0'=__disjvr_8^post_30, __disjvr_9^0'=__disjvr_9^post_30, a_137^0'=a_137^post_30, a_163^0'=a_163^post_30, a_193^0'=a_193^post_30, head_16^0'=head_16^post_30, head_29^0'=head_29^post_30, head_SLAM_f_26^0'=head_SLAM_f_26^post_30, i_108^0'=i_108^post_30, i_127^0'=i_127^post_30, i_27^0'=i_27^post_30, length_25^0'=length_25^post_30, nondet_12^0'=nondet_12^post_30, r_37^0'=r_37^post_30, rcd_102^0'=rcd_102^post_30, rcd_110^0'=rcd_110^post_30, rcd_168^0'=rcd_168^post_30, rcd_172^0'=rcd_172^post_30, rcd_192^0'=rcd_192^post_30, rcd_41^0'=rcd_41^post_30, rcd_67^0'=rcd_67^post_30, result_11^0'=result_11^post_30, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_30, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_30, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_30, t_23^0'=t_23^post_30, tail_15^0'=tail_15^post_30, temp0_19^0'=temp0_19^post_30, temp0_28^0'=temp0_28^post_30, temp_32^0'=temp_32^post_30, temp_33^0'=temp_33^post_30, tmp_31^0'=tmp_31^post_30, x_22^0'=x_22^post_30, x_SLAM_f_20^0'=x_SLAM_f_20^post_30, y_21^0'=y_21^post_30, [ __disjvr_12^post_30==__disjvr_12^0 && __disjvr_0^0==__disjvr_0^post_30 && __disjvr_1^0==__disjvr_1^post_30 && __disjvr_10^0==__disjvr_10^post_30 && __disjvr_11^0==__disjvr_11^post_30 && __disjvr_12^0==__disjvr_12^post_30 && __disjvr_2^0==__disjvr_2^post_30 && __disjvr_3^0==__disjvr_3^post_30 && __disjvr_4^0==__disjvr_4^post_30 && __disjvr_5^0==__disjvr_5^post_30 && __disjvr_6^0==__disjvr_6^post_30 && __disjvr_7^0==__disjvr_7^post_30 && __disjvr_8^0==__disjvr_8^post_30 && __disjvr_9^0==__disjvr_9^post_30 && a_137^0==a_137^post_30 && a_163^0==a_163^post_30 && a_193^0==a_193^post_30 && head_16^0==head_16^post_30 && head_29^0==head_29^post_30 && head_SLAM_f_26^0==head_SLAM_f_26^post_30 && i_108^0==i_108^post_30 && i_127^0==i_127^post_30 && i_27^0==i_27^post_30 && length_25^0==length_25^post_30 && nondet_12^0==nondet_12^post_30 && r_37^0==r_37^post_30 && rcd_102^0==rcd_102^post_30 && rcd_110^0==rcd_110^post_30 && rcd_168^0==rcd_168^post_30 && rcd_172^0==rcd_172^post_30 && rcd_192^0==rcd_192^post_30 && rcd_41^0==rcd_41^post_30 && rcd_67^0==rcd_67^post_30 && result_11^0==result_11^post_30 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_30 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_30 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_30 && t_23^0==t_23^post_30 && tail_15^0==tail_15^post_30 && temp0_19^0==temp0_19^post_30 && temp0_28^0==temp0_28^post_30 && temp_32^0==temp_32^post_30 && temp_33^0==temp_33^post_30 && tmp_31^0==tmp_31^post_30 && x_22^0==x_22^post_30 && x_SLAM_f_20^0==x_SLAM_f_20^post_30 && y_21^0==y_21^post_30 ], cost: 1
     30: l29 -> l1 : __disjvr_0^0'=__disjvr_0^post_31, __disjvr_10^0'=__disjvr_10^post_31, __disjvr_11^0'=__disjvr_11^post_31, __disjvr_12^0'=__disjvr_12^post_31, __disjvr_1^0'=__disjvr_1^post_31, __disjvr_2^0'=__disjvr_2^post_31, __disjvr_3^0'=__disjvr_3^post_31, __disjvr_4^0'=__disjvr_4^post_31, __disjvr_5^0'=__disjvr_5^post_31, __disjvr_6^0'=__disjvr_6^post_31, __disjvr_7^0'=__disjvr_7^post_31, __disjvr_8^0'=__disjvr_8^post_31, __disjvr_9^0'=__disjvr_9^post_31, a_137^0'=a_137^post_31, a_163^0'=a_163^post_31, a_193^0'=a_193^post_31, head_16^0'=head_16^post_31, head_29^0'=head_29^post_31, head_SLAM_f_26^0'=head_SLAM_f_26^post_31, i_108^0'=i_108^post_31, i_127^0'=i_127^post_31, i_27^0'=i_27^post_31, length_25^0'=length_25^post_31, nondet_12^0'=nondet_12^post_31, r_37^0'=r_37^post_31, rcd_102^0'=rcd_102^post_31, rcd_110^0'=rcd_110^post_31, rcd_168^0'=rcd_168^post_31, rcd_172^0'=rcd_172^post_31, rcd_192^0'=rcd_192^post_31, rcd_41^0'=rcd_41^post_31, rcd_67^0'=rcd_67^post_31, result_11^0'=result_11^post_31, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_31, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_31, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_31, t_23^0'=t_23^post_31, tail_15^0'=tail_15^post_31, temp0_19^0'=temp0_19^post_31, temp0_28^0'=temp0_28^post_31, temp_32^0'=temp_32^post_31, temp_33^0'=temp_33^post_31, tmp_31^0'=tmp_31^post_31, x_22^0'=x_22^post_31, x_SLAM_f_20^0'=x_SLAM_f_20^post_31, y_21^0'=y_21^post_31, [ 1<=result_dot_nondet_sdv_special_RETURN_VALUE_14^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^0 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0<=i_127^0 && i_127^post_31==i_127^post_31 && -1+i_127^post_31<=a_137^0 && a_137^0<=-1+i_127^post_31 && __disjvr_0^0==__disjvr_0^post_31 && __disjvr_1^0==__disjvr_1^post_31 && __disjvr_10^0==__disjvr_10^post_31 && __disjvr_11^0==__disjvr_11^post_31 && __disjvr_12^0==__disjvr_12^post_31 && __disjvr_2^0==__disjvr_2^post_31 && __disjvr_3^0==__disjvr_3^post_31 && __disjvr_4^0==__disjvr_4^post_31 && __disjvr_5^0==__disjvr_5^post_31 && __disjvr_6^0==__disjvr_6^post_31 && __disjvr_7^0==__disjvr_7^post_31 && __disjvr_8^0==__disjvr_8^post_31 && __disjvr_9^0==__disjvr_9^post_31 && a_137^0==a_137^post_31 && a_163^0==a_163^post_31 && a_193^0==a_193^post_31 && head_16^0==head_16^post_31 && head_29^0==head_29^post_31 && head_SLAM_f_26^0==head_SLAM_f_26^post_31 && i_108^0==i_108^post_31 && i_27^0==i_27^post_31 && length_25^0==length_25^post_31 && nondet_12^0==nondet_12^post_31 && r_37^0==r_37^post_31 && rcd_102^0==rcd_102^post_31 && rcd_110^0==rcd_110^post_31 && rcd_168^0==rcd_168^post_31 && rcd_172^0==rcd_172^post_31 && rcd_192^0==rcd_192^post_31 && rcd_41^0==rcd_41^post_31 && rcd_67^0==rcd_67^post_31 && result_11^0==result_11^post_31 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_31 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_31 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_31 && t_23^0==t_23^post_31 && tail_15^0==tail_15^post_31 && temp0_19^0==temp0_19^post_31 && temp0_28^0==temp0_28^post_31 && temp_32^0==temp_32^post_31 && temp_33^0==temp_33^post_31 && tmp_31^0==tmp_31^post_31 && x_22^0==x_22^post_31 && x_SLAM_f_20^0==x_SLAM_f_20^post_31 && y_21^0==y_21^post_31 ], cost: 1
     32: l30 -> l18 : __disjvr_0^0'=__disjvr_0^post_33, __disjvr_10^0'=__disjvr_10^post_33, __disjvr_11^0'=__disjvr_11^post_33, __disjvr_12^0'=__disjvr_12^post_33, __disjvr_1^0'=__disjvr_1^post_33, __disjvr_2^0'=__disjvr_2^post_33, __disjvr_3^0'=__disjvr_3^post_33, __disjvr_4^0'=__disjvr_4^post_33, __disjvr_5^0'=__disjvr_5^post_33, __disjvr_6^0'=__disjvr_6^post_33, __disjvr_7^0'=__disjvr_7^post_33, __disjvr_8^0'=__disjvr_8^post_33, __disjvr_9^0'=__disjvr_9^post_33, a_137^0'=a_137^post_33, a_163^0'=a_163^post_33, a_193^0'=a_193^post_33, head_16^0'=head_16^post_33, head_29^0'=head_29^post_33, head_SLAM_f_26^0'=head_SLAM_f_26^post_33, i_108^0'=i_108^post_33, i_127^0'=i_127^post_33, i_27^0'=i_27^post_33, length_25^0'=length_25^post_33, nondet_12^0'=nondet_12^post_33, r_37^0'=r_37^post_33, rcd_102^0'=rcd_102^post_33, rcd_110^0'=rcd_110^post_33, rcd_168^0'=rcd_168^post_33, rcd_172^0'=rcd_172^post_33, rcd_192^0'=rcd_192^post_33, rcd_41^0'=rcd_41^post_33, rcd_67^0'=rcd_67^post_33, result_11^0'=result_11^post_33, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_33, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_33, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_33, t_23^0'=t_23^post_33, tail_15^0'=tail_15^post_33, temp0_19^0'=temp0_19^post_33, temp0_28^0'=temp0_28^post_33, temp_32^0'=temp_32^post_33, temp_33^0'=temp_33^post_33, tmp_31^0'=tmp_31^post_33, x_22^0'=x_22^post_33, x_SLAM_f_20^0'=x_SLAM_f_20^post_33, y_21^0'=y_21^post_33, [ __disjvr_0^0==__disjvr_0^post_33 && __disjvr_1^0==__disjvr_1^post_33 && __disjvr_10^0==__disjvr_10^post_33 && __disjvr_11^0==__disjvr_11^post_33 && __disjvr_12^0==__disjvr_12^post_33 && __disjvr_2^0==__disjvr_2^post_33 && __disjvr_3^0==__disjvr_3^post_33 && __disjvr_4^0==__disjvr_4^post_33 && __disjvr_5^0==__disjvr_5^post_33 && __disjvr_6^0==__disjvr_6^post_33 && __disjvr_7^0==__disjvr_7^post_33 && __disjvr_8^0==__disjvr_8^post_33 && __disjvr_9^0==__disjvr_9^post_33 && a_137^0==a_137^post_33 && a_163^0==a_163^post_33 && a_193^0==a_193^post_33 && head_16^0==head_16^post_33 && head_29^0==head_29^post_33 && head_SLAM_f_26^0==head_SLAM_f_26^post_33 && i_108^0==i_108^post_33 && i_127^0==i_127^post_33 && i_27^0==i_27^post_33 && length_25^0==length_25^post_33 && nondet_12^0==nondet_12^post_33 && r_37^0==r_37^post_33 && rcd_102^0==rcd_102^post_33 && rcd_110^0==rcd_110^post_33 && rcd_168^0==rcd_168^post_33 && rcd_172^0==rcd_172^post_33 && rcd_192^0==rcd_192^post_33 && rcd_41^0==rcd_41^post_33 && rcd_67^0==rcd_67^post_33 && result_11^0==result_11^post_33 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_33 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_33 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_33 && t_23^0==t_23^post_33 && tail_15^0==tail_15^post_33 && temp0_19^0==temp0_19^post_33 && temp0_28^0==temp0_28^post_33 && temp_32^0==temp_32^post_33 && temp_33^0==temp_33^post_33 && tmp_31^0==tmp_31^post_33 && x_22^0==x_22^post_33 && x_SLAM_f_20^0==x_SLAM_f_20^post_33 && y_21^0==y_21^post_33 ], cost: 1
     35: l31 -> l10 : __disjvr_0^0'=__disjvr_0^post_36, __disjvr_10^0'=__disjvr_10^post_36, __disjvr_11^0'=__disjvr_11^post_36, __disjvr_12^0'=__disjvr_12^post_36, __disjvr_1^0'=__disjvr_1^post_36, __disjvr_2^0'=__disjvr_2^post_36, __disjvr_3^0'=__disjvr_3^post_36, __disjvr_4^0'=__disjvr_4^post_36, __disjvr_5^0'=__disjvr_5^post_36, __disjvr_6^0'=__disjvr_6^post_36, __disjvr_7^0'=__disjvr_7^post_36, __disjvr_8^0'=__disjvr_8^post_36, __disjvr_9^0'=__disjvr_9^post_36, a_137^0'=a_137^post_36, a_163^0'=a_163^post_36, a_193^0'=a_193^post_36, head_16^0'=head_16^post_36, head_29^0'=head_29^post_36, head_SLAM_f_26^0'=head_SLAM_f_26^post_36, i_108^0'=i_108^post_36, i_127^0'=i_127^post_36, i_27^0'=i_27^post_36, length_25^0'=length_25^post_36, nondet_12^0'=nondet_12^post_36, r_37^0'=r_37^post_36, rcd_102^0'=rcd_102^post_36, rcd_110^0'=rcd_110^post_36, rcd_168^0'=rcd_168^post_36, rcd_172^0'=rcd_172^post_36, rcd_192^0'=rcd_192^post_36, rcd_41^0'=rcd_41^post_36, rcd_67^0'=rcd_67^post_36, result_11^0'=result_11^post_36, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_36, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_36, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_36, t_23^0'=t_23^post_36, tail_15^0'=tail_15^post_36, temp0_19^0'=temp0_19^post_36, temp0_28^0'=temp0_28^post_36, temp_32^0'=temp_32^post_36, temp_33^0'=temp_33^post_36, tmp_31^0'=tmp_31^post_36, x_22^0'=x_22^post_36, x_SLAM_f_20^0'=x_SLAM_f_20^post_36, y_21^0'=y_21^post_36, [ __disjvr_0^0==__disjvr_0^post_36 && __disjvr_1^0==__disjvr_1^post_36 && __disjvr_10^0==__disjvr_10^post_36 && __disjvr_11^0==__disjvr_11^post_36 && __disjvr_12^0==__disjvr_12^post_36 && __disjvr_2^0==__disjvr_2^post_36 && __disjvr_3^0==__disjvr_3^post_36 && __disjvr_4^0==__disjvr_4^post_36 && __disjvr_5^0==__disjvr_5^post_36 && __disjvr_6^0==__disjvr_6^post_36 && __disjvr_7^0==__disjvr_7^post_36 && __disjvr_8^0==__disjvr_8^post_36 && __disjvr_9^0==__disjvr_9^post_36 && a_137^0==a_137^post_36 && a_163^0==a_163^post_36 && a_193^0==a_193^post_36 && head_16^0==head_16^post_36 && head_29^0==head_29^post_36 && head_SLAM_f_26^0==head_SLAM_f_26^post_36 && i_108^0==i_108^post_36 && i_127^0==i_127^post_36 && i_27^0==i_27^post_36 && length_25^0==length_25^post_36 && nondet_12^0==nondet_12^post_36 && r_37^0==r_37^post_36 && rcd_102^0==rcd_102^post_36 && rcd_110^0==rcd_110^post_36 && rcd_168^0==rcd_168^post_36 && rcd_172^0==rcd_172^post_36 && rcd_192^0==rcd_192^post_36 && rcd_41^0==rcd_41^post_36 && rcd_67^0==rcd_67^post_36 && result_11^0==result_11^post_36 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_36 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_36 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_36 && t_23^0==t_23^post_36 && tail_15^0==tail_15^post_36 && temp0_19^0==temp0_19^post_36 && temp0_28^0==temp0_28^post_36 && temp_32^0==temp_32^post_36 && temp_33^0==temp_33^post_36 && tmp_31^0==tmp_31^post_36 && x_22^0==x_22^post_36 && x_SLAM_f_20^0==x_SLAM_f_20^post_36 && y_21^0==y_21^post_36 ], cost: 1

