WORST_CASE(Omega(1),?) ### Pre-processing the ITS problem ### Initial linear ITS problem Start location: l31 0: l0 -> l2 : 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 && 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 9: l0 -> l8 : 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, [ 0<=a_137^0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_10==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_10 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_10==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_10 && head_16^post_10==head_16^post_10 && y_21^0<=x_22^0 && x_22^0<=y_21^0 && x_SLAM_f_20^post_10==x_SLAM_f_20^post_10 && y_21^post_10==y_21^post_10 && x_22^post_10==x_22^post_10 && t_23^post_10==t_23^post_10 && result_11^post_10==temp0_19^0 && a_137^0==a_137^post_10 && a_163^0==a_163^post_10 && a_193^0==a_193^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_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^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 ], cost: 1 1: l2 -> l3 : 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, [ 1+y_21^0<=x_22^0 && 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: l2 -> l3 : 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, [ 1+x_22^0<=y_21^0 && 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 ], cost: 1 3: l3 -> l4 : 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, [ t_23^post_4==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 && 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 && 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: l4 -> l5 : 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, [ 1+head_16^0<=y_21^0 && 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: l4 -> l5 : 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+y_21^0<=head_16^0 && 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 6: l5 -> l6 : 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, [ 1+y_21^0<=t_23^0 && 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 ], cost: 1 7: l5 -> l6 : 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, [ 1+t_23^0<=y_21^0 && 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: l6 -> l1 : 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 && 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 24: l1 -> l7 : 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, [ 0<=a_163^0 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_25==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_25 && y_21^0<=x_22^0 && x_22^0<=y_21^0 && x_SLAM_f_20^post_25==x_SLAM_f_20^post_25 && y_21^post_25==y_21^post_25 && x_22^post_25==x_22^post_25 && t_23^post_25==t_23^post_25 && result_11^post_25==temp0_19^0 && 1<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_25 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^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_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 && 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 ], cost: 1 25: l1 -> l20 : 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<=a_163^0 && 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 && r_37^post_26==r_37^post_26 && a_137^0==a_137^post_26 && a_163^0==a_163^post_26 && a_193^0==a_193^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 && 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_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_26 && t_23^0==t_23^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 && y_21^0==y_21^post_26 ], cost: 1 10: l8 -> l9 : 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, [ 1+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0<=head_16^0 && 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 ], cost: 1 11: l8 -> l9 : 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, [ 1+head_16^0<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 && 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: l9 -> l7 : 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, [ 1<=result_dot_nondet_sdv_special_RETURN_VALUE_14^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^0 && 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 ], cost: 1 13: l10 -> l11 : 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, [ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_14==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_14 && tail_15^post_14==temp_33^0 && temp_33^post_14==temp_33^post_14 && nondet_12^1_1==nondet_12^1_1 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_14==nondet_12^1_1 && nondet_12^post_14==nondet_12^post_14 && length_25^post_14==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_14 && head_SLAM_f_26^post_14==tail_15^post_14 && head_29^post_14==head_SLAM_f_26^post_14 && i_27^post_14==0 && 0<=i_27^post_14 && i_27^post_14<=0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_14<=tail_15^post_14 && tail_15^post_14<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_14 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_14<=head_SLAM_f_26^post_14 && head_SLAM_f_26^post_14<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_14 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_14<=head_29^post_14 && head_29^post_14<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_14 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_14<=length_25^post_14 && length_25^post_14<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_14 && tail_15^post_14<=head_SLAM_f_26^post_14 && head_SLAM_f_26^post_14<=tail_15^post_14 && head_SLAM_f_26^post_14<=head_29^post_14 && head_29^post_14<=head_SLAM_f_26^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 && i_108^0==i_108^post_14 && i_127^0==i_127^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_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_14 && t_23^0==t_23^post_14 && temp0_19^0==temp0_19^post_14 && temp0_28^0==temp0_28^post_14 && temp_32^0==temp_32^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 46: l11 -> l7 : a_137^0'=a_137^post_47, a_163^0'=a_163^post_47, a_193^0'=a_193^post_47, head_16^0'=head_16^post_47, head_29^0'=head_29^post_47, head_SLAM_f_26^0'=head_SLAM_f_26^post_47, i_108^0'=i_108^post_47, i_127^0'=i_127^post_47, i_27^0'=i_27^post_47, length_25^0'=length_25^post_47, nondet_12^0'=nondet_12^post_47, r_37^0'=r_37^post_47, rcd_102^0'=rcd_102^post_47, rcd_110^0'=rcd_110^post_47, rcd_168^0'=rcd_168^post_47, rcd_172^0'=rcd_172^post_47, rcd_192^0'=rcd_192^post_47, rcd_41^0'=rcd_41^post_47, rcd_67^0'=rcd_67^post_47, result_11^0'=result_11^post_47, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_47, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_47, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_47, t_23^0'=t_23^post_47, tail_15^0'=tail_15^post_47, temp0_19^0'=temp0_19^post_47, temp0_28^0'=temp0_28^post_47, temp_32^0'=temp_32^post_47, temp_33^0'=temp_33^post_47, tmp_31^0'=tmp_31^post_47, x_22^0'=x_22^post_47, x_SLAM_f_20^0'=x_SLAM_f_20^post_47, y_21^0'=y_21^post_47, [ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_47==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_47 && 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_47==length_25^post_47 && head_SLAM_f_26^post_47==head_SLAM_f_26^post_47 && i_27^post_47==i_27^post_47 && temp0_28^post_47==temp0_28^post_47 && head_29^post_47==head_29^post_47 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_47==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_47 && tmp_31^post_47==tmp_31^post_47 && temp_32^post_47==temp_32^post_47 && head_16^post_47==result_11^1_2_2 && result_11^2_1==result_11^2_1 && x_SLAM_f_20^1_3_1==head_16^post_47 && 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_47<=tail_15^0 && tail_15^0<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_47 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_47<=head_16^post_47 && head_16^post_47<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_47 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_47<=x_SLAM_f_20^1_3_1 && x_SLAM_f_20^1_3_1<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_47 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_47<=y_21^1_1 && y_21^1_1<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_47 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_47<=x_22^1_1 && x_22^1_1<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_47 && tail_15^0<=y_21^1_1 && y_21^1_1<=tail_15^0 && head_16^post_47<=x_SLAM_f_20^1_3_1 && x_SLAM_f_20^1_3_1<=head_16^post_47 && 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_47==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_47 && y_21^1_1<=x_22^1_1 && x_22^1_1<=y_21^1_1 && x_SLAM_f_20^post_47==x_SLAM_f_20^post_47 && y_21^post_47==y_21^post_47 && x_22^post_47==x_22^post_47 && t_23^post_47==t_23^post_47 && result_11^post_47==temp0_19^0 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_47<=0 && a_137^0==a_137^post_47 && a_163^0==a_163^post_47 && a_193^0==a_193^post_47 && i_108^0==i_108^post_47 && i_127^0==i_127^post_47 && nondet_12^0==nondet_12^post_47 && r_37^0==r_37^post_47 && rcd_102^0==rcd_102^post_47 && rcd_110^0==rcd_110^post_47 && rcd_168^0==rcd_168^post_47 && rcd_172^0==rcd_172^post_47 && rcd_192^0==rcd_192^post_47 && rcd_41^0==rcd_41^post_47 && rcd_67^0==rcd_67^post_47 && tail_15^0==tail_15^post_47 && temp0_19^0==temp0_19^post_47 && temp_33^0==temp_33^post_47 ], cost: 1 47: l11 -> l12 : a_137^0'=a_137^post_48, a_163^0'=a_163^post_48, a_193^0'=a_193^post_48, head_16^0'=head_16^post_48, head_29^0'=head_29^post_48, head_SLAM_f_26^0'=head_SLAM_f_26^post_48, i_108^0'=i_108^post_48, i_127^0'=i_127^post_48, i_27^0'=i_27^post_48, length_25^0'=length_25^post_48, nondet_12^0'=nondet_12^post_48, r_37^0'=r_37^post_48, rcd_102^0'=rcd_102^post_48, rcd_110^0'=rcd_110^post_48, rcd_168^0'=rcd_168^post_48, rcd_172^0'=rcd_172^post_48, rcd_192^0'=rcd_192^post_48, rcd_41^0'=rcd_41^post_48, rcd_67^0'=rcd_67^post_48, result_11^0'=result_11^post_48, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_48, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_48, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_48, t_23^0'=t_23^post_48, tail_15^0'=tail_15^post_48, temp0_19^0'=temp0_19^post_48, temp0_28^0'=temp0_28^post_48, temp_32^0'=temp_32^post_48, temp_33^0'=temp_33^post_48, tmp_31^0'=tmp_31^post_48, x_22^0'=x_22^post_48, x_SLAM_f_20^0'=x_SLAM_f_20^post_48, y_21^0'=y_21^post_48, [ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_48==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_48 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_48==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_48 && tail_15^post_48==tail_15^post_48 && head_SLAM_f_26^post_48==head_SLAM_f_26^post_48 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_48==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_48 && 1+i_27^0<=length_25^0 && tmp_31^post_48==temp_32^0 && temp_32^post_48==temp_32^post_48 && head_29^post_48==tmp_31^post_48 && i_27^post_48==1+i_27^0 && 1<=i_27^post_48 && i_27^post_48<=1 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_48<=tail_15^post_48 && tail_15^post_48<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_48 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_48<=head_SLAM_f_26^post_48 && head_SLAM_f_26^post_48<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_48 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_48<=length_25^0 && length_25^0<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_48 && tail_15^post_48<=head_SLAM_f_26^post_48 && head_SLAM_f_26^post_48<=tail_15^post_48 && head_29^post_48<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_48 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_48<=head_29^post_48 && head_29^post_48<=tmp_31^post_48 && tmp_31^post_48<=head_29^post_48 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_48<=tmp_31^post_48 && tmp_31^post_48<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_48 && 1<=length_25^0 && a_137^0==a_137^post_48 && a_163^0==a_163^post_48 && a_193^0==a_193^post_48 && head_16^0==head_16^post_48 && i_108^0==i_108^post_48 && i_127^0==i_127^post_48 && length_25^0==length_25^post_48 && nondet_12^0==nondet_12^post_48 && r_37^0==r_37^post_48 && rcd_102^0==rcd_102^post_48 && rcd_110^0==rcd_110^post_48 && rcd_168^0==rcd_168^post_48 && rcd_172^0==rcd_172^post_48 && rcd_192^0==rcd_192^post_48 && rcd_41^0==rcd_41^post_48 && rcd_67^0==rcd_67^post_48 && result_11^0==result_11^post_48 && t_23^0==t_23^post_48 && temp0_19^0==temp0_19^post_48 && temp0_28^0==temp0_28^post_48 && temp_33^0==temp_33^post_48 && x_22^0==x_22^post_48 && x_SLAM_f_20^0==x_SLAM_f_20^post_48 && y_21^0==y_21^post_48 ], cost: 1 14: l12 -> l13 : 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, [ 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_15==length_25^post_15 && head_SLAM_f_26^post_15==head_SLAM_f_26^post_15 && i_27^post_15==i_27^post_15 && temp0_28^post_15==temp0_28^post_15 && head_29^post_15==head_29^post_15 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_15==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_15 && tmp_31^post_15==tmp_31^post_15 && temp_32^post_15==temp_32^post_15 && head_16^1_1==result_11^1_1 && result_11^post_15==result_11^post_15 && x_SLAM_f_20^1_1==head_16^1_1 && y_21^post_15==tail_15^0 && x_22^post_15==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_15 && y_21^post_15<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^1_1 && tail_15^0<=y_21^post_15 && y_21^post_15<=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_15 && x_22^post_15<=head_16^1_1 && x_SLAM_f_20^1_1<=x_22^post_15 && x_22^post_15<=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_15==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_15 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_15==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_15 && tail_15^post_15==tail_15^post_15 && head_16^post_15==head_16^post_15 && x_SLAM_f_20^post_15==x_SLAM_f_20^post_15 && a_137^0==a_137^post_15 && a_163^0==a_163^post_15 && a_193^0==a_193^post_15 && i_108^0==i_108^post_15 && i_127^0==i_127^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 && t_23^0==t_23^post_15 && temp0_19^0==temp0_19^post_15 && temp_33^0==temp_33^post_15 ], cost: 1 23: l12 -> l18 : 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, [ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_24==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_24 && tail_15^post_24==tail_15^post_24 && head_SLAM_f_26^post_24==head_SLAM_f_26^post_24 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_24==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_24 && rcd_67^post_24==rcd_67^post_24 && 1+i_27^0<=length_25^0 && tmp_31^post_24==temp_32^0 && temp_32^post_24==temp_32^post_24 && head_29^post_24==tmp_31^post_24 && i_27^post_24==1+i_27^0 && 2<=i_27^post_24 && i_27^post_24<=2 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24<=tail_15^post_24 && tail_15^post_24<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24<=head_SLAM_f_26^post_24 && head_SLAM_f_26^post_24<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_24<=length_25^0 && length_25^0<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_24 && tail_15^post_24<=head_SLAM_f_26^post_24 && head_SLAM_f_26^post_24<=tail_15^post_24 && head_29^post_24<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_24 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_24<=head_29^post_24 && head_29^post_24<=tmp_31^post_24 && tmp_31^post_24<=head_29^post_24 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_24<=tmp_31^post_24 && tmp_31^post_24<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_24 && 1<=length_25^0 && 2<=length_25^0 && 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 && i_108^0==i_108^post_24 && i_127^0==i_127^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 && result_11^0==result_11^post_24 && t_23^0==t_23^post_24 && temp0_19^0==temp0_19^post_24 && temp0_28^0==temp0_28^post_24 && temp_33^0==temp_33^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 15: l13 -> l14 : 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, [ 1+y_21^0<=x_22^0 && 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 16: l13 -> l14 : 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, [ 1+x_22^0<=y_21^0 && 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 ], cost: 1 17: l14 -> l15 : 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, [ t_23^post_18==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_18 && t_23^post_18<=head_16^0 && 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 && 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 ], cost: 1 18: l15 -> l16 : 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, [ 1+head_16^0<=y_21^0 && 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 ], cost: 1 19: l15 -> l16 : 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, [ 1+y_21^0<=head_16^0 && 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: l16 -> l17 : 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, [ 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_21==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_21 && head_16^post_21==head_16^post_21 && y_21^0<=x_22^0 && x_22^0<=y_21^0 && x_SLAM_f_20^post_21==x_SLAM_f_20^post_21 && y_21^post_21==y_21^post_21 && x_22^post_21==x_22^post_21 && t_23^post_21==t_23^post_21 && result_11^post_21==temp0_19^0 && a_137^0==a_137^post_21 && a_163^0==a_163^post_21 && a_193^0==a_193^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_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 ], cost: 1 21: l17 -> l7 : 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, [ 1+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0<=head_16^0 && 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: l17 -> l7 : 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, [ 1+head_16^0<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 && 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 35: l18 -> l25 : 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, [ 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_36==length_25^post_36 && head_SLAM_f_26^post_36==head_SLAM_f_26^post_36 && i_27^post_36==i_27^post_36 && temp0_28^post_36==temp0_28^post_36 && head_29^post_36==head_29^post_36 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_36==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_36 && tmp_31^post_36==tmp_31^post_36 && temp_32^post_36==temp_32^post_36 && head_16^1_2==result_11^1_2_1 && result_11^post_36==result_11^post_36 && x_SLAM_f_20^1_2_1==head_16^1_2 && y_21^post_36==tail_15^0 && x_22^post_36==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_36 && y_21^post_36<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^1_2_1 && tail_15^0<=y_21^post_36 && y_21^post_36<=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_36 && x_22^post_36<=head_16^1_2 && x_SLAM_f_20^1_2_1<=x_22^post_36 && x_22^post_36<=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_36 && 0<=i_27^post_36 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_36==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_36 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_36==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_36 && tail_15^post_36==tail_15^post_36 && head_16^post_36==head_16^post_36 && x_SLAM_f_20^post_36==x_SLAM_f_20^post_36 && i_127^post_36==i_127^post_36 && rcd_168^post_36==rcd_168^post_36 && rcd_172^post_36==rcd_172^post_36 && a_137^0==a_137^post_36 && a_163^0==a_163^post_36 && a_193^0==a_193^post_36 && i_108^0==i_108^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_192^0==rcd_192^post_36 && rcd_41^0==rcd_41^post_36 && rcd_67^0==rcd_67^post_36 && t_23^0==t_23^post_36 && temp0_19^0==temp0_19^post_36 && temp_33^0==temp_33^post_36 ], cost: 1 44: l18 -> l30 : a_137^0'=a_137^post_45, a_163^0'=a_163^post_45, a_193^0'=a_193^post_45, head_16^0'=head_16^post_45, head_29^0'=head_29^post_45, head_SLAM_f_26^0'=head_SLAM_f_26^post_45, i_108^0'=i_108^post_45, i_127^0'=i_127^post_45, i_27^0'=i_27^post_45, length_25^0'=length_25^post_45, nondet_12^0'=nondet_12^post_45, r_37^0'=r_37^post_45, rcd_102^0'=rcd_102^post_45, rcd_110^0'=rcd_110^post_45, rcd_168^0'=rcd_168^post_45, rcd_172^0'=rcd_172^post_45, rcd_192^0'=rcd_192^post_45, rcd_41^0'=rcd_41^post_45, rcd_67^0'=rcd_67^post_45, result_11^0'=result_11^post_45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_45, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_45, t_23^0'=t_23^post_45, tail_15^0'=tail_15^post_45, temp0_19^0'=temp0_19^post_45, temp0_28^0'=temp0_28^post_45, temp_32^0'=temp_32^post_45, temp_33^0'=temp_33^post_45, tmp_31^0'=tmp_31^post_45, x_22^0'=x_22^post_45, x_SLAM_f_20^0'=x_SLAM_f_20^post_45, y_21^0'=y_21^post_45, [ 0<=i_27^0 && rcd_102^post_45==rcd_102^post_45 && i_108^post_45==i_108^post_45 && 1+i_27^0<=length_25^0 && tmp_31^post_45==temp_32^0 && temp_32^post_45==temp_32^post_45 && head_29^post_45==tmp_31^post_45 && i_27^post_45==1+i_27^0 && rcd_110^post_45==rcd_110^post_45 && i_27^post_45<=1+i_108^post_45 && 1+i_108^post_45<=i_27^post_45 && i_108^post_45<=-1+i_27^post_45 && -1+i_27^post_45<=i_108^post_45 && rcd_41^0<=rcd_110^post_45 && rcd_110^post_45<=rcd_41^0 && 1+i_108^post_45<=length_25^0 && rcd_41^post_45==rcd_41^post_45 && rcd_41^post_45<=rcd_110^post_45 && rcd_110^post_45<=rcd_41^post_45 && a_137^0==a_137^post_45 && a_163^0==a_163^post_45 && a_193^0==a_193^post_45 && head_16^0==head_16^post_45 && head_SLAM_f_26^0==head_SLAM_f_26^post_45 && i_127^0==i_127^post_45 && length_25^0==length_25^post_45 && nondet_12^0==nondet_12^post_45 && r_37^0==r_37^post_45 && rcd_168^0==rcd_168^post_45 && rcd_172^0==rcd_172^post_45 && rcd_192^0==rcd_192^post_45 && rcd_67^0==rcd_67^post_45 && result_11^0==result_11^post_45 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_45 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_45 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_45 && t_23^0==t_23^post_45 && tail_15^0==tail_15^post_45 && temp0_19^0==temp0_19^post_45 && temp0_28^0==temp0_28^post_45 && temp_33^0==temp_33^post_45 && x_22^0==x_22^post_45 && x_SLAM_f_20^0==x_SLAM_f_20^post_45 && y_21^0==y_21^post_45 ], cost: 1 26: l20 -> l21 : 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, [ 1+y_21^0<=x_22^0 && 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: l20 -> l21 : 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, [ 1+x_22^0<=y_21^0 && 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 ], cost: 1 28: l21 -> l22 : 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, [ t_23^post_29==x_22^0 && rcd_192^post_29==rcd_192^post_29 && a_193^post_29==a_193^post_29 && 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_29<=-1+a_163^0 && -1+a_163^0<=a_193^post_29 && rcd_41^0<=rcd_192^post_29 && rcd_192^post_29<=rcd_41^0 && a_137^0==a_137^post_29 && a_163^0==a_163^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_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 && 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: l22 -> l23 : 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, [ 1+head_16^0<=y_21^0 && 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: l22 -> l23 : 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+y_21^0<=head_16^0 && 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 ], cost: 1 31: l23 -> l24 : 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, [ 1+y_21^0<=t_23^0 && 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 ], cost: 1 32: l23 -> l24 : 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, [ 1+t_23^0<=y_21^0 && 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 33: l24 -> l19 : 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, [ 1<=result_dot_nondet_sdv_special_RETURN_VALUE_14^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^0 && rcd_41^post_34==rcd_41^post_34 && rcd_41^post_34<=rcd_192^0 && rcd_192^0<=rcd_41^post_34 && a_163^post_34==a_163^post_34 && a_163^post_34<=a_193^0 && a_193^0<=a_163^post_34 && a_137^0==a_137^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_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 ], cost: 1 34: l19 -> l1 : 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, [ 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 ], cost: 1 36: l25 -> l26 : a_137^0'=a_137^post_37, a_163^0'=a_163^post_37, a_193^0'=a_193^post_37, head_16^0'=head_16^post_37, head_29^0'=head_29^post_37, head_SLAM_f_26^0'=head_SLAM_f_26^post_37, i_108^0'=i_108^post_37, i_127^0'=i_127^post_37, i_27^0'=i_27^post_37, length_25^0'=length_25^post_37, nondet_12^0'=nondet_12^post_37, r_37^0'=r_37^post_37, rcd_102^0'=rcd_102^post_37, rcd_110^0'=rcd_110^post_37, rcd_168^0'=rcd_168^post_37, rcd_172^0'=rcd_172^post_37, rcd_192^0'=rcd_192^post_37, rcd_41^0'=rcd_41^post_37, rcd_67^0'=rcd_67^post_37, result_11^0'=result_11^post_37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_37, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_37, t_23^0'=t_23^post_37, tail_15^0'=tail_15^post_37, temp0_19^0'=temp0_19^post_37, temp0_28^0'=temp0_28^post_37, temp_32^0'=temp_32^post_37, temp_33^0'=temp_33^post_37, tmp_31^0'=tmp_31^post_37, x_22^0'=x_22^post_37, x_SLAM_f_20^0'=x_SLAM_f_20^post_37, y_21^0'=y_21^post_37, [ 1+y_21^0<=x_22^0 && a_137^0==a_137^post_37 && a_163^0==a_163^post_37 && a_193^0==a_193^post_37 && head_16^0==head_16^post_37 && head_29^0==head_29^post_37 && head_SLAM_f_26^0==head_SLAM_f_26^post_37 && i_108^0==i_108^post_37 && i_127^0==i_127^post_37 && i_27^0==i_27^post_37 && length_25^0==length_25^post_37 && nondet_12^0==nondet_12^post_37 && r_37^0==r_37^post_37 && rcd_102^0==rcd_102^post_37 && rcd_110^0==rcd_110^post_37 && rcd_168^0==rcd_168^post_37 && rcd_172^0==rcd_172^post_37 && rcd_192^0==rcd_192^post_37 && rcd_41^0==rcd_41^post_37 && rcd_67^0==rcd_67^post_37 && result_11^0==result_11^post_37 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_37 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_37 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_37 && t_23^0==t_23^post_37 && tail_15^0==tail_15^post_37 && temp0_19^0==temp0_19^post_37 && temp0_28^0==temp0_28^post_37 && temp_32^0==temp_32^post_37 && temp_33^0==temp_33^post_37 && tmp_31^0==tmp_31^post_37 && x_22^0==x_22^post_37 && x_SLAM_f_20^0==x_SLAM_f_20^post_37 && y_21^0==y_21^post_37 ], cost: 1 37: l25 -> l26 : a_137^0'=a_137^post_38, a_163^0'=a_163^post_38, a_193^0'=a_193^post_38, head_16^0'=head_16^post_38, head_29^0'=head_29^post_38, head_SLAM_f_26^0'=head_SLAM_f_26^post_38, i_108^0'=i_108^post_38, i_127^0'=i_127^post_38, i_27^0'=i_27^post_38, length_25^0'=length_25^post_38, nondet_12^0'=nondet_12^post_38, r_37^0'=r_37^post_38, rcd_102^0'=rcd_102^post_38, rcd_110^0'=rcd_110^post_38, rcd_168^0'=rcd_168^post_38, rcd_172^0'=rcd_172^post_38, rcd_192^0'=rcd_192^post_38, rcd_41^0'=rcd_41^post_38, rcd_67^0'=rcd_67^post_38, result_11^0'=result_11^post_38, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_38, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_38, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_38, t_23^0'=t_23^post_38, tail_15^0'=tail_15^post_38, temp0_19^0'=temp0_19^post_38, temp0_28^0'=temp0_28^post_38, temp_32^0'=temp_32^post_38, temp_33^0'=temp_33^post_38, tmp_31^0'=tmp_31^post_38, x_22^0'=x_22^post_38, x_SLAM_f_20^0'=x_SLAM_f_20^post_38, y_21^0'=y_21^post_38, [ 1+x_22^0<=y_21^0 && a_137^0==a_137^post_38 && a_163^0==a_163^post_38 && a_193^0==a_193^post_38 && head_16^0==head_16^post_38 && head_29^0==head_29^post_38 && head_SLAM_f_26^0==head_SLAM_f_26^post_38 && i_108^0==i_108^post_38 && i_127^0==i_127^post_38 && i_27^0==i_27^post_38 && length_25^0==length_25^post_38 && nondet_12^0==nondet_12^post_38 && r_37^0==r_37^post_38 && rcd_102^0==rcd_102^post_38 && rcd_110^0==rcd_110^post_38 && rcd_168^0==rcd_168^post_38 && rcd_172^0==rcd_172^post_38 && rcd_192^0==rcd_192^post_38 && rcd_41^0==rcd_41^post_38 && rcd_67^0==rcd_67^post_38 && result_11^0==result_11^post_38 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_38 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_38 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_38 && t_23^0==t_23^post_38 && tail_15^0==tail_15^post_38 && temp0_19^0==temp0_19^post_38 && temp0_28^0==temp0_28^post_38 && temp_32^0==temp_32^post_38 && temp_33^0==temp_33^post_38 && tmp_31^0==tmp_31^post_38 && x_22^0==x_22^post_38 && x_SLAM_f_20^0==x_SLAM_f_20^post_38 && y_21^0==y_21^post_38 ], cost: 1 38: l26 -> l27 : a_137^0'=a_137^post_39, a_163^0'=a_163^post_39, a_193^0'=a_193^post_39, head_16^0'=head_16^post_39, head_29^0'=head_29^post_39, head_SLAM_f_26^0'=head_SLAM_f_26^post_39, i_108^0'=i_108^post_39, i_127^0'=i_127^post_39, i_27^0'=i_27^post_39, length_25^0'=length_25^post_39, nondet_12^0'=nondet_12^post_39, r_37^0'=r_37^post_39, rcd_102^0'=rcd_102^post_39, rcd_110^0'=rcd_110^post_39, rcd_168^0'=rcd_168^post_39, rcd_172^0'=rcd_172^post_39, rcd_192^0'=rcd_192^post_39, rcd_41^0'=rcd_41^post_39, rcd_67^0'=rcd_67^post_39, result_11^0'=result_11^post_39, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_39, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_39, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_39, t_23^0'=t_23^post_39, tail_15^0'=tail_15^post_39, temp0_19^0'=temp0_19^post_39, temp0_28^0'=temp0_28^post_39, temp_32^0'=temp_32^post_39, temp_33^0'=temp_33^post_39, tmp_31^0'=tmp_31^post_39, x_22^0'=x_22^post_39, x_SLAM_f_20^0'=x_SLAM_f_20^post_39, y_21^0'=y_21^post_39, [ t_23^post_39==x_22^0 && a_137^post_39==a_137^post_39 && 0<=-a_137^post_39+a_163^0 && -a_137^post_39+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_39 && t_23^post_39<=head_16^0 && a_137^post_39<=a_163^0 && a_163^0<=a_137^post_39 && rcd_41^0<=rcd_168^0 && rcd_168^0<=rcd_41^0 && a_163^0==a_163^post_39 && a_193^0==a_193^post_39 && head_16^0==head_16^post_39 && head_29^0==head_29^post_39 && head_SLAM_f_26^0==head_SLAM_f_26^post_39 && i_108^0==i_108^post_39 && i_127^0==i_127^post_39 && i_27^0==i_27^post_39 && length_25^0==length_25^post_39 && nondet_12^0==nondet_12^post_39 && r_37^0==r_37^post_39 && rcd_102^0==rcd_102^post_39 && rcd_110^0==rcd_110^post_39 && rcd_168^0==rcd_168^post_39 && rcd_172^0==rcd_172^post_39 && rcd_192^0==rcd_192^post_39 && rcd_41^0==rcd_41^post_39 && rcd_67^0==rcd_67^post_39 && result_11^0==result_11^post_39 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_39 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_39 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_39 && tail_15^0==tail_15^post_39 && temp0_19^0==temp0_19^post_39 && temp0_28^0==temp0_28^post_39 && temp_32^0==temp_32^post_39 && temp_33^0==temp_33^post_39 && tmp_31^0==tmp_31^post_39 && x_22^0==x_22^post_39 && x_SLAM_f_20^0==x_SLAM_f_20^post_39 && y_21^0==y_21^post_39 ], cost: 1 39: l27 -> l28 : a_137^0'=a_137^post_40, a_163^0'=a_163^post_40, a_193^0'=a_193^post_40, head_16^0'=head_16^post_40, head_29^0'=head_29^post_40, head_SLAM_f_26^0'=head_SLAM_f_26^post_40, i_108^0'=i_108^post_40, i_127^0'=i_127^post_40, i_27^0'=i_27^post_40, length_25^0'=length_25^post_40, nondet_12^0'=nondet_12^post_40, r_37^0'=r_37^post_40, rcd_102^0'=rcd_102^post_40, rcd_110^0'=rcd_110^post_40, rcd_168^0'=rcd_168^post_40, rcd_172^0'=rcd_172^post_40, rcd_192^0'=rcd_192^post_40, rcd_41^0'=rcd_41^post_40, rcd_67^0'=rcd_67^post_40, result_11^0'=result_11^post_40, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_40, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_40, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_40, t_23^0'=t_23^post_40, tail_15^0'=tail_15^post_40, temp0_19^0'=temp0_19^post_40, temp0_28^0'=temp0_28^post_40, temp_32^0'=temp_32^post_40, temp_33^0'=temp_33^post_40, tmp_31^0'=tmp_31^post_40, x_22^0'=x_22^post_40, x_SLAM_f_20^0'=x_SLAM_f_20^post_40, y_21^0'=y_21^post_40, [ 1+head_16^0<=y_21^0 && a_137^0==a_137^post_40 && a_163^0==a_163^post_40 && a_193^0==a_193^post_40 && head_16^0==head_16^post_40 && head_29^0==head_29^post_40 && head_SLAM_f_26^0==head_SLAM_f_26^post_40 && i_108^0==i_108^post_40 && i_127^0==i_127^post_40 && i_27^0==i_27^post_40 && length_25^0==length_25^post_40 && nondet_12^0==nondet_12^post_40 && r_37^0==r_37^post_40 && rcd_102^0==rcd_102^post_40 && rcd_110^0==rcd_110^post_40 && rcd_168^0==rcd_168^post_40 && rcd_172^0==rcd_172^post_40 && rcd_192^0==rcd_192^post_40 && rcd_41^0==rcd_41^post_40 && rcd_67^0==rcd_67^post_40 && result_11^0==result_11^post_40 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_40 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_40 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_40 && t_23^0==t_23^post_40 && tail_15^0==tail_15^post_40 && temp0_19^0==temp0_19^post_40 && temp0_28^0==temp0_28^post_40 && temp_32^0==temp_32^post_40 && temp_33^0==temp_33^post_40 && tmp_31^0==tmp_31^post_40 && x_22^0==x_22^post_40 && x_SLAM_f_20^0==x_SLAM_f_20^post_40 && y_21^0==y_21^post_40 ], cost: 1 40: l27 -> l28 : a_137^0'=a_137^post_41, a_163^0'=a_163^post_41, a_193^0'=a_193^post_41, head_16^0'=head_16^post_41, head_29^0'=head_29^post_41, head_SLAM_f_26^0'=head_SLAM_f_26^post_41, i_108^0'=i_108^post_41, i_127^0'=i_127^post_41, i_27^0'=i_27^post_41, length_25^0'=length_25^post_41, nondet_12^0'=nondet_12^post_41, r_37^0'=r_37^post_41, rcd_102^0'=rcd_102^post_41, rcd_110^0'=rcd_110^post_41, rcd_168^0'=rcd_168^post_41, rcd_172^0'=rcd_172^post_41, rcd_192^0'=rcd_192^post_41, rcd_41^0'=rcd_41^post_41, rcd_67^0'=rcd_67^post_41, result_11^0'=result_11^post_41, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_41, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_41, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_41, t_23^0'=t_23^post_41, tail_15^0'=tail_15^post_41, temp0_19^0'=temp0_19^post_41, temp0_28^0'=temp0_28^post_41, temp_32^0'=temp_32^post_41, temp_33^0'=temp_33^post_41, tmp_31^0'=tmp_31^post_41, x_22^0'=x_22^post_41, x_SLAM_f_20^0'=x_SLAM_f_20^post_41, y_21^0'=y_21^post_41, [ 1+y_21^0<=head_16^0 && a_137^0==a_137^post_41 && a_163^0==a_163^post_41 && a_193^0==a_193^post_41 && head_16^0==head_16^post_41 && head_29^0==head_29^post_41 && head_SLAM_f_26^0==head_SLAM_f_26^post_41 && i_108^0==i_108^post_41 && i_127^0==i_127^post_41 && i_27^0==i_27^post_41 && length_25^0==length_25^post_41 && nondet_12^0==nondet_12^post_41 && r_37^0==r_37^post_41 && rcd_102^0==rcd_102^post_41 && rcd_110^0==rcd_110^post_41 && rcd_168^0==rcd_168^post_41 && rcd_172^0==rcd_172^post_41 && rcd_192^0==rcd_192^post_41 && rcd_41^0==rcd_41^post_41 && rcd_67^0==rcd_67^post_41 && result_11^0==result_11^post_41 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_41 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_41 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_41 && t_23^0==t_23^post_41 && tail_15^0==tail_15^post_41 && temp0_19^0==temp0_19^post_41 && temp0_28^0==temp0_28^post_41 && temp_32^0==temp_32^post_41 && temp_33^0==temp_33^post_41 && tmp_31^0==tmp_31^post_41 && x_22^0==x_22^post_41 && x_SLAM_f_20^0==x_SLAM_f_20^post_41 && y_21^0==y_21^post_41 ], cost: 1 41: l28 -> l29 : a_137^0'=a_137^post_42, a_163^0'=a_163^post_42, a_193^0'=a_193^post_42, head_16^0'=head_16^post_42, head_29^0'=head_29^post_42, head_SLAM_f_26^0'=head_SLAM_f_26^post_42, i_108^0'=i_108^post_42, i_127^0'=i_127^post_42, i_27^0'=i_27^post_42, length_25^0'=length_25^post_42, nondet_12^0'=nondet_12^post_42, r_37^0'=r_37^post_42, rcd_102^0'=rcd_102^post_42, rcd_110^0'=rcd_110^post_42, rcd_168^0'=rcd_168^post_42, rcd_172^0'=rcd_172^post_42, rcd_192^0'=rcd_192^post_42, rcd_41^0'=rcd_41^post_42, rcd_67^0'=rcd_67^post_42, result_11^0'=result_11^post_42, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_42, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_42, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_42, t_23^0'=t_23^post_42, tail_15^0'=tail_15^post_42, temp0_19^0'=temp0_19^post_42, temp0_28^0'=temp0_28^post_42, temp_32^0'=temp_32^post_42, temp_33^0'=temp_33^post_42, tmp_31^0'=tmp_31^post_42, x_22^0'=x_22^post_42, x_SLAM_f_20^0'=x_SLAM_f_20^post_42, y_21^0'=y_21^post_42, [ 1+y_21^0<=t_23^0 && a_137^0==a_137^post_42 && a_163^0==a_163^post_42 && a_193^0==a_193^post_42 && head_16^0==head_16^post_42 && head_29^0==head_29^post_42 && head_SLAM_f_26^0==head_SLAM_f_26^post_42 && i_108^0==i_108^post_42 && i_127^0==i_127^post_42 && i_27^0==i_27^post_42 && length_25^0==length_25^post_42 && nondet_12^0==nondet_12^post_42 && r_37^0==r_37^post_42 && rcd_102^0==rcd_102^post_42 && rcd_110^0==rcd_110^post_42 && rcd_168^0==rcd_168^post_42 && rcd_172^0==rcd_172^post_42 && rcd_192^0==rcd_192^post_42 && rcd_41^0==rcd_41^post_42 && rcd_67^0==rcd_67^post_42 && result_11^0==result_11^post_42 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_42 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_42 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_42 && t_23^0==t_23^post_42 && tail_15^0==tail_15^post_42 && temp0_19^0==temp0_19^post_42 && temp0_28^0==temp0_28^post_42 && temp_32^0==temp_32^post_42 && temp_33^0==temp_33^post_42 && tmp_31^0==tmp_31^post_42 && x_22^0==x_22^post_42 && x_SLAM_f_20^0==x_SLAM_f_20^post_42 && y_21^0==y_21^post_42 ], cost: 1 42: l28 -> l29 : a_137^0'=a_137^post_43, a_163^0'=a_163^post_43, a_193^0'=a_193^post_43, head_16^0'=head_16^post_43, head_29^0'=head_29^post_43, head_SLAM_f_26^0'=head_SLAM_f_26^post_43, i_108^0'=i_108^post_43, i_127^0'=i_127^post_43, i_27^0'=i_27^post_43, length_25^0'=length_25^post_43, nondet_12^0'=nondet_12^post_43, r_37^0'=r_37^post_43, rcd_102^0'=rcd_102^post_43, rcd_110^0'=rcd_110^post_43, rcd_168^0'=rcd_168^post_43, rcd_172^0'=rcd_172^post_43, rcd_192^0'=rcd_192^post_43, rcd_41^0'=rcd_41^post_43, rcd_67^0'=rcd_67^post_43, result_11^0'=result_11^post_43, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_43, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_43, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_43, t_23^0'=t_23^post_43, tail_15^0'=tail_15^post_43, temp0_19^0'=temp0_19^post_43, temp0_28^0'=temp0_28^post_43, temp_32^0'=temp_32^post_43, temp_33^0'=temp_33^post_43, tmp_31^0'=tmp_31^post_43, x_22^0'=x_22^post_43, x_SLAM_f_20^0'=x_SLAM_f_20^post_43, y_21^0'=y_21^post_43, [ 1+t_23^0<=y_21^0 && a_137^0==a_137^post_43 && a_163^0==a_163^post_43 && a_193^0==a_193^post_43 && head_16^0==head_16^post_43 && head_29^0==head_29^post_43 && head_SLAM_f_26^0==head_SLAM_f_26^post_43 && i_108^0==i_108^post_43 && i_127^0==i_127^post_43 && i_27^0==i_27^post_43 && length_25^0==length_25^post_43 && nondet_12^0==nondet_12^post_43 && r_37^0==r_37^post_43 && rcd_102^0==rcd_102^post_43 && rcd_110^0==rcd_110^post_43 && rcd_168^0==rcd_168^post_43 && rcd_172^0==rcd_172^post_43 && rcd_192^0==rcd_192^post_43 && rcd_41^0==rcd_41^post_43 && rcd_67^0==rcd_67^post_43 && result_11^0==result_11^post_43 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_43 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_43 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_43 && t_23^0==t_23^post_43 && tail_15^0==tail_15^post_43 && temp0_19^0==temp0_19^post_43 && temp0_28^0==temp0_28^post_43 && temp_32^0==temp_32^post_43 && temp_33^0==temp_33^post_43 && tmp_31^0==tmp_31^post_43 && x_22^0==x_22^post_43 && x_SLAM_f_20^0==x_SLAM_f_20^post_43 && y_21^0==y_21^post_43 ], cost: 1 43: l29 -> l1 : a_137^0'=a_137^post_44, a_163^0'=a_163^post_44, a_193^0'=a_193^post_44, head_16^0'=head_16^post_44, head_29^0'=head_29^post_44, head_SLAM_f_26^0'=head_SLAM_f_26^post_44, i_108^0'=i_108^post_44, i_127^0'=i_127^post_44, i_27^0'=i_27^post_44, length_25^0'=length_25^post_44, nondet_12^0'=nondet_12^post_44, r_37^0'=r_37^post_44, rcd_102^0'=rcd_102^post_44, rcd_110^0'=rcd_110^post_44, rcd_168^0'=rcd_168^post_44, rcd_172^0'=rcd_172^post_44, rcd_192^0'=rcd_192^post_44, rcd_41^0'=rcd_41^post_44, rcd_67^0'=rcd_67^post_44, result_11^0'=result_11^post_44, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_44, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_44, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_44, t_23^0'=t_23^post_44, tail_15^0'=tail_15^post_44, temp0_19^0'=temp0_19^post_44, temp0_28^0'=temp0_28^post_44, temp_32^0'=temp_32^post_44, temp_33^0'=temp_33^post_44, tmp_31^0'=tmp_31^post_44, x_22^0'=x_22^post_44, x_SLAM_f_20^0'=x_SLAM_f_20^post_44, y_21^0'=y_21^post_44, [ 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_44==i_127^post_44 && -1+i_127^post_44<=a_137^0 && a_137^0<=-1+i_127^post_44 && a_137^0==a_137^post_44 && a_163^0==a_163^post_44 && a_193^0==a_193^post_44 && head_16^0==head_16^post_44 && head_29^0==head_29^post_44 && head_SLAM_f_26^0==head_SLAM_f_26^post_44 && i_108^0==i_108^post_44 && i_27^0==i_27^post_44 && length_25^0==length_25^post_44 && nondet_12^0==nondet_12^post_44 && r_37^0==r_37^post_44 && rcd_102^0==rcd_102^post_44 && rcd_110^0==rcd_110^post_44 && rcd_168^0==rcd_168^post_44 && rcd_172^0==rcd_172^post_44 && rcd_192^0==rcd_192^post_44 && rcd_41^0==rcd_41^post_44 && rcd_67^0==rcd_67^post_44 && result_11^0==result_11^post_44 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_44 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_44 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_44 && t_23^0==t_23^post_44 && tail_15^0==tail_15^post_44 && temp0_19^0==temp0_19^post_44 && temp0_28^0==temp0_28^post_44 && temp_32^0==temp_32^post_44 && temp_33^0==temp_33^post_44 && tmp_31^0==tmp_31^post_44 && x_22^0==x_22^post_44 && x_SLAM_f_20^0==x_SLAM_f_20^post_44 && y_21^0==y_21^post_44 ], cost: 1 45: l30 -> l18 : a_137^0'=a_137^post_46, a_163^0'=a_163^post_46, a_193^0'=a_193^post_46, head_16^0'=head_16^post_46, head_29^0'=head_29^post_46, head_SLAM_f_26^0'=head_SLAM_f_26^post_46, i_108^0'=i_108^post_46, i_127^0'=i_127^post_46, i_27^0'=i_27^post_46, length_25^0'=length_25^post_46, nondet_12^0'=nondet_12^post_46, r_37^0'=r_37^post_46, rcd_102^0'=rcd_102^post_46, rcd_110^0'=rcd_110^post_46, rcd_168^0'=rcd_168^post_46, rcd_172^0'=rcd_172^post_46, rcd_192^0'=rcd_192^post_46, rcd_41^0'=rcd_41^post_46, rcd_67^0'=rcd_67^post_46, result_11^0'=result_11^post_46, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_46, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_46, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_46, t_23^0'=t_23^post_46, tail_15^0'=tail_15^post_46, temp0_19^0'=temp0_19^post_46, temp0_28^0'=temp0_28^post_46, temp_32^0'=temp_32^post_46, temp_33^0'=temp_33^post_46, tmp_31^0'=tmp_31^post_46, x_22^0'=x_22^post_46, x_SLAM_f_20^0'=x_SLAM_f_20^post_46, y_21^0'=y_21^post_46, [ a_137^0==a_137^post_46 && a_163^0==a_163^post_46 && a_193^0==a_193^post_46 && head_16^0==head_16^post_46 && head_29^0==head_29^post_46 && head_SLAM_f_26^0==head_SLAM_f_26^post_46 && i_108^0==i_108^post_46 && i_127^0==i_127^post_46 && i_27^0==i_27^post_46 && length_25^0==length_25^post_46 && nondet_12^0==nondet_12^post_46 && r_37^0==r_37^post_46 && rcd_102^0==rcd_102^post_46 && rcd_110^0==rcd_110^post_46 && rcd_168^0==rcd_168^post_46 && rcd_172^0==rcd_172^post_46 && rcd_192^0==rcd_192^post_46 && rcd_41^0==rcd_41^post_46 && rcd_67^0==rcd_67^post_46 && result_11^0==result_11^post_46 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_46 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_46 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_46 && t_23^0==t_23^post_46 && tail_15^0==tail_15^post_46 && temp0_19^0==temp0_19^post_46 && temp0_28^0==temp0_28^post_46 && temp_32^0==temp_32^post_46 && temp_33^0==temp_33^post_46 && tmp_31^0==tmp_31^post_46 && x_22^0==x_22^post_46 && x_SLAM_f_20^0==x_SLAM_f_20^post_46 && y_21^0==y_21^post_46 ], cost: 1 48: l31 -> l10 : a_137^0'=a_137^post_49, a_163^0'=a_163^post_49, a_193^0'=a_193^post_49, head_16^0'=head_16^post_49, head_29^0'=head_29^post_49, head_SLAM_f_26^0'=head_SLAM_f_26^post_49, i_108^0'=i_108^post_49, i_127^0'=i_127^post_49, i_27^0'=i_27^post_49, length_25^0'=length_25^post_49, nondet_12^0'=nondet_12^post_49, r_37^0'=r_37^post_49, rcd_102^0'=rcd_102^post_49, rcd_110^0'=rcd_110^post_49, rcd_168^0'=rcd_168^post_49, rcd_172^0'=rcd_172^post_49, rcd_192^0'=rcd_192^post_49, rcd_41^0'=rcd_41^post_49, rcd_67^0'=rcd_67^post_49, result_11^0'=result_11^post_49, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_49, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_49, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_49, t_23^0'=t_23^post_49, tail_15^0'=tail_15^post_49, temp0_19^0'=temp0_19^post_49, temp0_28^0'=temp0_28^post_49, temp_32^0'=temp_32^post_49, temp_33^0'=temp_33^post_49, tmp_31^0'=tmp_31^post_49, x_22^0'=x_22^post_49, x_SLAM_f_20^0'=x_SLAM_f_20^post_49, y_21^0'=y_21^post_49, [ a_137^0==a_137^post_49 && a_163^0==a_163^post_49 && a_193^0==a_193^post_49 && head_16^0==head_16^post_49 && head_29^0==head_29^post_49 && head_SLAM_f_26^0==head_SLAM_f_26^post_49 && i_108^0==i_108^post_49 && i_127^0==i_127^post_49 && i_27^0==i_27^post_49 && length_25^0==length_25^post_49 && nondet_12^0==nondet_12^post_49 && r_37^0==r_37^post_49 && rcd_102^0==rcd_102^post_49 && rcd_110^0==rcd_110^post_49 && rcd_168^0==rcd_168^post_49 && rcd_172^0==rcd_172^post_49 && rcd_192^0==rcd_192^post_49 && rcd_41^0==rcd_41^post_49 && rcd_67^0==rcd_67^post_49 && result_11^0==result_11^post_49 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_49 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_49 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_49 && t_23^0==t_23^post_49 && tail_15^0==tail_15^post_49 && temp0_19^0==temp0_19^post_49 && temp0_28^0==temp0_28^post_49 && temp_32^0==temp_32^post_49 && temp_33^0==temp_33^post_49 && tmp_31^0==tmp_31^post_49 && x_22^0==x_22^post_49 && x_SLAM_f_20^0==x_SLAM_f_20^post_49 && y_21^0==y_21^post_49 ], cost: 1 Checking for constant complexity: The following rule is satisfiable with cost >= 1, yielding constant complexity: 48: l31 -> l10 : a_137^0'=a_137^post_49, a_163^0'=a_163^post_49, a_193^0'=a_193^post_49, head_16^0'=head_16^post_49, head_29^0'=head_29^post_49, head_SLAM_f_26^0'=head_SLAM_f_26^post_49, i_108^0'=i_108^post_49, i_127^0'=i_127^post_49, i_27^0'=i_27^post_49, length_25^0'=length_25^post_49, nondet_12^0'=nondet_12^post_49, r_37^0'=r_37^post_49, rcd_102^0'=rcd_102^post_49, rcd_110^0'=rcd_110^post_49, rcd_168^0'=rcd_168^post_49, rcd_172^0'=rcd_172^post_49, rcd_192^0'=rcd_192^post_49, rcd_41^0'=rcd_41^post_49, rcd_67^0'=rcd_67^post_49, result_11^0'=result_11^post_49, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_49, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_49, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_49, t_23^0'=t_23^post_49, tail_15^0'=tail_15^post_49, temp0_19^0'=temp0_19^post_49, temp0_28^0'=temp0_28^post_49, temp_32^0'=temp_32^post_49, temp_33^0'=temp_33^post_49, tmp_31^0'=tmp_31^post_49, x_22^0'=x_22^post_49, x_SLAM_f_20^0'=x_SLAM_f_20^post_49, y_21^0'=y_21^post_49, [ a_137^0==a_137^post_49 && a_163^0==a_163^post_49 && a_193^0==a_193^post_49 && head_16^0==head_16^post_49 && head_29^0==head_29^post_49 && head_SLAM_f_26^0==head_SLAM_f_26^post_49 && i_108^0==i_108^post_49 && i_127^0==i_127^post_49 && i_27^0==i_27^post_49 && length_25^0==length_25^post_49 && nondet_12^0==nondet_12^post_49 && r_37^0==r_37^post_49 && rcd_102^0==rcd_102^post_49 && rcd_110^0==rcd_110^post_49 && rcd_168^0==rcd_168^post_49 && rcd_172^0==rcd_172^post_49 && rcd_192^0==rcd_192^post_49 && rcd_41^0==rcd_41^post_49 && rcd_67^0==rcd_67^post_49 && result_11^0==result_11^post_49 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_49 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_49 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_49 && t_23^0==t_23^post_49 && tail_15^0==tail_15^post_49 && temp0_19^0==temp0_19^post_49 && temp0_28^0==temp0_28^post_49 && temp_32^0==temp_32^post_49 && temp_33^0==temp_33^post_49 && tmp_31^0==tmp_31^post_49 && x_22^0==x_22^post_49 && x_SLAM_f_20^0==x_SLAM_f_20^post_49 && y_21^0==y_21^post_49 ], cost: 1 Removed unreachable and leaf rules: Start location: l31 25: l1 -> l20 : 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<=a_163^0 && 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 && r_37^post_26==r_37^post_26 && a_137^0==a_137^post_26 && a_163^0==a_163^post_26 && a_193^0==a_193^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 && 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_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_26 && t_23^0==t_23^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 && y_21^0==y_21^post_26 ], cost: 1 13: l10 -> l11 : 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, [ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_14==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_14 && tail_15^post_14==temp_33^0 && temp_33^post_14==temp_33^post_14 && nondet_12^1_1==nondet_12^1_1 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_14==nondet_12^1_1 && nondet_12^post_14==nondet_12^post_14 && length_25^post_14==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_14 && head_SLAM_f_26^post_14==tail_15^post_14 && head_29^post_14==head_SLAM_f_26^post_14 && i_27^post_14==0 && 0<=i_27^post_14 && i_27^post_14<=0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_14<=tail_15^post_14 && tail_15^post_14<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_14 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_14<=head_SLAM_f_26^post_14 && head_SLAM_f_26^post_14<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_14 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_14<=head_29^post_14 && head_29^post_14<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_14 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_14<=length_25^post_14 && length_25^post_14<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_14 && tail_15^post_14<=head_SLAM_f_26^post_14 && head_SLAM_f_26^post_14<=tail_15^post_14 && head_SLAM_f_26^post_14<=head_29^post_14 && head_29^post_14<=head_SLAM_f_26^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 && i_108^0==i_108^post_14 && i_127^0==i_127^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_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_14 && t_23^0==t_23^post_14 && temp0_19^0==temp0_19^post_14 && temp0_28^0==temp0_28^post_14 && temp_32^0==temp_32^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 47: l11 -> l12 : a_137^0'=a_137^post_48, a_163^0'=a_163^post_48, a_193^0'=a_193^post_48, head_16^0'=head_16^post_48, head_29^0'=head_29^post_48, head_SLAM_f_26^0'=head_SLAM_f_26^post_48, i_108^0'=i_108^post_48, i_127^0'=i_127^post_48, i_27^0'=i_27^post_48, length_25^0'=length_25^post_48, nondet_12^0'=nondet_12^post_48, r_37^0'=r_37^post_48, rcd_102^0'=rcd_102^post_48, rcd_110^0'=rcd_110^post_48, rcd_168^0'=rcd_168^post_48, rcd_172^0'=rcd_172^post_48, rcd_192^0'=rcd_192^post_48, rcd_41^0'=rcd_41^post_48, rcd_67^0'=rcd_67^post_48, result_11^0'=result_11^post_48, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_48, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_48, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_48, t_23^0'=t_23^post_48, tail_15^0'=tail_15^post_48, temp0_19^0'=temp0_19^post_48, temp0_28^0'=temp0_28^post_48, temp_32^0'=temp_32^post_48, temp_33^0'=temp_33^post_48, tmp_31^0'=tmp_31^post_48, x_22^0'=x_22^post_48, x_SLAM_f_20^0'=x_SLAM_f_20^post_48, y_21^0'=y_21^post_48, [ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_48==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_48 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_48==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_48 && tail_15^post_48==tail_15^post_48 && head_SLAM_f_26^post_48==head_SLAM_f_26^post_48 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_48==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_48 && 1+i_27^0<=length_25^0 && tmp_31^post_48==temp_32^0 && temp_32^post_48==temp_32^post_48 && head_29^post_48==tmp_31^post_48 && i_27^post_48==1+i_27^0 && 1<=i_27^post_48 && i_27^post_48<=1 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_48<=tail_15^post_48 && tail_15^post_48<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_48 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_48<=head_SLAM_f_26^post_48 && head_SLAM_f_26^post_48<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_48 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_48<=length_25^0 && length_25^0<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_48 && tail_15^post_48<=head_SLAM_f_26^post_48 && head_SLAM_f_26^post_48<=tail_15^post_48 && head_29^post_48<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_48 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_48<=head_29^post_48 && head_29^post_48<=tmp_31^post_48 && tmp_31^post_48<=head_29^post_48 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_48<=tmp_31^post_48 && tmp_31^post_48<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_48 && 1<=length_25^0 && a_137^0==a_137^post_48 && a_163^0==a_163^post_48 && a_193^0==a_193^post_48 && head_16^0==head_16^post_48 && i_108^0==i_108^post_48 && i_127^0==i_127^post_48 && length_25^0==length_25^post_48 && nondet_12^0==nondet_12^post_48 && r_37^0==r_37^post_48 && rcd_102^0==rcd_102^post_48 && rcd_110^0==rcd_110^post_48 && rcd_168^0==rcd_168^post_48 && rcd_172^0==rcd_172^post_48 && rcd_192^0==rcd_192^post_48 && rcd_41^0==rcd_41^post_48 && rcd_67^0==rcd_67^post_48 && result_11^0==result_11^post_48 && t_23^0==t_23^post_48 && temp0_19^0==temp0_19^post_48 && temp0_28^0==temp0_28^post_48 && temp_33^0==temp_33^post_48 && x_22^0==x_22^post_48 && x_SLAM_f_20^0==x_SLAM_f_20^post_48 && y_21^0==y_21^post_48 ], cost: 1 23: l12 -> l18 : 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, [ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_24==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_24 && tail_15^post_24==tail_15^post_24 && head_SLAM_f_26^post_24==head_SLAM_f_26^post_24 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_24==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_24 && rcd_67^post_24==rcd_67^post_24 && 1+i_27^0<=length_25^0 && tmp_31^post_24==temp_32^0 && temp_32^post_24==temp_32^post_24 && head_29^post_24==tmp_31^post_24 && i_27^post_24==1+i_27^0 && 2<=i_27^post_24 && i_27^post_24<=2 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24<=tail_15^post_24 && tail_15^post_24<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24<=head_SLAM_f_26^post_24 && head_SLAM_f_26^post_24<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_24<=length_25^0 && length_25^0<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_24 && tail_15^post_24<=head_SLAM_f_26^post_24 && head_SLAM_f_26^post_24<=tail_15^post_24 && head_29^post_24<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_24 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_24<=head_29^post_24 && head_29^post_24<=tmp_31^post_24 && tmp_31^post_24<=head_29^post_24 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_24<=tmp_31^post_24 && tmp_31^post_24<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_24 && 1<=length_25^0 && 2<=length_25^0 && 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 && i_108^0==i_108^post_24 && i_127^0==i_127^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 && result_11^0==result_11^post_24 && t_23^0==t_23^post_24 && temp0_19^0==temp0_19^post_24 && temp0_28^0==temp0_28^post_24 && temp_33^0==temp_33^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 35: l18 -> l25 : 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, [ 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_36==length_25^post_36 && head_SLAM_f_26^post_36==head_SLAM_f_26^post_36 && i_27^post_36==i_27^post_36 && temp0_28^post_36==temp0_28^post_36 && head_29^post_36==head_29^post_36 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_36==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_36 && tmp_31^post_36==tmp_31^post_36 && temp_32^post_36==temp_32^post_36 && head_16^1_2==result_11^1_2_1 && result_11^post_36==result_11^post_36 && x_SLAM_f_20^1_2_1==head_16^1_2 && y_21^post_36==tail_15^0 && x_22^post_36==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_36 && y_21^post_36<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^1_2_1 && tail_15^0<=y_21^post_36 && y_21^post_36<=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_36 && x_22^post_36<=head_16^1_2 && x_SLAM_f_20^1_2_1<=x_22^post_36 && x_22^post_36<=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_36 && 0<=i_27^post_36 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_36==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_36 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_36==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_36 && tail_15^post_36==tail_15^post_36 && head_16^post_36==head_16^post_36 && x_SLAM_f_20^post_36==x_SLAM_f_20^post_36 && i_127^post_36==i_127^post_36 && rcd_168^post_36==rcd_168^post_36 && rcd_172^post_36==rcd_172^post_36 && a_137^0==a_137^post_36 && a_163^0==a_163^post_36 && a_193^0==a_193^post_36 && i_108^0==i_108^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_192^0==rcd_192^post_36 && rcd_41^0==rcd_41^post_36 && rcd_67^0==rcd_67^post_36 && t_23^0==t_23^post_36 && temp0_19^0==temp0_19^post_36 && temp_33^0==temp_33^post_36 ], cost: 1 44: l18 -> l30 : a_137^0'=a_137^post_45, a_163^0'=a_163^post_45, a_193^0'=a_193^post_45, head_16^0'=head_16^post_45, head_29^0'=head_29^post_45, head_SLAM_f_26^0'=head_SLAM_f_26^post_45, i_108^0'=i_108^post_45, i_127^0'=i_127^post_45, i_27^0'=i_27^post_45, length_25^0'=length_25^post_45, nondet_12^0'=nondet_12^post_45, r_37^0'=r_37^post_45, rcd_102^0'=rcd_102^post_45, rcd_110^0'=rcd_110^post_45, rcd_168^0'=rcd_168^post_45, rcd_172^0'=rcd_172^post_45, rcd_192^0'=rcd_192^post_45, rcd_41^0'=rcd_41^post_45, rcd_67^0'=rcd_67^post_45, result_11^0'=result_11^post_45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_45, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_45, t_23^0'=t_23^post_45, tail_15^0'=tail_15^post_45, temp0_19^0'=temp0_19^post_45, temp0_28^0'=temp0_28^post_45, temp_32^0'=temp_32^post_45, temp_33^0'=temp_33^post_45, tmp_31^0'=tmp_31^post_45, x_22^0'=x_22^post_45, x_SLAM_f_20^0'=x_SLAM_f_20^post_45, y_21^0'=y_21^post_45, [ 0<=i_27^0 && rcd_102^post_45==rcd_102^post_45 && i_108^post_45==i_108^post_45 && 1+i_27^0<=length_25^0 && tmp_31^post_45==temp_32^0 && temp_32^post_45==temp_32^post_45 && head_29^post_45==tmp_31^post_45 && i_27^post_45==1+i_27^0 && rcd_110^post_45==rcd_110^post_45 && i_27^post_45<=1+i_108^post_45 && 1+i_108^post_45<=i_27^post_45 && i_108^post_45<=-1+i_27^post_45 && -1+i_27^post_45<=i_108^post_45 && rcd_41^0<=rcd_110^post_45 && rcd_110^post_45<=rcd_41^0 && 1+i_108^post_45<=length_25^0 && rcd_41^post_45==rcd_41^post_45 && rcd_41^post_45<=rcd_110^post_45 && rcd_110^post_45<=rcd_41^post_45 && a_137^0==a_137^post_45 && a_163^0==a_163^post_45 && a_193^0==a_193^post_45 && head_16^0==head_16^post_45 && head_SLAM_f_26^0==head_SLAM_f_26^post_45 && i_127^0==i_127^post_45 && length_25^0==length_25^post_45 && nondet_12^0==nondet_12^post_45 && r_37^0==r_37^post_45 && rcd_168^0==rcd_168^post_45 && rcd_172^0==rcd_172^post_45 && rcd_192^0==rcd_192^post_45 && rcd_67^0==rcd_67^post_45 && result_11^0==result_11^post_45 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_45 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_45 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_45 && t_23^0==t_23^post_45 && tail_15^0==tail_15^post_45 && temp0_19^0==temp0_19^post_45 && temp0_28^0==temp0_28^post_45 && temp_33^0==temp_33^post_45 && x_22^0==x_22^post_45 && x_SLAM_f_20^0==x_SLAM_f_20^post_45 && y_21^0==y_21^post_45 ], cost: 1 26: l20 -> l21 : 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, [ 1+y_21^0<=x_22^0 && 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: l20 -> l21 : 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, [ 1+x_22^0<=y_21^0 && 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 ], cost: 1 28: l21 -> l22 : 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, [ t_23^post_29==x_22^0 && rcd_192^post_29==rcd_192^post_29 && a_193^post_29==a_193^post_29 && 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_29<=-1+a_163^0 && -1+a_163^0<=a_193^post_29 && rcd_41^0<=rcd_192^post_29 && rcd_192^post_29<=rcd_41^0 && a_137^0==a_137^post_29 && a_163^0==a_163^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_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 && 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: l22 -> l23 : 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, [ 1+head_16^0<=y_21^0 && 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: l22 -> l23 : 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+y_21^0<=head_16^0 && 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 ], cost: 1 31: l23 -> l24 : 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, [ 1+y_21^0<=t_23^0 && 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 ], cost: 1 32: l23 -> l24 : 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, [ 1+t_23^0<=y_21^0 && 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 33: l24 -> l19 : 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, [ 1<=result_dot_nondet_sdv_special_RETURN_VALUE_14^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^0 && rcd_41^post_34==rcd_41^post_34 && rcd_41^post_34<=rcd_192^0 && rcd_192^0<=rcd_41^post_34 && a_163^post_34==a_163^post_34 && a_163^post_34<=a_193^0 && a_193^0<=a_163^post_34 && a_137^0==a_137^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_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 ], cost: 1 34: l19 -> l1 : 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, [ 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 ], cost: 1 36: l25 -> l26 : a_137^0'=a_137^post_37, a_163^0'=a_163^post_37, a_193^0'=a_193^post_37, head_16^0'=head_16^post_37, head_29^0'=head_29^post_37, head_SLAM_f_26^0'=head_SLAM_f_26^post_37, i_108^0'=i_108^post_37, i_127^0'=i_127^post_37, i_27^0'=i_27^post_37, length_25^0'=length_25^post_37, nondet_12^0'=nondet_12^post_37, r_37^0'=r_37^post_37, rcd_102^0'=rcd_102^post_37, rcd_110^0'=rcd_110^post_37, rcd_168^0'=rcd_168^post_37, rcd_172^0'=rcd_172^post_37, rcd_192^0'=rcd_192^post_37, rcd_41^0'=rcd_41^post_37, rcd_67^0'=rcd_67^post_37, result_11^0'=result_11^post_37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_37, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_37, t_23^0'=t_23^post_37, tail_15^0'=tail_15^post_37, temp0_19^0'=temp0_19^post_37, temp0_28^0'=temp0_28^post_37, temp_32^0'=temp_32^post_37, temp_33^0'=temp_33^post_37, tmp_31^0'=tmp_31^post_37, x_22^0'=x_22^post_37, x_SLAM_f_20^0'=x_SLAM_f_20^post_37, y_21^0'=y_21^post_37, [ 1+y_21^0<=x_22^0 && a_137^0==a_137^post_37 && a_163^0==a_163^post_37 && a_193^0==a_193^post_37 && head_16^0==head_16^post_37 && head_29^0==head_29^post_37 && head_SLAM_f_26^0==head_SLAM_f_26^post_37 && i_108^0==i_108^post_37 && i_127^0==i_127^post_37 && i_27^0==i_27^post_37 && length_25^0==length_25^post_37 && nondet_12^0==nondet_12^post_37 && r_37^0==r_37^post_37 && rcd_102^0==rcd_102^post_37 && rcd_110^0==rcd_110^post_37 && rcd_168^0==rcd_168^post_37 && rcd_172^0==rcd_172^post_37 && rcd_192^0==rcd_192^post_37 && rcd_41^0==rcd_41^post_37 && rcd_67^0==rcd_67^post_37 && result_11^0==result_11^post_37 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_37 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_37 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_37 && t_23^0==t_23^post_37 && tail_15^0==tail_15^post_37 && temp0_19^0==temp0_19^post_37 && temp0_28^0==temp0_28^post_37 && temp_32^0==temp_32^post_37 && temp_33^0==temp_33^post_37 && tmp_31^0==tmp_31^post_37 && x_22^0==x_22^post_37 && x_SLAM_f_20^0==x_SLAM_f_20^post_37 && y_21^0==y_21^post_37 ], cost: 1 37: l25 -> l26 : a_137^0'=a_137^post_38, a_163^0'=a_163^post_38, a_193^0'=a_193^post_38, head_16^0'=head_16^post_38, head_29^0'=head_29^post_38, head_SLAM_f_26^0'=head_SLAM_f_26^post_38, i_108^0'=i_108^post_38, i_127^0'=i_127^post_38, i_27^0'=i_27^post_38, length_25^0'=length_25^post_38, nondet_12^0'=nondet_12^post_38, r_37^0'=r_37^post_38, rcd_102^0'=rcd_102^post_38, rcd_110^0'=rcd_110^post_38, rcd_168^0'=rcd_168^post_38, rcd_172^0'=rcd_172^post_38, rcd_192^0'=rcd_192^post_38, rcd_41^0'=rcd_41^post_38, rcd_67^0'=rcd_67^post_38, result_11^0'=result_11^post_38, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_38, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_38, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_38, t_23^0'=t_23^post_38, tail_15^0'=tail_15^post_38, temp0_19^0'=temp0_19^post_38, temp0_28^0'=temp0_28^post_38, temp_32^0'=temp_32^post_38, temp_33^0'=temp_33^post_38, tmp_31^0'=tmp_31^post_38, x_22^0'=x_22^post_38, x_SLAM_f_20^0'=x_SLAM_f_20^post_38, y_21^0'=y_21^post_38, [ 1+x_22^0<=y_21^0 && a_137^0==a_137^post_38 && a_163^0==a_163^post_38 && a_193^0==a_193^post_38 && head_16^0==head_16^post_38 && head_29^0==head_29^post_38 && head_SLAM_f_26^0==head_SLAM_f_26^post_38 && i_108^0==i_108^post_38 && i_127^0==i_127^post_38 && i_27^0==i_27^post_38 && length_25^0==length_25^post_38 && nondet_12^0==nondet_12^post_38 && r_37^0==r_37^post_38 && rcd_102^0==rcd_102^post_38 && rcd_110^0==rcd_110^post_38 && rcd_168^0==rcd_168^post_38 && rcd_172^0==rcd_172^post_38 && rcd_192^0==rcd_192^post_38 && rcd_41^0==rcd_41^post_38 && rcd_67^0==rcd_67^post_38 && result_11^0==result_11^post_38 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_38 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_38 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_38 && t_23^0==t_23^post_38 && tail_15^0==tail_15^post_38 && temp0_19^0==temp0_19^post_38 && temp0_28^0==temp0_28^post_38 && temp_32^0==temp_32^post_38 && temp_33^0==temp_33^post_38 && tmp_31^0==tmp_31^post_38 && x_22^0==x_22^post_38 && x_SLAM_f_20^0==x_SLAM_f_20^post_38 && y_21^0==y_21^post_38 ], cost: 1 38: l26 -> l27 : a_137^0'=a_137^post_39, a_163^0'=a_163^post_39, a_193^0'=a_193^post_39, head_16^0'=head_16^post_39, head_29^0'=head_29^post_39, head_SLAM_f_26^0'=head_SLAM_f_26^post_39, i_108^0'=i_108^post_39, i_127^0'=i_127^post_39, i_27^0'=i_27^post_39, length_25^0'=length_25^post_39, nondet_12^0'=nondet_12^post_39, r_37^0'=r_37^post_39, rcd_102^0'=rcd_102^post_39, rcd_110^0'=rcd_110^post_39, rcd_168^0'=rcd_168^post_39, rcd_172^0'=rcd_172^post_39, rcd_192^0'=rcd_192^post_39, rcd_41^0'=rcd_41^post_39, rcd_67^0'=rcd_67^post_39, result_11^0'=result_11^post_39, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_39, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_39, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_39, t_23^0'=t_23^post_39, tail_15^0'=tail_15^post_39, temp0_19^0'=temp0_19^post_39, temp0_28^0'=temp0_28^post_39, temp_32^0'=temp_32^post_39, temp_33^0'=temp_33^post_39, tmp_31^0'=tmp_31^post_39, x_22^0'=x_22^post_39, x_SLAM_f_20^0'=x_SLAM_f_20^post_39, y_21^0'=y_21^post_39, [ t_23^post_39==x_22^0 && a_137^post_39==a_137^post_39 && 0<=-a_137^post_39+a_163^0 && -a_137^post_39+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_39 && t_23^post_39<=head_16^0 && a_137^post_39<=a_163^0 && a_163^0<=a_137^post_39 && rcd_41^0<=rcd_168^0 && rcd_168^0<=rcd_41^0 && a_163^0==a_163^post_39 && a_193^0==a_193^post_39 && head_16^0==head_16^post_39 && head_29^0==head_29^post_39 && head_SLAM_f_26^0==head_SLAM_f_26^post_39 && i_108^0==i_108^post_39 && i_127^0==i_127^post_39 && i_27^0==i_27^post_39 && length_25^0==length_25^post_39 && nondet_12^0==nondet_12^post_39 && r_37^0==r_37^post_39 && rcd_102^0==rcd_102^post_39 && rcd_110^0==rcd_110^post_39 && rcd_168^0==rcd_168^post_39 && rcd_172^0==rcd_172^post_39 && rcd_192^0==rcd_192^post_39 && rcd_41^0==rcd_41^post_39 && rcd_67^0==rcd_67^post_39 && result_11^0==result_11^post_39 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_39 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_39 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_39 && tail_15^0==tail_15^post_39 && temp0_19^0==temp0_19^post_39 && temp0_28^0==temp0_28^post_39 && temp_32^0==temp_32^post_39 && temp_33^0==temp_33^post_39 && tmp_31^0==tmp_31^post_39 && x_22^0==x_22^post_39 && x_SLAM_f_20^0==x_SLAM_f_20^post_39 && y_21^0==y_21^post_39 ], cost: 1 39: l27 -> l28 : a_137^0'=a_137^post_40, a_163^0'=a_163^post_40, a_193^0'=a_193^post_40, head_16^0'=head_16^post_40, head_29^0'=head_29^post_40, head_SLAM_f_26^0'=head_SLAM_f_26^post_40, i_108^0'=i_108^post_40, i_127^0'=i_127^post_40, i_27^0'=i_27^post_40, length_25^0'=length_25^post_40, nondet_12^0'=nondet_12^post_40, r_37^0'=r_37^post_40, rcd_102^0'=rcd_102^post_40, rcd_110^0'=rcd_110^post_40, rcd_168^0'=rcd_168^post_40, rcd_172^0'=rcd_172^post_40, rcd_192^0'=rcd_192^post_40, rcd_41^0'=rcd_41^post_40, rcd_67^0'=rcd_67^post_40, result_11^0'=result_11^post_40, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_40, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_40, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_40, t_23^0'=t_23^post_40, tail_15^0'=tail_15^post_40, temp0_19^0'=temp0_19^post_40, temp0_28^0'=temp0_28^post_40, temp_32^0'=temp_32^post_40, temp_33^0'=temp_33^post_40, tmp_31^0'=tmp_31^post_40, x_22^0'=x_22^post_40, x_SLAM_f_20^0'=x_SLAM_f_20^post_40, y_21^0'=y_21^post_40, [ 1+head_16^0<=y_21^0 && a_137^0==a_137^post_40 && a_163^0==a_163^post_40 && a_193^0==a_193^post_40 && head_16^0==head_16^post_40 && head_29^0==head_29^post_40 && head_SLAM_f_26^0==head_SLAM_f_26^post_40 && i_108^0==i_108^post_40 && i_127^0==i_127^post_40 && i_27^0==i_27^post_40 && length_25^0==length_25^post_40 && nondet_12^0==nondet_12^post_40 && r_37^0==r_37^post_40 && rcd_102^0==rcd_102^post_40 && rcd_110^0==rcd_110^post_40 && rcd_168^0==rcd_168^post_40 && rcd_172^0==rcd_172^post_40 && rcd_192^0==rcd_192^post_40 && rcd_41^0==rcd_41^post_40 && rcd_67^0==rcd_67^post_40 && result_11^0==result_11^post_40 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_40 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_40 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_40 && t_23^0==t_23^post_40 && tail_15^0==tail_15^post_40 && temp0_19^0==temp0_19^post_40 && temp0_28^0==temp0_28^post_40 && temp_32^0==temp_32^post_40 && temp_33^0==temp_33^post_40 && tmp_31^0==tmp_31^post_40 && x_22^0==x_22^post_40 && x_SLAM_f_20^0==x_SLAM_f_20^post_40 && y_21^0==y_21^post_40 ], cost: 1 40: l27 -> l28 : a_137^0'=a_137^post_41, a_163^0'=a_163^post_41, a_193^0'=a_193^post_41, head_16^0'=head_16^post_41, head_29^0'=head_29^post_41, head_SLAM_f_26^0'=head_SLAM_f_26^post_41, i_108^0'=i_108^post_41, i_127^0'=i_127^post_41, i_27^0'=i_27^post_41, length_25^0'=length_25^post_41, nondet_12^0'=nondet_12^post_41, r_37^0'=r_37^post_41, rcd_102^0'=rcd_102^post_41, rcd_110^0'=rcd_110^post_41, rcd_168^0'=rcd_168^post_41, rcd_172^0'=rcd_172^post_41, rcd_192^0'=rcd_192^post_41, rcd_41^0'=rcd_41^post_41, rcd_67^0'=rcd_67^post_41, result_11^0'=result_11^post_41, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_41, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_41, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_41, t_23^0'=t_23^post_41, tail_15^0'=tail_15^post_41, temp0_19^0'=temp0_19^post_41, temp0_28^0'=temp0_28^post_41, temp_32^0'=temp_32^post_41, temp_33^0'=temp_33^post_41, tmp_31^0'=tmp_31^post_41, x_22^0'=x_22^post_41, x_SLAM_f_20^0'=x_SLAM_f_20^post_41, y_21^0'=y_21^post_41, [ 1+y_21^0<=head_16^0 && a_137^0==a_137^post_41 && a_163^0==a_163^post_41 && a_193^0==a_193^post_41 && head_16^0==head_16^post_41 && head_29^0==head_29^post_41 && head_SLAM_f_26^0==head_SLAM_f_26^post_41 && i_108^0==i_108^post_41 && i_127^0==i_127^post_41 && i_27^0==i_27^post_41 && length_25^0==length_25^post_41 && nondet_12^0==nondet_12^post_41 && r_37^0==r_37^post_41 && rcd_102^0==rcd_102^post_41 && rcd_110^0==rcd_110^post_41 && rcd_168^0==rcd_168^post_41 && rcd_172^0==rcd_172^post_41 && rcd_192^0==rcd_192^post_41 && rcd_41^0==rcd_41^post_41 && rcd_67^0==rcd_67^post_41 && result_11^0==result_11^post_41 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_41 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_41 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_41 && t_23^0==t_23^post_41 && tail_15^0==tail_15^post_41 && temp0_19^0==temp0_19^post_41 && temp0_28^0==temp0_28^post_41 && temp_32^0==temp_32^post_41 && temp_33^0==temp_33^post_41 && tmp_31^0==tmp_31^post_41 && x_22^0==x_22^post_41 && x_SLAM_f_20^0==x_SLAM_f_20^post_41 && y_21^0==y_21^post_41 ], cost: 1 41: l28 -> l29 : a_137^0'=a_137^post_42, a_163^0'=a_163^post_42, a_193^0'=a_193^post_42, head_16^0'=head_16^post_42, head_29^0'=head_29^post_42, head_SLAM_f_26^0'=head_SLAM_f_26^post_42, i_108^0'=i_108^post_42, i_127^0'=i_127^post_42, i_27^0'=i_27^post_42, length_25^0'=length_25^post_42, nondet_12^0'=nondet_12^post_42, r_37^0'=r_37^post_42, rcd_102^0'=rcd_102^post_42, rcd_110^0'=rcd_110^post_42, rcd_168^0'=rcd_168^post_42, rcd_172^0'=rcd_172^post_42, rcd_192^0'=rcd_192^post_42, rcd_41^0'=rcd_41^post_42, rcd_67^0'=rcd_67^post_42, result_11^0'=result_11^post_42, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_42, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_42, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_42, t_23^0'=t_23^post_42, tail_15^0'=tail_15^post_42, temp0_19^0'=temp0_19^post_42, temp0_28^0'=temp0_28^post_42, temp_32^0'=temp_32^post_42, temp_33^0'=temp_33^post_42, tmp_31^0'=tmp_31^post_42, x_22^0'=x_22^post_42, x_SLAM_f_20^0'=x_SLAM_f_20^post_42, y_21^0'=y_21^post_42, [ 1+y_21^0<=t_23^0 && a_137^0==a_137^post_42 && a_163^0==a_163^post_42 && a_193^0==a_193^post_42 && head_16^0==head_16^post_42 && head_29^0==head_29^post_42 && head_SLAM_f_26^0==head_SLAM_f_26^post_42 && i_108^0==i_108^post_42 && i_127^0==i_127^post_42 && i_27^0==i_27^post_42 && length_25^0==length_25^post_42 && nondet_12^0==nondet_12^post_42 && r_37^0==r_37^post_42 && rcd_102^0==rcd_102^post_42 && rcd_110^0==rcd_110^post_42 && rcd_168^0==rcd_168^post_42 && rcd_172^0==rcd_172^post_42 && rcd_192^0==rcd_192^post_42 && rcd_41^0==rcd_41^post_42 && rcd_67^0==rcd_67^post_42 && result_11^0==result_11^post_42 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_42 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_42 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_42 && t_23^0==t_23^post_42 && tail_15^0==tail_15^post_42 && temp0_19^0==temp0_19^post_42 && temp0_28^0==temp0_28^post_42 && temp_32^0==temp_32^post_42 && temp_33^0==temp_33^post_42 && tmp_31^0==tmp_31^post_42 && x_22^0==x_22^post_42 && x_SLAM_f_20^0==x_SLAM_f_20^post_42 && y_21^0==y_21^post_42 ], cost: 1 42: l28 -> l29 : a_137^0'=a_137^post_43, a_163^0'=a_163^post_43, a_193^0'=a_193^post_43, head_16^0'=head_16^post_43, head_29^0'=head_29^post_43, head_SLAM_f_26^0'=head_SLAM_f_26^post_43, i_108^0'=i_108^post_43, i_127^0'=i_127^post_43, i_27^0'=i_27^post_43, length_25^0'=length_25^post_43, nondet_12^0'=nondet_12^post_43, r_37^0'=r_37^post_43, rcd_102^0'=rcd_102^post_43, rcd_110^0'=rcd_110^post_43, rcd_168^0'=rcd_168^post_43, rcd_172^0'=rcd_172^post_43, rcd_192^0'=rcd_192^post_43, rcd_41^0'=rcd_41^post_43, rcd_67^0'=rcd_67^post_43, result_11^0'=result_11^post_43, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_43, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_43, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_43, t_23^0'=t_23^post_43, tail_15^0'=tail_15^post_43, temp0_19^0'=temp0_19^post_43, temp0_28^0'=temp0_28^post_43, temp_32^0'=temp_32^post_43, temp_33^0'=temp_33^post_43, tmp_31^0'=tmp_31^post_43, x_22^0'=x_22^post_43, x_SLAM_f_20^0'=x_SLAM_f_20^post_43, y_21^0'=y_21^post_43, [ 1+t_23^0<=y_21^0 && a_137^0==a_137^post_43 && a_163^0==a_163^post_43 && a_193^0==a_193^post_43 && head_16^0==head_16^post_43 && head_29^0==head_29^post_43 && head_SLAM_f_26^0==head_SLAM_f_26^post_43 && i_108^0==i_108^post_43 && i_127^0==i_127^post_43 && i_27^0==i_27^post_43 && length_25^0==length_25^post_43 && nondet_12^0==nondet_12^post_43 && r_37^0==r_37^post_43 && rcd_102^0==rcd_102^post_43 && rcd_110^0==rcd_110^post_43 && rcd_168^0==rcd_168^post_43 && rcd_172^0==rcd_172^post_43 && rcd_192^0==rcd_192^post_43 && rcd_41^0==rcd_41^post_43 && rcd_67^0==rcd_67^post_43 && result_11^0==result_11^post_43 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_43 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_43 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_43 && t_23^0==t_23^post_43 && tail_15^0==tail_15^post_43 && temp0_19^0==temp0_19^post_43 && temp0_28^0==temp0_28^post_43 && temp_32^0==temp_32^post_43 && temp_33^0==temp_33^post_43 && tmp_31^0==tmp_31^post_43 && x_22^0==x_22^post_43 && x_SLAM_f_20^0==x_SLAM_f_20^post_43 && y_21^0==y_21^post_43 ], cost: 1 43: l29 -> l1 : a_137^0'=a_137^post_44, a_163^0'=a_163^post_44, a_193^0'=a_193^post_44, head_16^0'=head_16^post_44, head_29^0'=head_29^post_44, head_SLAM_f_26^0'=head_SLAM_f_26^post_44, i_108^0'=i_108^post_44, i_127^0'=i_127^post_44, i_27^0'=i_27^post_44, length_25^0'=length_25^post_44, nondet_12^0'=nondet_12^post_44, r_37^0'=r_37^post_44, rcd_102^0'=rcd_102^post_44, rcd_110^0'=rcd_110^post_44, rcd_168^0'=rcd_168^post_44, rcd_172^0'=rcd_172^post_44, rcd_192^0'=rcd_192^post_44, rcd_41^0'=rcd_41^post_44, rcd_67^0'=rcd_67^post_44, result_11^0'=result_11^post_44, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_44, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_44, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_44, t_23^0'=t_23^post_44, tail_15^0'=tail_15^post_44, temp0_19^0'=temp0_19^post_44, temp0_28^0'=temp0_28^post_44, temp_32^0'=temp_32^post_44, temp_33^0'=temp_33^post_44, tmp_31^0'=tmp_31^post_44, x_22^0'=x_22^post_44, x_SLAM_f_20^0'=x_SLAM_f_20^post_44, y_21^0'=y_21^post_44, [ 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_44==i_127^post_44 && -1+i_127^post_44<=a_137^0 && a_137^0<=-1+i_127^post_44 && a_137^0==a_137^post_44 && a_163^0==a_163^post_44 && a_193^0==a_193^post_44 && head_16^0==head_16^post_44 && head_29^0==head_29^post_44 && head_SLAM_f_26^0==head_SLAM_f_26^post_44 && i_108^0==i_108^post_44 && i_27^0==i_27^post_44 && length_25^0==length_25^post_44 && nondet_12^0==nondet_12^post_44 && r_37^0==r_37^post_44 && rcd_102^0==rcd_102^post_44 && rcd_110^0==rcd_110^post_44 && rcd_168^0==rcd_168^post_44 && rcd_172^0==rcd_172^post_44 && rcd_192^0==rcd_192^post_44 && rcd_41^0==rcd_41^post_44 && rcd_67^0==rcd_67^post_44 && result_11^0==result_11^post_44 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_44 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_44 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_44 && t_23^0==t_23^post_44 && tail_15^0==tail_15^post_44 && temp0_19^0==temp0_19^post_44 && temp0_28^0==temp0_28^post_44 && temp_32^0==temp_32^post_44 && temp_33^0==temp_33^post_44 && tmp_31^0==tmp_31^post_44 && x_22^0==x_22^post_44 && x_SLAM_f_20^0==x_SLAM_f_20^post_44 && y_21^0==y_21^post_44 ], cost: 1 45: l30 -> l18 : a_137^0'=a_137^post_46, a_163^0'=a_163^post_46, a_193^0'=a_193^post_46, head_16^0'=head_16^post_46, head_29^0'=head_29^post_46, head_SLAM_f_26^0'=head_SLAM_f_26^post_46, i_108^0'=i_108^post_46, i_127^0'=i_127^post_46, i_27^0'=i_27^post_46, length_25^0'=length_25^post_46, nondet_12^0'=nondet_12^post_46, r_37^0'=r_37^post_46, rcd_102^0'=rcd_102^post_46, rcd_110^0'=rcd_110^post_46, rcd_168^0'=rcd_168^post_46, rcd_172^0'=rcd_172^post_46, rcd_192^0'=rcd_192^post_46, rcd_41^0'=rcd_41^post_46, rcd_67^0'=rcd_67^post_46, result_11^0'=result_11^post_46, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_46, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_46, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_46, t_23^0'=t_23^post_46, tail_15^0'=tail_15^post_46, temp0_19^0'=temp0_19^post_46, temp0_28^0'=temp0_28^post_46, temp_32^0'=temp_32^post_46, temp_33^0'=temp_33^post_46, tmp_31^0'=tmp_31^post_46, x_22^0'=x_22^post_46, x_SLAM_f_20^0'=x_SLAM_f_20^post_46, y_21^0'=y_21^post_46, [ a_137^0==a_137^post_46 && a_163^0==a_163^post_46 && a_193^0==a_193^post_46 && head_16^0==head_16^post_46 && head_29^0==head_29^post_46 && head_SLAM_f_26^0==head_SLAM_f_26^post_46 && i_108^0==i_108^post_46 && i_127^0==i_127^post_46 && i_27^0==i_27^post_46 && length_25^0==length_25^post_46 && nondet_12^0==nondet_12^post_46 && r_37^0==r_37^post_46 && rcd_102^0==rcd_102^post_46 && rcd_110^0==rcd_110^post_46 && rcd_168^0==rcd_168^post_46 && rcd_172^0==rcd_172^post_46 && rcd_192^0==rcd_192^post_46 && rcd_41^0==rcd_41^post_46 && rcd_67^0==rcd_67^post_46 && result_11^0==result_11^post_46 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_46 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_46 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_46 && t_23^0==t_23^post_46 && tail_15^0==tail_15^post_46 && temp0_19^0==temp0_19^post_46 && temp0_28^0==temp0_28^post_46 && temp_32^0==temp_32^post_46 && temp_33^0==temp_33^post_46 && tmp_31^0==tmp_31^post_46 && x_22^0==x_22^post_46 && x_SLAM_f_20^0==x_SLAM_f_20^post_46 && y_21^0==y_21^post_46 ], cost: 1 48: l31 -> l10 : a_137^0'=a_137^post_49, a_163^0'=a_163^post_49, a_193^0'=a_193^post_49, head_16^0'=head_16^post_49, head_29^0'=head_29^post_49, head_SLAM_f_26^0'=head_SLAM_f_26^post_49, i_108^0'=i_108^post_49, i_127^0'=i_127^post_49, i_27^0'=i_27^post_49, length_25^0'=length_25^post_49, nondet_12^0'=nondet_12^post_49, r_37^0'=r_37^post_49, rcd_102^0'=rcd_102^post_49, rcd_110^0'=rcd_110^post_49, rcd_168^0'=rcd_168^post_49, rcd_172^0'=rcd_172^post_49, rcd_192^0'=rcd_192^post_49, rcd_41^0'=rcd_41^post_49, rcd_67^0'=rcd_67^post_49, result_11^0'=result_11^post_49, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_49, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_49, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_49, t_23^0'=t_23^post_49, tail_15^0'=tail_15^post_49, temp0_19^0'=temp0_19^post_49, temp0_28^0'=temp0_28^post_49, temp_32^0'=temp_32^post_49, temp_33^0'=temp_33^post_49, tmp_31^0'=tmp_31^post_49, x_22^0'=x_22^post_49, x_SLAM_f_20^0'=x_SLAM_f_20^post_49, y_21^0'=y_21^post_49, [ a_137^0==a_137^post_49 && a_163^0==a_163^post_49 && a_193^0==a_193^post_49 && head_16^0==head_16^post_49 && head_29^0==head_29^post_49 && head_SLAM_f_26^0==head_SLAM_f_26^post_49 && i_108^0==i_108^post_49 && i_127^0==i_127^post_49 && i_27^0==i_27^post_49 && length_25^0==length_25^post_49 && nondet_12^0==nondet_12^post_49 && r_37^0==r_37^post_49 && rcd_102^0==rcd_102^post_49 && rcd_110^0==rcd_110^post_49 && rcd_168^0==rcd_168^post_49 && rcd_172^0==rcd_172^post_49 && rcd_192^0==rcd_192^post_49 && rcd_41^0==rcd_41^post_49 && rcd_67^0==rcd_67^post_49 && result_11^0==result_11^post_49 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_49 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_49 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_49 && t_23^0==t_23^post_49 && tail_15^0==tail_15^post_49 && temp0_19^0==temp0_19^post_49 && temp0_28^0==temp0_28^post_49 && temp_32^0==temp_32^post_49 && temp_33^0==temp_33^post_49 && tmp_31^0==tmp_31^post_49 && x_22^0==x_22^post_49 && x_SLAM_f_20^0==x_SLAM_f_20^post_49 && y_21^0==y_21^post_49 ], cost: 1 Removed unreachable and leaf rules: Start location: l31 25: l1 -> l20 : 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<=a_163^0 && 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 && r_37^post_26==r_37^post_26 && a_137^0==a_137^post_26 && a_163^0==a_163^post_26 && a_193^0==a_193^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 && 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_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_26 && t_23^0==t_23^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 && y_21^0==y_21^post_26 ], cost: 1 13: l10 -> l11 : 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, [ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_14==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_14 && tail_15^post_14==temp_33^0 && temp_33^post_14==temp_33^post_14 && nondet_12^1_1==nondet_12^1_1 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_14==nondet_12^1_1 && nondet_12^post_14==nondet_12^post_14 && length_25^post_14==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_14 && head_SLAM_f_26^post_14==tail_15^post_14 && head_29^post_14==head_SLAM_f_26^post_14 && i_27^post_14==0 && 0<=i_27^post_14 && i_27^post_14<=0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_14<=tail_15^post_14 && tail_15^post_14<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_14 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_14<=head_SLAM_f_26^post_14 && head_SLAM_f_26^post_14<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_14 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_14<=head_29^post_14 && head_29^post_14<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_14 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_14<=length_25^post_14 && length_25^post_14<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_14 && tail_15^post_14<=head_SLAM_f_26^post_14 && head_SLAM_f_26^post_14<=tail_15^post_14 && head_SLAM_f_26^post_14<=head_29^post_14 && head_29^post_14<=head_SLAM_f_26^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 && i_108^0==i_108^post_14 && i_127^0==i_127^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_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_14 && t_23^0==t_23^post_14 && temp0_19^0==temp0_19^post_14 && temp0_28^0==temp0_28^post_14 && temp_32^0==temp_32^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 47: l11 -> l12 : a_137^0'=a_137^post_48, a_163^0'=a_163^post_48, a_193^0'=a_193^post_48, head_16^0'=head_16^post_48, head_29^0'=head_29^post_48, head_SLAM_f_26^0'=head_SLAM_f_26^post_48, i_108^0'=i_108^post_48, i_127^0'=i_127^post_48, i_27^0'=i_27^post_48, length_25^0'=length_25^post_48, nondet_12^0'=nondet_12^post_48, r_37^0'=r_37^post_48, rcd_102^0'=rcd_102^post_48, rcd_110^0'=rcd_110^post_48, rcd_168^0'=rcd_168^post_48, rcd_172^0'=rcd_172^post_48, rcd_192^0'=rcd_192^post_48, rcd_41^0'=rcd_41^post_48, rcd_67^0'=rcd_67^post_48, result_11^0'=result_11^post_48, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_48, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_48, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_48, t_23^0'=t_23^post_48, tail_15^0'=tail_15^post_48, temp0_19^0'=temp0_19^post_48, temp0_28^0'=temp0_28^post_48, temp_32^0'=temp_32^post_48, temp_33^0'=temp_33^post_48, tmp_31^0'=tmp_31^post_48, x_22^0'=x_22^post_48, x_SLAM_f_20^0'=x_SLAM_f_20^post_48, y_21^0'=y_21^post_48, [ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_48==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_48 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_48==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_48 && tail_15^post_48==tail_15^post_48 && head_SLAM_f_26^post_48==head_SLAM_f_26^post_48 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_48==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_48 && 1+i_27^0<=length_25^0 && tmp_31^post_48==temp_32^0 && temp_32^post_48==temp_32^post_48 && head_29^post_48==tmp_31^post_48 && i_27^post_48==1+i_27^0 && 1<=i_27^post_48 && i_27^post_48<=1 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_48<=tail_15^post_48 && tail_15^post_48<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_48 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_48<=head_SLAM_f_26^post_48 && head_SLAM_f_26^post_48<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_48 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_48<=length_25^0 && length_25^0<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_48 && tail_15^post_48<=head_SLAM_f_26^post_48 && head_SLAM_f_26^post_48<=tail_15^post_48 && head_29^post_48<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_48 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_48<=head_29^post_48 && head_29^post_48<=tmp_31^post_48 && tmp_31^post_48<=head_29^post_48 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_48<=tmp_31^post_48 && tmp_31^post_48<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_48 && 1<=length_25^0 && a_137^0==a_137^post_48 && a_163^0==a_163^post_48 && a_193^0==a_193^post_48 && head_16^0==head_16^post_48 && i_108^0==i_108^post_48 && i_127^0==i_127^post_48 && length_25^0==length_25^post_48 && nondet_12^0==nondet_12^post_48 && r_37^0==r_37^post_48 && rcd_102^0==rcd_102^post_48 && rcd_110^0==rcd_110^post_48 && rcd_168^0==rcd_168^post_48 && rcd_172^0==rcd_172^post_48 && rcd_192^0==rcd_192^post_48 && rcd_41^0==rcd_41^post_48 && rcd_67^0==rcd_67^post_48 && result_11^0==result_11^post_48 && t_23^0==t_23^post_48 && temp0_19^0==temp0_19^post_48 && temp0_28^0==temp0_28^post_48 && temp_33^0==temp_33^post_48 && x_22^0==x_22^post_48 && x_SLAM_f_20^0==x_SLAM_f_20^post_48 && y_21^0==y_21^post_48 ], cost: 1 23: l12 -> l18 : 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, [ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_24==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_24 && tail_15^post_24==tail_15^post_24 && head_SLAM_f_26^post_24==head_SLAM_f_26^post_24 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_24==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_24 && rcd_67^post_24==rcd_67^post_24 && 1+i_27^0<=length_25^0 && tmp_31^post_24==temp_32^0 && temp_32^post_24==temp_32^post_24 && head_29^post_24==tmp_31^post_24 && i_27^post_24==1+i_27^0 && 2<=i_27^post_24 && i_27^post_24<=2 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24<=tail_15^post_24 && tail_15^post_24<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24<=head_SLAM_f_26^post_24 && head_SLAM_f_26^post_24<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_24<=length_25^0 && length_25^0<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_24 && tail_15^post_24<=head_SLAM_f_26^post_24 && head_SLAM_f_26^post_24<=tail_15^post_24 && head_29^post_24<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_24 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_24<=head_29^post_24 && head_29^post_24<=tmp_31^post_24 && tmp_31^post_24<=head_29^post_24 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_24<=tmp_31^post_24 && tmp_31^post_24<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_24 && 1<=length_25^0 && 2<=length_25^0 && 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 && i_108^0==i_108^post_24 && i_127^0==i_127^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 && result_11^0==result_11^post_24 && t_23^0==t_23^post_24 && temp0_19^0==temp0_19^post_24 && temp0_28^0==temp0_28^post_24 && temp_33^0==temp_33^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 35: l18 -> l25 : 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, [ 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_36==length_25^post_36 && head_SLAM_f_26^post_36==head_SLAM_f_26^post_36 && i_27^post_36==i_27^post_36 && temp0_28^post_36==temp0_28^post_36 && head_29^post_36==head_29^post_36 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_36==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_36 && tmp_31^post_36==tmp_31^post_36 && temp_32^post_36==temp_32^post_36 && head_16^1_2==result_11^1_2_1 && result_11^post_36==result_11^post_36 && x_SLAM_f_20^1_2_1==head_16^1_2 && y_21^post_36==tail_15^0 && x_22^post_36==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_36 && y_21^post_36<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^1_2_1 && tail_15^0<=y_21^post_36 && y_21^post_36<=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_36 && x_22^post_36<=head_16^1_2 && x_SLAM_f_20^1_2_1<=x_22^post_36 && x_22^post_36<=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_36 && 0<=i_27^post_36 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_36==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_36 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_36==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_36 && tail_15^post_36==tail_15^post_36 && head_16^post_36==head_16^post_36 && x_SLAM_f_20^post_36==x_SLAM_f_20^post_36 && i_127^post_36==i_127^post_36 && rcd_168^post_36==rcd_168^post_36 && rcd_172^post_36==rcd_172^post_36 && a_137^0==a_137^post_36 && a_163^0==a_163^post_36 && a_193^0==a_193^post_36 && i_108^0==i_108^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_192^0==rcd_192^post_36 && rcd_41^0==rcd_41^post_36 && rcd_67^0==rcd_67^post_36 && t_23^0==t_23^post_36 && temp0_19^0==temp0_19^post_36 && temp_33^0==temp_33^post_36 ], cost: 1 44: l18 -> l30 : a_137^0'=a_137^post_45, a_163^0'=a_163^post_45, a_193^0'=a_193^post_45, head_16^0'=head_16^post_45, head_29^0'=head_29^post_45, head_SLAM_f_26^0'=head_SLAM_f_26^post_45, i_108^0'=i_108^post_45, i_127^0'=i_127^post_45, i_27^0'=i_27^post_45, length_25^0'=length_25^post_45, nondet_12^0'=nondet_12^post_45, r_37^0'=r_37^post_45, rcd_102^0'=rcd_102^post_45, rcd_110^0'=rcd_110^post_45, rcd_168^0'=rcd_168^post_45, rcd_172^0'=rcd_172^post_45, rcd_192^0'=rcd_192^post_45, rcd_41^0'=rcd_41^post_45, rcd_67^0'=rcd_67^post_45, result_11^0'=result_11^post_45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_45, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_45, t_23^0'=t_23^post_45, tail_15^0'=tail_15^post_45, temp0_19^0'=temp0_19^post_45, temp0_28^0'=temp0_28^post_45, temp_32^0'=temp_32^post_45, temp_33^0'=temp_33^post_45, tmp_31^0'=tmp_31^post_45, x_22^0'=x_22^post_45, x_SLAM_f_20^0'=x_SLAM_f_20^post_45, y_21^0'=y_21^post_45, [ 0<=i_27^0 && rcd_102^post_45==rcd_102^post_45 && i_108^post_45==i_108^post_45 && 1+i_27^0<=length_25^0 && tmp_31^post_45==temp_32^0 && temp_32^post_45==temp_32^post_45 && head_29^post_45==tmp_31^post_45 && i_27^post_45==1+i_27^0 && rcd_110^post_45==rcd_110^post_45 && i_27^post_45<=1+i_108^post_45 && 1+i_108^post_45<=i_27^post_45 && i_108^post_45<=-1+i_27^post_45 && -1+i_27^post_45<=i_108^post_45 && rcd_41^0<=rcd_110^post_45 && rcd_110^post_45<=rcd_41^0 && 1+i_108^post_45<=length_25^0 && rcd_41^post_45==rcd_41^post_45 && rcd_41^post_45<=rcd_110^post_45 && rcd_110^post_45<=rcd_41^post_45 && a_137^0==a_137^post_45 && a_163^0==a_163^post_45 && a_193^0==a_193^post_45 && head_16^0==head_16^post_45 && head_SLAM_f_26^0==head_SLAM_f_26^post_45 && i_127^0==i_127^post_45 && length_25^0==length_25^post_45 && nondet_12^0==nondet_12^post_45 && r_37^0==r_37^post_45 && rcd_168^0==rcd_168^post_45 && rcd_172^0==rcd_172^post_45 && rcd_192^0==rcd_192^post_45 && rcd_67^0==rcd_67^post_45 && result_11^0==result_11^post_45 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_45 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_45 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_45 && t_23^0==t_23^post_45 && tail_15^0==tail_15^post_45 && temp0_19^0==temp0_19^post_45 && temp0_28^0==temp0_28^post_45 && temp_33^0==temp_33^post_45 && x_22^0==x_22^post_45 && x_SLAM_f_20^0==x_SLAM_f_20^post_45 && y_21^0==y_21^post_45 ], cost: 1 26: l20 -> l21 : 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, [ 1+y_21^0<=x_22^0 && 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: l20 -> l21 : 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, [ 1+x_22^0<=y_21^0 && 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 ], cost: 1 28: l21 -> l22 : 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, [ t_23^post_29==x_22^0 && rcd_192^post_29==rcd_192^post_29 && a_193^post_29==a_193^post_29 && 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_29<=-1+a_163^0 && -1+a_163^0<=a_193^post_29 && rcd_41^0<=rcd_192^post_29 && rcd_192^post_29<=rcd_41^0 && a_137^0==a_137^post_29 && a_163^0==a_163^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_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 && 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: l22 -> l23 : 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, [ 1+head_16^0<=y_21^0 && 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: l22 -> l23 : 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+y_21^0<=head_16^0 && 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 ], cost: 1 31: l23 -> l24 : 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, [ 1+y_21^0<=t_23^0 && 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 ], cost: 1 32: l23 -> l24 : 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, [ 1+t_23^0<=y_21^0 && 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 33: l24 -> l19 : 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, [ 1<=result_dot_nondet_sdv_special_RETURN_VALUE_14^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^0 && rcd_41^post_34==rcd_41^post_34 && rcd_41^post_34<=rcd_192^0 && rcd_192^0<=rcd_41^post_34 && a_163^post_34==a_163^post_34 && a_163^post_34<=a_193^0 && a_193^0<=a_163^post_34 && a_137^0==a_137^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_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 ], cost: 1 34: l19 -> l1 : 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, [ 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 ], cost: 1 36: l25 -> l26 : a_137^0'=a_137^post_37, a_163^0'=a_163^post_37, a_193^0'=a_193^post_37, head_16^0'=head_16^post_37, head_29^0'=head_29^post_37, head_SLAM_f_26^0'=head_SLAM_f_26^post_37, i_108^0'=i_108^post_37, i_127^0'=i_127^post_37, i_27^0'=i_27^post_37, length_25^0'=length_25^post_37, nondet_12^0'=nondet_12^post_37, r_37^0'=r_37^post_37, rcd_102^0'=rcd_102^post_37, rcd_110^0'=rcd_110^post_37, rcd_168^0'=rcd_168^post_37, rcd_172^0'=rcd_172^post_37, rcd_192^0'=rcd_192^post_37, rcd_41^0'=rcd_41^post_37, rcd_67^0'=rcd_67^post_37, result_11^0'=result_11^post_37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_37, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_37, t_23^0'=t_23^post_37, tail_15^0'=tail_15^post_37, temp0_19^0'=temp0_19^post_37, temp0_28^0'=temp0_28^post_37, temp_32^0'=temp_32^post_37, temp_33^0'=temp_33^post_37, tmp_31^0'=tmp_31^post_37, x_22^0'=x_22^post_37, x_SLAM_f_20^0'=x_SLAM_f_20^post_37, y_21^0'=y_21^post_37, [ 1+y_21^0<=x_22^0 && a_137^0==a_137^post_37 && a_163^0==a_163^post_37 && a_193^0==a_193^post_37 && head_16^0==head_16^post_37 && head_29^0==head_29^post_37 && head_SLAM_f_26^0==head_SLAM_f_26^post_37 && i_108^0==i_108^post_37 && i_127^0==i_127^post_37 && i_27^0==i_27^post_37 && length_25^0==length_25^post_37 && nondet_12^0==nondet_12^post_37 && r_37^0==r_37^post_37 && rcd_102^0==rcd_102^post_37 && rcd_110^0==rcd_110^post_37 && rcd_168^0==rcd_168^post_37 && rcd_172^0==rcd_172^post_37 && rcd_192^0==rcd_192^post_37 && rcd_41^0==rcd_41^post_37 && rcd_67^0==rcd_67^post_37 && result_11^0==result_11^post_37 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_37 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_37 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_37 && t_23^0==t_23^post_37 && tail_15^0==tail_15^post_37 && temp0_19^0==temp0_19^post_37 && temp0_28^0==temp0_28^post_37 && temp_32^0==temp_32^post_37 && temp_33^0==temp_33^post_37 && tmp_31^0==tmp_31^post_37 && x_22^0==x_22^post_37 && x_SLAM_f_20^0==x_SLAM_f_20^post_37 && y_21^0==y_21^post_37 ], cost: 1 37: l25 -> l26 : a_137^0'=a_137^post_38, a_163^0'=a_163^post_38, a_193^0'=a_193^post_38, head_16^0'=head_16^post_38, head_29^0'=head_29^post_38, head_SLAM_f_26^0'=head_SLAM_f_26^post_38, i_108^0'=i_108^post_38, i_127^0'=i_127^post_38, i_27^0'=i_27^post_38, length_25^0'=length_25^post_38, nondet_12^0'=nondet_12^post_38, r_37^0'=r_37^post_38, rcd_102^0'=rcd_102^post_38, rcd_110^0'=rcd_110^post_38, rcd_168^0'=rcd_168^post_38, rcd_172^0'=rcd_172^post_38, rcd_192^0'=rcd_192^post_38, rcd_41^0'=rcd_41^post_38, rcd_67^0'=rcd_67^post_38, result_11^0'=result_11^post_38, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_38, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_38, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_38, t_23^0'=t_23^post_38, tail_15^0'=tail_15^post_38, temp0_19^0'=temp0_19^post_38, temp0_28^0'=temp0_28^post_38, temp_32^0'=temp_32^post_38, temp_33^0'=temp_33^post_38, tmp_31^0'=tmp_31^post_38, x_22^0'=x_22^post_38, x_SLAM_f_20^0'=x_SLAM_f_20^post_38, y_21^0'=y_21^post_38, [ 1+x_22^0<=y_21^0 && a_137^0==a_137^post_38 && a_163^0==a_163^post_38 && a_193^0==a_193^post_38 && head_16^0==head_16^post_38 && head_29^0==head_29^post_38 && head_SLAM_f_26^0==head_SLAM_f_26^post_38 && i_108^0==i_108^post_38 && i_127^0==i_127^post_38 && i_27^0==i_27^post_38 && length_25^0==length_25^post_38 && nondet_12^0==nondet_12^post_38 && r_37^0==r_37^post_38 && rcd_102^0==rcd_102^post_38 && rcd_110^0==rcd_110^post_38 && rcd_168^0==rcd_168^post_38 && rcd_172^0==rcd_172^post_38 && rcd_192^0==rcd_192^post_38 && rcd_41^0==rcd_41^post_38 && rcd_67^0==rcd_67^post_38 && result_11^0==result_11^post_38 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_38 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_38 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_38 && t_23^0==t_23^post_38 && tail_15^0==tail_15^post_38 && temp0_19^0==temp0_19^post_38 && temp0_28^0==temp0_28^post_38 && temp_32^0==temp_32^post_38 && temp_33^0==temp_33^post_38 && tmp_31^0==tmp_31^post_38 && x_22^0==x_22^post_38 && x_SLAM_f_20^0==x_SLAM_f_20^post_38 && y_21^0==y_21^post_38 ], cost: 1 38: l26 -> l27 : a_137^0'=a_137^post_39, a_163^0'=a_163^post_39, a_193^0'=a_193^post_39, head_16^0'=head_16^post_39, head_29^0'=head_29^post_39, head_SLAM_f_26^0'=head_SLAM_f_26^post_39, i_108^0'=i_108^post_39, i_127^0'=i_127^post_39, i_27^0'=i_27^post_39, length_25^0'=length_25^post_39, nondet_12^0'=nondet_12^post_39, r_37^0'=r_37^post_39, rcd_102^0'=rcd_102^post_39, rcd_110^0'=rcd_110^post_39, rcd_168^0'=rcd_168^post_39, rcd_172^0'=rcd_172^post_39, rcd_192^0'=rcd_192^post_39, rcd_41^0'=rcd_41^post_39, rcd_67^0'=rcd_67^post_39, result_11^0'=result_11^post_39, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_39, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_39, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_39, t_23^0'=t_23^post_39, tail_15^0'=tail_15^post_39, temp0_19^0'=temp0_19^post_39, temp0_28^0'=temp0_28^post_39, temp_32^0'=temp_32^post_39, temp_33^0'=temp_33^post_39, tmp_31^0'=tmp_31^post_39, x_22^0'=x_22^post_39, x_SLAM_f_20^0'=x_SLAM_f_20^post_39, y_21^0'=y_21^post_39, [ t_23^post_39==x_22^0 && a_137^post_39==a_137^post_39 && 0<=-a_137^post_39+a_163^0 && -a_137^post_39+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_39 && t_23^post_39<=head_16^0 && a_137^post_39<=a_163^0 && a_163^0<=a_137^post_39 && rcd_41^0<=rcd_168^0 && rcd_168^0<=rcd_41^0 && a_163^0==a_163^post_39 && a_193^0==a_193^post_39 && head_16^0==head_16^post_39 && head_29^0==head_29^post_39 && head_SLAM_f_26^0==head_SLAM_f_26^post_39 && i_108^0==i_108^post_39 && i_127^0==i_127^post_39 && i_27^0==i_27^post_39 && length_25^0==length_25^post_39 && nondet_12^0==nondet_12^post_39 && r_37^0==r_37^post_39 && rcd_102^0==rcd_102^post_39 && rcd_110^0==rcd_110^post_39 && rcd_168^0==rcd_168^post_39 && rcd_172^0==rcd_172^post_39 && rcd_192^0==rcd_192^post_39 && rcd_41^0==rcd_41^post_39 && rcd_67^0==rcd_67^post_39 && result_11^0==result_11^post_39 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_39 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_39 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_39 && tail_15^0==tail_15^post_39 && temp0_19^0==temp0_19^post_39 && temp0_28^0==temp0_28^post_39 && temp_32^0==temp_32^post_39 && temp_33^0==temp_33^post_39 && tmp_31^0==tmp_31^post_39 && x_22^0==x_22^post_39 && x_SLAM_f_20^0==x_SLAM_f_20^post_39 && y_21^0==y_21^post_39 ], cost: 1 39: l27 -> l28 : a_137^0'=a_137^post_40, a_163^0'=a_163^post_40, a_193^0'=a_193^post_40, head_16^0'=head_16^post_40, head_29^0'=head_29^post_40, head_SLAM_f_26^0'=head_SLAM_f_26^post_40, i_108^0'=i_108^post_40, i_127^0'=i_127^post_40, i_27^0'=i_27^post_40, length_25^0'=length_25^post_40, nondet_12^0'=nondet_12^post_40, r_37^0'=r_37^post_40, rcd_102^0'=rcd_102^post_40, rcd_110^0'=rcd_110^post_40, rcd_168^0'=rcd_168^post_40, rcd_172^0'=rcd_172^post_40, rcd_192^0'=rcd_192^post_40, rcd_41^0'=rcd_41^post_40, rcd_67^0'=rcd_67^post_40, result_11^0'=result_11^post_40, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_40, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_40, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_40, t_23^0'=t_23^post_40, tail_15^0'=tail_15^post_40, temp0_19^0'=temp0_19^post_40, temp0_28^0'=temp0_28^post_40, temp_32^0'=temp_32^post_40, temp_33^0'=temp_33^post_40, tmp_31^0'=tmp_31^post_40, x_22^0'=x_22^post_40, x_SLAM_f_20^0'=x_SLAM_f_20^post_40, y_21^0'=y_21^post_40, [ 1+head_16^0<=y_21^0 && a_137^0==a_137^post_40 && a_163^0==a_163^post_40 && a_193^0==a_193^post_40 && head_16^0==head_16^post_40 && head_29^0==head_29^post_40 && head_SLAM_f_26^0==head_SLAM_f_26^post_40 && i_108^0==i_108^post_40 && i_127^0==i_127^post_40 && i_27^0==i_27^post_40 && length_25^0==length_25^post_40 && nondet_12^0==nondet_12^post_40 && r_37^0==r_37^post_40 && rcd_102^0==rcd_102^post_40 && rcd_110^0==rcd_110^post_40 && rcd_168^0==rcd_168^post_40 && rcd_172^0==rcd_172^post_40 && rcd_192^0==rcd_192^post_40 && rcd_41^0==rcd_41^post_40 && rcd_67^0==rcd_67^post_40 && result_11^0==result_11^post_40 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_40 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_40 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_40 && t_23^0==t_23^post_40 && tail_15^0==tail_15^post_40 && temp0_19^0==temp0_19^post_40 && temp0_28^0==temp0_28^post_40 && temp_32^0==temp_32^post_40 && temp_33^0==temp_33^post_40 && tmp_31^0==tmp_31^post_40 && x_22^0==x_22^post_40 && x_SLAM_f_20^0==x_SLAM_f_20^post_40 && y_21^0==y_21^post_40 ], cost: 1 40: l27 -> l28 : a_137^0'=a_137^post_41, a_163^0'=a_163^post_41, a_193^0'=a_193^post_41, head_16^0'=head_16^post_41, head_29^0'=head_29^post_41, head_SLAM_f_26^0'=head_SLAM_f_26^post_41, i_108^0'=i_108^post_41, i_127^0'=i_127^post_41, i_27^0'=i_27^post_41, length_25^0'=length_25^post_41, nondet_12^0'=nondet_12^post_41, r_37^0'=r_37^post_41, rcd_102^0'=rcd_102^post_41, rcd_110^0'=rcd_110^post_41, rcd_168^0'=rcd_168^post_41, rcd_172^0'=rcd_172^post_41, rcd_192^0'=rcd_192^post_41, rcd_41^0'=rcd_41^post_41, rcd_67^0'=rcd_67^post_41, result_11^0'=result_11^post_41, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_41, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_41, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_41, t_23^0'=t_23^post_41, tail_15^0'=tail_15^post_41, temp0_19^0'=temp0_19^post_41, temp0_28^0'=temp0_28^post_41, temp_32^0'=temp_32^post_41, temp_33^0'=temp_33^post_41, tmp_31^0'=tmp_31^post_41, x_22^0'=x_22^post_41, x_SLAM_f_20^0'=x_SLAM_f_20^post_41, y_21^0'=y_21^post_41, [ 1+y_21^0<=head_16^0 && a_137^0==a_137^post_41 && a_163^0==a_163^post_41 && a_193^0==a_193^post_41 && head_16^0==head_16^post_41 && head_29^0==head_29^post_41 && head_SLAM_f_26^0==head_SLAM_f_26^post_41 && i_108^0==i_108^post_41 && i_127^0==i_127^post_41 && i_27^0==i_27^post_41 && length_25^0==length_25^post_41 && nondet_12^0==nondet_12^post_41 && r_37^0==r_37^post_41 && rcd_102^0==rcd_102^post_41 && rcd_110^0==rcd_110^post_41 && rcd_168^0==rcd_168^post_41 && rcd_172^0==rcd_172^post_41 && rcd_192^0==rcd_192^post_41 && rcd_41^0==rcd_41^post_41 && rcd_67^0==rcd_67^post_41 && result_11^0==result_11^post_41 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_41 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_41 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_41 && t_23^0==t_23^post_41 && tail_15^0==tail_15^post_41 && temp0_19^0==temp0_19^post_41 && temp0_28^0==temp0_28^post_41 && temp_32^0==temp_32^post_41 && temp_33^0==temp_33^post_41 && tmp_31^0==tmp_31^post_41 && x_22^0==x_22^post_41 && x_SLAM_f_20^0==x_SLAM_f_20^post_41 && y_21^0==y_21^post_41 ], cost: 1 41: l28 -> l29 : a_137^0'=a_137^post_42, a_163^0'=a_163^post_42, a_193^0'=a_193^post_42, head_16^0'=head_16^post_42, head_29^0'=head_29^post_42, head_SLAM_f_26^0'=head_SLAM_f_26^post_42, i_108^0'=i_108^post_42, i_127^0'=i_127^post_42, i_27^0'=i_27^post_42, length_25^0'=length_25^post_42, nondet_12^0'=nondet_12^post_42, r_37^0'=r_37^post_42, rcd_102^0'=rcd_102^post_42, rcd_110^0'=rcd_110^post_42, rcd_168^0'=rcd_168^post_42, rcd_172^0'=rcd_172^post_42, rcd_192^0'=rcd_192^post_42, rcd_41^0'=rcd_41^post_42, rcd_67^0'=rcd_67^post_42, result_11^0'=result_11^post_42, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_42, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_42, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_42, t_23^0'=t_23^post_42, tail_15^0'=tail_15^post_42, temp0_19^0'=temp0_19^post_42, temp0_28^0'=temp0_28^post_42, temp_32^0'=temp_32^post_42, temp_33^0'=temp_33^post_42, tmp_31^0'=tmp_31^post_42, x_22^0'=x_22^post_42, x_SLAM_f_20^0'=x_SLAM_f_20^post_42, y_21^0'=y_21^post_42, [ 1+y_21^0<=t_23^0 && a_137^0==a_137^post_42 && a_163^0==a_163^post_42 && a_193^0==a_193^post_42 && head_16^0==head_16^post_42 && head_29^0==head_29^post_42 && head_SLAM_f_26^0==head_SLAM_f_26^post_42 && i_108^0==i_108^post_42 && i_127^0==i_127^post_42 && i_27^0==i_27^post_42 && length_25^0==length_25^post_42 && nondet_12^0==nondet_12^post_42 && r_37^0==r_37^post_42 && rcd_102^0==rcd_102^post_42 && rcd_110^0==rcd_110^post_42 && rcd_168^0==rcd_168^post_42 && rcd_172^0==rcd_172^post_42 && rcd_192^0==rcd_192^post_42 && rcd_41^0==rcd_41^post_42 && rcd_67^0==rcd_67^post_42 && result_11^0==result_11^post_42 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_42 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_42 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_42 && t_23^0==t_23^post_42 && tail_15^0==tail_15^post_42 && temp0_19^0==temp0_19^post_42 && temp0_28^0==temp0_28^post_42 && temp_32^0==temp_32^post_42 && temp_33^0==temp_33^post_42 && tmp_31^0==tmp_31^post_42 && x_22^0==x_22^post_42 && x_SLAM_f_20^0==x_SLAM_f_20^post_42 && y_21^0==y_21^post_42 ], cost: 1 42: l28 -> l29 : a_137^0'=a_137^post_43, a_163^0'=a_163^post_43, a_193^0'=a_193^post_43, head_16^0'=head_16^post_43, head_29^0'=head_29^post_43, head_SLAM_f_26^0'=head_SLAM_f_26^post_43, i_108^0'=i_108^post_43, i_127^0'=i_127^post_43, i_27^0'=i_27^post_43, length_25^0'=length_25^post_43, nondet_12^0'=nondet_12^post_43, r_37^0'=r_37^post_43, rcd_102^0'=rcd_102^post_43, rcd_110^0'=rcd_110^post_43, rcd_168^0'=rcd_168^post_43, rcd_172^0'=rcd_172^post_43, rcd_192^0'=rcd_192^post_43, rcd_41^0'=rcd_41^post_43, rcd_67^0'=rcd_67^post_43, result_11^0'=result_11^post_43, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_43, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_43, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_43, t_23^0'=t_23^post_43, tail_15^0'=tail_15^post_43, temp0_19^0'=temp0_19^post_43, temp0_28^0'=temp0_28^post_43, temp_32^0'=temp_32^post_43, temp_33^0'=temp_33^post_43, tmp_31^0'=tmp_31^post_43, x_22^0'=x_22^post_43, x_SLAM_f_20^0'=x_SLAM_f_20^post_43, y_21^0'=y_21^post_43, [ 1+t_23^0<=y_21^0 && a_137^0==a_137^post_43 && a_163^0==a_163^post_43 && a_193^0==a_193^post_43 && head_16^0==head_16^post_43 && head_29^0==head_29^post_43 && head_SLAM_f_26^0==head_SLAM_f_26^post_43 && i_108^0==i_108^post_43 && i_127^0==i_127^post_43 && i_27^0==i_27^post_43 && length_25^0==length_25^post_43 && nondet_12^0==nondet_12^post_43 && r_37^0==r_37^post_43 && rcd_102^0==rcd_102^post_43 && rcd_110^0==rcd_110^post_43 && rcd_168^0==rcd_168^post_43 && rcd_172^0==rcd_172^post_43 && rcd_192^0==rcd_192^post_43 && rcd_41^0==rcd_41^post_43 && rcd_67^0==rcd_67^post_43 && result_11^0==result_11^post_43 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_43 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_43 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_43 && t_23^0==t_23^post_43 && tail_15^0==tail_15^post_43 && temp0_19^0==temp0_19^post_43 && temp0_28^0==temp0_28^post_43 && temp_32^0==temp_32^post_43 && temp_33^0==temp_33^post_43 && tmp_31^0==tmp_31^post_43 && x_22^0==x_22^post_43 && x_SLAM_f_20^0==x_SLAM_f_20^post_43 && y_21^0==y_21^post_43 ], cost: 1 43: l29 -> l1 : a_137^0'=a_137^post_44, a_163^0'=a_163^post_44, a_193^0'=a_193^post_44, head_16^0'=head_16^post_44, head_29^0'=head_29^post_44, head_SLAM_f_26^0'=head_SLAM_f_26^post_44, i_108^0'=i_108^post_44, i_127^0'=i_127^post_44, i_27^0'=i_27^post_44, length_25^0'=length_25^post_44, nondet_12^0'=nondet_12^post_44, r_37^0'=r_37^post_44, rcd_102^0'=rcd_102^post_44, rcd_110^0'=rcd_110^post_44, rcd_168^0'=rcd_168^post_44, rcd_172^0'=rcd_172^post_44, rcd_192^0'=rcd_192^post_44, rcd_41^0'=rcd_41^post_44, rcd_67^0'=rcd_67^post_44, result_11^0'=result_11^post_44, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_44, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_44, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_44, t_23^0'=t_23^post_44, tail_15^0'=tail_15^post_44, temp0_19^0'=temp0_19^post_44, temp0_28^0'=temp0_28^post_44, temp_32^0'=temp_32^post_44, temp_33^0'=temp_33^post_44, tmp_31^0'=tmp_31^post_44, x_22^0'=x_22^post_44, x_SLAM_f_20^0'=x_SLAM_f_20^post_44, y_21^0'=y_21^post_44, [ 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_44==i_127^post_44 && -1+i_127^post_44<=a_137^0 && a_137^0<=-1+i_127^post_44 && a_137^0==a_137^post_44 && a_163^0==a_163^post_44 && a_193^0==a_193^post_44 && head_16^0==head_16^post_44 && head_29^0==head_29^post_44 && head_SLAM_f_26^0==head_SLAM_f_26^post_44 && i_108^0==i_108^post_44 && i_27^0==i_27^post_44 && length_25^0==length_25^post_44 && nondet_12^0==nondet_12^post_44 && r_37^0==r_37^post_44 && rcd_102^0==rcd_102^post_44 && rcd_110^0==rcd_110^post_44 && rcd_168^0==rcd_168^post_44 && rcd_172^0==rcd_172^post_44 && rcd_192^0==rcd_192^post_44 && rcd_41^0==rcd_41^post_44 && rcd_67^0==rcd_67^post_44 && result_11^0==result_11^post_44 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_44 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_44 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_44 && t_23^0==t_23^post_44 && tail_15^0==tail_15^post_44 && temp0_19^0==temp0_19^post_44 && temp0_28^0==temp0_28^post_44 && temp_32^0==temp_32^post_44 && temp_33^0==temp_33^post_44 && tmp_31^0==tmp_31^post_44 && x_22^0==x_22^post_44 && x_SLAM_f_20^0==x_SLAM_f_20^post_44 && y_21^0==y_21^post_44 ], cost: 1 45: l30 -> l18 : a_137^0'=a_137^post_46, a_163^0'=a_163^post_46, a_193^0'=a_193^post_46, head_16^0'=head_16^post_46, head_29^0'=head_29^post_46, head_SLAM_f_26^0'=head_SLAM_f_26^post_46, i_108^0'=i_108^post_46, i_127^0'=i_127^post_46, i_27^0'=i_27^post_46, length_25^0'=length_25^post_46, nondet_12^0'=nondet_12^post_46, r_37^0'=r_37^post_46, rcd_102^0'=rcd_102^post_46, rcd_110^0'=rcd_110^post_46, rcd_168^0'=rcd_168^post_46, rcd_172^0'=rcd_172^post_46, rcd_192^0'=rcd_192^post_46, rcd_41^0'=rcd_41^post_46, rcd_67^0'=rcd_67^post_46, result_11^0'=result_11^post_46, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_46, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_46, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_46, t_23^0'=t_23^post_46, tail_15^0'=tail_15^post_46, temp0_19^0'=temp0_19^post_46, temp0_28^0'=temp0_28^post_46, temp_32^0'=temp_32^post_46, temp_33^0'=temp_33^post_46, tmp_31^0'=tmp_31^post_46, x_22^0'=x_22^post_46, x_SLAM_f_20^0'=x_SLAM_f_20^post_46, y_21^0'=y_21^post_46, [ a_137^0==a_137^post_46 && a_163^0==a_163^post_46 && a_193^0==a_193^post_46 && head_16^0==head_16^post_46 && head_29^0==head_29^post_46 && head_SLAM_f_26^0==head_SLAM_f_26^post_46 && i_108^0==i_108^post_46 && i_127^0==i_127^post_46 && i_27^0==i_27^post_46 && length_25^0==length_25^post_46 && nondet_12^0==nondet_12^post_46 && r_37^0==r_37^post_46 && rcd_102^0==rcd_102^post_46 && rcd_110^0==rcd_110^post_46 && rcd_168^0==rcd_168^post_46 && rcd_172^0==rcd_172^post_46 && rcd_192^0==rcd_192^post_46 && rcd_41^0==rcd_41^post_46 && rcd_67^0==rcd_67^post_46 && result_11^0==result_11^post_46 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_46 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_46 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_46 && t_23^0==t_23^post_46 && tail_15^0==tail_15^post_46 && temp0_19^0==temp0_19^post_46 && temp0_28^0==temp0_28^post_46 && temp_32^0==temp_32^post_46 && temp_33^0==temp_33^post_46 && tmp_31^0==tmp_31^post_46 && x_22^0==x_22^post_46 && x_SLAM_f_20^0==x_SLAM_f_20^post_46 && y_21^0==y_21^post_46 ], cost: 1 48: l31 -> l10 : a_137^0'=a_137^post_49, a_163^0'=a_163^post_49, a_193^0'=a_193^post_49, head_16^0'=head_16^post_49, head_29^0'=head_29^post_49, head_SLAM_f_26^0'=head_SLAM_f_26^post_49, i_108^0'=i_108^post_49, i_127^0'=i_127^post_49, i_27^0'=i_27^post_49, length_25^0'=length_25^post_49, nondet_12^0'=nondet_12^post_49, r_37^0'=r_37^post_49, rcd_102^0'=rcd_102^post_49, rcd_110^0'=rcd_110^post_49, rcd_168^0'=rcd_168^post_49, rcd_172^0'=rcd_172^post_49, rcd_192^0'=rcd_192^post_49, rcd_41^0'=rcd_41^post_49, rcd_67^0'=rcd_67^post_49, result_11^0'=result_11^post_49, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_49, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_49, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_49, t_23^0'=t_23^post_49, tail_15^0'=tail_15^post_49, temp0_19^0'=temp0_19^post_49, temp0_28^0'=temp0_28^post_49, temp_32^0'=temp_32^post_49, temp_33^0'=temp_33^post_49, tmp_31^0'=tmp_31^post_49, x_22^0'=x_22^post_49, x_SLAM_f_20^0'=x_SLAM_f_20^post_49, y_21^0'=y_21^post_49, [ a_137^0==a_137^post_49 && a_163^0==a_163^post_49 && a_193^0==a_193^post_49 && head_16^0==head_16^post_49 && head_29^0==head_29^post_49 && head_SLAM_f_26^0==head_SLAM_f_26^post_49 && i_108^0==i_108^post_49 && i_127^0==i_127^post_49 && i_27^0==i_27^post_49 && length_25^0==length_25^post_49 && nondet_12^0==nondet_12^post_49 && r_37^0==r_37^post_49 && rcd_102^0==rcd_102^post_49 && rcd_110^0==rcd_110^post_49 && rcd_168^0==rcd_168^post_49 && rcd_172^0==rcd_172^post_49 && rcd_192^0==rcd_192^post_49 && rcd_41^0==rcd_41^post_49 && rcd_67^0==rcd_67^post_49 && result_11^0==result_11^post_49 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_49 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_49 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_49 && t_23^0==t_23^post_49 && tail_15^0==tail_15^post_49 && temp0_19^0==temp0_19^post_49 && temp0_28^0==temp0_28^post_49 && temp_32^0==temp_32^post_49 && temp_33^0==temp_33^post_49 && tmp_31^0==tmp_31^post_49 && x_22^0==x_22^post_49 && x_SLAM_f_20^0==x_SLAM_f_20^post_49 && y_21^0==y_21^post_49 ], cost: 1 Simplified all rules, resulting in: Start location: l31 25: l1 -> l20 : head_16^0'=head_16^post_26, r_37^0'=r_37^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_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_26, tail_15^0'=tail_15^post_26, x_SLAM_f_20^0'=x_SLAM_f_20^post_26, [ 0<=a_163^0 ], cost: 1 13: 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_14, 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_14, [], cost: 1 47: l11 -> l12 : head_29^0'=temp_32^0, head_SLAM_f_26^0'=tail_15^post_48, i_27^0'=1+i_27^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=tail_15^post_48, 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'=tail_15^post_48, temp_32^0'=temp_32^post_48, tmp_31^0'=temp_32^0, [ 1+i_27^0<=length_25^0 && -i_27^0==0 ], cost: 1 23: l12 -> l18 : head_29^0'=temp_32^0, head_SLAM_f_26^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24, i_27^0'=1+i_27^0, rcd_67^0'=rcd_67^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'=temp_32^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=length_25^0, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24, temp_32^0'=temp_32^post_24, tmp_31^0'=temp_32^0, [ 1+i_27^0<=length_25^0 && 1-i_27^0==0 ], cost: 1 35: l18 -> l25 : 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_127^0'=i_127^post_36, i_27^0'=i_27^post_36, length_25^0'=length_25^post_36, rcd_168^0'=rcd_168^post_36, rcd_172^0'=rcd_172^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, tail_15^0'=tail_15^post_36, temp0_28^0'=temp0_28^post_36, temp_32^0'=temp_32^post_36, tmp_31^0'=tmp_31^post_36, x_22^0'=head_29^0, x_SLAM_f_20^0'=x_SLAM_f_20^post_36, y_21^0'=tail_15^0, [ 0<=i_27^0 && length_25^0<=i_27^0 && 2<=i_27^post_36 ], cost: 1 44: 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_45, rcd_110^0'=rcd_41^0, temp_32^0'=temp_32^post_45, tmp_31^0'=temp_32^0, [ 0<=i_27^0 && 1+i_27^0<=length_25^0 ], cost: 1 26: l20 -> l21 : [ 1+y_21^0<=x_22^0 ], cost: 1 27: l20 -> l21 : [ 1+x_22^0<=y_21^0 ], cost: 1 28: 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 29: l22 -> l23 : [ 1+head_16^0<=y_21^0 ], cost: 1 30: l22 -> l23 : [ 1+y_21^0<=head_16^0 ], cost: 1 31: l23 -> l24 : [ 1+y_21^0<=t_23^0 ], cost: 1 32: l23 -> l24 : [ 1+t_23^0<=y_21^0 ], cost: 1 33: 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 34: l19 -> l1 : [], cost: 1 36: l25 -> l26 : [ 1+y_21^0<=x_22^0 ], cost: 1 37: l25 -> l26 : [ 1+x_22^0<=y_21^0 ], cost: 1 38: 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_41^0-rcd_168^0==0 ], cost: 1 39: l27 -> l28 : [ 1+head_16^0<=y_21^0 ], cost: 1 40: l27 -> l28 : [ 1+y_21^0<=head_16^0 ], cost: 1 41: l28 -> l29 : [ 1+y_21^0<=t_23^0 ], cost: 1 42: l28 -> l29 : [ 1+t_23^0<=y_21^0 ], cost: 1 43: 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 45: l30 -> l18 : [], cost: 1 48: l31 -> l10 : [], cost: 1 ### Simplification by acceleration and chaining ### Eliminated locations (on linear paths): Start location: l31 25: l1 -> l20 : head_16^0'=head_16^post_26, r_37^0'=r_37^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_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_26, tail_15^0'=tail_15^post_26, x_SLAM_f_20^0'=x_SLAM_f_20^post_26, [ 0<=a_163^0 ], cost: 1 35: l18 -> l25 : 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_127^0'=i_127^post_36, i_27^0'=i_27^post_36, length_25^0'=length_25^post_36, rcd_168^0'=rcd_168^post_36, rcd_172^0'=rcd_172^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, tail_15^0'=tail_15^post_36, temp0_28^0'=temp0_28^post_36, temp_32^0'=temp_32^post_36, tmp_31^0'=tmp_31^post_36, x_22^0'=head_29^0, x_SLAM_f_20^0'=x_SLAM_f_20^post_36, y_21^0'=tail_15^0, [ 0<=i_27^0 && length_25^0<=i_27^0 && 2<=i_27^post_36 ], cost: 1 52: 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_45, rcd_110^0'=rcd_41^0, temp_32^0'=temp_32^post_45, tmp_31^0'=temp_32^0, [ 0<=i_27^0 && 1+i_27^0<=length_25^0 ], cost: 2 26: l20 -> l21 : [ 1+y_21^0<=x_22^0 ], cost: 1 27: l20 -> l21 : [ 1+x_22^0<=y_21^0 ], cost: 1 28: 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 29: l22 -> l23 : [ 1+head_16^0<=y_21^0 ], cost: 1 30: l22 -> l23 : [ 1+y_21^0<=head_16^0 ], cost: 1 31: l23 -> l24 : [ 1+y_21^0<=t_23^0 ], cost: 1 32: l23 -> l24 : [ 1+t_23^0<=y_21^0 ], cost: 1 53: l24 -> l1 : a_163^0'=a_193^0, rcd_41^0'=rcd_192^0, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^0 ], cost: 2 36: l25 -> l26 : [ 1+y_21^0<=x_22^0 ], cost: 1 37: l25 -> l26 : [ 1+x_22^0<=y_21^0 ], cost: 1 38: 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_41^0-rcd_168^0==0 ], cost: 1 39: l27 -> l28 : [ 1+head_16^0<=y_21^0 ], cost: 1 40: l27 -> l28 : [ 1+y_21^0<=head_16^0 ], cost: 1 41: l28 -> l29 : [ 1+y_21^0<=t_23^0 ], cost: 1 42: l28 -> l29 : [ 1+t_23^0<=y_21^0 ], cost: 1 43: 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 51: l31 -> l18 : head_29^0'=temp_32^post_48, head_SLAM_f_26^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24, i_27^0'=2, length_25^0'=nondet_12^1_1, nondet_12^0'=nondet_12^post_14, rcd_67^0'=rcd_67^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'=temp_32^post_48, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^1_1, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24, temp_32^0'=temp_32^post_24, temp_33^0'=temp_33^post_14, tmp_31^0'=temp_32^post_48, [ 2<=nondet_12^1_1 ], cost: 4 Accelerating simple loops of location 18. Accelerating the following rules: 52: 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_45, rcd_110^0'=rcd_41^0, temp_32^0'=temp_32^post_45, tmp_31^0'=temp_32^0, [ 0<=i_27^0 && 1+i_27^0<=length_25^0 ], cost: 2 Accelerated rule 52 with backward acceleration, yielding the new rule 54. [accelerate] Nesting with 1 inner and 1 outer candidates Removing the simple loops: 