Removed unreachable and leaf rules:
   Start location: l31
     18: l1 -> l20 : __disjvr_0^0'=__disjvr_0^post_19, __disjvr_10^0'=__disjvr_10^post_19, __disjvr_11^0'=__disjvr_11^post_19, __disjvr_12^0'=__disjvr_12^post_19, __disjvr_1^0'=__disjvr_1^post_19, __disjvr_2^0'=__disjvr_2^post_19, __disjvr_3^0'=__disjvr_3^post_19, __disjvr_4^0'=__disjvr_4^post_19, __disjvr_5^0'=__disjvr_5^post_19, __disjvr_6^0'=__disjvr_6^post_19, __disjvr_7^0'=__disjvr_7^post_19, __disjvr_8^0'=__disjvr_8^post_19, __disjvr_9^0'=__disjvr_9^post_19, a_137^0'=a_137^post_19, a_163^0'=a_163^post_19, a_193^0'=a_193^post_19, head_16^0'=head_16^post_19, head_29^0'=head_29^post_19, head_SLAM_f_26^0'=head_SLAM_f_26^post_19, i_108^0'=i_108^post_19, i_127^0'=i_127^post_19, i_27^0'=i_27^post_19, length_25^0'=length_25^post_19, nondet_12^0'=nondet_12^post_19, r_37^0'=r_37^post_19, rcd_102^0'=rcd_102^post_19, rcd_110^0'=rcd_110^post_19, rcd_168^0'=rcd_168^post_19, rcd_172^0'=rcd_172^post_19, rcd_192^0'=rcd_192^post_19, rcd_41^0'=rcd_41^post_19, rcd_67^0'=rcd_67^post_19, result_11^0'=result_11^post_19, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_19, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_19, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_19, t_23^0'=t_23^post_19, tail_15^0'=tail_15^post_19, temp0_19^0'=temp0_19^post_19, temp0_28^0'=temp0_28^post_19, temp_32^0'=temp_32^post_19, temp_33^0'=temp_33^post_19, tmp_31^0'=tmp_31^post_19, x_22^0'=x_22^post_19, x_SLAM_f_20^0'=x_SLAM_f_20^post_19, y_21^0'=y_21^post_19, [ 0<=a_163^0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_19==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_19 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_19==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_19 && tail_15^post_19==tail_15^post_19 && head_16^post_19==head_16^post_19 && x_SLAM_f_20^post_19==x_SLAM_f_20^post_19 && r_37^post_19==r_37^post_19 && __disjvr_0^0==__disjvr_0^post_19 && __disjvr_1^0==__disjvr_1^post_19 && __disjvr_10^0==__disjvr_10^post_19 && __disjvr_11^0==__disjvr_11^post_19 && __disjvr_12^0==__disjvr_12^post_19 && __disjvr_2^0==__disjvr_2^post_19 && __disjvr_3^0==__disjvr_3^post_19 && __disjvr_4^0==__disjvr_4^post_19 && __disjvr_5^0==__disjvr_5^post_19 && __disjvr_6^0==__disjvr_6^post_19 && __disjvr_7^0==__disjvr_7^post_19 && __disjvr_8^0==__disjvr_8^post_19 && __disjvr_9^0==__disjvr_9^post_19 && a_137^0==a_137^post_19 && a_163^0==a_163^post_19 && a_193^0==a_193^post_19 && head_29^0==head_29^post_19 && head_SLAM_f_26^0==head_SLAM_f_26^post_19 && i_108^0==i_108^post_19 && i_127^0==i_127^post_19 && i_27^0==i_27^post_19 && length_25^0==length_25^post_19 && nondet_12^0==nondet_12^post_19 && rcd_102^0==rcd_102^post_19 && rcd_110^0==rcd_110^post_19 && rcd_168^0==rcd_168^post_19 && rcd_172^0==rcd_172^post_19 && rcd_192^0==rcd_192^post_19 && rcd_41^0==rcd_41^post_19 && rcd_67^0==rcd_67^post_19 && result_11^0==result_11^post_19 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_19 && t_23^0==t_23^post_19 && temp0_19^0==temp0_19^post_19 && temp0_28^0==temp0_28^post_19 && temp_32^0==temp_32^post_19 && temp_33^0==temp_33^post_19 && tmp_31^0==tmp_31^post_19 && x_22^0==x_22^post_19 && y_21^0==y_21^post_19 ], cost: 1
      9: l10 -> l11 : __disjvr_0^0'=__disjvr_0^post_10, __disjvr_10^0'=__disjvr_10^post_10, __disjvr_11^0'=__disjvr_11^post_10, __disjvr_12^0'=__disjvr_12^post_10, __disjvr_1^0'=__disjvr_1^post_10, __disjvr_2^0'=__disjvr_2^post_10, __disjvr_3^0'=__disjvr_3^post_10, __disjvr_4^0'=__disjvr_4^post_10, __disjvr_5^0'=__disjvr_5^post_10, __disjvr_6^0'=__disjvr_6^post_10, __disjvr_7^0'=__disjvr_7^post_10, __disjvr_8^0'=__disjvr_8^post_10, __disjvr_9^0'=__disjvr_9^post_10, a_137^0'=a_137^post_10, a_163^0'=a_163^post_10, a_193^0'=a_193^post_10, head_16^0'=head_16^post_10, head_29^0'=head_29^post_10, head_SLAM_f_26^0'=head_SLAM_f_26^post_10, i_108^0'=i_108^post_10, i_127^0'=i_127^post_10, i_27^0'=i_27^post_10, length_25^0'=length_25^post_10, nondet_12^0'=nondet_12^post_10, r_37^0'=r_37^post_10, rcd_102^0'=rcd_102^post_10, rcd_110^0'=rcd_110^post_10, rcd_168^0'=rcd_168^post_10, rcd_172^0'=rcd_172^post_10, rcd_192^0'=rcd_192^post_10, rcd_41^0'=rcd_41^post_10, rcd_67^0'=rcd_67^post_10, result_11^0'=result_11^post_10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_10, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_10, t_23^0'=t_23^post_10, tail_15^0'=tail_15^post_10, temp0_19^0'=temp0_19^post_10, temp0_28^0'=temp0_28^post_10, temp_32^0'=temp_32^post_10, temp_33^0'=temp_33^post_10, tmp_31^0'=tmp_31^post_10, x_22^0'=x_22^post_10, x_SLAM_f_20^0'=x_SLAM_f_20^post_10, y_21^0'=y_21^post_10, [ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_10==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_10 && tail_15^post_10==temp_33^0 && temp_33^post_10==temp_33^post_10 && nondet_12^1_1==nondet_12^1_1 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_10==nondet_12^1_1 && nondet_12^post_10==nondet_12^post_10 && length_25^post_10==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_10 && head_SLAM_f_26^post_10==tail_15^post_10 && head_29^post_10==head_SLAM_f_26^post_10 && i_27^post_10==0 && 0<=i_27^post_10 && i_27^post_10<=0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_10<=tail_15^post_10 && tail_15^post_10<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_10 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_10<=head_SLAM_f_26^post_10 && head_SLAM_f_26^post_10<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_10 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_10<=head_29^post_10 && head_29^post_10<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_10 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_10<=length_25^post_10 && length_25^post_10<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_10 && tail_15^post_10<=head_SLAM_f_26^post_10 && head_SLAM_f_26^post_10<=tail_15^post_10 && head_SLAM_f_26^post_10<=head_29^post_10 && head_29^post_10<=head_SLAM_f_26^post_10 && __disjvr_0^0==__disjvr_0^post_10 && __disjvr_1^0==__disjvr_1^post_10 && __disjvr_10^0==__disjvr_10^post_10 && __disjvr_11^0==__disjvr_11^post_10 && __disjvr_12^0==__disjvr_12^post_10 && __disjvr_2^0==__disjvr_2^post_10 && __disjvr_3^0==__disjvr_3^post_10 && __disjvr_4^0==__disjvr_4^post_10 && __disjvr_5^0==__disjvr_5^post_10 && __disjvr_6^0==__disjvr_6^post_10 && __disjvr_7^0==__disjvr_7^post_10 && __disjvr_8^0==__disjvr_8^post_10 && __disjvr_9^0==__disjvr_9^post_10 && a_137^0==a_137^post_10 && a_163^0==a_163^post_10 && a_193^0==a_193^post_10 && head_16^0==head_16^post_10 && i_108^0==i_108^post_10 && i_127^0==i_127^post_10 && r_37^0==r_37^post_10 && rcd_102^0==rcd_102^post_10 && rcd_110^0==rcd_110^post_10 && rcd_168^0==rcd_168^post_10 && rcd_172^0==rcd_172^post_10 && rcd_192^0==rcd_192^post_10 && rcd_41^0==rcd_41^post_10 && rcd_67^0==rcd_67^post_10 && result_11^0==result_11^post_10 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_10 && t_23^0==t_23^post_10 && temp0_19^0==temp0_19^post_10 && temp0_28^0==temp0_28^post_10 && temp_32^0==temp_32^post_10 && tmp_31^0==tmp_31^post_10 && x_22^0==x_22^post_10 && x_SLAM_f_20^0==x_SLAM_f_20^post_10 && y_21^0==y_21^post_10 ], cost: 1
     34: l11 -> l12 : __disjvr_0^0'=__disjvr_0^post_35, __disjvr_10^0'=__disjvr_10^post_35, __disjvr_11^0'=__disjvr_11^post_35, __disjvr_12^0'=__disjvr_12^post_35, __disjvr_1^0'=__disjvr_1^post_35, __disjvr_2^0'=__disjvr_2^post_35, __disjvr_3^0'=__disjvr_3^post_35, __disjvr_4^0'=__disjvr_4^post_35, __disjvr_5^0'=__disjvr_5^post_35, __disjvr_6^0'=__disjvr_6^post_35, __disjvr_7^0'=__disjvr_7^post_35, __disjvr_8^0'=__disjvr_8^post_35, __disjvr_9^0'=__disjvr_9^post_35, a_137^0'=a_137^post_35, a_163^0'=a_163^post_35, a_193^0'=a_193^post_35, head_16^0'=head_16^post_35, head_29^0'=head_29^post_35, head_SLAM_f_26^0'=head_SLAM_f_26^post_35, i_108^0'=i_108^post_35, i_127^0'=i_127^post_35, i_27^0'=i_27^post_35, length_25^0'=length_25^post_35, nondet_12^0'=nondet_12^post_35, r_37^0'=r_37^post_35, rcd_102^0'=rcd_102^post_35, rcd_110^0'=rcd_110^post_35, rcd_168^0'=rcd_168^post_35, rcd_172^0'=rcd_172^post_35, rcd_192^0'=rcd_192^post_35, rcd_41^0'=rcd_41^post_35, rcd_67^0'=rcd_67^post_35, result_11^0'=result_11^post_35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_35, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_35, t_23^0'=t_23^post_35, tail_15^0'=tail_15^post_35, temp0_19^0'=temp0_19^post_35, temp0_28^0'=temp0_28^post_35, temp_32^0'=temp_32^post_35, temp_33^0'=temp_33^post_35, tmp_31^0'=tmp_31^post_35, x_22^0'=x_22^post_35, x_SLAM_f_20^0'=x_SLAM_f_20^post_35, y_21^0'=y_21^post_35, [ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_35==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_35 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_35==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_35 && tail_15^post_35==tail_15^post_35 && head_SLAM_f_26^post_35==head_SLAM_f_26^post_35 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_35==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_35 && 1+i_27^0<=length_25^0 && tmp_31^post_35==temp_32^0 && temp_32^post_35==temp_32^post_35 && head_29^post_35==tmp_31^post_35 && i_27^post_35==1+i_27^0 && 1<=i_27^post_35 && i_27^post_35<=1 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_35<=tail_15^post_35 && tail_15^post_35<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_35 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_35<=head_SLAM_f_26^post_35 && head_SLAM_f_26^post_35<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_35 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_35<=length_25^0 && length_25^0<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_35 && tail_15^post_35<=head_SLAM_f_26^post_35 && head_SLAM_f_26^post_35<=tail_15^post_35 && head_29^post_35<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_35 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_35<=head_29^post_35 && head_29^post_35<=tmp_31^post_35 && tmp_31^post_35<=head_29^post_35 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_35<=tmp_31^post_35 && tmp_31^post_35<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_35 && 1<=length_25^0 && __disjvr_0^0==__disjvr_0^post_35 && __disjvr_1^0==__disjvr_1^post_35 && __disjvr_10^0==__disjvr_10^post_35 && __disjvr_11^0==__disjvr_11^post_35 && __disjvr_12^0==__disjvr_12^post_35 && __disjvr_2^0==__disjvr_2^post_35 && __disjvr_3^0==__disjvr_3^post_35 && __disjvr_4^0==__disjvr_4^post_35 && __disjvr_5^0==__disjvr_5^post_35 && __disjvr_6^0==__disjvr_6^post_35 && __disjvr_7^0==__disjvr_7^post_35 && __disjvr_8^0==__disjvr_8^post_35 && __disjvr_9^0==__disjvr_9^post_35 && a_137^0==a_137^post_35 && a_163^0==a_163^post_35 && a_193^0==a_193^post_35 && head_16^0==head_16^post_35 && i_108^0==i_108^post_35 && i_127^0==i_127^post_35 && length_25^0==length_25^post_35 && nondet_12^0==nondet_12^post_35 && r_37^0==r_37^post_35 && rcd_102^0==rcd_102^post_35 && rcd_110^0==rcd_110^post_35 && rcd_168^0==rcd_168^post_35 && rcd_172^0==rcd_172^post_35 && rcd_192^0==rcd_192^post_35 && rcd_41^0==rcd_41^post_35 && rcd_67^0==rcd_67^post_35 && result_11^0==result_11^post_35 && t_23^0==t_23^post_35 && temp0_19^0==temp0_19^post_35 && temp0_28^0==temp0_28^post_35 && temp_33^0==temp_33^post_35 && x_22^0==x_22^post_35 && x_SLAM_f_20^0==x_SLAM_f_20^post_35 && y_21^0==y_21^post_35 ], cost: 1
     16: l12 -> l18 : __disjvr_0^0'=__disjvr_0^post_17, __disjvr_10^0'=__disjvr_10^post_17, __disjvr_11^0'=__disjvr_11^post_17, __disjvr_12^0'=__disjvr_12^post_17, __disjvr_1^0'=__disjvr_1^post_17, __disjvr_2^0'=__disjvr_2^post_17, __disjvr_3^0'=__disjvr_3^post_17, __disjvr_4^0'=__disjvr_4^post_17, __disjvr_5^0'=__disjvr_5^post_17, __disjvr_6^0'=__disjvr_6^post_17, __disjvr_7^0'=__disjvr_7^post_17, __disjvr_8^0'=__disjvr_8^post_17, __disjvr_9^0'=__disjvr_9^post_17, a_137^0'=a_137^post_17, a_163^0'=a_163^post_17, a_193^0'=a_193^post_17, head_16^0'=head_16^post_17, head_29^0'=head_29^post_17, head_SLAM_f_26^0'=head_SLAM_f_26^post_17, i_108^0'=i_108^post_17, i_127^0'=i_127^post_17, i_27^0'=i_27^post_17, length_25^0'=length_25^post_17, nondet_12^0'=nondet_12^post_17, r_37^0'=r_37^post_17, rcd_102^0'=rcd_102^post_17, rcd_110^0'=rcd_110^post_17, rcd_168^0'=rcd_168^post_17, rcd_172^0'=rcd_172^post_17, rcd_192^0'=rcd_192^post_17, rcd_41^0'=rcd_41^post_17, rcd_67^0'=rcd_67^post_17, result_11^0'=result_11^post_17, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_17, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_17, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_17, t_23^0'=t_23^post_17, tail_15^0'=tail_15^post_17, temp0_19^0'=temp0_19^post_17, temp0_28^0'=temp0_28^post_17, temp_32^0'=temp_32^post_17, temp_33^0'=temp_33^post_17, tmp_31^0'=tmp_31^post_17, x_22^0'=x_22^post_17, x_SLAM_f_20^0'=x_SLAM_f_20^post_17, y_21^0'=y_21^post_17, [ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_17==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_17 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_17==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_17 && tail_15^post_17==tail_15^post_17 && head_SLAM_f_26^post_17==head_SLAM_f_26^post_17 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_17==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_17 && rcd_67^post_17==rcd_67^post_17 && 1+i_27^0<=length_25^0 && tmp_31^post_17==temp_32^0 && temp_32^post_17==temp_32^post_17 && head_29^post_17==tmp_31^post_17 && i_27^post_17==1+i_27^0 && 2<=i_27^post_17 && i_27^post_17<=2 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_17<=tail_15^post_17 && tail_15^post_17<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_17 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_17<=head_SLAM_f_26^post_17 && head_SLAM_f_26^post_17<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_17 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_17<=length_25^0 && length_25^0<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_17 && tail_15^post_17<=head_SLAM_f_26^post_17 && head_SLAM_f_26^post_17<=tail_15^post_17 && head_29^post_17<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_17 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_17<=head_29^post_17 && head_29^post_17<=tmp_31^post_17 && tmp_31^post_17<=head_29^post_17 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_17<=tmp_31^post_17 && tmp_31^post_17<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_17 && 1<=length_25^0 && 2<=length_25^0 && __disjvr_0^0==__disjvr_0^post_17 && __disjvr_1^0==__disjvr_1^post_17 && __disjvr_10^0==__disjvr_10^post_17 && __disjvr_11^0==__disjvr_11^post_17 && __disjvr_12^0==__disjvr_12^post_17 && __disjvr_2^0==__disjvr_2^post_17 && __disjvr_3^0==__disjvr_3^post_17 && __disjvr_4^0==__disjvr_4^post_17 && __disjvr_5^0==__disjvr_5^post_17 && __disjvr_6^0==__disjvr_6^post_17 && __disjvr_7^0==__disjvr_7^post_17 && __disjvr_8^0==__disjvr_8^post_17 && __disjvr_9^0==__disjvr_9^post_17 && a_137^0==a_137^post_17 && a_163^0==a_163^post_17 && a_193^0==a_193^post_17 && head_16^0==head_16^post_17 && i_108^0==i_108^post_17 && i_127^0==i_127^post_17 && length_25^0==length_25^post_17 && nondet_12^0==nondet_12^post_17 && r_37^0==r_37^post_17 && rcd_102^0==rcd_102^post_17 && rcd_110^0==rcd_110^post_17 && rcd_168^0==rcd_168^post_17 && rcd_172^0==rcd_172^post_17 && rcd_192^0==rcd_192^post_17 && rcd_41^0==rcd_41^post_17 && result_11^0==result_11^post_17 && t_23^0==t_23^post_17 && temp0_19^0==temp0_19^post_17 && temp0_28^0==temp0_28^post_17 && temp_33^0==temp_33^post_17 && x_22^0==x_22^post_17 && x_SLAM_f_20^0==x_SLAM_f_20^post_17 && y_21^0==y_21^post_17 ], cost: 1
     25: l18 -> l25 : __disjvr_0^0'=__disjvr_0^post_26, __disjvr_10^0'=__disjvr_10^post_26, __disjvr_11^0'=__disjvr_11^post_26, __disjvr_12^0'=__disjvr_12^post_26, __disjvr_1^0'=__disjvr_1^post_26, __disjvr_2^0'=__disjvr_2^post_26, __disjvr_3^0'=__disjvr_3^post_26, __disjvr_4^0'=__disjvr_4^post_26, __disjvr_5^0'=__disjvr_5^post_26, __disjvr_6^0'=__disjvr_6^post_26, __disjvr_7^0'=__disjvr_7^post_26, __disjvr_8^0'=__disjvr_8^post_26, __disjvr_9^0'=__disjvr_9^post_26, a_137^0'=a_137^post_26, a_163^0'=a_163^post_26, a_193^0'=a_193^post_26, head_16^0'=head_16^post_26, head_29^0'=head_29^post_26, head_SLAM_f_26^0'=head_SLAM_f_26^post_26, i_108^0'=i_108^post_26, i_127^0'=i_127^post_26, i_27^0'=i_27^post_26, length_25^0'=length_25^post_26, nondet_12^0'=nondet_12^post_26, r_37^0'=r_37^post_26, rcd_102^0'=rcd_102^post_26, rcd_110^0'=rcd_110^post_26, rcd_168^0'=rcd_168^post_26, rcd_172^0'=rcd_172^post_26, rcd_192^0'=rcd_192^post_26, rcd_41^0'=rcd_41^post_26, rcd_67^0'=rcd_67^post_26, result_11^0'=result_11^post_26, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_26, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_26, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_26, t_23^0'=t_23^post_26, tail_15^0'=tail_15^post_26, temp0_19^0'=temp0_19^post_26, temp0_28^0'=temp0_28^post_26, temp_32^0'=temp_32^post_26, temp_33^0'=temp_33^post_26, tmp_31^0'=tmp_31^post_26, x_22^0'=x_22^post_26, x_SLAM_f_20^0'=x_SLAM_f_20^post_26, y_21^0'=y_21^post_26, [ 0<=i_27^0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^1_2_1==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^1_2_1 && result_dot_nondet_sdv_special_RETURN_VALUE_14^1_2_1==result_dot_nondet_sdv_special_RETURN_VALUE_14^1_2_1 && length_25^0<=i_27^0 && temp0_28^1_2_1==head_29^0 && result_11^1_2_1==temp0_28^1_2_1 && length_25^post_26==length_25^post_26 && head_SLAM_f_26^post_26==head_SLAM_f_26^post_26 && i_27^post_26==i_27^post_26 && temp0_28^post_26==temp0_28^post_26 && head_29^post_26==head_29^post_26 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_26==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_26 && tmp_31^post_26==tmp_31^post_26 && temp_32^post_26==temp_32^post_26 && head_16^1_2==result_11^1_2_1 && result_11^post_26==result_11^post_26 && x_SLAM_f_20^1_2_1==head_16^1_2 && y_21^post_26==tail_15^0 && x_22^post_26==x_SLAM_f_20^1_2_1 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^1_2_1<=tail_15^0 && tail_15^0<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^1_2_1 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^1_2_1<=y_21^post_26 && y_21^post_26<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^1_2_1 && tail_15^0<=y_21^post_26 && y_21^post_26<=tail_15^0 && head_16^1_2<=x_SLAM_f_20^1_2_1 && x_SLAM_f_20^1_2_1<=head_16^1_2 && head_16^1_2<=x_22^post_26 && x_22^post_26<=head_16^1_2 && x_SLAM_f_20^1_2_1<=x_22^post_26 && x_22^post_26<=x_SLAM_f_20^1_2_1 && 1<=result_dot_nondet_sdv_special_RETURN_VALUE_14^1_2_1 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^1_2_1 && result_dot_nondet_sdv_special_RETURN_VALUE_14^1_2_1<=i_27^post_26 && 0<=i_27^post_26 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_26==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_26 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_26==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_26 && tail_15^post_26==tail_15^post_26 && head_16^post_26==head_16^post_26 && x_SLAM_f_20^post_26==x_SLAM_f_20^post_26 && i_127^post_26==i_127^post_26 && rcd_168^post_26==rcd_168^post_26 && rcd_172^post_26==rcd_172^post_26 && __disjvr_0^0==__disjvr_0^post_26 && __disjvr_1^0==__disjvr_1^post_26 && __disjvr_10^0==__disjvr_10^post_26 && __disjvr_11^0==__disjvr_11^post_26 && __disjvr_12^0==__disjvr_12^post_26 && __disjvr_2^0==__disjvr_2^post_26 && __disjvr_3^0==__disjvr_3^post_26 && __disjvr_4^0==__disjvr_4^post_26 && __disjvr_5^0==__disjvr_5^post_26 && __disjvr_6^0==__disjvr_6^post_26 && __disjvr_7^0==__disjvr_7^post_26 && __disjvr_8^0==__disjvr_8^post_26 && __disjvr_9^0==__disjvr_9^post_26 && a_137^0==a_137^post_26 && a_163^0==a_163^post_26 && a_193^0==a_193^post_26 && i_108^0==i_108^post_26 && nondet_12^0==nondet_12^post_26 && r_37^0==r_37^post_26 && rcd_102^0==rcd_102^post_26 && rcd_110^0==rcd_110^post_26 && rcd_192^0==rcd_192^post_26 && rcd_41^0==rcd_41^post_26 && rcd_67^0==rcd_67^post_26 && t_23^0==t_23^post_26 && temp0_19^0==temp0_19^post_26 && temp_33^0==temp_33^post_26 ], cost: 1
     31: l18 -> l30 : __disjvr_0^0'=__disjvr_0^post_32, __disjvr_10^0'=__disjvr_10^post_32, __disjvr_11^0'=__disjvr_11^post_32, __disjvr_12^0'=__disjvr_12^post_32, __disjvr_1^0'=__disjvr_1^post_32, __disjvr_2^0'=__disjvr_2^post_32, __disjvr_3^0'=__disjvr_3^post_32, __disjvr_4^0'=__disjvr_4^post_32, __disjvr_5^0'=__disjvr_5^post_32, __disjvr_6^0'=__disjvr_6^post_32, __disjvr_7^0'=__disjvr_7^post_32, __disjvr_8^0'=__disjvr_8^post_32, __disjvr_9^0'=__disjvr_9^post_32, a_137^0'=a_137^post_32, a_163^0'=a_163^post_32, a_193^0'=a_193^post_32, head_16^0'=head_16^post_32, head_29^0'=head_29^post_32, head_SLAM_f_26^0'=head_SLAM_f_26^post_32, i_108^0'=i_108^post_32, i_127^0'=i_127^post_32, i_27^0'=i_27^post_32, length_25^0'=length_25^post_32, nondet_12^0'=nondet_12^post_32, r_37^0'=r_37^post_32, rcd_102^0'=rcd_102^post_32, rcd_110^0'=rcd_110^post_32, rcd_168^0'=rcd_168^post_32, rcd_172^0'=rcd_172^post_32, rcd_192^0'=rcd_192^post_32, rcd_41^0'=rcd_41^post_32, rcd_67^0'=rcd_67^post_32, result_11^0'=result_11^post_32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_32, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_32, t_23^0'=t_23^post_32, tail_15^0'=tail_15^post_32, temp0_19^0'=temp0_19^post_32, temp0_28^0'=temp0_28^post_32, temp_32^0'=temp_32^post_32, temp_33^0'=temp_33^post_32, tmp_31^0'=tmp_31^post_32, x_22^0'=x_22^post_32, x_SLAM_f_20^0'=x_SLAM_f_20^post_32, y_21^0'=y_21^post_32, [ 0<=i_27^0 && rcd_102^post_32==rcd_102^post_32 && i_108^post_32==i_108^post_32 && 1+i_27^0<=length_25^0 && tmp_31^post_32==temp_32^0 && temp_32^post_32==temp_32^post_32 && head_29^post_32==tmp_31^post_32 && i_27^post_32==1+i_27^0 && rcd_110^post_32==rcd_110^post_32 && i_27^post_32<=1+i_108^post_32 && 1+i_108^post_32<=i_27^post_32 && i_108^post_32<=-1+i_27^post_32 && -1+i_27^post_32<=i_108^post_32 && rcd_41^0<=rcd_110^post_32 && rcd_110^post_32<=rcd_41^0 && 1+i_108^post_32<=length_25^0 && rcd_41^post_32==rcd_41^post_32 && rcd_41^post_32<=rcd_110^post_32 && rcd_110^post_32<=rcd_41^post_32 && __disjvr_0^0==__disjvr_0^post_32 && __disjvr_1^0==__disjvr_1^post_32 && __disjvr_10^0==__disjvr_10^post_32 && __disjvr_11^0==__disjvr_11^post_32 && __disjvr_12^0==__disjvr_12^post_32 && __disjvr_2^0==__disjvr_2^post_32 && __disjvr_3^0==__disjvr_3^post_32 && __disjvr_4^0==__disjvr_4^post_32 && __disjvr_5^0==__disjvr_5^post_32 && __disjvr_6^0==__disjvr_6^post_32 && __disjvr_7^0==__disjvr_7^post_32 && __disjvr_8^0==__disjvr_8^post_32 && __disjvr_9^0==__disjvr_9^post_32 && a_137^0==a_137^post_32 && a_163^0==a_163^post_32 && a_193^0==a_193^post_32 && head_16^0==head_16^post_32 && head_SLAM_f_26^0==head_SLAM_f_26^post_32 && i_127^0==i_127^post_32 && length_25^0==length_25^post_32 && nondet_12^0==nondet_12^post_32 && r_37^0==r_37^post_32 && rcd_168^0==rcd_168^post_32 && rcd_172^0==rcd_172^post_32 && rcd_192^0==rcd_192^post_32 && rcd_67^0==rcd_67^post_32 && result_11^0==result_11^post_32 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_32 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_32 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_32 && t_23^0==t_23^post_32 && tail_15^0==tail_15^post_32 && temp0_19^0==temp0_19^post_32 && temp0_28^0==temp0_28^post_32 && temp_33^0==temp_33^post_32 && x_22^0==x_22^post_32 && x_SLAM_f_20^0==x_SLAM_f_20^post_32 && y_21^0==y_21^post_32 ], cost: 1
     19: l20 -> l21 : __disjvr_0^0'=__disjvr_0^post_20, __disjvr_10^0'=__disjvr_10^post_20, __disjvr_11^0'=__disjvr_11^post_20, __disjvr_12^0'=__disjvr_12^post_20, __disjvr_1^0'=__disjvr_1^post_20, __disjvr_2^0'=__disjvr_2^post_20, __disjvr_3^0'=__disjvr_3^post_20, __disjvr_4^0'=__disjvr_4^post_20, __disjvr_5^0'=__disjvr_5^post_20, __disjvr_6^0'=__disjvr_6^post_20, __disjvr_7^0'=__disjvr_7^post_20, __disjvr_8^0'=__disjvr_8^post_20, __disjvr_9^0'=__disjvr_9^post_20, a_137^0'=a_137^post_20, a_163^0'=a_163^post_20, a_193^0'=a_193^post_20, head_16^0'=head_16^post_20, head_29^0'=head_29^post_20, head_SLAM_f_26^0'=head_SLAM_f_26^post_20, i_108^0'=i_108^post_20, i_127^0'=i_127^post_20, i_27^0'=i_27^post_20, length_25^0'=length_25^post_20, nondet_12^0'=nondet_12^post_20, r_37^0'=r_37^post_20, rcd_102^0'=rcd_102^post_20, rcd_110^0'=rcd_110^post_20, rcd_168^0'=rcd_168^post_20, rcd_172^0'=rcd_172^post_20, rcd_192^0'=rcd_192^post_20, rcd_41^0'=rcd_41^post_20, rcd_67^0'=rcd_67^post_20, result_11^0'=result_11^post_20, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_20, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_20, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_20, t_23^0'=t_23^post_20, tail_15^0'=tail_15^post_20, temp0_19^0'=temp0_19^post_20, temp0_28^0'=temp0_28^post_20, temp_32^0'=temp_32^post_20, temp_33^0'=temp_33^post_20, tmp_31^0'=tmp_31^post_20, x_22^0'=x_22^post_20, x_SLAM_f_20^0'=x_SLAM_f_20^post_20, y_21^0'=y_21^post_20, [ __disjvr_7^post_20==__disjvr_7^0 && __disjvr_0^0==__disjvr_0^post_20 && __disjvr_1^0==__disjvr_1^post_20 && __disjvr_10^0==__disjvr_10^post_20 && __disjvr_11^0==__disjvr_11^post_20 && __disjvr_12^0==__disjvr_12^post_20 && __disjvr_2^0==__disjvr_2^post_20 && __disjvr_3^0==__disjvr_3^post_20 && __disjvr_4^0==__disjvr_4^post_20 && __disjvr_5^0==__disjvr_5^post_20 && __disjvr_6^0==__disjvr_6^post_20 && __disjvr_7^0==__disjvr_7^post_20 && __disjvr_8^0==__disjvr_8^post_20 && __disjvr_9^0==__disjvr_9^post_20 && a_137^0==a_137^post_20 && a_163^0==a_163^post_20 && a_193^0==a_193^post_20 && head_16^0==head_16^post_20 && head_29^0==head_29^post_20 && head_SLAM_f_26^0==head_SLAM_f_26^post_20 && i_108^0==i_108^post_20 && i_127^0==i_127^post_20 && i_27^0==i_27^post_20 && length_25^0==length_25^post_20 && nondet_12^0==nondet_12^post_20 && r_37^0==r_37^post_20 && rcd_102^0==rcd_102^post_20 && rcd_110^0==rcd_110^post_20 && rcd_168^0==rcd_168^post_20 && rcd_172^0==rcd_172^post_20 && rcd_192^0==rcd_192^post_20 && rcd_41^0==rcd_41^post_20 && rcd_67^0==rcd_67^post_20 && result_11^0==result_11^post_20 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_20 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_20 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_20 && t_23^0==t_23^post_20 && tail_15^0==tail_15^post_20 && temp0_19^0==temp0_19^post_20 && temp0_28^0==temp0_28^post_20 && temp_32^0==temp_32^post_20 && temp_33^0==temp_33^post_20 && tmp_31^0==tmp_31^post_20 && x_22^0==x_22^post_20 && x_SLAM_f_20^0==x_SLAM_f_20^post_20 && y_21^0==y_21^post_20 ], cost: 1
     20: l21 -> l22 : __disjvr_0^0'=__disjvr_0^post_21, __disjvr_10^0'=__disjvr_10^post_21, __disjvr_11^0'=__disjvr_11^post_21, __disjvr_12^0'=__disjvr_12^post_21, __disjvr_1^0'=__disjvr_1^post_21, __disjvr_2^0'=__disjvr_2^post_21, __disjvr_3^0'=__disjvr_3^post_21, __disjvr_4^0'=__disjvr_4^post_21, __disjvr_5^0'=__disjvr_5^post_21, __disjvr_6^0'=__disjvr_6^post_21, __disjvr_7^0'=__disjvr_7^post_21, __disjvr_8^0'=__disjvr_8^post_21, __disjvr_9^0'=__disjvr_9^post_21, a_137^0'=a_137^post_21, a_163^0'=a_163^post_21, a_193^0'=a_193^post_21, head_16^0'=head_16^post_21, head_29^0'=head_29^post_21, head_SLAM_f_26^0'=head_SLAM_f_26^post_21, i_108^0'=i_108^post_21, i_127^0'=i_127^post_21, i_27^0'=i_27^post_21, length_25^0'=length_25^post_21, nondet_12^0'=nondet_12^post_21, r_37^0'=r_37^post_21, rcd_102^0'=rcd_102^post_21, rcd_110^0'=rcd_110^post_21, rcd_168^0'=rcd_168^post_21, rcd_172^0'=rcd_172^post_21, rcd_192^0'=rcd_192^post_21, rcd_41^0'=rcd_41^post_21, rcd_67^0'=rcd_67^post_21, result_11^0'=result_11^post_21, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_21, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_21, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_21, t_23^0'=t_23^post_21, tail_15^0'=tail_15^post_21, temp0_19^0'=temp0_19^post_21, temp0_28^0'=temp0_28^post_21, temp_32^0'=temp_32^post_21, temp_33^0'=temp_33^post_21, tmp_31^0'=tmp_31^post_21, x_22^0'=x_22^post_21, x_SLAM_f_20^0'=x_SLAM_f_20^post_21, y_21^0'=y_21^post_21, [ t_23^post_21==x_22^0 && rcd_192^post_21==rcd_192^post_21 && a_193^post_21==a_193^post_21 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0<=tail_15^0 && tail_15^0<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0<=y_21^0 && y_21^0<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 && tail_15^0<=y_21^0 && y_21^0<=tail_15^0 && head_16^0<=x_SLAM_f_20^0 && x_SLAM_f_20^0<=head_16^0 && a_193^post_21<=-1+a_163^0 && -1+a_163^0<=a_193^post_21 && rcd_41^0<=rcd_192^post_21 && rcd_192^post_21<=rcd_41^0 && __disjvr_0^0==__disjvr_0^post_21 && __disjvr_1^0==__disjvr_1^post_21 && __disjvr_10^0==__disjvr_10^post_21 && __disjvr_11^0==__disjvr_11^post_21 && __disjvr_12^0==__disjvr_12^post_21 && __disjvr_2^0==__disjvr_2^post_21 && __disjvr_3^0==__disjvr_3^post_21 && __disjvr_4^0==__disjvr_4^post_21 && __disjvr_5^0==__disjvr_5^post_21 && __disjvr_6^0==__disjvr_6^post_21 && __disjvr_7^0==__disjvr_7^post_21 && __disjvr_8^0==__disjvr_8^post_21 && __disjvr_9^0==__disjvr_9^post_21 && a_137^0==a_137^post_21 && a_163^0==a_163^post_21 && head_16^0==head_16^post_21 && head_29^0==head_29^post_21 && head_SLAM_f_26^0==head_SLAM_f_26^post_21 && i_108^0==i_108^post_21 && i_127^0==i_127^post_21 && i_27^0==i_27^post_21 && length_25^0==length_25^post_21 && nondet_12^0==nondet_12^post_21 && r_37^0==r_37^post_21 && rcd_102^0==rcd_102^post_21 && rcd_110^0==rcd_110^post_21 && rcd_168^0==rcd_168^post_21 && rcd_172^0==rcd_172^post_21 && rcd_41^0==rcd_41^post_21 && rcd_67^0==rcd_67^post_21 && result_11^0==result_11^post_21 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_21 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_21 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_21 && tail_15^0==tail_15^post_21 && temp0_19^0==temp0_19^post_21 && temp0_28^0==temp0_28^post_21 && temp_32^0==temp_32^post_21 && temp_33^0==temp_33^post_21 && tmp_31^0==tmp_31^post_21 && x_22^0==x_22^post_21 && x_SLAM_f_20^0==x_SLAM_f_20^post_21 && y_21^0==y_21^post_21 ], cost: 1
     21: l22 -> l23 : __disjvr_0^0'=__disjvr_0^post_22, __disjvr_10^0'=__disjvr_10^post_22, __disjvr_11^0'=__disjvr_11^post_22, __disjvr_12^0'=__disjvr_12^post_22, __disjvr_1^0'=__disjvr_1^post_22, __disjvr_2^0'=__disjvr_2^post_22, __disjvr_3^0'=__disjvr_3^post_22, __disjvr_4^0'=__disjvr_4^post_22, __disjvr_5^0'=__disjvr_5^post_22, __disjvr_6^0'=__disjvr_6^post_22, __disjvr_7^0'=__disjvr_7^post_22, __disjvr_8^0'=__disjvr_8^post_22, __disjvr_9^0'=__disjvr_9^post_22, a_137^0'=a_137^post_22, a_163^0'=a_163^post_22, a_193^0'=a_193^post_22, head_16^0'=head_16^post_22, head_29^0'=head_29^post_22, head_SLAM_f_26^0'=head_SLAM_f_26^post_22, i_108^0'=i_108^post_22, i_127^0'=i_127^post_22, i_27^0'=i_27^post_22, length_25^0'=length_25^post_22, nondet_12^0'=nondet_12^post_22, r_37^0'=r_37^post_22, rcd_102^0'=rcd_102^post_22, rcd_110^0'=rcd_110^post_22, rcd_168^0'=rcd_168^post_22, rcd_172^0'=rcd_172^post_22, rcd_192^0'=rcd_192^post_22, rcd_41^0'=rcd_41^post_22, rcd_67^0'=rcd_67^post_22, result_11^0'=result_11^post_22, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_22, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_22, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_22, t_23^0'=t_23^post_22, tail_15^0'=tail_15^post_22, temp0_19^0'=temp0_19^post_22, temp0_28^0'=temp0_28^post_22, temp_32^0'=temp_32^post_22, temp_33^0'=temp_33^post_22, tmp_31^0'=tmp_31^post_22, x_22^0'=x_22^post_22, x_SLAM_f_20^0'=x_SLAM_f_20^post_22, y_21^0'=y_21^post_22, [ __disjvr_8^post_22==__disjvr_8^0 && __disjvr_0^0==__disjvr_0^post_22 && __disjvr_1^0==__disjvr_1^post_22 && __disjvr_10^0==__disjvr_10^post_22 && __disjvr_11^0==__disjvr_11^post_22 && __disjvr_12^0==__disjvr_12^post_22 && __disjvr_2^0==__disjvr_2^post_22 && __disjvr_3^0==__disjvr_3^post_22 && __disjvr_4^0==__disjvr_4^post_22 && __disjvr_5^0==__disjvr_5^post_22 && __disjvr_6^0==__disjvr_6^post_22 && __disjvr_7^0==__disjvr_7^post_22 && __disjvr_8^0==__disjvr_8^post_22 && __disjvr_9^0==__disjvr_9^post_22 && a_137^0==a_137^post_22 && a_163^0==a_163^post_22 && a_193^0==a_193^post_22 && head_16^0==head_16^post_22 && head_29^0==head_29^post_22 && head_SLAM_f_26^0==head_SLAM_f_26^post_22 && i_108^0==i_108^post_22 && i_127^0==i_127^post_22 && i_27^0==i_27^post_22 && length_25^0==length_25^post_22 && nondet_12^0==nondet_12^post_22 && r_37^0==r_37^post_22 && rcd_102^0==rcd_102^post_22 && rcd_110^0==rcd_110^post_22 && rcd_168^0==rcd_168^post_22 && rcd_172^0==rcd_172^post_22 && rcd_192^0==rcd_192^post_22 && rcd_41^0==rcd_41^post_22 && rcd_67^0==rcd_67^post_22 && result_11^0==result_11^post_22 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_22 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_22 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_22 && t_23^0==t_23^post_22 && tail_15^0==tail_15^post_22 && temp0_19^0==temp0_19^post_22 && temp0_28^0==temp0_28^post_22 && temp_32^0==temp_32^post_22 && temp_33^0==temp_33^post_22 && tmp_31^0==tmp_31^post_22 && x_22^0==x_22^post_22 && x_SLAM_f_20^0==x_SLAM_f_20^post_22 && y_21^0==y_21^post_22 ], cost: 1