52. Accelerated all simple loops using metering functions (where possible): Start location: l31 25: l1 -> l20 : head_16^0'=head_16^post_26, r_37^0'=r_37^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_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_26, tail_15^0'=tail_15^post_26, x_SLAM_f_20^0'=x_SLAM_f_20^post_26, [ 0<=a_163^0 ], cost: 1 35: l18 -> l25 : 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_127^0'=i_127^post_36, i_27^0'=i_27^post_36, length_25^0'=length_25^post_36, rcd_168^0'=rcd_168^post_36, rcd_172^0'=rcd_172^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, tail_15^0'=tail_15^post_36, temp0_28^0'=temp0_28^post_36, temp_32^0'=temp_32^post_36, tmp_31^0'=tmp_31^post_36, x_22^0'=head_29^0, x_SLAM_f_20^0'=x_SLAM_f_20^post_36, y_21^0'=tail_15^0, [ 0<=i_27^0 && length_25^0<=i_27^0 && 2<=i_27^post_36 ], cost: 1 54: l18 -> l18 : head_29^0'=temp_32^post_45, i_108^0'=-1+length_25^0, i_27^0'=length_25^0, rcd_102^0'=rcd_102^post_45, rcd_110^0'=rcd_41^0, temp_32^0'=temp_32^post_45, tmp_31^0'=temp_32^post_45, [ 0<=i_27^0 && -i_27^0+length_25^0>=1 ], cost: -2*i_27^0+2*length_25^0 26: l20 -> l21 : [ 1+y_21^0<=x_22^0 ], cost: 1 27: l20 -> l21 : [ 1+x_22^0<=y_21^0 ], cost: 1 28: 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 29: l22 -> l23 : [ 1+head_16^0<=y_21^0 ], cost: 1 30: l22 -> l23 : [ 1+y_21^0<=head_16^0 ], cost: 1 31: l23 -> l24 : [ 1+y_21^0<=t_23^0 ], cost: 1 32: l23 -> l24 : [ 1+t_23^0<=y_21^0 ], cost: 1 53: l24 -> l1 : a_163^0'=a_193^0, rcd_41^0'=rcd_192^0, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^0 ], cost: 2 36: l25 -> l26 : [ 1+y_21^0<=x_22^0 ], cost: 1 37: l25 -> l26 : [ 1+x_22^0<=y_21^0 ], cost: 1 38: 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_41^0-rcd_168^0==0 ], cost: 1 39: l27 -> l28 : [ 1+head_16^0<=y_21^0 ], cost: 1 40: l27 -> l28 : [ 1+y_21^0<=head_16^0 ], cost: 1 41: l28 -> l29 : [ 1+y_21^0<=t_23^0 ], cost: 1 42: l28 -> l29 : [ 1+t_23^0<=y_21^0 ], cost: 1 43: 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 51: l31 -> l18 : head_29^0'=temp_32^post_48, head_SLAM_f_26^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24, i_27^0'=2, length_25^0'=nondet_12^1_1, nondet_12^0'=nondet_12^post_14, rcd_67^0'=rcd_67^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'=temp_32^post_48, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^1_1, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24, temp_32^0'=temp_32^post_24, temp_33^0'=temp_33^post_14, tmp_31^0'=temp_32^post_48, [ 2<=nondet_12^1_1 ], cost: 4 Chained accelerated rules (with incoming rules): Start location: l31 25: l1 -> l20 : head_16^0'=head_16^post_26, r_37^0'=r_37^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_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_26, tail_15^0'=tail_15^post_26, x_SLAM_f_20^0'=x_SLAM_f_20^post_26, [ 0<=a_163^0 ], cost: 1 35: l18 -> l25 : 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_127^0'=i_127^post_36, i_27^0'=i_27^post_36, length_25^0'=length_25^post_36, rcd_168^0'=rcd_168^post_36, rcd_172^0'=rcd_172^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, tail_15^0'=tail_15^post_36, temp0_28^0'=temp0_28^post_36, temp_32^0'=temp_32^post_36, tmp_31^0'=tmp_31^post_36, x_22^0'=head_29^0, x_SLAM_f_20^0'=x_SLAM_f_20^post_36, y_21^0'=tail_15^0, [ 0<=i_27^0 && length_25^0<=i_27^0 && 2<=i_27^post_36 ], cost: 1 26: l20 -> l21 : [ 1+y_21^0<=x_22^0 ], cost: 1 27: l20 -> l21 : [ 1+x_22^0<=y_21^0 ], cost: 1 28: 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 29: l22 -> l23 : [ 1+head_16^0<=y_21^0 ], cost: 1 30: l22 -> l23 : [ 1+y_21^0<=head_16^0 ], cost: 1 31: l23 -> l24 : [ 1+y_21^0<=t_23^0 ], cost: 1 32: l23 -> l24 : [ 1+t_23^0<=y_21^0 ], cost: 1 53: l24 -> l1 : a_163^0'=a_193^0, rcd_41^0'=rcd_192^0, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^0 ], cost: 2 36: l25 -> l26 : [ 1+y_21^0<=x_22^0 ], cost: 1 37: l25 -> l26 : [ 1+x_22^0<=y_21^0 ], cost: 1 38: 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_41^0-rcd_168^0==0 ], cost: 1 39: l27 -> l28 : [ 1+head_16^0<=y_21^0 ], cost: 1 40: l27 -> l28 : [ 1+y_21^0<=head_16^0 ], cost: 1 41: l28 -> l29 : [ 1+y_21^0<=t_23^0 ], cost: 1 42: l28 -> l29 : [ 1+t_23^0<=y_21^0 ], cost: 1 43: 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 51: l31 -> l18 : head_29^0'=temp_32^post_48, head_SLAM_f_26^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24, i_27^0'=2, length_25^0'=nondet_12^1_1, nondet_12^0'=nondet_12^post_14, rcd_67^0'=rcd_67^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'=temp_32^post_48, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^1_1, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24, temp_32^0'=temp_32^post_24, temp_33^0'=temp_33^post_14, tmp_31^0'=temp_32^post_48, [ 2<=nondet_12^1_1 ], cost: 4 55: l31 -> l18 : head_29^0'=temp_32^post_45, head_SLAM_f_26^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24, 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_14, rcd_102^0'=rcd_102^post_45, rcd_110^0'=rcd_41^0, rcd_67^0'=rcd_67^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'=temp_32^post_48, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^1_1, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24, temp_32^0'=temp_32^post_45, temp_33^0'=temp_33^post_14, tmp_31^0'=temp_32^post_45, [ -2+nondet_12^1_1>=1 ], cost: 2*nondet_12^1_1 Eliminated locations (on tree-shaped paths): Start location: l31 64: l1 -> l21 : head_16^0'=head_16^post_26, r_37^0'=r_37^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_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_26, tail_15^0'=tail_15^post_26, x_SLAM_f_20^0'=x_SLAM_f_20^post_26, [ 0<=a_163^0 && 1+y_21^0<=x_22^0 ], cost: 2 65: l1 -> l21 : head_16^0'=head_16^post_26, r_37^0'=r_37^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_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_26, tail_15^0'=tail_15^post_26, x_SLAM_f_20^0'=x_SLAM_f_20^post_26, [ 0<=a_163^0 && 1+x_22^0<=y_21^0 ], cost: 2 66: l21 -> l23 : 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 && 1+head_16^0<=y_21^0 ], cost: 2 67: l21 -> l23 : 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 && 1+y_21^0<=head_16^0 ], cost: 2 68: l23 -> l1 : a_163^0'=a_193^0, rcd_41^0'=rcd_192^0, [ 1+y_21^0<=t_23^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^0 ], cost: 3 69: l23 -> l1 : a_163^0'=a_193^0, rcd_41^0'=rcd_192^0, [ 1+t_23^0<=y_21^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^0 ], cost: 3 58: l25 -> l27 : a_137^0'=a_163^0, t_23^0'=x_22^0, [ 1+y_21^0<=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_41^0-rcd_168^0==0 ], cost: 2 59: l25 -> l27 : a_137^0'=a_163^0, t_23^0'=x_22^0, [ 1+x_22^0<=y_21^0 && 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_41^0-rcd_168^0==0 ], cost: 2 60: l27 -> l29 : [ 1+head_16^0<=y_21^0 && 1+y_21^0<=t_23^0 ], cost: 2 61: l27 -> l29 : [ 1+head_16^0<=y_21^0 && 1+t_23^0<=y_21^0 ], cost: 2 62: l27 -> l29 : [ 1+y_21^0<=head_16^0 && 1+y_21^0<=t_23^0 ], cost: 2 63: l27 -> l29 : [ 1+y_21^0<=head_16^0 && 1+t_23^0<=y_21^0 ], cost: 2 43: 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 56: l31 -> l25 : 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_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_14, rcd_168^0'=rcd_168^post_36, rcd_172^0'=rcd_172^post_36, rcd_67^0'=rcd_67^post_24, 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, tail_15^0'=tail_15^post_36, temp0_28^0'=temp0_28^post_36, temp_32^0'=temp_32^post_36, temp_33^0'=temp_33^post_14, tmp_31^0'=tmp_31^post_36, x_22^0'=temp_32^post_48, x_SLAM_f_20^0'=x_SLAM_f_20^post_36, y_21^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24, [ 2<=nondet_12^1_1 && nondet_12^1_1<=2 && 2<=i_27^post_36 ], cost: 5 57: l31 -> l25 : 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'=-1+nondet_12^1_1, 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_14, rcd_102^0'=rcd_102^post_45, rcd_110^0'=rcd_41^0, rcd_168^0'=rcd_168^post_36, rcd_172^0'=rcd_172^post_36, rcd_67^0'=rcd_67^post_24, 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, tail_15^0'=tail_15^post_36, temp0_28^0'=temp0_28^post_36, temp_32^0'=temp_32^post_36, temp_33^0'=temp_33^post_14, tmp_31^0'=tmp_31^post_36, x_22^0'=temp_32^post_45, x_SLAM_f_20^0'=x_SLAM_f_20^post_36, y_21^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24, [ -2+nondet_12^1_1>=1 && 2<=i_27^post_36 ], cost: 1+2*nondet_12^1_1 Eliminated locations (on tree-shaped paths): Start location: l31 78: l1 -> l23 : a_193^0'=-1+a_163^0, head_16^0'=head_16^post_26, r_37^0'=r_37^post_26, rcd_192^0'=rcd_41^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_26, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_26, t_23^0'=x_22^0, tail_15^0'=tail_15^post_26, x_SLAM_f_20^0'=x_SLAM_f_20^post_26, [ 0<=a_163^0 && 1+y_21^0<=x_22^0 && -tail_15^post_26+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_26==0 && -y_21^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_26==0 && -x_SLAM_f_20^post_26+head_16^post_26==0 && 1+head_16^post_26<=y_21^0 ], cost: 4 79: l1 -> l23 : a_193^0'=-1+a_163^0, head_16^0'=head_16^post_26, r_37^0'=r_37^post_26, rcd_192^0'=rcd_41^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_26, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_26, t_23^0'=x_22^0, tail_15^0'=tail_15^post_26, x_SLAM_f_20^0'=x_SLAM_f_20^post_26, [ 0<=a_163^0 && 1+y_21^0<=x_22^0 && -tail_15^post_26+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_26==0 && -y_21^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_26==0 && -x_SLAM_f_20^post_26+head_16^post_26==0 && 1+y_21^0<=head_16^post_26 ], cost: 4 80: l1 -> l23 : a_193^0'=-1+a_163^0, head_16^0'=head_16^post_26, r_37^0'=r_37^post_26, rcd_192^0'=rcd_41^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_26, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_26, t_23^0'=x_22^0, tail_15^0'=tail_15^post_26, x_SLAM_f_20^0'=x_SLAM_f_20^post_26, [ 0<=a_163^0 && 1+x_22^0<=y_21^0 && -tail_15^post_26+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_26==0 && -y_21^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_26==0 && -x_SLAM_f_20^post_26+head_16^post_26==0 && 1+head_16^post_26<=y_21^0 ], cost: 4 81: l1 -> l23 : a_193^0'=-1+a_163^0, head_16^0'=head_16^post_26, r_37^0'=r_37^post_26, rcd_192^0'=rcd_41^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_26, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_26, t_23^0'=x_22^0, tail_15^0'=tail_15^post_26, x_SLAM_f_20^0'=x_SLAM_f_20^post_26, [ 0<=a_163^0 && 1+x_22^0<=y_21^0 && -tail_15^post_26+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_26==0 && -y_21^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_26==0 && -x_SLAM_f_20^post_26+head_16^post_26==0 && 1+y_21^0<=head_16^post_26 ], cost: 4 68: l23 -> l1 : a_163^0'=a_193^0, rcd_41^0'=rcd_192^0, [ 1+y_21^0<=t_23^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^0 ], cost: 3 69: l23 -> l1 : a_163^0'=a_193^0, rcd_41^0'=rcd_192^0, [ 1+t_23^0<=y_21^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^0 ], cost: 3 74: l27 -> l1 : i_127^0'=1+a_137^0, [ 1+head_16^0<=y_21^0 && 1+y_21^0<=t_23^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^0 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0<=i_127^0 ], cost: 3 75: l27 -> l1 : i_127^0'=1+a_137^0, [ 1+head_16^0<=y_21^0 && 1+t_23^0<=y_21^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^0 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0<=i_127^0 ], cost: 3 76: l27 -> l1 : i_127^0'=1+a_137^0, [ 1+y_21^0<=head_16^0 && 1+y_21^0<=t_23^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^0 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0<=i_127^0 ], cost: 3 77: l27 -> l1 : i_127^0'=1+a_137^0, [ 1+y_21^0<=head_16^0 && 1+t_23^0<=y_21^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^0 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0<=i_127^0 ], cost: 3 70: l31 -> l27 : a_137^0'=a_163^0, 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_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_14, rcd_168^0'=rcd_168^post_36, rcd_172^0'=rcd_172^post_36, rcd_67^0'=rcd_67^post_24, 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'=temp_32^post_48, tail_15^0'=tail_15^post_36, temp0_28^0'=temp0_28^post_36, temp_32^0'=temp_32^post_36, temp_33^0'=temp_33^post_14, tmp_31^0'=tmp_31^post_36, x_22^0'=temp_32^post_48, x_SLAM_f_20^0'=x_SLAM_f_20^post_36, y_21^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24, [ 2<=nondet_12^1_1 && nondet_12^1_1<=2 && 2<=i_27^post_36 && 1+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24<=temp_32^post_48 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_36-tail_15^post_36==0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_36-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24==0 && head_16^post_36-x_SLAM_f_20^post_36==0 && head_16^post_36-temp_32^post_48==0 && rcd_41^0-rcd_168^post_36==0 ], cost: 7 71: l31 -> l27 : a_137^0'=a_163^0, 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_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_14, rcd_168^0'=rcd_168^post_36, rcd_172^0'=rcd_172^post_36, rcd_67^0'=rcd_67^post_24, 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'=temp_32^post_48, tail_15^0'=tail_15^post_36, temp0_28^0'=temp0_28^post_36, temp_32^0'=temp_32^post_36, temp_33^0'=temp_33^post_14, tmp_31^0'=tmp_31^post_36, x_22^0'=temp_32^post_48, x_SLAM_f_20^0'=x_SLAM_f_20^post_36, y_21^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24, [ 2<=nondet_12^1_1 && nondet_12^1_1<=2 && 2<=i_27^post_36 && 1+temp_32^post_48<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_36-tail_15^post_36==0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_36-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24==0 && head_16^post_36-x_SLAM_f_20^post_36==0 && head_16^post_36-temp_32^post_48==0 && rcd_41^0-rcd_168^post_36==0 ], cost: 7 72: l31 -> l27 : a_137^0'=a_163^0, 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'=-1+nondet_12^1_1, 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_14, rcd_102^0'=rcd_102^post_45, rcd_110^0'=rcd_41^0, rcd_168^0'=rcd_168^post_36, rcd_172^0'=rcd_172^post_36, rcd_67^0'=rcd_67^post_24, 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'=temp_32^post_45, tail_15^0'=tail_15^post_36, temp0_28^0'=temp0_28^post_36, temp_32^0'=temp_32^post_36, temp_33^0'=temp_33^post_14, tmp_31^0'=tmp_31^post_36, x_22^0'=temp_32^post_45, x_SLAM_f_20^0'=x_SLAM_f_20^post_36, y_21^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24, [ -2+nondet_12^1_1>=1 && 2<=i_27^post_36 && 1+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24<=temp_32^post_45 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_36-tail_15^post_36==0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_36-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24==0 && head_16^post_36-x_SLAM_f_20^post_36==0 && head_16^post_36-temp_32^post_45==0 && rcd_41^0-rcd_168^post_36==0 ], cost: 3+2*nondet_12^1_1 73: l31 -> l27 : a_137^0'=a_163^0, 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'=-1+nondet_12^1_1, 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_14, rcd_102^0'=rcd_102^post_45, rcd_110^0'=rcd_41^0, rcd_168^0'=rcd_168^post_36, rcd_172^0'=rcd_172^post_36, rcd_67^0'=rcd_67^post_24, 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'=temp_32^post_45, tail_15^0'=tail_15^post_36, temp0_28^0'=temp0_28^post_36, temp_32^0'=temp_32^post_36, temp_33^0'=temp_33^post_14, tmp_31^0'=tmp_31^post_36, x_22^0'=temp_32^post_45, x_SLAM_f_20^0'=x_SLAM_f_20^post_36, y_21^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24, [ -2+nondet_12^1_1>=1 && 2<=i_27^post_36 && 1+temp_32^post_45<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_36-tail_15^post_36==0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_36-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24==0 && head_16^post_36-x_SLAM_f_20^post_36==0 && head_16^post_36-temp_32^post_45==0 && rcd_41^0-rcd_168^post_36==0 ], cost: 3+2*nondet_12^1_1 Eliminated locations (on tree-shaped paths): Start location: l31 88: l1 -> l1 : a_163^0'=-1+a_163^0, a_193^0'=-1+a_163^0, head_16^0'=head_16^post_26, r_37^0'=r_37^post_26, 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_26, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_26, t_23^0'=x_22^0, tail_15^0'=tail_15^post_26, x_SLAM_f_20^0'=x_SLAM_f_20^post_26, [ 0<=a_163^0 && 1+y_21^0<=x_22^0 && -tail_15^post_26+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_26==0 && -y_21^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_26==0 && -x_SLAM_f_20^post_26+head_16^post_26==0 && 1+head_16^post_26<=y_21^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_26 ], cost: 7 89: l1 -> l1 : a_163^0'=-1+a_163^0, a_193^0'=-1+a_163^0, head_16^0'=head_16^post_26, r_37^0'=r_37^post_26, 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_26, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_26, t_23^0'=x_22^0, tail_15^0'=tail_15^post_26, x_SLAM_f_20^0'=x_SLAM_f_20^post_26, [ 0<=a_163^0 && 1+y_21^0<=x_22^0 && -tail_15^post_26+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_26==0 && -y_21^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_26==0 && -x_SLAM_f_20^post_26+head_16^post_26==0 && 1+y_21^0<=head_16^post_26 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_26 ], cost: 7 90: l1 -> l1 : a_163^0'=-1+a_163^0, a_193^0'=-1+a_163^0, head_16^0'=head_16^post_26, r_37^0'=r_37^post_26, 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_26, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_26, t_23^0'=x_22^0, tail_15^0'=tail_15^post_26, x_SLAM_f_20^0'=x_SLAM_f_20^post_26, [ 0<=a_163^0 && 1+x_22^0<=y_21^0 && -tail_15^post_26+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_26==0 && -y_21^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_26==0 && -x_SLAM_f_20^post_26+head_16^post_26==0 && 1+head_16^post_26<=y_21^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_26 ], cost: 7 91: l1 -> l1 : a_163^0'=-1+a_163^0, a_193^0'=-1+a_163^0, head_16^0'=head_16^post_26, r_37^0'=r_37^post_26, 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_26, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_26, t_23^0'=x_22^0, tail_15^0'=tail_15^post_26, x_SLAM_f_20^0'=x_SLAM_f_20^post_26, [ 0<=a_163^0 && 1+x_22^0<=y_21^0 && -tail_15^post_26+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_26==0 && -y_21^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_26==0 && -x_SLAM_f_20^post_26+head_16^post_26==0 && 1+y_21^0<=head_16^post_26 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_26 ], cost: 7 82: l31 -> l1 : a_137^0'=a_163^0, 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_127^0'=1+a_163^0, i_27^0'=i_27^post_36, length_25^0'=length_25^post_36, nondet_12^0'=nondet_12^post_14, rcd_168^0'=rcd_168^post_36, rcd_172^0'=rcd_172^post_36, rcd_67^0'=rcd_67^post_24, 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'=temp_32^post_48, tail_15^0'=tail_15^post_36, temp0_28^0'=temp0_28^post_36, temp_32^0'=temp_32^post_36, temp_33^0'=temp_33^post_14, tmp_31^0'=tmp_31^post_36, x_22^0'=temp_32^post_48, x_SLAM_f_20^0'=x_SLAM_f_20^post_36, y_21^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24, [ 2<=nondet_12^1_1 && nondet_12^1_1<=2 && 2<=i_27^post_36 && 1+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24<=temp_32^post_48 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_36-tail_15^post_36==0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_36-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24==0 && head_16^post_36-x_SLAM_f_20^post_36==0 && head_16^post_36-temp_32^post_48==0 && rcd_41^0-rcd_168^post_36==0 && 1+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24<=head_16^post_36 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_36 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_36<=i_127^post_36 ], cost: 10 83: l31 -> l1 : a_137^0'=a_163^0, 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_127^0'=1+a_163^0, i_27^0'=i_27^post_36, length_25^0'=length_25^post_36, nondet_12^0'=nondet_12^post_14, rcd_168^0'=rcd_168^post_36, rcd_172^0'=rcd_172^post_36, rcd_67^0'=rcd_67^post_24, 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'=temp_32^post_48, tail_15^0'=tail_15^post_36, temp0_28^0'=temp0_28^post_36, temp_32^0'=temp_32^post_36, temp_33^0'=temp_33^post_14, tmp_31^0'=tmp_31^post_36, x_22^0'=temp_32^post_48, x_SLAM_f_20^0'=x_SLAM_f_20^post_36, y_21^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24, [ 2<=nondet_12^1_1 && nondet_12^1_1<=2 && 2<=i_27^post_36 && 1+temp_32^post_48<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_36-tail_15^post_36==0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_36-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24==0 && head_16^post_36-x_SLAM_f_20^post_36==0 && head_16^post_36-temp_32^post_48==0 && rcd_41^0-rcd_168^post_36==0 && 1+head_16^post_36<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_36 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_36<=i_127^post_36 ], cost: 10 84: l31 -> l1 : a_137^0'=a_163^0, 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'=-1+nondet_12^1_1, i_127^0'=1+a_163^0, i_27^0'=i_27^post_36, length_25^0'=length_25^post_36, nondet_12^0'=nondet_12^post_14, rcd_102^0'=rcd_102^post_45, rcd_110^0'=rcd_41^0, rcd_168^0'=rcd_168^post_36, rcd_172^0'=rcd_172^post_36, rcd_67^0'=rcd_67^post_24, 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'=temp_32^post_45, tail_15^0'=tail_15^post_36, temp0_28^0'=temp0_28^post_36, temp_32^0'=temp_32^post_36, temp_33^0'=temp_33^post_14, tmp_31^0'=tmp_31^post_36, x_22^0'=temp_32^post_45, x_SLAM_f_20^0'=x_SLAM_f_20^post_36, y_21^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24, [ -2+nondet_12^1_1>=1 && 2<=i_27^post_36 && 1+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24<=temp_32^post_45 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_36-tail_15^post_36==0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_36-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24==0 && head_16^post_36-x_SLAM_f_20^post_36==0 && head_16^post_36-temp_32^post_45==0 && rcd_41^0-rcd_168^post_36==0 && 1+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24<=head_16^post_36 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_36 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_36<=i_127^post_36 ], cost: 6+2*nondet_12^1_1 85: l31 -> l1 : a_137^0'=a_163^0, 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'=-1+nondet_12^1_1, i_127^0'=1+a_163^0, i_27^0'=i_27^post_36, length_25^0'=length_25^post_36, nondet_12^0'=nondet_12^post_14, rcd_102^0'=rcd_102^post_45, rcd_110^0'=rcd_41^0, rcd_168^0'=rcd_168^post_36, rcd_172^0'=rcd_172^post_36, rcd_67^0'=rcd_67^post_24, 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'=temp_32^post_45, tail_15^0'=tail_15^post_36, temp0_28^0'=temp0_28^post_36, temp_32^0'=temp_32^post_36, temp_33^0'=temp_33^post_14, tmp_31^0'=tmp_31^post_36, x_22^0'=temp_32^post_45, x_SLAM_f_20^0'=x_SLAM_f_20^post_36, y_21^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24, [ -2+nondet_12^1_1>=1 && 2<=i_27^post_36 && 1+temp_32^post_45<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_36-tail_15^post_36==0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_36-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24==0 && head_16^post_36-x_SLAM_f_20^post_36==0 && head_16^post_36-temp_32^post_45==0 && rcd_41^0-rcd_168^post_36==0 && 1+head_16^post_36<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_36 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_36<=i_127^post_36 ], cost: 6+2*nondet_12^1_1 86: l31 -> [33] : [ -2+nondet_12^1_1>=1 && 2<=i_27^post_36 && 1+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24<=temp_32^post_45 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_36-tail_15^post_36==0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_36-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24==0 && head_16^post_36-x_SLAM_f_20^post_36==0 && head_16^post_36-temp_32^post_45==0 && rcd_41^0-rcd_168^post_36==0 ], cost: 3+2*nondet_12^1_1 87: l31 -> [33] : [ -2+nondet_12^1_1>=1 && 2<=i_27^post_36 && 1+temp_32^post_45<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_36-tail_15^post_36==0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_36-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24==0 && head_16^post_36-x_SLAM_f_20^post_36==0 && head_16^post_36-temp_32^post_45==0 && rcd_41^0-rcd_168^post_36==0 ], cost: 3+2*nondet_12^1_1 Accelerating simple loops of location 6. Simplified some of the simple loops (and removed duplicate rules). Accelerating the following rules: 88: l1 -> l1 : a_163^0'=-1+a_163^0, a_193^0'=-1+a_163^0, head_16^0'=head_16^post_26, r_37^0'=r_37^post_26, 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_26, t_23^0'=x_22^0, tail_15^0'=y_21^0, x_SLAM_f_20^0'=head_16^post_26, [ 