     22: l23 -> l24 : __disjvr_0^0'=__disjvr_0^post_23, __disjvr_10^0'=__disjvr_10^post_23, __disjvr_11^0'=__disjvr_11^post_23, __disjvr_12^0'=__disjvr_12^post_23, __disjvr_1^0'=__disjvr_1^post_23, __disjvr_2^0'=__disjvr_2^post_23, __disjvr_3^0'=__disjvr_3^post_23, __disjvr_4^0'=__disjvr_4^post_23, __disjvr_5^0'=__disjvr_5^post_23, __disjvr_6^0'=__disjvr_6^post_23, __disjvr_7^0'=__disjvr_7^post_23, __disjvr_8^0'=__disjvr_8^post_23, __disjvr_9^0'=__disjvr_9^post_23, a_137^0'=a_137^post_23, a_163^0'=a_163^post_23, a_193^0'=a_193^post_23, head_16^0'=head_16^post_23, head_29^0'=head_29^post_23, head_SLAM_f_26^0'=head_SLAM_f_26^post_23, i_108^0'=i_108^post_23, i_127^0'=i_127^post_23, i_27^0'=i_27^post_23, length_25^0'=length_25^post_23, nondet_12^0'=nondet_12^post_23, r_37^0'=r_37^post_23, rcd_102^0'=rcd_102^post_23, rcd_110^0'=rcd_110^post_23, rcd_168^0'=rcd_168^post_23, rcd_172^0'=rcd_172^post_23, rcd_192^0'=rcd_192^post_23, rcd_41^0'=rcd_41^post_23, rcd_67^0'=rcd_67^post_23, result_11^0'=result_11^post_23, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_23, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_23, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_23, t_23^0'=t_23^post_23, tail_15^0'=tail_15^post_23, temp0_19^0'=temp0_19^post_23, temp0_28^0'=temp0_28^post_23, temp_32^0'=temp_32^post_23, temp_33^0'=temp_33^post_23, tmp_31^0'=tmp_31^post_23, x_22^0'=x_22^post_23, x_SLAM_f_20^0'=x_SLAM_f_20^post_23, y_21^0'=y_21^post_23, [ __disjvr_9^post_23==__disjvr_9^0 && __disjvr_0^0==__disjvr_0^post_23 && __disjvr_1^0==__disjvr_1^post_23 && __disjvr_10^0==__disjvr_10^post_23 && __disjvr_11^0==__disjvr_11^post_23 && __disjvr_12^0==__disjvr_12^post_23 && __disjvr_2^0==__disjvr_2^post_23 && __disjvr_3^0==__disjvr_3^post_23 && __disjvr_4^0==__disjvr_4^post_23 && __disjvr_5^0==__disjvr_5^post_23 && __disjvr_6^0==__disjvr_6^post_23 && __disjvr_7^0==__disjvr_7^post_23 && __disjvr_8^0==__disjvr_8^post_23 && __disjvr_9^0==__disjvr_9^post_23 && a_137^0==a_137^post_23 && a_163^0==a_163^post_23 && a_193^0==a_193^post_23 && head_16^0==head_16^post_23 && head_29^0==head_29^post_23 && head_SLAM_f_26^0==head_SLAM_f_26^post_23 && i_108^0==i_108^post_23 && i_127^0==i_127^post_23 && i_27^0==i_27^post_23 && length_25^0==length_25^post_23 && nondet_12^0==nondet_12^post_23 && r_37^0==r_37^post_23 && rcd_102^0==rcd_102^post_23 && rcd_110^0==rcd_110^post_23 && rcd_168^0==rcd_168^post_23 && rcd_172^0==rcd_172^post_23 && rcd_192^0==rcd_192^post_23 && rcd_41^0==rcd_41^post_23 && rcd_67^0==rcd_67^post_23 && result_11^0==result_11^post_23 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_23 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_23 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_23 && t_23^0==t_23^post_23 && tail_15^0==tail_15^post_23 && temp0_19^0==temp0_19^post_23 && temp0_28^0==temp0_28^post_23 && temp_32^0==temp_32^post_23 && temp_33^0==temp_33^post_23 && tmp_31^0==tmp_31^post_23 && x_22^0==x_22^post_23 && x_SLAM_f_20^0==x_SLAM_f_20^post_23 && y_21^0==y_21^post_23 ], cost: 1
     23: l24 -> l19 : __disjvr_0^0'=__disjvr_0^post_24, __disjvr_10^0'=__disjvr_10^post_24, __disjvr_11^0'=__disjvr_11^post_24, __disjvr_12^0'=__disjvr_12^post_24, __disjvr_1^0'=__disjvr_1^post_24, __disjvr_2^0'=__disjvr_2^post_24, __disjvr_3^0'=__disjvr_3^post_24, __disjvr_4^0'=__disjvr_4^post_24, __disjvr_5^0'=__disjvr_5^post_24, __disjvr_6^0'=__disjvr_6^post_24, __disjvr_7^0'=__disjvr_7^post_24, __disjvr_8^0'=__disjvr_8^post_24, __disjvr_9^0'=__disjvr_9^post_24, a_137^0'=a_137^post_24, a_163^0'=a_163^post_24, a_193^0'=a_193^post_24, head_16^0'=head_16^post_24, head_29^0'=head_29^post_24, head_SLAM_f_26^0'=head_SLAM_f_26^post_24, i_108^0'=i_108^post_24, i_127^0'=i_127^post_24, i_27^0'=i_27^post_24, length_25^0'=length_25^post_24, nondet_12^0'=nondet_12^post_24, r_37^0'=r_37^post_24, rcd_102^0'=rcd_102^post_24, rcd_110^0'=rcd_110^post_24, rcd_168^0'=rcd_168^post_24, rcd_172^0'=rcd_172^post_24, rcd_192^0'=rcd_192^post_24, rcd_41^0'=rcd_41^post_24, rcd_67^0'=rcd_67^post_24, result_11^0'=result_11^post_24, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_24, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_24, t_23^0'=t_23^post_24, tail_15^0'=tail_15^post_24, temp0_19^0'=temp0_19^post_24, temp0_28^0'=temp0_28^post_24, temp_32^0'=temp_32^post_24, temp_33^0'=temp_33^post_24, tmp_31^0'=tmp_31^post_24, x_22^0'=x_22^post_24, x_SLAM_f_20^0'=x_SLAM_f_20^post_24, y_21^0'=y_21^post_24, [ 1<=result_dot_nondet_sdv_special_RETURN_VALUE_14^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^0 && rcd_41^post_24==rcd_41^post_24 && rcd_41^post_24<=rcd_192^0 && rcd_192^0<=rcd_41^post_24 && a_163^post_24==a_163^post_24 && a_163^post_24<=a_193^0 && a_193^0<=a_163^post_24 && __disjvr_0^0==__disjvr_0^post_24 && __disjvr_1^0==__disjvr_1^post_24 && __disjvr_10^0==__disjvr_10^post_24 && __disjvr_11^0==__disjvr_11^post_24 && __disjvr_12^0==__disjvr_12^post_24 && __disjvr_2^0==__disjvr_2^post_24 && __disjvr_3^0==__disjvr_3^post_24 && __disjvr_4^0==__disjvr_4^post_24 && __disjvr_5^0==__disjvr_5^post_24 && __disjvr_6^0==__disjvr_6^post_24 && __disjvr_7^0==__disjvr_7^post_24 && __disjvr_8^0==__disjvr_8^post_24 && __disjvr_9^0==__disjvr_9^post_24 && a_137^0==a_137^post_24 && a_193^0==a_193^post_24 && head_16^0==head_16^post_24 && head_29^0==head_29^post_24 && head_SLAM_f_26^0==head_SLAM_f_26^post_24 && i_108^0==i_108^post_24 && i_127^0==i_127^post_24 && i_27^0==i_27^post_24 && length_25^0==length_25^post_24 && nondet_12^0==nondet_12^post_24 && r_37^0==r_37^post_24 && rcd_102^0==rcd_102^post_24 && rcd_110^0==rcd_110^post_24 && rcd_168^0==rcd_168^post_24 && rcd_172^0==rcd_172^post_24 && rcd_192^0==rcd_192^post_24 && rcd_67^0==rcd_67^post_24 && result_11^0==result_11^post_24 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_24 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_24 && t_23^0==t_23^post_24 && tail_15^0==tail_15^post_24 && temp0_19^0==temp0_19^post_24 && temp0_28^0==temp0_28^post_24 && temp_32^0==temp_32^post_24 && temp_33^0==temp_33^post_24 && tmp_31^0==tmp_31^post_24 && x_22^0==x_22^post_24 && x_SLAM_f_20^0==x_SLAM_f_20^post_24 && y_21^0==y_21^post_24 ], cost: 1
     24: l19 -> l1 : __disjvr_0^0'=__disjvr_0^post_25, __disjvr_10^0'=__disjvr_10^post_25, __disjvr_11^0'=__disjvr_11^post_25, __disjvr_12^0'=__disjvr_12^post_25, __disjvr_1^0'=__disjvr_1^post_25, __disjvr_2^0'=__disjvr_2^post_25, __disjvr_3^0'=__disjvr_3^post_25, __disjvr_4^0'=__disjvr_4^post_25, __disjvr_5^0'=__disjvr_5^post_25, __disjvr_6^0'=__disjvr_6^post_25, __disjvr_7^0'=__disjvr_7^post_25, __disjvr_8^0'=__disjvr_8^post_25, __disjvr_9^0'=__disjvr_9^post_25, a_137^0'=a_137^post_25, a_163^0'=a_163^post_25, a_193^0'=a_193^post_25, head_16^0'=head_16^post_25, head_29^0'=head_29^post_25, head_SLAM_f_26^0'=head_SLAM_f_26^post_25, i_108^0'=i_108^post_25, i_127^0'=i_127^post_25, i_27^0'=i_27^post_25, length_25^0'=length_25^post_25, nondet_12^0'=nondet_12^post_25, r_37^0'=r_37^post_25, rcd_102^0'=rcd_102^post_25, rcd_110^0'=rcd_110^post_25, rcd_168^0'=rcd_168^post_25, rcd_172^0'=rcd_172^post_25, rcd_192^0'=rcd_192^post_25, rcd_41^0'=rcd_41^post_25, rcd_67^0'=rcd_67^post_25, result_11^0'=result_11^post_25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_25, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_25, t_23^0'=t_23^post_25, tail_15^0'=tail_15^post_25, temp0_19^0'=temp0_19^post_25, temp0_28^0'=temp0_28^post_25, temp_32^0'=temp_32^post_25, temp_33^0'=temp_33^post_25, tmp_31^0'=tmp_31^post_25, x_22^0'=x_22^post_25, x_SLAM_f_20^0'=x_SLAM_f_20^post_25, y_21^0'=y_21^post_25, [ __disjvr_0^0==__disjvr_0^post_25 && __disjvr_1^0==__disjvr_1^post_25 && __disjvr_10^0==__disjvr_10^post_25 && __disjvr_11^0==__disjvr_11^post_25 && __disjvr_12^0==__disjvr_12^post_25 && __disjvr_2^0==__disjvr_2^post_25 && __disjvr_3^0==__disjvr_3^post_25 && __disjvr_4^0==__disjvr_4^post_25 && __disjvr_5^0==__disjvr_5^post_25 && __disjvr_6^0==__disjvr_6^post_25 && __disjvr_7^0==__disjvr_7^post_25 && __disjvr_8^0==__disjvr_8^post_25 && __disjvr_9^0==__disjvr_9^post_25 && a_137^0==a_137^post_25 && a_163^0==a_163^post_25 && a_193^0==a_193^post_25 && head_16^0==head_16^post_25 && head_29^0==head_29^post_25 && head_SLAM_f_26^0==head_SLAM_f_26^post_25 && i_108^0==i_108^post_25 && i_127^0==i_127^post_25 && i_27^0==i_27^post_25 && length_25^0==length_25^post_25 && nondet_12^0==nondet_12^post_25 && r_37^0==r_37^post_25 && rcd_102^0==rcd_102^post_25 && rcd_110^0==rcd_110^post_25 && rcd_168^0==rcd_168^post_25 && rcd_172^0==rcd_172^post_25 && rcd_192^0==rcd_192^post_25 && rcd_41^0==rcd_41^post_25 && rcd_67^0==rcd_67^post_25 && result_11^0==result_11^post_25 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_25 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_25 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_25 && t_23^0==t_23^post_25 && tail_15^0==tail_15^post_25 && temp0_19^0==temp0_19^post_25 && temp0_28^0==temp0_28^post_25 && temp_32^0==temp_32^post_25 && temp_33^0==temp_33^post_25 && tmp_31^0==tmp_31^post_25 && x_22^0==x_22^post_25 && x_SLAM_f_20^0==x_SLAM_f_20^post_25 && y_21^0==y_21^post_25 ], cost: 1
     26: l25 -> l26 : __disjvr_0^0'=__disjvr_0^post_27, __disjvr_10^0'=__disjvr_10^post_27, __disjvr_11^0'=__disjvr_11^post_27, __disjvr_12^0'=__disjvr_12^post_27, __disjvr_1^0'=__disjvr_1^post_27, __disjvr_2^0'=__disjvr_2^post_27, __disjvr_3^0'=__disjvr_3^post_27, __disjvr_4^0'=__disjvr_4^post_27, __disjvr_5^0'=__disjvr_5^post_27, __disjvr_6^0'=__disjvr_6^post_27, __disjvr_7^0'=__disjvr_7^post_27, __disjvr_8^0'=__disjvr_8^post_27, __disjvr_9^0'=__disjvr_9^post_27, a_137^0'=a_137^post_27, a_163^0'=a_163^post_27, a_193^0'=a_193^post_27, head_16^0'=head_16^post_27, head_29^0'=head_29^post_27, head_SLAM_f_26^0'=head_SLAM_f_26^post_27, i_108^0'=i_108^post_27, i_127^0'=i_127^post_27, i_27^0'=i_27^post_27, length_25^0'=length_25^post_27, nondet_12^0'=nondet_12^post_27, r_37^0'=r_37^post_27, rcd_102^0'=rcd_102^post_27, rcd_110^0'=rcd_110^post_27, rcd_168^0'=rcd_168^post_27, rcd_172^0'=rcd_172^post_27, rcd_192^0'=rcd_192^post_27, rcd_41^0'=rcd_41^post_27, rcd_67^0'=rcd_67^post_27, result_11^0'=result_11^post_27, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_27, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_27, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_27, t_23^0'=t_23^post_27, tail_15^0'=tail_15^post_27, temp0_19^0'=temp0_19^post_27, temp0_28^0'=temp0_28^post_27, temp_32^0'=temp_32^post_27, temp_33^0'=temp_33^post_27, tmp_31^0'=tmp_31^post_27, x_22^0'=x_22^post_27, x_SLAM_f_20^0'=x_SLAM_f_20^post_27, y_21^0'=y_21^post_27, [ __disjvr_10^post_27==__disjvr_10^0 && __disjvr_0^0==__disjvr_0^post_27 && __disjvr_1^0==__disjvr_1^post_27 && __disjvr_10^0==__disjvr_10^post_27 && __disjvr_11^0==__disjvr_11^post_27 && __disjvr_12^0==__disjvr_12^post_27 && __disjvr_2^0==__disjvr_2^post_27 && __disjvr_3^0==__disjvr_3^post_27 && __disjvr_4^0==__disjvr_4^post_27 && __disjvr_5^0==__disjvr_5^post_27 && __disjvr_6^0==__disjvr_6^post_27 && __disjvr_7^0==__disjvr_7^post_27 && __disjvr_8^0==__disjvr_8^post_27 && __disjvr_9^0==__disjvr_9^post_27 && a_137^0==a_137^post_27 && a_163^0==a_163^post_27 && a_193^0==a_193^post_27 && head_16^0==head_16^post_27 && head_29^0==head_29^post_27 && head_SLAM_f_26^0==head_SLAM_f_26^post_27 && i_108^0==i_108^post_27 && i_127^0==i_127^post_27 && i_27^0==i_27^post_27 && length_25^0==length_25^post_27 && nondet_12^0==nondet_12^post_27 && r_37^0==r_37^post_27 && rcd_102^0==rcd_102^post_27 && rcd_110^0==rcd_110^post_27 && rcd_168^0==rcd_168^post_27 && rcd_172^0==rcd_172^post_27 && rcd_192^0==rcd_192^post_27 && rcd_41^0==rcd_41^post_27 && rcd_67^0==rcd_67^post_27 && result_11^0==result_11^post_27 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_27 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_27 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_27 && t_23^0==t_23^post_27 && tail_15^0==tail_15^post_27 && temp0_19^0==temp0_19^post_27 && temp0_28^0==temp0_28^post_27 && temp_32^0==temp_32^post_27 && temp_33^0==temp_33^post_27 && tmp_31^0==tmp_31^post_27 && x_22^0==x_22^post_27 && x_SLAM_f_20^0==x_SLAM_f_20^post_27 && y_21^0==y_21^post_27 ], cost: 1
     27: l26 -> l27 : __disjvr_0^0'=__disjvr_0^post_28, __disjvr_10^0'=__disjvr_10^post_28, __disjvr_11^0'=__disjvr_11^post_28, __disjvr_12^0'=__disjvr_12^post_28, __disjvr_1^0'=__disjvr_1^post_28, __disjvr_2^0'=__disjvr_2^post_28, __disjvr_3^0'=__disjvr_3^post_28, __disjvr_4^0'=__disjvr_4^post_28, __disjvr_5^0'=__disjvr_5^post_28, __disjvr_6^0'=__disjvr_6^post_28, __disjvr_7^0'=__disjvr_7^post_28, __disjvr_8^0'=__disjvr_8^post_28, __disjvr_9^0'=__disjvr_9^post_28, a_137^0'=a_137^post_28, a_163^0'=a_163^post_28, a_193^0'=a_193^post_28, head_16^0'=head_16^post_28, head_29^0'=head_29^post_28, head_SLAM_f_26^0'=head_SLAM_f_26^post_28, i_108^0'=i_108^post_28, i_127^0'=i_127^post_28, i_27^0'=i_27^post_28, length_25^0'=length_25^post_28, nondet_12^0'=nondet_12^post_28, r_37^0'=r_37^post_28, rcd_102^0'=rcd_102^post_28, rcd_110^0'=rcd_110^post_28, rcd_168^0'=rcd_168^post_28, rcd_172^0'=rcd_172^post_28, rcd_192^0'=rcd_192^post_28, rcd_41^0'=rcd_41^post_28, rcd_67^0'=rcd_67^post_28, result_11^0'=result_11^post_28, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_28, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_28, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_28, t_23^0'=t_23^post_28, tail_15^0'=tail_15^post_28, temp0_19^0'=temp0_19^post_28, temp0_28^0'=temp0_28^post_28, temp_32^0'=temp_32^post_28, temp_33^0'=temp_33^post_28, tmp_31^0'=tmp_31^post_28, x_22^0'=x_22^post_28, x_SLAM_f_20^0'=x_SLAM_f_20^post_28, y_21^0'=y_21^post_28, [ t_23^post_28==x_22^0 && a_137^post_28==a_137^post_28 && 0<=-a_137^post_28+a_163^0 && -a_137^post_28+a_163^0<=0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0<=tail_15^0 && tail_15^0<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0<=y_21^0 && y_21^0<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 && tail_15^0<=y_21^0 && y_21^0<=tail_15^0 && head_16^0<=x_SLAM_f_20^0 && x_SLAM_f_20^0<=head_16^0 && head_16^0<=t_23^post_28 && t_23^post_28<=head_16^0 && a_137^post_28<=a_163^0 && a_163^0<=a_137^post_28 && rcd_41^0<=rcd_168^0 && rcd_168^0<=rcd_41^0 && __disjvr_0^0==__disjvr_0^post_28 && __disjvr_1^0==__disjvr_1^post_28 && __disjvr_10^0==__disjvr_10^post_28 && __disjvr_11^0==__disjvr_11^post_28 && __disjvr_12^0==__disjvr_12^post_28 && __disjvr_2^0==__disjvr_2^post_28 && __disjvr_3^0==__disjvr_3^post_28 && __disjvr_4^0==__disjvr_4^post_28 && __disjvr_5^0==__disjvr_5^post_28 && __disjvr_6^0==__disjvr_6^post_28 && __disjvr_7^0==__disjvr_7^post_28 && __disjvr_8^0==__disjvr_8^post_28 && __disjvr_9^0==__disjvr_9^post_28 && a_163^0==a_163^post_28 && a_193^0==a_193^post_28 && head_16^0==head_16^post_28 && head_29^0==head_29^post_28 && head_SLAM_f_26^0==head_SLAM_f_26^post_28 && i_108^0==i_108^post_28 && i_127^0==i_127^post_28 && i_27^0==i_27^post_28 && length_25^0==length_25^post_28 && nondet_12^0==nondet_12^post_28 && r_37^0==r_37^post_28 && rcd_102^0==rcd_102^post_28 && rcd_110^0==rcd_110^post_28 && rcd_168^0==rcd_168^post_28 && rcd_172^0==rcd_172^post_28 && rcd_192^0==rcd_192^post_28 && rcd_41^0==rcd_41^post_28 && rcd_67^0==rcd_67^post_28 && result_11^0==result_11^post_28 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_28 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_28 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_28 && tail_15^0==tail_15^post_28 && temp0_19^0==temp0_19^post_28 && temp0_28^0==temp0_28^post_28 && temp_32^0==temp_32^post_28 && temp_33^0==temp_33^post_28 && tmp_31^0==tmp_31^post_28 && x_22^0==x_22^post_28 && x_SLAM_f_20^0==x_SLAM_f_20^post_28 && y_21^0==y_21^post_28 ], cost: 1
     28: l27 -> l28 : __disjvr_0^0'=__disjvr_0^post_29, __disjvr_10^0'=__disjvr_10^post_29, __disjvr_11^0'=__disjvr_11^post_29, __disjvr_12^0'=__disjvr_12^post_29, __disjvr_1^0'=__disjvr_1^post_29, __disjvr_2^0'=__disjvr_2^post_29, __disjvr_3^0'=__disjvr_3^post_29, __disjvr_4^0'=__disjvr_4^post_29, __disjvr_5^0'=__disjvr_5^post_29, __disjvr_6^0'=__disjvr_6^post_29, __disjvr_7^0'=__disjvr_7^post_29, __disjvr_8^0'=__disjvr_8^post_29, __disjvr_9^0'=__disjvr_9^post_29, a_137^0'=a_137^post_29, a_163^0'=a_163^post_29, a_193^0'=a_193^post_29, head_16^0'=head_16^post_29, head_29^0'=head_29^post_29, head_SLAM_f_26^0'=head_SLAM_f_26^post_29, i_108^0'=i_108^post_29, i_127^0'=i_127^post_29, i_27^0'=i_27^post_29, length_25^0'=length_25^post_29, nondet_12^0'=nondet_12^post_29, r_37^0'=r_37^post_29, rcd_102^0'=rcd_102^post_29, rcd_110^0'=rcd_110^post_29, rcd_168^0'=rcd_168^post_29, rcd_172^0'=rcd_172^post_29, rcd_192^0'=rcd_192^post_29, rcd_41^0'=rcd_41^post_29, rcd_67^0'=rcd_67^post_29, result_11^0'=result_11^post_29, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_29, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_29, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_29, t_23^0'=t_23^post_29, tail_15^0'=tail_15^post_29, temp0_19^0'=temp0_19^post_29, temp0_28^0'=temp0_28^post_29, temp_32^0'=temp_32^post_29, temp_33^0'=temp_33^post_29, tmp_31^0'=tmp_31^post_29, x_22^0'=x_22^post_29, x_SLAM_f_20^0'=x_SLAM_f_20^post_29, y_21^0'=y_21^post_29, [ __disjvr_11^post_29==__disjvr_11^0 && __disjvr_0^0==__disjvr_0^post_29 && __disjvr_1^0==__disjvr_1^post_29 && __disjvr_10^0==__disjvr_10^post_29 && __disjvr_11^0==__disjvr_11^post_29 && __disjvr_12^0==__disjvr_12^post_29 && __disjvr_2^0==__disjvr_2^post_29 && __disjvr_3^0==__disjvr_3^post_29 && __disjvr_4^0==__disjvr_4^post_29 && __disjvr_5^0==__disjvr_5^post_29 && __disjvr_6^0==__disjvr_6^post_29 && __disjvr_7^0==__disjvr_7^post_29 && __disjvr_8^0==__disjvr_8^post_29 && __disjvr_9^0==__disjvr_9^post_29 && a_137^0==a_137^post_29 && a_163^0==a_163^post_29 && a_193^0==a_193^post_29 && head_16^0==head_16^post_29 && head_29^0==head_29^post_29 && head_SLAM_f_26^0==head_SLAM_f_26^post_29 && i_108^0==i_108^post_29 && i_127^0==i_127^post_29 && i_27^0==i_27^post_29 && length_25^0==length_25^post_29 && nondet_12^0==nondet_12^post_29 && r_37^0==r_37^post_29 && rcd_102^0==rcd_102^post_29 && rcd_110^0==rcd_110^post_29 && rcd_168^0==rcd_168^post_29 && rcd_172^0==rcd_172^post_29 && rcd_192^0==rcd_192^post_29 && rcd_41^0==rcd_41^post_29 && rcd_67^0==rcd_67^post_29 && result_11^0==result_11^post_29 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_29 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_29 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_29 && t_23^0==t_23^post_29 && tail_15^0==tail_15^post_29 && temp0_19^0==temp0_19^post_29 && temp0_28^0==temp0_28^post_29 && temp_32^0==temp_32^post_29 && temp_33^0==temp_33^post_29 && tmp_31^0==tmp_31^post_29 && x_22^0==x_22^post_29 && x_SLAM_f_20^0==x_SLAM_f_20^post_29 && y_21^0==y_21^post_29 ], cost: 1
     29: l28 -> l29 : __disjvr_0^0'=__disjvr_0^post_30, __disjvr_10^0'=__disjvr_10^post_30, __disjvr_11^0'=__disjvr_11^post_30, __disjvr_12^0'=__disjvr_12^post_30, __disjvr_1^0'=__disjvr_1^post_30, __disjvr_2^0'=__disjvr_2^post_30, __disjvr_3^0'=__disjvr_3^post_30, __disjvr_4^0'=__disjvr_4^post_30, __disjvr_5^0'=__disjvr_5^post_30, __disjvr_6^0'=__disjvr_6^post_30, __disjvr_7^0'=__disjvr_7^post_30, __disjvr_8^0'=__disjvr_8^post_30, __disjvr_9^0'=__disjvr_9^post_30, a_137^0'=a_137^post_30, a_163^0'=a_163^post_30, a_193^0'=a_193^post_30, head_16^0'=head_16^post_30, head_29^0'=head_29^post_30, head_SLAM_f_26^0'=head_SLAM_f_26^post_30, i_108^0'=i_108^post_30, i_127^0'=i_127^post_30, i_27^0'=i_27^post_30, length_25^0'=length_25^post_30, nondet_12^0'=nondet_12^post_30, r_37^0'=r_37^post_30, rcd_102^0'=rcd_102^post_30, rcd_110^0'=rcd_110^post_30, rcd_168^0'=rcd_168^post_30, rcd_172^0'=rcd_172^post_30, rcd_192^0'=rcd_192^post_30, rcd_41^0'=rcd_41^post_30, rcd_67^0'=rcd_67^post_30, result_11^0'=result_11^post_30, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_30, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_30, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_30, t_23^0'=t_23^post_30, tail_15^0'=tail_15^post_30, temp0_19^0'=temp0_19^post_30, temp0_28^0'=temp0_28^post_30, temp_32^0'=temp_32^post_30, temp_33^0'=temp_33^post_30, tmp_31^0'=tmp_31^post_30, x_22^0'=x_22^post_30, x_SLAM_f_20^0'=x_SLAM_f_20^post_30, y_21^0'=y_21^post_30, [ __disjvr_12^post_30==__disjvr_12^0 && __disjvr_0^0==__disjvr_0^post_30 && __disjvr_1^0==__disjvr_1^post_30 && __disjvr_10^0==__disjvr_10^post_30 && __disjvr_11^0==__disjvr_11^post_30 && __disjvr_12^0==__disjvr_12^post_30 && __disjvr_2^0==__disjvr_2^post_30 && __disjvr_3^0==__disjvr_3^post_30 && __disjvr_4^0==__disjvr_4^post_30 && __disjvr_5^0==__disjvr_5^post_30 && __disjvr_6^0==__disjvr_6^post_30 && __disjvr_7^0==__disjvr_7^post_30 && __disjvr_8^0==__disjvr_8^post_30 && __disjvr_9^0==__disjvr_9^post_30 && a_137^0==a_137^post_30 && a_163^0==a_163^post_30 && a_193^0==a_193^post_30 && head_16^0==head_16^post_30 && head_29^0==head_29^post_30 && head_SLAM_f_26^0==head_SLAM_f_26^post_30 && i_108^0==i_108^post_30 && i_127^0==i_127^post_30 && i_27^0==i_27^post_30 && length_25^0==length_25^post_30 && nondet_12^0==nondet_12^post_30 && r_37^0==r_37^post_30 && rcd_102^0==rcd_102^post_30 && rcd_110^0==rcd_110^post_30 && rcd_168^0==rcd_168^post_30 && rcd_172^0==rcd_172^post_30 && rcd_192^0==rcd_192^post_30 && rcd_41^0==rcd_41^post_30 && rcd_67^0==rcd_67^post_30 && result_11^0==result_11^post_30 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_30 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_30 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_30 && t_23^0==t_23^post_30 && tail_15^0==tail_15^post_30 && temp0_19^0==temp0_19^post_30 && temp0_28^0==temp0_28^post_30 && temp_32^0==temp_32^post_30 && temp_33^0==temp_33^post_30 && tmp_31^0==tmp_31^post_30 && x_22^0==x_22^post_30 && x_SLAM_f_20^0==x_SLAM_f_20^post_30 && y_21^0==y_21^post_30 ], cost: 1
     30: l29 -> l1 : __disjvr_0^0'=__disjvr_0^post_31, __disjvr_10^0'=__disjvr_10^post_31, __disjvr_11^0'=__disjvr_11^post_31, __disjvr_12^0'=__disjvr_12^post_31, __disjvr_1^0'=__disjvr_1^post_31, __disjvr_2^0'=__disjvr_2^post_31, __disjvr_3^0'=__disjvr_3^post_31, __disjvr_4^0'=__disjvr_4^post_31, __disjvr_5^0'=__disjvr_5^post_31, __disjvr_6^0'=__disjvr_6^post_31, __disjvr_7^0'=__disjvr_7^post_31, __disjvr_8^0'=__disjvr_8^post_31, __disjvr_9^0'=__disjvr_9^post_31, a_137^0'=a_137^post_31, a_163^0'=a_163^post_31, a_193^0'=a_193^post_31, head_16^0'=head_16^post_31, head_29^0'=head_29^post_31, head_SLAM_f_26^0'=head_SLAM_f_26^post_31, i_108^0'=i_108^post_31, i_127^0'=i_127^post_31, i_27^0'=i_27^post_31, length_25^0'=length_25^post_31, nondet_12^0'=nondet_12^post_31, r_37^0'=r_37^post_31, rcd_102^0'=rcd_102^post_31, rcd_110^0'=rcd_110^post_31, rcd_168^0'=rcd_168^post_31, rcd_172^0'=rcd_172^post_31, rcd_192^0'=rcd_192^post_31, rcd_41^0'=rcd_41^post_31, rcd_67^0'=rcd_67^post_31, result_11^0'=result_11^post_31, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_31, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_31, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_31, t_23^0'=t_23^post_31, tail_15^0'=tail_15^post_31, temp0_19^0'=temp0_19^post_31, temp0_28^0'=temp0_28^post_31, temp_32^0'=temp_32^post_31, temp_33^0'=temp_33^post_31, tmp_31^0'=tmp_31^post_31, x_22^0'=x_22^post_31, x_SLAM_f_20^0'=x_SLAM_f_20^post_31, y_21^0'=y_21^post_31, [ 1<=result_dot_nondet_sdv_special_RETURN_VALUE_14^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^0 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0<=i_127^0 && i_127^post_31==i_127^post_31 && -1+i_127^post_31<=a_137^0 && a_137^0<=-1+i_127^post_31 && __disjvr_0^0==__disjvr_0^post_31 && __disjvr_1^0==__disjvr_1^post_31 && __disjvr_10^0==__disjvr_10^post_31 && __disjvr_11^0==__disjvr_11^post_31 && __disjvr_12^0==__disjvr_12^post_31 && __disjvr_2^0==__disjvr_2^post_31 && __disjvr_3^0==__disjvr_3^post_31 && __disjvr_4^0==__disjvr_4^post_31 && __disjvr_5^0==__disjvr_5^post_31 && __disjvr_6^0==__disjvr_6^post_31 && __disjvr_7^0==__disjvr_7^post_31 && __disjvr_8^0==__disjvr_8^post_31 && __disjvr_9^0==__disjvr_9^post_31 && a_137^0==a_137^post_31 && a_163^0==a_163^post_31 && a_193^0==a_193^post_31 && head_16^0==head_16^post_31 && head_29^0==head_29^post_31 && head_SLAM_f_26^0==head_SLAM_f_26^post_31 && i_108^0==i_108^post_31 && i_27^0==i_27^post_31 && length_25^0==length_25^post_31 && nondet_12^0==nondet_12^post_31 && r_37^0==r_37^post_31 && rcd_102^0==rcd_102^post_31 && rcd_110^0==rcd_110^post_31 && rcd_168^0==rcd_168^post_31 && rcd_172^0==rcd_172^post_31 && rcd_192^0==rcd_192^post_31 && rcd_41^0==rcd_41^post_31 && rcd_67^0==rcd_67^post_31 && result_11^0==result_11^post_31 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_31 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_31 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_31 && t_23^0==t_23^post_31 && tail_15^0==tail_15^post_31 && temp0_19^0==temp0_19^post_31 && temp0_28^0==temp0_28^post_31 && temp_32^0==temp_32^post_31 && temp_33^0==temp_33^post_31 && tmp_31^0==tmp_31^post_31 && x_22^0==x_22^post_31 && x_SLAM_f_20^0==x_SLAM_f_20^post_31 && y_21^0==y_21^post_31 ], cost: 1
     32: l30 -> l18 : __disjvr_0^0'=__disjvr_0^post_33, __disjvr_10^0'=__disjvr_10^post_33, __disjvr_11^0'=__disjvr_11^post_33, __disjvr_12^0'=__disjvr_12^post_33, __disjvr_1^0'=__disjvr_1^post_33, __disjvr_2^0'=__disjvr_2^post_33, __disjvr_3^0'=__disjvr_3^post_33, __disjvr_4^0'=__disjvr_4^post_33, __disjvr_5^0'=__disjvr_5^post_33, __disjvr_6^0'=__disjvr_6^post_33, __disjvr_7^0'=__disjvr_7^post_33, __disjvr_8^0'=__disjvr_8^post_33, __disjvr_9^0'=__disjvr_9^post_33, a_137^0'=a_137^post_33, a_163^0'=a_163^post_33, a_193^0'=a_193^post_33, head_16^0'=head_16^post_33, head_29^0'=head_29^post_33, head_SLAM_f_26^0'=head_SLAM_f_26^post_33, i_108^0'=i_108^post_33, i_127^0'=i_127^post_33, i_27^0'=i_27^post_33, length_25^0'=length_25^post_33, nondet_12^0'=nondet_12^post_33, r_37^0'=r_37^post_33, rcd_102^0'=rcd_102^post_33, rcd_110^0'=rcd_110^post_33, rcd_168^0'=rcd_168^post_33, rcd_172^0'=rcd_172^post_33, rcd_192^0'=rcd_192^post_33, rcd_41^0'=rcd_41^post_33, rcd_67^0'=rcd_67^post_33, result_11^0'=result_11^post_33, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_33, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_33, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_33, t_23^0'=t_23^post_33, tail_15^0'=tail_15^post_33, temp0_19^0'=temp0_19^post_33, temp0_28^0'=temp0_28^post_33, temp_32^0'=temp_32^post_33, temp_33^0'=temp_33^post_33, tmp_31^0'=tmp_31^post_33, x_22^0'=x_22^post_33, x_SLAM_f_20^0'=x_SLAM_f_20^post_33, y_21^0'=y_21^post_33, [ __disjvr_0^0==__disjvr_0^post_33 && __disjvr_1^0==__disjvr_1^post_33 && __disjvr_10^0==__disjvr_10^post_33 && __disjvr_11^0==__disjvr_11^post_33 && __disjvr_12^0==__disjvr_12^post_33 && __disjvr_2^0==__disjvr_2^post_33 && __disjvr_3^0==__disjvr_3^post_33 && __disjvr_4^0==__disjvr_4^post_33 && __disjvr_5^0==__disjvr_5^post_33 && __disjvr_6^0==__disjvr_6^post_33 && __disjvr_7^0==__disjvr_7^post_33 && __disjvr_8^0==__disjvr_8^post_33 && __disjvr_9^0==__disjvr_9^post_33 && a_137^0==a_137^post_33 && a_163^0==a_163^post_33 && a_193^0==a_193^post_33 && head_16^0==head_16^post_33 && head_29^0==head_29^post_33 && head_SLAM_f_26^0==head_SLAM_f_26^post_33 && i_108^0==i_108^post_33 && i_127^0==i_127^post_33 && i_27^0==i_27^post_33 && length_25^0==length_25^post_33 && nondet_12^0==nondet_12^post_33 && r_37^0==r_37^post_33 && rcd_102^0==rcd_102^post_33 && rcd_110^0==rcd_110^post_33 && rcd_168^0==rcd_168^post_33 && rcd_172^0==rcd_172^post_33 && rcd_192^0==rcd_192^post_33 && rcd_41^0==rcd_41^post_33 && rcd_67^0==rcd_67^post_33 && result_11^0==result_11^post_33 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_33 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_33 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_33 && t_23^0==t_23^post_33 && tail_15^0==tail_15^post_33 && temp0_19^0==temp0_19^post_33 && temp0_28^0==temp0_28^post_33 && temp_32^0==temp_32^post_33 && temp_33^0==temp_33^post_33 && tmp_31^0==tmp_31^post_33 && x_22^0==x_22^post_33 && x_SLAM_f_20^0==x_SLAM_f_20^post_33 && y_21^0==y_21^post_33 ], cost: 1
     35: l31 -> l10 : __disjvr_0^0'=__disjvr_0^post_36, __disjvr_10^0'=__disjvr_10^post_36, __disjvr_11^0'=__disjvr_11^post_36, __disjvr_12^0'=__disjvr_12^post_36, __disjvr_1^0'=__disjvr_1^post_36, __disjvr_2^0'=__disjvr_2^post_36, __disjvr_3^0'=__disjvr_3^post_36, __disjvr_4^0'=__disjvr_4^post_36, __disjvr_5^0'=__disjvr_5^post_36, __disjvr_6^0'=__disjvr_6^post_36, __disjvr_7^0'=__disjvr_7^post_36, __disjvr_8^0'=__disjvr_8^post_36, __disjvr_9^0'=__disjvr_9^post_36, a_137^0'=a_137^post_36, a_163^0'=a_163^post_36, a_193^0'=a_193^post_36, head_16^0'=head_16^post_36, head_29^0'=head_29^post_36, head_SLAM_f_26^0'=head_SLAM_f_26^post_36, i_108^0'=i_108^post_36, i_127^0'=i_127^post_36, i_27^0'=i_27^post_36, length_25^0'=length_25^post_36, nondet_12^0'=nondet_12^post_36, r_37^0'=r_37^post_36, rcd_102^0'=rcd_102^post_36, rcd_110^0'=rcd_110^post_36, rcd_168^0'=rcd_168^post_36, rcd_172^0'=rcd_172^post_36, rcd_192^0'=rcd_192^post_36, rcd_41^0'=rcd_41^post_36, rcd_67^0'=rcd_67^post_36, result_11^0'=result_11^post_36, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_36, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_36, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_36, t_23^0'=t_23^post_36, tail_15^0'=tail_15^post_36, temp0_19^0'=temp0_19^post_36, temp0_28^0'=temp0_28^post_36, temp_32^0'=temp_32^post_36, temp_33^0'=temp_33^post_36, tmp_31^0'=tmp_31^post_36, x_22^0'=x_22^post_36, x_SLAM_f_20^0'=x_SLAM_f_20^post_36, y_21^0'=y_21^post_36, [ __disjvr_0^0==__disjvr_0^post_36 && __disjvr_1^0==__disjvr_1^post_36 && __disjvr_10^0==__disjvr_10^post_36 && __disjvr_11^0==__disjvr_11^post_36 && __disjvr_12^0==__disjvr_12^post_36 && __disjvr_2^0==__disjvr_2^post_36 && __disjvr_3^0==__disjvr_3^post_36 && __disjvr_4^0==__disjvr_4^post_36 && __disjvr_5^0==__disjvr_5^post_36 && __disjvr_6^0==__disjvr_6^post_36 && __disjvr_7^0==__disjvr_7^post_36 && __disjvr_8^0==__disjvr_8^post_36 && __disjvr_9^0==__disjvr_9^post_36 && a_137^0==a_137^post_36 && a_163^0==a_163^post_36 && a_193^0==a_193^post_36 && head_16^0==head_16^post_36 && head_29^0==head_29^post_36 && head_SLAM_f_26^0==head_SLAM_f_26^post_36 && i_108^0==i_108^post_36 && i_127^0==i_127^post_36 && i_27^0==i_27^post_36 && length_25^0==length_25^post_36 && nondet_12^0==nondet_12^post_36 && r_37^0==r_37^post_36 && rcd_102^0==rcd_102^post_36 && rcd_110^0==rcd_110^post_36 && rcd_168^0==rcd_168^post_36 && rcd_172^0==rcd_172^post_36 && rcd_192^0==rcd_192^post_36 && rcd_41^0==rcd_41^post_36 && rcd_67^0==rcd_67^post_36 && result_11^0==result_11^post_36 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_36 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_36 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_36 && t_23^0==t_23^post_36 && tail_15^0==tail_15^post_36 && temp0_19^0==temp0_19^post_36 && temp0_28^0==temp0_28^post_36 && temp_32^0==temp_32^post_36 && temp_33^0==temp_33^post_36 && tmp_31^0==tmp_31^post_36 && x_22^0==x_22^post_36 && x_SLAM_f_20^0==x_SLAM_f_20^post_36 && y_21^0==y_21^post_36 ], cost: 1