0<=a_163^0 && 1+y_21^0<=x_22^0 && 1+head_16^post_26<=y_21^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_26 ], cost: 7 89: l1 -> l1 : a_163^0'=-1+a_163^0, a_193^0'=-1+a_163^0, head_16^0'=head_16^post_26, r_37^0'=r_37^post_26, 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_26, t_23^0'=x_22^0, tail_15^0'=y_21^0, x_SLAM_f_20^0'=head_16^post_26, [ 0<=a_163^0 && 1+y_21^0<=x_22^0 && 1+y_21^0<=head_16^post_26 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_26 ], cost: 7 90: l1 -> l1 : a_163^0'=-1+a_163^0, a_193^0'=-1+a_163^0, head_16^0'=head_16^post_26, r_37^0'=r_37^post_26, 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_26, t_23^0'=x_22^0, tail_15^0'=y_21^0, x_SLAM_f_20^0'=head_16^post_26, [ 0<=a_163^0 && 1+x_22^0<=y_21^0 && 1+head_16^post_26<=y_21^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_26 ], cost: 7 91: l1 -> l1 : a_163^0'=-1+a_163^0, a_193^0'=-1+a_163^0, head_16^0'=head_16^post_26, r_37^0'=r_37^post_26, 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_26, t_23^0'=x_22^0, tail_15^0'=y_21^0, x_SLAM_f_20^0'=head_16^post_26, [ 0<=a_163^0 && 1+x_22^0<=y_21^0 && 1+y_21^0<=head_16^post_26 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_26 ], cost: 7 Accelerated rule 88 with backward acceleration, yielding the new rule 92. Accelerated rule 89 with backward acceleration, yielding the new rule 93. Accelerated rule 90 with backward acceleration, yielding the new rule 94. Accelerated rule 91 with backward acceleration, yielding the new rule 95. [accelerate] Nesting with 4 inner and 4 outer candidates Removing the simple loops: 88 89 90 91. Accelerated all simple loops using metering functions (where possible): Start location: l31 92: l1 -> l1 : a_163^0'=-1, a_193^0'=-1, head_16^0'=head_16^post_26, r_37^0'=r_37^post_26, 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_26, t_23^0'=x_22^0, tail_15^0'=y_21^0, x_SLAM_f_20^0'=head_16^post_26, [ 1+y_21^0<=x_22^0 && 1+head_16^post_26<=y_21^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_26 && 1+a_163^0>=1 ], cost: 7+7*a_163^0 93: l1 -> l1 : a_163^0'=-1, a_193^0'=-1, head_16^0'=head_16^post_26, r_37^0'=r_37^post_26, 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_26, t_23^0'=x_22^0, tail_15^0'=y_21^0, x_SLAM_f_20^0'=head_16^post_26, [ 1+y_21^0<=x_22^0 && 1+y_21^0<=head_16^post_26 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_26 && 1+a_163^0>=1 ], cost: 7+7*a_163^0 94: l1 -> l1 : a_163^0'=-1, a_193^0'=-1, head_16^0'=head_16^post_26, r_37^0'=r_37^post_26, 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_26, t_23^0'=x_22^0, tail_15^0'=y_21^0, x_SLAM_f_20^0'=head_16^post_26, [ 1+x_22^0<=y_21^0 && 1+head_16^post_26<=y_21^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_26 && 1+a_163^0>=1 ], cost: 7+7*a_163^0 95: l1 -> l1 : a_163^0'=-1, a_193^0'=-1, head_16^0'=head_16^post_26, r_37^0'=r_37^post_26, 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_26, t_23^0'=x_22^0, tail_15^0'=y_21^0, x_SLAM_f_20^0'=head_16^post_26, [ 1+x_22^0<=y_21^0 && 1+y_21^0<=head_16^post_26 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_26 && 1+a_163^0>=1 ], cost: 7+7*a_163^0 82: l31 -> l1 : a_137^0'=a_163^0, 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_127^0'=1+a_163^0, i_27^0'=i_27^post_36, length_25^0'=length_25^post_36, nondet_12^0'=nondet_12^post_14, rcd_168^0'=rcd_168^post_36, rcd_172^0'=rcd_172^post_36, rcd_67^0'=rcd_67^post_24, 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'=temp_32^post_48, tail_15^0'=tail_15^post_36, temp0_28^0'=temp0_28^post_36, temp_32^0'=temp_32^post_36, temp_33^0'=temp_33^post_14, tmp_31^0'=tmp_31^post_36, x_22^0'=temp_32^post_48, x_SLAM_f_20^0'=x_SLAM_f_20^post_36, y_21^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24, [ 2<=nondet_12^1_1 && nondet_12^1_1<=2 && 2<=i_27^post_36 && 1+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24<=temp_32^post_48 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_36-tail_15^post_36==0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_36-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24==0 && head_16^post_36-x_SLAM_f_20^post_36==0 && head_16^post_36-temp_32^post_48==0 && rcd_41^0-rcd_168^post_36==0 && 1+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24<=head_16^post_36 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_36 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_36<=i_127^post_36 ], cost: 10 83: l31 -> l1 : a_137^0'=a_163^0, 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_127^0'=1+a_163^0, i_27^0'=i_27^post_36, length_25^0'=length_25^post_36, nondet_12^0'=nondet_12^post_14, rcd_168^0'=rcd_168^post_36, rcd_172^0'=rcd_172^post_36, rcd_67^0'=rcd_67^post_24, 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'=temp_32^post_48, tail_15^0'=tail_15^post_36, temp0_28^0'=temp0_28^post_36, temp_32^0'=temp_32^post_36, temp_33^0'=temp_33^post_14, tmp_31^0'=tmp_31^post_36, x_22^0'=temp_32^post_48, x_SLAM_f_20^0'=x_SLAM_f_20^post_36, y_21^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24, [ 2<=nondet_12^1_1 && nondet_12^1_1<=2 && 2<=i_27^post_36 && 1+temp_32^post_48<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_36-tail_15^post_36==0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_36-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24==0 && head_16^post_36-x_SLAM_f_20^post_36==0 && head_16^post_36-temp_32^post_48==0 && rcd_41^0-rcd_168^post_36==0 && 1+head_16^post_36<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_36 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_36<=i_127^post_36 ], cost: 10 84: l31 -> l1 : a_137^0'=a_163^0, 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'=-1+nondet_12^1_1, i_127^0'=1+a_163^0, i_27^0'=i_27^post_36, length_25^0'=length_25^post_36, nondet_12^0'=nondet_12^post_14, rcd_102^0'=rcd_102^post_45, rcd_110^0'=rcd_41^0, rcd_168^0'=rcd_168^post_36, rcd_172^0'=rcd_172^post_36, rcd_67^0'=rcd_67^post_24, 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'=temp_32^post_45, tail_15^0'=tail_15^post_36, temp0_28^0'=temp0_28^post_36, temp_32^0'=temp_32^post_36, temp_33^0'=temp_33^post_14, tmp_31^0'=tmp_31^post_36, x_22^0'=temp_32^post_45, x_SLAM_f_20^0'=x_SLAM_f_20^post_36, y_21^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24, [ -2+nondet_12^1_1>=1 && 2<=i_27^post_36 && 1+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24<=temp_32^post_45 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_36-tail_15^post_36==0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_36-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24==0 && head_16^post_36-x_SLAM_f_20^post_36==0 && head_16^post_36-temp_32^post_45==0 && rcd_41^0-rcd_168^post_36==0 && 1+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24<=head_16^post_36 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_36 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_36<=i_127^post_36 ], cost: 6+2*nondet_12^1_1 85: l31 -> l1 : a_137^0'=a_163^0, 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'=-1+nondet_12^1_1, i_127^0'=1+a_163^0, i_27^0'=i_27^post_36, length_25^0'=length_25^post_36, nondet_12^0'=nondet_12^post_14, rcd_102^0'=rcd_102^post_45, rcd_110^0'=rcd_41^0, rcd_168^0'=rcd_168^post_36, rcd_172^0'=rcd_172^post_36, rcd_67^0'=rcd_67^post_24, 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'=temp_32^post_45, tail_15^0'=tail_15^post_36, temp0_28^0'=temp0_28^post_36, temp_32^0'=temp_32^post_36, temp_33^0'=temp_33^post_14, tmp_31^0'=tmp_31^post_36, x_22^0'=temp_32^post_45, x_SLAM_f_20^0'=x_SLAM_f_20^post_36, y_21^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24, [ -2+nondet_12^1_1>=1 && 2<=i_27^post_36 && 1+temp_32^post_45<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_36-tail_15^post_36==0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_36-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24==0 && head_16^post_36-x_SLAM_f_20^post_36==0 && head_16^post_36-temp_32^post_45==0 && rcd_41^0-rcd_168^post_36==0 && 1+head_16^post_36<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_36 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_36<=i_127^post_36 ], cost: 6+2*nondet_12^1_1 86: l31 -> [33] : [ -2+nondet_12^1_1>=1 && 2<=i_27^post_36 && 1+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24<=temp_32^post_45 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_36-tail_15^post_36==0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_36-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24==0 && head_16^post_36-x_SLAM_f_20^post_36==0 && head_16^post_36-temp_32^post_45==0 && rcd_41^0-rcd_168^post_36==0 ], cost: 3+2*nondet_12^1_1 87: l31 -> [33] : [ -2+nondet_12^1_1>=1 && 2<=i_27^post_36 && 1+temp_32^post_45<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_36-tail_15^post_36==0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_36-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24==0 && head_16^post_36-x_SLAM_f_20^post_36==0 && head_16^post_36-temp_32^post_45==0 && rcd_41^0-rcd_168^post_36==0 ], cost: 3+2*nondet_12^1_1 Chained accelerated rules (with incoming rules): Start location: l31 82: l31 -> l1 : a_137^0'=a_163^0, 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_127^0'=1+a_163^0, i_27^0'=i_27^post_36, length_25^0'=length_25^post_36, nondet_12^0'=nondet_12^post_14, rcd_168^0'=rcd_168^post_36, rcd_172^0'=rcd_172^post_36, rcd_67^0'=rcd_67^post_24, 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'=temp_32^post_48, tail_15^0'=tail_15^post_36, temp0_28^0'=temp0_28^post_36, temp_32^0'=temp_32^post_36, temp_33^0'=temp_33^post_14, tmp_31^0'=tmp_31^post_36, x_22^0'=temp_32^post_48, x_SLAM_f_20^0'=x_SLAM_f_20^post_36, y_21^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24, [ 2<=nondet_12^1_1 && nondet_12^1_1<=2 && 2<=i_27^post_36 && 1+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24<=temp_32^post_48 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_36-tail_15^post_36==0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_36-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24==0 && head_16^post_36-x_SLAM_f_20^post_36==0 && head_16^post_36-temp_32^post_48==0 && rcd_41^0-rcd_168^post_36==0 && 1+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24<=head_16^post_36 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_36 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_36<=i_127^post_36 ], cost: 10 83: l31 -> l1 : a_137^0'=a_163^0, 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_127^0'=1+a_163^0, i_27^0'=i_27^post_36, length_25^0'=length_25^post_36, nondet_12^0'=nondet_12^post_14, rcd_168^0'=rcd_168^post_36, rcd_172^0'=rcd_172^post_36, rcd_67^0'=rcd_67^post_24, 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'=temp_32^post_48, tail_15^0'=tail_15^post_36, temp0_28^0'=temp0_28^post_36, temp_32^0'=temp_32^post_36, temp_33^0'=temp_33^post_14, tmp_31^0'=tmp_31^post_36, x_22^0'=temp_32^post_48, x_SLAM_f_20^0'=x_SLAM_f_20^post_36, y_21^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24, [ 2<=nondet_12^1_1 && nondet_12^1_1<=2 && 2<=i_27^post_36 && 1+temp_32^post_48<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_36-tail_15^post_36==0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_36-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24==0 && head_16^post_36-x_SLAM_f_20^post_36==0 && head_16^post_36-temp_32^post_48==0 && rcd_41^0-rcd_168^post_36==0 && 1+head_16^post_36<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_36 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_36<=i_127^post_36 ], cost: 10 84: l31 -> l1 : a_137^0'=a_163^0, 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'=-1+nondet_12^1_1, i_127^0'=1+a_163^0, i_27^0'=i_27^post_36, length_25^0'=length_25^post_36, nondet_12^0'=nondet_12^post_14, rcd_102^0'=rcd_102^post_45, rcd_110^0'=rcd_41^0, rcd_168^0'=rcd_168^post_36, rcd_172^0'=rcd_172^post_36, rcd_67^0'=rcd_67^post_24, 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'=temp_32^post_45, tail_15^0'=tail_15^post_36, temp0_28^0'=temp0_28^post_36, temp_32^0'=temp_32^post_36, temp_33^0'=temp_33^post_14, tmp_31^0'=tmp_31^post_36, x_22^0'=temp_32^post_45, x_SLAM_f_20^0'=x_SLAM_f_20^post_36, y_21^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24, [ -2+nondet_12^1_1>=1 && 2<=i_27^post_36 && 1+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24<=temp_32^post_45 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_36-tail_15^post_36==0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_36-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24==0 && head_16^post_36-x_SLAM_f_20^post_36==0 && head_16^post_36-temp_32^post_45==0 && rcd_41^0-rcd_168^post_36==0 && 1+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24<=head_16^post_36 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_36 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_36<=i_127^post_36 ], cost: 6+2*nondet_12^1_1 85: l31 -> l1 : a_137^0'=a_163^0, 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'=-1+nondet_12^1_1, i_127^0'=1+a_163^0, i_27^0'=i_27^post_36, length_25^0'=length_25^post_36, nondet_12^0'=nondet_12^post_14, rcd_102^0'=rcd_102^post_45, rcd_110^0'=rcd_41^0, rcd_168^0'=rcd_168^post_36, rcd_172^0'=rcd_172^post_36, rcd_67^0'=rcd_67^post_24, 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'=temp_32^post_45, tail_15^0'=tail_15^post_36, temp0_28^0'=temp0_28^post_36, temp_32^0'=temp_32^post_36, temp_33^0'=temp_33^post_14, tmp_31^0'=tmp_31^post_36, x_22^0'=temp_32^post_45, x_SLAM_f_20^0'=x_SLAM_f_20^post_36, y_21^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24, [ -2+nondet_12^1_1>=1 && 2<=i_27^post_36 && 1+temp_32^post_45<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_36-tail_15^post_36==0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_36-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24==0 && head_16^post_36-x_SLAM_f_20^post_36==0 && head_16^post_36-temp_32^post_45==0 && rcd_41^0-rcd_168^post_36==0 && 1+head_16^post_36<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_36 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_36<=i_127^post_36 ], cost: 6+2*nondet_12^1_1 86: l31 -> [33] : [ -2+nondet_12^1_1>=1 && 2<=i_27^post_36 && 1+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24<=temp_32^post_45 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_36-tail_15^post_36==0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_36-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24==0 && head_16^post_36-x_SLAM_f_20^post_36==0 && head_16^post_36-temp_32^post_45==0 && rcd_41^0-rcd_168^post_36==0 ], cost: 3+2*nondet_12^1_1 87: l31 -> [33] : [ -2+nondet_12^1_1>=1 && 2<=i_27^post_36 && 1+temp_32^post_45<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_36-tail_15^post_36==0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_36-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24==0 && head_16^post_36-x_SLAM_f_20^post_36==0 && head_16^post_36-temp_32^post_45==0 && rcd_41^0-rcd_168^post_36==0 ], cost: 3+2*nondet_12^1_1 96: l31 -> l1 : a_137^0'=a_163^0, a_163^0'=-1, a_193^0'=-1, head_16^0'=head_16^post_26, head_29^0'=head_29^post_36, head_SLAM_f_26^0'=head_SLAM_f_26^post_36, i_127^0'=1+a_163^0, i_27^0'=i_27^post_36, length_25^0'=length_25^post_36, nondet_12^0'=nondet_12^post_14, r_37^0'=r_37^post_26, rcd_168^0'=rcd_41^0, rcd_172^0'=rcd_172^post_36, rcd_192^0'=rcd_41^0, rcd_67^0'=rcd_67^post_24, result_11^0'=result_11^post_36, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=tail_15^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_26, t_23^0'=x_SLAM_f_20^post_36, tail_15^0'=tail_15^post_36, temp0_28^0'=temp0_28^post_36, temp_32^0'=temp_32^post_36, temp_33^0'=temp_33^post_14, tmp_31^0'=tmp_31^post_36, x_22^0'=x_SLAM_f_20^post_36, x_SLAM_f_20^0'=head_16^post_26, y_21^0'=tail_15^post_36, [ 2<=i_27^post_36 && 1+tail_15^post_36<=x_SLAM_f_20^post_36 && 1+head_16^post_26<=tail_15^post_36 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_26 && 1+a_163^0>=1 ], cost: 17+7*a_163^0 97: l31 -> l1 : a_137^0'=a_163^0, a_163^0'=-1, a_193^0'=-1, head_16^0'=head_16^post_26, head_29^0'=head_29^post_36, head_SLAM_f_26^0'=head_SLAM_f_26^post_36, i_108^0'=-1+nondet_12^1_1, i_127^0'=1+a_163^0, i_27^0'=i_27^post_36, length_25^0'=length_25^post_36, nondet_12^0'=nondet_12^post_14, r_37^0'=r_37^post_26, rcd_102^0'=rcd_102^post_45, rcd_110^0'=rcd_41^0, rcd_168^0'=rcd_41^0, rcd_172^0'=rcd_172^post_36, rcd_192^0'=rcd_41^0, rcd_67^0'=rcd_67^post_24, result_11^0'=result_11^post_36, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=tail_15^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_26, t_23^0'=x_SLAM_f_20^post_36, tail_15^0'=tail_15^post_36, temp0_28^0'=temp0_28^post_36, temp_32^0'=temp_32^post_36, temp_33^0'=temp_33^post_14, tmp_31^0'=tmp_31^post_36, x_22^0'=x_SLAM_f_20^post_36, x_SLAM_f_20^0'=head_16^post_26, y_21^0'=tail_15^post_36, [ -2+nondet_12^1_1>=1 && 2<=i_27^post_36 && 1+tail_15^post_36<=x_SLAM_f_20^post_36 && 1+head_16^post_26<=tail_15^post_36 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_26 && 1+a_163^0>=1 ], cost: 13+7*a_163^0+2*nondet_12^1_1 98: l31 -> l1 : a_137^0'=a_163^0, a_163^0'=-1, a_193^0'=-1, head_16^0'=head_16^post_26, head_29^0'=head_29^post_36, head_SLAM_f_26^0'=head_SLAM_f_26^post_36, i_127^0'=1+a_163^0, i_27^0'=i_27^post_36, length_25^0'=length_25^post_36, nondet_12^0'=nondet_12^post_14, r_37^0'=r_37^post_26, rcd_168^0'=rcd_41^0, rcd_172^0'=rcd_172^post_36, rcd_192^0'=rcd_41^0, rcd_67^0'=rcd_67^post_24, result_11^0'=result_11^post_36, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=tail_15^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_26, t_23^0'=x_SLAM_f_20^post_36, tail_15^0'=tail_15^post_36, temp0_28^0'=temp0_28^post_36, temp_32^0'=temp_32^post_36, temp_33^0'=temp_33^post_14, tmp_31^0'=tmp_31^post_36, x_22^0'=x_SLAM_f_20^post_36, x_SLAM_f_20^0'=head_16^post_26, y_21^0'=tail_15^post_36, [ 2<=i_27^post_36 && 1+tail_15^post_36<=x_SLAM_f_20^post_36 && 1+tail_15^post_36<=head_16^post_26 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_26 && 1+a_163^0>=1 ], cost: 17+7*a_163^0 99: l31 -> l1 : a_137^0'=a_163^0, a_163^0'=-1, a_193^0'=-1, head_16^0'=head_16^post_26, head_29^0'=head_29^post_36, head_SLAM_f_26^0'=head_SLAM_f_26^post_36, i_108^0'=-1+nondet_12^1_1, i_127^0'=1+a_163^0, i_27^0'=i_27^post_36, length_25^0'=length_25^post_36, nondet_12^0'=nondet_12^post_14, r_37^0'=r_37^post_26, rcd_102^0'=rcd_102^post_45, rcd_110^0'=rcd_41^0, rcd_168^0'=rcd_41^0, rcd_172^0'=rcd_172^post_36, rcd_192^0'=rcd_41^0, rcd_67^0'=rcd_67^post_24, result_11^0'=result_11^post_36, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=tail_15^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_26, t_23^0'=x_SLAM_f_20^post_36, tail_15^0'=tail_15^post_36, temp0_28^0'=temp0_28^post_36, temp_32^0'=temp_32^post_36, temp_33^0'=temp_33^post_14, tmp_31^0'=tmp_31^post_36, x_22^0'=x_SLAM_f_20^post_36, x_SLAM_f_20^0'=head_16^post_26, y_21^0'=tail_15^post_36, [ -2+nondet_12^1_1>=1 && 2<=i_27^post_36 && 1+tail_15^post_36<=x_SLAM_f_20^post_36 && 1+tail_15^post_36<=head_16^post_26 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_26 && 1+a_163^0>=1 ], cost: 13+7*a_163^0+2*nondet_12^1_1 100: l31 -> l1 : a_137^0'=a_163^0, a_163^0'=-1, a_193^0'=-1, head_16^0'=head_16^post_26, head_29^0'=head_29^post_36, head_SLAM_f_26^0'=head_SLAM_f_26^post_36, i_127^0'=1+a_163^0, i_27^0'=i_27^post_36, length_25^0'=length_25^post_36, nondet_12^0'=nondet_12^post_14, r_37^0'=r_37^post_26, rcd_168^0'=rcd_41^0, rcd_172^0'=rcd_172^post_36, rcd_192^0'=rcd_41^0, rcd_67^0'=rcd_67^post_24, result_11^0'=result_11^post_36, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=tail_15^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_26, t_23^0'=x_SLAM_f_20^post_36, tail_15^0'=tail_15^post_36, temp0_28^0'=temp0_28^post_36, temp_32^0'=temp_32^post_36, temp_33^0'=temp_33^post_14, tmp_31^0'=tmp_31^post_36, x_22^0'=x_SLAM_f_20^post_36, x_SLAM_f_20^0'=head_16^post_26, y_21^0'=tail_15^post_36, [ 2<=i_27^post_36 && 1+x_SLAM_f_20^post_36<=tail_15^post_36 && 1+head_16^post_26<=tail_15^post_36 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_26 && 1+a_163^0>=1 ], cost: 17+7*a_163^0 101: l31 -> l1 : a_137^0'=a_163^0, a_163^0'=-1, a_193^0'=-1, head_16^0'=head_16^post_26, head_29^0'=head_29^post_36, head_SLAM_f_26^0'=head_SLAM_f_26^post_36, i_108^0'=-1+nondet_12^1_1, i_127^0'=1+a_163^0, i_27^0'=i_27^post_36, length_25^0'=length_25^post_36, nondet_12^0'=nondet_12^post_14, r_37^0'=r_37^post_26, rcd_102^0'=rcd_102^post_45, rcd_110^0'=rcd_41^0, rcd_168^0'=rcd_41^0, rcd_172^0'=rcd_172^post_36, rcd_192^0'=rcd_41^0, rcd_67^0'=rcd_67^post_24, result_11^0'=result_11^post_36, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=tail_15^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_26, t_23^0'=x_SLAM_f_20^post_36, tail_15^0'=tail_15^post_36, temp0_28^0'=temp0_28^post_36, temp_32^0'=temp_32^post_36, temp_33^0'=temp_33^post_14, tmp_31^0'=tmp_31^post_36, x_22^0'=x_SLAM_f_20^post_36, x_SLAM_f_20^0'=head_16^post_26, y_21^0'=tail_15^post_36, [ -2+nondet_12^1_1>=1 && 2<=i_27^post_36 && 1+x_SLAM_f_20^post_36<=tail_15^post_36 && 1+head_16^post_26<=tail_15^post_36 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_26 && 1+a_163^0>=1 ], cost: 13+7*a_163^0+2*nondet_12^1_1 102: l31 -> l1 : a_137^0'=a_163^0, a_163^0'=-1, a_193^0'=-1, head_16^0'=head_16^post_26, head_29^0'=head_29^post_36, head_SLAM_f_26^0'=head_SLAM_f_26^post_36, i_127^0'=1+a_163^0, i_27^0'=i_27^post_36, length_25^0'=length_25^post_36, nondet_12^0'=nondet_12^post_14, r_37^0'=r_37^post_26, rcd_168^0'=rcd_41^0, rcd_172^0'=rcd_172^post_36, rcd_192^0'=rcd_41^0, rcd_67^0'=rcd_67^post_24, result_11^0'=result_11^post_36, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=tail_15^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_26, t_23^0'=x_SLAM_f_20^post_36, tail_15^0'=tail_15^post_36, temp0_28^0'=temp0_28^post_36, temp_32^0'=temp_32^post_36, temp_33^0'=temp_33^post_14, tmp_31^0'=tmp_31^post_36, x_22^0'=x_SLAM_f_20^post_36, x_SLAM_f_20^0'=head_16^post_26, y_21^0'=tail_15^post_36, [ 2<=i_27^post_36 && 1+x_SLAM_f_20^post_36<=tail_15^post_36 && 1+tail_15^post_36<=head_16^post_26 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_26 && 1+a_163^0>=1 ], cost: 17+7*a_163^0 103: l31 -> l1 : a_137^0'=a_163^0, a_163^0'=-1, a_193^0'=-1, head_16^0'=head_16^post_26, head_29^0'=head_29^post_36, head_SLAM_f_26^0'=head_SLAM_f_26^post_36, i_108^0'=-1+nondet_12^1_1, i_127^0'=1+a_163^0, i_27^0'=i_27^post_36, length_25^0'=length_25^post_36, nondet_12^0'=nondet_12^post_14, r_37^0'=r_37^post_26, rcd_102^0'=rcd_102^post_45, rcd_110^0'=rcd_41^0, rcd_168^0'=rcd_41^0, rcd_172^0'=rcd_172^post_36, rcd_192^0'=rcd_41^0, rcd_67^0'=rcd_67^post_24, result_11^0'=result_11^post_36, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=tail_15^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_26, t_23^0'=x_SLAM_f_20^post_36, tail_15^0'=tail_15^post_36, temp0_28^0'=temp0_28^post_36, temp_32^0'=temp_32^post_36, temp_33^0'=temp_33^post_14, tmp_31^0'=tmp_31^post_36, x_22^0'=x_SLAM_f_20^post_36, x_SLAM_f_20^0'=head_16^post_26, y_21^0'=tail_15^post_36, [ -2+nondet_12^1_1>=1 && 2<=i_27^post_36 && 1+x_SLAM_f_20^post_36<=tail_15^post_36 && 1+tail_15^post_36<=head_16^post_26 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_26 && 1+a_163^0>=1 ], cost: 13+7*a_163^0+2*nondet_12^1_1 Removed unreachable locations (and leaf rules with constant cost): Start location: l31 84: l31 -> l1 : a_137^0'=a_163^0, 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'=-1+nondet_12^1_1, i_127^0'=1+a_163^0, i_27^0'=i_27^post_36, length_25^0'=length_25^post_36, nondet_12^0'=nondet_12^post_14, rcd_102^0'=rcd_102^post_45, rcd_110^0'=rcd_41^0, rcd_168^0'=rcd_168^post_36, rcd_172^0'=rcd_172^post_36, rcd_67^0'=rcd_67^post_24, 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'=temp_32^post_45, tail_15^0'=tail_15^post_36, temp0_28^0'=temp0_28^post_36, temp_32^0'=temp_32^post_36, temp_33^0'=temp_33^post_14, tmp_31^0'=tmp_31^post_36, x_22^0'=temp_32^post_45, x_SLAM_f_20^0'=x_SLAM_f_20^post_36, y_21^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24, [ -2+nondet_12^1_1>=1 && 2<=i_27^post_36 && 1+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24<=temp_32^post_45 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_36-tail_15^post_36==0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_36-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24==0 && head_16^post_36-x_SLAM_f_20^post_36==0 && head_16^post_36-temp_32^post_45==0 && rcd_41^0-rcd_168^post_36==0 && 1+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24<=head_16^post_36 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_36 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_36<=i_127^post_36 ], cost: 6+2*nondet_12^1_1 85: l31 -> l1 : a_137^0'=a_163^0, 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'=-1+nondet_12^1_1, i_127^0'=1+a_163^0, i_27^0'=i_27^post_36, length_25^0'=length_25^post_36, nondet_12^0'=nondet_12^post_14, rcd_102^0'=rcd_102^post_45, rcd_110^0'=rcd_41^0, rcd_168^0'=rcd_168^post_36, rcd_172^0'=rcd_172^post_36, rcd_67^0'=rcd_67^post_24, 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'=temp_32^post_45, tail_15^0'=tail_15^post_36, temp0_28^0'=temp0_28^post_36, temp_32^0'=temp_32^post_36, temp_33^0'=temp_33^post_14, tmp_31^0'=tmp_31^post_36, x_22^0'=temp_32^post_45, x_SLAM_f_20^0'=x_SLAM_f_20^post_36, y_21^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24, [ -2+nondet_12^1_1>=1 && 2<=i_27^post_36 && 1+temp_32^post_45<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_36-tail_15^post_36==0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_36-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24==0 && head_16^post_36-x_SLAM_f_20^post_36==0 && head_16^post_36-temp_32^post_45==0 && rcd_41^0-rcd_168^post_36==0 && 1+head_16^post_36<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_36 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_36<=i_127^post_36 ], cost: 6+2*nondet_12^1_1 86: l31 -> [33] : [ -2+nondet_12^1_1>=1 && 2<=i_27^post_36 && 1+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24<=temp_32^post_45 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_36-tail_15^post_36==0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_36-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24==0 && head_16^post_36-x_SLAM_f_20^post_36==0 && head_16^post_36-temp_32^post_45==0 && rcd_41^0-rcd_168^post_36==0 ], cost: 3+2*nondet_12^1_1 87: l31 -> [33] : [ -2+nondet_12^1_1>=1 && 2<=i_27^post_36 && 1+temp_32^post_45<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_36-tail_15^post_36==0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_36-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24==0 && head_16^post_36-x_SLAM_f_20^post_36==0 && head_16^post_36-temp_32^post_45==0 && rcd_41^0-rcd_168^post_36==0 ], cost: 3+2*nondet_12^1_1 96: l31 -> l1 : a_137^0'=a_163^0, a_163^0'=-1, a_193^0'=-1, head_16^0'=head_16^post_26, head_29^0'=head_29^post_36, head_SLAM_f_26^0'=head_SLAM_f_26^post_36, i_127^0'=1+a_163^0, i_27^0'=i_27^post_36, length_25^0'=length_25^post_36, nondet_12^0'=nondet_12^post_14, r_37^0'=r_37^post_26, rcd_168^0'=rcd_41^0, rcd_172^0'=rcd_172^post_36, rcd_192^0'=rcd_41^0, rcd_67^0'=rcd_67^post_24, result_11^0'=result_11^post_36, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=tail_15^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_26, t_23^0'=x_SLAM_f_20^post_36, tail_15^0'=tail_15^post_36, temp0_28^0'=temp0_28^post_36, temp_32^0'=temp_32^post_36, temp_33^0'=temp_33^post_14, tmp_31^0'=tmp_31^post_36, x_22^0'=x_SLAM_f_20^post_36, x_SLAM_f_20^0'=head_16^post_26, y_21^0'=tail_15^post_36, [ 2<=i_27^post_36 && 1+tail_15^post_36<=x_SLAM_f_20^post_36 && 1+head_16^post_26<=tail_15^post_36 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_26 && 1+a_163^0>=1 ], cost: 17+7*a_163^0 97: l31 -> l1 : a_137^0'=a_163^0, a_163^0'=-1, a_193^0'=-1, head_16^0'=head_16^post_26, head_29^0'=head_29^post_36, head_SLAM_f_26^0'=head_SLAM_f_26^post_36, i_108^0'=-1+nondet_12^1_1, i_127^0'=1+a_163^0, i_27^0'=i_27^post_36, length_25^0'=length_25^post_36, nondet_12^0'=nondet_12^post_14, r_37^0'=r_37^post_26, rcd_102^0'=rcd_102^post_45, rcd_110^0'=rcd_41^0, rcd_168^0'=rcd_41^0, rcd_172^0'=rcd_172^post_36, rcd_192^0'=rcd_41^0, rcd_67^0'=rcd_67^post_24, result_11^0'=result_11^post_36, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=tail_15^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_26, t_23^0'=x_SLAM_f_20^post_36, tail_15^0'=tail_15^post_36, temp0_28^0'=temp0_28^post_36, temp_32^0'=temp_32^post_36, temp_33^0'=temp_33^post_14, tmp_31^0'=tmp_31^post_36, x_22^0'=x_SLAM_f_20^post_36, x_SLAM_f_20^0'=head_16^post_26, y_21^0'=tail_15^post_36, [ -2+nondet_12^1_1>=1 && 2<=i_27^post_36 && 1+tail_15^post_36<=x_SLAM_f_20^post_36 && 1+head_16^post_26<=tail_15^post_36 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_26 && 1+a_163^0>=1 ], cost: 13+7*a_163^0+2*nondet_12^1_1 98: l31 -> l1 : a_137^0'=a_163^0, a_163^0'=-1, a_193^0'=-1, head_16^0'=head_16^post_26, head_29^0'=head_29^post_36, head_SLAM_f_26^0'=head_SLAM_f_26^post_36, i_127^0'=1+a_163^0, i_27^0'=i_27^post_36, length_25^0'=length_25^post_36, nondet_12^0'=nondet_12^post_14, r_37^0'=r_37^post_26, rcd_168^0'=rcd_41^0, rcd_172^0'=rcd_172^post_36, rcd_192^0'=rcd_41^0, rcd_67^0'=rcd_67^post_24, result_11^0'=result_11^post_36, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=tail_15^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_26, t_23^0'=x_SLAM_f_20^post_36, tail_15^0'=tail_15^post_36, temp0_28^0'=temp0_28^post_36, temp_32^0'=temp_32^post_36, temp_33^0'=temp_33^post_14, tmp_31^0'=tmp_31^post_36, x_22^0'=x_SLAM_f_20^post_36, x_SLAM_f_20^0'=head_16^post_26, y_21^0'=tail_15^post_36, [ 2<=i_27^post_36 && 1+tail_15^post_36<=x_SLAM_f_20^post_36 && 1+tail_15^post_36<=head_16^post_26 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_26 && 1+a_163^0>=1 ], cost: 17+7*a_163^0 99: l31 -> l1 : a_137^0'=a_163^0, a_163^0'=-1, a_193^0'=-1, head_16^0'=head_16^post_26, head_29^0'=head_29^post_36, head_SLAM_f_26^0'=head_SLAM_f_26^post_36, i_108^0'=-1+nondet_12^1_1, i_127^0'=1+a_163^0, i_27^0'=i_27^post_36, length_25^0'=length_25^post_36, nondet_12^0'=nondet_12^post_14, r_37^0'=r_37^post_26, rcd_102^0'=rcd_102^post_45, rcd_110^0'=rcd_41^0, rcd_168^0'=rcd_41^0, rcd_172^0'=rcd_172^post_36, rcd_192^0'=rcd_41^0, rcd_67^0'=rcd_67^post_24, result_11^0'=result_11^post_36, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=tail_15^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_26, t_23^0'=x_SLAM_f_20^post_36, tail_15^0'=tail_15^post_36, temp0_28^0'=temp0_28^post_36, temp_32^0'=temp_32^post_36, temp_33^0'=temp_33^post_14, tmp_31^0'=tmp_31^post_36, x_22^0'=x_SLAM_f_20^post_36, x_SLAM_f_20^0'=head_16^post_26, y_21^0'=tail_15^post_36, [ -2+nondet_12^1_1>=1 && 2<=i_27^post_36 && 1+tail_15^post_36<=x_SLAM_f_20^post_36 && 1+tail_15^post_36<=head_16^post_26 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_26 && 1+a_163^0>=1 ], cost: 13+7*a_163^0+2*nondet_12^1_1 100: l31 -> l1 : a_137^0'=a_163^0, a_163^0'=-1, a_193^0'=-1, head_16^0'=head_16^post_26, head_29^0'=head_29^post_36, head_SLAM_f_26^0'=head_SLAM_f_26^post_36, i_127^0'=1+a_163^0, i_27^0'=i_27^post_36, length_25^0'=length_25^post_36, nondet_12^0'=nondet_12^post_14, r_37^0'=r_37^post_26, rcd_168^0'=rcd_41^0, rcd_172^0'=rcd_172^post_36, rcd_192^0'=rcd_41^0, rcd_67^0'=rcd_67^post_24, result_11^0'=result_11^post_36, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=tail_15^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_26, t_23^0'=x_SLAM_f_20^post_36, tail_15^0'=tail_15^post_36, temp0_28^0'=temp0_28^post_36, temp_32^0'=temp_32^post_36, temp_33^0'=temp_33^post_14, tmp_31^0'=tmp_31^post_36, x_22^0'=x_SLAM_f_20^post_36, x_SLAM_f_20^0'=head_16^post_26, y_21^0'=tail_15^post_36, [ 2<=i_27^post_36 && 1+x_SLAM_f_20^post_36<=tail_15^post_36 && 1+head_16^post_26<=tail_15^post_36 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_26 && 1+a_163^0>=1 ], cost: 17+7*a_163^0 101: l31 -> l1 : a_137^0'=a_163^0, a_163^0'=-1, a_193^0'=-1, head_16^0'=head_16^post_26, head_29^0'=head_29^post_36, head_SLAM_f_26^0'=head_SLAM_f_26^post_36, i_108^0'=-1+nondet_12^1_1, i_127^0'=1+a_163^0, i_27^0'=i_27^post_36, length_25^0'=length_25^post_36, nondet_12^0'=nondet_12^post_14, r_37^0'=r_37^post_26, rcd_102^0'=rcd_102^post_45, rcd_110^0'=rcd_41^0, rcd_168^0'=rcd_41^0, rcd_172^0'=rcd_172^post_36, rcd_192^0'=rcd_41^0, rcd_67^0'=rcd_67^post_24, result_11^0'=result_11^post_36, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=tail_15^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_26, t_23^0'=x_SLAM_f_20^post_36, tail_15^0'=tail_15^post_36, temp0_28^0'=temp0_28^post_36, temp_32^0'=temp_32^post_36, temp_33^0'=temp_33^post_14, tmp_31^0'=tmp_31^post_36, x_22^0'=x_SLAM_f_20^post_36, x_SLAM_f_20^0'=head_16^post_26, y_21^0'=tail_15^post_36, [ -2+nondet_12^1_1>=1 && 2<=i_27^post_36 && 1+x_SLAM_f_20^post_36<=tail_15^post_36 && 1+head_16^post_26<=tail_15^post_36 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_26 && 1+a_163^0>=1 ], cost: 13+7*a_163^0+2*nondet_12^1_1 102: l31 -> l1 : a_137^0'=a_163^0, a_163^0'=-1, a_193^0'=-1, head_16^0'=head_16^post_26, head_29^0'=head_29^post_36, head_SLAM_f_26^0'=head_SLAM_f_26^post_36, i_127^0'=1+a_163^0, i_27^0'=i_27^post_36, length_25^0'=length_25^post_36, nondet_12^0'=nondet_12^post_14, r_37^0'=r_37^post_26, rcd_168^0'=rcd_41^0, rcd_172^0'=rcd_172^post_36, rcd_192^0'=rcd_41^0, rcd_67^0'=rcd_67^post_24, result_11^0'=result_11^post_36, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=tail_15^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_26, t_23^0'=x_SLAM_f_20^post_36, tail_15^0'=tail_15^post_36, temp0_28^0'=temp0_28^post_36, temp_32^0'=temp_32^post_36, temp_33^0'=temp_33^post_14, tmp_31^0'=tmp_31^post_36, x_22^0'=x_SLAM_f_20^post_36, x_SLAM_f_20^0'=head_16^post_26, y_21^0'=tail_15^post_36, [ 2<=i_27^post_36 && 1+x_SLAM_f_20^post_36<=tail_15^post_36 && 1+tail_15^post_36<=head_16^post_26 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_26 && 1+a_163^0>=1 ], cost: 17+7*a_163^0 103: l31 -> l1 : a_137^0'=a_163^0, a_163^0'=-1, a_193^0'=-1, head_16^0'=head_16^post_26, head_29^0'=head_29^post_36, head_SLAM_f_26^0'=head_SLAM_f_26^post_36, i_108^0'=-1+nondet_12^1_1, i_127^0'=1+a_163^0, i_27^0'=i_27^post_36, length_25^0'=length_25^post_36, nondet_12^0'=nondet_12^post_14, r_37^0'=r_37^post_26, rcd_102^0'=rcd_102^post_45, rcd_110^0'=rcd_41^0, rcd_168^0'=rcd_41^0, rcd_172^0'=rcd_172^post_36, rcd_192^0'=rcd_41^0, rcd_67^0'=rcd_67^post_24, result_11^0'=result_11^post_36, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=tail_15^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_26, t_23^0'=x_SLAM_f_20^post_36, tail_15^0'=tail_15^post_36, temp0_28^0'=temp0_28^post_36, temp_32^0'=temp_32^post_36, temp_33^0'=temp_33^post_14, tmp_31^0'=tmp_31^post_36, x_22^0'=x_SLAM_f_20^post_36, x_SLAM_f_20^0'=head_16^post_26, y_21^0'=tail_15^post_36, [ -2+nondet_12^1_1>=1 && 2<=i_27^post_36 && 1+x_SLAM_f_20^post_36<=tail_15^post_36 && 1+tail_15^post_36<=head_16^post_26 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_26 && 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 84: l31 -> l1 : a_137^0'=a_163^0, 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'=-1+nondet_12^1_1, i_127^0'=1+a_163^0, i_27^0'=i_27^post_36, length_25^0'=length_25^post_36, nondet_12^0'=nondet_12^post_14, rcd_102^0'=rcd_102^post_45, rcd_110^0'=rcd_41^0, rcd_168^0'=rcd_168^post_36, rcd_172^0'=rcd_172^post_36, rcd_67^0'=rcd_67^post_24, 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'=temp_32^post_45, tail_15^0'=tail_15^post_36, temp0_28^0'=temp0_28^post_36, temp_32^0'=temp_32^post_36, temp_33^0'=temp_33^post_14, tmp_31^0'=tmp_31^post_36, x_22^0'=temp_32^post_45, x_SLAM_f_20^0'=x_SLAM_f_20^post_36, y_21^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24, [ -2+nondet_12^1_1>=1 && 2<=i_27^post_36 && 1+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24<=temp_32^post_45 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_36-tail_15^post_36==0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_36-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24==0 && head_16^post_36-x_SLAM_f_20^post_36==0 && head_16^post_36-temp_32^post_45==0 && rcd_41^0-rcd_168^post_36==0 && 1+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24<=head_16^post_36 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_36 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_36<=i_127^post_36 ], cost: 6+2*nondet_12^1_1 85: l31 -> l1 : a_137^0'=a_163^0, 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'=-1+nondet_12^1_1, i_127^0'=1+a_163^0, i_27^0'=i_27^post_36, length_25^0'=length_25^post_36, nondet_12^0'=nondet_12^post_14, rcd_102^0'=rcd_102^post_45, rcd_110^0'=rcd_41^0, rcd_168^0'=rcd_168^post_36, rcd_172^0'=rcd_172^post_36, rcd_67^0'=rcd_67^post_24, 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'=temp_32^post_45, tail_15^0'=tail_15^post_36, temp0_28^0'=temp0_28^post_36, temp_32^0'=temp_32^post_36, temp_33^0'=temp_33^post_14, tmp_31^0'=tmp_31^post_36, x_22^0'=temp_32^post_45, x_SLAM_f_20^0'=x_SLAM_f_20^post_36, y_21^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24, [ -2+nondet_12^1_1>=1 && 2<=i_27^post_36 && 1+temp_32^post_45<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_36-tail_15^post_36==0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_36-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24==0 && head_16^post_36-x_SLAM_f_20^post_36==0 && head_16^post_36-temp_32^post_45==0 && rcd_41^0-rcd_168^post_36==0 && 1+head_16^post_36<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_36 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_36<=i_127^post_36 ], cost: 6+2*nondet_12^1_1 86: l31 -> [33] : [ -2+nondet_12^1_1>=1 && 2<=i_27^post_36 && 1+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24<=temp_32^post_45 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_36-tail_15^post_36==0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_36-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24==0 && head_16^post_36-x_SLAM_f_20^post_36==0 && head_16^post_36-temp_32^post_45==0 && rcd_41^0-rcd_168^post_36==0 ], cost: 3+2*nondet_12^1_1 87: l31 -> [33] : [ -2+nondet_12^1_1>=1 && 2<=i_27^post_36 && 1+temp_32^post_45<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_36-tail_15^post_36==0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_36-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24==0 && head_16^post_36-x_SLAM_f_20^post_36==0 && head_16^post_36-temp_32^post_45==0 && rcd_41^0-rcd_168^post_36==0 ], cost: 3+2*nondet_12^1_1 96: l31 -> l1 : a_137^0'=a_163^0, a_163^0'=-1, a_193^0'=-1, head_16^0'=head_16^post_26, head_29^0'=head_29^post_36, head_SLAM_f_26^0'=head_SLAM_f_26^post_36, i_127^0'=1+a_163^0, i_27^0'=i_27^post_36, length_25^0'=length_25^post_36, nondet_12^0'=nondet_12^post_14, r_37^0'=r_37^post_26, rcd_168^0'=rcd_41^0, rcd_172^0'=rcd_172^post_36, rcd_192^0'=rcd_41^0, rcd_67^0'=rcd_67^post_24, result_11^0'=result_11^post_36, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=tail_15^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_26, t_23^0'=x_SLAM_f_20^post_36, tail_15^0'=tail_15^post_36, temp0_28^0'=temp0_28^post_36, temp_32^0'=temp_32^post_36, temp_33^0'=temp_33^post_14, tmp_31^0'=tmp_31^post_36, x_22^0'=x_SLAM_f_20^post_36, x_SLAM_f_20^0'=head_16^post_26, y_21^0'=tail_15^post_36, [ 2<=i_27^post_36 && 1+tail_15^post_36<=x_SLAM_f_20^post_36 && 1+head_16^post_26<=tail_15^post_36 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_26 && 1+a_163^0>=1 ], cost: 17+7*a_163^0 97: l31 -> l1 : a_137^0'=a_163^0, a_163^0'=-1, a_193^0'=-1, head_16^0'=head_16^post_26, head_29^0'=head_29^post_36, head_SLAM_f_26^0'=head_SLAM_f_26^post_36, i_108^0'=-1+nondet_12^1_1, i_127^0'=1+a_163^0, i_27^0'=i_27^post_36, length_25^0'=length_25^post_36, nondet_12^0'=nondet_12^post_14, r_37^0'=r_37^post_26, rcd_102^0'=rcd_102^post_45, rcd_110^0'=rcd_41^0, rcd_168^0'=rcd_41^0, rcd_172^0'=rcd_172^post_36, rcd_192^0'=rcd_41^0, rcd_67^0'=rcd_67^post_24, result_11^0'=result_11^post_36, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=tail_15^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_26, t_23^0'=x_SLAM_f_20^post_36, tail_15^0'=tail_15^post_36, temp0_28^0'=temp0_28^post_36, temp_32^0'=temp_32^post_36, temp_33^0'=temp_33^post_14, tmp_31^0'=tmp_31^post_36, x_22^0'=x_SLAM_f_20^post_36, x_SLAM_f_20^0'=head_16^post_26, y_21^0'=tail_15^post_36, [ -2+nondet_12^1_1>=1 && 2<=i_27^post_36 && 1+tail_15^post_36<=x_SLAM_f_20^post_36 && 1+head_16^post_26<=tail_15^post_36 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_26 && 1+a_163^0>=1 ], cost: 13+7*a_163^0+2*nondet_12^1_1 98: l31 -> l1 : a_137^0'=a_163^0, a_163^0'=-1, a_193^0'=-1, head_16^0'=head_16^post_26, head_29^0'=head_29^post_36, head_SLAM_f_26^0'=head_SLAM_f_26^post_36, i_127^0'=1+a_163^0, i_27^0'=i_27^post_36, length_25^0'=length_25^post_36, nondet_12^0'=nondet_12^post_14, r_37^0'=r_37^post_26, rcd_168^0'=rcd_41^0, rcd_172^0'=rcd_172^post_36, rcd_192^0'=rcd_41^0, rcd_67^0'=rcd_67^post_24, result_11^0'=result_11^post_36, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=tail_15^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_26, t_23^0'=x_SLAM_f_20^post_36, tail_15^0'=tail_15^post_36, temp0_28^0'=temp0_28^post_36, temp_32^0'=temp_32^post_36, temp_33^0'=temp_33^post_14, tmp_31^0'=tmp_31^post_36, x_22^0'=x_SLAM_f_20^post_36, x_SLAM_f_20^0'=head_16^post_26, y_21^0'=tail_15^post_36, [ 2<=i_27^post_36 && 1+tail_15^post_36<=x_SLAM_f_20^post_36 && 1+tail_15^post_36<=head_16^post_26 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_26 && 1+a_163^0>=1 ], cost: 17+7*a_163^0 99: l31 -> l1 : a_137^0'=a_163^0, a_163^0'=-1, a_193^0'=-1, head_16^0'=head_16^post_26, head_29^0'=head_29^post_36, head_SLAM_f_26^0'=head_SLAM_f_26^post_36, i_108^0'=-1+nondet_12^1_1, i_127^0'=1+a_163^0, i_27^0'=i_27^post_36, length_25^0'=length_25^post_36, nondet_12^0'=nondet_12^post_14, r_37^0'=r_37^post_26, rcd_102^0'=rcd_102^post_45, rcd_110^0'=rcd_41^0, rcd_168^0'=rcd_41^0, rcd_172^0'=rcd_172^post_36, rcd_192^0'=rcd_41^0, rcd_67^0'=rcd_67^post_24, result_11^0'=result_11^post_36, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=tail_15^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_26, t_23^0'=x_SLAM_f_20^post_36, tail_15^0'=tail_15^post_36, temp0_28^0'=temp0_28^post_36, temp_32^0'=temp_32^post_36, temp_33^0'=temp_33^post_14, tmp_31^0'=tmp_31^post_36, x_22^0'=x_SLAM_f_20^post_36, x_SLAM_f_20^0'=head_16^post_26, y_21^0'=tail_15^post_36, [ -2+nondet_12^1_1>=1 && 2<=i_27^post_36 && 1+tail_15^post_36<=x_SLAM_f_20^post_36 && 1+tail_15^post_36<=head_16^post_26 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_26 && 1+a_163^0>=1 ], cost: 13+7*a_163^0+2*nondet_12^1_1 100: l31 -> l1 : a_137^0'=a_163^0, a_163^0'=-1, a_193^0'=-1, head_16^0'=head_16^post_26, head_29^0'=head_29^post_36, head_SLAM_f_26^0'=head_SLAM_f_26^post_36, i_127^0'=1+a_163^0, i_27^0'=i_27^post_36, length_25^0'=length_25^post_36, nondet_12^0'=nondet_12^post_14, r_37^0'=r_37^post_26, rcd_168^0'=rcd_41^0, rcd_172^0'=rcd_172^post_36, rcd_192^0'=rcd_41^0, rcd_67^0'=rcd_67^post_24, result_11^0'=result_11^post_36, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=tail_15^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_26, t_23^0'=x_SLAM_f_20^post_36, tail_15^0'=tail_15^post_36, temp0_28^0'=temp0_28^post_36, temp_32^0'=temp_32^post_36, temp_33^0'=temp_33^post_14, tmp_31^0'=tmp_31^post_36, x_22^0'=x_SLAM_f_20^post_36, x_SLAM_f_20^0'=head_16^post_26, y_21^0'=tail_15^post_36, [ 2<=i_27^post_36 && 1+x_SLAM_f_20^post_36<=tail_15^post_36 && 1+head_16^post_26<=tail_15^post_36 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_26 && 1+a_163^0>=1 ], cost: 17+7*a_163^0 101: l31 -> l1 : a_137^0'=a_163^0, a_163^0'=-1, a_193^0'=-1, head_16^0'=head_16^post_26, head_29^0'=head_29^post_36, head_SLAM_f_26^0'=head_SLAM_f_26^post_36, i_108^0'=-1+nondet_12^1_1, i_127^0'=1+a_163^0, i_27^0'=i_27^post_36, length_25^0'=length_25^post_36, nondet_12^0'=nondet_12^post_14, r_37^0'=r_37^post_26, rcd_102^0'=rcd_102^post_45, rcd_110^0'=rcd_41^0, rcd_168^0'=rcd_41^0, rcd_172^0'=rcd_172^post_36, rcd_192^0'=rcd_41^0, rcd_67^0'=rcd_67^post_24, result_11^0'=result_11^post_36, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=tail_15^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_26, t_23^0'=x_SLAM_f_20^post_36, tail_15^0'=tail_15^post_36, temp0_28^0'=temp0_28^post_36, temp_32^0'=temp_32^post_36, temp_33^0'=temp_33^post_14, tmp_31^0'=tmp_31^post_36, x_22^0'=x_SLAM_f_20^post_36, x_SLAM_f_20^0'=head_16^post_26, y_21^0'=tail_15^post_36, [ -2+nondet_12^1_1>=1 && 2<=i_27^post_36 && 1+x_SLAM_f_20^post_36<=tail_15^post_36 && 1+head_16^post_26<=tail_15^post_36 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_26 && 1+a_163^0>=1 ], cost: 13+7*a_163^0+2*nondet_12^1_1 102: l31 -> l1 : a_137^0'=a_163^0, a_163^0'=-1, a_193^0'=-1, head_16^0'=head_16^post_26, head_29^0'=head_29^post_36, head_SLAM_f_26^0'=head_SLAM_f_26^post_36, i_127^0'=1+a_163^0, i_27^0'=i_27^post_36, length_25^0'=length_25^post_36, nondet_12^0'=nondet_12^post_14, r_37^0'=r_37^post_26, rcd_168^0'=rcd_41^0, rcd_172^0'=rcd_172^post_36, rcd_192^0'=rcd_41^0, rcd_67^0'=rcd_67^post_24, result_11^0'=result_11^post_36, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=tail_15^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_26, t_23^0'=x_SLAM_f_20^post_36, tail_15^0'=tail_15^post_36, temp0_28^0'=temp0_28^post_36, temp_32^0'=temp_32^post_36, temp_33^0'=temp_33^post_14, tmp_31^0'=tmp_31^post_36, x_22^0'=x_SLAM_f_20^post_36, x_SLAM_f_20^0'=head_16^post_26, y_21^0'=tail_15^post_36, [ 2<=i_27^post_36 && 1+x_SLAM_f_20^post_36<=tail_15^post_36 && 1+tail_15^post_36<=head_16^post_26 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_26 && 1+a_163^0>=1 ], cost: 17+7*a_163^0 103: l31 -> l1 : a_137^0'=a_163^0, a_163^0'=-1, a_193^0'=-1, head_16^0'=head_16^post_26, head_29^0'=head_29^post_36, head_SLAM_f_26^0'=head_SLAM_f_26^post_36, i_108^0'=-1+nondet_12^1_1, i_127^0'=1+a_163^0, i_27^0'=i_27^post_36, length_25^0'=length_25^post_36, nondet_12^0'=nondet_12^post_14, r_37^0'=r_37^post_26, rcd_102^0'=rcd_102^post_45, rcd_110^0'=rcd_41^0, rcd_168^0'=rcd_41^0, rcd_172^0'=rcd_172^post_36, rcd_192^0'=rcd_41^0, rcd_67^0'=rcd_67^post_24, result_11^0'=result_11^post_36, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=tail_15^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_26, t_23^0'=x_SLAM_f_20^post_36, tail_15^0'=tail_15^post_36, temp0_28^0'=temp0_28^post_36, temp_32^0'=temp_32^post_36, temp_33^0'=temp_33^post_14, tmp_31^0'=tmp_31^post_36, x_22^0'=x_SLAM_f_20^post_36, x_SLAM_f_20^0'=head_16^post_26, y_21^0'=tail_15^post_36, [ -2+nondet_12^1_1>=1 && 2<=i_27^post_36 && 1+x_SLAM_f_20^post_36<=tail_15^post_36 && 1+tail_15^post_36<=head_16^post_26 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_26 && 1+a_163^0>=1 ], cost: 13+7*a_163^0+2*nondet_12^1_1 Computing asymptotic complexity for rule 97 Resulting cost 0 has complexity: Unknown Computing asymptotic complexity for rule 99 Resulting cost 0 has complexity: Unknown Computing asymptotic complexity for rule 101 Resulting cost 0 has complexity: Unknown Computing asymptotic complexity for rule 103 Resulting cost 0 has complexity: Unknown Computing asymptotic complexity for rule 86 Resulting cost 0 has complexity: Unknown Computing asymptotic complexity for rule 87 Resulting cost 0 has complexity: Unknown Computing asymptotic complexity for rule 84 Resulting cost 0 has complexity: Unknown Computing asymptotic complexity for rule 85 Resulting cost 0 has complexity: Unknown Computing asymptotic complexity for rule 96 Resulting cost 0 has complexity: Unknown Computing asymptotic complexity for rule 98 Resulting cost 0 has complexity: Unknown Computing asymptotic complexity for rule 100 Resulting cost 0 has complexity: Unknown Computing asymptotic complexity for rule 102 Resulting cost 0 has complexity: Unknown Obtained the following overall complexity (w.r.t. the length of the input n): Complexity: Constant Cpx degree: 0 Solved cost: 1 Rule cost: 1 Rule guard: [ a_137^0==a_137^post_49 && a_163^0==a_163^post_49 && a_193^0==a_193^post_49 && head_16^0==head_16^post_49 && head_29^0==head_29^post_49 && head_SLAM_f_26^0==head_SLAM_f_26^post_49 && i_108^0==i_108^post_49 && i_127^0==i_127^post_49 && i_27^0==i_27^post_49 && length_25^0==length_25^post_49 && nondet_12^0==nondet_12^post_49 && r_37^0==r_37^post_49 && rcd_102^0==rcd_102^post_49 && rcd_110^0==rcd_110^post_49 && rcd_168^0==rcd_168^post_49 && rcd_172^0==rcd_172^post_49 && rcd_192^0==rcd_192^post_49 && rcd_41^0==rcd_41^post_49 && rcd_67^0==rcd_67^post_49 && result_11^0==result_11^post_49 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_49 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_49 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_49 && t_23^0==t_23^post_49 && tail_15^0==tail_15^post_49 && temp0_19^0==temp0_19^post_49 && temp0_28^0==temp0_28^post_49 && temp_32^0==temp_32^post_49 && temp_33^0==temp_33^post_49 && tmp_31^0==tmp_31^post_49 && x_22^0==x_22^post_49 && x_SLAM_f_20^0==x_SLAM_f_20^post_49 && y_21^0==y_21^post_49 ] WORST_CASE(Omega(1),?)