Simplified all rules, resulting in:
   Start location: l31
     18: l1 -> l20 : head_16^0'=head_16^post_19, r_37^0'=r_37^post_19, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_19, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_19, tail_15^0'=tail_15^post_19, x_SLAM_f_20^0'=x_SLAM_f_20^post_19, [ 0<=a_163^0 ], cost: 1
      9: l10 -> l11 : head_29^0'=temp_33^0, head_SLAM_f_26^0'=temp_33^0, i_27^0'=0, length_25^0'=nondet_12^1_1, nondet_12^0'=nondet_12^post_10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=temp_33^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^1_1, tail_15^0'=temp_33^0, temp_33^0'=temp_33^post_10, [], cost: 1
     34: l11 -> l12 : head_29^0'=temp_32^0, head_SLAM_f_26^0'=head_SLAM_f_26^post_35, i_27^0'=1+i_27^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=head_SLAM_f_26^post_35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=temp_32^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=length_25^0, tail_15^0'=head_SLAM_f_26^post_35, temp_32^0'=temp_32^post_35, tmp_31^0'=temp_32^0, [ 1+i_27^0<=length_25^0 && -i_27^0==0 ], cost: 1
     16: l12 -> l18 : head_29^0'=temp_32^0, head_SLAM_f_26^0'=head_SLAM_f_26^post_17, i_27^0'=1+i_27^0, rcd_67^0'=rcd_67^post_17, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=head_SLAM_f_26^post_17, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=temp_32^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=length_25^0, tail_15^0'=head_SLAM_f_26^post_17, temp_32^0'=temp_32^post_17, tmp_31^0'=temp_32^0, [ 1+i_27^0<=length_25^0 && 1-i_27^0==0 ], cost: 1
     25: l18 -> l25 : head_16^0'=head_16^post_26, head_29^0'=head_29^post_26, head_SLAM_f_26^0'=head_SLAM_f_26^post_26, i_127^0'=i_127^post_26, i_27^0'=i_27^post_26, length_25^0'=length_25^post_26, rcd_168^0'=rcd_168^post_26, rcd_172^0'=rcd_172^post_26, result_11^0'=result_11^post_26, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_26, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_26, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_26, tail_15^0'=tail_15^post_26, temp0_28^0'=temp0_28^post_26, temp_32^0'=temp_32^post_26, tmp_31^0'=tmp_31^post_26, x_22^0'=head_29^0, x_SLAM_f_20^0'=x_SLAM_f_20^post_26, y_21^0'=tail_15^0, [ 0<=i_27^0 && length_25^0<=i_27^0 && 2<=i_27^post_26 ], cost: 1
     31: l18 -> l30 : head_29^0'=temp_32^0, i_108^0'=i_27^0, i_27^0'=1+i_27^0, rcd_102^0'=rcd_102^post_32, rcd_110^0'=rcd_41^0, temp_32^0'=temp_32^post_32, tmp_31^0'=temp_32^0, [ 0<=i_27^0 && 1+i_27^0<=length_25^0 ], cost: 1
     19: l20 -> l21 : [], cost: 1
     20: l21 -> l22 : a_193^0'=-1+a_163^0, rcd_192^0'=rcd_41^0, t_23^0'=x_22^0, [ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-tail_15^0==0 && -y_21^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==0 && -x_SLAM_f_20^0+head_16^0==0 ], cost: 1
     21: l22 -> l23 : [], cost: 1
     22: l23 -> l24 : [], cost: 1
     23: l24 -> l19 : a_163^0'=a_193^0, rcd_41^0'=rcd_192^0, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^0 ], cost: 1
     24: l19 -> l1 : [], cost: 1
     26: l25 -> l26 : [], cost: 1
     27: l26 -> l27 : a_137^0'=a_163^0, t_23^0'=x_22^0, [ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-tail_15^0==0 && -y_21^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==0 && -x_SLAM_f_20^0+head_16^0==0 && -x_22^0+head_16^0==0 && -rcd_168^0+rcd_41^0==0 ], cost: 1
     28: l27 -> l28 : [], cost: 1
     29: l28 -> l29 : [], cost: 1
     30: l29 -> l1 : i_127^0'=1+a_137^0, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^0 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0<=i_127^0 ], cost: 1
     32: l30 -> l18 : [], cost: 1
     35: l31 -> l10 : [], cost: 1

### Simplification by acceleration and chaining ###

Eliminated locations (on linear paths):
   Start location: l31
     50: l1 -> l1 : a_163^0'=-1+a_163^0, a_193^0'=-1+a_163^0, head_16^0'=head_16^post_19, r_37^0'=r_37^post_19, rcd_192^0'=rcd_41^0, rcd_41^0'=rcd_41^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_19, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_19, t_23^0'=x_22^0, tail_15^0'=tail_15^post_19, x_SLAM_f_20^0'=x_SLAM_f_20^post_19, [ 0<=a_163^0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_19-tail_15^post_19==0 && -y_21^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_19==0 && -x_SLAM_f_20^post_19+head_16^post_19==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_19 ], cost: 7
     40: l18 -> l18 : head_29^0'=temp_32^0, i_108^0'=i_27^0, i_27^0'=1+i_27^0, rcd_102^0'=rcd_102^post_32, rcd_110^0'=rcd_41^0, temp_32^0'=temp_32^post_32, tmp_31^0'=temp_32^0, [ 0<=i_27^0 && 1+i_27^0<=length_25^0 ], cost: 2
     44: l18 -> l1 : a_137^0'=a_163^0, head_16^0'=head_16^post_26, head_29^0'=head_29^post_26, head_SLAM_f_26^0'=head_SLAM_f_26^post_26, i_127^0'=1+a_163^0, i_27^0'=i_27^post_26, length_25^0'=length_25^post_26, rcd_168^0'=rcd_168^post_26, rcd_172^0'=rcd_172^post_26, result_11^0'=result_11^post_26, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_26, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_26, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_26, t_23^0'=head_29^0, tail_15^0'=tail_15^post_26, temp0_28^0'=temp0_28^post_26, temp_32^0'=temp_32^post_26, tmp_31^0'=tmp_31^post_26, x_22^0'=head_29^0, x_SLAM_f_20^0'=x_SLAM_f_20^post_26, y_21^0'=tail_15^0, [ 0<=i_27^0 && length_25^0<=i_27^0 && 2<=i_27^post_26 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_26-tail_15^post_26==0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_26-tail_15^0==0 && -x_SLAM_f_20^post_26+head_16^post_26==0 && -head_29^0+head_16^post_26==0 && -rcd_168^post_26+rcd_41^0==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_26 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_26<=i_127^post_26 ], cost: 6
     38: l31 -> l18 : head_29^0'=temp_32^post_35, head_SLAM_f_26^0'=head_SLAM_f_26^post_17, i_27^0'=2, length_25^0'=nondet_12^1_1, nondet_12^0'=nondet_12^post_10, rcd_67^0'=rcd_67^post_17, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=head_SLAM_f_26^post_17, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=temp_32^post_35, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^1_1, tail_15^0'=head_SLAM_f_26^post_17, temp_32^0'=temp_32^post_17, temp_33^0'=temp_33^post_10, tmp_31^0'=temp_32^post_35, [ 2<=nondet_12^1_1 ], cost: 4

Accelerating simple loops of location 6.
   Simplified some of the simple loops (and removed duplicate rules).
   Accelerating the following rules:
     50: l1 -> l1 : a_163^0'=-1+a_163^0, a_193^0'=-1+a_163^0, head_16^0'=head_16^post_19, r_37^0'=r_37^post_19, rcd_192^0'=rcd_41^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=y_21^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_19, t_23^0'=x_22^0, tail_15^0'=y_21^0, x_SLAM_f_20^0'=head_16^post_19, [ 0<=a_163^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_19 ], cost: 7

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

Accelerating simple loops of location 18.
   Accelerating the following rules:
     40: l18 -> l18 : head_29^0'=temp_32^0, i_108^0'=i_27^0, i_27^0'=1+i_27^0, rcd_102^0'=rcd_102^post_32, rcd_110^0'=rcd_41^0, temp_32^0'=temp_32^post_32, tmp_31^0'=temp_32^0, [ 0<=i_27^0 && 1+i_27^0<=length_25^0 ], cost: 2

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

Accelerated all simple loops using metering functions (where possible):
   Start location: l31
     51: l1 -> l1 : a_163^0'=-1, a_193^0'=-1, head_16^0'=head_16^post_19, r_37^0'=r_37^post_19, rcd_192^0'=rcd_41^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=y_21^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_19, t_23^0'=x_22^0, tail_15^0'=y_21^0, x_SLAM_f_20^0'=head_16^post_19, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_19 && 1+a_163^0>=1 ], cost: 7+7*a_163^0
     44: l18 -> l1 : a_137^0'=a_163^0, head_16^0'=head_16^post_26, head_29^0'=head_29^post_26, head_SLAM_f_26^0'=head_SLAM_f_26^post_26, i_127^0'=1+a_163^0, i_27^0'=i_27^post_26, length_25^0'=length_25^post_26, rcd_168^0'=rcd_168^post_26, rcd_172^0'=rcd_172^post_26, result_11^0'=result_11^post_26, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_26, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_26, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_26, t_23^0'=head_29^0, tail_15^0'=tail_15^post_26, temp0_28^0'=temp0_28^post_26, temp_32^0'=temp_32^post_26, tmp_31^0'=tmp_31^post_26, x_22^0'=head_29^0, x_SLAM_f_20^0'=x_SLAM_f_20^post_26, y_21^0'=tail_15^0, [ 0<=i_27^0 && length_25^0<=i_27^0 && 2<=i_27^post_26 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_26-tail_15^post_26==0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_26-tail_15^0==0 && -x_SLAM_f_20^post_26+head_16^post_26==0 && -head_29^0+head_16^post_26==0 && -rcd_168^post_26+rcd_41^0==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_26 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_26<=i_127^post_26 ], cost: 6
     52: l18 -> l18 : head_29^0'=temp_32^post_32, i_108^0'=-1+length_25^0, i_27^0'=length_25^0, rcd_102^0'=rcd_102^post_32, rcd_110^0'=rcd_41^0, temp_32^0'=temp_32^post_32, tmp_31^0'=temp_32^post_32, [ 0<=i_27^0 && -i_27^0+length_25^0>=1 ], cost: -2*i_27^0+2*length_25^0
     38: l31 -> l18 : head_29^0'=temp_32^post_35, head_SLAM_f_26^0'=head_SLAM_f_26^post_17, i_27^0'=2, length_25^0'=nondet_12^1_1, nondet_12^0'=nondet_12^post_10, rcd_67^0'=rcd_67^post_17, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=head_SLAM_f_26^post_17, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=temp_32^post_35, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^1_1, tail_15^0'=head_SLAM_f_26^post_17, temp_32^0'=temp_32^post_17, temp_33^0'=temp_33^post_10, tmp_31^0'=temp_32^post_35, [ 2<=nondet_12^1_1 ], cost: 4

Chained accelerated rules (with incoming rules):
   Start location: l31
     44: l18 -> l1 : a_137^0'=a_163^0, head_16^0'=head_16^post_26, head_29^0'=head_29^post_26, head_SLAM_f_26^0'=head_SLAM_f_26^post_26, i_127^0'=1+a_163^0, i_27^0'=i_27^post_26, length_25^0'=length_25^post_26, rcd_168^0'=rcd_168^post_26, rcd_172^0'=rcd_172^post_26, result_11^0'=result_11^post_26, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_26, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_26, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_26, t_23^0'=head_29^0, tail_15^0'=tail_15^post_26, temp0_28^0'=temp0_28^post_26, temp_32^0'=temp_32^post_26, tmp_31^0'=tmp_31^post_26, x_22^0'=head_29^0, x_SLAM_f_20^0'=x_SLAM_f_20^post_26, y_21^0'=tail_15^0, [ 0<=i_27^0 && length_25^0<=i_27^0 && 2<=i_27^post_26 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_26-tail_15^post_26==0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_26-tail_15^0==0 && -x_SLAM_f_20^post_26+head_16^post_26==0 && -head_29^0+head_16^post_26==0 && -rcd_168^post_26+rcd_41^0==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_26 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_26<=i_127^post_26 ], cost: 6
     53: l18 -> l1 : a_137^0'=a_163^0, a_163^0'=-1, a_193^0'=-1, head_16^0'=head_16^post_19, head_29^0'=head_29^post_26, head_SLAM_f_26^0'=head_SLAM_f_26^post_26, i_127^0'=1+a_163^0, i_27^0'=i_27^post_26, length_25^0'=length_25^post_26, r_37^0'=r_37^post_19, rcd_168^0'=rcd_41^0, rcd_172^0'=rcd_172^post_26, rcd_192^0'=rcd_41^0, result_11^0'=result_11^post_26, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=tail_15^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_26, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_19, t_23^0'=head_29^0, temp0_28^0'=temp0_28^post_26, temp_32^0'=temp_32^post_26, tmp_31^0'=tmp_31^post_26, x_22^0'=head_29^0, x_SLAM_f_20^0'=head_16^post_19, y_21^0'=tail_15^0, [ 0<=i_27^0 && length_25^0<=i_27^0 && 2<=i_27^post_26 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_19 && 1+a_163^0>=1 ], cost: 13+7*a_163^0
     38: l31 -> l18 : head_29^0'=temp_32^post_35, head_SLAM_f_26^0'=head_SLAM_f_26^post_17, i_27^0'=2, length_25^0'=nondet_12^1_1, nondet_12^0'=nondet_12^post_10, rcd_67^0'=rcd_67^post_17, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=head_SLAM_f_26^post_17, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=temp_32^post_35, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^1_1, tail_15^0'=head_SLAM_f_26^post_17, temp_32^0'=temp_32^post_17, temp_33^0'=temp_33^post_10, tmp_31^0'=temp_32^post_35, [ 2<=nondet_12^1_1 ], cost: 4
     54: l31 -> l18 : head_29^0'=temp_32^post_32, head_SLAM_f_26^0'=head_SLAM_f_26^post_17, i_108^0'=-1+nondet_12^1_1, i_27^0'=nondet_12^1_1, length_25^0'=nondet_12^1_1, nondet_12^0'=nondet_12^post_10, rcd_102^0'=rcd_102^post_32, rcd_110^0'=rcd_41^0, rcd_67^0'=rcd_67^post_17, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=head_SLAM_f_26^post_17, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=temp_32^post_35, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^1_1, tail_15^0'=head_SLAM_f_26^post_17, temp_32^0'=temp_32^post_32, temp_33^0'=temp_33^post_10, tmp_31^0'=temp_32^post_32, [ -2+nondet_12^1_1>=1 ], cost: 2*nondet_12^1_1

Removed unreachable locations (and leaf rules with constant cost):
   Start location: l31
     53: l18 -> l1 : a_137^0'=a_163^0, a_163^0'=-1, a_193^0'=-1, head_16^0'=head_16^post_19, head_29^0'=head_29^post_26, head_SLAM_f_26^0'=head_SLAM_f_26^post_26, i_127^0'=1+a_163^0, i_27^0'=i_27^post_26, length_25^0'=length_25^post_26, r_37^0'=r_37^post_19, rcd_168^0'=rcd_41^0, rcd_172^0'=rcd_172^post_26, rcd_192^0'=rcd_41^0, result_11^0'=result_11^post_26, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=tail_15^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_26, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_19, t_23^0'=head_29^0, temp0_28^0'=temp0_28^post_26, temp_32^0'=temp_32^post_26, tmp_31^0'=tmp_31^post_26, x_22^0'=head_29^0, x_SLAM_f_20^0'=head_16^post_19, y_21^0'=tail_15^0, [ 0<=i_27^0 && length_25^0<=i_27^0 && 2<=i_27^post_26 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_19 && 1+a_163^0>=1 ], cost: 13+7*a_163^0
     38: l31 -> l18 : head_29^0'=temp_32^post_35, head_SLAM_f_26^0'=head_SLAM_f_26^post_17, i_27^0'=2, length_25^0'=nondet_12^1_1, nondet_12^0'=nondet_12^post_10, rcd_67^0'=rcd_67^post_17, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=head_SLAM_f_26^post_17, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=temp_32^post_35, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^1_1, tail_15^0'=head_SLAM_f_26^post_17, temp_32^0'=temp_32^post_17, temp_33^0'=temp_33^post_10, tmp_31^0'=temp_32^post_35, [ 2<=nondet_12^1_1 ], cost: 4
     54: l31 -> l18 : head_29^0'=temp_32^post_32, head_SLAM_f_26^0'=head_SLAM_f_26^post_17, i_108^0'=-1+nondet_12^1_1, i_27^0'=nondet_12^1_1, length_25^0'=nondet_12^1_1, nondet_12^0'=nondet_12^post_10, rcd_102^0'=rcd_102^post_32, rcd_110^0'=rcd_41^0, rcd_67^0'=rcd_67^post_17, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=head_SLAM_f_26^post_17, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=temp_32^post_35, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^1_1, tail_15^0'=head_SLAM_f_26^post_17, temp_32^0'=temp_32^post_32, temp_33^0'=temp_33^post_10, tmp_31^0'=temp_32^post_32, [ -2+nondet_12^1_1>=1 ], cost: 2*nondet_12^1_1

Eliminated locations (on tree-shaped paths):
   Start location: l31
     55: l31 -> l1 : a_137^0'=a_163^0, a_163^0'=-1, a_193^0'=-1, head_16^0'=head_16^post_19, head_29^0'=head_29^post_26, head_SLAM_f_26^0'=head_SLAM_f_26^post_26, i_127^0'=1+a_163^0, i_27^0'=i_27^post_26, length_25^0'=length_25^post_26, nondet_12^0'=nondet_12^post_10, r_37^0'=r_37^post_19, rcd_168^0'=rcd_41^0, rcd_172^0'=rcd_172^post_26, rcd_192^0'=rcd_41^0, rcd_67^0'=rcd_67^post_17, result_11^0'=result_11^post_26, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=head_SLAM_f_26^post_17, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_26, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_19, t_23^0'=temp_32^post_35, tail_15^0'=head_SLAM_f_26^post_17, temp0_28^0'=temp0_28^post_26, temp_32^0'=temp_32^post_26, temp_33^0'=temp_33^post_10, tmp_31^0'=tmp_31^post_26, x_22^0'=temp_32^post_35, x_SLAM_f_20^0'=head_16^post_19, y_21^0'=head_SLAM_f_26^post_17, [ 2<=nondet_12^1_1 && nondet_12^1_1<=2 && 2<=i_27^post_26 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_19 && 1+a_163^0>=1 ], cost: 17+7*a_163^0
     56: l31 -> l1 : a_137^0'=a_163^0, a_163^0'=-1, a_193^0'=-1, head_16^0'=head_16^post_19, head_29^0'=head_29^post_26, head_SLAM_f_26^0'=head_SLAM_f_26^post_26, i_108^0'=-1+nondet_12^1_1, i_127^0'=1+a_163^0, i_27^0'=i_27^post_26, length_25^0'=length_25^post_26, nondet_12^0'=nondet_12^post_10, r_37^0'=r_37^post_19, rcd_102^0'=rcd_102^post_32, rcd_110^0'=rcd_41^0, rcd_168^0'=rcd_41^0, rcd_172^0'=rcd_172^post_26, rcd_192^0'=rcd_41^0, rcd_67^0'=rcd_67^post_17, result_11^0'=result_11^post_26, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=head_SLAM_f_26^post_17, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_26, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_19, t_23^0'=temp_32^post_32, tail_15^0'=head_SLAM_f_26^post_17, temp0_28^0'=temp0_28^post_26, temp_32^0'=temp_32^post_26, temp_33^0'=temp_33^post_10, tmp_31^0'=tmp_31^post_26, x_22^0'=temp_32^post_32, x_SLAM_f_20^0'=head_16^post_19, y_21^0'=head_SLAM_f_26^post_17, [ -2+nondet_12^1_1>=1 && 2<=i_27^post_26 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_19 && 1+a_163^0>=1 ], cost: 13+7*a_163^0+2*nondet_12^1_1

### Computing asymptotic complexity ###

Fully simplified ITS problem
   Start location: l31
     55: l31 -> l1 : a_137^0'=a_163^0, a_163^0'=-1, a_193^0'=-1, head_16^0'=head_16^post_19, head_29^0'=head_29^post_26, head_SLAM_f_26^0'=head_SLAM_f_26^post_26, i_127^0'=1+a_163^0, i_27^0'=i_27^post_26, length_25^0'=length_25^post_26, nondet_12^0'=nondet_12^post_10, r_37^0'=r_37^post_19, rcd_168^0'=rcd_41^0, rcd_172^0'=rcd_172^post_26, rcd_192^0'=rcd_41^0, rcd_67^0'=rcd_67^post_17, result_11^0'=result_11^post_26, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=head_SLAM_f_26^post_17, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_26, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_19, t_23^0'=temp_32^post_35, tail_15^0'=head_SLAM_f_26^post_17, temp0_28^0'=temp0_28^post_26, temp_32^0'=temp_32^post_26, temp_33^0'=temp_33^post_10, tmp_31^0'=tmp_31^post_26, x_22^0'=temp_32^post_35, x_SLAM_f_20^0'=head_16^post_19, y_21^0'=head_SLAM_f_26^post_17, [ 2<=nondet_12^1_1 && nondet_12^1_1<=2 && 2<=i_27^post_26 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_19 && 1+a_163^0>=1 ], cost: 17+7*a_163^0
     56: l31 -> l1 : a_137^0'=a_163^0, a_163^0'=-1, a_193^0'=-1, head_16^0'=head_16^post_19, head_29^0'=head_29^post_26, head_SLAM_f_26^0'=head_SLAM_f_26^post_26, i_108^0'=-1+nondet_12^1_1, i_127^0'=1+a_163^0, i_27^0'=i_27^post_26, length_25^0'=length_25^post_26, nondet_12^0'=nondet_12^post_10, r_37^0'=r_37^post_19, rcd_102^0'=rcd_102^post_32, rcd_110^0'=rcd_41^0, rcd_168^0'=rcd_41^0, rcd_172^0'=rcd_172^post_26, rcd_192^0'=rcd_41^0, rcd_67^0'=rcd_67^post_17, result_11^0'=result_11^post_26, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=head_SLAM_f_26^post_17, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_26, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_19, t_23^0'=temp_32^post_32, tail_15^0'=head_SLAM_f_26^post_17, temp0_28^0'=temp0_28^post_26, temp_32^0'=temp_32^post_26, temp_33^0'=temp_33^post_10, tmp_31^0'=tmp_31^post_26, x_22^0'=temp_32^post_32, x_SLAM_f_20^0'=head_16^post_19, y_21^0'=head_SLAM_f_26^post_17, [ -2+nondet_12^1_1>=1 && 2<=i_27^post_26 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_19 && 1+a_163^0>=1 ], cost: 13+7*a_163^0+2*nondet_12^1_1

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

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

Obtained the following overall complexity (w.r.t. the length of the input n):
   Complexity:  Constant
   Cpx degree:  0
   Solved cost: 1
   Rule cost:   1
   Rule guard:  [ __disjvr_0^0==__disjvr_0^post_36 && __disjvr_1^0==__disjvr_1^post_36 && __disjvr_10^0==__disjvr_10^post_36 && __disjvr_11^0==__disjvr_11^post_36 && __disjvr_12^0==__disjvr_12^post_36 && __disjvr_2^0==__disjvr_2^post_36 && __disjvr_3^0==__disjvr_3^post_36 && __disjvr_4^0==__disjvr_4^post_36 && __disjvr_5^0==__disjvr_5^post_36 && __disjvr_6^0==__disjvr_6^post_36 && __disjvr_7^0==__disjvr_7^post_36 && __disjvr_8^0==__disjvr_8^post_36 && __disjvr_9^0==__disjvr_9^post_36 && a_137^0==a_137^post_36 && a_163^0==a_163^post_36 && a_193^0==a_193^post_36 && head_16^0==head_16^post_36 && head_29^0==head_29^post_36 && head_SLAM_f_26^0==head_SLAM_f_26^post_36 && i_108^0==i_108^post_36 && i_127^0==i_127^post_36 && i_27^0==i_27^post_36 && length_25^0==length_25^post_36 && nondet_12^0==nondet_12^post_36 && r_37^0==r_37^post_36 && rcd_102^0==rcd_102^post_36 && rcd_110^0==rcd_110^post_36 && rcd_168^0==rcd_168^post_36 && rcd_172^0==rcd_172^post_36 && rcd_192^0==rcd_192^post_36 && rcd_41^0==rcd_41^post_36 && rcd_67^0==rcd_67^post_36 && result_11^0==result_11^post_36 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_36 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_36 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_36 && t_23^0==t_23^post_36 && tail_15^0==tail_15^post_36 && temp0_19^0==temp0_19^post_36 && temp0_28^0==temp0_28^post_36 && temp_32^0==temp_32^post_36 && temp_33^0==temp_33^post_36 && tmp_31^0==tmp_31^post_36 && x_22^0==x_22^post_36 && x_SLAM_f_20^0==x_SLAM_f_20^post_36 && y_21^0==y_21^post_36 ]

WORST_CASE(Omega(1),?)