NO ### Pre-processing the ITS problem ### Initial linear ITS problem Start location: l55 0: l0 -> l1 : a_153^0'=a_153^post_1, a_178^0'=a_178^post_1, a_208^0'=a_208^post_1, f_198^0'=f_198^post_1, head_16^0'=head_16^post_1, head_31^0'=head_31^post_1, head_SLAM_f_28^0'=head_SLAM_f_28^post_1, i_110^0'=i_110^post_1, i_120^0'=i_120^post_1, i_29^0'=i_29^post_1, length_27^0'=length_27^post_1, lt_17^0'=lt_17^post_1, lt_20^0'=lt_20^post_1, nondet_12^0'=nondet_12^post_1, r_164^0'=r_164^post_1, r_197^0'=r_197^post_1, r_39^0'=r_39^post_1, rcd_104^0'=rcd_104^post_1, rcd_112^0'=rcd_112^post_1, rcd_179^0'=rcd_179^post_1, rcd_185^0'=rcd_185^post_1, rcd_190^0'=rcd_190^post_1, rcd_207^0'=rcd_207^post_1, rcd_43^0'=rcd_43^post_1, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_1, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_1, t_25^0'=t_25^post_1, tail_15^0'=tail_15^post_1, temp0_21^0'=temp0_21^post_1, temp0_30^0'=temp0_30^post_1, temp_34^0'=temp_34^post_1, temp_35^0'=temp_35^post_1, tmp_33^0'=tmp_33^post_1, x_24^0'=x_24^post_1, x_SLAM_f_22^0'=x_SLAM_f_22^post_1, y_23^0'=y_23^post_1, [ 0<=i_29^0 && length_27^0<=i_29^0 && temp0_30^1_1==head_31^0 && result_11^1_1==temp0_30^1_1 && length_27^post_1==length_27^post_1 && head_SLAM_f_28^post_1==head_SLAM_f_28^post_1 && i_29^post_1==i_29^post_1 && temp0_30^post_1==temp0_30^post_1 && head_31^post_1==head_31^post_1 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_1==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_1 && tmp_33^post_1==tmp_33^post_1 && temp_34^post_1==temp_34^post_1 && head_16^post_1==result_11^1_1 && result_11^2_1==result_11^2_1 && head_16^post_1<=lt_17^0 && lt_17^0<=head_16^post_1 && lt_17^post_1==lt_17^post_1 && 0<=-1+i_120^0 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_1==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_1 && result_11^post_1==temp0_21^0 && 1<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_1 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_1 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_1<=i_120^0 && a_153^0==a_153^post_1 && a_178^0==a_178^post_1 && a_208^0==a_208^post_1 && f_198^0==f_198^post_1 && i_110^0==i_110^post_1 && i_120^0==i_120^post_1 && lt_20^0==lt_20^post_1 && nondet_12^0==nondet_12^post_1 && r_164^0==r_164^post_1 && r_197^0==r_197^post_1 && r_39^0==r_39^post_1 && rcd_104^0==rcd_104^post_1 && rcd_112^0==rcd_112^post_1 && rcd_179^0==rcd_179^post_1 && rcd_185^0==rcd_185^post_1 && rcd_190^0==rcd_190^post_1 && rcd_207^0==rcd_207^post_1 && rcd_43^0==rcd_43^post_1 && rcd_69^0==rcd_69^post_1 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_1 && t_25^0==t_25^post_1 && tail_15^0==tail_15^post_1 && temp0_21^0==temp0_21^post_1 && temp_35^0==temp_35^post_1 && x_24^0==x_24^post_1 && x_SLAM_f_22^0==x_SLAM_f_22^post_1 && y_23^0==y_23^post_1 ], cost: 1 1: l0 -> l3 : a_153^0'=a_153^post_2, a_178^0'=a_178^post_2, a_208^0'=a_208^post_2, f_198^0'=f_198^post_2, head_16^0'=head_16^post_2, head_31^0'=head_31^post_2, head_SLAM_f_28^0'=head_SLAM_f_28^post_2, i_110^0'=i_110^post_2, i_120^0'=i_120^post_2, i_29^0'=i_29^post_2, length_27^0'=length_27^post_2, lt_17^0'=lt_17^post_2, lt_20^0'=lt_20^post_2, nondet_12^0'=nondet_12^post_2, r_164^0'=r_164^post_2, r_197^0'=r_197^post_2, r_39^0'=r_39^post_2, rcd_104^0'=rcd_104^post_2, rcd_112^0'=rcd_112^post_2, rcd_179^0'=rcd_179^post_2, rcd_185^0'=rcd_185^post_2, rcd_190^0'=rcd_190^post_2, rcd_207^0'=rcd_207^post_2, rcd_43^0'=rcd_43^post_2, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_2, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2, t_25^0'=t_25^post_2, tail_15^0'=tail_15^post_2, temp0_21^0'=temp0_21^post_2, temp0_30^0'=temp0_30^post_2, temp_34^0'=temp_34^post_2, temp_35^0'=temp_35^post_2, tmp_33^0'=tmp_33^post_2, x_24^0'=x_24^post_2, x_SLAM_f_22^0'=x_SLAM_f_22^post_2, y_23^0'=y_23^post_2, [ 0<=i_29^0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_2==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_2 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2 && tail_15^post_2==tail_15^post_2 && length_27^0<=i_29^0 && temp0_30^1_2_1==head_31^0 && result_11^1_2==temp0_30^1_2_1 && length_27^post_2==length_27^post_2 && head_SLAM_f_28^post_2==head_SLAM_f_28^post_2 && i_29^post_2==i_29^post_2 && temp0_30^post_2==temp0_30^post_2 && head_31^post_2==head_31^post_2 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_2==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_2 && tmp_33^post_2==tmp_33^post_2 && temp_34^post_2==temp_34^post_2 && head_16^post_2==result_11^1_2 && result_11^post_2==result_11^post_2 && a_153^0==a_153^post_2 && a_178^0==a_178^post_2 && a_208^0==a_208^post_2 && f_198^0==f_198^post_2 && i_110^0==i_110^post_2 && i_120^0==i_120^post_2 && lt_17^0==lt_17^post_2 && lt_20^0==lt_20^post_2 && nondet_12^0==nondet_12^post_2 && r_164^0==r_164^post_2 && r_197^0==r_197^post_2 && r_39^0==r_39^post_2 && rcd_104^0==rcd_104^post_2 && rcd_112^0==rcd_112^post_2 && rcd_179^0==rcd_179^post_2 && rcd_185^0==rcd_185^post_2 && rcd_190^0==rcd_190^post_2 && rcd_207^0==rcd_207^post_2 && rcd_43^0==rcd_43^post_2 && rcd_69^0==rcd_69^post_2 && t_25^0==t_25^post_2 && temp0_21^0==temp0_21^post_2 && temp_35^0==temp_35^post_2 && x_24^0==x_24^post_2 && x_SLAM_f_22^0==x_SLAM_f_22^post_2 && y_23^0==y_23^post_2 ], cost: 1 13: l0 -> l10 : a_153^0'=a_153^post_14, a_178^0'=a_178^post_14, a_208^0'=a_208^post_14, f_198^0'=f_198^post_14, head_16^0'=head_16^post_14, head_31^0'=head_31^post_14, head_SLAM_f_28^0'=head_SLAM_f_28^post_14, i_110^0'=i_110^post_14, i_120^0'=i_120^post_14, i_29^0'=i_29^post_14, length_27^0'=length_27^post_14, lt_17^0'=lt_17^post_14, lt_20^0'=lt_20^post_14, nondet_12^0'=nondet_12^post_14, r_164^0'=r_164^post_14, r_197^0'=r_197^post_14, r_39^0'=r_39^post_14, rcd_104^0'=rcd_104^post_14, rcd_112^0'=rcd_112^post_14, rcd_179^0'=rcd_179^post_14, rcd_185^0'=rcd_185^post_14, rcd_190^0'=rcd_190^post_14, rcd_207^0'=rcd_207^post_14, rcd_43^0'=rcd_43^post_14, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_14, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_14, t_25^0'=t_25^post_14, tail_15^0'=tail_15^post_14, temp0_21^0'=temp0_21^post_14, temp0_30^0'=temp0_30^post_14, temp_34^0'=temp_34^post_14, temp_35^0'=temp_35^post_14, tmp_33^0'=tmp_33^post_14, x_24^0'=x_24^post_14, x_SLAM_f_22^0'=x_SLAM_f_22^post_14, y_23^0'=y_23^post_14, [ 0<=i_29^0 && rcd_104^post_14==rcd_104^post_14 && i_110^post_14==i_110^post_14 && 1+i_29^0<=length_27^0 && tmp_33^post_14==temp_34^0 && temp_34^post_14==temp_34^post_14 && head_31^post_14==tmp_33^post_14 && i_29^post_14==1+i_29^0 && rcd_112^post_14==rcd_112^post_14 && i_29^post_14<=1+i_110^post_14 && 1+i_110^post_14<=i_29^post_14 && i_110^post_14<=-1+i_29^post_14 && -1+i_29^post_14<=i_110^post_14 && rcd_43^0<=rcd_112^post_14 && rcd_112^post_14<=rcd_43^0 && 1+i_110^post_14<=length_27^0 && rcd_43^post_14==rcd_43^post_14 && rcd_43^post_14<=rcd_112^post_14 && rcd_112^post_14<=rcd_43^post_14 && a_153^0==a_153^post_14 && a_178^0==a_178^post_14 && a_208^0==a_208^post_14 && f_198^0==f_198^post_14 && head_16^0==head_16^post_14 && head_SLAM_f_28^0==head_SLAM_f_28^post_14 && i_120^0==i_120^post_14 && length_27^0==length_27^post_14 && lt_17^0==lt_17^post_14 && lt_20^0==lt_20^post_14 && nondet_12^0==nondet_12^post_14 && r_164^0==r_164^post_14 && r_197^0==r_197^post_14 && r_39^0==r_39^post_14 && rcd_179^0==rcd_179^post_14 && rcd_185^0==rcd_185^post_14 && rcd_190^0==rcd_190^post_14 && rcd_207^0==rcd_207^post_14 && rcd_69^0==rcd_69^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_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_14 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_14 && t_25^0==t_25^post_14 && tail_15^0==tail_15^post_14 && temp0_21^0==temp0_21^post_14 && temp0_30^0==temp0_30^post_14 && temp_35^0==temp_35^post_14 && x_24^0==x_24^post_14 && x_SLAM_f_22^0==x_SLAM_f_22^post_14 && y_23^0==y_23^post_14 ], cost: 1 2: l3 -> l4 : a_153^0'=a_153^post_3, a_178^0'=a_178^post_3, a_208^0'=a_208^post_3, f_198^0'=f_198^post_3, head_16^0'=head_16^post_3, head_31^0'=head_31^post_3, head_SLAM_f_28^0'=head_SLAM_f_28^post_3, i_110^0'=i_110^post_3, i_120^0'=i_120^post_3, i_29^0'=i_29^post_3, length_27^0'=length_27^post_3, lt_17^0'=lt_17^post_3, lt_20^0'=lt_20^post_3, nondet_12^0'=nondet_12^post_3, r_164^0'=r_164^post_3, r_197^0'=r_197^post_3, r_39^0'=r_39^post_3, rcd_104^0'=rcd_104^post_3, rcd_112^0'=rcd_112^post_3, rcd_179^0'=rcd_179^post_3, rcd_185^0'=rcd_185^post_3, rcd_190^0'=rcd_190^post_3, rcd_207^0'=rcd_207^post_3, rcd_43^0'=rcd_43^post_3, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_3, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_3, t_25^0'=t_25^post_3, tail_15^0'=tail_15^post_3, temp0_21^0'=temp0_21^post_3, temp0_30^0'=temp0_30^post_3, temp_34^0'=temp_34^post_3, temp_35^0'=temp_35^post_3, tmp_33^0'=tmp_33^post_3, x_24^0'=x_24^post_3, x_SLAM_f_22^0'=x_SLAM_f_22^post_3, y_23^0'=y_23^post_3, [ 1+head_16^0<=lt_17^0 && a_153^0==a_153^post_3 && a_178^0==a_178^post_3 && a_208^0==a_208^post_3 && f_198^0==f_198^post_3 && head_16^0==head_16^post_3 && head_31^0==head_31^post_3 && head_SLAM_f_28^0==head_SLAM_f_28^post_3 && i_110^0==i_110^post_3 && i_120^0==i_120^post_3 && i_29^0==i_29^post_3 && length_27^0==length_27^post_3 && lt_17^0==lt_17^post_3 && lt_20^0==lt_20^post_3 && nondet_12^0==nondet_12^post_3 && r_164^0==r_164^post_3 && r_197^0==r_197^post_3 && r_39^0==r_39^post_3 && rcd_104^0==rcd_104^post_3 && rcd_112^0==rcd_112^post_3 && rcd_179^0==rcd_179^post_3 && rcd_185^0==rcd_185^post_3 && rcd_190^0==rcd_190^post_3 && rcd_207^0==rcd_207^post_3 && rcd_43^0==rcd_43^post_3 && rcd_69^0==rcd_69^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_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_3 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_3 && t_25^0==t_25^post_3 && tail_15^0==tail_15^post_3 && temp0_21^0==temp0_21^post_3 && temp0_30^0==temp0_30^post_3 && temp_34^0==temp_34^post_3 && temp_35^0==temp_35^post_3 && tmp_33^0==tmp_33^post_3 && x_24^0==x_24^post_3 && x_SLAM_f_22^0==x_SLAM_f_22^post_3 && y_23^0==y_23^post_3 ], cost: 1 3: l3 -> l4 : a_153^0'=a_153^post_4, a_178^0'=a_178^post_4, a_208^0'=a_208^post_4, f_198^0'=f_198^post_4, head_16^0'=head_16^post_4, head_31^0'=head_31^post_4, head_SLAM_f_28^0'=head_SLAM_f_28^post_4, i_110^0'=i_110^post_4, i_120^0'=i_120^post_4, i_29^0'=i_29^post_4, length_27^0'=length_27^post_4, lt_17^0'=lt_17^post_4, lt_20^0'=lt_20^post_4, nondet_12^0'=nondet_12^post_4, r_164^0'=r_164^post_4, r_197^0'=r_197^post_4, r_39^0'=r_39^post_4, rcd_104^0'=rcd_104^post_4, rcd_112^0'=rcd_112^post_4, rcd_179^0'=rcd_179^post_4, rcd_185^0'=rcd_185^post_4, rcd_190^0'=rcd_190^post_4, rcd_207^0'=rcd_207^post_4, rcd_43^0'=rcd_43^post_4, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_4, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_4, t_25^0'=t_25^post_4, tail_15^0'=tail_15^post_4, temp0_21^0'=temp0_21^post_4, temp0_30^0'=temp0_30^post_4, temp_34^0'=temp_34^post_4, temp_35^0'=temp_35^post_4, tmp_33^0'=tmp_33^post_4, x_24^0'=x_24^post_4, x_SLAM_f_22^0'=x_SLAM_f_22^post_4, y_23^0'=y_23^post_4, [ 1+lt_17^0<=head_16^0 && a_153^0==a_153^post_4 && a_178^0==a_178^post_4 && a_208^0==a_208^post_4 && f_198^0==f_198^post_4 && head_16^0==head_16^post_4 && head_31^0==head_31^post_4 && head_SLAM_f_28^0==head_SLAM_f_28^post_4 && i_110^0==i_110^post_4 && i_120^0==i_120^post_4 && i_29^0==i_29^post_4 && length_27^0==length_27^post_4 && lt_17^0==lt_17^post_4 && lt_20^0==lt_20^post_4 && nondet_12^0==nondet_12^post_4 && r_164^0==r_164^post_4 && r_197^0==r_197^post_4 && r_39^0==r_39^post_4 && rcd_104^0==rcd_104^post_4 && rcd_112^0==rcd_112^post_4 && rcd_179^0==rcd_179^post_4 && rcd_185^0==rcd_185^post_4 && rcd_190^0==rcd_190^post_4 && rcd_207^0==rcd_207^post_4 && rcd_43^0==rcd_43^post_4 && rcd_69^0==rcd_69^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_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_4 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_4 && t_25^0==t_25^post_4 && tail_15^0==tail_15^post_4 && temp0_21^0==temp0_21^post_4 && temp0_30^0==temp0_30^post_4 && temp_34^0==temp_34^post_4 && temp_35^0==temp_35^post_4 && tmp_33^0==tmp_33^post_4 && x_24^0==x_24^post_4 && x_SLAM_f_22^0==x_SLAM_f_22^post_4 && y_23^0==y_23^post_4 ], cost: 1 4: l4 -> l5 : a_153^0'=a_153^post_5, a_178^0'=a_178^post_5, a_208^0'=a_208^post_5, f_198^0'=f_198^post_5, head_16^0'=head_16^post_5, head_31^0'=head_31^post_5, head_SLAM_f_28^0'=head_SLAM_f_28^post_5, i_110^0'=i_110^post_5, i_120^0'=i_120^post_5, i_29^0'=i_29^post_5, length_27^0'=length_27^post_5, lt_17^0'=lt_17^post_5, lt_20^0'=lt_20^post_5, nondet_12^0'=nondet_12^post_5, r_164^0'=r_164^post_5, r_197^0'=r_197^post_5, r_39^0'=r_39^post_5, rcd_104^0'=rcd_104^post_5, rcd_112^0'=rcd_112^post_5, rcd_179^0'=rcd_179^post_5, rcd_185^0'=rcd_185^post_5, rcd_190^0'=rcd_190^post_5, rcd_207^0'=rcd_207^post_5, rcd_43^0'=rcd_43^post_5, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_5, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_5, t_25^0'=t_25^post_5, tail_15^0'=tail_15^post_5, temp0_21^0'=temp0_21^post_5, temp0_30^0'=temp0_30^post_5, temp_34^0'=temp_34^post_5, temp_35^0'=temp_35^post_5, tmp_33^0'=tmp_33^post_5, x_24^0'=x_24^post_5, x_SLAM_f_22^0'=x_SLAM_f_22^post_5, y_23^0'=y_23^post_5, [ lt_17^post_5==lt_17^post_5 && x_SLAM_f_22^1_1==head_16^0 && y_23^post_5==lt_20^0 && x_24^post_5==x_SLAM_f_22^1_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 && head_16^0<=x_SLAM_f_22^1_1 && x_SLAM_f_22^1_1<=head_16^0 && head_16^0<=x_24^post_5 && x_24^post_5<=head_16^0 && lt_20^0<=y_23^post_5 && y_23^post_5<=lt_20^0 && x_SLAM_f_22^1_1<=x_24^post_5 && x_24^post_5<=x_SLAM_f_22^1_1 && 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_120^0 && 0<=i_120^0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_5==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_5 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_5==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_5 && tail_15^post_5==tail_15^post_5 && head_16^post_5==head_16^post_5 && lt_20^post_5==lt_20^post_5 && x_SLAM_f_22^post_5==x_SLAM_f_22^post_5 && rcd_185^post_5==rcd_185^post_5 && rcd_190^post_5==rcd_190^post_5 && a_153^0==a_153^post_5 && a_178^0==a_178^post_5 && a_208^0==a_208^post_5 && f_198^0==f_198^post_5 && head_31^0==head_31^post_5 && head_SLAM_f_28^0==head_SLAM_f_28^post_5 && i_110^0==i_110^post_5 && i_120^0==i_120^post_5 && i_29^0==i_29^post_5 && length_27^0==length_27^post_5 && nondet_12^0==nondet_12^post_5 && r_164^0==r_164^post_5 && r_197^0==r_197^post_5 && r_39^0==r_39^post_5 && rcd_104^0==rcd_104^post_5 && rcd_112^0==rcd_112^post_5 && rcd_179^0==rcd_179^post_5 && rcd_207^0==rcd_207^post_5 && rcd_43^0==rcd_43^post_5 && rcd_69^0==rcd_69^post_5 && result_11^0==result_11^post_5 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_5 && t_25^0==t_25^post_5 && temp0_21^0==temp0_21^post_5 && temp0_30^0==temp0_30^post_5 && temp_34^0==temp_34^post_5 && temp_35^0==temp_35^post_5 && tmp_33^0==tmp_33^post_5 ], cost: 1 5: l5 -> l6 : a_153^0'=a_153^post_6, a_178^0'=a_178^post_6, a_208^0'=a_208^post_6, f_198^0'=f_198^post_6, head_16^0'=head_16^post_6, head_31^0'=head_31^post_6, head_SLAM_f_28^0'=head_SLAM_f_28^post_6, i_110^0'=i_110^post_6, i_120^0'=i_120^post_6, i_29^0'=i_29^post_6, length_27^0'=length_27^post_6, lt_17^0'=lt_17^post_6, lt_20^0'=lt_20^post_6, nondet_12^0'=nondet_12^post_6, r_164^0'=r_164^post_6, r_197^0'=r_197^post_6, r_39^0'=r_39^post_6, rcd_104^0'=rcd_104^post_6, rcd_112^0'=rcd_112^post_6, rcd_179^0'=rcd_179^post_6, rcd_185^0'=rcd_185^post_6, rcd_190^0'=rcd_190^post_6, rcd_207^0'=rcd_207^post_6, rcd_43^0'=rcd_43^post_6, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_6, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_6, t_25^0'=t_25^post_6, tail_15^0'=tail_15^post_6, temp0_21^0'=temp0_21^post_6, temp0_30^0'=temp0_30^post_6, temp_34^0'=temp_34^post_6, temp_35^0'=temp_35^post_6, tmp_33^0'=tmp_33^post_6, x_24^0'=x_24^post_6, x_SLAM_f_22^0'=x_SLAM_f_22^post_6, y_23^0'=y_23^post_6, [ 1+y_23^0<=x_24^0 && a_153^0==a_153^post_6 && a_178^0==a_178^post_6 && a_208^0==a_208^post_6 && f_198^0==f_198^post_6 && head_16^0==head_16^post_6 && head_31^0==head_31^post_6 && head_SLAM_f_28^0==head_SLAM_f_28^post_6 && i_110^0==i_110^post_6 && i_120^0==i_120^post_6 && i_29^0==i_29^post_6 && length_27^0==length_27^post_6 && lt_17^0==lt_17^post_6 && lt_20^0==lt_20^post_6 && nondet_12^0==nondet_12^post_6 && r_164^0==r_164^post_6 && r_197^0==r_197^post_6 && r_39^0==r_39^post_6 && rcd_104^0==rcd_104^post_6 && rcd_112^0==rcd_112^post_6 && rcd_179^0==rcd_179^post_6 && rcd_185^0==rcd_185^post_6 && rcd_190^0==rcd_190^post_6 && rcd_207^0==rcd_207^post_6 && rcd_43^0==rcd_43^post_6 && rcd_69^0==rcd_69^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_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_6 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_6 && t_25^0==t_25^post_6 && tail_15^0==tail_15^post_6 && temp0_21^0==temp0_21^post_6 && temp0_30^0==temp0_30^post_6 && temp_34^0==temp_34^post_6 && temp_35^0==temp_35^post_6 && tmp_33^0==tmp_33^post_6 && x_24^0==x_24^post_6 && x_SLAM_f_22^0==x_SLAM_f_22^post_6 && y_23^0==y_23^post_6 ], cost: 1 6: l5 -> l6 : a_153^0'=a_153^post_7, a_178^0'=a_178^post_7, a_208^0'=a_208^post_7, f_198^0'=f_198^post_7, head_16^0'=head_16^post_7, head_31^0'=head_31^post_7, head_SLAM_f_28^0'=head_SLAM_f_28^post_7, i_110^0'=i_110^post_7, i_120^0'=i_120^post_7, i_29^0'=i_29^post_7, length_27^0'=length_27^post_7, lt_17^0'=lt_17^post_7, lt_20^0'=lt_20^post_7, nondet_12^0'=nondet_12^post_7, r_164^0'=r_164^post_7, r_197^0'=r_197^post_7, r_39^0'=r_39^post_7, rcd_104^0'=rcd_104^post_7, rcd_112^0'=rcd_112^post_7, rcd_179^0'=rcd_179^post_7, rcd_185^0'=rcd_185^post_7, rcd_190^0'=rcd_190^post_7, rcd_207^0'=rcd_207^post_7, rcd_43^0'=rcd_43^post_7, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_7, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_7, t_25^0'=t_25^post_7, tail_15^0'=tail_15^post_7, temp0_21^0'=temp0_21^post_7, temp0_30^0'=temp0_30^post_7, temp_34^0'=temp_34^post_7, temp_35^0'=temp_35^post_7, tmp_33^0'=tmp_33^post_7, x_24^0'=x_24^post_7, x_SLAM_f_22^0'=x_SLAM_f_22^post_7, y_23^0'=y_23^post_7, [ 1+x_24^0<=y_23^0 && a_153^0==a_153^post_7 && a_178^0==a_178^post_7 && a_208^0==a_208^post_7 && f_198^0==f_198^post_7 && head_16^0==head_16^post_7 && head_31^0==head_31^post_7 && head_SLAM_f_28^0==head_SLAM_f_28^post_7 && i_110^0==i_110^post_7 && i_120^0==i_120^post_7 && i_29^0==i_29^post_7 && length_27^0==length_27^post_7 && lt_17^0==lt_17^post_7 && lt_20^0==lt_20^post_7 && nondet_12^0==nondet_12^post_7 && r_164^0==r_164^post_7 && r_197^0==r_197^post_7 && r_39^0==r_39^post_7 && rcd_104^0==rcd_104^post_7 && rcd_112^0==rcd_112^post_7 && rcd_179^0==rcd_179^post_7 && rcd_185^0==rcd_185^post_7 && rcd_190^0==rcd_190^post_7 && rcd_207^0==rcd_207^post_7 && rcd_43^0==rcd_43^post_7 && rcd_69^0==rcd_69^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_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_7 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_7 && t_25^0==t_25^post_7 && tail_15^0==tail_15^post_7 && temp0_21^0==temp0_21^post_7 && temp0_30^0==temp0_30^post_7 && temp_34^0==temp_34^post_7 && temp_35^0==temp_35^post_7 && tmp_33^0==tmp_33^post_7 && x_24^0==x_24^post_7 && x_SLAM_f_22^0==x_SLAM_f_22^post_7 && y_23^0==y_23^post_7 ], cost: 1 7: l6 -> l7 : a_153^0'=a_153^post_8, a_178^0'=a_178^post_8, a_208^0'=a_208^post_8, f_198^0'=f_198^post_8, head_16^0'=head_16^post_8, head_31^0'=head_31^post_8, head_SLAM_f_28^0'=head_SLAM_f_28^post_8, i_110^0'=i_110^post_8, i_120^0'=i_120^post_8, i_29^0'=i_29^post_8, length_27^0'=length_27^post_8, lt_17^0'=lt_17^post_8, lt_20^0'=lt_20^post_8, nondet_12^0'=nondet_12^post_8, r_164^0'=r_164^post_8, r_197^0'=r_197^post_8, r_39^0'=r_39^post_8, rcd_104^0'=rcd_104^post_8, rcd_112^0'=rcd_112^post_8, rcd_179^0'=rcd_179^post_8, rcd_185^0'=rcd_185^post_8, rcd_190^0'=rcd_190^post_8, rcd_207^0'=rcd_207^post_8, rcd_43^0'=rcd_43^post_8, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_8, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_8, t_25^0'=t_25^post_8, tail_15^0'=tail_15^post_8, temp0_21^0'=temp0_21^post_8, temp0_30^0'=temp0_30^post_8, temp_34^0'=temp_34^post_8, temp_35^0'=temp_35^post_8, tmp_33^0'=tmp_33^post_8, x_24^0'=x_24^post_8, x_SLAM_f_22^0'=x_SLAM_f_22^post_8, y_23^0'=y_23^post_8, [ t_25^post_8==x_24^0 && a_153^post_8==a_153^post_8 && 0<=a_178^0-a_153^post_8 && a_178^0-a_153^post_8<=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 && head_16^0<=x_SLAM_f_22^0 && x_SLAM_f_22^0<=head_16^0 && head_16^0<=t_25^post_8 && t_25^post_8<=head_16^0 && lt_20^0<=y_23^0 && y_23^0<=lt_20^0 && a_153^post_8<=a_178^0 && a_178^0<=a_153^post_8 && rcd_43^0<=rcd_185^0 && rcd_185^0<=rcd_43^0 && a_178^0==a_178^post_8 && a_208^0==a_208^post_8 && f_198^0==f_198^post_8 && head_16^0==head_16^post_8 && head_31^0==head_31^post_8 && head_SLAM_f_28^0==head_SLAM_f_28^post_8 && i_110^0==i_110^post_8 && i_120^0==i_120^post_8 && i_29^0==i_29^post_8 && length_27^0==length_27^post_8 && lt_17^0==lt_17^post_8 && lt_20^0==lt_20^post_8 && nondet_12^0==nondet_12^post_8 && r_164^0==r_164^post_8 && r_197^0==r_197^post_8 && r_39^0==r_39^post_8 && rcd_104^0==rcd_104^post_8 && rcd_112^0==rcd_112^post_8 && rcd_179^0==rcd_179^post_8 && rcd_185^0==rcd_185^post_8 && rcd_190^0==rcd_190^post_8 && rcd_207^0==rcd_207^post_8 && rcd_43^0==rcd_43^post_8 && rcd_69^0==rcd_69^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_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_8 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_8 && tail_15^0==tail_15^post_8 && temp0_21^0==temp0_21^post_8 && temp0_30^0==temp0_30^post_8 && temp_34^0==temp_34^post_8 && temp_35^0==temp_35^post_8 && tmp_33^0==tmp_33^post_8 && x_24^0==x_24^post_8 && x_SLAM_f_22^0==x_SLAM_f_22^post_8 && y_23^0==y_23^post_8 ], cost: 1 8: l7 -> l8 : a_153^0'=a_153^post_9, a_178^0'=a_178^post_9, a_208^0'=a_208^post_9, f_198^0'=f_198^post_9, head_16^0'=head_16^post_9, head_31^0'=head_31^post_9, head_SLAM_f_28^0'=head_SLAM_f_28^post_9, i_110^0'=i_110^post_9, i_120^0'=i_120^post_9, i_29^0'=i_29^post_9, length_27^0'=length_27^post_9, lt_17^0'=lt_17^post_9, lt_20^0'=lt_20^post_9, nondet_12^0'=nondet_12^post_9, r_164^0'=r_164^post_9, r_197^0'=r_197^post_9, r_39^0'=r_39^post_9, rcd_104^0'=rcd_104^post_9, rcd_112^0'=rcd_112^post_9, rcd_179^0'=rcd_179^post_9, rcd_185^0'=rcd_185^post_9, rcd_190^0'=rcd_190^post_9, rcd_207^0'=rcd_207^post_9, rcd_43^0'=rcd_43^post_9, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_9, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_9, t_25^0'=t_25^post_9, tail_15^0'=tail_15^post_9, temp0_21^0'=temp0_21^post_9, temp0_30^0'=temp0_30^post_9, temp_34^0'=temp_34^post_9, temp_35^0'=temp_35^post_9, tmp_33^0'=tmp_33^post_9, x_24^0'=x_24^post_9, x_SLAM_f_22^0'=x_SLAM_f_22^post_9, y_23^0'=y_23^post_9, [ 1+head_16^0<=y_23^0 && a_153^0==a_153^post_9 && a_178^0==a_178^post_9 && a_208^0==a_208^post_9 && f_198^0==f_198^post_9 && head_16^0==head_16^post_9 && head_31^0==head_31^post_9 && head_SLAM_f_28^0==head_SLAM_f_28^post_9 && i_110^0==i_110^post_9 && i_120^0==i_120^post_9 && i_29^0==i_29^post_9 && length_27^0==length_27^post_9 && lt_17^0==lt_17^post_9 && lt_20^0==lt_20^post_9 && nondet_12^0==nondet_12^post_9 && r_164^0==r_164^post_9 && r_197^0==r_197^post_9 && r_39^0==r_39^post_9 && rcd_104^0==rcd_104^post_9 && rcd_112^0==rcd_112^post_9 && rcd_179^0==rcd_179^post_9 && rcd_185^0==rcd_185^post_9 && rcd_190^0==rcd_190^post_9 && rcd_207^0==rcd_207^post_9 && rcd_43^0==rcd_43^post_9 && rcd_69^0==rcd_69^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_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_9 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_9 && t_25^0==t_25^post_9 && tail_15^0==tail_15^post_9 && temp0_21^0==temp0_21^post_9 && temp0_30^0==temp0_30^post_9 && temp_34^0==temp_34^post_9 && temp_35^0==temp_35^post_9 && tmp_33^0==tmp_33^post_9 && x_24^0==x_24^post_9 && x_SLAM_f_22^0==x_SLAM_f_22^post_9 && y_23^0==y_23^post_9 ], cost: 1 9: l7 -> l8 : a_153^0'=a_153^post_10, a_178^0'=a_178^post_10, a_208^0'=a_208^post_10, f_198^0'=f_198^post_10, head_16^0'=head_16^post_10, head_31^0'=head_31^post_10, head_SLAM_f_28^0'=head_SLAM_f_28^post_10, i_110^0'=i_110^post_10, i_120^0'=i_120^post_10, i_29^0'=i_29^post_10, length_27^0'=length_27^post_10, lt_17^0'=lt_17^post_10, lt_20^0'=lt_20^post_10, nondet_12^0'=nondet_12^post_10, r_164^0'=r_164^post_10, r_197^0'=r_197^post_10, r_39^0'=r_39^post_10, rcd_104^0'=rcd_104^post_10, rcd_112^0'=rcd_112^post_10, rcd_179^0'=rcd_179^post_10, rcd_185^0'=rcd_185^post_10, rcd_190^0'=rcd_190^post_10, rcd_207^0'=rcd_207^post_10, rcd_43^0'=rcd_43^post_10, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_10, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_10, t_25^0'=t_25^post_10, tail_15^0'=tail_15^post_10, temp0_21^0'=temp0_21^post_10, temp0_30^0'=temp0_30^post_10, temp_34^0'=temp_34^post_10, temp_35^0'=temp_35^post_10, tmp_33^0'=tmp_33^post_10, x_24^0'=x_24^post_10, x_SLAM_f_22^0'=x_SLAM_f_22^post_10, y_23^0'=y_23^post_10, [ 1+y_23^0<=head_16^0 && a_153^0==a_153^post_10 && a_178^0==a_178^post_10 && a_208^0==a_208^post_10 && f_198^0==f_198^post_10 && head_16^0==head_16^post_10 && head_31^0==head_31^post_10 && head_SLAM_f_28^0==head_SLAM_f_28^post_10 && i_110^0==i_110^post_10 && i_120^0==i_120^post_10 && i_29^0==i_29^post_10 && length_27^0==length_27^post_10 && lt_17^0==lt_17^post_10 && lt_20^0==lt_20^post_10 && nondet_12^0==nondet_12^post_10 && r_164^0==r_164^post_10 && r_197^0==r_197^post_10 && r_39^0==r_39^post_10 && rcd_104^0==rcd_104^post_10 && rcd_112^0==rcd_112^post_10 && rcd_179^0==rcd_179^post_10 && rcd_185^0==rcd_185^post_10 && rcd_190^0==rcd_190^post_10 && rcd_207^0==rcd_207^post_10 && rcd_43^0==rcd_43^post_10 && rcd_69^0==rcd_69^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_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_10 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_10 && t_25^0==t_25^post_10 && tail_15^0==tail_15^post_10 && temp0_21^0==temp0_21^post_10 && temp0_30^0==temp0_30^post_10 && temp_34^0==temp_34^post_10 && temp_35^0==temp_35^post_10 && tmp_33^0==tmp_33^post_10 && x_24^0==x_24^post_10 && x_SLAM_f_22^0==x_SLAM_f_22^post_10 && y_23^0==y_23^post_10 ], cost: 1 10: l8 -> l9 : a_153^0'=a_153^post_11, a_178^0'=a_178^post_11, a_208^0'=a_208^post_11, f_198^0'=f_198^post_11, head_16^0'=head_16^post_11, head_31^0'=head_31^post_11, head_SLAM_f_28^0'=head_SLAM_f_28^post_11, i_110^0'=i_110^post_11, i_120^0'=i_120^post_11, i_29^0'=i_29^post_11, length_27^0'=length_27^post_11, lt_17^0'=lt_17^post_11, lt_20^0'=lt_20^post_11, nondet_12^0'=nondet_12^post_11, r_164^0'=r_164^post_11, r_197^0'=r_197^post_11, r_39^0'=r_39^post_11, rcd_104^0'=rcd_104^post_11, rcd_112^0'=rcd_112^post_11, rcd_179^0'=rcd_179^post_11, rcd_185^0'=rcd_185^post_11, rcd_190^0'=rcd_190^post_11, rcd_207^0'=rcd_207^post_11, rcd_43^0'=rcd_43^post_11, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_11, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_11, t_25^0'=t_25^post_11, tail_15^0'=tail_15^post_11, temp0_21^0'=temp0_21^post_11, temp0_30^0'=temp0_30^post_11, temp_34^0'=temp_34^post_11, temp_35^0'=temp_35^post_11, tmp_33^0'=tmp_33^post_11, x_24^0'=x_24^post_11, x_SLAM_f_22^0'=x_SLAM_f_22^post_11, y_23^0'=y_23^post_11, [ 1+y_23^0<=t_25^0 && a_153^0==a_153^post_11 && a_178^0==a_178^post_11 && a_208^0==a_208^post_11 && f_198^0==f_198^post_11 && head_16^0==head_16^post_11 && head_31^0==head_31^post_11 && head_SLAM_f_28^0==head_SLAM_f_28^post_11 && i_110^0==i_110^post_11 && i_120^0==i_120^post_11 && i_29^0==i_29^post_11 && length_27^0==length_27^post_11 && lt_17^0==lt_17^post_11 && lt_20^0==lt_20^post_11 && nondet_12^0==nondet_12^post_11 && r_164^0==r_164^post_11 && r_197^0==r_197^post_11 && r_39^0==r_39^post_11 && rcd_104^0==rcd_104^post_11 && rcd_112^0==rcd_112^post_11 && rcd_179^0==rcd_179^post_11 && rcd_185^0==rcd_185^post_11 && rcd_190^0==rcd_190^post_11 && rcd_207^0==rcd_207^post_11 && rcd_43^0==rcd_43^post_11 && rcd_69^0==rcd_69^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_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_11 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_11 && t_25^0==t_25^post_11 && tail_15^0==tail_15^post_11 && temp0_21^0==temp0_21^post_11 && temp0_30^0==temp0_30^post_11 && temp_34^0==temp_34^post_11 && temp_35^0==temp_35^post_11 && tmp_33^0==tmp_33^post_11 && x_24^0==x_24^post_11 && x_SLAM_f_22^0==x_SLAM_f_22^post_11 && y_23^0==y_23^post_11 ], cost: 1 11: l8 -> l9 : a_153^0'=a_153^post_12, a_178^0'=a_178^post_12, a_208^0'=a_208^post_12, f_198^0'=f_198^post_12, head_16^0'=head_16^post_12, head_31^0'=head_31^post_12, head_SLAM_f_28^0'=head_SLAM_f_28^post_12, i_110^0'=i_110^post_12, i_120^0'=i_120^post_12, i_29^0'=i_29^post_12, length_27^0'=length_27^post_12, lt_17^0'=lt_17^post_12, lt_20^0'=lt_20^post_12, nondet_12^0'=nondet_12^post_12, r_164^0'=r_164^post_12, r_197^0'=r_197^post_12, r_39^0'=r_39^post_12, rcd_104^0'=rcd_104^post_12, rcd_112^0'=rcd_112^post_12, rcd_179^0'=rcd_179^post_12, rcd_185^0'=rcd_185^post_12, rcd_190^0'=rcd_190^post_12, rcd_207^0'=rcd_207^post_12, rcd_43^0'=rcd_43^post_12, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_12, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_12, t_25^0'=t_25^post_12, tail_15^0'=tail_15^post_12, temp0_21^0'=temp0_21^post_12, temp0_30^0'=temp0_30^post_12, temp_34^0'=temp_34^post_12, temp_35^0'=temp_35^post_12, tmp_33^0'=tmp_33^post_12, x_24^0'=x_24^post_12, x_SLAM_f_22^0'=x_SLAM_f_22^post_12, y_23^0'=y_23^post_12, [ 1+t_25^0<=y_23^0 && a_153^0==a_153^post_12 && a_178^0==a_178^post_12 && a_208^0==a_208^post_12 && f_198^0==f_198^post_12 && head_16^0==head_16^post_12 && head_31^0==head_31^post_12 && head_SLAM_f_28^0==head_SLAM_f_28^post_12 && i_110^0==i_110^post_12 && i_120^0==i_120^post_12 && i_29^0==i_29^post_12 && length_27^0==length_27^post_12 && lt_17^0==lt_17^post_12 && lt_20^0==lt_20^post_12 && nondet_12^0==nondet_12^post_12 && r_164^0==r_164^post_12 && r_197^0==r_197^post_12 && r_39^0==r_39^post_12 && rcd_104^0==rcd_104^post_12 && rcd_112^0==rcd_112^post_12 && rcd_179^0==rcd_179^post_12 && rcd_185^0==rcd_185^post_12 && rcd_190^0==rcd_190^post_12 && rcd_207^0==rcd_207^post_12 && rcd_43^0==rcd_43^post_12 && rcd_69^0==rcd_69^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_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_12 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_12 && t_25^0==t_25^post_12 && tail_15^0==tail_15^post_12 && temp0_21^0==temp0_21^post_12 && temp0_30^0==temp0_30^post_12 && temp_34^0==temp_34^post_12 && temp_35^0==temp_35^post_12 && tmp_33^0==tmp_33^post_12 && x_24^0==x_24^post_12 && x_SLAM_f_22^0==x_SLAM_f_22^post_12 && y_23^0==y_23^post_12 ], cost: 1 12: l9 -> l2 : a_153^0'=a_153^post_13, a_178^0'=a_178^post_13, a_208^0'=a_208^post_13, f_198^0'=f_198^post_13, head_16^0'=head_16^post_13, head_31^0'=head_31^post_13, head_SLAM_f_28^0'=head_SLAM_f_28^post_13, i_110^0'=i_110^post_13, i_120^0'=i_120^post_13, i_29^0'=i_29^post_13, length_27^0'=length_27^post_13, lt_17^0'=lt_17^post_13, lt_20^0'=lt_20^post_13, nondet_12^0'=nondet_12^post_13, r_164^0'=r_164^post_13, r_197^0'=r_197^post_13, r_39^0'=r_39^post_13, rcd_104^0'=rcd_104^post_13, rcd_112^0'=rcd_112^post_13, rcd_179^0'=rcd_179^post_13, rcd_185^0'=rcd_185^post_13, rcd_190^0'=rcd_190^post_13, rcd_207^0'=rcd_207^post_13, rcd_43^0'=rcd_43^post_13, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_13, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_13, t_25^0'=t_25^post_13, tail_15^0'=tail_15^post_13, temp0_21^0'=temp0_21^post_13, temp0_30^0'=temp0_30^post_13, temp_34^0'=temp_34^post_13, temp_35^0'=temp_35^post_13, tmp_33^0'=tmp_33^post_13, x_24^0'=x_24^post_13, x_SLAM_f_22^0'=x_SLAM_f_22^post_13, y_23^0'=y_23^post_13, [ 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_120^0 && i_120^post_13==i_120^post_13 && -1+i_120^post_13<=a_153^0 && a_153^0<=-1+i_120^post_13 && a_153^0==a_153^post_13 && a_178^0==a_178^post_13 && a_208^0==a_208^post_13 && f_198^0==f_198^post_13 && head_16^0==head_16^post_13 && head_31^0==head_31^post_13 && head_SLAM_f_28^0==head_SLAM_f_28^post_13 && i_110^0==i_110^post_13 && i_29^0==i_29^post_13 && length_27^0==length_27^post_13 && lt_17^0==lt_17^post_13 && lt_20^0==lt_20^post_13 && nondet_12^0==nondet_12^post_13 && r_164^0==r_164^post_13 && r_197^0==r_197^post_13 && r_39^0==r_39^post_13 && rcd_104^0==rcd_104^post_13 && rcd_112^0==rcd_112^post_13 && rcd_179^0==rcd_179^post_13 && rcd_185^0==rcd_185^post_13 && rcd_190^0==rcd_190^post_13 && rcd_207^0==rcd_207^post_13 && rcd_43^0==rcd_43^post_13 && rcd_69^0==rcd_69^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_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_13 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_13 && t_25^0==t_25^post_13 && tail_15^0==tail_15^post_13 && temp0_21^0==temp0_21^post_13 && temp0_30^0==temp0_30^post_13 && temp_34^0==temp_34^post_13 && temp_35^0==temp_35^post_13 && tmp_33^0==tmp_33^post_13 && x_24^0==x_24^post_13 && x_SLAM_f_22^0==x_SLAM_f_22^post_13 && y_23^0==y_23^post_13 ], cost: 1 35: l2 -> l1 : a_153^0'=a_153^post_36, a_178^0'=a_178^post_36, a_208^0'=a_208^post_36, f_198^0'=f_198^post_36, head_16^0'=head_16^post_36, head_31^0'=head_31^post_36, head_SLAM_f_28^0'=head_SLAM_f_28^post_36, i_110^0'=i_110^post_36, i_120^0'=i_120^post_36, i_29^0'=i_29^post_36, length_27^0'=length_27^post_36, lt_17^0'=lt_17^post_36, lt_20^0'=lt_20^post_36, nondet_12^0'=nondet_12^post_36, r_164^0'=r_164^post_36, r_197^0'=r_197^post_36, r_39^0'=r_39^post_36, rcd_104^0'=rcd_104^post_36, rcd_112^0'=rcd_112^post_36, rcd_179^0'=rcd_179^post_36, rcd_185^0'=rcd_185^post_36, rcd_190^0'=rcd_190^post_36, rcd_207^0'=rcd_207^post_36, rcd_43^0'=rcd_43^post_36, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_36, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_36, t_25^0'=t_25^post_36, tail_15^0'=tail_15^post_36, temp0_21^0'=temp0_21^post_36, temp0_30^0'=temp0_30^post_36, temp_34^0'=temp_34^post_36, temp_35^0'=temp_35^post_36, tmp_33^0'=tmp_33^post_36, x_24^0'=x_24^post_36, x_SLAM_f_22^0'=x_SLAM_f_22^post_36, y_23^0'=y_23^post_36, [ y_23^0<=x_24^0 && x_24^0<=y_23^0 && x_SLAM_f_22^post_36==x_SLAM_f_22^post_36 && y_23^post_36==y_23^post_36 && x_24^post_36==x_24^post_36 && t_25^post_36==t_25^post_36 && lt_20^post_36==lt_20^post_36 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_36==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_36 && head_16^post_36==head_16^post_36 && result_11^post_36==temp0_21^0 && 1<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_36 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_36 && a_153^0==a_153^post_36 && a_178^0==a_178^post_36 && a_208^0==a_208^post_36 && f_198^0==f_198^post_36 && head_31^0==head_31^post_36 && head_SLAM_f_28^0==head_SLAM_f_28^post_36 && i_110^0==i_110^post_36 && i_120^0==i_120^post_36 && i_29^0==i_29^post_36 && length_27^0==length_27^post_36 && lt_17^0==lt_17^post_36 && nondet_12^0==nondet_12^post_36 && r_164^0==r_164^post_36 && r_197^0==r_197^post_36 && r_39^0==r_39^post_36 && rcd_104^0==rcd_104^post_36 && rcd_112^0==rcd_112^post_36 && rcd_179^0==rcd_179^post_36 && rcd_185^0==rcd_185^post_36 && rcd_190^0==rcd_190^post_36 && rcd_207^0==rcd_207^post_36 && rcd_43^0==rcd_43^post_36 && rcd_69^0==rcd_69^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_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_36 && tail_15^0==tail_15^post_36 && temp0_21^0==temp0_21^post_36 && temp0_30^0==temp0_30^post_36 && temp_34^0==temp_34^post_36 && temp_35^0==temp_35^post_36 && tmp_33^0==tmp_33^post_36 ], cost: 1 36: l2 -> l26 : a_153^0'=a_153^post_37, a_178^0'=a_178^post_37, a_208^0'=a_208^post_37, f_198^0'=f_198^post_37, head_16^0'=head_16^post_37, head_31^0'=head_31^post_37, head_SLAM_f_28^0'=head_SLAM_f_28^post_37, i_110^0'=i_110^post_37, i_120^0'=i_120^post_37, i_29^0'=i_29^post_37, length_27^0'=length_27^post_37, lt_17^0'=lt_17^post_37, lt_20^0'=lt_20^post_37, nondet_12^0'=nondet_12^post_37, r_164^0'=r_164^post_37, r_197^0'=r_197^post_37, r_39^0'=r_39^post_37, rcd_104^0'=rcd_104^post_37, rcd_112^0'=rcd_112^post_37, rcd_179^0'=rcd_179^post_37, rcd_185^0'=rcd_185^post_37, rcd_190^0'=rcd_190^post_37, rcd_207^0'=rcd_207^post_37, rcd_43^0'=rcd_43^post_37, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_37, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_37, t_25^0'=t_25^post_37, tail_15^0'=tail_15^post_37, temp0_21^0'=temp0_21^post_37, temp0_30^0'=temp0_30^post_37, temp_34^0'=temp_34^post_37, temp_35^0'=temp_35^post_37, tmp_33^0'=tmp_33^post_37, x_24^0'=x_24^post_37, x_SLAM_f_22^0'=x_SLAM_f_22^post_37, y_23^0'=y_23^post_37, [ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_37==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_37 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_37==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_37 && tail_15^post_37==tail_15^post_37 && head_16^post_37==head_16^post_37 && lt_20^post_37==lt_20^post_37 && x_SLAM_f_22^post_37==x_SLAM_f_22^post_37 && r_39^post_37==r_39^post_37 && r_197^post_37==r_197^post_37 && f_198^post_37==f_198^post_37 && a_153^0==a_153^post_37 && a_178^0==a_178^post_37 && a_208^0==a_208^post_37 && head_31^0==head_31^post_37 && head_SLAM_f_28^0==head_SLAM_f_28^post_37 && i_110^0==i_110^post_37 && i_120^0==i_120^post_37 && i_29^0==i_29^post_37 && length_27^0==length_27^post_37 && lt_17^0==lt_17^post_37 && nondet_12^0==nondet_12^post_37 && r_164^0==r_164^post_37 && rcd_104^0==rcd_104^post_37 && rcd_112^0==rcd_112^post_37 && rcd_179^0==rcd_179^post_37 && rcd_185^0==rcd_185^post_37 && rcd_190^0==rcd_190^post_37 && rcd_207^0==rcd_207^post_37 && rcd_43^0==rcd_43^post_37 && rcd_69^0==rcd_69^post_37 && result_11^0==result_11^post_37 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_37 && t_25^0==t_25^post_37 && temp0_21^0==temp0_21^post_37 && temp0_30^0==temp0_30^post_37 && temp_34^0==temp_34^post_37 && temp_35^0==temp_35^post_37 && tmp_33^0==tmp_33^post_37 && x_24^0==x_24^post_37 && y_23^0==y_23^post_37 ], cost: 1 14: l10 -> l0 : a_153^0'=a_153^post_15, a_178^0'=a_178^post_15, a_208^0'=a_208^post_15, f_198^0'=f_198^post_15, head_16^0'=head_16^post_15, head_31^0'=head_31^post_15, head_SLAM_f_28^0'=head_SLAM_f_28^post_15, i_110^0'=i_110^post_15, i_120^0'=i_120^post_15, i_29^0'=i_29^post_15, length_27^0'=length_27^post_15, lt_17^0'=lt_17^post_15, lt_20^0'=lt_20^post_15, nondet_12^0'=nondet_12^post_15, r_164^0'=r_164^post_15, r_197^0'=r_197^post_15, r_39^0'=r_39^post_15, rcd_104^0'=rcd_104^post_15, rcd_112^0'=rcd_112^post_15, rcd_179^0'=rcd_179^post_15, rcd_185^0'=rcd_185^post_15, rcd_190^0'=rcd_190^post_15, rcd_207^0'=rcd_207^post_15, rcd_43^0'=rcd_43^post_15, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_15, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_15, t_25^0'=t_25^post_15, tail_15^0'=tail_15^post_15, temp0_21^0'=temp0_21^post_15, temp0_30^0'=temp0_30^post_15, temp_34^0'=temp_34^post_15, temp_35^0'=temp_35^post_15, tmp_33^0'=tmp_33^post_15, x_24^0'=x_24^post_15, x_SLAM_f_22^0'=x_SLAM_f_22^post_15, y_23^0'=y_23^post_15, [ a_153^0==a_153^post_15 && a_178^0==a_178^post_15 && a_208^0==a_208^post_15 && f_198^0==f_198^post_15 && head_16^0==head_16^post_15 && head_31^0==head_31^post_15 && head_SLAM_f_28^0==head_SLAM_f_28^post_15 && i_110^0==i_110^post_15 && i_120^0==i_120^post_15 && i_29^0==i_29^post_15 && length_27^0==length_27^post_15 && lt_17^0==lt_17^post_15 && lt_20^0==lt_20^post_15 && nondet_12^0==nondet_12^post_15 && r_164^0==r_164^post_15 && r_197^0==r_197^post_15 && r_39^0==r_39^post_15 && rcd_104^0==rcd_104^post_15 && rcd_112^0==rcd_112^post_15 && rcd_179^0==rcd_179^post_15 && rcd_185^0==rcd_185^post_15 && rcd_190^0==rcd_190^post_15 && rcd_207^0==rcd_207^post_15 && rcd_43^0==rcd_43^post_15 && rcd_69^0==rcd_69^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_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_15 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_15 && t_25^0==t_25^post_15 && tail_15^0==tail_15^post_15 && temp0_21^0==temp0_21^post_15 && temp0_30^0==temp0_30^post_15 && temp_34^0==temp_34^post_15 && temp_35^0==temp_35^post_15 && tmp_33^0==tmp_33^post_15 && x_24^0==x_24^post_15 && x_SLAM_f_22^0==x_SLAM_f_22^post_15 && y_23^0==y_23^post_15 ], cost: 1 15: l11 -> l13 : a_153^0'=a_153^post_16, a_178^0'=a_178^post_16, a_208^0'=a_208^post_16, f_198^0'=f_198^post_16, head_16^0'=head_16^post_16, head_31^0'=head_31^post_16, head_SLAM_f_28^0'=head_SLAM_f_28^post_16, i_110^0'=i_110^post_16, i_120^0'=i_120^post_16, i_29^0'=i_29^post_16, length_27^0'=length_27^post_16, lt_17^0'=lt_17^post_16, lt_20^0'=lt_20^post_16, nondet_12^0'=nondet_12^post_16, r_164^0'=r_164^post_16, r_197^0'=r_197^post_16, r_39^0'=r_39^post_16, rcd_104^0'=rcd_104^post_16, rcd_112^0'=rcd_112^post_16, rcd_179^0'=rcd_179^post_16, rcd_185^0'=rcd_185^post_16, rcd_190^0'=rcd_190^post_16, rcd_207^0'=rcd_207^post_16, rcd_43^0'=rcd_43^post_16, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_16, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_16, t_25^0'=t_25^post_16, tail_15^0'=tail_15^post_16, temp0_21^0'=temp0_21^post_16, temp0_30^0'=temp0_30^post_16, temp_34^0'=temp_34^post_16, temp_35^0'=temp_35^post_16, tmp_33^0'=tmp_33^post_16, x_24^0'=x_24^post_16, x_SLAM_f_22^0'=x_SLAM_f_22^post_16, y_23^0'=y_23^post_16, [ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_16==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_16 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_16==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_16 && tail_15^post_16==tail_15^post_16 && length_27^0<=i_29^0 && temp0_30^1_3_1==head_31^0 && result_11^1_3==temp0_30^1_3_1 && length_27^post_16==length_27^post_16 && head_SLAM_f_28^post_16==head_SLAM_f_28^post_16 && i_29^post_16==i_29^post_16 && temp0_30^post_16==temp0_30^post_16 && head_31^post_16==head_31^post_16 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_16==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_16 && tmp_33^post_16==tmp_33^post_16 && temp_34^post_16==temp_34^post_16 && head_16^post_16==result_11^1_3 && result_11^post_16==result_11^post_16 && head_16^post_16<=lt_17^0 && lt_17^0<=head_16^post_16 && lt_17^post_16==lt_17^post_16 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_16<=tail_15^post_16 && tail_15^post_16<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_16 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_16<=head_16^post_16 && head_16^post_16<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_16 && a_153^0==a_153^post_16 && a_178^0==a_178^post_16 && a_208^0==a_208^post_16 && f_198^0==f_198^post_16 && i_110^0==i_110^post_16 && i_120^0==i_120^post_16 && lt_20^0==lt_20^post_16 && nondet_12^0==nondet_12^post_16 && r_164^0==r_164^post_16 && r_197^0==r_197^post_16 && r_39^0==r_39^post_16 && rcd_104^0==rcd_104^post_16 && rcd_112^0==rcd_112^post_16 && rcd_179^0==rcd_179^post_16 && rcd_185^0==rcd_185^post_16 && rcd_190^0==rcd_190^post_16 && rcd_207^0==rcd_207^post_16 && rcd_43^0==rcd_43^post_16 && rcd_69^0==rcd_69^post_16 && t_25^0==t_25^post_16 && temp0_21^0==temp0_21^post_16 && temp_35^0==temp_35^post_16 && x_24^0==x_24^post_16 && x_SLAM_f_22^0==x_SLAM_f_22^post_16 && y_23^0==y_23^post_16 ], cost: 1 21: l11 -> l16 : a_153^0'=a_153^post_22, a_178^0'=a_178^post_22, a_208^0'=a_208^post_22, f_198^0'=f_198^post_22, head_16^0'=head_16^post_22, head_31^0'=head_31^post_22, head_SLAM_f_28^0'=head_SLAM_f_28^post_22, i_110^0'=i_110^post_22, i_120^0'=i_120^post_22, i_29^0'=i_29^post_22, length_27^0'=length_27^post_22, lt_17^0'=lt_17^post_22, lt_20^0'=lt_20^post_22, nondet_12^0'=nondet_12^post_22, r_164^0'=r_164^post_22, r_197^0'=r_197^post_22, r_39^0'=r_39^post_22, rcd_104^0'=rcd_104^post_22, rcd_112^0'=rcd_112^post_22, rcd_179^0'=rcd_179^post_22, rcd_185^0'=rcd_185^post_22, rcd_190^0'=rcd_190^post_22, rcd_207^0'=rcd_207^post_22, rcd_43^0'=rcd_43^post_22, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_22, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_22, t_25^0'=t_25^post_22, tail_15^0'=tail_15^post_22, temp0_21^0'=temp0_21^post_22, temp0_30^0'=temp0_30^post_22, temp_34^0'=temp_34^post_22, temp_35^0'=temp_35^post_22, tmp_33^0'=tmp_33^post_22, x_24^0'=x_24^post_22, x_SLAM_f_22^0'=x_SLAM_f_22^post_22, y_23^0'=y_23^post_22, [ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_22==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_22 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_22==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_22 && tail_15^post_22==tail_15^post_22 && length_27^0<=i_29^0 && temp0_30^1_4_1==head_31^0 && result_11^1_4==temp0_30^1_4_1 && length_27^post_22==length_27^post_22 && head_SLAM_f_28^post_22==head_SLAM_f_28^post_22 && i_29^post_22==i_29^post_22 && temp0_30^post_22==temp0_30^post_22 && head_31^post_22==head_31^post_22 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_22==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_22 && tmp_33^post_22==tmp_33^post_22 && temp_34^post_22==temp_34^post_22 && head_16^post_22==result_11^1_4 && result_11^post_22==result_11^post_22 && a_153^0==a_153^post_22 && a_178^0==a_178^post_22 && a_208^0==a_208^post_22 && f_198^0==f_198^post_22 && i_110^0==i_110^post_22 && i_120^0==i_120^post_22 && lt_17^0==lt_17^post_22 && lt_20^0==lt_20^post_22 && nondet_12^0==nondet_12^post_22 && r_164^0==r_164^post_22 && r_197^0==r_197^post_22 && r_39^0==r_39^post_22 && rcd_104^0==rcd_104^post_22 && rcd_112^0==rcd_112^post_22 && rcd_179^0==rcd_179^post_22 && rcd_185^0==rcd_185^post_22 && rcd_190^0==rcd_190^post_22 && rcd_207^0==rcd_207^post_22 && rcd_43^0==rcd_43^post_22 && rcd_69^0==rcd_69^post_22 && t_25^0==t_25^post_22 && temp0_21^0==temp0_21^post_22 && temp_35^0==temp_35^post_22 && x_24^0==x_24^post_22 && x_SLAM_f_22^0==x_SLAM_f_22^post_22 && y_23^0==y_23^post_22 ], cost: 1 33: l11 -> l23 : a_153^0'=a_153^post_34, a_178^0'=a_178^post_34, a_208^0'=a_208^post_34, f_198^0'=f_198^post_34, head_16^0'=head_16^post_34, head_31^0'=head_31^post_34, head_SLAM_f_28^0'=head_SLAM_f_28^post_34, i_110^0'=i_110^post_34, i_120^0'=i_120^post_34, i_29^0'=i_29^post_34, length_27^0'=length_27^post_34, lt_17^0'=lt_17^post_34, lt_20^0'=lt_20^post_34, nondet_12^0'=nondet_12^post_34, r_164^0'=r_164^post_34, r_197^0'=r_197^post_34, r_39^0'=r_39^post_34, rcd_104^0'=rcd_104^post_34, rcd_112^0'=rcd_112^post_34, rcd_179^0'=rcd_179^post_34, rcd_185^0'=rcd_185^post_34, rcd_190^0'=rcd_190^post_34, rcd_207^0'=rcd_207^post_34, rcd_43^0'=rcd_43^post_34, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_34, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_34, t_25^0'=t_25^post_34, tail_15^0'=tail_15^post_34, temp0_21^0'=temp0_21^post_34, temp0_30^0'=temp0_30^post_34, temp_34^0'=temp_34^post_34, temp_35^0'=temp_35^post_34, tmp_33^0'=tmp_33^post_34, x_24^0'=x_24^post_34, x_SLAM_f_22^0'=x_SLAM_f_22^post_34, y_23^0'=y_23^post_34, [ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_34==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_34 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_34==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_34 && tail_15^post_34==tail_15^post_34 && head_SLAM_f_28^post_34==head_SLAM_f_28^post_34 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_34==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_34 && 1+i_29^0<=length_27^0 && tmp_33^post_34==temp_34^0 && temp_34^post_34==temp_34^post_34 && head_31^post_34==tmp_33^post_34 && i_29^post_34==1+i_29^0 && 1<=i_29^post_34 && i_29^post_34<=1 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_34<=tail_15^post_34 && tail_15^post_34<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_34 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_34<=head_SLAM_f_28^post_34 && head_SLAM_f_28^post_34<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_34 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_34<=length_27^0 && length_27^0<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_34 && tail_15^post_34<=head_SLAM_f_28^post_34 && head_SLAM_f_28^post_34<=tail_15^post_34 && head_31^post_34<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_34 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_34<=head_31^post_34 && head_31^post_34<=tmp_33^post_34 && tmp_33^post_34<=head_31^post_34 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_34<=tmp_33^post_34 && tmp_33^post_34<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_34 && 1<=length_27^0 && a_153^0==a_153^post_34 && a_178^0==a_178^post_34 && a_208^0==a_208^post_34 && f_198^0==f_198^post_34 && head_16^0==head_16^post_34 && i_110^0==i_110^post_34 && i_120^0==i_120^post_34 && length_27^0==length_27^post_34 && lt_17^0==lt_17^post_34 && lt_20^0==lt_20^post_34 && nondet_12^0==nondet_12^post_34 && r_164^0==r_164^post_34 && r_197^0==r_197^post_34 && r_39^0==r_39^post_34 && rcd_104^0==rcd_104^post_34 && rcd_112^0==rcd_112^post_34 && rcd_179^0==rcd_179^post_34 && rcd_185^0==rcd_185^post_34 && rcd_190^0==rcd_190^post_34 && rcd_207^0==rcd_207^post_34 && rcd_43^0==rcd_43^post_34 && rcd_69^0==rcd_69^post_34 && result_11^0==result_11^post_34 && t_25^0==t_25^post_34 && temp0_21^0==temp0_21^post_34 && temp0_30^0==temp0_30^post_34 && temp_35^0==temp_35^post_34 && x_24^0==x_24^post_34 && x_SLAM_f_22^0==x_SLAM_f_22^post_34 && y_23^0==y_23^post_34 ], cost: 1 16: l13 -> l14 : a_153^0'=a_153^post_17, a_178^0'=a_178^post_17, a_208^0'=a_208^post_17, f_198^0'=f_198^post_17, head_16^0'=head_16^post_17, head_31^0'=head_31^post_17, head_SLAM_f_28^0'=head_SLAM_f_28^post_17, i_110^0'=i_110^post_17, i_120^0'=i_120^post_17, i_29^0'=i_29^post_17, length_27^0'=length_27^post_17, lt_17^0'=lt_17^post_17, lt_20^0'=lt_20^post_17, nondet_12^0'=nondet_12^post_17, r_164^0'=r_164^post_17, r_197^0'=r_197^post_17, r_39^0'=r_39^post_17, rcd_104^0'=rcd_104^post_17, rcd_112^0'=rcd_112^post_17, rcd_179^0'=rcd_179^post_17, rcd_185^0'=rcd_185^post_17, rcd_190^0'=rcd_190^post_17, rcd_207^0'=rcd_207^post_17, rcd_43^0'=rcd_43^post_17, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_17, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_17, t_25^0'=t_25^post_17, tail_15^0'=tail_15^post_17, temp0_21^0'=temp0_21^post_17, temp0_30^0'=temp0_30^post_17, temp_34^0'=temp_34^post_17, temp_35^0'=temp_35^post_17, tmp_33^0'=tmp_33^post_17, x_24^0'=x_24^post_17, x_SLAM_f_22^0'=x_SLAM_f_22^post_17, y_23^0'=y_23^post_17, [ 1+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0<=lt_20^0 && a_153^0==a_153^post_17 && a_178^0==a_178^post_17 && a_208^0==a_208^post_17 && f_198^0==f_198^post_17 && head_16^0==head_16^post_17 && head_31^0==head_31^post_17 && head_SLAM_f_28^0==head_SLAM_f_28^post_17 && i_110^0==i_110^post_17 && i_120^0==i_120^post_17 && i_29^0==i_29^post_17 && length_27^0==length_27^post_17 && lt_17^0==lt_17^post_17 && lt_20^0==lt_20^post_17 && nondet_12^0==nondet_12^post_17 && r_164^0==r_164^post_17 && r_197^0==r_197^post_17 && r_39^0==r_39^post_17 && rcd_104^0==rcd_104^post_17 && rcd_112^0==rcd_112^post_17 && rcd_179^0==rcd_179^post_17 && rcd_185^0==rcd_185^post_17 && rcd_190^0==rcd_190^post_17 && rcd_207^0==rcd_207^post_17 && rcd_43^0==rcd_43^post_17 && rcd_69^0==rcd_69^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_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_17 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_17 && t_25^0==t_25^post_17 && tail_15^0==tail_15^post_17 && temp0_21^0==temp0_21^post_17 && temp0_30^0==temp0_30^post_17 && temp_34^0==temp_34^post_17 && temp_35^0==temp_35^post_17 && tmp_33^0==tmp_33^post_17 && x_24^0==x_24^post_17 && x_SLAM_f_22^0==x_SLAM_f_22^post_17 && y_23^0==y_23^post_17 ], cost: 1 17: l13 -> l14 : a_153^0'=a_153^post_18, a_178^0'=a_178^post_18, a_208^0'=a_208^post_18, f_198^0'=f_198^post_18, head_16^0'=head_16^post_18, head_31^0'=head_31^post_18, head_SLAM_f_28^0'=head_SLAM_f_28^post_18, i_110^0'=i_110^post_18, i_120^0'=i_120^post_18, i_29^0'=i_29^post_18, length_27^0'=length_27^post_18, lt_17^0'=lt_17^post_18, lt_20^0'=lt_20^post_18, nondet_12^0'=nondet_12^post_18, r_164^0'=r_164^post_18, r_197^0'=r_197^post_18, r_39^0'=r_39^post_18, rcd_104^0'=rcd_104^post_18, rcd_112^0'=rcd_112^post_18, rcd_179^0'=rcd_179^post_18, rcd_185^0'=rcd_185^post_18, rcd_190^0'=rcd_190^post_18, rcd_207^0'=rcd_207^post_18, rcd_43^0'=rcd_43^post_18, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_18, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_18, t_25^0'=t_25^post_18, tail_15^0'=tail_15^post_18, temp0_21^0'=temp0_21^post_18, temp0_30^0'=temp0_30^post_18, temp_34^0'=temp_34^post_18, temp_35^0'=temp_35^post_18, tmp_33^0'=tmp_33^post_18, x_24^0'=x_24^post_18, x_SLAM_f_22^0'=x_SLAM_f_22^post_18, y_23^0'=y_23^post_18, [ 1+lt_20^0<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 && a_153^0==a_153^post_18 && a_178^0==a_178^post_18 && a_208^0==a_208^post_18 && f_198^0==f_198^post_18 && head_16^0==head_16^post_18 && head_31^0==head_31^post_18 && head_SLAM_f_28^0==head_SLAM_f_28^post_18 && i_110^0==i_110^post_18 && i_120^0==i_120^post_18 && i_29^0==i_29^post_18 && length_27^0==length_27^post_18 && lt_17^0==lt_17^post_18 && lt_20^0==lt_20^post_18 && nondet_12^0==nondet_12^post_18 && r_164^0==r_164^post_18 && r_197^0==r_197^post_18 && r_39^0==r_39^post_18 && rcd_104^0==rcd_104^post_18 && rcd_112^0==rcd_112^post_18 && rcd_179^0==rcd_179^post_18 && rcd_185^0==rcd_185^post_18 && rcd_190^0==rcd_190^post_18 && rcd_207^0==rcd_207^post_18 && rcd_43^0==rcd_43^post_18 && rcd_69^0==rcd_69^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_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_18 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_18 && t_25^0==t_25^post_18 && tail_15^0==tail_15^post_18 && temp0_21^0==temp0_21^post_18 && temp0_30^0==temp0_30^post_18 && temp_34^0==temp_34^post_18 && temp_35^0==temp_35^post_18 && tmp_33^0==tmp_33^post_18 && x_24^0==x_24^post_18 && x_SLAM_f_22^0==x_SLAM_f_22^post_18 && y_23^0==y_23^post_18 ], cost: 1 18: l14 -> l15 : a_153^0'=a_153^post_19, a_178^0'=a_178^post_19, a_208^0'=a_208^post_19, f_198^0'=f_198^post_19, head_16^0'=head_16^post_19, head_31^0'=head_31^post_19, head_SLAM_f_28^0'=head_SLAM_f_28^post_19, i_110^0'=i_110^post_19, i_120^0'=i_120^post_19, i_29^0'=i_29^post_19, length_27^0'=length_27^post_19, lt_17^0'=lt_17^post_19, lt_20^0'=lt_20^post_19, nondet_12^0'=nondet_12^post_19, r_164^0'=r_164^post_19, r_197^0'=r_197^post_19, r_39^0'=r_39^post_19, rcd_104^0'=rcd_104^post_19, rcd_112^0'=rcd_112^post_19, rcd_179^0'=rcd_179^post_19, rcd_185^0'=rcd_185^post_19, rcd_190^0'=rcd_190^post_19, rcd_207^0'=rcd_207^post_19, rcd_43^0'=rcd_43^post_19, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_19, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_19, t_25^0'=t_25^post_19, tail_15^0'=tail_15^post_19, temp0_21^0'=temp0_21^post_19, temp0_30^0'=temp0_30^post_19, temp_34^0'=temp_34^post_19, temp_35^0'=temp_35^post_19, tmp_33^0'=tmp_33^post_19, x_24^0'=x_24^post_19, x_SLAM_f_22^0'=x_SLAM_f_22^post_19, y_23^0'=y_23^post_19, [ 1+head_16^0<=lt_20^0 && a_153^0==a_153^post_19 && a_178^0==a_178^post_19 && a_208^0==a_208^post_19 && f_198^0==f_198^post_19 && head_16^0==head_16^post_19 && head_31^0==head_31^post_19 && head_SLAM_f_28^0==head_SLAM_f_28^post_19 && i_110^0==i_110^post_19 && i_120^0==i_120^post_19 && i_29^0==i_29^post_19 && length_27^0==length_27^post_19 && lt_17^0==lt_17^post_19 && lt_20^0==lt_20^post_19 && nondet_12^0==nondet_12^post_19 && r_164^0==r_164^post_19 && r_197^0==r_197^post_19 && r_39^0==r_39^post_19 && rcd_104^0==rcd_104^post_19 && rcd_112^0==rcd_112^post_19 && rcd_179^0==rcd_179^post_19 && rcd_185^0==rcd_185^post_19 && rcd_190^0==rcd_190^post_19 && rcd_207^0==rcd_207^post_19 && rcd_43^0==rcd_43^post_19 && rcd_69^0==rcd_69^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_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_19 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_19 && t_25^0==t_25^post_19 && tail_15^0==tail_15^post_19 && temp0_21^0==temp0_21^post_19 && temp0_30^0==temp0_30^post_19 && temp_34^0==temp_34^post_19 && temp_35^0==temp_35^post_19 && tmp_33^0==tmp_33^post_19 && x_24^0==x_24^post_19 && x_SLAM_f_22^0==x_SLAM_f_22^post_19 && y_23^0==y_23^post_19 ], cost: 1 19: l14 -> l15 : a_153^0'=a_153^post_20, a_178^0'=a_178^post_20, a_208^0'=a_208^post_20, f_198^0'=f_198^post_20, head_16^0'=head_16^post_20, head_31^0'=head_31^post_20, head_SLAM_f_28^0'=head_SLAM_f_28^post_20, i_110^0'=i_110^post_20, i_120^0'=i_120^post_20, i_29^0'=i_29^post_20, length_27^0'=length_27^post_20, lt_17^0'=lt_17^post_20, lt_20^0'=lt_20^post_20, nondet_12^0'=nondet_12^post_20, r_164^0'=r_164^post_20, r_197^0'=r_197^post_20, r_39^0'=r_39^post_20, rcd_104^0'=rcd_104^post_20, rcd_112^0'=rcd_112^post_20, rcd_179^0'=rcd_179^post_20, rcd_185^0'=rcd_185^post_20, rcd_190^0'=rcd_190^post_20, rcd_207^0'=rcd_207^post_20, rcd_43^0'=rcd_43^post_20, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_20, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_20, t_25^0'=t_25^post_20, tail_15^0'=tail_15^post_20, temp0_21^0'=temp0_21^post_20, temp0_30^0'=temp0_30^post_20, temp_34^0'=temp_34^post_20, temp_35^0'=temp_35^post_20, tmp_33^0'=tmp_33^post_20, x_24^0'=x_24^post_20, x_SLAM_f_22^0'=x_SLAM_f_22^post_20, y_23^0'=y_23^post_20, [ 1+lt_20^0<=head_16^0 && a_153^0==a_153^post_20 && a_178^0==a_178^post_20 && a_208^0==a_208^post_20 && f_198^0==f_198^post_20 && head_16^0==head_16^post_20 && head_31^0==head_31^post_20 && head_SLAM_f_28^0==head_SLAM_f_28^post_20 && i_110^0==i_110^post_20 && i_120^0==i_120^post_20 && i_29^0==i_29^post_20 && length_27^0==length_27^post_20 && lt_17^0==lt_17^post_20 && lt_20^0==lt_20^post_20 && nondet_12^0==nondet_12^post_20 && r_164^0==r_164^post_20 && r_197^0==r_197^post_20 && r_39^0==r_39^post_20 && rcd_104^0==rcd_104^post_20 && rcd_112^0==rcd_112^post_20 && rcd_179^0==rcd_179^post_20 && rcd_185^0==rcd_185^post_20 && rcd_190^0==rcd_190^post_20 && rcd_207^0==rcd_207^post_20 && rcd_43^0==rcd_43^post_20 && rcd_69^0==rcd_69^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_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_20 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_20 && t_25^0==t_25^post_20 && tail_15^0==tail_15^post_20 && temp0_21^0==temp0_21^post_20 && temp0_30^0==temp0_30^post_20 && temp_34^0==temp_34^post_20 && temp_35^0==temp_35^post_20 && tmp_33^0==tmp_33^post_20 && x_24^0==x_24^post_20 && x_SLAM_f_22^0==x_SLAM_f_22^post_20 && y_23^0==y_23^post_20 ], cost: 1 20: l15 -> l12 : a_153^0'=a_153^post_21, a_178^0'=a_178^post_21, a_208^0'=a_208^post_21, f_198^0'=f_198^post_21, head_16^0'=head_16^post_21, head_31^0'=head_31^post_21, head_SLAM_f_28^0'=head_SLAM_f_28^post_21, i_110^0'=i_110^post_21, i_120^0'=i_120^post_21, i_29^0'=i_29^post_21, length_27^0'=length_27^post_21, lt_17^0'=lt_17^post_21, lt_20^0'=lt_20^post_21, nondet_12^0'=nondet_12^post_21, r_164^0'=r_164^post_21, r_197^0'=r_197^post_21, r_39^0'=r_39^post_21, rcd_104^0'=rcd_104^post_21, rcd_112^0'=rcd_112^post_21, rcd_179^0'=rcd_179^post_21, rcd_185^0'=rcd_185^post_21, rcd_190^0'=rcd_190^post_21, rcd_207^0'=rcd_207^post_21, rcd_43^0'=rcd_43^post_21, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_21, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_21, t_25^0'=t_25^post_21, tail_15^0'=tail_15^post_21, temp0_21^0'=temp0_21^post_21, temp0_30^0'=temp0_30^post_21, temp_34^0'=temp_34^post_21, temp_35^0'=temp_35^post_21, tmp_33^0'=tmp_33^post_21, x_24^0'=x_24^post_21, x_SLAM_f_22^0'=x_SLAM_f_22^post_21, y_23^0'=y_23^post_21, [ result_dot_nondet_sdv_special_RETURN_VALUE_14^0<=0 && a_153^0==a_153^post_21 && a_178^0==a_178^post_21 && a_208^0==a_208^post_21 && f_198^0==f_198^post_21 && head_16^0==head_16^post_21 && head_31^0==head_31^post_21 && head_SLAM_f_28^0==head_SLAM_f_28^post_21 && i_110^0==i_110^post_21 && i_120^0==i_120^post_21 && i_29^0==i_29^post_21 && length_27^0==length_27^post_21 && lt_17^0==lt_17^post_21 && lt_20^0==lt_20^post_21 && nondet_12^0==nondet_12^post_21 && r_164^0==r_164^post_21 && r_197^0==r_197^post_21 && r_39^0==r_39^post_21 && rcd_104^0==rcd_104^post_21 && rcd_112^0==rcd_112^post_21 && rcd_179^0==rcd_179^post_21 && rcd_185^0==rcd_185^post_21 && rcd_190^0==rcd_190^post_21 && rcd_207^0==rcd_207^post_21 && rcd_43^0==rcd_43^post_21 && rcd_69^0==rcd_69^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_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_21 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_21 && t_25^0==t_25^post_21 && tail_15^0==tail_15^post_21 && temp0_21^0==temp0_21^post_21 && temp0_30^0==temp0_30^post_21 && temp_34^0==temp_34^post_21 && temp_35^0==temp_35^post_21 && tmp_33^0==tmp_33^post_21 && x_24^0==x_24^post_21 && x_SLAM_f_22^0==x_SLAM_f_22^post_21 && y_23^0==y_23^post_21 ], cost: 1 85: l12 -> l53 : a_153^0'=a_153^post_86, a_178^0'=a_178^post_86, a_208^0'=a_208^post_86, f_198^0'=f_198^post_86, head_16^0'=head_16^post_86, head_31^0'=head_31^post_86, head_SLAM_f_28^0'=head_SLAM_f_28^post_86, i_110^0'=i_110^post_86, i_120^0'=i_120^post_86, i_29^0'=i_29^post_86, length_27^0'=length_27^post_86, lt_17^0'=lt_17^post_86, lt_20^0'=lt_20^post_86, nondet_12^0'=nondet_12^post_86, r_164^0'=r_164^post_86, r_197^0'=r_197^post_86, r_39^0'=r_39^post_86, rcd_104^0'=rcd_104^post_86, rcd_112^0'=rcd_112^post_86, rcd_179^0'=rcd_179^post_86, rcd_185^0'=rcd_185^post_86, rcd_190^0'=rcd_190^post_86, rcd_207^0'=rcd_207^post_86, rcd_43^0'=rcd_43^post_86, rcd_69^0'=rcd_69^post_86, result_11^0'=result_11^post_86, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_86, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_86, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_86, t_25^0'=t_25^post_86, tail_15^0'=tail_15^post_86, temp0_21^0'=temp0_21^post_86, temp0_30^0'=temp0_30^post_86, temp_34^0'=temp_34^post_86, temp_35^0'=temp_35^post_86, tmp_33^0'=tmp_33^post_86, x_24^0'=x_24^post_86, x_SLAM_f_22^0'=x_SLAM_f_22^post_86, y_23^0'=y_23^post_86, [ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_86==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_86 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_86==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_86 && result_11^post_86==temp0_21^0 && a_153^0==a_153^post_86 && a_178^0==a_178^post_86 && a_208^0==a_208^post_86 && f_198^0==f_198^post_86 && head_16^0==head_16^post_86 && head_31^0==head_31^post_86 && head_SLAM_f_28^0==head_SLAM_f_28^post_86 && i_110^0==i_110^post_86 && i_120^0==i_120^post_86 && i_29^0==i_29^post_86 && length_27^0==length_27^post_86 && lt_17^0==lt_17^post_86 && lt_20^0==lt_20^post_86 && nondet_12^0==nondet_12^post_86 && r_164^0==r_164^post_86 && r_197^0==r_197^post_86 && r_39^0==r_39^post_86 && rcd_104^0==rcd_104^post_86 && rcd_112^0==rcd_112^post_86 && rcd_179^0==rcd_179^post_86 && rcd_185^0==rcd_185^post_86 && rcd_190^0==rcd_190^post_86 && rcd_207^0==rcd_207^post_86 && rcd_43^0==rcd_43^post_86 && rcd_69^0==rcd_69^post_86 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_86 && t_25^0==t_25^post_86 && tail_15^0==tail_15^post_86 && temp0_21^0==temp0_21^post_86 && temp0_30^0==temp0_30^post_86 && temp_34^0==temp_34^post_86 && temp_35^0==temp_35^post_86 && tmp_33^0==tmp_33^post_86 && x_24^0==x_24^post_86 && x_SLAM_f_22^0==x_SLAM_f_22^post_86 && y_23^0==y_23^post_86 ], cost: 1 22: l16 -> l17 : a_153^0'=a_153^post_23, a_178^0'=a_178^post_23, a_208^0'=a_208^post_23, f_198^0'=f_198^post_23, head_16^0'=head_16^post_23, head_31^0'=head_31^post_23, head_SLAM_f_28^0'=head_SLAM_f_28^post_23, i_110^0'=i_110^post_23, i_120^0'=i_120^post_23, i_29^0'=i_29^post_23, length_27^0'=length_27^post_23, lt_17^0'=lt_17^post_23, lt_20^0'=lt_20^post_23, nondet_12^0'=nondet_12^post_23, r_164^0'=r_164^post_23, r_197^0'=r_197^post_23, r_39^0'=r_39^post_23, rcd_104^0'=rcd_104^post_23, rcd_112^0'=rcd_112^post_23, rcd_179^0'=rcd_179^post_23, rcd_185^0'=rcd_185^post_23, rcd_190^0'=rcd_190^post_23, rcd_207^0'=rcd_207^post_23, rcd_43^0'=rcd_43^post_23, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_23, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_23, t_25^0'=t_25^post_23, tail_15^0'=tail_15^post_23, temp0_21^0'=temp0_21^post_23, temp0_30^0'=temp0_30^post_23, temp_34^0'=temp_34^post_23, temp_35^0'=temp_35^post_23, tmp_33^0'=tmp_33^post_23, x_24^0'=x_24^post_23, x_SLAM_f_22^0'=x_SLAM_f_22^post_23, y_23^0'=y_23^post_23, [ 1+head_16^0<=lt_17^0 && a_153^0==a_153^post_23 && a_178^0==a_178^post_23 && a_208^0==a_208^post_23 && f_198^0==f_198^post_23 && head_16^0==head_16^post_23 && head_31^0==head_31^post_23 && head_SLAM_f_28^0==head_SLAM_f_28^post_23 && i_110^0==i_110^post_23 && i_120^0==i_120^post_23 && i_29^0==i_29^post_23 && length_27^0==length_27^post_23 && lt_17^0==lt_17^post_23 && lt_20^0==lt_20^post_23 && nondet_12^0==nondet_12^post_23 && r_164^0==r_164^post_23 && r_197^0==r_197^post_23 && r_39^0==r_39^post_23 && rcd_104^0==rcd_104^post_23 && rcd_112^0==rcd_112^post_23 && rcd_179^0==rcd_179^post_23 && rcd_185^0==rcd_185^post_23 && rcd_190^0==rcd_190^post_23 && rcd_207^0==rcd_207^post_23 && rcd_43^0==rcd_43^post_23 && rcd_69^0==rcd_69^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_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_23 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_23 && t_25^0==t_25^post_23 && tail_15^0==tail_15^post_23 && temp0_21^0==temp0_21^post_23 && temp0_30^0==temp0_30^post_23 && temp_34^0==temp_34^post_23 && temp_35^0==temp_35^post_23 && tmp_33^0==tmp_33^post_23 && x_24^0==x_24^post_23 && x_SLAM_f_22^0==x_SLAM_f_22^post_23 && y_23^0==y_23^post_23 ], cost: 1 23: l16 -> l17 : a_153^0'=a_153^post_24, a_178^0'=a_178^post_24, a_208^0'=a_208^post_24, f_198^0'=f_198^post_24, head_16^0'=head_16^post_24, head_31^0'=head_31^post_24, head_SLAM_f_28^0'=head_SLAM_f_28^post_24, i_110^0'=i_110^post_24, i_120^0'=i_120^post_24, i_29^0'=i_29^post_24, length_27^0'=length_27^post_24, lt_17^0'=lt_17^post_24, lt_20^0'=lt_20^post_24, nondet_12^0'=nondet_12^post_24, r_164^0'=r_164^post_24, r_197^0'=r_197^post_24, r_39^0'=r_39^post_24, rcd_104^0'=rcd_104^post_24, rcd_112^0'=rcd_112^post_24, rcd_179^0'=rcd_179^post_24, rcd_185^0'=rcd_185^post_24, rcd_190^0'=rcd_190^post_24, rcd_207^0'=rcd_207^post_24, rcd_43^0'=rcd_43^post_24, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_24, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_24, t_25^0'=t_25^post_24, tail_15^0'=tail_15^post_24, temp0_21^0'=temp0_21^post_24, temp0_30^0'=temp0_30^post_24, temp_34^0'=temp_34^post_24, temp_35^0'=temp_35^post_24, tmp_33^0'=tmp_33^post_24, x_24^0'=x_24^post_24, x_SLAM_f_22^0'=x_SLAM_f_22^post_24, y_23^0'=y_23^post_24, [ 1+lt_17^0<=head_16^0 && a_153^0==a_153^post_24 && a_178^0==a_178^post_24 && a_208^0==a_208^post_24 && f_198^0==f_198^post_24 && head_16^0==head_16^post_24 && head_31^0==head_31^post_24 && head_SLAM_f_28^0==head_SLAM_f_28^post_24 && i_110^0==i_110^post_24 && i_120^0==i_120^post_24 && i_29^0==i_29^post_24 && length_27^0==length_27^post_24 && lt_17^0==lt_17^post_24 && lt_20^0==lt_20^post_24 && nondet_12^0==nondet_12^post_24 && r_164^0==r_164^post_24 && r_197^0==r_197^post_24 && r_39^0==r_39^post_24 && rcd_104^0==rcd_104^post_24 && rcd_112^0==rcd_112^post_24 && rcd_179^0==rcd_179^post_24 && rcd_185^0==rcd_185^post_24 && rcd_190^0==rcd_190^post_24 && rcd_207^0==rcd_207^post_24 && rcd_43^0==rcd_43^post_24 && rcd_69^0==rcd_69^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_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_24 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_24 && t_25^0==t_25^post_24 && tail_15^0==tail_15^post_24 && temp0_21^0==temp0_21^post_24 && temp0_30^0==temp0_30^post_24 && temp_34^0==temp_34^post_24 && temp_35^0==temp_35^post_24 && tmp_33^0==tmp_33^post_24 && x_24^0==x_24^post_24 && x_SLAM_f_22^0==x_SLAM_f_22^post_24 && y_23^0==y_23^post_24 ], cost: 1 24: l17 -> l18 : a_153^0'=a_153^post_25, a_178^0'=a_178^post_25, a_208^0'=a_208^post_25, f_198^0'=f_198^post_25, head_16^0'=head_16^post_25, head_31^0'=head_31^post_25, head_SLAM_f_28^0'=head_SLAM_f_28^post_25, i_110^0'=i_110^post_25, i_120^0'=i_120^post_25, i_29^0'=i_29^post_25, length_27^0'=length_27^post_25, lt_17^0'=lt_17^post_25, lt_20^0'=lt_20^post_25, nondet_12^0'=nondet_12^post_25, r_164^0'=r_164^post_25, r_197^0'=r_197^post_25, r_39^0'=r_39^post_25, rcd_104^0'=rcd_104^post_25, rcd_112^0'=rcd_112^post_25, rcd_179^0'=rcd_179^post_25, rcd_185^0'=rcd_185^post_25, rcd_190^0'=rcd_190^post_25, rcd_207^0'=rcd_207^post_25, rcd_43^0'=rcd_43^post_25, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_25, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_25, t_25^0'=t_25^post_25, tail_15^0'=tail_15^post_25, temp0_21^0'=temp0_21^post_25, temp0_30^0'=temp0_30^post_25, temp_34^0'=temp_34^post_25, temp_35^0'=temp_35^post_25, tmp_33^0'=tmp_33^post_25, x_24^0'=x_24^post_25, x_SLAM_f_22^0'=x_SLAM_f_22^post_25, y_23^0'=y_23^post_25, [ lt_17^post_25==lt_17^post_25 && x_SLAM_f_22^1_2==head_16^0 && y_23^post_25==lt_20^0 && x_24^post_25==x_SLAM_f_22^1_2 && 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<=head_16^0 && head_16^0<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0<=x_SLAM_f_22^1_2 && x_SLAM_f_22^1_2<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0<=x_24^post_25 && x_24^post_25<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 && head_16^0<=x_SLAM_f_22^1_2 && x_SLAM_f_22^1_2<=head_16^0 && lt_20^0<=y_23^post_25 && y_23^post_25<=lt_20^0 && x_SLAM_f_22^1_2<=x_24^post_25 && x_24^post_25<=x_SLAM_f_22^1_2 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0<=0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_25==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_25 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_25==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_25 && tail_15^post_25==tail_15^post_25 && head_16^post_25==head_16^post_25 && lt_20^post_25==lt_20^post_25 && x_SLAM_f_22^post_25==x_SLAM_f_22^post_25 && a_153^0==a_153^post_25 && a_178^0==a_178^post_25 && a_208^0==a_208^post_25 && f_198^0==f_198^post_25 && head_31^0==head_31^post_25 && head_SLAM_f_28^0==head_SLAM_f_28^post_25 && i_110^0==i_110^post_25 && i_120^0==i_120^post_25 && i_29^0==i_29^post_25 && length_27^0==length_27^post_25 && nondet_12^0==nondet_12^post_25 && r_164^0==r_164^post_25 && r_197^0==r_197^post_25 && r_39^0==r_39^post_25 && rcd_104^0==rcd_104^post_25 && rcd_112^0==rcd_112^post_25 && rcd_179^0==rcd_179^post_25 && rcd_185^0==rcd_185^post_25 && rcd_190^0==rcd_190^post_25 && rcd_207^0==rcd_207^post_25 && rcd_43^0==rcd_43^post_25 && rcd_69^0==rcd_69^post_25 && result_11^0==result_11^post_25 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_25 && t_25^0==t_25^post_25 && temp0_21^0==temp0_21^post_25 && temp0_30^0==temp0_30^post_25 && temp_34^0==temp_34^post_25 && temp_35^0==temp_35^post_25 && tmp_33^0==tmp_33^post_25 ], cost: 1 25: l18 -> l19 : a_153^0'=a_153^post_26, a_178^0'=a_178^post_26, a_208^0'=a_208^post_26, f_198^0'=f_198^post_26, head_16^0'=head_16^post_26, head_31^0'=head_31^post_26, head_SLAM_f_28^0'=head_SLAM_f_28^post_26, i_110^0'=i_110^post_26, i_120^0'=i_120^post_26, i_29^0'=i_29^post_26, length_27^0'=length_27^post_26, lt_17^0'=lt_17^post_26, lt_20^0'=lt_20^post_26, nondet_12^0'=nondet_12^post_26, r_164^0'=r_164^post_26, r_197^0'=r_197^post_26, r_39^0'=r_39^post_26, rcd_104^0'=rcd_104^post_26, rcd_112^0'=rcd_112^post_26, rcd_179^0'=rcd_179^post_26, rcd_185^0'=rcd_185^post_26, rcd_190^0'=rcd_190^post_26, rcd_207^0'=rcd_207^post_26, rcd_43^0'=rcd_43^post_26, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_26, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_26, t_25^0'=t_25^post_26, tail_15^0'=tail_15^post_26, temp0_21^0'=temp0_21^post_26, temp0_30^0'=temp0_30^post_26, temp_34^0'=temp_34^post_26, temp_35^0'=temp_35^post_26, tmp_33^0'=tmp_33^post_26, x_24^0'=x_24^post_26, x_SLAM_f_22^0'=x_SLAM_f_22^post_26, y_23^0'=y_23^post_26, [ 1+y_23^0<=x_24^0 && a_153^0==a_153^post_26 && a_178^0==a_178^post_26 && a_208^0==a_208^post_26 && f_198^0==f_198^post_26 && head_16^0==head_16^post_26 && head_31^0==head_31^post_26 && head_SLAM_f_28^0==head_SLAM_f_28^post_26 && i_110^0==i_110^post_26 && i_120^0==i_120^post_26 && i_29^0==i_29^post_26 && length_27^0==length_27^post_26 && lt_17^0==lt_17^post_26 && lt_20^0==lt_20^post_26 && nondet_12^0==nondet_12^post_26 && r_164^0==r_164^post_26 && r_197^0==r_197^post_26 && r_39^0==r_39^post_26 && rcd_104^0==rcd_104^post_26 && rcd_112^0==rcd_112^post_26 && rcd_179^0==rcd_179^post_26 && rcd_185^0==rcd_185^post_26 && rcd_190^0==rcd_190^post_26 && rcd_207^0==rcd_207^post_26 && rcd_43^0==rcd_43^post_26 && rcd_69^0==rcd_69^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_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_26 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_26 && t_25^0==t_25^post_26 && tail_15^0==tail_15^post_26 && temp0_21^0==temp0_21^post_26 && temp0_30^0==temp0_30^post_26 && temp_34^0==temp_34^post_26 && temp_35^0==temp_35^post_26 && tmp_33^0==tmp_33^post_26 && x_24^0==x_24^post_26 && x_SLAM_f_22^0==x_SLAM_f_22^post_26 && y_23^0==y_23^post_26 ], cost: 1 26: l18 -> l19 : a_153^0'=a_153^post_27, a_178^0'=a_178^post_27, a_208^0'=a_208^post_27, f_198^0'=f_198^post_27, head_16^0'=head_16^post_27, head_31^0'=head_31^post_27, head_SLAM_f_28^0'=head_SLAM_f_28^post_27, i_110^0'=i_110^post_27, i_120^0'=i_120^post_27, i_29^0'=i_29^post_27, length_27^0'=length_27^post_27, lt_17^0'=lt_17^post_27, lt_20^0'=lt_20^post_27, nondet_12^0'=nondet_12^post_27, r_164^0'=r_164^post_27, r_197^0'=r_197^post_27, r_39^0'=r_39^post_27, rcd_104^0'=rcd_104^post_27, rcd_112^0'=rcd_112^post_27, rcd_179^0'=rcd_179^post_27, rcd_185^0'=rcd_185^post_27, rcd_190^0'=rcd_190^post_27, rcd_207^0'=rcd_207^post_27, rcd_43^0'=rcd_43^post_27, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_27, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_27, t_25^0'=t_25^post_27, tail_15^0'=tail_15^post_27, temp0_21^0'=temp0_21^post_27, temp0_30^0'=temp0_30^post_27, temp_34^0'=temp_34^post_27, temp_35^0'=temp_35^post_27, tmp_33^0'=tmp_33^post_27, x_24^0'=x_24^post_27, x_SLAM_f_22^0'=x_SLAM_f_22^post_27, y_23^0'=y_23^post_27, [ 1+x_24^0<=y_23^0 && a_153^0==a_153^post_27 && a_178^0==a_178^post_27 && a_208^0==a_208^post_27 && f_198^0==f_198^post_27 && head_16^0==head_16^post_27 && head_31^0==head_31^post_27 && head_SLAM_f_28^0==head_SLAM_f_28^post_27 && i_110^0==i_110^post_27 && i_120^0==i_120^post_27 && i_29^0==i_29^post_27 && length_27^0==length_27^post_27 && lt_17^0==lt_17^post_27 && lt_20^0==lt_20^post_27 && nondet_12^0==nondet_12^post_27 && r_164^0==r_164^post_27 && r_197^0==r_197^post_27 && r_39^0==r_39^post_27 && rcd_104^0==rcd_104^post_27 && rcd_112^0==rcd_112^post_27 && rcd_179^0==rcd_179^post_27 && rcd_185^0==rcd_185^post_27 && rcd_190^0==rcd_190^post_27 && rcd_207^0==rcd_207^post_27 && rcd_43^0==rcd_43^post_27 && rcd_69^0==rcd_69^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_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_27 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_27 && t_25^0==t_25^post_27 && tail_15^0==tail_15^post_27 && temp0_21^0==temp0_21^post_27 && temp0_30^0==temp0_30^post_27 && temp_34^0==temp_34^post_27 && temp_35^0==temp_35^post_27 && tmp_33^0==tmp_33^post_27 && x_24^0==x_24^post_27 && x_SLAM_f_22^0==x_SLAM_f_22^post_27 && y_23^0==y_23^post_27 ], cost: 1 27: l19 -> l20 : a_153^0'=a_153^post_28, a_178^0'=a_178^post_28, a_208^0'=a_208^post_28, f_198^0'=f_198^post_28, head_16^0'=head_16^post_28, head_31^0'=head_31^post_28, head_SLAM_f_28^0'=head_SLAM_f_28^post_28, i_110^0'=i_110^post_28, i_120^0'=i_120^post_28, i_29^0'=i_29^post_28, length_27^0'=length_27^post_28, lt_17^0'=lt_17^post_28, lt_20^0'=lt_20^post_28, nondet_12^0'=nondet_12^post_28, r_164^0'=r_164^post_28, r_197^0'=r_197^post_28, r_39^0'=r_39^post_28, rcd_104^0'=rcd_104^post_28, rcd_112^0'=rcd_112^post_28, rcd_179^0'=rcd_179^post_28, rcd_185^0'=rcd_185^post_28, rcd_190^0'=rcd_190^post_28, rcd_207^0'=rcd_207^post_28, rcd_43^0'=rcd_43^post_28, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_28, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_28, t_25^0'=t_25^post_28, tail_15^0'=tail_15^post_28, temp0_21^0'=temp0_21^post_28, temp0_30^0'=temp0_30^post_28, temp_34^0'=temp_34^post_28, temp_35^0'=temp_35^post_28, tmp_33^0'=tmp_33^post_28, x_24^0'=x_24^post_28, x_SLAM_f_22^0'=x_SLAM_f_22^post_28, y_23^0'=y_23^post_28, [ t_25^post_28==x_24^0 && 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<=head_16^0 && head_16^0<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0<=x_SLAM_f_22^0 && x_SLAM_f_22^0<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0<=t_25^post_28 && t_25^post_28<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 && head_16^0<=x_SLAM_f_22^0 && x_SLAM_f_22^0<=head_16^0 && lt_20^0<=y_23^0 && y_23^0<=lt_20^0 && lt_20^0<=x_24^0 && x_24^0<=lt_20^0 && a_153^0==a_153^post_28 && a_178^0==a_178^post_28 && a_208^0==a_208^post_28 && f_198^0==f_198^post_28 && head_16^0==head_16^post_28 && head_31^0==head_31^post_28 && head_SLAM_f_28^0==head_SLAM_f_28^post_28 && i_110^0==i_110^post_28 && i_120^0==i_120^post_28 && i_29^0==i_29^post_28 && length_27^0==length_27^post_28 && lt_17^0==lt_17^post_28 && lt_20^0==lt_20^post_28 && nondet_12^0==nondet_12^post_28 && r_164^0==r_164^post_28 && r_197^0==r_197^post_28 && r_39^0==r_39^post_28 && rcd_104^0==rcd_104^post_28 && rcd_112^0==rcd_112^post_28 && rcd_179^0==rcd_179^post_28 && rcd_185^0==rcd_185^post_28 && rcd_190^0==rcd_190^post_28 && rcd_207^0==rcd_207^post_28 && rcd_43^0==rcd_43^post_28 && rcd_69^0==rcd_69^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_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_28 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_28 && tail_15^0==tail_15^post_28 && temp0_21^0==temp0_21^post_28 && temp0_30^0==temp0_30^post_28 && temp_34^0==temp_34^post_28 && temp_35^0==temp_35^post_28 && tmp_33^0==tmp_33^post_28 && x_24^0==x_24^post_28 && x_SLAM_f_22^0==x_SLAM_f_22^post_28 && y_23^0==y_23^post_28 ], cost: 1 28: l20 -> l21 : a_153^0'=a_153^post_29, a_178^0'=a_178^post_29, a_208^0'=a_208^post_29, f_198^0'=f_198^post_29, head_16^0'=head_16^post_29, head_31^0'=head_31^post_29, head_SLAM_f_28^0'=head_SLAM_f_28^post_29, i_110^0'=i_110^post_29, i_120^0'=i_120^post_29, i_29^0'=i_29^post_29, length_27^0'=length_27^post_29, lt_17^0'=lt_17^post_29, lt_20^0'=lt_20^post_29, nondet_12^0'=nondet_12^post_29, r_164^0'=r_164^post_29, r_197^0'=r_197^post_29, r_39^0'=r_39^post_29, rcd_104^0'=rcd_104^post_29, rcd_112^0'=rcd_112^post_29, rcd_179^0'=rcd_179^post_29, rcd_185^0'=rcd_185^post_29, rcd_190^0'=rcd_190^post_29, rcd_207^0'=rcd_207^post_29, rcd_43^0'=rcd_43^post_29, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_29, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_29, t_25^0'=t_25^post_29, tail_15^0'=tail_15^post_29, temp0_21^0'=temp0_21^post_29, temp0_30^0'=temp0_30^post_29, temp_34^0'=temp_34^post_29, temp_35^0'=temp_35^post_29, tmp_33^0'=tmp_33^post_29, x_24^0'=x_24^post_29, x_SLAM_f_22^0'=x_SLAM_f_22^post_29, y_23^0'=y_23^post_29, [ 1+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0<=y_23^0 && a_153^0==a_153^post_29 && a_178^0==a_178^post_29 && a_208^0==a_208^post_29 && f_198^0==f_198^post_29 && head_16^0==head_16^post_29 && head_31^0==head_31^post_29 && head_SLAM_f_28^0==head_SLAM_f_28^post_29 && i_110^0==i_110^post_29 && i_120^0==i_120^post_29 && i_29^0==i_29^post_29 && length_27^0==length_27^post_29 && lt_17^0==lt_17^post_29 && lt_20^0==lt_20^post_29 && nondet_12^0==nondet_12^post_29 && r_164^0==r_164^post_29 && r_197^0==r_197^post_29 && r_39^0==r_39^post_29 && rcd_104^0==rcd_104^post_29 && rcd_112^0==rcd_112^post_29 && rcd_179^0==rcd_179^post_29 && rcd_185^0==rcd_185^post_29 && rcd_190^0==rcd_190^post_29 && rcd_207^0==rcd_207^post_29 && rcd_43^0==rcd_43^post_29 && rcd_69^0==rcd_69^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_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_29 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_29 && t_25^0==t_25^post_29 && tail_15^0==tail_15^post_29 && temp0_21^0==temp0_21^post_29 && temp0_30^0==temp0_30^post_29 && temp_34^0==temp_34^post_29 && temp_35^0==temp_35^post_29 && tmp_33^0==tmp_33^post_29 && x_24^0==x_24^post_29 && x_SLAM_f_22^0==x_SLAM_f_22^post_29 && y_23^0==y_23^post_29 ], cost: 1 29: l20 -> l21 : a_153^0'=a_153^post_30, a_178^0'=a_178^post_30, a_208^0'=a_208^post_30, f_198^0'=f_198^post_30, head_16^0'=head_16^post_30, head_31^0'=head_31^post_30, head_SLAM_f_28^0'=head_SLAM_f_28^post_30, i_110^0'=i_110^post_30, i_120^0'=i_120^post_30, i_29^0'=i_29^post_30, length_27^0'=length_27^post_30, lt_17^0'=lt_17^post_30, lt_20^0'=lt_20^post_30, nondet_12^0'=nondet_12^post_30, r_164^0'=r_164^post_30, r_197^0'=r_197^post_30, r_39^0'=r_39^post_30, rcd_104^0'=rcd_104^post_30, rcd_112^0'=rcd_112^post_30, rcd_179^0'=rcd_179^post_30, rcd_185^0'=rcd_185^post_30, rcd_190^0'=rcd_190^post_30, rcd_207^0'=rcd_207^post_30, rcd_43^0'=rcd_43^post_30, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_30, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_30, t_25^0'=t_25^post_30, tail_15^0'=tail_15^post_30, temp0_21^0'=temp0_21^post_30, temp0_30^0'=temp0_30^post_30, temp_34^0'=temp_34^post_30, temp_35^0'=temp_35^post_30, tmp_33^0'=tmp_33^post_30, x_24^0'=x_24^post_30, x_SLAM_f_22^0'=x_SLAM_f_22^post_30, y_23^0'=y_23^post_30, [ 1+y_23^0<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 && a_153^0==a_153^post_30 && a_178^0==a_178^post_30 && a_208^0==a_208^post_30 && f_198^0==f_198^post_30 && head_16^0==head_16^post_30 && head_31^0==head_31^post_30 && head_SLAM_f_28^0==head_SLAM_f_28^post_30 && i_110^0==i_110^post_30 && i_120^0==i_120^post_30 && i_29^0==i_29^post_30 && length_27^0==length_27^post_30 && lt_17^0==lt_17^post_30 && lt_20^0==lt_20^post_30 && nondet_12^0==nondet_12^post_30 && r_164^0==r_164^post_30 && r_197^0==r_197^post_30 && r_39^0==r_39^post_30 && rcd_104^0==rcd_104^post_30 && rcd_112^0==rcd_112^post_30 && rcd_179^0==rcd_179^post_30 && rcd_185^0==rcd_185^post_30 && rcd_190^0==rcd_190^post_30 && rcd_207^0==rcd_207^post_30 && rcd_43^0==rcd_43^post_30 && rcd_69^0==rcd_69^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_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_30 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_30 && t_25^0==t_25^post_30 && tail_15^0==tail_15^post_30 && temp0_21^0==temp0_21^post_30 && temp0_30^0==temp0_30^post_30 && temp_34^0==temp_34^post_30 && temp_35^0==temp_35^post_30 && tmp_33^0==tmp_33^post_30 && x_24^0==x_24^post_30 && x_SLAM_f_22^0==x_SLAM_f_22^post_30 && y_23^0==y_23^post_30 ], cost: 1 30: l21 -> l22 : a_153^0'=a_153^post_31, a_178^0'=a_178^post_31, a_208^0'=a_208^post_31, f_198^0'=f_198^post_31, head_16^0'=head_16^post_31, head_31^0'=head_31^post_31, head_SLAM_f_28^0'=head_SLAM_f_28^post_31, i_110^0'=i_110^post_31, i_120^0'=i_120^post_31, i_29^0'=i_29^post_31, length_27^0'=length_27^post_31, lt_17^0'=lt_17^post_31, lt_20^0'=lt_20^post_31, nondet_12^0'=nondet_12^post_31, r_164^0'=r_164^post_31, r_197^0'=r_197^post_31, r_39^0'=r_39^post_31, rcd_104^0'=rcd_104^post_31, rcd_112^0'=rcd_112^post_31, rcd_179^0'=rcd_179^post_31, rcd_185^0'=rcd_185^post_31, rcd_190^0'=rcd_190^post_31, rcd_207^0'=rcd_207^post_31, rcd_43^0'=rcd_43^post_31, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_31, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_31, t_25^0'=t_25^post_31, tail_15^0'=tail_15^post_31, temp0_21^0'=temp0_21^post_31, temp0_30^0'=temp0_30^post_31, temp_34^0'=temp_34^post_31, temp_35^0'=temp_35^post_31, tmp_33^0'=tmp_33^post_31, x_24^0'=x_24^post_31, x_SLAM_f_22^0'=x_SLAM_f_22^post_31, y_23^0'=y_23^post_31, [ 1+head_16^0<=lt_20^0 && a_153^0==a_153^post_31 && a_178^0==a_178^post_31 && a_208^0==a_208^post_31 && f_198^0==f_198^post_31 && head_16^0==head_16^post_31 && head_31^0==head_31^post_31 && head_SLAM_f_28^0==head_SLAM_f_28^post_31 && i_110^0==i_110^post_31 && i_120^0==i_120^post_31 && i_29^0==i_29^post_31 && length_27^0==length_27^post_31 && lt_17^0==lt_17^post_31 && lt_20^0==lt_20^post_31 && nondet_12^0==nondet_12^post_31 && r_164^0==r_164^post_31 && r_197^0==r_197^post_31 && r_39^0==r_39^post_31 && rcd_104^0==rcd_104^post_31 && rcd_112^0==rcd_112^post_31 && rcd_179^0==rcd_179^post_31 && rcd_185^0==rcd_185^post_31 && rcd_190^0==rcd_190^post_31 && rcd_207^0==rcd_207^post_31 && rcd_43^0==rcd_43^post_31 && rcd_69^0==rcd_69^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_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_31 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_31 && t_25^0==t_25^post_31 && tail_15^0==tail_15^post_31 && temp0_21^0==temp0_21^post_31 && temp0_30^0==temp0_30^post_31 && temp_34^0==temp_34^post_31 && temp_35^0==temp_35^post_31 && tmp_33^0==tmp_33^post_31 && x_24^0==x_24^post_31 && x_SLAM_f_22^0==x_SLAM_f_22^post_31 && y_23^0==y_23^post_31 ], cost: 1 31: l21 -> l22 : a_153^0'=a_153^post_32, a_178^0'=a_178^post_32, a_208^0'=a_208^post_32, f_198^0'=f_198^post_32, head_16^0'=head_16^post_32, head_31^0'=head_31^post_32, head_SLAM_f_28^0'=head_SLAM_f_28^post_32, i_110^0'=i_110^post_32, i_120^0'=i_120^post_32, i_29^0'=i_29^post_32, length_27^0'=length_27^post_32, lt_17^0'=lt_17^post_32, lt_20^0'=lt_20^post_32, nondet_12^0'=nondet_12^post_32, r_164^0'=r_164^post_32, r_197^0'=r_197^post_32, r_39^0'=r_39^post_32, rcd_104^0'=rcd_104^post_32, rcd_112^0'=rcd_112^post_32, rcd_179^0'=rcd_179^post_32, rcd_185^0'=rcd_185^post_32, rcd_190^0'=rcd_190^post_32, rcd_207^0'=rcd_207^post_32, rcd_43^0'=rcd_43^post_32, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_32, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_32, t_25^0'=t_25^post_32, tail_15^0'=tail_15^post_32, temp0_21^0'=temp0_21^post_32, temp0_30^0'=temp0_30^post_32, temp_34^0'=temp_34^post_32, temp_35^0'=temp_35^post_32, tmp_33^0'=tmp_33^post_32, x_24^0'=x_24^post_32, x_SLAM_f_22^0'=x_SLAM_f_22^post_32, y_23^0'=y_23^post_32, [ 1+lt_20^0<=head_16^0 && a_153^0==a_153^post_32 && a_178^0==a_178^post_32 && a_208^0==a_208^post_32 && f_198^0==f_198^post_32 && head_16^0==head_16^post_32 && head_31^0==head_31^post_32 && head_SLAM_f_28^0==head_SLAM_f_28^post_32 && i_110^0==i_110^post_32 && i_120^0==i_120^post_32 && i_29^0==i_29^post_32 && length_27^0==length_27^post_32 && lt_17^0==lt_17^post_32 && lt_20^0==lt_20^post_32 && nondet_12^0==nondet_12^post_32 && r_164^0==r_164^post_32 && r_197^0==r_197^post_32 && r_39^0==r_39^post_32 && rcd_104^0==rcd_104^post_32 && rcd_112^0==rcd_112^post_32 && rcd_179^0==rcd_179^post_32 && rcd_185^0==rcd_185^post_32 && rcd_190^0==rcd_190^post_32 && rcd_207^0==rcd_207^post_32 && rcd_43^0==rcd_43^post_32 && rcd_69^0==rcd_69^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_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_32 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_32 && t_25^0==t_25^post_32 && tail_15^0==tail_15^post_32 && temp0_21^0==temp0_21^post_32 && temp0_30^0==temp0_30^post_32 && temp_34^0==temp_34^post_32 && temp_35^0==temp_35^post_32 && tmp_33^0==tmp_33^post_32 && x_24^0==x_24^post_32 && x_SLAM_f_22^0==x_SLAM_f_22^post_32 && y_23^0==y_23^post_32 ], cost: 1 32: l22 -> l12 : a_153^0'=a_153^post_33, a_178^0'=a_178^post_33, a_208^0'=a_208^post_33, f_198^0'=f_198^post_33, head_16^0'=head_16^post_33, head_31^0'=head_31^post_33, head_SLAM_f_28^0'=head_SLAM_f_28^post_33, i_110^0'=i_110^post_33, i_120^0'=i_120^post_33, i_29^0'=i_29^post_33, length_27^0'=length_27^post_33, lt_17^0'=lt_17^post_33, lt_20^0'=lt_20^post_33, nondet_12^0'=nondet_12^post_33, r_164^0'=r_164^post_33, r_197^0'=r_197^post_33, r_39^0'=r_39^post_33, rcd_104^0'=rcd_104^post_33, rcd_112^0'=rcd_112^post_33, rcd_179^0'=rcd_179^post_33, rcd_185^0'=rcd_185^post_33, rcd_190^0'=rcd_190^post_33, rcd_207^0'=rcd_207^post_33, rcd_43^0'=rcd_43^post_33, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_33, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_33, t_25^0'=t_25^post_33, tail_15^0'=tail_15^post_33, temp0_21^0'=temp0_21^post_33, temp0_30^0'=temp0_30^post_33, temp_34^0'=temp_34^post_33, temp_35^0'=temp_35^post_33, tmp_33^0'=tmp_33^post_33, x_24^0'=x_24^post_33, x_SLAM_f_22^0'=x_SLAM_f_22^post_33, y_23^0'=y_23^post_33, [ result_dot_nondet_sdv_special_RETURN_VALUE_14^0<=0 && y_23^0<=x_24^0 && x_24^0<=y_23^0 && x_SLAM_f_22^post_33==x_SLAM_f_22^post_33 && y_23^post_33==y_23^post_33 && x_24^post_33==x_24^post_33 && t_25^post_33==t_25^post_33 && lt_20^post_33==lt_20^post_33 && a_153^0==a_153^post_33 && a_178^0==a_178^post_33 && a_208^0==a_208^post_33 && f_198^0==f_198^post_33 && head_16^0==head_16^post_33 && head_31^0==head_31^post_33 && head_SLAM_f_28^0==head_SLAM_f_28^post_33 && i_110^0==i_110^post_33 && i_120^0==i_120^post_33 && i_29^0==i_29^post_33 && length_27^0==length_27^post_33 && lt_17^0==lt_17^post_33 && nondet_12^0==nondet_12^post_33 && r_164^0==r_164^post_33 && r_197^0==r_197^post_33 && r_39^0==r_39^post_33 && rcd_104^0==rcd_104^post_33 && rcd_112^0==rcd_112^post_33 && rcd_179^0==rcd_179^post_33 && rcd_185^0==rcd_185^post_33 && rcd_190^0==rcd_190^post_33 && rcd_207^0==rcd_207^post_33 && rcd_43^0==rcd_43^post_33 && rcd_69^0==rcd_69^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_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_33 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_33 && tail_15^0==tail_15^post_33 && temp0_21^0==temp0_21^post_33 && temp0_30^0==temp0_30^post_33 && temp_34^0==temp_34^post_33 && temp_35^0==temp_35^post_33 && tmp_33^0==tmp_33^post_33 ], cost: 1 73: l23 -> l1 : a_153^0'=a_153^post_74, a_178^0'=a_178^post_74, a_208^0'=a_208^post_74, f_198^0'=f_198^post_74, head_16^0'=head_16^post_74, head_31^0'=head_31^post_74, head_SLAM_f_28^0'=head_SLAM_f_28^post_74, i_110^0'=i_110^post_74, i_120^0'=i_120^post_74, i_29^0'=i_29^post_74, length_27^0'=length_27^post_74, lt_17^0'=lt_17^post_74, lt_20^0'=lt_20^post_74, nondet_12^0'=nondet_12^post_74, r_164^0'=r_164^post_74, r_197^0'=r_197^post_74, r_39^0'=r_39^post_74, rcd_104^0'=rcd_104^post_74, rcd_112^0'=rcd_112^post_74, rcd_179^0'=rcd_179^post_74, rcd_185^0'=rcd_185^post_74, rcd_190^0'=rcd_190^post_74, rcd_207^0'=rcd_207^post_74, rcd_43^0'=rcd_43^post_74, rcd_69^0'=rcd_69^post_74, result_11^0'=result_11^post_74, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_74, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_74, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_74, t_25^0'=t_25^post_74, tail_15^0'=tail_15^post_74, temp0_21^0'=temp0_21^post_74, temp0_30^0'=temp0_30^post_74, temp_34^0'=temp_34^post_74, temp_35^0'=temp_35^post_74, tmp_33^0'=tmp_33^post_74, x_24^0'=x_24^post_74, x_SLAM_f_22^0'=x_SLAM_f_22^post_74, y_23^0'=y_23^post_74, [ length_27^0<=i_29^0 && temp0_30^1_5_1==head_31^0 && result_11^1_5==temp0_30^1_5_1 && length_27^post_74==length_27^post_74 && head_SLAM_f_28^post_74==head_SLAM_f_28^post_74 && i_29^post_74==i_29^post_74 && temp0_30^post_74==temp0_30^post_74 && head_31^post_74==head_31^post_74 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_74==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_74 && tmp_33^post_74==tmp_33^post_74 && temp_34^post_74==temp_34^post_74 && head_16^post_74==result_11^1_5 && result_11^2_2_1==result_11^2_2_1 && head_16^post_74<=lt_17^0 && lt_17^0<=head_16^post_74 && lt_17^post_74==lt_17^post_74 && result_11^post_74==temp0_21^0 && a_153^0==a_153^post_74 && a_178^0==a_178^post_74 && a_208^0==a_208^post_74 && f_198^0==f_198^post_74 && i_110^0==i_110^post_74 && i_120^0==i_120^post_74 && lt_20^0==lt_20^post_74 && nondet_12^0==nondet_12^post_74 && r_164^0==r_164^post_74 && r_197^0==r_197^post_74 && r_39^0==r_39^post_74 && rcd_104^0==rcd_104^post_74 && rcd_112^0==rcd_112^post_74 && rcd_179^0==rcd_179^post_74 && rcd_185^0==rcd_185^post_74 && rcd_190^0==rcd_190^post_74 && rcd_207^0==rcd_207^post_74 && rcd_43^0==rcd_43^post_74 && rcd_69^0==rcd_69^post_74 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_74 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_74 && t_25^0==t_25^post_74 && tail_15^0==tail_15^post_74 && temp0_21^0==temp0_21^post_74 && temp_35^0==temp_35^post_74 && x_24^0==x_24^post_74 && x_SLAM_f_22^0==x_SLAM_f_22^post_74 && y_23^0==y_23^post_74 ], cost: 1 74: l23 -> l47 : a_153^0'=a_153^post_75, a_178^0'=a_178^post_75, a_208^0'=a_208^post_75, f_198^0'=f_198^post_75, head_16^0'=head_16^post_75, head_31^0'=head_31^post_75, head_SLAM_f_28^0'=head_SLAM_f_28^post_75, i_110^0'=i_110^post_75, i_120^0'=i_120^post_75, i_29^0'=i_29^post_75, length_27^0'=length_27^post_75, lt_17^0'=lt_17^post_75, lt_20^0'=lt_20^post_75, nondet_12^0'=nondet_12^post_75, r_164^0'=r_164^post_75, r_197^0'=r_197^post_75, r_39^0'=r_39^post_75, rcd_104^0'=rcd_104^post_75, rcd_112^0'=rcd_112^post_75, rcd_179^0'=rcd_179^post_75, rcd_185^0'=rcd_185^post_75, rcd_190^0'=rcd_190^post_75, rcd_207^0'=rcd_207^post_75, rcd_43^0'=rcd_43^post_75, rcd_69^0'=rcd_69^post_75, result_11^0'=result_11^post_75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_75, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_75, t_25^0'=t_25^post_75, tail_15^0'=tail_15^post_75, temp0_21^0'=temp0_21^post_75, temp0_30^0'=temp0_30^post_75, temp_34^0'=temp_34^post_75, temp_35^0'=temp_35^post_75, tmp_33^0'=tmp_33^post_75, x_24^0'=x_24^post_75, x_SLAM_f_22^0'=x_SLAM_f_22^post_75, y_23^0'=y_23^post_75, [ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_75==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_75 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_75==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_75 && tail_15^post_75==tail_15^post_75 && length_27^0<=i_29^0 && temp0_30^1_6_1==head_31^0 && result_11^1_6==temp0_30^1_6_1 && length_27^post_75==length_27^post_75 && head_SLAM_f_28^post_75==head_SLAM_f_28^post_75 && i_29^post_75==i_29^post_75 && temp0_30^post_75==temp0_30^post_75 && head_31^post_75==head_31^post_75 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_75==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_75 && tmp_33^post_75==tmp_33^post_75 && temp_34^post_75==temp_34^post_75 && head_16^post_75==result_11^1_6 && result_11^post_75==result_11^post_75 && a_153^0==a_153^post_75 && a_178^0==a_178^post_75 && a_208^0==a_208^post_75 && f_198^0==f_198^post_75 && i_110^0==i_110^post_75 && i_120^0==i_120^post_75 && lt_17^0==lt_17^post_75 && lt_20^0==lt_20^post_75 && nondet_12^0==nondet_12^post_75 && r_164^0==r_164^post_75 && r_197^0==r_197^post_75 && r_39^0==r_39^post_75 && rcd_104^0==rcd_104^post_75 && rcd_112^0==rcd_112^post_75 && rcd_179^0==rcd_179^post_75 && rcd_185^0==rcd_185^post_75 && rcd_190^0==rcd_190^post_75 && rcd_207^0==rcd_207^post_75 && rcd_43^0==rcd_43^post_75 && rcd_69^0==rcd_69^post_75 && t_25^0==t_25^post_75 && temp0_21^0==temp0_21^post_75 && temp_35^0==temp_35^post_75 && x_24^0==x_24^post_75 && x_SLAM_f_22^0==x_SLAM_f_22^post_75 && y_23^0==y_23^post_75 ], cost: 1 84: l23 -> l0 : a_153^0'=a_153^post_85, a_178^0'=a_178^post_85, a_208^0'=a_208^post_85, f_198^0'=f_198^post_85, head_16^0'=head_16^post_85, head_31^0'=head_31^post_85, head_SLAM_f_28^0'=head_SLAM_f_28^post_85, i_110^0'=i_110^post_85, i_120^0'=i_120^post_85, i_29^0'=i_29^post_85, length_27^0'=length_27^post_85, lt_17^0'=lt_17^post_85, lt_20^0'=lt_20^post_85, nondet_12^0'=nondet_12^post_85, r_164^0'=r_164^post_85, r_197^0'=r_197^post_85, r_39^0'=r_39^post_85, rcd_104^0'=rcd_104^post_85, rcd_112^0'=rcd_112^post_85, rcd_179^0'=rcd_179^post_85, rcd_185^0'=rcd_185^post_85, rcd_190^0'=rcd_190^post_85, rcd_207^0'=rcd_207^post_85, rcd_43^0'=rcd_43^post_85, rcd_69^0'=rcd_69^post_85, result_11^0'=result_11^post_85, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_85, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_85, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_85, t_25^0'=t_25^post_85, tail_15^0'=tail_15^post_85, temp0_21^0'=temp0_21^post_85, temp0_30^0'=temp0_30^post_85, temp_34^0'=temp_34^post_85, temp_35^0'=temp_35^post_85, tmp_33^0'=tmp_33^post_85, x_24^0'=x_24^post_85, x_SLAM_f_22^0'=x_SLAM_f_22^post_85, y_23^0'=y_23^post_85, [ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_85==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_85 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_85==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_85 && tail_15^post_85==tail_15^post_85 && head_SLAM_f_28^post_85==head_SLAM_f_28^post_85 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_85==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_85 && rcd_69^post_85==rcd_69^post_85 && 1+i_29^0<=length_27^0 && tmp_33^post_85==temp_34^0 && temp_34^post_85==temp_34^post_85 && head_31^post_85==tmp_33^post_85 && i_29^post_85==1+i_29^0 && 2<=i_29^post_85 && i_29^post_85<=2 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_85<=tail_15^post_85 && tail_15^post_85<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_85 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_85<=head_SLAM_f_28^post_85 && head_SLAM_f_28^post_85<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_85 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_85<=length_27^0 && length_27^0<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_85 && tail_15^post_85<=head_SLAM_f_28^post_85 && head_SLAM_f_28^post_85<=tail_15^post_85 && head_31^post_85<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_85 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_85<=head_31^post_85 && head_31^post_85<=tmp_33^post_85 && tmp_33^post_85<=head_31^post_85 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_85<=tmp_33^post_85 && tmp_33^post_85<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_85 && 1<=length_27^0 && 2<=length_27^0 && a_153^0==a_153^post_85 && a_178^0==a_178^post_85 && a_208^0==a_208^post_85 && f_198^0==f_198^post_85 && head_16^0==head_16^post_85 && i_110^0==i_110^post_85 && i_120^0==i_120^post_85 && length_27^0==length_27^post_85 && lt_17^0==lt_17^post_85 && lt_20^0==lt_20^post_85 && nondet_12^0==nondet_12^post_85 && r_164^0==r_164^post_85 && r_197^0==r_197^post_85 && r_39^0==r_39^post_85 && rcd_104^0==rcd_104^post_85 && rcd_112^0==rcd_112^post_85 && rcd_179^0==rcd_179^post_85 && rcd_185^0==rcd_185^post_85 && rcd_190^0==rcd_190^post_85 && rcd_207^0==rcd_207^post_85 && rcd_43^0==rcd_43^post_85 && result_11^0==result_11^post_85 && t_25^0==t_25^post_85 && temp0_21^0==temp0_21^post_85 && temp0_30^0==temp0_30^post_85 && temp_35^0==temp_35^post_85 && x_24^0==x_24^post_85 && x_SLAM_f_22^0==x_SLAM_f_22^post_85 && y_23^0==y_23^post_85 ], cost: 1 34: l24 -> l1 : a_153^0'=a_153^post_35, a_178^0'=a_178^post_35, a_208^0'=a_208^post_35, f_198^0'=f_198^post_35, head_16^0'=head_16^post_35, head_31^0'=head_31^post_35, head_SLAM_f_28^0'=head_SLAM_f_28^post_35, i_110^0'=i_110^post_35, i_120^0'=i_120^post_35, i_29^0'=i_29^post_35, length_27^0'=length_27^post_35, lt_17^0'=lt_17^post_35, lt_20^0'=lt_20^post_35, nondet_12^0'=nondet_12^post_35, r_164^0'=r_164^post_35, r_197^0'=r_197^post_35, r_39^0'=r_39^post_35, rcd_104^0'=rcd_104^post_35, rcd_112^0'=rcd_112^post_35, rcd_179^0'=rcd_179^post_35, rcd_185^0'=rcd_185^post_35, rcd_190^0'=rcd_190^post_35, rcd_207^0'=rcd_207^post_35, rcd_43^0'=rcd_43^post_35, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_35, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_35, t_25^0'=t_25^post_35, tail_15^0'=tail_15^post_35, temp0_21^0'=temp0_21^post_35, temp0_30^0'=temp0_30^post_35, temp_34^0'=temp_34^post_35, temp_35^0'=temp_35^post_35, tmp_33^0'=tmp_33^post_35, x_24^0'=x_24^post_35, x_SLAM_f_22^0'=x_SLAM_f_22^post_35, y_23^0'=y_23^post_35, [ result_dot_nondet_sdv_special_RETURN_VALUE_14^post_35==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_35 && result_11^post_35==temp0_21^0 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_35<=0 && a_153^0==a_153^post_35 && a_178^0==a_178^post_35 && a_208^0==a_208^post_35 && f_198^0==f_198^post_35 && head_16^0==head_16^post_35 && head_31^0==head_31^post_35 && head_SLAM_f_28^0==head_SLAM_f_28^post_35 && i_110^0==i_110^post_35 && i_120^0==i_120^post_35 && i_29^0==i_29^post_35 && length_27^0==length_27^post_35 && lt_17^0==lt_17^post_35 && lt_20^0==lt_20^post_35 && nondet_12^0==nondet_12^post_35 && r_164^0==r_164^post_35 && r_197^0==r_197^post_35 && r_39^0==r_39^post_35 && rcd_104^0==rcd_104^post_35 && rcd_112^0==rcd_112^post_35 && rcd_179^0==rcd_179^post_35 && rcd_185^0==rcd_185^post_35 && rcd_190^0==rcd_190^post_35 && rcd_207^0==rcd_207^post_35 && rcd_43^0==rcd_43^post_35 && rcd_69^0==rcd_69^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_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_35 && t_25^0==t_25^post_35 && tail_15^0==tail_15^post_35 && temp0_21^0==temp0_21^post_35 && temp0_30^0==temp0_30^post_35 && temp_34^0==temp_34^post_35 && temp_35^0==temp_35^post_35 && tmp_33^0==tmp_33^post_35 && x_24^0==x_24^post_35 && x_SLAM_f_22^0==x_SLAM_f_22^post_35 && y_23^0==y_23^post_35 ], cost: 1 37: l26 -> l27 : a_153^0'=a_153^post_38, a_178^0'=a_178^post_38, a_208^0'=a_208^post_38, f_198^0'=f_198^post_38, head_16^0'=head_16^post_38, head_31^0'=head_31^post_38, head_SLAM_f_28^0'=head_SLAM_f_28^post_38, i_110^0'=i_110^post_38, i_120^0'=i_120^post_38, i_29^0'=i_29^post_38, length_27^0'=length_27^post_38, lt_17^0'=lt_17^post_38, lt_20^0'=lt_20^post_38, nondet_12^0'=nondet_12^post_38, r_164^0'=r_164^post_38, r_197^0'=r_197^post_38, r_39^0'=r_39^post_38, rcd_104^0'=rcd_104^post_38, rcd_112^0'=rcd_112^post_38, rcd_179^0'=rcd_179^post_38, rcd_185^0'=rcd_185^post_38, rcd_190^0'=rcd_190^post_38, rcd_207^0'=rcd_207^post_38, rcd_43^0'=rcd_43^post_38, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_38, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_38, t_25^0'=t_25^post_38, tail_15^0'=tail_15^post_38, temp0_21^0'=temp0_21^post_38, temp0_30^0'=temp0_30^post_38, temp_34^0'=temp_34^post_38, temp_35^0'=temp_35^post_38, tmp_33^0'=tmp_33^post_38, x_24^0'=x_24^post_38, x_SLAM_f_22^0'=x_SLAM_f_22^post_38, y_23^0'=y_23^post_38, [ 1+y_23^0<=x_24^0 && a_153^0==a_153^post_38 && a_178^0==a_178^post_38 && a_208^0==a_208^post_38 && f_198^0==f_198^post_38 && head_16^0==head_16^post_38 && head_31^0==head_31^post_38 && head_SLAM_f_28^0==head_SLAM_f_28^post_38 && i_110^0==i_110^post_38 && i_120^0==i_120^post_38 && i_29^0==i_29^post_38 && length_27^0==length_27^post_38 && lt_17^0==lt_17^post_38 && lt_20^0==lt_20^post_38 && nondet_12^0==nondet_12^post_38 && r_164^0==r_164^post_38 && r_197^0==r_197^post_38 && r_39^0==r_39^post_38 && rcd_104^0==rcd_104^post_38 && rcd_112^0==rcd_112^post_38 && rcd_179^0==rcd_179^post_38 && rcd_185^0==rcd_185^post_38 && rcd_190^0==rcd_190^post_38 && rcd_207^0==rcd_207^post_38 && rcd_43^0==rcd_43^post_38 && rcd_69^0==rcd_69^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_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_38 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_38 && t_25^0==t_25^post_38 && tail_15^0==tail_15^post_38 && temp0_21^0==temp0_21^post_38 && temp0_30^0==temp0_30^post_38 && temp_34^0==temp_34^post_38 && temp_35^0==temp_35^post_38 && tmp_33^0==tmp_33^post_38 && x_24^0==x_24^post_38 && x_SLAM_f_22^0==x_SLAM_f_22^post_38 && y_23^0==y_23^post_38 ], cost: 1 38: l26 -> l27 : a_153^0'=a_153^post_39, a_178^0'=a_178^post_39, a_208^0'=a_208^post_39, f_198^0'=f_198^post_39, head_16^0'=head_16^post_39, head_31^0'=head_31^post_39, head_SLAM_f_28^0'=head_SLAM_f_28^post_39, i_110^0'=i_110^post_39, i_120^0'=i_120^post_39, i_29^0'=i_29^post_39, length_27^0'=length_27^post_39, lt_17^0'=lt_17^post_39, lt_20^0'=lt_20^post_39, nondet_12^0'=nondet_12^post_39, r_164^0'=r_164^post_39, r_197^0'=r_197^post_39, r_39^0'=r_39^post_39, rcd_104^0'=rcd_104^post_39, rcd_112^0'=rcd_112^post_39, rcd_179^0'=rcd_179^post_39, rcd_185^0'=rcd_185^post_39, rcd_190^0'=rcd_190^post_39, rcd_207^0'=rcd_207^post_39, rcd_43^0'=rcd_43^post_39, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_39, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_39, t_25^0'=t_25^post_39, tail_15^0'=tail_15^post_39, temp0_21^0'=temp0_21^post_39, temp0_30^0'=temp0_30^post_39, temp_34^0'=temp_34^post_39, temp_35^0'=temp_35^post_39, tmp_33^0'=tmp_33^post_39, x_24^0'=x_24^post_39, x_SLAM_f_22^0'=x_SLAM_f_22^post_39, y_23^0'=y_23^post_39, [ 1+x_24^0<=y_23^0 && a_153^0==a_153^post_39 && a_178^0==a_178^post_39 && a_208^0==a_208^post_39 && f_198^0==f_198^post_39 && head_16^0==head_16^post_39 && head_31^0==head_31^post_39 && head_SLAM_f_28^0==head_SLAM_f_28^post_39 && i_110^0==i_110^post_39 && i_120^0==i_120^post_39 && i_29^0==i_29^post_39 && length_27^0==length_27^post_39 && lt_17^0==lt_17^post_39 && lt_20^0==lt_20^post_39 && nondet_12^0==nondet_12^post_39 && r_164^0==r_164^post_39 && r_197^0==r_197^post_39 && r_39^0==r_39^post_39 && rcd_104^0==rcd_104^post_39 && rcd_112^0==rcd_112^post_39 && rcd_179^0==rcd_179^post_39 && rcd_185^0==rcd_185^post_39 && rcd_190^0==rcd_190^post_39 && rcd_207^0==rcd_207^post_39 && rcd_43^0==rcd_43^post_39 && rcd_69^0==rcd_69^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_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_39 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_39 && t_25^0==t_25^post_39 && tail_15^0==tail_15^post_39 && temp0_21^0==temp0_21^post_39 && temp0_30^0==temp0_30^post_39 && temp_34^0==temp_34^post_39 && temp_35^0==temp_35^post_39 && tmp_33^0==tmp_33^post_39 && x_24^0==x_24^post_39 && x_SLAM_f_22^0==x_SLAM_f_22^post_39 && y_23^0==y_23^post_39 ], cost: 1 39: l27 -> l28 : a_153^0'=a_153^post_40, a_178^0'=a_178^post_40, a_208^0'=a_208^post_40, f_198^0'=f_198^post_40, head_16^0'=head_16^post_40, head_31^0'=head_31^post_40, head_SLAM_f_28^0'=head_SLAM_f_28^post_40, i_110^0'=i_110^post_40, i_120^0'=i_120^post_40, i_29^0'=i_29^post_40, length_27^0'=length_27^post_40, lt_17^0'=lt_17^post_40, lt_20^0'=lt_20^post_40, nondet_12^0'=nondet_12^post_40, r_164^0'=r_164^post_40, r_197^0'=r_197^post_40, r_39^0'=r_39^post_40, rcd_104^0'=rcd_104^post_40, rcd_112^0'=rcd_112^post_40, rcd_179^0'=rcd_179^post_40, rcd_185^0'=rcd_185^post_40, rcd_190^0'=rcd_190^post_40, rcd_207^0'=rcd_207^post_40, rcd_43^0'=rcd_43^post_40, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_40, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_40, t_25^0'=t_25^post_40, tail_15^0'=tail_15^post_40, temp0_21^0'=temp0_21^post_40, temp0_30^0'=temp0_30^post_40, temp_34^0'=temp_34^post_40, temp_35^0'=temp_35^post_40, tmp_33^0'=tmp_33^post_40, x_24^0'=x_24^post_40, x_SLAM_f_22^0'=x_SLAM_f_22^post_40, y_23^0'=y_23^post_40, [ t_25^post_40==x_24^0 && rcd_207^post_40==rcd_207^post_40 && a_208^post_40==a_208^post_40 && 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 && head_16^0<=x_SLAM_f_22^0 && x_SLAM_f_22^0<=head_16^0 && lt_20^0<=y_23^0 && y_23^0<=lt_20^0 && a_153^0==a_153^post_40 && a_178^0==a_178^post_40 && f_198^0==f_198^post_40 && head_16^0==head_16^post_40 && head_31^0==head_31^post_40 && head_SLAM_f_28^0==head_SLAM_f_28^post_40 && i_110^0==i_110^post_40 && i_120^0==i_120^post_40 && i_29^0==i_29^post_40 && length_27^0==length_27^post_40 && lt_17^0==lt_17^post_40 && lt_20^0==lt_20^post_40 && nondet_12^0==nondet_12^post_40 && r_164^0==r_164^post_40 && r_197^0==r_197^post_40 && r_39^0==r_39^post_40 && rcd_104^0==rcd_104^post_40 && rcd_112^0==rcd_112^post_40 && rcd_179^0==rcd_179^post_40 && rcd_185^0==rcd_185^post_40 && rcd_190^0==rcd_190^post_40 && rcd_43^0==rcd_43^post_40 && rcd_69^0==rcd_69^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_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_40 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_40 && tail_15^0==tail_15^post_40 && temp0_21^0==temp0_21^post_40 && temp0_30^0==temp0_30^post_40 && temp_34^0==temp_34^post_40 && temp_35^0==temp_35^post_40 && tmp_33^0==tmp_33^post_40 && x_24^0==x_24^post_40 && x_SLAM_f_22^0==x_SLAM_f_22^post_40 && y_23^0==y_23^post_40 ], cost: 1 40: l28 -> l29 : a_153^0'=a_153^post_41, a_178^0'=a_178^post_41, a_208^0'=a_208^post_41, f_198^0'=f_198^post_41, head_16^0'=head_16^post_41, head_31^0'=head_31^post_41, head_SLAM_f_28^0'=head_SLAM_f_28^post_41, i_110^0'=i_110^post_41, i_120^0'=i_120^post_41, i_29^0'=i_29^post_41, length_27^0'=length_27^post_41, lt_17^0'=lt_17^post_41, lt_20^0'=lt_20^post_41, nondet_12^0'=nondet_12^post_41, r_164^0'=r_164^post_41, r_197^0'=r_197^post_41, r_39^0'=r_39^post_41, rcd_104^0'=rcd_104^post_41, rcd_112^0'=rcd_112^post_41, rcd_179^0'=rcd_179^post_41, rcd_185^0'=rcd_185^post_41, rcd_190^0'=rcd_190^post_41, rcd_207^0'=rcd_207^post_41, rcd_43^0'=rcd_43^post_41, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_41, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_41, t_25^0'=t_25^post_41, tail_15^0'=tail_15^post_41, temp0_21^0'=temp0_21^post_41, temp0_30^0'=temp0_30^post_41, temp_34^0'=temp_34^post_41, temp_35^0'=temp_35^post_41, tmp_33^0'=tmp_33^post_41, x_24^0'=x_24^post_41, x_SLAM_f_22^0'=x_SLAM_f_22^post_41, y_23^0'=y_23^post_41, [ 1+head_16^0<=y_23^0 && a_153^0==a_153^post_41 && a_178^0==a_178^post_41 && a_208^0==a_208^post_41 && f_198^0==f_198^post_41 && head_16^0==head_16^post_41 && head_31^0==head_31^post_41 && head_SLAM_f_28^0==head_SLAM_f_28^post_41 && i_110^0==i_110^post_41 && i_120^0==i_120^post_41 && i_29^0==i_29^post_41 && length_27^0==length_27^post_41 && lt_17^0==lt_17^post_41 && lt_20^0==lt_20^post_41 && nondet_12^0==nondet_12^post_41 && r_164^0==r_164^post_41 && r_197^0==r_197^post_41 && r_39^0==r_39^post_41 && rcd_104^0==rcd_104^post_41 && rcd_112^0==rcd_112^post_41 && rcd_179^0==rcd_179^post_41 && rcd_185^0==rcd_185^post_41 && rcd_190^0==rcd_190^post_41 && rcd_207^0==rcd_207^post_41 && rcd_43^0==rcd_43^post_41 && rcd_69^0==rcd_69^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_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_41 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_41 && t_25^0==t_25^post_41 && tail_15^0==tail_15^post_41 && temp0_21^0==temp0_21^post_41 && temp0_30^0==temp0_30^post_41 && temp_34^0==temp_34^post_41 && temp_35^0==temp_35^post_41 && tmp_33^0==tmp_33^post_41 && x_24^0==x_24^post_41 && x_SLAM_f_22^0==x_SLAM_f_22^post_41 && y_23^0==y_23^post_41 ], cost: 1 41: l28 -> l29 : a_153^0'=a_153^post_42, a_178^0'=a_178^post_42, a_208^0'=a_208^post_42, f_198^0'=f_198^post_42, head_16^0'=head_16^post_42, head_31^0'=head_31^post_42, head_SLAM_f_28^0'=head_SLAM_f_28^post_42, i_110^0'=i_110^post_42, i_120^0'=i_120^post_42, i_29^0'=i_29^post_42, length_27^0'=length_27^post_42, lt_17^0'=lt_17^post_42, lt_20^0'=lt_20^post_42, nondet_12^0'=nondet_12^post_42, r_164^0'=r_164^post_42, r_197^0'=r_197^post_42, r_39^0'=r_39^post_42, rcd_104^0'=rcd_104^post_42, rcd_112^0'=rcd_112^post_42, rcd_179^0'=rcd_179^post_42, rcd_185^0'=rcd_185^post_42, rcd_190^0'=rcd_190^post_42, rcd_207^0'=rcd_207^post_42, rcd_43^0'=rcd_43^post_42, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_42, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_42, t_25^0'=t_25^post_42, tail_15^0'=tail_15^post_42, temp0_21^0'=temp0_21^post_42, temp0_30^0'=temp0_30^post_42, temp_34^0'=temp_34^post_42, temp_35^0'=temp_35^post_42, tmp_33^0'=tmp_33^post_42, x_24^0'=x_24^post_42, x_SLAM_f_22^0'=x_SLAM_f_22^post_42, y_23^0'=y_23^post_42, [ 1+y_23^0<=head_16^0 && a_153^0==a_153^post_42 && a_178^0==a_178^post_42 && a_208^0==a_208^post_42 && f_198^0==f_198^post_42 && head_16^0==head_16^post_42 && head_31^0==head_31^post_42 && head_SLAM_f_28^0==head_SLAM_f_28^post_42 && i_110^0==i_110^post_42 && i_120^0==i_120^post_42 && i_29^0==i_29^post_42 && length_27^0==length_27^post_42 && lt_17^0==lt_17^post_42 && lt_20^0==lt_20^post_42 && nondet_12^0==nondet_12^post_42 && r_164^0==r_164^post_42 && r_197^0==r_197^post_42 && r_39^0==r_39^post_42 && rcd_104^0==rcd_104^post_42 && rcd_112^0==rcd_112^post_42 && rcd_179^0==rcd_179^post_42 && rcd_185^0==rcd_185^post_42 && rcd_190^0==rcd_190^post_42 && rcd_207^0==rcd_207^post_42 && rcd_43^0==rcd_43^post_42 && rcd_69^0==rcd_69^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_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_42 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_42 && t_25^0==t_25^post_42 && tail_15^0==tail_15^post_42 && temp0_21^0==temp0_21^post_42 && temp0_30^0==temp0_30^post_42 && temp_34^0==temp_34^post_42 && temp_35^0==temp_35^post_42 && tmp_33^0==tmp_33^post_42 && x_24^0==x_24^post_42 && x_SLAM_f_22^0==x_SLAM_f_22^post_42 && y_23^0==y_23^post_42 ], cost: 1 42: l29 -> l30 : a_153^0'=a_153^post_43, a_178^0'=a_178^post_43, a_208^0'=a_208^post_43, f_198^0'=f_198^post_43, head_16^0'=head_16^post_43, head_31^0'=head_31^post_43, head_SLAM_f_28^0'=head_SLAM_f_28^post_43, i_110^0'=i_110^post_43, i_120^0'=i_120^post_43, i_29^0'=i_29^post_43, length_27^0'=length_27^post_43, lt_17^0'=lt_17^post_43, lt_20^0'=lt_20^post_43, nondet_12^0'=nondet_12^post_43, r_164^0'=r_164^post_43, r_197^0'=r_197^post_43, r_39^0'=r_39^post_43, rcd_104^0'=rcd_104^post_43, rcd_112^0'=rcd_112^post_43, rcd_179^0'=rcd_179^post_43, rcd_185^0'=rcd_185^post_43, rcd_190^0'=rcd_190^post_43, rcd_207^0'=rcd_207^post_43, rcd_43^0'=rcd_43^post_43, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_43, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_43, t_25^0'=t_25^post_43, tail_15^0'=tail_15^post_43, temp0_21^0'=temp0_21^post_43, temp0_30^0'=temp0_30^post_43, temp_34^0'=temp_34^post_43, temp_35^0'=temp_35^post_43, tmp_33^0'=tmp_33^post_43, x_24^0'=x_24^post_43, x_SLAM_f_22^0'=x_SLAM_f_22^post_43, y_23^0'=y_23^post_43, [ 1+y_23^0<=t_25^0 && a_153^0==a_153^post_43 && a_178^0==a_178^post_43 && a_208^0==a_208^post_43 && f_198^0==f_198^post_43 && head_16^0==head_16^post_43 && head_31^0==head_31^post_43 && head_SLAM_f_28^0==head_SLAM_f_28^post_43 && i_110^0==i_110^post_43 && i_120^0==i_120^post_43 && i_29^0==i_29^post_43 && length_27^0==length_27^post_43 && lt_17^0==lt_17^post_43 && lt_20^0==lt_20^post_43 && nondet_12^0==nondet_12^post_43 && r_164^0==r_164^post_43 && r_197^0==r_197^post_43 && r_39^0==r_39^post_43 && rcd_104^0==rcd_104^post_43 && rcd_112^0==rcd_112^post_43 && rcd_179^0==rcd_179^post_43 && rcd_185^0==rcd_185^post_43 && rcd_190^0==rcd_190^post_43 && rcd_207^0==rcd_207^post_43 && rcd_43^0==rcd_43^post_43 && rcd_69^0==rcd_69^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_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_43 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_43 && t_25^0==t_25^post_43 && tail_15^0==tail_15^post_43 && temp0_21^0==temp0_21^post_43 && temp0_30^0==temp0_30^post_43 && temp_34^0==temp_34^post_43 && temp_35^0==temp_35^post_43 && tmp_33^0==tmp_33^post_43 && x_24^0==x_24^post_43 && x_SLAM_f_22^0==x_SLAM_f_22^post_43 && y_23^0==y_23^post_43 ], cost: 1 43: l29 -> l30 : a_153^0'=a_153^post_44, a_178^0'=a_178^post_44, a_208^0'=a_208^post_44, f_198^0'=f_198^post_44, head_16^0'=head_16^post_44, head_31^0'=head_31^post_44, head_SLAM_f_28^0'=head_SLAM_f_28^post_44, i_110^0'=i_110^post_44, i_120^0'=i_120^post_44, i_29^0'=i_29^post_44, length_27^0'=length_27^post_44, lt_17^0'=lt_17^post_44, lt_20^0'=lt_20^post_44, nondet_12^0'=nondet_12^post_44, r_164^0'=r_164^post_44, r_197^0'=r_197^post_44, r_39^0'=r_39^post_44, rcd_104^0'=rcd_104^post_44, rcd_112^0'=rcd_112^post_44, rcd_179^0'=rcd_179^post_44, rcd_185^0'=rcd_185^post_44, rcd_190^0'=rcd_190^post_44, rcd_207^0'=rcd_207^post_44, rcd_43^0'=rcd_43^post_44, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_44, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_44, t_25^0'=t_25^post_44, tail_15^0'=tail_15^post_44, temp0_21^0'=temp0_21^post_44, temp0_30^0'=temp0_30^post_44, temp_34^0'=temp_34^post_44, temp_35^0'=temp_35^post_44, tmp_33^0'=tmp_33^post_44, x_24^0'=x_24^post_44, x_SLAM_f_22^0'=x_SLAM_f_22^post_44, y_23^0'=y_23^post_44, [ 1+t_25^0<=y_23^0 && a_153^0==a_153^post_44 && a_178^0==a_178^post_44 && a_208^0==a_208^post_44 && f_198^0==f_198^post_44 && head_16^0==head_16^post_44 && head_31^0==head_31^post_44 && head_SLAM_f_28^0==head_SLAM_f_28^post_44 && i_110^0==i_110^post_44 && i_120^0==i_120^post_44 && i_29^0==i_29^post_44 && length_27^0==length_27^post_44 && lt_17^0==lt_17^post_44 && lt_20^0==lt_20^post_44 && nondet_12^0==nondet_12^post_44 && r_164^0==r_164^post_44 && r_197^0==r_197^post_44 && r_39^0==r_39^post_44 && rcd_104^0==rcd_104^post_44 && rcd_112^0==rcd_112^post_44 && rcd_179^0==rcd_179^post_44 && rcd_185^0==rcd_185^post_44 && rcd_190^0==rcd_190^post_44 && rcd_207^0==rcd_207^post_44 && rcd_43^0==rcd_43^post_44 && rcd_69^0==rcd_69^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_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_44 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_44 && t_25^0==t_25^post_44 && tail_15^0==tail_15^post_44 && temp0_21^0==temp0_21^post_44 && temp0_30^0==temp0_30^post_44 && temp_34^0==temp_34^post_44 && temp_35^0==temp_35^post_44 && tmp_33^0==tmp_33^post_44 && x_24^0==x_24^post_44 && x_SLAM_f_22^0==x_SLAM_f_22^post_44 && y_23^0==y_23^post_44 ], cost: 1 44: l30 -> l25 : a_153^0'=a_153^post_45, a_178^0'=a_178^post_45, a_208^0'=a_208^post_45, f_198^0'=f_198^post_45, head_16^0'=head_16^post_45, head_31^0'=head_31^post_45, head_SLAM_f_28^0'=head_SLAM_f_28^post_45, i_110^0'=i_110^post_45, i_120^0'=i_120^post_45, i_29^0'=i_29^post_45, length_27^0'=length_27^post_45, lt_17^0'=lt_17^post_45, lt_20^0'=lt_20^post_45, nondet_12^0'=nondet_12^post_45, r_164^0'=r_164^post_45, r_197^0'=r_197^post_45, r_39^0'=r_39^post_45, rcd_104^0'=rcd_104^post_45, rcd_112^0'=rcd_112^post_45, rcd_179^0'=rcd_179^post_45, rcd_185^0'=rcd_185^post_45, rcd_190^0'=rcd_190^post_45, rcd_207^0'=rcd_207^post_45, rcd_43^0'=rcd_43^post_45, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_45, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_45, t_25^0'=t_25^post_45, tail_15^0'=tail_15^post_45, temp0_21^0'=temp0_21^post_45, temp0_30^0'=temp0_30^post_45, temp_34^0'=temp_34^post_45, temp_35^0'=temp_35^post_45, tmp_33^0'=tmp_33^post_45, x_24^0'=x_24^post_45, x_SLAM_f_22^0'=x_SLAM_f_22^post_45, y_23^0'=y_23^post_45, [ 1<=result_dot_nondet_sdv_special_RETURN_VALUE_14^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^0 && rcd_43^post_45==rcd_43^post_45 && rcd_43^post_45<=rcd_207^0 && rcd_207^0<=rcd_43^post_45 && a_178^post_45==a_178^post_45 && a_178^post_45<=a_208^0 && a_208^0<=a_178^post_45 && a_153^0==a_153^post_45 && a_208^0==a_208^post_45 && f_198^0==f_198^post_45 && head_16^0==head_16^post_45 && head_31^0==head_31^post_45 && head_SLAM_f_28^0==head_SLAM_f_28^post_45 && i_110^0==i_110^post_45 && i_120^0==i_120^post_45 && i_29^0==i_29^post_45 && length_27^0==length_27^post_45 && lt_17^0==lt_17^post_45 && lt_20^0==lt_20^post_45 && nondet_12^0==nondet_12^post_45 && r_164^0==r_164^post_45 && r_197^0==r_197^post_45 && r_39^0==r_39^post_45 && rcd_104^0==rcd_104^post_45 && rcd_112^0==rcd_112^post_45 && rcd_179^0==rcd_179^post_45 && rcd_185^0==rcd_185^post_45 && rcd_190^0==rcd_190^post_45 && rcd_207^0==rcd_207^post_45 && rcd_69^0==rcd_69^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_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_45 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_45 && t_25^0==t_25^post_45 && tail_15^0==tail_15^post_45 && temp0_21^0==temp0_21^post_45 && temp0_30^0==temp0_30^post_45 && temp_34^0==temp_34^post_45 && temp_35^0==temp_35^post_45 && tmp_33^0==tmp_33^post_45 && x_24^0==x_24^post_45 && x_SLAM_f_22^0==x_SLAM_f_22^post_45 && y_23^0==y_23^post_45 ], cost: 1 45: l25 -> l2 : a_153^0'=a_153^post_46, a_178^0'=a_178^post_46, a_208^0'=a_208^post_46, f_198^0'=f_198^post_46, head_16^0'=head_16^post_46, head_31^0'=head_31^post_46, head_SLAM_f_28^0'=head_SLAM_f_28^post_46, i_110^0'=i_110^post_46, i_120^0'=i_120^post_46, i_29^0'=i_29^post_46, length_27^0'=length_27^post_46, lt_17^0'=lt_17^post_46, lt_20^0'=lt_20^post_46, nondet_12^0'=nondet_12^post_46, r_164^0'=r_164^post_46, r_197^0'=r_197^post_46, r_39^0'=r_39^post_46, rcd_104^0'=rcd_104^post_46, rcd_112^0'=rcd_112^post_46, rcd_179^0'=rcd_179^post_46, rcd_185^0'=rcd_185^post_46, rcd_190^0'=rcd_190^post_46, rcd_207^0'=rcd_207^post_46, rcd_43^0'=rcd_43^post_46, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_46, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_46, t_25^0'=t_25^post_46, tail_15^0'=tail_15^post_46, temp0_21^0'=temp0_21^post_46, temp0_30^0'=temp0_30^post_46, temp_34^0'=temp_34^post_46, temp_35^0'=temp_35^post_46, tmp_33^0'=tmp_33^post_46, x_24^0'=x_24^post_46, x_SLAM_f_22^0'=x_SLAM_f_22^post_46, y_23^0'=y_23^post_46, [ a_153^0==a_153^post_46 && a_178^0==a_178^post_46 && a_208^0==a_208^post_46 && f_198^0==f_198^post_46 && head_16^0==head_16^post_46 && head_31^0==head_31^post_46 && head_SLAM_f_28^0==head_SLAM_f_28^post_46 && i_110^0==i_110^post_46 && i_120^0==i_120^post_46 && i_29^0==i_29^post_46 && length_27^0==length_27^post_46 && lt_17^0==lt_17^post_46 && lt_20^0==lt_20^post_46 && nondet_12^0==nondet_12^post_46 && r_164^0==r_164^post_46 && r_197^0==r_197^post_46 && r_39^0==r_39^post_46 && rcd_104^0==rcd_104^post_46 && rcd_112^0==rcd_112^post_46 && rcd_179^0==rcd_179^post_46 && rcd_185^0==rcd_185^post_46 && rcd_190^0==rcd_190^post_46 && rcd_207^0==rcd_207^post_46 && rcd_43^0==rcd_43^post_46 && rcd_69^0==rcd_69^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_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_46 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_46 && t_25^0==t_25^post_46 && tail_15^0==tail_15^post_46 && temp0_21^0==temp0_21^post_46 && temp0_30^0==temp0_30^post_46 && temp_34^0==temp_34^post_46 && temp_35^0==temp_35^post_46 && tmp_33^0==tmp_33^post_46 && x_24^0==x_24^post_46 && x_SLAM_f_22^0==x_SLAM_f_22^post_46 && y_23^0==y_23^post_46 ], cost: 1 46: l31 -> l1 : a_153^0'=a_153^post_47, a_178^0'=a_178^post_47, a_208^0'=a_208^post_47, f_198^0'=f_198^post_47, head_16^0'=head_16^post_47, head_31^0'=head_31^post_47, head_SLAM_f_28^0'=head_SLAM_f_28^post_47, i_110^0'=i_110^post_47, i_120^0'=i_120^post_47, i_29^0'=i_29^post_47, length_27^0'=length_27^post_47, lt_17^0'=lt_17^post_47, lt_20^0'=lt_20^post_47, nondet_12^0'=nondet_12^post_47, r_164^0'=r_164^post_47, r_197^0'=r_197^post_47, r_39^0'=r_39^post_47, rcd_104^0'=rcd_104^post_47, rcd_112^0'=rcd_112^post_47, rcd_179^0'=rcd_179^post_47, rcd_185^0'=rcd_185^post_47, rcd_190^0'=rcd_190^post_47, rcd_207^0'=rcd_207^post_47, rcd_43^0'=rcd_43^post_47, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_47, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_47, t_25^0'=t_25^post_47, tail_15^0'=tail_15^post_47, temp0_21^0'=temp0_21^post_47, temp0_30^0'=temp0_30^post_47, temp_34^0'=temp_34^post_47, temp_35^0'=temp_35^post_47, tmp_33^0'=tmp_33^post_47, x_24^0'=x_24^post_47, x_SLAM_f_22^0'=x_SLAM_f_22^post_47, y_23^0'=y_23^post_47, [ 0<=a_153^0 && y_23^0<=x_24^0 && x_24^0<=y_23^0 && x_SLAM_f_22^post_47==x_SLAM_f_22^post_47 && y_23^post_47==y_23^post_47 && x_24^post_47==x_24^post_47 && t_25^post_47==t_25^post_47 && lt_20^post_47==lt_20^post_47 && 0<=a_153^0 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_47==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_47 && head_16^post_47==head_16^post_47 && result_11^post_47==temp0_21^0 && 1<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_47 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_47 && a_153^0==a_153^post_47 && a_178^0==a_178^post_47 && a_208^0==a_208^post_47 && f_198^0==f_198^post_47 && head_31^0==head_31^post_47 && head_SLAM_f_28^0==head_SLAM_f_28^post_47 && i_110^0==i_110^post_47 && i_120^0==i_120^post_47 && i_29^0==i_29^post_47 && length_27^0==length_27^post_47 && lt_17^0==lt_17^post_47 && nondet_12^0==nondet_12^post_47 && r_164^0==r_164^post_47 && r_197^0==r_197^post_47 && r_39^0==r_39^post_47 && rcd_104^0==rcd_104^post_47 && rcd_112^0==rcd_112^post_47 && rcd_179^0==rcd_179^post_47 && rcd_185^0==rcd_185^post_47 && rcd_190^0==rcd_190^post_47 && rcd_207^0==rcd_207^post_47 && rcd_43^0==rcd_43^post_47 && rcd_69^0==rcd_69^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_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_47 && tail_15^0==tail_15^post_47 && temp0_21^0==temp0_21^post_47 && temp0_30^0==temp0_30^post_47 && temp_34^0==temp_34^post_47 && temp_35^0==temp_35^post_47 && tmp_33^0==tmp_33^post_47 ], cost: 1 47: l31 -> l32 : a_153^0'=a_153^post_48, a_178^0'=a_178^post_48, a_208^0'=a_208^post_48, f_198^0'=f_198^post_48, head_16^0'=head_16^post_48, head_31^0'=head_31^post_48, head_SLAM_f_28^0'=head_SLAM_f_28^post_48, i_110^0'=i_110^post_48, i_120^0'=i_120^post_48, i_29^0'=i_29^post_48, length_27^0'=length_27^post_48, lt_17^0'=lt_17^post_48, lt_20^0'=lt_20^post_48, nondet_12^0'=nondet_12^post_48, r_164^0'=r_164^post_48, r_197^0'=r_197^post_48, r_39^0'=r_39^post_48, rcd_104^0'=rcd_104^post_48, rcd_112^0'=rcd_112^post_48, rcd_179^0'=rcd_179^post_48, rcd_185^0'=rcd_185^post_48, rcd_190^0'=rcd_190^post_48, rcd_207^0'=rcd_207^post_48, rcd_43^0'=rcd_43^post_48, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_48, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_48, t_25^0'=t_25^post_48, tail_15^0'=tail_15^post_48, temp0_21^0'=temp0_21^post_48, temp0_30^0'=temp0_30^post_48, temp_34^0'=temp_34^post_48, temp_35^0'=temp_35^post_48, tmp_33^0'=tmp_33^post_48, x_24^0'=x_24^post_48, x_SLAM_f_22^0'=x_SLAM_f_22^post_48, y_23^0'=y_23^post_48, [ 0<=a_153^0 && 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_16^post_48==head_16^post_48 && lt_20^post_48==lt_20^post_48 && x_SLAM_f_22^post_48==x_SLAM_f_22^post_48 && r_164^post_48==r_164^post_48 && a_153^0==a_153^post_48 && a_178^0==a_178^post_48 && a_208^0==a_208^post_48 && f_198^0==f_198^post_48 && head_31^0==head_31^post_48 && head_SLAM_f_28^0==head_SLAM_f_28^post_48 && i_110^0==i_110^post_48 && i_120^0==i_120^post_48 && i_29^0==i_29^post_48 && length_27^0==length_27^post_48 && lt_17^0==lt_17^post_48 && nondet_12^0==nondet_12^post_48 && r_197^0==r_197^post_48 && r_39^0==r_39^post_48 && rcd_104^0==rcd_104^post_48 && rcd_112^0==rcd_112^post_48 && rcd_179^0==rcd_179^post_48 && rcd_185^0==rcd_185^post_48 && rcd_190^0==rcd_190^post_48 && rcd_207^0==rcd_207^post_48 && rcd_43^0==rcd_43^post_48 && rcd_69^0==rcd_69^post_48 && result_11^0==result_11^post_48 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_48 && t_25^0==t_25^post_48 && temp0_21^0==temp0_21^post_48 && temp0_30^0==temp0_30^post_48 && temp_34^0==temp_34^post_48 && temp_35^0==temp_35^post_48 && tmp_33^0==tmp_33^post_48 && x_24^0==x_24^post_48 && y_23^0==y_23^post_48 ], cost: 1 48: l32 -> l33 : a_153^0'=a_153^post_49, a_178^0'=a_178^post_49, a_208^0'=a_208^post_49, f_198^0'=f_198^post_49, head_16^0'=head_16^post_49, head_31^0'=head_31^post_49, head_SLAM_f_28^0'=head_SLAM_f_28^post_49, i_110^0'=i_110^post_49, i_120^0'=i_120^post_49, i_29^0'=i_29^post_49, length_27^0'=length_27^post_49, lt_17^0'=lt_17^post_49, lt_20^0'=lt_20^post_49, nondet_12^0'=nondet_12^post_49, r_164^0'=r_164^post_49, r_197^0'=r_197^post_49, r_39^0'=r_39^post_49, rcd_104^0'=rcd_104^post_49, rcd_112^0'=rcd_112^post_49, rcd_179^0'=rcd_179^post_49, rcd_185^0'=rcd_185^post_49, rcd_190^0'=rcd_190^post_49, rcd_207^0'=rcd_207^post_49, rcd_43^0'=rcd_43^post_49, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_49, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_49, t_25^0'=t_25^post_49, tail_15^0'=tail_15^post_49, temp0_21^0'=temp0_21^post_49, temp0_30^0'=temp0_30^post_49, temp_34^0'=temp_34^post_49, temp_35^0'=temp_35^post_49, tmp_33^0'=tmp_33^post_49, x_24^0'=x_24^post_49, x_SLAM_f_22^0'=x_SLAM_f_22^post_49, y_23^0'=y_23^post_49, [ 1+y_23^0<=x_24^0 && a_153^0==a_153^post_49 && a_178^0==a_178^post_49 && a_208^0==a_208^post_49 && f_198^0==f_198^post_49 && head_16^0==head_16^post_49 && head_31^0==head_31^post_49 && head_SLAM_f_28^0==head_SLAM_f_28^post_49 && i_110^0==i_110^post_49 && i_120^0==i_120^post_49 && i_29^0==i_29^post_49 && length_27^0==length_27^post_49 && lt_17^0==lt_17^post_49 && lt_20^0==lt_20^post_49 && nondet_12^0==nondet_12^post_49 && r_164^0==r_164^post_49 && r_197^0==r_197^post_49 && r_39^0==r_39^post_49 && rcd_104^0==rcd_104^post_49 && rcd_112^0==rcd_112^post_49 && rcd_179^0==rcd_179^post_49 && rcd_185^0==rcd_185^post_49 && rcd_190^0==rcd_190^post_49 && rcd_207^0==rcd_207^post_49 && rcd_43^0==rcd_43^post_49 && rcd_69^0==rcd_69^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_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_49 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_49 && t_25^0==t_25^post_49 && tail_15^0==tail_15^post_49 && temp0_21^0==temp0_21^post_49 && temp0_30^0==temp0_30^post_49 && temp_34^0==temp_34^post_49 && temp_35^0==temp_35^post_49 && tmp_33^0==tmp_33^post_49 && x_24^0==x_24^post_49 && x_SLAM_f_22^0==x_SLAM_f_22^post_49 && y_23^0==y_23^post_49 ], cost: 1 49: l32 -> l33 : a_153^0'=a_153^post_50, a_178^0'=a_178^post_50, a_208^0'=a_208^post_50, f_198^0'=f_198^post_50, head_16^0'=head_16^post_50, head_31^0'=head_31^post_50, head_SLAM_f_28^0'=head_SLAM_f_28^post_50, i_110^0'=i_110^post_50, i_120^0'=i_120^post_50, i_29^0'=i_29^post_50, length_27^0'=length_27^post_50, lt_17^0'=lt_17^post_50, lt_20^0'=lt_20^post_50, nondet_12^0'=nondet_12^post_50, r_164^0'=r_164^post_50, r_197^0'=r_197^post_50, r_39^0'=r_39^post_50, rcd_104^0'=rcd_104^post_50, rcd_112^0'=rcd_112^post_50, rcd_179^0'=rcd_179^post_50, rcd_185^0'=rcd_185^post_50, rcd_190^0'=rcd_190^post_50, rcd_207^0'=rcd_207^post_50, rcd_43^0'=rcd_43^post_50, rcd_69^0'=rcd_69^post_50, result_11^0'=result_11^post_50, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_50, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_50, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_50, t_25^0'=t_25^post_50, tail_15^0'=tail_15^post_50, temp0_21^0'=temp0_21^post_50, temp0_30^0'=temp0_30^post_50, temp_34^0'=temp_34^post_50, temp_35^0'=temp_35^post_50, tmp_33^0'=tmp_33^post_50, x_24^0'=x_24^post_50, x_SLAM_f_22^0'=x_SLAM_f_22^post_50, y_23^0'=y_23^post_50, [ 1+x_24^0<=y_23^0 && a_153^0==a_153^post_50 && a_178^0==a_178^post_50 && a_208^0==a_208^post_50 && f_198^0==f_198^post_50 && head_16^0==head_16^post_50 && head_31^0==head_31^post_50 && head_SLAM_f_28^0==head_SLAM_f_28^post_50 && i_110^0==i_110^post_50 && i_120^0==i_120^post_50 && i_29^0==i_29^post_50 && length_27^0==length_27^post_50 && lt_17^0==lt_17^post_50 && lt_20^0==lt_20^post_50 && nondet_12^0==nondet_12^post_50 && r_164^0==r_164^post_50 && r_197^0==r_197^post_50 && r_39^0==r_39^post_50 && rcd_104^0==rcd_104^post_50 && rcd_112^0==rcd_112^post_50 && rcd_179^0==rcd_179^post_50 && rcd_185^0==rcd_185^post_50 && rcd_190^0==rcd_190^post_50 && rcd_207^0==rcd_207^post_50 && rcd_43^0==rcd_43^post_50 && rcd_69^0==rcd_69^post_50 && result_11^0==result_11^post_50 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_50 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_50 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_50 && t_25^0==t_25^post_50 && tail_15^0==tail_15^post_50 && temp0_21^0==temp0_21^post_50 && temp0_30^0==temp0_30^post_50 && temp_34^0==temp_34^post_50 && temp_35^0==temp_35^post_50 && tmp_33^0==tmp_33^post_50 && x_24^0==x_24^post_50 && x_SLAM_f_22^0==x_SLAM_f_22^post_50 && y_23^0==y_23^post_50 ], cost: 1 50: l33 -> l34 : a_153^0'=a_153^post_51, a_178^0'=a_178^post_51, a_208^0'=a_208^post_51, f_198^0'=f_198^post_51, head_16^0'=head_16^post_51, head_31^0'=head_31^post_51, head_SLAM_f_28^0'=head_SLAM_f_28^post_51, i_110^0'=i_110^post_51, i_120^0'=i_120^post_51, i_29^0'=i_29^post_51, length_27^0'=length_27^post_51, lt_17^0'=lt_17^post_51, lt_20^0'=lt_20^post_51, nondet_12^0'=nondet_12^post_51, r_164^0'=r_164^post_51, r_197^0'=r_197^post_51, r_39^0'=r_39^post_51, rcd_104^0'=rcd_104^post_51, rcd_112^0'=rcd_112^post_51, rcd_179^0'=rcd_179^post_51, rcd_185^0'=rcd_185^post_51, rcd_190^0'=rcd_190^post_51, rcd_207^0'=rcd_207^post_51, rcd_43^0'=rcd_43^post_51, rcd_69^0'=rcd_69^post_51, result_11^0'=result_11^post_51, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_51, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_51, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_51, t_25^0'=t_25^post_51, tail_15^0'=tail_15^post_51, temp0_21^0'=temp0_21^post_51, temp0_30^0'=temp0_30^post_51, temp_34^0'=temp_34^post_51, temp_35^0'=temp_35^post_51, tmp_33^0'=tmp_33^post_51, x_24^0'=x_24^post_51, x_SLAM_f_22^0'=x_SLAM_f_22^post_51, y_23^0'=y_23^post_51, [ t_25^post_51==x_24^0 && a_178^post_51==a_178^post_51 && rcd_179^post_51==rcd_179^post_51 && 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 && head_16^0<=x_SLAM_f_22^0 && x_SLAM_f_22^0<=head_16^0 && lt_20^0<=y_23^0 && y_23^0<=lt_20^0 && a_153^0==a_153^post_51 && a_208^0==a_208^post_51 && f_198^0==f_198^post_51 && head_16^0==head_16^post_51 && head_31^0==head_31^post_51 && head_SLAM_f_28^0==head_SLAM_f_28^post_51 && i_110^0==i_110^post_51 && i_120^0==i_120^post_51 && i_29^0==i_29^post_51 && length_27^0==length_27^post_51 && lt_17^0==lt_17^post_51 && lt_20^0==lt_20^post_51 && nondet_12^0==nondet_12^post_51 && r_164^0==r_164^post_51 && r_197^0==r_197^post_51 && r_39^0==r_39^post_51 && rcd_104^0==rcd_104^post_51 && rcd_112^0==rcd_112^post_51 && rcd_185^0==rcd_185^post_51 && rcd_190^0==rcd_190^post_51 && rcd_207^0==rcd_207^post_51 && rcd_43^0==rcd_43^post_51 && rcd_69^0==rcd_69^post_51 && result_11^0==result_11^post_51 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_51 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_51 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_51 && tail_15^0==tail_15^post_51 && temp0_21^0==temp0_21^post_51 && temp0_30^0==temp0_30^post_51 && temp_34^0==temp_34^post_51 && temp_35^0==temp_35^post_51 && tmp_33^0==tmp_33^post_51 && x_24^0==x_24^post_51 && x_SLAM_f_22^0==x_SLAM_f_22^post_51 && y_23^0==y_23^post_51 ], cost: 1 51: l34 -> l35 : a_153^0'=a_153^post_52, a_178^0'=a_178^post_52, a_208^0'=a_208^post_52, f_198^0'=f_198^post_52, head_16^0'=head_16^post_52, head_31^0'=head_31^post_52, head_SLAM_f_28^0'=head_SLAM_f_28^post_52, i_110^0'=i_110^post_52, i_120^0'=i_120^post_52, i_29^0'=i_29^post_52, length_27^0'=length_27^post_52, lt_17^0'=lt_17^post_52, lt_20^0'=lt_20^post_52, nondet_12^0'=nondet_12^post_52, r_164^0'=r_164^post_52, r_197^0'=r_197^post_52, r_39^0'=r_39^post_52, rcd_104^0'=rcd_104^post_52, rcd_112^0'=rcd_112^post_52, rcd_179^0'=rcd_179^post_52, rcd_185^0'=rcd_185^post_52, rcd_190^0'=rcd_190^post_52, rcd_207^0'=rcd_207^post_52, rcd_43^0'=rcd_43^post_52, rcd_69^0'=rcd_69^post_52, result_11^0'=result_11^post_52, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_52, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_52, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_52, t_25^0'=t_25^post_52, tail_15^0'=tail_15^post_52, temp0_21^0'=temp0_21^post_52, temp0_30^0'=temp0_30^post_52, temp_34^0'=temp_34^post_52, temp_35^0'=temp_35^post_52, tmp_33^0'=tmp_33^post_52, x_24^0'=x_24^post_52, x_SLAM_f_22^0'=x_SLAM_f_22^post_52, y_23^0'=y_23^post_52, [ 1+head_16^0<=y_23^0 && a_153^0==a_153^post_52 && a_178^0==a_178^post_52 && a_208^0==a_208^post_52 && f_198^0==f_198^post_52 && head_16^0==head_16^post_52 && head_31^0==head_31^post_52 && head_SLAM_f_28^0==head_SLAM_f_28^post_52 && i_110^0==i_110^post_52 && i_120^0==i_120^post_52 && i_29^0==i_29^post_52 && length_27^0==length_27^post_52 && lt_17^0==lt_17^post_52 && lt_20^0==lt_20^post_52 && nondet_12^0==nondet_12^post_52 && r_164^0==r_164^post_52 && r_197^0==r_197^post_52 && r_39^0==r_39^post_52 && rcd_104^0==rcd_104^post_52 && rcd_112^0==rcd_112^post_52 && rcd_179^0==rcd_179^post_52 && rcd_185^0==rcd_185^post_52 && rcd_190^0==rcd_190^post_52 && rcd_207^0==rcd_207^post_52 && rcd_43^0==rcd_43^post_52 && rcd_69^0==rcd_69^post_52 && result_11^0==result_11^post_52 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_52 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_52 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_52 && t_25^0==t_25^post_52 && tail_15^0==tail_15^post_52 && temp0_21^0==temp0_21^post_52 && temp0_30^0==temp0_30^post_52 && temp_34^0==temp_34^post_52 && temp_35^0==temp_35^post_52 && tmp_33^0==tmp_33^post_52 && x_24^0==x_24^post_52 && x_SLAM_f_22^0==x_SLAM_f_22^post_52 && y_23^0==y_23^post_52 ], cost: 1 52: l34 -> l35 : a_153^0'=a_153^post_53, a_178^0'=a_178^post_53, a_208^0'=a_208^post_53, f_198^0'=f_198^post_53, head_16^0'=head_16^post_53, head_31^0'=head_31^post_53, head_SLAM_f_28^0'=head_SLAM_f_28^post_53, i_110^0'=i_110^post_53, i_120^0'=i_120^post_53, i_29^0'=i_29^post_53, length_27^0'=length_27^post_53, lt_17^0'=lt_17^post_53, lt_20^0'=lt_20^post_53, nondet_12^0'=nondet_12^post_53, r_164^0'=r_164^post_53, r_197^0'=r_197^post_53, r_39^0'=r_39^post_53, rcd_104^0'=rcd_104^post_53, rcd_112^0'=rcd_112^post_53, rcd_179^0'=rcd_179^post_53, rcd_185^0'=rcd_185^post_53, rcd_190^0'=rcd_190^post_53, rcd_207^0'=rcd_207^post_53, rcd_43^0'=rcd_43^post_53, rcd_69^0'=rcd_69^post_53, result_11^0'=result_11^post_53, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_53, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_53, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_53, t_25^0'=t_25^post_53, tail_15^0'=tail_15^post_53, temp0_21^0'=temp0_21^post_53, temp0_30^0'=temp0_30^post_53, temp_34^0'=temp_34^post_53, temp_35^0'=temp_35^post_53, tmp_33^0'=tmp_33^post_53, x_24^0'=x_24^post_53, x_SLAM_f_22^0'=x_SLAM_f_22^post_53, y_23^0'=y_23^post_53, [ 1+y_23^0<=head_16^0 && a_153^0==a_153^post_53 && a_178^0==a_178^post_53 && a_208^0==a_208^post_53 && f_198^0==f_198^post_53 && head_16^0==head_16^post_53 && head_31^0==head_31^post_53 && head_SLAM_f_28^0==head_SLAM_f_28^post_53 && i_110^0==i_110^post_53 && i_120^0==i_120^post_53 && i_29^0==i_29^post_53 && length_27^0==length_27^post_53 && lt_17^0==lt_17^post_53 && lt_20^0==lt_20^post_53 && nondet_12^0==nondet_12^post_53 && r_164^0==r_164^post_53 && r_197^0==r_197^post_53 && r_39^0==r_39^post_53 && rcd_104^0==rcd_104^post_53 && rcd_112^0==rcd_112^post_53 && rcd_179^0==rcd_179^post_53 && rcd_185^0==rcd_185^post_53 && rcd_190^0==rcd_190^post_53 && rcd_207^0==rcd_207^post_53 && rcd_43^0==rcd_43^post_53 && rcd_69^0==rcd_69^post_53 && result_11^0==result_11^post_53 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_53 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_53 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_53 && t_25^0==t_25^post_53 && tail_15^0==tail_15^post_53 && temp0_21^0==temp0_21^post_53 && temp0_30^0==temp0_30^post_53 && temp_34^0==temp_34^post_53 && temp_35^0==temp_35^post_53 && tmp_33^0==tmp_33^post_53 && x_24^0==x_24^post_53 && x_SLAM_f_22^0==x_SLAM_f_22^post_53 && y_23^0==y_23^post_53 ], cost: 1 53: l35 -> l36 : a_153^0'=a_153^post_54, a_178^0'=a_178^post_54, a_208^0'=a_208^post_54, f_198^0'=f_198^post_54, head_16^0'=head_16^post_54, head_31^0'=head_31^post_54, head_SLAM_f_28^0'=head_SLAM_f_28^post_54, i_110^0'=i_110^post_54, i_120^0'=i_120^post_54, i_29^0'=i_29^post_54, length_27^0'=length_27^post_54, lt_17^0'=lt_17^post_54, lt_20^0'=lt_20^post_54, nondet_12^0'=nondet_12^post_54, r_164^0'=r_164^post_54, r_197^0'=r_197^post_54, r_39^0'=r_39^post_54, rcd_104^0'=rcd_104^post_54, rcd_112^0'=rcd_112^post_54, rcd_179^0'=rcd_179^post_54, rcd_185^0'=rcd_185^post_54, rcd_190^0'=rcd_190^post_54, rcd_207^0'=rcd_207^post_54, rcd_43^0'=rcd_43^post_54, rcd_69^0'=rcd_69^post_54, result_11^0'=result_11^post_54, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_54, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_54, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_54, t_25^0'=t_25^post_54, tail_15^0'=tail_15^post_54, temp0_21^0'=temp0_21^post_54, temp0_30^0'=temp0_30^post_54, temp_34^0'=temp_34^post_54, temp_35^0'=temp_35^post_54, tmp_33^0'=tmp_33^post_54, x_24^0'=x_24^post_54, x_SLAM_f_22^0'=x_SLAM_f_22^post_54, y_23^0'=y_23^post_54, [ 1+y_23^0<=t_25^0 && a_153^0==a_153^post_54 && a_178^0==a_178^post_54 && a_208^0==a_208^post_54 && f_198^0==f_198^post_54 && head_16^0==head_16^post_54 && head_31^0==head_31^post_54 && head_SLAM_f_28^0==head_SLAM_f_28^post_54 && i_110^0==i_110^post_54 && i_120^0==i_120^post_54 && i_29^0==i_29^post_54 && length_27^0==length_27^post_54 && lt_17^0==lt_17^post_54 && lt_20^0==lt_20^post_54 && nondet_12^0==nondet_12^post_54 && r_164^0==r_164^post_54 && r_197^0==r_197^post_54 && r_39^0==r_39^post_54 && rcd_104^0==rcd_104^post_54 && rcd_112^0==rcd_112^post_54 && rcd_179^0==rcd_179^post_54 && rcd_185^0==rcd_185^post_54 && rcd_190^0==rcd_190^post_54 && rcd_207^0==rcd_207^post_54 && rcd_43^0==rcd_43^post_54 && rcd_69^0==rcd_69^post_54 && result_11^0==result_11^post_54 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_54 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_54 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_54 && t_25^0==t_25^post_54 && tail_15^0==tail_15^post_54 && temp0_21^0==temp0_21^post_54 && temp0_30^0==temp0_30^post_54 && temp_34^0==temp_34^post_54 && temp_35^0==temp_35^post_54 && tmp_33^0==tmp_33^post_54 && x_24^0==x_24^post_54 && x_SLAM_f_22^0==x_SLAM_f_22^post_54 && y_23^0==y_23^post_54 ], cost: 1 54: l35 -> l36 : a_153^0'=a_153^post_55, a_178^0'=a_178^post_55, a_208^0'=a_208^post_55, f_198^0'=f_198^post_55, head_16^0'=head_16^post_55, head_31^0'=head_31^post_55, head_SLAM_f_28^0'=head_SLAM_f_28^post_55, i_110^0'=i_110^post_55, i_120^0'=i_120^post_55, i_29^0'=i_29^post_55, length_27^0'=length_27^post_55, lt_17^0'=lt_17^post_55, lt_20^0'=lt_20^post_55, nondet_12^0'=nondet_12^post_55, r_164^0'=r_164^post_55, r_197^0'=r_197^post_55, r_39^0'=r_39^post_55, rcd_104^0'=rcd_104^post_55, rcd_112^0'=rcd_112^post_55, rcd_179^0'=rcd_179^post_55, rcd_185^0'=rcd_185^post_55, rcd_190^0'=rcd_190^post_55, rcd_207^0'=rcd_207^post_55, rcd_43^0'=rcd_43^post_55, rcd_69^0'=rcd_69^post_55, result_11^0'=result_11^post_55, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_55, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_55, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_55, t_25^0'=t_25^post_55, tail_15^0'=tail_15^post_55, temp0_21^0'=temp0_21^post_55, temp0_30^0'=temp0_30^post_55, temp_34^0'=temp_34^post_55, temp_35^0'=temp_35^post_55, tmp_33^0'=tmp_33^post_55, x_24^0'=x_24^post_55, x_SLAM_f_22^0'=x_SLAM_f_22^post_55, y_23^0'=y_23^post_55, [ 1+t_25^0<=y_23^0 && a_153^0==a_153^post_55 && a_178^0==a_178^post_55 && a_208^0==a_208^post_55 && f_198^0==f_198^post_55 && head_16^0==head_16^post_55 && head_31^0==head_31^post_55 && head_SLAM_f_28^0==head_SLAM_f_28^post_55 && i_110^0==i_110^post_55 && i_120^0==i_120^post_55 && i_29^0==i_29^post_55 && length_27^0==length_27^post_55 && lt_17^0==lt_17^post_55 && lt_20^0==lt_20^post_55 && nondet_12^0==nondet_12^post_55 && r_164^0==r_164^post_55 && r_197^0==r_197^post_55 && r_39^0==r_39^post_55 && rcd_104^0==rcd_104^post_55 && rcd_112^0==rcd_112^post_55 && rcd_179^0==rcd_179^post_55 && rcd_185^0==rcd_185^post_55 && rcd_190^0==rcd_190^post_55 && rcd_207^0==rcd_207^post_55 && rcd_43^0==rcd_43^post_55 && rcd_69^0==rcd_69^post_55 && result_11^0==result_11^post_55 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_55 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_55 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_55 && t_25^0==t_25^post_55 && tail_15^0==tail_15^post_55 && temp0_21^0==temp0_21^post_55 && temp0_30^0==temp0_30^post_55 && temp_34^0==temp_34^post_55 && temp_35^0==temp_35^post_55 && tmp_33^0==tmp_33^post_55 && x_24^0==x_24^post_55 && x_SLAM_f_22^0==x_SLAM_f_22^post_55 && y_23^0==y_23^post_55 ], cost: 1 55: l36 -> l2 : a_153^0'=a_153^post_56, a_178^0'=a_178^post_56, a_208^0'=a_208^post_56, f_198^0'=f_198^post_56, head_16^0'=head_16^post_56, head_31^0'=head_31^post_56, head_SLAM_f_28^0'=head_SLAM_f_28^post_56, i_110^0'=i_110^post_56, i_120^0'=i_120^post_56, i_29^0'=i_29^post_56, length_27^0'=length_27^post_56, lt_17^0'=lt_17^post_56, lt_20^0'=lt_20^post_56, nondet_12^0'=nondet_12^post_56, r_164^0'=r_164^post_56, r_197^0'=r_197^post_56, r_39^0'=r_39^post_56, rcd_104^0'=rcd_104^post_56, rcd_112^0'=rcd_112^post_56, rcd_179^0'=rcd_179^post_56, rcd_185^0'=rcd_185^post_56, rcd_190^0'=rcd_190^post_56, rcd_207^0'=rcd_207^post_56, rcd_43^0'=rcd_43^post_56, rcd_69^0'=rcd_69^post_56, result_11^0'=result_11^post_56, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_56, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_56, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_56, t_25^0'=t_25^post_56, tail_15^0'=tail_15^post_56, temp0_21^0'=temp0_21^post_56, temp0_30^0'=temp0_30^post_56, temp_34^0'=temp_34^post_56, temp_35^0'=temp_35^post_56, tmp_33^0'=tmp_33^post_56, x_24^0'=x_24^post_56, x_SLAM_f_22^0'=x_SLAM_f_22^post_56, y_23^0'=y_23^post_56, [ 1<=result_dot_nondet_sdv_special_RETURN_VALUE_14^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^0 && rcd_43^post_56==rcd_43^post_56 && rcd_43^post_56<=rcd_179^0 && rcd_179^0<=rcd_43^post_56 && a_153^post_56==a_153^post_56 && -1+a_153^post_56<=a_178^0 && a_178^0<=-1+a_153^post_56 && a_178^0==a_178^post_56 && a_208^0==a_208^post_56 && f_198^0==f_198^post_56 && head_16^0==head_16^post_56 && head_31^0==head_31^post_56 && head_SLAM_f_28^0==head_SLAM_f_28^post_56 && i_110^0==i_110^post_56 && i_120^0==i_120^post_56 && i_29^0==i_29^post_56 && length_27^0==length_27^post_56 && lt_17^0==lt_17^post_56 && lt_20^0==lt_20^post_56 && nondet_12^0==nondet_12^post_56 && r_164^0==r_164^post_56 && r_197^0==r_197^post_56 && r_39^0==r_39^post_56 && rcd_104^0==rcd_104^post_56 && rcd_112^0==rcd_112^post_56 && rcd_179^0==rcd_179^post_56 && rcd_185^0==rcd_185^post_56 && rcd_190^0==rcd_190^post_56 && rcd_207^0==rcd_207^post_56 && rcd_69^0==rcd_69^post_56 && result_11^0==result_11^post_56 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_56 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_56 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_56 && t_25^0==t_25^post_56 && tail_15^0==tail_15^post_56 && temp0_21^0==temp0_21^post_56 && temp0_30^0==temp0_30^post_56 && temp_34^0==temp_34^post_56 && temp_35^0==temp_35^post_56 && tmp_33^0==tmp_33^post_56 && x_24^0==x_24^post_56 && x_SLAM_f_22^0==x_SLAM_f_22^post_56 && y_23^0==y_23^post_56 ], cost: 1 56: l37 -> l1 : a_153^0'=a_153^post_57, a_178^0'=a_178^post_57, a_208^0'=a_208^post_57, f_198^0'=f_198^post_57, head_16^0'=head_16^post_57, head_31^0'=head_31^post_57, head_SLAM_f_28^0'=head_SLAM_f_28^post_57, i_110^0'=i_110^post_57, i_120^0'=i_120^post_57, i_29^0'=i_29^post_57, length_27^0'=length_27^post_57, lt_17^0'=lt_17^post_57, lt_20^0'=lt_20^post_57, nondet_12^0'=nondet_12^post_57, r_164^0'=r_164^post_57, r_197^0'=r_197^post_57, r_39^0'=r_39^post_57, rcd_104^0'=rcd_104^post_57, rcd_112^0'=rcd_112^post_57, rcd_179^0'=rcd_179^post_57, rcd_185^0'=rcd_185^post_57, rcd_190^0'=rcd_190^post_57, rcd_207^0'=rcd_207^post_57, rcd_43^0'=rcd_43^post_57, rcd_69^0'=rcd_69^post_57, result_11^0'=result_11^post_57, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_57, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_57, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_57, t_25^0'=t_25^post_57, tail_15^0'=tail_15^post_57, temp0_21^0'=temp0_21^post_57, temp0_30^0'=temp0_30^post_57, temp_34^0'=temp_34^post_57, temp_35^0'=temp_35^post_57, tmp_33^0'=tmp_33^post_57, x_24^0'=x_24^post_57, x_SLAM_f_22^0'=x_SLAM_f_22^post_57, y_23^0'=y_23^post_57, [ y_23^0<=x_24^0 && x_24^0<=y_23^0 && x_SLAM_f_22^post_57==x_SLAM_f_22^post_57 && y_23^post_57==y_23^post_57 && x_24^post_57==x_24^post_57 && t_25^post_57==t_25^post_57 && lt_20^post_57==lt_20^post_57 && head_16^post_57==head_16^post_57 && result_11^post_57==temp0_21^0 && a_153^0==a_153^post_57 && a_178^0==a_178^post_57 && a_208^0==a_208^post_57 && f_198^0==f_198^post_57 && head_31^0==head_31^post_57 && head_SLAM_f_28^0==head_SLAM_f_28^post_57 && i_110^0==i_110^post_57 && i_120^0==i_120^post_57 && i_29^0==i_29^post_57 && length_27^0==length_27^post_57 && lt_17^0==lt_17^post_57 && nondet_12^0==nondet_12^post_57 && r_164^0==r_164^post_57 && r_197^0==r_197^post_57 && r_39^0==r_39^post_57 && rcd_104^0==rcd_104^post_57 && rcd_112^0==rcd_112^post_57 && rcd_179^0==rcd_179^post_57 && rcd_185^0==rcd_185^post_57 && rcd_190^0==rcd_190^post_57 && rcd_207^0==rcd_207^post_57 && rcd_43^0==rcd_43^post_57 && rcd_69^0==rcd_69^post_57 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_57 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_57 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_57 && tail_15^0==tail_15^post_57 && temp0_21^0==temp0_21^post_57 && temp0_30^0==temp0_30^post_57 && temp_34^0==temp_34^post_57 && temp_35^0==temp_35^post_57 && tmp_33^0==tmp_33^post_57 ], cost: 1 57: l37 -> l38 : a_153^0'=a_153^post_58, a_178^0'=a_178^post_58, a_208^0'=a_208^post_58, f_198^0'=f_198^post_58, head_16^0'=head_16^post_58, head_31^0'=head_31^post_58, head_SLAM_f_28^0'=head_SLAM_f_28^post_58, i_110^0'=i_110^post_58, i_120^0'=i_120^post_58, i_29^0'=i_29^post_58, length_27^0'=length_27^post_58, lt_17^0'=lt_17^post_58, lt_20^0'=lt_20^post_58, nondet_12^0'=nondet_12^post_58, r_164^0'=r_164^post_58, r_197^0'=r_197^post_58, r_39^0'=r_39^post_58, rcd_104^0'=rcd_104^post_58, rcd_112^0'=rcd_112^post_58, rcd_179^0'=rcd_179^post_58, rcd_185^0'=rcd_185^post_58, rcd_190^0'=rcd_190^post_58, rcd_207^0'=rcd_207^post_58, rcd_43^0'=rcd_43^post_58, rcd_69^0'=rcd_69^post_58, result_11^0'=result_11^post_58, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_58, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_58, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_58, t_25^0'=t_25^post_58, tail_15^0'=tail_15^post_58, temp0_21^0'=temp0_21^post_58, temp0_30^0'=temp0_30^post_58, temp_34^0'=temp_34^post_58, temp_35^0'=temp_35^post_58, tmp_33^0'=tmp_33^post_58, x_24^0'=x_24^post_58, x_SLAM_f_22^0'=x_SLAM_f_22^post_58, y_23^0'=y_23^post_58, [ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_58==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_58 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_58==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_58 && tail_15^post_58==tail_15^post_58 && head_16^post_58==head_16^post_58 && lt_20^post_58==lt_20^post_58 && x_SLAM_f_22^post_58==x_SLAM_f_22^post_58 && a_153^0==a_153^post_58 && a_178^0==a_178^post_58 && a_208^0==a_208^post_58 && f_198^0==f_198^post_58 && head_31^0==head_31^post_58 && head_SLAM_f_28^0==head_SLAM_f_28^post_58 && i_110^0==i_110^post_58 && i_120^0==i_120^post_58 && i_29^0==i_29^post_58 && length_27^0==length_27^post_58 && lt_17^0==lt_17^post_58 && nondet_12^0==nondet_12^post_58 && r_164^0==r_164^post_58 && r_197^0==r_197^post_58 && r_39^0==r_39^post_58 && rcd_104^0==rcd_104^post_58 && rcd_112^0==rcd_112^post_58 && rcd_179^0==rcd_179^post_58 && rcd_185^0==rcd_185^post_58 && rcd_190^0==rcd_190^post_58 && rcd_207^0==rcd_207^post_58 && rcd_43^0==rcd_43^post_58 && rcd_69^0==rcd_69^post_58 && result_11^0==result_11^post_58 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_58 && t_25^0==t_25^post_58 && temp0_21^0==temp0_21^post_58 && temp0_30^0==temp0_30^post_58 && temp_34^0==temp_34^post_58 && temp_35^0==temp_35^post_58 && tmp_33^0==tmp_33^post_58 && x_24^0==x_24^post_58 && y_23^0==y_23^post_58 ], cost: 1 58: l38 -> l39 : a_153^0'=a_153^post_59, a_178^0'=a_178^post_59, a_208^0'=a_208^post_59, f_198^0'=f_198^post_59, head_16^0'=head_16^post_59, head_31^0'=head_31^post_59, head_SLAM_f_28^0'=head_SLAM_f_28^post_59, i_110^0'=i_110^post_59, i_120^0'=i_120^post_59, i_29^0'=i_29^post_59, length_27^0'=length_27^post_59, lt_17^0'=lt_17^post_59, lt_20^0'=lt_20^post_59, nondet_12^0'=nondet_12^post_59, r_164^0'=r_164^post_59, r_197^0'=r_197^post_59, r_39^0'=r_39^post_59, rcd_104^0'=rcd_104^post_59, rcd_112^0'=rcd_112^post_59, rcd_179^0'=rcd_179^post_59, rcd_185^0'=rcd_185^post_59, rcd_190^0'=rcd_190^post_59, rcd_207^0'=rcd_207^post_59, rcd_43^0'=rcd_43^post_59, rcd_69^0'=rcd_69^post_59, result_11^0'=result_11^post_59, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_59, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_59, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_59, t_25^0'=t_25^post_59, tail_15^0'=tail_15^post_59, temp0_21^0'=temp0_21^post_59, temp0_30^0'=temp0_30^post_59, temp_34^0'=temp_34^post_59, temp_35^0'=temp_35^post_59, tmp_33^0'=tmp_33^post_59, x_24^0'=x_24^post_59, x_SLAM_f_22^0'=x_SLAM_f_22^post_59, y_23^0'=y_23^post_59, [ 1+y_23^0<=x_24^0 && a_153^0==a_153^post_59 && a_178^0==a_178^post_59 && a_208^0==a_208^post_59 && f_198^0==f_198^post_59 && head_16^0==head_16^post_59 && head_31^0==head_31^post_59 && head_SLAM_f_28^0==head_SLAM_f_28^post_59 && i_110^0==i_110^post_59 && i_120^0==i_120^post_59 && i_29^0==i_29^post_59 && length_27^0==length_27^post_59 && lt_17^0==lt_17^post_59 && lt_20^0==lt_20^post_59 && nondet_12^0==nondet_12^post_59 && r_164^0==r_164^post_59 && r_197^0==r_197^post_59 && r_39^0==r_39^post_59 && rcd_104^0==rcd_104^post_59 && rcd_112^0==rcd_112^post_59 && rcd_179^0==rcd_179^post_59 && rcd_185^0==rcd_185^post_59 && rcd_190^0==rcd_190^post_59 && rcd_207^0==rcd_207^post_59 && rcd_43^0==rcd_43^post_59 && rcd_69^0==rcd_69^post_59 && result_11^0==result_11^post_59 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_59 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_59 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_59 && t_25^0==t_25^post_59 && tail_15^0==tail_15^post_59 && temp0_21^0==temp0_21^post_59 && temp0_30^0==temp0_30^post_59 && temp_34^0==temp_34^post_59 && temp_35^0==temp_35^post_59 && tmp_33^0==tmp_33^post_59 && x_24^0==x_24^post_59 && x_SLAM_f_22^0==x_SLAM_f_22^post_59 && y_23^0==y_23^post_59 ], cost: 1 59: l38 -> l39 : a_153^0'=a_153^post_60, a_178^0'=a_178^post_60, a_208^0'=a_208^post_60, f_198^0'=f_198^post_60, head_16^0'=head_16^post_60, head_31^0'=head_31^post_60, head_SLAM_f_28^0'=head_SLAM_f_28^post_60, i_110^0'=i_110^post_60, i_120^0'=i_120^post_60, i_29^0'=i_29^post_60, length_27^0'=length_27^post_60, lt_17^0'=lt_17^post_60, lt_20^0'=lt_20^post_60, nondet_12^0'=nondet_12^post_60, r_164^0'=r_164^post_60, r_197^0'=r_197^post_60, r_39^0'=r_39^post_60, rcd_104^0'=rcd_104^post_60, rcd_112^0'=rcd_112^post_60, rcd_179^0'=rcd_179^post_60, rcd_185^0'=rcd_185^post_60, rcd_190^0'=rcd_190^post_60, rcd_207^0'=rcd_207^post_60, rcd_43^0'=rcd_43^post_60, rcd_69^0'=rcd_69^post_60, result_11^0'=result_11^post_60, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_60, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_60, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_60, t_25^0'=t_25^post_60, tail_15^0'=tail_15^post_60, temp0_21^0'=temp0_21^post_60, temp0_30^0'=temp0_30^post_60, temp_34^0'=temp_34^post_60, temp_35^0'=temp_35^post_60, tmp_33^0'=tmp_33^post_60, x_24^0'=x_24^post_60, x_SLAM_f_22^0'=x_SLAM_f_22^post_60, y_23^0'=y_23^post_60, [ 1+x_24^0<=y_23^0 && a_153^0==a_153^post_60 && a_178^0==a_178^post_60 && a_208^0==a_208^post_60 && f_198^0==f_198^post_60 && head_16^0==head_16^post_60 && head_31^0==head_31^post_60 && head_SLAM_f_28^0==head_SLAM_f_28^post_60 && i_110^0==i_110^post_60 && i_120^0==i_120^post_60 && i_29^0==i_29^post_60 && length_27^0==length_27^post_60 && lt_17^0==lt_17^post_60 && lt_20^0==lt_20^post_60 && nondet_12^0==nondet_12^post_60 && r_164^0==r_164^post_60 && r_197^0==r_197^post_60 && r_39^0==r_39^post_60 && rcd_104^0==rcd_104^post_60 && rcd_112^0==rcd_112^post_60 && rcd_179^0==rcd_179^post_60 && rcd_185^0==rcd_185^post_60 && rcd_190^0==rcd_190^post_60 && rcd_207^0==rcd_207^post_60 && rcd_43^0==rcd_43^post_60 && rcd_69^0==rcd_69^post_60 && result_11^0==result_11^post_60 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_60 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_60 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_60 && t_25^0==t_25^post_60 && tail_15^0==tail_15^post_60 && temp0_21^0==temp0_21^post_60 && temp0_30^0==temp0_30^post_60 && temp_34^0==temp_34^post_60 && temp_35^0==temp_35^post_60 && tmp_33^0==tmp_33^post_60 && x_24^0==x_24^post_60 && x_SLAM_f_22^0==x_SLAM_f_22^post_60 && y_23^0==y_23^post_60 ], cost: 1 60: l39 -> l40 : a_153^0'=a_153^post_61, a_178^0'=a_178^post_61, a_208^0'=a_208^post_61, f_198^0'=f_198^post_61, head_16^0'=head_16^post_61, head_31^0'=head_31^post_61, head_SLAM_f_28^0'=head_SLAM_f_28^post_61, i_110^0'=i_110^post_61, i_120^0'=i_120^post_61, i_29^0'=i_29^post_61, length_27^0'=length_27^post_61, lt_17^0'=lt_17^post_61, lt_20^0'=lt_20^post_61, nondet_12^0'=nondet_12^post_61, r_164^0'=r_164^post_61, r_197^0'=r_197^post_61, r_39^0'=r_39^post_61, rcd_104^0'=rcd_104^post_61, rcd_112^0'=rcd_112^post_61, rcd_179^0'=rcd_179^post_61, rcd_185^0'=rcd_185^post_61, rcd_190^0'=rcd_190^post_61, rcd_207^0'=rcd_207^post_61, rcd_43^0'=rcd_43^post_61, rcd_69^0'=rcd_69^post_61, result_11^0'=result_11^post_61, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_61, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_61, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_61, t_25^0'=t_25^post_61, tail_15^0'=tail_15^post_61, temp0_21^0'=temp0_21^post_61, temp0_30^0'=temp0_30^post_61, temp_34^0'=temp_34^post_61, temp_35^0'=temp_35^post_61, tmp_33^0'=tmp_33^post_61, x_24^0'=x_24^post_61, x_SLAM_f_22^0'=x_SLAM_f_22^post_61, y_23^0'=y_23^post_61, [ t_25^post_61==x_24^0 && 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<=t_25^post_61 && t_25^post_61<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 && head_16^0<=x_SLAM_f_22^0 && x_SLAM_f_22^0<=head_16^0 && lt_20^0<=y_23^0 && y_23^0<=lt_20^0 && lt_20^0<=x_24^0 && x_24^0<=lt_20^0 && a_153^0==a_153^post_61 && a_178^0==a_178^post_61 && a_208^0==a_208^post_61 && f_198^0==f_198^post_61 && head_16^0==head_16^post_61 && head_31^0==head_31^post_61 && head_SLAM_f_28^0==head_SLAM_f_28^post_61 && i_110^0==i_110^post_61 && i_120^0==i_120^post_61 && i_29^0==i_29^post_61 && length_27^0==length_27^post_61 && lt_17^0==lt_17^post_61 && lt_20^0==lt_20^post_61 && nondet_12^0==nondet_12^post_61 && r_164^0==r_164^post_61 && r_197^0==r_197^post_61 && r_39^0==r_39^post_61 && rcd_104^0==rcd_104^post_61 && rcd_112^0==rcd_112^post_61 && rcd_179^0==rcd_179^post_61 && rcd_185^0==rcd_185^post_61 && rcd_190^0==rcd_190^post_61 && rcd_207^0==rcd_207^post_61 && rcd_43^0==rcd_43^post_61 && rcd_69^0==rcd_69^post_61 && result_11^0==result_11^post_61 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_61 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_61 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_61 && tail_15^0==tail_15^post_61 && temp0_21^0==temp0_21^post_61 && temp0_30^0==temp0_30^post_61 && temp_34^0==temp_34^post_61 && temp_35^0==temp_35^post_61 && tmp_33^0==tmp_33^post_61 && x_24^0==x_24^post_61 && x_SLAM_f_22^0==x_SLAM_f_22^post_61 && y_23^0==y_23^post_61 ], cost: 1 61: l40 -> l41 : a_153^0'=a_153^post_62, a_178^0'=a_178^post_62, a_208^0'=a_208^post_62, f_198^0'=f_198^post_62, head_16^0'=head_16^post_62, head_31^0'=head_31^post_62, head_SLAM_f_28^0'=head_SLAM_f_28^post_62, i_110^0'=i_110^post_62, i_120^0'=i_120^post_62, i_29^0'=i_29^post_62, length_27^0'=length_27^post_62, lt_17^0'=lt_17^post_62, lt_20^0'=lt_20^post_62, nondet_12^0'=nondet_12^post_62, r_164^0'=r_164^post_62, r_197^0'=r_197^post_62, r_39^0'=r_39^post_62, rcd_104^0'=rcd_104^post_62, rcd_112^0'=rcd_112^post_62, rcd_179^0'=rcd_179^post_62, rcd_185^0'=rcd_185^post_62, rcd_190^0'=rcd_190^post_62, rcd_207^0'=rcd_207^post_62, rcd_43^0'=rcd_43^post_62, rcd_69^0'=rcd_69^post_62, result_11^0'=result_11^post_62, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_62, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_62, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_62, t_25^0'=t_25^post_62, tail_15^0'=tail_15^post_62, temp0_21^0'=temp0_21^post_62, temp0_30^0'=temp0_30^post_62, temp_34^0'=temp_34^post_62, temp_35^0'=temp_35^post_62, tmp_33^0'=tmp_33^post_62, x_24^0'=x_24^post_62, x_SLAM_f_22^0'=x_SLAM_f_22^post_62, y_23^0'=y_23^post_62, [ 1+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0<=y_23^0 && a_153^0==a_153^post_62 && a_178^0==a_178^post_62 && a_208^0==a_208^post_62 && f_198^0==f_198^post_62 && head_16^0==head_16^post_62 && head_31^0==head_31^post_62 && head_SLAM_f_28^0==head_SLAM_f_28^post_62 && i_110^0==i_110^post_62 && i_120^0==i_120^post_62 && i_29^0==i_29^post_62 && length_27^0==length_27^post_62 && lt_17^0==lt_17^post_62 && lt_20^0==lt_20^post_62 && nondet_12^0==nondet_12^post_62 && r_164^0==r_164^post_62 && r_197^0==r_197^post_62 && r_39^0==r_39^post_62 && rcd_104^0==rcd_104^post_62 && rcd_112^0==rcd_112^post_62 && rcd_179^0==rcd_179^post_62 && rcd_185^0==rcd_185^post_62 && rcd_190^0==rcd_190^post_62 && rcd_207^0==rcd_207^post_62 && rcd_43^0==rcd_43^post_62 && rcd_69^0==rcd_69^post_62 && result_11^0==result_11^post_62 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_62 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_62 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_62 && t_25^0==t_25^post_62 && tail_15^0==tail_15^post_62 && temp0_21^0==temp0_21^post_62 && temp0_30^0==temp0_30^post_62 && temp_34^0==temp_34^post_62 && temp_35^0==temp_35^post_62 && tmp_33^0==tmp_33^post_62 && x_24^0==x_24^post_62 && x_SLAM_f_22^0==x_SLAM_f_22^post_62 && y_23^0==y_23^post_62 ], cost: 1 62: l40 -> l41 : a_153^0'=a_153^post_63, a_178^0'=a_178^post_63, a_208^0'=a_208^post_63, f_198^0'=f_198^post_63, head_16^0'=head_16^post_63, head_31^0'=head_31^post_63, head_SLAM_f_28^0'=head_SLAM_f_28^post_63, i_110^0'=i_110^post_63, i_120^0'=i_120^post_63, i_29^0'=i_29^post_63, length_27^0'=length_27^post_63, lt_17^0'=lt_17^post_63, lt_20^0'=lt_20^post_63, nondet_12^0'=nondet_12^post_63, r_164^0'=r_164^post_63, r_197^0'=r_197^post_63, r_39^0'=r_39^post_63, rcd_104^0'=rcd_104^post_63, rcd_112^0'=rcd_112^post_63, rcd_179^0'=rcd_179^post_63, rcd_185^0'=rcd_185^post_63, rcd_190^0'=rcd_190^post_63, rcd_207^0'=rcd_207^post_63, rcd_43^0'=rcd_43^post_63, rcd_69^0'=rcd_69^post_63, result_11^0'=result_11^post_63, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_63, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_63, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_63, t_25^0'=t_25^post_63, tail_15^0'=tail_15^post_63, temp0_21^0'=temp0_21^post_63, temp0_30^0'=temp0_30^post_63, temp_34^0'=temp_34^post_63, temp_35^0'=temp_35^post_63, tmp_33^0'=tmp_33^post_63, x_24^0'=x_24^post_63, x_SLAM_f_22^0'=x_SLAM_f_22^post_63, y_23^0'=y_23^post_63, [ 1+y_23^0<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 && a_153^0==a_153^post_63 && a_178^0==a_178^post_63 && a_208^0==a_208^post_63 && f_198^0==f_198^post_63 && head_16^0==head_16^post_63 && head_31^0==head_31^post_63 && head_SLAM_f_28^0==head_SLAM_f_28^post_63 && i_110^0==i_110^post_63 && i_120^0==i_120^post_63 && i_29^0==i_29^post_63 && length_27^0==length_27^post_63 && lt_17^0==lt_17^post_63 && lt_20^0==lt_20^post_63 && nondet_12^0==nondet_12^post_63 && r_164^0==r_164^post_63 && r_197^0==r_197^post_63 && r_39^0==r_39^post_63 && rcd_104^0==rcd_104^post_63 && rcd_112^0==rcd_112^post_63 && rcd_179^0==rcd_179^post_63 && rcd_185^0==rcd_185^post_63 && rcd_190^0==rcd_190^post_63 && rcd_207^0==rcd_207^post_63 && rcd_43^0==rcd_43^post_63 && rcd_69^0==rcd_69^post_63 && result_11^0==result_11^post_63 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_63 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_63 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_63 && t_25^0==t_25^post_63 && tail_15^0==tail_15^post_63 && temp0_21^0==temp0_21^post_63 && temp0_30^0==temp0_30^post_63 && temp_34^0==temp_34^post_63 && temp_35^0==temp_35^post_63 && tmp_33^0==tmp_33^post_63 && x_24^0==x_24^post_63 && x_SLAM_f_22^0==x_SLAM_f_22^post_63 && y_23^0==y_23^post_63 ], cost: 1 63: l41 -> l42 : a_153^0'=a_153^post_64, a_178^0'=a_178^post_64, a_208^0'=a_208^post_64, f_198^0'=f_198^post_64, head_16^0'=head_16^post_64, head_31^0'=head_31^post_64, head_SLAM_f_28^0'=head_SLAM_f_28^post_64, i_110^0'=i_110^post_64, i_120^0'=i_120^post_64, i_29^0'=i_29^post_64, length_27^0'=length_27^post_64, lt_17^0'=lt_17^post_64, lt_20^0'=lt_20^post_64, nondet_12^0'=nondet_12^post_64, r_164^0'=r_164^post_64, r_197^0'=r_197^post_64, r_39^0'=r_39^post_64, rcd_104^0'=rcd_104^post_64, rcd_112^0'=rcd_112^post_64, rcd_179^0'=rcd_179^post_64, rcd_185^0'=rcd_185^post_64, rcd_190^0'=rcd_190^post_64, rcd_207^0'=rcd_207^post_64, rcd_43^0'=rcd_43^post_64, rcd_69^0'=rcd_69^post_64, result_11^0'=result_11^post_64, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_64, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_64, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_64, t_25^0'=t_25^post_64, tail_15^0'=tail_15^post_64, temp0_21^0'=temp0_21^post_64, temp0_30^0'=temp0_30^post_64, temp_34^0'=temp_34^post_64, temp_35^0'=temp_35^post_64, tmp_33^0'=tmp_33^post_64, x_24^0'=x_24^post_64, x_SLAM_f_22^0'=x_SLAM_f_22^post_64, y_23^0'=y_23^post_64, [ 1+head_16^0<=lt_20^0 && a_153^0==a_153^post_64 && a_178^0==a_178^post_64 && a_208^0==a_208^post_64 && f_198^0==f_198^post_64 && head_16^0==head_16^post_64 && head_31^0==head_31^post_64 && head_SLAM_f_28^0==head_SLAM_f_28^post_64 && i_110^0==i_110^post_64 && i_120^0==i_120^post_64 && i_29^0==i_29^post_64 && length_27^0==length_27^post_64 && lt_17^0==lt_17^post_64 && lt_20^0==lt_20^post_64 && nondet_12^0==nondet_12^post_64 && r_164^0==r_164^post_64 && r_197^0==r_197^post_64 && r_39^0==r_39^post_64 && rcd_104^0==rcd_104^post_64 && rcd_112^0==rcd_112^post_64 && rcd_179^0==rcd_179^post_64 && rcd_185^0==rcd_185^post_64 && rcd_190^0==rcd_190^post_64 && rcd_207^0==rcd_207^post_64 && rcd_43^0==rcd_43^post_64 && rcd_69^0==rcd_69^post_64 && result_11^0==result_11^post_64 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_64 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_64 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_64 && t_25^0==t_25^post_64 && tail_15^0==tail_15^post_64 && temp0_21^0==temp0_21^post_64 && temp0_30^0==temp0_30^post_64 && temp_34^0==temp_34^post_64 && temp_35^0==temp_35^post_64 && tmp_33^0==tmp_33^post_64 && x_24^0==x_24^post_64 && x_SLAM_f_22^0==x_SLAM_f_22^post_64 && y_23^0==y_23^post_64 ], cost: 1 64: l41 -> l42 : a_153^0'=a_153^post_65, a_178^0'=a_178^post_65, a_208^0'=a_208^post_65, f_198^0'=f_198^post_65, head_16^0'=head_16^post_65, head_31^0'=head_31^post_65, head_SLAM_f_28^0'=head_SLAM_f_28^post_65, i_110^0'=i_110^post_65, i_120^0'=i_120^post_65, i_29^0'=i_29^post_65, length_27^0'=length_27^post_65, lt_17^0'=lt_17^post_65, lt_20^0'=lt_20^post_65, nondet_12^0'=nondet_12^post_65, r_164^0'=r_164^post_65, r_197^0'=r_197^post_65, r_39^0'=r_39^post_65, rcd_104^0'=rcd_104^post_65, rcd_112^0'=rcd_112^post_65, rcd_179^0'=rcd_179^post_65, rcd_185^0'=rcd_185^post_65, rcd_190^0'=rcd_190^post_65, rcd_207^0'=rcd_207^post_65, rcd_43^0'=rcd_43^post_65, rcd_69^0'=rcd_69^post_65, result_11^0'=result_11^post_65, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_65, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_65, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_65, t_25^0'=t_25^post_65, tail_15^0'=tail_15^post_65, temp0_21^0'=temp0_21^post_65, temp0_30^0'=temp0_30^post_65, temp_34^0'=temp_34^post_65, temp_35^0'=temp_35^post_65, tmp_33^0'=tmp_33^post_65, x_24^0'=x_24^post_65, x_SLAM_f_22^0'=x_SLAM_f_22^post_65, y_23^0'=y_23^post_65, [ 1+lt_20^0<=head_16^0 && a_153^0==a_153^post_65 && a_178^0==a_178^post_65 && a_208^0==a_208^post_65 && f_198^0==f_198^post_65 && head_16^0==head_16^post_65 && head_31^0==head_31^post_65 && head_SLAM_f_28^0==head_SLAM_f_28^post_65 && i_110^0==i_110^post_65 && i_120^0==i_120^post_65 && i_29^0==i_29^post_65 && length_27^0==length_27^post_65 && lt_17^0==lt_17^post_65 && lt_20^0==lt_20^post_65 && nondet_12^0==nondet_12^post_65 && r_164^0==r_164^post_65 && r_197^0==r_197^post_65 && r_39^0==r_39^post_65 && rcd_104^0==rcd_104^post_65 && rcd_112^0==rcd_112^post_65 && rcd_179^0==rcd_179^post_65 && rcd_185^0==rcd_185^post_65 && rcd_190^0==rcd_190^post_65 && rcd_207^0==rcd_207^post_65 && rcd_43^0==rcd_43^post_65 && rcd_69^0==rcd_69^post_65 && result_11^0==result_11^post_65 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_65 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_65 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_65 && t_25^0==t_25^post_65 && tail_15^0==tail_15^post_65 && temp0_21^0==temp0_21^post_65 && temp0_30^0==temp0_30^post_65 && temp_34^0==temp_34^post_65 && temp_35^0==temp_35^post_65 && tmp_33^0==tmp_33^post_65 && x_24^0==x_24^post_65 && x_SLAM_f_22^0==x_SLAM_f_22^post_65 && y_23^0==y_23^post_65 ], cost: 1 65: l42 -> l43 : a_153^0'=a_153^post_66, a_178^0'=a_178^post_66, a_208^0'=a_208^post_66, f_198^0'=f_198^post_66, head_16^0'=head_16^post_66, head_31^0'=head_31^post_66, head_SLAM_f_28^0'=head_SLAM_f_28^post_66, i_110^0'=i_110^post_66, i_120^0'=i_120^post_66, i_29^0'=i_29^post_66, length_27^0'=length_27^post_66, lt_17^0'=lt_17^post_66, lt_20^0'=lt_20^post_66, nondet_12^0'=nondet_12^post_66, r_164^0'=r_164^post_66, r_197^0'=r_197^post_66, r_39^0'=r_39^post_66, rcd_104^0'=rcd_104^post_66, rcd_112^0'=rcd_112^post_66, rcd_179^0'=rcd_179^post_66, rcd_185^0'=rcd_185^post_66, rcd_190^0'=rcd_190^post_66, rcd_207^0'=rcd_207^post_66, rcd_43^0'=rcd_43^post_66, rcd_69^0'=rcd_69^post_66, result_11^0'=result_11^post_66, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_66, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_66, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_66, t_25^0'=t_25^post_66, tail_15^0'=tail_15^post_66, temp0_21^0'=temp0_21^post_66, temp0_30^0'=temp0_30^post_66, temp_34^0'=temp_34^post_66, temp_35^0'=temp_35^post_66, tmp_33^0'=tmp_33^post_66, x_24^0'=x_24^post_66, x_SLAM_f_22^0'=x_SLAM_f_22^post_66, y_23^0'=y_23^post_66, [ 1+head_16^0<=y_23^0 && a_153^0==a_153^post_66 && a_178^0==a_178^post_66 && a_208^0==a_208^post_66 && f_198^0==f_198^post_66 && head_16^0==head_16^post_66 && head_31^0==head_31^post_66 && head_SLAM_f_28^0==head_SLAM_f_28^post_66 && i_110^0==i_110^post_66 && i_120^0==i_120^post_66 && i_29^0==i_29^post_66 && length_27^0==length_27^post_66 && lt_17^0==lt_17^post_66 && lt_20^0==lt_20^post_66 && nondet_12^0==nondet_12^post_66 && r_164^0==r_164^post_66 && r_197^0==r_197^post_66 && r_39^0==r_39^post_66 && rcd_104^0==rcd_104^post_66 && rcd_112^0==rcd_112^post_66 && rcd_179^0==rcd_179^post_66 && rcd_185^0==rcd_185^post_66 && rcd_190^0==rcd_190^post_66 && rcd_207^0==rcd_207^post_66 && rcd_43^0==rcd_43^post_66 && rcd_69^0==rcd_69^post_66 && result_11^0==result_11^post_66 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_66 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_66 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_66 && t_25^0==t_25^post_66 && tail_15^0==tail_15^post_66 && temp0_21^0==temp0_21^post_66 && temp0_30^0==temp0_30^post_66 && temp_34^0==temp_34^post_66 && temp_35^0==temp_35^post_66 && tmp_33^0==tmp_33^post_66 && x_24^0==x_24^post_66 && x_SLAM_f_22^0==x_SLAM_f_22^post_66 && y_23^0==y_23^post_66 ], cost: 1 66: l42 -> l43 : a_153^0'=a_153^post_67, a_178^0'=a_178^post_67, a_208^0'=a_208^post_67, f_198^0'=f_198^post_67, head_16^0'=head_16^post_67, head_31^0'=head_31^post_67, head_SLAM_f_28^0'=head_SLAM_f_28^post_67, i_110^0'=i_110^post_67, i_120^0'=i_120^post_67, i_29^0'=i_29^post_67, length_27^0'=length_27^post_67, lt_17^0'=lt_17^post_67, lt_20^0'=lt_20^post_67, nondet_12^0'=nondet_12^post_67, r_164^0'=r_164^post_67, r_197^0'=r_197^post_67, r_39^0'=r_39^post_67, rcd_104^0'=rcd_104^post_67, rcd_112^0'=rcd_112^post_67, rcd_179^0'=rcd_179^post_67, rcd_185^0'=rcd_185^post_67, rcd_190^0'=rcd_190^post_67, rcd_207^0'=rcd_207^post_67, rcd_43^0'=rcd_43^post_67, rcd_69^0'=rcd_69^post_67, result_11^0'=result_11^post_67, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_67, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_67, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_67, t_25^0'=t_25^post_67, tail_15^0'=tail_15^post_67, temp0_21^0'=temp0_21^post_67, temp0_30^0'=temp0_30^post_67, temp_34^0'=temp_34^post_67, temp_35^0'=temp_35^post_67, tmp_33^0'=tmp_33^post_67, x_24^0'=x_24^post_67, x_SLAM_f_22^0'=x_SLAM_f_22^post_67, y_23^0'=y_23^post_67, [ 1+y_23^0<=head_16^0 && a_153^0==a_153^post_67 && a_178^0==a_178^post_67 && a_208^0==a_208^post_67 && f_198^0==f_198^post_67 && head_16^0==head_16^post_67 && head_31^0==head_31^post_67 && head_SLAM_f_28^0==head_SLAM_f_28^post_67 && i_110^0==i_110^post_67 && i_120^0==i_120^post_67 && i_29^0==i_29^post_67 && length_27^0==length_27^post_67 && lt_17^0==lt_17^post_67 && lt_20^0==lt_20^post_67 && nondet_12^0==nondet_12^post_67 && r_164^0==r_164^post_67 && r_197^0==r_197^post_67 && r_39^0==r_39^post_67 && rcd_104^0==rcd_104^post_67 && rcd_112^0==rcd_112^post_67 && rcd_179^0==rcd_179^post_67 && rcd_185^0==rcd_185^post_67 && rcd_190^0==rcd_190^post_67 && rcd_207^0==rcd_207^post_67 && rcd_43^0==rcd_43^post_67 && rcd_69^0==rcd_69^post_67 && result_11^0==result_11^post_67 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_67 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_67 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_67 && t_25^0==t_25^post_67 && tail_15^0==tail_15^post_67 && temp0_21^0==temp0_21^post_67 && temp0_30^0==temp0_30^post_67 && temp_34^0==temp_34^post_67 && temp_35^0==temp_35^post_67 && tmp_33^0==tmp_33^post_67 && x_24^0==x_24^post_67 && x_SLAM_f_22^0==x_SLAM_f_22^post_67 && y_23^0==y_23^post_67 ], cost: 1 67: l43 -> l44 : a_153^0'=a_153^post_68, a_178^0'=a_178^post_68, a_208^0'=a_208^post_68, f_198^0'=f_198^post_68, head_16^0'=head_16^post_68, head_31^0'=head_31^post_68, head_SLAM_f_28^0'=head_SLAM_f_28^post_68, i_110^0'=i_110^post_68, i_120^0'=i_120^post_68, i_29^0'=i_29^post_68, length_27^0'=length_27^post_68, lt_17^0'=lt_17^post_68, lt_20^0'=lt_20^post_68, nondet_12^0'=nondet_12^post_68, r_164^0'=r_164^post_68, r_197^0'=r_197^post_68, r_39^0'=r_39^post_68, rcd_104^0'=rcd_104^post_68, rcd_112^0'=rcd_112^post_68, rcd_179^0'=rcd_179^post_68, rcd_185^0'=rcd_185^post_68, rcd_190^0'=rcd_190^post_68, rcd_207^0'=rcd_207^post_68, rcd_43^0'=rcd_43^post_68, rcd_69^0'=rcd_69^post_68, result_11^0'=result_11^post_68, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_68, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_68, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_68, t_25^0'=t_25^post_68, tail_15^0'=tail_15^post_68, temp0_21^0'=temp0_21^post_68, temp0_30^0'=temp0_30^post_68, temp_34^0'=temp_34^post_68, temp_35^0'=temp_35^post_68, tmp_33^0'=tmp_33^post_68, x_24^0'=x_24^post_68, x_SLAM_f_22^0'=x_SLAM_f_22^post_68, y_23^0'=y_23^post_68, [ 1<=result_dot_nondet_sdv_special_RETURN_VALUE_14^0 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0<=1 && y_23^0<=x_24^0 && x_24^0<=y_23^0 && x_SLAM_f_22^post_68==x_SLAM_f_22^post_68 && y_23^post_68==y_23^post_68 && x_24^post_68==x_24^post_68 && t_25^post_68==t_25^post_68 && lt_20^post_68==lt_20^post_68 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_68==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_68 && head_16^post_68==head_16^post_68 && result_11^post_68==temp0_21^0 && a_153^0==a_153^post_68 && a_178^0==a_178^post_68 && a_208^0==a_208^post_68 && f_198^0==f_198^post_68 && head_31^0==head_31^post_68 && head_SLAM_f_28^0==head_SLAM_f_28^post_68 && i_110^0==i_110^post_68 && i_120^0==i_120^post_68 && i_29^0==i_29^post_68 && length_27^0==length_27^post_68 && lt_17^0==lt_17^post_68 && nondet_12^0==nondet_12^post_68 && r_164^0==r_164^post_68 && r_197^0==r_197^post_68 && r_39^0==r_39^post_68 && rcd_104^0==rcd_104^post_68 && rcd_112^0==rcd_112^post_68 && rcd_179^0==rcd_179^post_68 && rcd_185^0==rcd_185^post_68 && rcd_190^0==rcd_190^post_68 && rcd_207^0==rcd_207^post_68 && rcd_43^0==rcd_43^post_68 && rcd_69^0==rcd_69^post_68 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_68 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_68 && tail_15^0==tail_15^post_68 && temp0_21^0==temp0_21^post_68 && temp0_30^0==temp0_30^post_68 && temp_34^0==temp_34^post_68 && temp_35^0==temp_35^post_68 && tmp_33^0==tmp_33^post_68 ], cost: 1 68: l44 -> l45 : a_153^0'=a_153^post_69, a_178^0'=a_178^post_69, a_208^0'=a_208^post_69, f_198^0'=f_198^post_69, head_16^0'=head_16^post_69, head_31^0'=head_31^post_69, head_SLAM_f_28^0'=head_SLAM_f_28^post_69, i_110^0'=i_110^post_69, i_120^0'=i_120^post_69, i_29^0'=i_29^post_69, length_27^0'=length_27^post_69, lt_17^0'=lt_17^post_69, lt_20^0'=lt_20^post_69, nondet_12^0'=nondet_12^post_69, r_164^0'=r_164^post_69, r_197^0'=r_197^post_69, r_39^0'=r_39^post_69, rcd_104^0'=rcd_104^post_69, rcd_112^0'=rcd_112^post_69, rcd_179^0'=rcd_179^post_69, rcd_185^0'=rcd_185^post_69, rcd_190^0'=rcd_190^post_69, rcd_207^0'=rcd_207^post_69, rcd_43^0'=rcd_43^post_69, rcd_69^0'=rcd_69^post_69, result_11^0'=result_11^post_69, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_69, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_69, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_69, t_25^0'=t_25^post_69, tail_15^0'=tail_15^post_69, temp0_21^0'=temp0_21^post_69, temp0_30^0'=temp0_30^post_69, temp_34^0'=temp_34^post_69, temp_35^0'=temp_35^post_69, tmp_33^0'=tmp_33^post_69, x_24^0'=x_24^post_69, x_SLAM_f_22^0'=x_SLAM_f_22^post_69, y_23^0'=y_23^post_69, [ 1+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0<=lt_20^0 && a_153^0==a_153^post_69 && a_178^0==a_178^post_69 && a_208^0==a_208^post_69 && f_198^0==f_198^post_69 && head_16^0==head_16^post_69 && head_31^0==head_31^post_69 && head_SLAM_f_28^0==head_SLAM_f_28^post_69 && i_110^0==i_110^post_69 && i_120^0==i_120^post_69 && i_29^0==i_29^post_69 && length_27^0==length_27^post_69 && lt_17^0==lt_17^post_69 && lt_20^0==lt_20^post_69 && nondet_12^0==nondet_12^post_69 && r_164^0==r_164^post_69 && r_197^0==r_197^post_69 && r_39^0==r_39^post_69 && rcd_104^0==rcd_104^post_69 && rcd_112^0==rcd_112^post_69 && rcd_179^0==rcd_179^post_69 && rcd_185^0==rcd_185^post_69 && rcd_190^0==rcd_190^post_69 && rcd_207^0==rcd_207^post_69 && rcd_43^0==rcd_43^post_69 && rcd_69^0==rcd_69^post_69 && result_11^0==result_11^post_69 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_69 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_69 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_69 && t_25^0==t_25^post_69 && tail_15^0==tail_15^post_69 && temp0_21^0==temp0_21^post_69 && temp0_30^0==temp0_30^post_69 && temp_34^0==temp_34^post_69 && temp_35^0==temp_35^post_69 && tmp_33^0==tmp_33^post_69 && x_24^0==x_24^post_69 && x_SLAM_f_22^0==x_SLAM_f_22^post_69 && y_23^0==y_23^post_69 ], cost: 1 69: l44 -> l45 : a_153^0'=a_153^post_70, a_178^0'=a_178^post_70, a_208^0'=a_208^post_70, f_198^0'=f_198^post_70, head_16^0'=head_16^post_70, head_31^0'=head_31^post_70, head_SLAM_f_28^0'=head_SLAM_f_28^post_70, i_110^0'=i_110^post_70, i_120^0'=i_120^post_70, i_29^0'=i_29^post_70, length_27^0'=length_27^post_70, lt_17^0'=lt_17^post_70, lt_20^0'=lt_20^post_70, nondet_12^0'=nondet_12^post_70, r_164^0'=r_164^post_70, r_197^0'=r_197^post_70, r_39^0'=r_39^post_70, rcd_104^0'=rcd_104^post_70, rcd_112^0'=rcd_112^post_70, rcd_179^0'=rcd_179^post_70, rcd_185^0'=rcd_185^post_70, rcd_190^0'=rcd_190^post_70, rcd_207^0'=rcd_207^post_70, rcd_43^0'=rcd_43^post_70, rcd_69^0'=rcd_69^post_70, result_11^0'=result_11^post_70, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_70, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_70, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_70, t_25^0'=t_25^post_70, tail_15^0'=tail_15^post_70, temp0_21^0'=temp0_21^post_70, temp0_30^0'=temp0_30^post_70, temp_34^0'=temp_34^post_70, temp_35^0'=temp_35^post_70, tmp_33^0'=tmp_33^post_70, x_24^0'=x_24^post_70, x_SLAM_f_22^0'=x_SLAM_f_22^post_70, y_23^0'=y_23^post_70, [ 1+lt_20^0<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 && a_153^0==a_153^post_70 && a_178^0==a_178^post_70 && a_208^0==a_208^post_70 && f_198^0==f_198^post_70 && head_16^0==head_16^post_70 && head_31^0==head_31^post_70 && head_SLAM_f_28^0==head_SLAM_f_28^post_70 && i_110^0==i_110^post_70 && i_120^0==i_120^post_70 && i_29^0==i_29^post_70 && length_27^0==length_27^post_70 && lt_17^0==lt_17^post_70 && lt_20^0==lt_20^post_70 && nondet_12^0==nondet_12^post_70 && r_164^0==r_164^post_70 && r_197^0==r_197^post_70 && r_39^0==r_39^post_70 && rcd_104^0==rcd_104^post_70 && rcd_112^0==rcd_112^post_70 && rcd_179^0==rcd_179^post_70 && rcd_185^0==rcd_185^post_70 && rcd_190^0==rcd_190^post_70 && rcd_207^0==rcd_207^post_70 && rcd_43^0==rcd_43^post_70 && rcd_69^0==rcd_69^post_70 && result_11^0==result_11^post_70 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_70 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_70 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_70 && t_25^0==t_25^post_70 && tail_15^0==tail_15^post_70 && temp0_21^0==temp0_21^post_70 && temp0_30^0==temp0_30^post_70 && temp_34^0==temp_34^post_70 && temp_35^0==temp_35^post_70 && tmp_33^0==tmp_33^post_70 && x_24^0==x_24^post_70 && x_SLAM_f_22^0==x_SLAM_f_22^post_70 && y_23^0==y_23^post_70 ], cost: 1 70: l45 -> l1 : a_153^0'=a_153^post_71, a_178^0'=a_178^post_71, a_208^0'=a_208^post_71, f_198^0'=f_198^post_71, head_16^0'=head_16^post_71, head_31^0'=head_31^post_71, head_SLAM_f_28^0'=head_SLAM_f_28^post_71, i_110^0'=i_110^post_71, i_120^0'=i_120^post_71, i_29^0'=i_29^post_71, length_27^0'=length_27^post_71, lt_17^0'=lt_17^post_71, lt_20^0'=lt_20^post_71, nondet_12^0'=nondet_12^post_71, r_164^0'=r_164^post_71, r_197^0'=r_197^post_71, r_39^0'=r_39^post_71, rcd_104^0'=rcd_104^post_71, rcd_112^0'=rcd_112^post_71, rcd_179^0'=rcd_179^post_71, rcd_185^0'=rcd_185^post_71, rcd_190^0'=rcd_190^post_71, rcd_207^0'=rcd_207^post_71, rcd_43^0'=rcd_43^post_71, rcd_69^0'=rcd_69^post_71, result_11^0'=result_11^post_71, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_71, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_71, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_71, t_25^0'=t_25^post_71, tail_15^0'=tail_15^post_71, temp0_21^0'=temp0_21^post_71, temp0_30^0'=temp0_30^post_71, temp_34^0'=temp_34^post_71, temp_35^0'=temp_35^post_71, tmp_33^0'=tmp_33^post_71, x_24^0'=x_24^post_71, x_SLAM_f_22^0'=x_SLAM_f_22^post_71, y_23^0'=y_23^post_71, [ 1+head_16^0<=lt_20^0 && a_153^0==a_153^post_71 && a_178^0==a_178^post_71 && a_208^0==a_208^post_71 && f_198^0==f_198^post_71 && head_16^0==head_16^post_71 && head_31^0==head_31^post_71 && head_SLAM_f_28^0==head_SLAM_f_28^post_71 && i_110^0==i_110^post_71 && i_120^0==i_120^post_71 && i_29^0==i_29^post_71 && length_27^0==length_27^post_71 && lt_17^0==lt_17^post_71 && lt_20^0==lt_20^post_71 && nondet_12^0==nondet_12^post_71 && r_164^0==r_164^post_71 && r_197^0==r_197^post_71 && r_39^0==r_39^post_71 && rcd_104^0==rcd_104^post_71 && rcd_112^0==rcd_112^post_71 && rcd_179^0==rcd_179^post_71 && rcd_185^0==rcd_185^post_71 && rcd_190^0==rcd_190^post_71 && rcd_207^0==rcd_207^post_71 && rcd_43^0==rcd_43^post_71 && rcd_69^0==rcd_69^post_71 && result_11^0==result_11^post_71 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_71 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_71 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_71 && t_25^0==t_25^post_71 && tail_15^0==tail_15^post_71 && temp0_21^0==temp0_21^post_71 && temp0_30^0==temp0_30^post_71 && temp_34^0==temp_34^post_71 && temp_35^0==temp_35^post_71 && tmp_33^0==tmp_33^post_71 && x_24^0==x_24^post_71 && x_SLAM_f_22^0==x_SLAM_f_22^post_71 && y_23^0==y_23^post_71 ], cost: 1 71: l45 -> l1 : a_153^0'=a_153^post_72, a_178^0'=a_178^post_72, a_208^0'=a_208^post_72, f_198^0'=f_198^post_72, head_16^0'=head_16^post_72, head_31^0'=head_31^post_72, head_SLAM_f_28^0'=head_SLAM_f_28^post_72, i_110^0'=i_110^post_72, i_120^0'=i_120^post_72, i_29^0'=i_29^post_72, length_27^0'=length_27^post_72, lt_17^0'=lt_17^post_72, lt_20^0'=lt_20^post_72, nondet_12^0'=nondet_12^post_72, r_164^0'=r_164^post_72, r_197^0'=r_197^post_72, r_39^0'=r_39^post_72, rcd_104^0'=rcd_104^post_72, rcd_112^0'=rcd_112^post_72, rcd_179^0'=rcd_179^post_72, rcd_185^0'=rcd_185^post_72, rcd_190^0'=rcd_190^post_72, rcd_207^0'=rcd_207^post_72, rcd_43^0'=rcd_43^post_72, rcd_69^0'=rcd_69^post_72, result_11^0'=result_11^post_72, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_72, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_72, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_72, t_25^0'=t_25^post_72, tail_15^0'=tail_15^post_72, temp0_21^0'=temp0_21^post_72, temp0_30^0'=temp0_30^post_72, temp_34^0'=temp_34^post_72, temp_35^0'=temp_35^post_72, tmp_33^0'=tmp_33^post_72, x_24^0'=x_24^post_72, x_SLAM_f_22^0'=x_SLAM_f_22^post_72, y_23^0'=y_23^post_72, [ 1+lt_20^0<=head_16^0 && a_153^0==a_153^post_72 && a_178^0==a_178^post_72 && a_208^0==a_208^post_72 && f_198^0==f_198^post_72 && head_16^0==head_16^post_72 && head_31^0==head_31^post_72 && head_SLAM_f_28^0==head_SLAM_f_28^post_72 && i_110^0==i_110^post_72 && i_120^0==i_120^post_72 && i_29^0==i_29^post_72 && length_27^0==length_27^post_72 && lt_17^0==lt_17^post_72 && lt_20^0==lt_20^post_72 && nondet_12^0==nondet_12^post_72 && r_164^0==r_164^post_72 && r_197^0==r_197^post_72 && r_39^0==r_39^post_72 && rcd_104^0==rcd_104^post_72 && rcd_112^0==rcd_112^post_72 && rcd_179^0==rcd_179^post_72 && rcd_185^0==rcd_185^post_72 && rcd_190^0==rcd_190^post_72 && rcd_207^0==rcd_207^post_72 && rcd_43^0==rcd_43^post_72 && rcd_69^0==rcd_69^post_72 && result_11^0==result_11^post_72 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_72 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_72 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_72 && t_25^0==t_25^post_72 && tail_15^0==tail_15^post_72 && temp0_21^0==temp0_21^post_72 && temp0_30^0==temp0_30^post_72 && temp_34^0==temp_34^post_72 && temp_35^0==temp_35^post_72 && tmp_33^0==tmp_33^post_72 && x_24^0==x_24^post_72 && x_SLAM_f_22^0==x_SLAM_f_22^post_72 && y_23^0==y_23^post_72 ], cost: 1 72: l46 -> l11 : a_153^0'=a_153^post_73, a_178^0'=a_178^post_73, a_208^0'=a_208^post_73, f_198^0'=f_198^post_73, head_16^0'=head_16^post_73, head_31^0'=head_31^post_73, head_SLAM_f_28^0'=head_SLAM_f_28^post_73, i_110^0'=i_110^post_73, i_120^0'=i_120^post_73, i_29^0'=i_29^post_73, length_27^0'=length_27^post_73, lt_17^0'=lt_17^post_73, lt_20^0'=lt_20^post_73, nondet_12^0'=nondet_12^post_73, r_164^0'=r_164^post_73, r_197^0'=r_197^post_73, r_39^0'=r_39^post_73, rcd_104^0'=rcd_104^post_73, rcd_112^0'=rcd_112^post_73, rcd_179^0'=rcd_179^post_73, rcd_185^0'=rcd_185^post_73, rcd_190^0'=rcd_190^post_73, rcd_207^0'=rcd_207^post_73, rcd_43^0'=rcd_43^post_73, rcd_69^0'=rcd_69^post_73, result_11^0'=result_11^post_73, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_73, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_73, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_73, t_25^0'=t_25^post_73, tail_15^0'=tail_15^post_73, temp0_21^0'=temp0_21^post_73, temp0_30^0'=temp0_30^post_73, temp_34^0'=temp_34^post_73, temp_35^0'=temp_35^post_73, tmp_33^0'=tmp_33^post_73, x_24^0'=x_24^post_73, x_SLAM_f_22^0'=x_SLAM_f_22^post_73, y_23^0'=y_23^post_73, [ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_73==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_73 && tail_15^post_73==temp_35^0 && temp_35^post_73==temp_35^post_73 && nondet_12^1_1==nondet_12^1_1 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_73==nondet_12^1_1 && nondet_12^post_73==nondet_12^post_73 && length_27^post_73==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_73 && head_SLAM_f_28^post_73==tail_15^post_73 && head_31^post_73==head_SLAM_f_28^post_73 && i_29^post_73==0 && 0<=i_29^post_73 && i_29^post_73<=0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_73<=tail_15^post_73 && tail_15^post_73<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_73 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_73<=head_SLAM_f_28^post_73 && head_SLAM_f_28^post_73<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_73 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_73<=head_31^post_73 && head_31^post_73<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_73 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_73<=length_27^post_73 && length_27^post_73<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_73 && tail_15^post_73<=head_SLAM_f_28^post_73 && head_SLAM_f_28^post_73<=tail_15^post_73 && head_SLAM_f_28^post_73<=head_31^post_73 && head_31^post_73<=head_SLAM_f_28^post_73 && a_153^0==a_153^post_73 && a_178^0==a_178^post_73 && a_208^0==a_208^post_73 && f_198^0==f_198^post_73 && head_16^0==head_16^post_73 && i_110^0==i_110^post_73 && i_120^0==i_120^post_73 && lt_17^0==lt_17^post_73 && lt_20^0==lt_20^post_73 && r_164^0==r_164^post_73 && r_197^0==r_197^post_73 && r_39^0==r_39^post_73 && rcd_104^0==rcd_104^post_73 && rcd_112^0==rcd_112^post_73 && rcd_179^0==rcd_179^post_73 && rcd_185^0==rcd_185^post_73 && rcd_190^0==rcd_190^post_73 && rcd_207^0==rcd_207^post_73 && rcd_43^0==rcd_43^post_73 && rcd_69^0==rcd_69^post_73 && result_11^0==result_11^post_73 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_73 && t_25^0==t_25^post_73 && temp0_21^0==temp0_21^post_73 && temp0_30^0==temp0_30^post_73 && temp_34^0==temp_34^post_73 && tmp_33^0==tmp_33^post_73 && x_24^0==x_24^post_73 && x_SLAM_f_22^0==x_SLAM_f_22^post_73 && y_23^0==y_23^post_73 ], cost: 1 75: l47 -> l48 : a_153^0'=a_153^post_76, a_178^0'=a_178^post_76, a_208^0'=a_208^post_76, f_198^0'=f_198^post_76, head_16^0'=head_16^post_76, head_31^0'=head_31^post_76, head_SLAM_f_28^0'=head_SLAM_f_28^post_76, i_110^0'=i_110^post_76, i_120^0'=i_120^post_76, i_29^0'=i_29^post_76, length_27^0'=length_27^post_76, lt_17^0'=lt_17^post_76, lt_20^0'=lt_20^post_76, nondet_12^0'=nondet_12^post_76, r_164^0'=r_164^post_76, r_197^0'=r_197^post_76, r_39^0'=r_39^post_76, rcd_104^0'=rcd_104^post_76, rcd_112^0'=rcd_112^post_76, rcd_179^0'=rcd_179^post_76, rcd_185^0'=rcd_185^post_76, rcd_190^0'=rcd_190^post_76, rcd_207^0'=rcd_207^post_76, rcd_43^0'=rcd_43^post_76, rcd_69^0'=rcd_69^post_76, result_11^0'=result_11^post_76, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_76, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_76, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_76, t_25^0'=t_25^post_76, tail_15^0'=tail_15^post_76, temp0_21^0'=temp0_21^post_76, temp0_30^0'=temp0_30^post_76, temp_34^0'=temp_34^post_76, temp_35^0'=temp_35^post_76, tmp_33^0'=tmp_33^post_76, x_24^0'=x_24^post_76, x_SLAM_f_22^0'=x_SLAM_f_22^post_76, y_23^0'=y_23^post_76, [ 1+head_16^0<=lt_17^0 && a_153^0==a_153^post_76 && a_178^0==a_178^post_76 && a_208^0==a_208^post_76 && f_198^0==f_198^post_76 && head_16^0==head_16^post_76 && head_31^0==head_31^post_76 && head_SLAM_f_28^0==head_SLAM_f_28^post_76 && i_110^0==i_110^post_76 && i_120^0==i_120^post_76 && i_29^0==i_29^post_76 && length_27^0==length_27^post_76 && lt_17^0==lt_17^post_76 && lt_20^0==lt_20^post_76 && nondet_12^0==nondet_12^post_76 && r_164^0==r_164^post_76 && r_197^0==r_197^post_76 && r_39^0==r_39^post_76 && rcd_104^0==rcd_104^post_76 && rcd_112^0==rcd_112^post_76 && rcd_179^0==rcd_179^post_76 && rcd_185^0==rcd_185^post_76 && rcd_190^0==rcd_190^post_76 && rcd_207^0==rcd_207^post_76 && rcd_43^0==rcd_43^post_76 && rcd_69^0==rcd_69^post_76 && result_11^0==result_11^post_76 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_76 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_76 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_76 && t_25^0==t_25^post_76 && tail_15^0==tail_15^post_76 && temp0_21^0==temp0_21^post_76 && temp0_30^0==temp0_30^post_76 && temp_34^0==temp_34^post_76 && temp_35^0==temp_35^post_76 && tmp_33^0==tmp_33^post_76 && x_24^0==x_24^post_76 && x_SLAM_f_22^0==x_SLAM_f_22^post_76 && y_23^0==y_23^post_76 ], cost: 1 76: l47 -> l48 : a_153^0'=a_153^post_77, a_178^0'=a_178^post_77, a_208^0'=a_208^post_77, f_198^0'=f_198^post_77, head_16^0'=head_16^post_77, head_31^0'=head_31^post_77, head_SLAM_f_28^0'=head_SLAM_f_28^post_77, i_110^0'=i_110^post_77, i_120^0'=i_120^post_77, i_29^0'=i_29^post_77, length_27^0'=length_27^post_77, lt_17^0'=lt_17^post_77, lt_20^0'=lt_20^post_77, nondet_12^0'=nondet_12^post_77, r_164^0'=r_164^post_77, r_197^0'=r_197^post_77, r_39^0'=r_39^post_77, rcd_104^0'=rcd_104^post_77, rcd_112^0'=rcd_112^post_77, rcd_179^0'=rcd_179^post_77, rcd_185^0'=rcd_185^post_77, rcd_190^0'=rcd_190^post_77, rcd_207^0'=rcd_207^post_77, rcd_43^0'=rcd_43^post_77, rcd_69^0'=rcd_69^post_77, result_11^0'=result_11^post_77, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_77, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_77, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_77, t_25^0'=t_25^post_77, tail_15^0'=tail_15^post_77, temp0_21^0'=temp0_21^post_77, temp0_30^0'=temp0_30^post_77, temp_34^0'=temp_34^post_77, temp_35^0'=temp_35^post_77, tmp_33^0'=tmp_33^post_77, x_24^0'=x_24^post_77, x_SLAM_f_22^0'=x_SLAM_f_22^post_77, y_23^0'=y_23^post_77, [ 1+lt_17^0<=head_16^0 && a_153^0==a_153^post_77 && a_178^0==a_178^post_77 && a_208^0==a_208^post_77 && f_198^0==f_198^post_77 && head_16^0==head_16^post_77 && head_31^0==head_31^post_77 && head_SLAM_f_28^0==head_SLAM_f_28^post_77 && i_110^0==i_110^post_77 && i_120^0==i_120^post_77 && i_29^0==i_29^post_77 && length_27^0==length_27^post_77 && lt_17^0==lt_17^post_77 && lt_20^0==lt_20^post_77 && nondet_12^0==nondet_12^post_77 && r_164^0==r_164^post_77 && r_197^0==r_197^post_77 && r_39^0==r_39^post_77 && rcd_104^0==rcd_104^post_77 && rcd_112^0==rcd_112^post_77 && rcd_179^0==rcd_179^post_77 && rcd_185^0==rcd_185^post_77 && rcd_190^0==rcd_190^post_77 && rcd_207^0==rcd_207^post_77 && rcd_43^0==rcd_43^post_77 && rcd_69^0==rcd_69^post_77 && result_11^0==result_11^post_77 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_77 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_77 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_77 && t_25^0==t_25^post_77 && tail_15^0==tail_15^post_77 && temp0_21^0==temp0_21^post_77 && temp0_30^0==temp0_30^post_77 && temp_34^0==temp_34^post_77 && temp_35^0==temp_35^post_77 && tmp_33^0==tmp_33^post_77 && x_24^0==x_24^post_77 && x_SLAM_f_22^0==x_SLAM_f_22^post_77 && y_23^0==y_23^post_77 ], cost: 1 77: l48 -> l49 : a_153^0'=a_153^post_78, a_178^0'=a_178^post_78, a_208^0'=a_208^post_78, f_198^0'=f_198^post_78, head_16^0'=head_16^post_78, head_31^0'=head_31^post_78, head_SLAM_f_28^0'=head_SLAM_f_28^post_78, i_110^0'=i_110^post_78, i_120^0'=i_120^post_78, i_29^0'=i_29^post_78, length_27^0'=length_27^post_78, lt_17^0'=lt_17^post_78, lt_20^0'=lt_20^post_78, nondet_12^0'=nondet_12^post_78, r_164^0'=r_164^post_78, r_197^0'=r_197^post_78, r_39^0'=r_39^post_78, rcd_104^0'=rcd_104^post_78, rcd_112^0'=rcd_112^post_78, rcd_179^0'=rcd_179^post_78, rcd_185^0'=rcd_185^post_78, rcd_190^0'=rcd_190^post_78, rcd_207^0'=rcd_207^post_78, rcd_43^0'=rcd_43^post_78, rcd_69^0'=rcd_69^post_78, result_11^0'=result_11^post_78, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_78, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_78, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_78, t_25^0'=t_25^post_78, tail_15^0'=tail_15^post_78, temp0_21^0'=temp0_21^post_78, temp0_30^0'=temp0_30^post_78, temp_34^0'=temp_34^post_78, temp_35^0'=temp_35^post_78, tmp_33^0'=tmp_33^post_78, x_24^0'=x_24^post_78, x_SLAM_f_22^0'=x_SLAM_f_22^post_78, y_23^0'=y_23^post_78, [ lt_17^post_78==lt_17^post_78 && x_SLAM_f_22^1_3==head_16^0 && y_23^post_78==lt_20^0 && x_24^post_78==x_SLAM_f_22^1_3 && 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 && head_16^0<=x_SLAM_f_22^1_3 && x_SLAM_f_22^1_3<=head_16^0 && head_16^0<=x_24^post_78 && x_24^post_78<=head_16^0 && lt_20^0<=y_23^post_78 && y_23^post_78<=lt_20^0 && x_SLAM_f_22^1_3<=x_24^post_78 && x_24^post_78<=x_SLAM_f_22^1_3 && 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_78==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_78 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_78==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_78 && tail_15^post_78==tail_15^post_78 && head_16^post_78==head_16^post_78 && lt_20^post_78==lt_20^post_78 && x_SLAM_f_22^post_78==x_SLAM_f_22^post_78 && a_153^0==a_153^post_78 && a_178^0==a_178^post_78 && a_208^0==a_208^post_78 && f_198^0==f_198^post_78 && head_31^0==head_31^post_78 && head_SLAM_f_28^0==head_SLAM_f_28^post_78 && i_110^0==i_110^post_78 && i_120^0==i_120^post_78 && i_29^0==i_29^post_78 && length_27^0==length_27^post_78 && nondet_12^0==nondet_12^post_78 && r_164^0==r_164^post_78 && r_197^0==r_197^post_78 && r_39^0==r_39^post_78 && rcd_104^0==rcd_104^post_78 && rcd_112^0==rcd_112^post_78 && rcd_179^0==rcd_179^post_78 && rcd_185^0==rcd_185^post_78 && rcd_190^0==rcd_190^post_78 && rcd_207^0==rcd_207^post_78 && rcd_43^0==rcd_43^post_78 && rcd_69^0==rcd_69^post_78 && result_11^0==result_11^post_78 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_78 && t_25^0==t_25^post_78 && temp0_21^0==temp0_21^post_78 && temp0_30^0==temp0_30^post_78 && temp_34^0==temp_34^post_78 && temp_35^0==temp_35^post_78 && tmp_33^0==tmp_33^post_78 ], cost: 1 78: l49 -> l50 : a_153^0'=a_153^post_79, a_178^0'=a_178^post_79, a_208^0'=a_208^post_79, f_198^0'=f_198^post_79, head_16^0'=head_16^post_79, head_31^0'=head_31^post_79, head_SLAM_f_28^0'=head_SLAM_f_28^post_79, i_110^0'=i_110^post_79, i_120^0'=i_120^post_79, i_29^0'=i_29^post_79, length_27^0'=length_27^post_79, lt_17^0'=lt_17^post_79, lt_20^0'=lt_20^post_79, nondet_12^0'=nondet_12^post_79, r_164^0'=r_164^post_79, r_197^0'=r_197^post_79, r_39^0'=r_39^post_79, rcd_104^0'=rcd_104^post_79, rcd_112^0'=rcd_112^post_79, rcd_179^0'=rcd_179^post_79, rcd_185^0'=rcd_185^post_79, rcd_190^0'=rcd_190^post_79, rcd_207^0'=rcd_207^post_79, rcd_43^0'=rcd_43^post_79, rcd_69^0'=rcd_69^post_79, result_11^0'=result_11^post_79, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_79, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_79, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_79, t_25^0'=t_25^post_79, tail_15^0'=tail_15^post_79, temp0_21^0'=temp0_21^post_79, temp0_30^0'=temp0_30^post_79, temp_34^0'=temp_34^post_79, temp_35^0'=temp_35^post_79, tmp_33^0'=tmp_33^post_79, x_24^0'=x_24^post_79, x_SLAM_f_22^0'=x_SLAM_f_22^post_79, y_23^0'=y_23^post_79, [ 1+y_23^0<=x_24^0 && a_153^0==a_153^post_79 && a_178^0==a_178^post_79 && a_208^0==a_208^post_79 && f_198^0==f_198^post_79 && head_16^0==head_16^post_79 && head_31^0==head_31^post_79 && head_SLAM_f_28^0==head_SLAM_f_28^post_79 && i_110^0==i_110^post_79 && i_120^0==i_120^post_79 && i_29^0==i_29^post_79 && length_27^0==length_27^post_79 && lt_17^0==lt_17^post_79 && lt_20^0==lt_20^post_79 && nondet_12^0==nondet_12^post_79 && r_164^0==r_164^post_79 && r_197^0==r_197^post_79 && r_39^0==r_39^post_79 && rcd_104^0==rcd_104^post_79 && rcd_112^0==rcd_112^post_79 && rcd_179^0==rcd_179^post_79 && rcd_185^0==rcd_185^post_79 && rcd_190^0==rcd_190^post_79 && rcd_207^0==rcd_207^post_79 && rcd_43^0==rcd_43^post_79 && rcd_69^0==rcd_69^post_79 && result_11^0==result_11^post_79 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_79 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_79 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_79 && t_25^0==t_25^post_79 && tail_15^0==tail_15^post_79 && temp0_21^0==temp0_21^post_79 && temp0_30^0==temp0_30^post_79 && temp_34^0==temp_34^post_79 && temp_35^0==temp_35^post_79 && tmp_33^0==tmp_33^post_79 && x_24^0==x_24^post_79 && x_SLAM_f_22^0==x_SLAM_f_22^post_79 && y_23^0==y_23^post_79 ], cost: 1 79: l49 -> l50 : a_153^0'=a_153^post_80, a_178^0'=a_178^post_80, a_208^0'=a_208^post_80, f_198^0'=f_198^post_80, head_16^0'=head_16^post_80, head_31^0'=head_31^post_80, head_SLAM_f_28^0'=head_SLAM_f_28^post_80, i_110^0'=i_110^post_80, i_120^0'=i_120^post_80, i_29^0'=i_29^post_80, length_27^0'=length_27^post_80, lt_17^0'=lt_17^post_80, lt_20^0'=lt_20^post_80, nondet_12^0'=nondet_12^post_80, r_164^0'=r_164^post_80, r_197^0'=r_197^post_80, r_39^0'=r_39^post_80, rcd_104^0'=rcd_104^post_80, rcd_112^0'=rcd_112^post_80, rcd_179^0'=rcd_179^post_80, rcd_185^0'=rcd_185^post_80, rcd_190^0'=rcd_190^post_80, rcd_207^0'=rcd_207^post_80, rcd_43^0'=rcd_43^post_80, rcd_69^0'=rcd_69^post_80, result_11^0'=result_11^post_80, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_80, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_80, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_80, t_25^0'=t_25^post_80, tail_15^0'=tail_15^post_80, temp0_21^0'=temp0_21^post_80, temp0_30^0'=temp0_30^post_80, temp_34^0'=temp_34^post_80, temp_35^0'=temp_35^post_80, tmp_33^0'=tmp_33^post_80, x_24^0'=x_24^post_80, x_SLAM_f_22^0'=x_SLAM_f_22^post_80, y_23^0'=y_23^post_80, [ 1+x_24^0<=y_23^0 && a_153^0==a_153^post_80 && a_178^0==a_178^post_80 && a_208^0==a_208^post_80 && f_198^0==f_198^post_80 && head_16^0==head_16^post_80 && head_31^0==head_31^post_80 && head_SLAM_f_28^0==head_SLAM_f_28^post_80 && i_110^0==i_110^post_80 && i_120^0==i_120^post_80 && i_29^0==i_29^post_80 && length_27^0==length_27^post_80 && lt_17^0==lt_17^post_80 && lt_20^0==lt_20^post_80 && nondet_12^0==nondet_12^post_80 && r_164^0==r_164^post_80 && r_197^0==r_197^post_80 && r_39^0==r_39^post_80 && rcd_104^0==rcd_104^post_80 && rcd_112^0==rcd_112^post_80 && rcd_179^0==rcd_179^post_80 && rcd_185^0==rcd_185^post_80 && rcd_190^0==rcd_190^post_80 && rcd_207^0==rcd_207^post_80 && rcd_43^0==rcd_43^post_80 && rcd_69^0==rcd_69^post_80 && result_11^0==result_11^post_80 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_80 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_80 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_80 && t_25^0==t_25^post_80 && tail_15^0==tail_15^post_80 && temp0_21^0==temp0_21^post_80 && temp0_30^0==temp0_30^post_80 && temp_34^0==temp_34^post_80 && temp_35^0==temp_35^post_80 && tmp_33^0==tmp_33^post_80 && x_24^0==x_24^post_80 && x_SLAM_f_22^0==x_SLAM_f_22^post_80 && y_23^0==y_23^post_80 ], cost: 1 80: l50 -> l51 : a_153^0'=a_153^post_81, a_178^0'=a_178^post_81, a_208^0'=a_208^post_81, f_198^0'=f_198^post_81, head_16^0'=head_16^post_81, head_31^0'=head_31^post_81, head_SLAM_f_28^0'=head_SLAM_f_28^post_81, i_110^0'=i_110^post_81, i_120^0'=i_120^post_81, i_29^0'=i_29^post_81, length_27^0'=length_27^post_81, lt_17^0'=lt_17^post_81, lt_20^0'=lt_20^post_81, nondet_12^0'=nondet_12^post_81, r_164^0'=r_164^post_81, r_197^0'=r_197^post_81, r_39^0'=r_39^post_81, rcd_104^0'=rcd_104^post_81, rcd_112^0'=rcd_112^post_81, rcd_179^0'=rcd_179^post_81, rcd_185^0'=rcd_185^post_81, rcd_190^0'=rcd_190^post_81, rcd_207^0'=rcd_207^post_81, rcd_43^0'=rcd_43^post_81, rcd_69^0'=rcd_69^post_81, result_11^0'=result_11^post_81, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_81, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_81, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_81, t_25^0'=t_25^post_81, tail_15^0'=tail_15^post_81, temp0_21^0'=temp0_21^post_81, temp0_30^0'=temp0_30^post_81, temp_34^0'=temp_34^post_81, temp_35^0'=temp_35^post_81, tmp_33^0'=tmp_33^post_81, x_24^0'=x_24^post_81, x_SLAM_f_22^0'=x_SLAM_f_22^post_81, y_23^0'=y_23^post_81, [ t_25^post_81==x_24^0 && 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<=x_24^0 && x_24^0<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 && head_16^0<=x_SLAM_f_22^0 && x_SLAM_f_22^0<=head_16^0 && head_16^0<=t_25^post_81 && t_25^post_81<=head_16^0 && lt_20^0<=y_23^0 && y_23^0<=lt_20^0 && a_153^0==a_153^post_81 && a_178^0==a_178^post_81 && a_208^0==a_208^post_81 && f_198^0==f_198^post_81 && head_16^0==head_16^post_81 && head_31^0==head_31^post_81 && head_SLAM_f_28^0==head_SLAM_f_28^post_81 && i_110^0==i_110^post_81 && i_120^0==i_120^post_81 && i_29^0==i_29^post_81 && length_27^0==length_27^post_81 && lt_17^0==lt_17^post_81 && lt_20^0==lt_20^post_81 && nondet_12^0==nondet_12^post_81 && r_164^0==r_164^post_81 && r_197^0==r_197^post_81 && r_39^0==r_39^post_81 && rcd_104^0==rcd_104^post_81 && rcd_112^0==rcd_112^post_81 && rcd_179^0==rcd_179^post_81 && rcd_185^0==rcd_185^post_81 && rcd_190^0==rcd_190^post_81 && rcd_207^0==rcd_207^post_81 && rcd_43^0==rcd_43^post_81 && rcd_69^0==rcd_69^post_81 && result_11^0==result_11^post_81 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_81 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_81 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_81 && tail_15^0==tail_15^post_81 && temp0_21^0==temp0_21^post_81 && temp0_30^0==temp0_30^post_81 && temp_34^0==temp_34^post_81 && temp_35^0==temp_35^post_81 && tmp_33^0==tmp_33^post_81 && x_24^0==x_24^post_81 && x_SLAM_f_22^0==x_SLAM_f_22^post_81 && y_23^0==y_23^post_81 ], cost: 1 81: l51 -> l52 : a_153^0'=a_153^post_82, a_178^0'=a_178^post_82, a_208^0'=a_208^post_82, f_198^0'=f_198^post_82, head_16^0'=head_16^post_82, head_31^0'=head_31^post_82, head_SLAM_f_28^0'=head_SLAM_f_28^post_82, i_110^0'=i_110^post_82, i_120^0'=i_120^post_82, i_29^0'=i_29^post_82, length_27^0'=length_27^post_82, lt_17^0'=lt_17^post_82, lt_20^0'=lt_20^post_82, nondet_12^0'=nondet_12^post_82, r_164^0'=r_164^post_82, r_197^0'=r_197^post_82, r_39^0'=r_39^post_82, rcd_104^0'=rcd_104^post_82, rcd_112^0'=rcd_112^post_82, rcd_179^0'=rcd_179^post_82, rcd_185^0'=rcd_185^post_82, rcd_190^0'=rcd_190^post_82, rcd_207^0'=rcd_207^post_82, rcd_43^0'=rcd_43^post_82, rcd_69^0'=rcd_69^post_82, result_11^0'=result_11^post_82, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_82, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_82, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_82, t_25^0'=t_25^post_82, tail_15^0'=tail_15^post_82, temp0_21^0'=temp0_21^post_82, temp0_30^0'=temp0_30^post_82, temp_34^0'=temp_34^post_82, temp_35^0'=temp_35^post_82, tmp_33^0'=tmp_33^post_82, x_24^0'=x_24^post_82, x_SLAM_f_22^0'=x_SLAM_f_22^post_82, y_23^0'=y_23^post_82, [ 1+head_16^0<=y_23^0 && a_153^0==a_153^post_82 && a_178^0==a_178^post_82 && a_208^0==a_208^post_82 && f_198^0==f_198^post_82 && head_16^0==head_16^post_82 && head_31^0==head_31^post_82 && head_SLAM_f_28^0==head_SLAM_f_28^post_82 && i_110^0==i_110^post_82 && i_120^0==i_120^post_82 && i_29^0==i_29^post_82 && length_27^0==length_27^post_82 && lt_17^0==lt_17^post_82 && lt_20^0==lt_20^post_82 && nondet_12^0==nondet_12^post_82 && r_164^0==r_164^post_82 && r_197^0==r_197^post_82 && r_39^0==r_39^post_82 && rcd_104^0==rcd_104^post_82 && rcd_112^0==rcd_112^post_82 && rcd_179^0==rcd_179^post_82 && rcd_185^0==rcd_185^post_82 && rcd_190^0==rcd_190^post_82 && rcd_207^0==rcd_207^post_82 && rcd_43^0==rcd_43^post_82 && rcd_69^0==rcd_69^post_82 && result_11^0==result_11^post_82 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_82 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_82 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_82 && t_25^0==t_25^post_82 && tail_15^0==tail_15^post_82 && temp0_21^0==temp0_21^post_82 && temp0_30^0==temp0_30^post_82 && temp_34^0==temp_34^post_82 && temp_35^0==temp_35^post_82 && tmp_33^0==tmp_33^post_82 && x_24^0==x_24^post_82 && x_SLAM_f_22^0==x_SLAM_f_22^post_82 && y_23^0==y_23^post_82 ], cost: 1 82: l51 -> l52 : a_153^0'=a_153^post_83, a_178^0'=a_178^post_83, a_208^0'=a_208^post_83, f_198^0'=f_198^post_83, head_16^0'=head_16^post_83, head_31^0'=head_31^post_83, head_SLAM_f_28^0'=head_SLAM_f_28^post_83, i_110^0'=i_110^post_83, i_120^0'=i_120^post_83, i_29^0'=i_29^post_83, length_27^0'=length_27^post_83, lt_17^0'=lt_17^post_83, lt_20^0'=lt_20^post_83, nondet_12^0'=nondet_12^post_83, r_164^0'=r_164^post_83, r_197^0'=r_197^post_83, r_39^0'=r_39^post_83, rcd_104^0'=rcd_104^post_83, rcd_112^0'=rcd_112^post_83, rcd_179^0'=rcd_179^post_83, rcd_185^0'=rcd_185^post_83, rcd_190^0'=rcd_190^post_83, rcd_207^0'=rcd_207^post_83, rcd_43^0'=rcd_43^post_83, rcd_69^0'=rcd_69^post_83, result_11^0'=result_11^post_83, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_83, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_83, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_83, t_25^0'=t_25^post_83, tail_15^0'=tail_15^post_83, temp0_21^0'=temp0_21^post_83, temp0_30^0'=temp0_30^post_83, temp_34^0'=temp_34^post_83, temp_35^0'=temp_35^post_83, tmp_33^0'=tmp_33^post_83, x_24^0'=x_24^post_83, x_SLAM_f_22^0'=x_SLAM_f_22^post_83, y_23^0'=y_23^post_83, [ 1+y_23^0<=head_16^0 && a_153^0==a_153^post_83 && a_178^0==a_178^post_83 && a_208^0==a_208^post_83 && f_198^0==f_198^post_83 && head_16^0==head_16^post_83 && head_31^0==head_31^post_83 && head_SLAM_f_28^0==head_SLAM_f_28^post_83 && i_110^0==i_110^post_83 && i_120^0==i_120^post_83 && i_29^0==i_29^post_83 && length_27^0==length_27^post_83 && lt_17^0==lt_17^post_83 && lt_20^0==lt_20^post_83 && nondet_12^0==nondet_12^post_83 && r_164^0==r_164^post_83 && r_197^0==r_197^post_83 && r_39^0==r_39^post_83 && rcd_104^0==rcd_104^post_83 && rcd_112^0==rcd_112^post_83 && rcd_179^0==rcd_179^post_83 && rcd_185^0==rcd_185^post_83 && rcd_190^0==rcd_190^post_83 && rcd_207^0==rcd_207^post_83 && rcd_43^0==rcd_43^post_83 && rcd_69^0==rcd_69^post_83 && result_11^0==result_11^post_83 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_83 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_83 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_83 && t_25^0==t_25^post_83 && tail_15^0==tail_15^post_83 && temp0_21^0==temp0_21^post_83 && temp0_30^0==temp0_30^post_83 && temp_34^0==temp_34^post_83 && temp_35^0==temp_35^post_83 && tmp_33^0==tmp_33^post_83 && x_24^0==x_24^post_83 && x_SLAM_f_22^0==x_SLAM_f_22^post_83 && y_23^0==y_23^post_83 ], cost: 1 83: l52 -> l37 : a_153^0'=a_153^post_84, a_178^0'=a_178^post_84, a_208^0'=a_208^post_84, f_198^0'=f_198^post_84, head_16^0'=head_16^post_84, head_31^0'=head_31^post_84, head_SLAM_f_28^0'=head_SLAM_f_28^post_84, i_110^0'=i_110^post_84, i_120^0'=i_120^post_84, i_29^0'=i_29^post_84, length_27^0'=length_27^post_84, lt_17^0'=lt_17^post_84, lt_20^0'=lt_20^post_84, nondet_12^0'=nondet_12^post_84, r_164^0'=r_164^post_84, r_197^0'=r_197^post_84, r_39^0'=r_39^post_84, rcd_104^0'=rcd_104^post_84, rcd_112^0'=rcd_112^post_84, rcd_179^0'=rcd_179^post_84, rcd_185^0'=rcd_185^post_84, rcd_190^0'=rcd_190^post_84, rcd_207^0'=rcd_207^post_84, rcd_43^0'=rcd_43^post_84, rcd_69^0'=rcd_69^post_84, result_11^0'=result_11^post_84, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_84, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_84, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_84, t_25^0'=t_25^post_84, tail_15^0'=tail_15^post_84, temp0_21^0'=temp0_21^post_84, temp0_30^0'=temp0_30^post_84, temp_34^0'=temp_34^post_84, temp_35^0'=temp_35^post_84, tmp_33^0'=tmp_33^post_84, x_24^0'=x_24^post_84, x_SLAM_f_22^0'=x_SLAM_f_22^post_84, y_23^0'=y_23^post_84, [ 1<=result_dot_nondet_sdv_special_RETURN_VALUE_14^0 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0<=1 && a_153^0==a_153^post_84 && a_178^0==a_178^post_84 && a_208^0==a_208^post_84 && f_198^0==f_198^post_84 && head_16^0==head_16^post_84 && head_31^0==head_31^post_84 && head_SLAM_f_28^0==head_SLAM_f_28^post_84 && i_110^0==i_110^post_84 && i_120^0==i_120^post_84 && i_29^0==i_29^post_84 && length_27^0==length_27^post_84 && lt_17^0==lt_17^post_84 && lt_20^0==lt_20^post_84 && nondet_12^0==nondet_12^post_84 && r_164^0==r_164^post_84 && r_197^0==r_197^post_84 && r_39^0==r_39^post_84 && rcd_104^0==rcd_104^post_84 && rcd_112^0==rcd_112^post_84 && rcd_179^0==rcd_179^post_84 && rcd_185^0==rcd_185^post_84 && rcd_190^0==rcd_190^post_84 && rcd_207^0==rcd_207^post_84 && rcd_43^0==rcd_43^post_84 && rcd_69^0==rcd_69^post_84 && result_11^0==result_11^post_84 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_84 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_84 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_84 && t_25^0==t_25^post_84 && tail_15^0==tail_15^post_84 && temp0_21^0==temp0_21^post_84 && temp0_30^0==temp0_30^post_84 && temp_34^0==temp_34^post_84 && temp_35^0==temp_35^post_84 && tmp_33^0==tmp_33^post_84 && x_24^0==x_24^post_84 && x_SLAM_f_22^0==x_SLAM_f_22^post_84 && y_23^0==y_23^post_84 ], cost: 1 86: l53 -> l54 : a_153^0'=a_153^post_87, a_178^0'=a_178^post_87, a_208^0'=a_208^post_87, f_198^0'=f_198^post_87, head_16^0'=head_16^post_87, head_31^0'=head_31^post_87, head_SLAM_f_28^0'=head_SLAM_f_28^post_87, i_110^0'=i_110^post_87, i_120^0'=i_120^post_87, i_29^0'=i_29^post_87, length_27^0'=length_27^post_87, lt_17^0'=lt_17^post_87, lt_20^0'=lt_20^post_87, nondet_12^0'=nondet_12^post_87, r_164^0'=r_164^post_87, r_197^0'=r_197^post_87, r_39^0'=r_39^post_87, rcd_104^0'=rcd_104^post_87, rcd_112^0'=rcd_112^post_87, rcd_179^0'=rcd_179^post_87, rcd_185^0'=rcd_185^post_87, rcd_190^0'=rcd_190^post_87, rcd_207^0'=rcd_207^post_87, rcd_43^0'=rcd_43^post_87, rcd_69^0'=rcd_69^post_87, result_11^0'=result_11^post_87, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_87, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_87, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_87, t_25^0'=t_25^post_87, tail_15^0'=tail_15^post_87, temp0_21^0'=temp0_21^post_87, temp0_30^0'=temp0_30^post_87, temp_34^0'=temp_34^post_87, temp_35^0'=temp_35^post_87, tmp_33^0'=tmp_33^post_87, x_24^0'=x_24^post_87, x_SLAM_f_22^0'=x_SLAM_f_22^post_87, y_23^0'=y_23^post_87, [ 1+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0<=lt_20^0 && a_153^0==a_153^post_87 && a_178^0==a_178^post_87 && a_208^0==a_208^post_87 && f_198^0==f_198^post_87 && head_16^0==head_16^post_87 && head_31^0==head_31^post_87 && head_SLAM_f_28^0==head_SLAM_f_28^post_87 && i_110^0==i_110^post_87 && i_120^0==i_120^post_87 && i_29^0==i_29^post_87 && length_27^0==length_27^post_87 && lt_17^0==lt_17^post_87 && lt_20^0==lt_20^post_87 && nondet_12^0==nondet_12^post_87 && r_164^0==r_164^post_87 && r_197^0==r_197^post_87 && r_39^0==r_39^post_87 && rcd_104^0==rcd_104^post_87 && rcd_112^0==rcd_112^post_87 && rcd_179^0==rcd_179^post_87 && rcd_185^0==rcd_185^post_87 && rcd_190^0==rcd_190^post_87 && rcd_207^0==rcd_207^post_87 && rcd_43^0==rcd_43^post_87 && rcd_69^0==rcd_69^post_87 && result_11^0==result_11^post_87 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_87 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_87 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_87 && t_25^0==t_25^post_87 && tail_15^0==tail_15^post_87 && temp0_21^0==temp0_21^post_87 && temp0_30^0==temp0_30^post_87 && temp_34^0==temp_34^post_87 && temp_35^0==temp_35^post_87 && tmp_33^0==tmp_33^post_87 && x_24^0==x_24^post_87 && x_SLAM_f_22^0==x_SLAM_f_22^post_87 && y_23^0==y_23^post_87 ], cost: 1 87: l53 -> l54 : a_153^0'=a_153^post_88, a_178^0'=a_178^post_88, a_208^0'=a_208^post_88, f_198^0'=f_198^post_88, head_16^0'=head_16^post_88, head_31^0'=head_31^post_88, head_SLAM_f_28^0'=head_SLAM_f_28^post_88, i_110^0'=i_110^post_88, i_120^0'=i_120^post_88, i_29^0'=i_29^post_88, length_27^0'=length_27^post_88, lt_17^0'=lt_17^post_88, lt_20^0'=lt_20^post_88, nondet_12^0'=nondet_12^post_88, r_164^0'=r_164^post_88, r_197^0'=r_197^post_88, r_39^0'=r_39^post_88, rcd_104^0'=rcd_104^post_88, rcd_112^0'=rcd_112^post_88, rcd_179^0'=rcd_179^post_88, rcd_185^0'=rcd_185^post_88, rcd_190^0'=rcd_190^post_88, rcd_207^0'=rcd_207^post_88, rcd_43^0'=rcd_43^post_88, rcd_69^0'=rcd_69^post_88, result_11^0'=result_11^post_88, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_88, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_88, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_88, t_25^0'=t_25^post_88, tail_15^0'=tail_15^post_88, temp0_21^0'=temp0_21^post_88, temp0_30^0'=temp0_30^post_88, temp_34^0'=temp_34^post_88, temp_35^0'=temp_35^post_88, tmp_33^0'=tmp_33^post_88, x_24^0'=x_24^post_88, x_SLAM_f_22^0'=x_SLAM_f_22^post_88, y_23^0'=y_23^post_88, [ 1+lt_20^0<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 && a_153^0==a_153^post_88 && a_178^0==a_178^post_88 && a_208^0==a_208^post_88 && f_198^0==f_198^post_88 && head_16^0==head_16^post_88 && head_31^0==head_31^post_88 && head_SLAM_f_28^0==head_SLAM_f_28^post_88 && i_110^0==i_110^post_88 && i_120^0==i_120^post_88 && i_29^0==i_29^post_88 && length_27^0==length_27^post_88 && lt_17^0==lt_17^post_88 && lt_20^0==lt_20^post_88 && nondet_12^0==nondet_12^post_88 && r_164^0==r_164^post_88 && r_197^0==r_197^post_88 && r_39^0==r_39^post_88 && rcd_104^0==rcd_104^post_88 && rcd_112^0==rcd_112^post_88 && rcd_179^0==rcd_179^post_88 && rcd_185^0==rcd_185^post_88 && rcd_190^0==rcd_190^post_88 && rcd_207^0==rcd_207^post_88 && rcd_43^0==rcd_43^post_88 && rcd_69^0==rcd_69^post_88 && result_11^0==result_11^post_88 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_88 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_88 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_88 && t_25^0==t_25^post_88 && tail_15^0==tail_15^post_88 && temp0_21^0==temp0_21^post_88 && temp0_30^0==temp0_30^post_88 && temp_34^0==temp_34^post_88 && temp_35^0==temp_35^post_88 && tmp_33^0==tmp_33^post_88 && x_24^0==x_24^post_88 && x_SLAM_f_22^0==x_SLAM_f_22^post_88 && y_23^0==y_23^post_88 ], cost: 1 88: l54 -> l1 : a_153^0'=a_153^post_89, a_178^0'=a_178^post_89, a_208^0'=a_208^post_89, f_198^0'=f_198^post_89, head_16^0'=head_16^post_89, head_31^0'=head_31^post_89, head_SLAM_f_28^0'=head_SLAM_f_28^post_89, i_110^0'=i_110^post_89, i_120^0'=i_120^post_89, i_29^0'=i_29^post_89, length_27^0'=length_27^post_89, lt_17^0'=lt_17^post_89, lt_20^0'=lt_20^post_89, nondet_12^0'=nondet_12^post_89, r_164^0'=r_164^post_89, r_197^0'=r_197^post_89, r_39^0'=r_39^post_89, rcd_104^0'=rcd_104^post_89, rcd_112^0'=rcd_112^post_89, rcd_179^0'=rcd_179^post_89, rcd_185^0'=rcd_185^post_89, rcd_190^0'=rcd_190^post_89, rcd_207^0'=rcd_207^post_89, rcd_43^0'=rcd_43^post_89, rcd_69^0'=rcd_69^post_89, result_11^0'=result_11^post_89, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_89, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_89, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_89, t_25^0'=t_25^post_89, tail_15^0'=tail_15^post_89, temp0_21^0'=temp0_21^post_89, temp0_30^0'=temp0_30^post_89, temp_34^0'=temp_34^post_89, temp_35^0'=temp_35^post_89, tmp_33^0'=tmp_33^post_89, x_24^0'=x_24^post_89, x_SLAM_f_22^0'=x_SLAM_f_22^post_89, y_23^0'=y_23^post_89, [ result_dot_nondet_sdv_special_RETURN_VALUE_14^0<=0 && a_153^0==a_153^post_89 && a_178^0==a_178^post_89 && a_208^0==a_208^post_89 && f_198^0==f_198^post_89 && head_16^0==head_16^post_89 && head_31^0==head_31^post_89 && head_SLAM_f_28^0==head_SLAM_f_28^post_89 && i_110^0==i_110^post_89 && i_120^0==i_120^post_89 && i_29^0==i_29^post_89 && length_27^0==length_27^post_89 && lt_17^0==lt_17^post_89 && lt_20^0==lt_20^post_89 && nondet_12^0==nondet_12^post_89 && r_164^0==r_164^post_89 && r_197^0==r_197^post_89 && r_39^0==r_39^post_89 && rcd_104^0==rcd_104^post_89 && rcd_112^0==rcd_112^post_89 && rcd_179^0==rcd_179^post_89 && rcd_185^0==rcd_185^post_89 && rcd_190^0==rcd_190^post_89 && rcd_207^0==rcd_207^post_89 && rcd_43^0==rcd_43^post_89 && rcd_69^0==rcd_69^post_89 && result_11^0==result_11^post_89 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_89 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_89 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_89 && t_25^0==t_25^post_89 && tail_15^0==tail_15^post_89 && temp0_21^0==temp0_21^post_89 && temp0_30^0==temp0_30^post_89 && temp_34^0==temp_34^post_89 && temp_35^0==temp_35^post_89 && tmp_33^0==tmp_33^post_89 && x_24^0==x_24^post_89 && x_SLAM_f_22^0==x_SLAM_f_22^post_89 && y_23^0==y_23^post_89 ], cost: 1 89: l55 -> l46 : a_153^0'=a_153^post_90, a_178^0'=a_178^post_90, a_208^0'=a_208^post_90, f_198^0'=f_198^post_90, head_16^0'=head_16^post_90, head_31^0'=head_31^post_90, head_SLAM_f_28^0'=head_SLAM_f_28^post_90, i_110^0'=i_110^post_90, i_120^0'=i_120^post_90, i_29^0'=i_29^post_90, length_27^0'=length_27^post_90, lt_17^0'=lt_17^post_90, lt_20^0'=lt_20^post_90, nondet_12^0'=nondet_12^post_90, r_164^0'=r_164^post_90, r_197^0'=r_197^post_90, r_39^0'=r_39^post_90, rcd_104^0'=rcd_104^post_90, rcd_112^0'=rcd_112^post_90, rcd_179^0'=rcd_179^post_90, rcd_185^0'=rcd_185^post_90, rcd_190^0'=rcd_190^post_90, rcd_207^0'=rcd_207^post_90, rcd_43^0'=rcd_43^post_90, rcd_69^0'=rcd_69^post_90, result_11^0'=result_11^post_90, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_90, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_90, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_90, t_25^0'=t_25^post_90, tail_15^0'=tail_15^post_90, temp0_21^0'=temp0_21^post_90, temp0_30^0'=temp0_30^post_90, temp_34^0'=temp_34^post_90, temp_35^0'=temp_35^post_90, tmp_33^0'=tmp_33^post_90, x_24^0'=x_24^post_90, x_SLAM_f_22^0'=x_SLAM_f_22^post_90, y_23^0'=y_23^post_90, [ a_153^0==a_153^post_90 && a_178^0==a_178^post_90 && a_208^0==a_208^post_90 && f_198^0==f_198^post_90 && head_16^0==head_16^post_90 && head_31^0==head_31^post_90 && head_SLAM_f_28^0==head_SLAM_f_28^post_90 && i_110^0==i_110^post_90 && i_120^0==i_120^post_90 && i_29^0==i_29^post_90 && length_27^0==length_27^post_90 && lt_17^0==lt_17^post_90 && lt_20^0==lt_20^post_90 && nondet_12^0==nondet_12^post_90 && r_164^0==r_164^post_90 && r_197^0==r_197^post_90 && r_39^0==r_39^post_90 && rcd_104^0==rcd_104^post_90 && rcd_112^0==rcd_112^post_90 && rcd_179^0==rcd_179^post_90 && rcd_185^0==rcd_185^post_90 && rcd_190^0==rcd_190^post_90 && rcd_207^0==rcd_207^post_90 && rcd_43^0==rcd_43^post_90 && rcd_69^0==rcd_69^post_90 && result_11^0==result_11^post_90 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_90 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_90 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_90 && t_25^0==t_25^post_90 && tail_15^0==tail_15^post_90 && temp0_21^0==temp0_21^post_90 && temp0_30^0==temp0_30^post_90 && temp_34^0==temp_34^post_90 && temp_35^0==temp_35^post_90 && tmp_33^0==tmp_33^post_90 && x_24^0==x_24^post_90 && x_SLAM_f_22^0==x_SLAM_f_22^post_90 && y_23^0==y_23^post_90 ], cost: 1 Checking for constant complexity: The following rule is satisfiable with cost >= 1, yielding constant complexity: 89: l55 -> l46 : a_153^0'=a_153^post_90, a_178^0'=a_178^post_90, a_208^0'=a_208^post_90, f_198^0'=f_198^post_90, head_16^0'=head_16^post_90, head_31^0'=head_31^post_90, head_SLAM_f_28^0'=head_SLAM_f_28^post_90, i_110^0'=i_110^post_90, i_120^0'=i_120^post_90, i_29^0'=i_29^post_90, length_27^0'=length_27^post_90, lt_17^0'=lt_17^post_90, lt_20^0'=lt_20^post_90, nondet_12^0'=nondet_12^post_90, r_164^0'=r_164^post_90, r_197^0'=r_197^post_90, r_39^0'=r_39^post_90, rcd_104^0'=rcd_104^post_90, rcd_112^0'=rcd_112^post_90, rcd_179^0'=rcd_179^post_90, rcd_185^0'=rcd_185^post_90, rcd_190^0'=rcd_190^post_90, rcd_207^0'=rcd_207^post_90, rcd_43^0'=rcd_43^post_90, rcd_69^0'=rcd_69^post_90, result_11^0'=result_11^post_90, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_90, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_90, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_90, t_25^0'=t_25^post_90, tail_15^0'=tail_15^post_90, temp0_21^0'=temp0_21^post_90, temp0_30^0'=temp0_30^post_90, temp_34^0'=temp_34^post_90, temp_35^0'=temp_35^post_90, tmp_33^0'=tmp_33^post_90, x_24^0'=x_24^post_90, x_SLAM_f_22^0'=x_SLAM_f_22^post_90, y_23^0'=y_23^post_90, [ a_153^0==a_153^post_90 && a_178^0==a_178^post_90 && a_208^0==a_208^post_90 && f_198^0==f_198^post_90 && head_16^0==head_16^post_90 && head_31^0==head_31^post_90 && head_SLAM_f_28^0==head_SLAM_f_28^post_90 && i_110^0==i_110^post_90 && i_120^0==i_120^post_90 && i_29^0==i_29^post_90 && length_27^0==length_27^post_90 && lt_17^0==lt_17^post_90 && lt_20^0==lt_20^post_90 && nondet_12^0==nondet_12^post_90 && r_164^0==r_164^post_90 && r_197^0==r_197^post_90 && r_39^0==r_39^post_90 && rcd_104^0==rcd_104^post_90 && rcd_112^0==rcd_112^post_90 && rcd_179^0==rcd_179^post_90 && rcd_185^0==rcd_185^post_90 && rcd_190^0==rcd_190^post_90 && rcd_207^0==rcd_207^post_90 && rcd_43^0==rcd_43^post_90 && rcd_69^0==rcd_69^post_90 && result_11^0==result_11^post_90 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_90 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_90 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_90 && t_25^0==t_25^post_90 && tail_15^0==tail_15^post_90 && temp0_21^0==temp0_21^post_90 && temp0_30^0==temp0_30^post_90 && temp_34^0==temp_34^post_90 && temp_35^0==temp_35^post_90 && tmp_33^0==tmp_33^post_90 && x_24^0==x_24^post_90 && x_SLAM_f_22^0==x_SLAM_f_22^post_90 && y_23^0==y_23^post_90 ], cost: 1 Removed unreachable and leaf rules: Start location: l55 1: l0 -> l3 : a_153^0'=a_153^post_2, a_178^0'=a_178^post_2, a_208^0'=a_208^post_2, f_198^0'=f_198^post_2, head_16^0'=head_16^post_2, head_31^0'=head_31^post_2, head_SLAM_f_28^0'=head_SLAM_f_28^post_2, i_110^0'=i_110^post_2, i_120^0'=i_120^post_2, i_29^0'=i_29^post_2, length_27^0'=length_27^post_2, lt_17^0'=lt_17^post_2, lt_20^0'=lt_20^post_2, nondet_12^0'=nondet_12^post_2, r_164^0'=r_164^post_2, r_197^0'=r_197^post_2, r_39^0'=r_39^post_2, rcd_104^0'=rcd_104^post_2, rcd_112^0'=rcd_112^post_2, rcd_179^0'=rcd_179^post_2, rcd_185^0'=rcd_185^post_2, rcd_190^0'=rcd_190^post_2, rcd_207^0'=rcd_207^post_2, rcd_43^0'=rcd_43^post_2, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_2, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2, t_25^0'=t_25^post_2, tail_15^0'=tail_15^post_2, temp0_21^0'=temp0_21^post_2, temp0_30^0'=temp0_30^post_2, temp_34^0'=temp_34^post_2, temp_35^0'=temp_35^post_2, tmp_33^0'=tmp_33^post_2, x_24^0'=x_24^post_2, x_SLAM_f_22^0'=x_SLAM_f_22^post_2, y_23^0'=y_23^post_2, [ 0<=i_29^0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_2==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_2 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2 && tail_15^post_2==tail_15^post_2 && length_27^0<=i_29^0 && temp0_30^1_2_1==head_31^0 && result_11^1_2==temp0_30^1_2_1 && length_27^post_2==length_27^post_2 && head_SLAM_f_28^post_2==head_SLAM_f_28^post_2 && i_29^post_2==i_29^post_2 && temp0_30^post_2==temp0_30^post_2 && head_31^post_2==head_31^post_2 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_2==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_2 && tmp_33^post_2==tmp_33^post_2 && temp_34^post_2==temp_34^post_2 && head_16^post_2==result_11^1_2 && result_11^post_2==result_11^post_2 && a_153^0==a_153^post_2 && a_178^0==a_178^post_2 && a_208^0==a_208^post_2 && f_198^0==f_198^post_2 && i_110^0==i_110^post_2 && i_120^0==i_120^post_2 && lt_17^0==lt_17^post_2 && lt_20^0==lt_20^post_2 && nondet_12^0==nondet_12^post_2 && r_164^0==r_164^post_2 && r_197^0==r_197^post_2 && r_39^0==r_39^post_2 && rcd_104^0==rcd_104^post_2 && rcd_112^0==rcd_112^post_2 && rcd_179^0==rcd_179^post_2 && rcd_185^0==rcd_185^post_2 && rcd_190^0==rcd_190^post_2 && rcd_207^0==rcd_207^post_2 && rcd_43^0==rcd_43^post_2 && rcd_69^0==rcd_69^post_2 && t_25^0==t_25^post_2 && temp0_21^0==temp0_21^post_2 && temp_35^0==temp_35^post_2 && x_24^0==x_24^post_2 && x_SLAM_f_22^0==x_SLAM_f_22^post_2 && y_23^0==y_23^post_2 ], cost: 1 13: l0 -> l10 : a_153^0'=a_153^post_14, a_178^0'=a_178^post_14, a_208^0'=a_208^post_14, f_198^0'=f_198^post_14, head_16^0'=head_16^post_14, head_31^0'=head_31^post_14, head_SLAM_f_28^0'=head_SLAM_f_28^post_14, i_110^0'=i_110^post_14, i_120^0'=i_120^post_14, i_29^0'=i_29^post_14, length_27^0'=length_27^post_14, lt_17^0'=lt_17^post_14, lt_20^0'=lt_20^post_14, nondet_12^0'=nondet_12^post_14, r_164^0'=r_164^post_14, r_197^0'=r_197^post_14, r_39^0'=r_39^post_14, rcd_104^0'=rcd_104^post_14, rcd_112^0'=rcd_112^post_14, rcd_179^0'=rcd_179^post_14, rcd_185^0'=rcd_185^post_14, rcd_190^0'=rcd_190^post_14, rcd_207^0'=rcd_207^post_14, rcd_43^0'=rcd_43^post_14, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_14, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_14, t_25^0'=t_25^post_14, tail_15^0'=tail_15^post_14, temp0_21^0'=temp0_21^post_14, temp0_30^0'=temp0_30^post_14, temp_34^0'=temp_34^post_14, temp_35^0'=temp_35^post_14, tmp_33^0'=tmp_33^post_14, x_24^0'=x_24^post_14, x_SLAM_f_22^0'=x_SLAM_f_22^post_14, y_23^0'=y_23^post_14, [ 0<=i_29^0 && rcd_104^post_14==rcd_104^post_14 && i_110^post_14==i_110^post_14 && 1+i_29^0<=length_27^0 && tmp_33^post_14==temp_34^0 && temp_34^post_14==temp_34^post_14 && head_31^post_14==tmp_33^post_14 && i_29^post_14==1+i_29^0 && rcd_112^post_14==rcd_112^post_14 && i_29^post_14<=1+i_110^post_14 && 1+i_110^post_14<=i_29^post_14 && i_110^post_14<=-1+i_29^post_14 && -1+i_29^post_14<=i_110^post_14 && rcd_43^0<=rcd_112^post_14 && rcd_112^post_14<=rcd_43^0 && 1+i_110^post_14<=length_27^0 && rcd_43^post_14==rcd_43^post_14 && rcd_43^post_14<=rcd_112^post_14 && rcd_112^post_14<=rcd_43^post_14 && a_153^0==a_153^post_14 && a_178^0==a_178^post_14 && a_208^0==a_208^post_14 && f_198^0==f_198^post_14 && head_16^0==head_16^post_14 && head_SLAM_f_28^0==head_SLAM_f_28^post_14 && i_120^0==i_120^post_14 && length_27^0==length_27^post_14 && lt_17^0==lt_17^post_14 && lt_20^0==lt_20^post_14 && nondet_12^0==nondet_12^post_14 && r_164^0==r_164^post_14 && r_197^0==r_197^post_14 && r_39^0==r_39^post_14 && rcd_179^0==rcd_179^post_14 && rcd_185^0==rcd_185^post_14 && rcd_190^0==rcd_190^post_14 && rcd_207^0==rcd_207^post_14 && rcd_69^0==rcd_69^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_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_14 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_14 && t_25^0==t_25^post_14 && tail_15^0==tail_15^post_14 && temp0_21^0==temp0_21^post_14 && temp0_30^0==temp0_30^post_14 && temp_35^0==temp_35^post_14 && x_24^0==x_24^post_14 && x_SLAM_f_22^0==x_SLAM_f_22^post_14 && y_23^0==y_23^post_14 ], cost: 1 2: l3 -> l4 : a_153^0'=a_153^post_3, a_178^0'=a_178^post_3, a_208^0'=a_208^post_3, f_198^0'=f_198^post_3, head_16^0'=head_16^post_3, head_31^0'=head_31^post_3, head_SLAM_f_28^0'=head_SLAM_f_28^post_3, i_110^0'=i_110^post_3, i_120^0'=i_120^post_3, i_29^0'=i_29^post_3, length_27^0'=length_27^post_3, lt_17^0'=lt_17^post_3, lt_20^0'=lt_20^post_3, nondet_12^0'=nondet_12^post_3, r_164^0'=r_164^post_3, r_197^0'=r_197^post_3, r_39^0'=r_39^post_3, rcd_104^0'=rcd_104^post_3, rcd_112^0'=rcd_112^post_3, rcd_179^0'=rcd_179^post_3, rcd_185^0'=rcd_185^post_3, rcd_190^0'=rcd_190^post_3, rcd_207^0'=rcd_207^post_3, rcd_43^0'=rcd_43^post_3, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_3, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_3, t_25^0'=t_25^post_3, tail_15^0'=tail_15^post_3, temp0_21^0'=temp0_21^post_3, temp0_30^0'=temp0_30^post_3, temp_34^0'=temp_34^post_3, temp_35^0'=temp_35^post_3, tmp_33^0'=tmp_33^post_3, x_24^0'=x_24^post_3, x_SLAM_f_22^0'=x_SLAM_f_22^post_3, y_23^0'=y_23^post_3, [ 1+head_16^0<=lt_17^0 && a_153^0==a_153^post_3 && a_178^0==a_178^post_3 && a_208^0==a_208^post_3 && f_198^0==f_198^post_3 && head_16^0==head_16^post_3 && head_31^0==head_31^post_3 && head_SLAM_f_28^0==head_SLAM_f_28^post_3 && i_110^0==i_110^post_3 && i_120^0==i_120^post_3 && i_29^0==i_29^post_3 && length_27^0==length_27^post_3 && lt_17^0==lt_17^post_3 && lt_20^0==lt_20^post_3 && nondet_12^0==nondet_12^post_3 && r_164^0==r_164^post_3 && r_197^0==r_197^post_3 && r_39^0==r_39^post_3 && rcd_104^0==rcd_104^post_3 && rcd_112^0==rcd_112^post_3 && rcd_179^0==rcd_179^post_3 && rcd_185^0==rcd_185^post_3 && rcd_190^0==rcd_190^post_3 && rcd_207^0==rcd_207^post_3 && rcd_43^0==rcd_43^post_3 && rcd_69^0==rcd_69^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_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_3 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_3 && t_25^0==t_25^post_3 && tail_15^0==tail_15^post_3 && temp0_21^0==temp0_21^post_3 && temp0_30^0==temp0_30^post_3 && temp_34^0==temp_34^post_3 && temp_35^0==temp_35^post_3 && tmp_33^0==tmp_33^post_3 && x_24^0==x_24^post_3 && x_SLAM_f_22^0==x_SLAM_f_22^post_3 && y_23^0==y_23^post_3 ], cost: 1 3: l3 -> l4 : a_153^0'=a_153^post_4, a_178^0'=a_178^post_4, a_208^0'=a_208^post_4, f_198^0'=f_198^post_4, head_16^0'=head_16^post_4, head_31^0'=head_31^post_4, head_SLAM_f_28^0'=head_SLAM_f_28^post_4, i_110^0'=i_110^post_4, i_120^0'=i_120^post_4, i_29^0'=i_29^post_4, length_27^0'=length_27^post_4, lt_17^0'=lt_17^post_4, lt_20^0'=lt_20^post_4, nondet_12^0'=nondet_12^post_4, r_164^0'=r_164^post_4, r_197^0'=r_197^post_4, r_39^0'=r_39^post_4, rcd_104^0'=rcd_104^post_4, rcd_112^0'=rcd_112^post_4, rcd_179^0'=rcd_179^post_4, rcd_185^0'=rcd_185^post_4, rcd_190^0'=rcd_190^post_4, rcd_207^0'=rcd_207^post_4, rcd_43^0'=rcd_43^post_4, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_4, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_4, t_25^0'=t_25^post_4, tail_15^0'=tail_15^post_4, temp0_21^0'=temp0_21^post_4, temp0_30^0'=temp0_30^post_4, temp_34^0'=temp_34^post_4, temp_35^0'=temp_35^post_4, tmp_33^0'=tmp_33^post_4, x_24^0'=x_24^post_4, x_SLAM_f_22^0'=x_SLAM_f_22^post_4, y_23^0'=y_23^post_4, [ 1+lt_17^0<=head_16^0 && a_153^0==a_153^post_4 && a_178^0==a_178^post_4 && a_208^0==a_208^post_4 && f_198^0==f_198^post_4 && head_16^0==head_16^post_4 && head_31^0==head_31^post_4 && head_SLAM_f_28^0==head_SLAM_f_28^post_4 && i_110^0==i_110^post_4 && i_120^0==i_120^post_4 && i_29^0==i_29^post_4 && length_27^0==length_27^post_4 && lt_17^0==lt_17^post_4 && lt_20^0==lt_20^post_4 && nondet_12^0==nondet_12^post_4 && r_164^0==r_164^post_4 && r_197^0==r_197^post_4 && r_39^0==r_39^post_4 && rcd_104^0==rcd_104^post_4 && rcd_112^0==rcd_112^post_4 && rcd_179^0==rcd_179^post_4 && rcd_185^0==rcd_185^post_4 && rcd_190^0==rcd_190^post_4 && rcd_207^0==rcd_207^post_4 && rcd_43^0==rcd_43^post_4 && rcd_69^0==rcd_69^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_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_4 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_4 && t_25^0==t_25^post_4 && tail_15^0==tail_15^post_4 && temp0_21^0==temp0_21^post_4 && temp0_30^0==temp0_30^post_4 && temp_34^0==temp_34^post_4 && temp_35^0==temp_35^post_4 && tmp_33^0==tmp_33^post_4 && x_24^0==x_24^post_4 && x_SLAM_f_22^0==x_SLAM_f_22^post_4 && y_23^0==y_23^post_4 ], cost: 1 4: l4 -> l5 : a_153^0'=a_153^post_5, a_178^0'=a_178^post_5, a_208^0'=a_208^post_5, f_198^0'=f_198^post_5, head_16^0'=head_16^post_5, head_31^0'=head_31^post_5, head_SLAM_f_28^0'=head_SLAM_f_28^post_5, i_110^0'=i_110^post_5, i_120^0'=i_120^post_5, i_29^0'=i_29^post_5, length_27^0'=length_27^post_5, lt_17^0'=lt_17^post_5, lt_20^0'=lt_20^post_5, nondet_12^0'=nondet_12^post_5, r_164^0'=r_164^post_5, r_197^0'=r_197^post_5, r_39^0'=r_39^post_5, rcd_104^0'=rcd_104^post_5, rcd_112^0'=rcd_112^post_5, rcd_179^0'=rcd_179^post_5, rcd_185^0'=rcd_185^post_5, rcd_190^0'=rcd_190^post_5, rcd_207^0'=rcd_207^post_5, rcd_43^0'=rcd_43^post_5, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_5, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_5, t_25^0'=t_25^post_5, tail_15^0'=tail_15^post_5, temp0_21^0'=temp0_21^post_5, temp0_30^0'=temp0_30^post_5, temp_34^0'=temp_34^post_5, temp_35^0'=temp_35^post_5, tmp_33^0'=tmp_33^post_5, x_24^0'=x_24^post_5, x_SLAM_f_22^0'=x_SLAM_f_22^post_5, y_23^0'=y_23^post_5, [ lt_17^post_5==lt_17^post_5 && x_SLAM_f_22^1_1==head_16^0 && y_23^post_5==lt_20^0 && x_24^post_5==x_SLAM_f_22^1_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 && head_16^0<=x_SLAM_f_22^1_1 && x_SLAM_f_22^1_1<=head_16^0 && head_16^0<=x_24^post_5 && x_24^post_5<=head_16^0 && lt_20^0<=y_23^post_5 && y_23^post_5<=lt_20^0 && x_SLAM_f_22^1_1<=x_24^post_5 && x_24^post_5<=x_SLAM_f_22^1_1 && 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_120^0 && 0<=i_120^0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_5==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_5 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_5==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_5 && tail_15^post_5==tail_15^post_5 && head_16^post_5==head_16^post_5 && lt_20^post_5==lt_20^post_5 && x_SLAM_f_22^post_5==x_SLAM_f_22^post_5 && rcd_185^post_5==rcd_185^post_5 && rcd_190^post_5==rcd_190^post_5 && a_153^0==a_153^post_5 && a_178^0==a_178^post_5 && a_208^0==a_208^post_5 && f_198^0==f_198^post_5 && head_31^0==head_31^post_5 && head_SLAM_f_28^0==head_SLAM_f_28^post_5 && i_110^0==i_110^post_5 && i_120^0==i_120^post_5 && i_29^0==i_29^post_5 && length_27^0==length_27^post_5 && nondet_12^0==nondet_12^post_5 && r_164^0==r_164^post_5 && r_197^0==r_197^post_5 && r_39^0==r_39^post_5 && rcd_104^0==rcd_104^post_5 && rcd_112^0==rcd_112^post_5 && rcd_179^0==rcd_179^post_5 && rcd_207^0==rcd_207^post_5 && rcd_43^0==rcd_43^post_5 && rcd_69^0==rcd_69^post_5 && result_11^0==result_11^post_5 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_5 && t_25^0==t_25^post_5 && temp0_21^0==temp0_21^post_5 && temp0_30^0==temp0_30^post_5 && temp_34^0==temp_34^post_5 && temp_35^0==temp_35^post_5 && tmp_33^0==tmp_33^post_5 ], cost: 1 5: l5 -> l6 : a_153^0'=a_153^post_6, a_178^0'=a_178^post_6, a_208^0'=a_208^post_6, f_198^0'=f_198^post_6, head_16^0'=head_16^post_6, head_31^0'=head_31^post_6, head_SLAM_f_28^0'=head_SLAM_f_28^post_6, i_110^0'=i_110^post_6, i_120^0'=i_120^post_6, i_29^0'=i_29^post_6, length_27^0'=length_27^post_6, lt_17^0'=lt_17^post_6, lt_20^0'=lt_20^post_6, nondet_12^0'=nondet_12^post_6, r_164^0'=r_164^post_6, r_197^0'=r_197^post_6, r_39^0'=r_39^post_6, rcd_104^0'=rcd_104^post_6, rcd_112^0'=rcd_112^post_6, rcd_179^0'=rcd_179^post_6, rcd_185^0'=rcd_185^post_6, rcd_190^0'=rcd_190^post_6, rcd_207^0'=rcd_207^post_6, rcd_43^0'=rcd_43^post_6, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_6, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_6, t_25^0'=t_25^post_6, tail_15^0'=tail_15^post_6, temp0_21^0'=temp0_21^post_6, temp0_30^0'=temp0_30^post_6, temp_34^0'=temp_34^post_6, temp_35^0'=temp_35^post_6, tmp_33^0'=tmp_33^post_6, x_24^0'=x_24^post_6, x_SLAM_f_22^0'=x_SLAM_f_22^post_6, y_23^0'=y_23^post_6, [ 1+y_23^0<=x_24^0 && a_153^0==a_153^post_6 && a_178^0==a_178^post_6 && a_208^0==a_208^post_6 && f_198^0==f_198^post_6 && head_16^0==head_16^post_6 && head_31^0==head_31^post_6 && head_SLAM_f_28^0==head_SLAM_f_28^post_6 && i_110^0==i_110^post_6 && i_120^0==i_120^post_6 && i_29^0==i_29^post_6 && length_27^0==length_27^post_6 && lt_17^0==lt_17^post_6 && lt_20^0==lt_20^post_6 && nondet_12^0==nondet_12^post_6 && r_164^0==r_164^post_6 && r_197^0==r_197^post_6 && r_39^0==r_39^post_6 && rcd_104^0==rcd_104^post_6 && rcd_112^0==rcd_112^post_6 && rcd_179^0==rcd_179^post_6 && rcd_185^0==rcd_185^post_6 && rcd_190^0==rcd_190^post_6 && rcd_207^0==rcd_207^post_6 && rcd_43^0==rcd_43^post_6 && rcd_69^0==rcd_69^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_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_6 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_6 && t_25^0==t_25^post_6 && tail_15^0==tail_15^post_6 && temp0_21^0==temp0_21^post_6 && temp0_30^0==temp0_30^post_6 && temp_34^0==temp_34^post_6 && temp_35^0==temp_35^post_6 && tmp_33^0==tmp_33^post_6 && x_24^0==x_24^post_6 && x_SLAM_f_22^0==x_SLAM_f_22^post_6 && y_23^0==y_23^post_6 ], cost: 1 6: l5 -> l6 : a_153^0'=a_153^post_7, a_178^0'=a_178^post_7, a_208^0'=a_208^post_7, f_198^0'=f_198^post_7, head_16^0'=head_16^post_7, head_31^0'=head_31^post_7, head_SLAM_f_28^0'=head_SLAM_f_28^post_7, i_110^0'=i_110^post_7, i_120^0'=i_120^post_7, i_29^0'=i_29^post_7, length_27^0'=length_27^post_7, lt_17^0'=lt_17^post_7, lt_20^0'=lt_20^post_7, nondet_12^0'=nondet_12^post_7, r_164^0'=r_164^post_7, r_197^0'=r_197^post_7, r_39^0'=r_39^post_7, rcd_104^0'=rcd_104^post_7, rcd_112^0'=rcd_112^post_7, rcd_179^0'=rcd_179^post_7, rcd_185^0'=rcd_185^post_7, rcd_190^0'=rcd_190^post_7, rcd_207^0'=rcd_207^post_7, rcd_43^0'=rcd_43^post_7, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_7, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_7, t_25^0'=t_25^post_7, tail_15^0'=tail_15^post_7, temp0_21^0'=temp0_21^post_7, temp0_30^0'=temp0_30^post_7, temp_34^0'=temp_34^post_7, temp_35^0'=temp_35^post_7, tmp_33^0'=tmp_33^post_7, x_24^0'=x_24^post_7, x_SLAM_f_22^0'=x_SLAM_f_22^post_7, y_23^0'=y_23^post_7, [ 1+x_24^0<=y_23^0 && a_153^0==a_153^post_7 && a_178^0==a_178^post_7 && a_208^0==a_208^post_7 && f_198^0==f_198^post_7 && head_16^0==head_16^post_7 && head_31^0==head_31^post_7 && head_SLAM_f_28^0==head_SLAM_f_28^post_7 && i_110^0==i_110^post_7 && i_120^0==i_120^post_7 && i_29^0==i_29^post_7 && length_27^0==length_27^post_7 && lt_17^0==lt_17^post_7 && lt_20^0==lt_20^post_7 && nondet_12^0==nondet_12^post_7 && r_164^0==r_164^post_7 && r_197^0==r_197^post_7 && r_39^0==r_39^post_7 && rcd_104^0==rcd_104^post_7 && rcd_112^0==rcd_112^post_7 && rcd_179^0==rcd_179^post_7 && rcd_185^0==rcd_185^post_7 && rcd_190^0==rcd_190^post_7 && rcd_207^0==rcd_207^post_7 && rcd_43^0==rcd_43^post_7 && rcd_69^0==rcd_69^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_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_7 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_7 && t_25^0==t_25^post_7 && tail_15^0==tail_15^post_7 && temp0_21^0==temp0_21^post_7 && temp0_30^0==temp0_30^post_7 && temp_34^0==temp_34^post_7 && temp_35^0==temp_35^post_7 && tmp_33^0==tmp_33^post_7 && x_24^0==x_24^post_7 && x_SLAM_f_22^0==x_SLAM_f_22^post_7 && y_23^0==y_23^post_7 ], cost: 1 7: l6 -> l7 : a_153^0'=a_153^post_8, a_178^0'=a_178^post_8, a_208^0'=a_208^post_8, f_198^0'=f_198^post_8, head_16^0'=head_16^post_8, head_31^0'=head_31^post_8, head_SLAM_f_28^0'=head_SLAM_f_28^post_8, i_110^0'=i_110^post_8, i_120^0'=i_120^post_8, i_29^0'=i_29^post_8, length_27^0'=length_27^post_8, lt_17^0'=lt_17^post_8, lt_20^0'=lt_20^post_8, nondet_12^0'=nondet_12^post_8, r_164^0'=r_164^post_8, r_197^0'=r_197^post_8, r_39^0'=r_39^post_8, rcd_104^0'=rcd_104^post_8, rcd_112^0'=rcd_112^post_8, rcd_179^0'=rcd_179^post_8, rcd_185^0'=rcd_185^post_8, rcd_190^0'=rcd_190^post_8, rcd_207^0'=rcd_207^post_8, rcd_43^0'=rcd_43^post_8, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_8, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_8, t_25^0'=t_25^post_8, tail_15^0'=tail_15^post_8, temp0_21^0'=temp0_21^post_8, temp0_30^0'=temp0_30^post_8, temp_34^0'=temp_34^post_8, temp_35^0'=temp_35^post_8, tmp_33^0'=tmp_33^post_8, x_24^0'=x_24^post_8, x_SLAM_f_22^0'=x_SLAM_f_22^post_8, y_23^0'=y_23^post_8, [ t_25^post_8==x_24^0 && a_153^post_8==a_153^post_8 && 0<=a_178^0-a_153^post_8 && a_178^0-a_153^post_8<=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 && head_16^0<=x_SLAM_f_22^0 && x_SLAM_f_22^0<=head_16^0 && head_16^0<=t_25^post_8 && t_25^post_8<=head_16^0 && lt_20^0<=y_23^0 && y_23^0<=lt_20^0 && a_153^post_8<=a_178^0 && a_178^0<=a_153^post_8 && rcd_43^0<=rcd_185^0 && rcd_185^0<=rcd_43^0 && a_178^0==a_178^post_8 && a_208^0==a_208^post_8 && f_198^0==f_198^post_8 && head_16^0==head_16^post_8 && head_31^0==head_31^post_8 && head_SLAM_f_28^0==head_SLAM_f_28^post_8 && i_110^0==i_110^post_8 && i_120^0==i_120^post_8 && i_29^0==i_29^post_8 && length_27^0==length_27^post_8 && lt_17^0==lt_17^post_8 && lt_20^0==lt_20^post_8 && nondet_12^0==nondet_12^post_8 && r_164^0==r_164^post_8 && r_197^0==r_197^post_8 && r_39^0==r_39^post_8 && rcd_104^0==rcd_104^post_8 && rcd_112^0==rcd_112^post_8 && rcd_179^0==rcd_179^post_8 && rcd_185^0==rcd_185^post_8 && rcd_190^0==rcd_190^post_8 && rcd_207^0==rcd_207^post_8 && rcd_43^0==rcd_43^post_8 && rcd_69^0==rcd_69^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_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_8 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_8 && tail_15^0==tail_15^post_8 && temp0_21^0==temp0_21^post_8 && temp0_30^0==temp0_30^post_8 && temp_34^0==temp_34^post_8 && temp_35^0==temp_35^post_8 && tmp_33^0==tmp_33^post_8 && x_24^0==x_24^post_8 && x_SLAM_f_22^0==x_SLAM_f_22^post_8 && y_23^0==y_23^post_8 ], cost: 1 8: l7 -> l8 : a_153^0'=a_153^post_9, a_178^0'=a_178^post_9, a_208^0'=a_208^post_9, f_198^0'=f_198^post_9, head_16^0'=head_16^post_9, head_31^0'=head_31^post_9, head_SLAM_f_28^0'=head_SLAM_f_28^post_9, i_110^0'=i_110^post_9, i_120^0'=i_120^post_9, i_29^0'=i_29^post_9, length_27^0'=length_27^post_9, lt_17^0'=lt_17^post_9, lt_20^0'=lt_20^post_9, nondet_12^0'=nondet_12^post_9, r_164^0'=r_164^post_9, r_197^0'=r_197^post_9, r_39^0'=r_39^post_9, rcd_104^0'=rcd_104^post_9, rcd_112^0'=rcd_112^post_9, rcd_179^0'=rcd_179^post_9, rcd_185^0'=rcd_185^post_9, rcd_190^0'=rcd_190^post_9, rcd_207^0'=rcd_207^post_9, rcd_43^0'=rcd_43^post_9, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_9, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_9, t_25^0'=t_25^post_9, tail_15^0'=tail_15^post_9, temp0_21^0'=temp0_21^post_9, temp0_30^0'=temp0_30^post_9, temp_34^0'=temp_34^post_9, temp_35^0'=temp_35^post_9, tmp_33^0'=tmp_33^post_9, x_24^0'=x_24^post_9, x_SLAM_f_22^0'=x_SLAM_f_22^post_9, y_23^0'=y_23^post_9, [ 1+head_16^0<=y_23^0 && a_153^0==a_153^post_9 && a_178^0==a_178^post_9 && a_208^0==a_208^post_9 && f_198^0==f_198^post_9 && head_16^0==head_16^post_9 && head_31^0==head_31^post_9 && head_SLAM_f_28^0==head_SLAM_f_28^post_9 && i_110^0==i_110^post_9 && i_120^0==i_120^post_9 && i_29^0==i_29^post_9 && length_27^0==length_27^post_9 && lt_17^0==lt_17^post_9 && lt_20^0==lt_20^post_9 && nondet_12^0==nondet_12^post_9 && r_164^0==r_164^post_9 && r_197^0==r_197^post_9 && r_39^0==r_39^post_9 && rcd_104^0==rcd_104^post_9 && rcd_112^0==rcd_112^post_9 && rcd_179^0==rcd_179^post_9 && rcd_185^0==rcd_185^post_9 && rcd_190^0==rcd_190^post_9 && rcd_207^0==rcd_207^post_9 && rcd_43^0==rcd_43^post_9 && rcd_69^0==rcd_69^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_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_9 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_9 && t_25^0==t_25^post_9 && tail_15^0==tail_15^post_9 && temp0_21^0==temp0_21^post_9 && temp0_30^0==temp0_30^post_9 && temp_34^0==temp_34^post_9 && temp_35^0==temp_35^post_9 && tmp_33^0==tmp_33^post_9 && x_24^0==x_24^post_9 && x_SLAM_f_22^0==x_SLAM_f_22^post_9 && y_23^0==y_23^post_9 ], cost: 1 9: l7 -> l8 : a_153^0'=a_153^post_10, a_178^0'=a_178^post_10, a_208^0'=a_208^post_10, f_198^0'=f_198^post_10, head_16^0'=head_16^post_10, head_31^0'=head_31^post_10, head_SLAM_f_28^0'=head_SLAM_f_28^post_10, i_110^0'=i_110^post_10, i_120^0'=i_120^post_10, i_29^0'=i_29^post_10, length_27^0'=length_27^post_10, lt_17^0'=lt_17^post_10, lt_20^0'=lt_20^post_10, nondet_12^0'=nondet_12^post_10, r_164^0'=r_164^post_10, r_197^0'=r_197^post_10, r_39^0'=r_39^post_10, rcd_104^0'=rcd_104^post_10, rcd_112^0'=rcd_112^post_10, rcd_179^0'=rcd_179^post_10, rcd_185^0'=rcd_185^post_10, rcd_190^0'=rcd_190^post_10, rcd_207^0'=rcd_207^post_10, rcd_43^0'=rcd_43^post_10, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_10, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_10, t_25^0'=t_25^post_10, tail_15^0'=tail_15^post_10, temp0_21^0'=temp0_21^post_10, temp0_30^0'=temp0_30^post_10, temp_34^0'=temp_34^post_10, temp_35^0'=temp_35^post_10, tmp_33^0'=tmp_33^post_10, x_24^0'=x_24^post_10, x_SLAM_f_22^0'=x_SLAM_f_22^post_10, y_23^0'=y_23^post_10, [ 1+y_23^0<=head_16^0 && a_153^0==a_153^post_10 && a_178^0==a_178^post_10 && a_208^0==a_208^post_10 && f_198^0==f_198^post_10 && head_16^0==head_16^post_10 && head_31^0==head_31^post_10 && head_SLAM_f_28^0==head_SLAM_f_28^post_10 && i_110^0==i_110^post_10 && i_120^0==i_120^post_10 && i_29^0==i_29^post_10 && length_27^0==length_27^post_10 && lt_17^0==lt_17^post_10 && lt_20^0==lt_20^post_10 && nondet_12^0==nondet_12^post_10 && r_164^0==r_164^post_10 && r_197^0==r_197^post_10 && r_39^0==r_39^post_10 && rcd_104^0==rcd_104^post_10 && rcd_112^0==rcd_112^post_10 && rcd_179^0==rcd_179^post_10 && rcd_185^0==rcd_185^post_10 && rcd_190^0==rcd_190^post_10 && rcd_207^0==rcd_207^post_10 && rcd_43^0==rcd_43^post_10 && rcd_69^0==rcd_69^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_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_10 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_10 && t_25^0==t_25^post_10 && tail_15^0==tail_15^post_10 && temp0_21^0==temp0_21^post_10 && temp0_30^0==temp0_30^post_10 && temp_34^0==temp_34^post_10 && temp_35^0==temp_35^post_10 && tmp_33^0==tmp_33^post_10 && x_24^0==x_24^post_10 && x_SLAM_f_22^0==x_SLAM_f_22^post_10 && y_23^0==y_23^post_10 ], cost: 1 10: l8 -> l9 : a_153^0'=a_153^post_11, a_178^0'=a_178^post_11, a_208^0'=a_208^post_11, f_198^0'=f_198^post_11, head_16^0'=head_16^post_11, head_31^0'=head_31^post_11, head_SLAM_f_28^0'=head_SLAM_f_28^post_11, i_110^0'=i_110^post_11, i_120^0'=i_120^post_11, i_29^0'=i_29^post_11, length_27^0'=length_27^post_11, lt_17^0'=lt_17^post_11, lt_20^0'=lt_20^post_11, nondet_12^0'=nondet_12^post_11, r_164^0'=r_164^post_11, r_197^0'=r_197^post_11, r_39^0'=r_39^post_11, rcd_104^0'=rcd_104^post_11, rcd_112^0'=rcd_112^post_11, rcd_179^0'=rcd_179^post_11, rcd_185^0'=rcd_185^post_11, rcd_190^0'=rcd_190^post_11, rcd_207^0'=rcd_207^post_11, rcd_43^0'=rcd_43^post_11, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_11, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_11, t_25^0'=t_25^post_11, tail_15^0'=tail_15^post_11, temp0_21^0'=temp0_21^post_11, temp0_30^0'=temp0_30^post_11, temp_34^0'=temp_34^post_11, temp_35^0'=temp_35^post_11, tmp_33^0'=tmp_33^post_11, x_24^0'=x_24^post_11, x_SLAM_f_22^0'=x_SLAM_f_22^post_11, y_23^0'=y_23^post_11, [ 1+y_23^0<=t_25^0 && a_153^0==a_153^post_11 && a_178^0==a_178^post_11 && a_208^0==a_208^post_11 && f_198^0==f_198^post_11 && head_16^0==head_16^post_11 && head_31^0==head_31^post_11 && head_SLAM_f_28^0==head_SLAM_f_28^post_11 && i_110^0==i_110^post_11 && i_120^0==i_120^post_11 && i_29^0==i_29^post_11 && length_27^0==length_27^post_11 && lt_17^0==lt_17^post_11 && lt_20^0==lt_20^post_11 && nondet_12^0==nondet_12^post_11 && r_164^0==r_164^post_11 && r_197^0==r_197^post_11 && r_39^0==r_39^post_11 && rcd_104^0==rcd_104^post_11 && rcd_112^0==rcd_112^post_11 && rcd_179^0==rcd_179^post_11 && rcd_185^0==rcd_185^post_11 && rcd_190^0==rcd_190^post_11 && rcd_207^0==rcd_207^post_11 && rcd_43^0==rcd_43^post_11 && rcd_69^0==rcd_69^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_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_11 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_11 && t_25^0==t_25^post_11 && tail_15^0==tail_15^post_11 && temp0_21^0==temp0_21^post_11 && temp0_30^0==temp0_30^post_11 && temp_34^0==temp_34^post_11 && temp_35^0==temp_35^post_11 && tmp_33^0==tmp_33^post_11 && x_24^0==x_24^post_11 && x_SLAM_f_22^0==x_SLAM_f_22^post_11 && y_23^0==y_23^post_11 ], cost: 1 11: l8 -> l9 : a_153^0'=a_153^post_12, a_178^0'=a_178^post_12, a_208^0'=a_208^post_12, f_198^0'=f_198^post_12, head_16^0'=head_16^post_12, head_31^0'=head_31^post_12, head_SLAM_f_28^0'=head_SLAM_f_28^post_12, i_110^0'=i_110^post_12, i_120^0'=i_120^post_12, i_29^0'=i_29^post_12, length_27^0'=length_27^post_12, lt_17^0'=lt_17^post_12, lt_20^0'=lt_20^post_12, nondet_12^0'=nondet_12^post_12, r_164^0'=r_164^post_12, r_197^0'=r_197^post_12, r_39^0'=r_39^post_12, rcd_104^0'=rcd_104^post_12, rcd_112^0'=rcd_112^post_12, rcd_179^0'=rcd_179^post_12, rcd_185^0'=rcd_185^post_12, rcd_190^0'=rcd_190^post_12, rcd_207^0'=rcd_207^post_12, rcd_43^0'=rcd_43^post_12, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_12, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_12, t_25^0'=t_25^post_12, tail_15^0'=tail_15^post_12, temp0_21^0'=temp0_21^post_12, temp0_30^0'=temp0_30^post_12, temp_34^0'=temp_34^post_12, temp_35^0'=temp_35^post_12, tmp_33^0'=tmp_33^post_12, x_24^0'=x_24^post_12, x_SLAM_f_22^0'=x_SLAM_f_22^post_12, y_23^0'=y_23^post_12, [ 1+t_25^0<=y_23^0 && a_153^0==a_153^post_12 && a_178^0==a_178^post_12 && a_208^0==a_208^post_12 && f_198^0==f_198^post_12 && head_16^0==head_16^post_12 && head_31^0==head_31^post_12 && head_SLAM_f_28^0==head_SLAM_f_28^post_12 && i_110^0==i_110^post_12 && i_120^0==i_120^post_12 && i_29^0==i_29^post_12 && length_27^0==length_27^post_12 && lt_17^0==lt_17^post_12 && lt_20^0==lt_20^post_12 && nondet_12^0==nondet_12^post_12 && r_164^0==r_164^post_12 && r_197^0==r_197^post_12 && r_39^0==r_39^post_12 && rcd_104^0==rcd_104^post_12 && rcd_112^0==rcd_112^post_12 && rcd_179^0==rcd_179^post_12 && rcd_185^0==rcd_185^post_12 && rcd_190^0==rcd_190^post_12 && rcd_207^0==rcd_207^post_12 && rcd_43^0==rcd_43^post_12 && rcd_69^0==rcd_69^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_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_12 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_12 && t_25^0==t_25^post_12 && tail_15^0==tail_15^post_12 && temp0_21^0==temp0_21^post_12 && temp0_30^0==temp0_30^post_12 && temp_34^0==temp_34^post_12 && temp_35^0==temp_35^post_12 && tmp_33^0==tmp_33^post_12 && x_24^0==x_24^post_12 && x_SLAM_f_22^0==x_SLAM_f_22^post_12 && y_23^0==y_23^post_12 ], cost: 1 12: l9 -> l2 : a_153^0'=a_153^post_13, a_178^0'=a_178^post_13, a_208^0'=a_208^post_13, f_198^0'=f_198^post_13, head_16^0'=head_16^post_13, head_31^0'=head_31^post_13, head_SLAM_f_28^0'=head_SLAM_f_28^post_13, i_110^0'=i_110^post_13, i_120^0'=i_120^post_13, i_29^0'=i_29^post_13, length_27^0'=length_27^post_13, lt_17^0'=lt_17^post_13, lt_20^0'=lt_20^post_13, nondet_12^0'=nondet_12^post_13, r_164^0'=r_164^post_13, r_197^0'=r_197^post_13, r_39^0'=r_39^post_13, rcd_104^0'=rcd_104^post_13, rcd_112^0'=rcd_112^post_13, rcd_179^0'=rcd_179^post_13, rcd_185^0'=rcd_185^post_13, rcd_190^0'=rcd_190^post_13, rcd_207^0'=rcd_207^post_13, rcd_43^0'=rcd_43^post_13, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_13, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_13, t_25^0'=t_25^post_13, tail_15^0'=tail_15^post_13, temp0_21^0'=temp0_21^post_13, temp0_30^0'=temp0_30^post_13, temp_34^0'=temp_34^post_13, temp_35^0'=temp_35^post_13, tmp_33^0'=tmp_33^post_13, x_24^0'=x_24^post_13, x_SLAM_f_22^0'=x_SLAM_f_22^post_13, y_23^0'=y_23^post_13, [ 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_120^0 && i_120^post_13==i_120^post_13 && -1+i_120^post_13<=a_153^0 && a_153^0<=-1+i_120^post_13 && a_153^0==a_153^post_13 && a_178^0==a_178^post_13 && a_208^0==a_208^post_13 && f_198^0==f_198^post_13 && head_16^0==head_16^post_13 && head_31^0==head_31^post_13 && head_SLAM_f_28^0==head_SLAM_f_28^post_13 && i_110^0==i_110^post_13 && i_29^0==i_29^post_13 && length_27^0==length_27^post_13 && lt_17^0==lt_17^post_13 && lt_20^0==lt_20^post_13 && nondet_12^0==nondet_12^post_13 && r_164^0==r_164^post_13 && r_197^0==r_197^post_13 && r_39^0==r_39^post_13 && rcd_104^0==rcd_104^post_13 && rcd_112^0==rcd_112^post_13 && rcd_179^0==rcd_179^post_13 && rcd_185^0==rcd_185^post_13 && rcd_190^0==rcd_190^post_13 && rcd_207^0==rcd_207^post_13 && rcd_43^0==rcd_43^post_13 && rcd_69^0==rcd_69^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_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_13 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_13 && t_25^0==t_25^post_13 && tail_15^0==tail_15^post_13 && temp0_21^0==temp0_21^post_13 && temp0_30^0==temp0_30^post_13 && temp_34^0==temp_34^post_13 && temp_35^0==temp_35^post_13 && tmp_33^0==tmp_33^post_13 && x_24^0==x_24^post_13 && x_SLAM_f_22^0==x_SLAM_f_22^post_13 && y_23^0==y_23^post_13 ], cost: 1 36: l2 -> l26 : a_153^0'=a_153^post_37, a_178^0'=a_178^post_37, a_208^0'=a_208^post_37, f_198^0'=f_198^post_37, head_16^0'=head_16^post_37, head_31^0'=head_31^post_37, head_SLAM_f_28^0'=head_SLAM_f_28^post_37, i_110^0'=i_110^post_37, i_120^0'=i_120^post_37, i_29^0'=i_29^post_37, length_27^0'=length_27^post_37, lt_17^0'=lt_17^post_37, lt_20^0'=lt_20^post_37, nondet_12^0'=nondet_12^post_37, r_164^0'=r_164^post_37, r_197^0'=r_197^post_37, r_39^0'=r_39^post_37, rcd_104^0'=rcd_104^post_37, rcd_112^0'=rcd_112^post_37, rcd_179^0'=rcd_179^post_37, rcd_185^0'=rcd_185^post_37, rcd_190^0'=rcd_190^post_37, rcd_207^0'=rcd_207^post_37, rcd_43^0'=rcd_43^post_37, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_37, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_37, t_25^0'=t_25^post_37, tail_15^0'=tail_15^post_37, temp0_21^0'=temp0_21^post_37, temp0_30^0'=temp0_30^post_37, temp_34^0'=temp_34^post_37, temp_35^0'=temp_35^post_37, tmp_33^0'=tmp_33^post_37, x_24^0'=x_24^post_37, x_SLAM_f_22^0'=x_SLAM_f_22^post_37, y_23^0'=y_23^post_37, [ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_37==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_37 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_37==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_37 && tail_15^post_37==tail_15^post_37 && head_16^post_37==head_16^post_37 && lt_20^post_37==lt_20^post_37 && x_SLAM_f_22^post_37==x_SLAM_f_22^post_37 && r_39^post_37==r_39^post_37 && r_197^post_37==r_197^post_37 && f_198^post_37==f_198^post_37 && a_153^0==a_153^post_37 && a_178^0==a_178^post_37 && a_208^0==a_208^post_37 && head_31^0==head_31^post_37 && head_SLAM_f_28^0==head_SLAM_f_28^post_37 && i_110^0==i_110^post_37 && i_120^0==i_120^post_37 && i_29^0==i_29^post_37 && length_27^0==length_27^post_37 && lt_17^0==lt_17^post_37 && nondet_12^0==nondet_12^post_37 && r_164^0==r_164^post_37 && rcd_104^0==rcd_104^post_37 && rcd_112^0==rcd_112^post_37 && rcd_179^0==rcd_179^post_37 && rcd_185^0==rcd_185^post_37 && rcd_190^0==rcd_190^post_37 && rcd_207^0==rcd_207^post_37 && rcd_43^0==rcd_43^post_37 && rcd_69^0==rcd_69^post_37 && result_11^0==result_11^post_37 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_37 && t_25^0==t_25^post_37 && temp0_21^0==temp0_21^post_37 && temp0_30^0==temp0_30^post_37 && temp_34^0==temp_34^post_37 && temp_35^0==temp_35^post_37 && tmp_33^0==tmp_33^post_37 && x_24^0==x_24^post_37 && y_23^0==y_23^post_37 ], cost: 1 14: l10 -> l0 : a_153^0'=a_153^post_15, a_178^0'=a_178^post_15, a_208^0'=a_208^post_15, f_198^0'=f_198^post_15, head_16^0'=head_16^post_15, head_31^0'=head_31^post_15, head_SLAM_f_28^0'=head_SLAM_f_28^post_15, i_110^0'=i_110^post_15, i_120^0'=i_120^post_15, i_29^0'=i_29^post_15, length_27^0'=length_27^post_15, lt_17^0'=lt_17^post_15, lt_20^0'=lt_20^post_15, nondet_12^0'=nondet_12^post_15, r_164^0'=r_164^post_15, r_197^0'=r_197^post_15, r_39^0'=r_39^post_15, rcd_104^0'=rcd_104^post_15, rcd_112^0'=rcd_112^post_15, rcd_179^0'=rcd_179^post_15, rcd_185^0'=rcd_185^post_15, rcd_190^0'=rcd_190^post_15, rcd_207^0'=rcd_207^post_15, rcd_43^0'=rcd_43^post_15, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_15, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_15, t_25^0'=t_25^post_15, tail_15^0'=tail_15^post_15, temp0_21^0'=temp0_21^post_15, temp0_30^0'=temp0_30^post_15, temp_34^0'=temp_34^post_15, temp_35^0'=temp_35^post_15, tmp_33^0'=tmp_33^post_15, x_24^0'=x_24^post_15, x_SLAM_f_22^0'=x_SLAM_f_22^post_15, y_23^0'=y_23^post_15, [ a_153^0==a_153^post_15 && a_178^0==a_178^post_15 && a_208^0==a_208^post_15 && f_198^0==f_198^post_15 && head_16^0==head_16^post_15 && head_31^0==head_31^post_15 && head_SLAM_f_28^0==head_SLAM_f_28^post_15 && i_110^0==i_110^post_15 && i_120^0==i_120^post_15 && i_29^0==i_29^post_15 && length_27^0==length_27^post_15 && lt_17^0==lt_17^post_15 && lt_20^0==lt_20^post_15 && nondet_12^0==nondet_12^post_15 && r_164^0==r_164^post_15 && r_197^0==r_197^post_15 && r_39^0==r_39^post_15 && rcd_104^0==rcd_104^post_15 && rcd_112^0==rcd_112^post_15 && rcd_179^0==rcd_179^post_15 && rcd_185^0==rcd_185^post_15 && rcd_190^0==rcd_190^post_15 && rcd_207^0==rcd_207^post_15 && rcd_43^0==rcd_43^post_15 && rcd_69^0==rcd_69^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_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_15 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_15 && t_25^0==t_25^post_15 && tail_15^0==tail_15^post_15 && temp0_21^0==temp0_21^post_15 && temp0_30^0==temp0_30^post_15 && temp_34^0==temp_34^post_15 && temp_35^0==temp_35^post_15 && tmp_33^0==tmp_33^post_15 && x_24^0==x_24^post_15 && x_SLAM_f_22^0==x_SLAM_f_22^post_15 && y_23^0==y_23^post_15 ], cost: 1 33: l11 -> l23 : a_153^0'=a_153^post_34, a_178^0'=a_178^post_34, a_208^0'=a_208^post_34, f_198^0'=f_198^post_34, head_16^0'=head_16^post_34, head_31^0'=head_31^post_34, head_SLAM_f_28^0'=head_SLAM_f_28^post_34, i_110^0'=i_110^post_34, i_120^0'=i_120^post_34, i_29^0'=i_29^post_34, length_27^0'=length_27^post_34, lt_17^0'=lt_17^post_34, lt_20^0'=lt_20^post_34, nondet_12^0'=nondet_12^post_34, r_164^0'=r_164^post_34, r_197^0'=r_197^post_34, r_39^0'=r_39^post_34, rcd_104^0'=rcd_104^post_34, rcd_112^0'=rcd_112^post_34, rcd_179^0'=rcd_179^post_34, rcd_185^0'=rcd_185^post_34, rcd_190^0'=rcd_190^post_34, rcd_207^0'=rcd_207^post_34, rcd_43^0'=rcd_43^post_34, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_34, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_34, t_25^0'=t_25^post_34, tail_15^0'=tail_15^post_34, temp0_21^0'=temp0_21^post_34, temp0_30^0'=temp0_30^post_34, temp_34^0'=temp_34^post_34, temp_35^0'=temp_35^post_34, tmp_33^0'=tmp_33^post_34, x_24^0'=x_24^post_34, x_SLAM_f_22^0'=x_SLAM_f_22^post_34, y_23^0'=y_23^post_34, [ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_34==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_34 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_34==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_34 && tail_15^post_34==tail_15^post_34 && head_SLAM_f_28^post_34==head_SLAM_f_28^post_34 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_34==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_34 && 1+i_29^0<=length_27^0 && tmp_33^post_34==temp_34^0 && temp_34^post_34==temp_34^post_34 && head_31^post_34==tmp_33^post_34 && i_29^post_34==1+i_29^0 && 1<=i_29^post_34 && i_29^post_34<=1 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_34<=tail_15^post_34 && tail_15^post_34<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_34 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_34<=head_SLAM_f_28^post_34 && head_SLAM_f_28^post_34<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_34 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_34<=length_27^0 && length_27^0<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_34 && tail_15^post_34<=head_SLAM_f_28^post_34 && head_SLAM_f_28^post_34<=tail_15^post_34 && head_31^post_34<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_34 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_34<=head_31^post_34 && head_31^post_34<=tmp_33^post_34 && tmp_33^post_34<=head_31^post_34 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_34<=tmp_33^post_34 && tmp_33^post_34<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_34 && 1<=length_27^0 && a_153^0==a_153^post_34 && a_178^0==a_178^post_34 && a_208^0==a_208^post_34 && f_198^0==f_198^post_34 && head_16^0==head_16^post_34 && i_110^0==i_110^post_34 && i_120^0==i_120^post_34 && length_27^0==length_27^post_34 && lt_17^0==lt_17^post_34 && lt_20^0==lt_20^post_34 && nondet_12^0==nondet_12^post_34 && r_164^0==r_164^post_34 && r_197^0==r_197^post_34 && r_39^0==r_39^post_34 && rcd_104^0==rcd_104^post_34 && rcd_112^0==rcd_112^post_34 && rcd_179^0==rcd_179^post_34 && rcd_185^0==rcd_185^post_34 && rcd_190^0==rcd_190^post_34 && rcd_207^0==rcd_207^post_34 && rcd_43^0==rcd_43^post_34 && rcd_69^0==rcd_69^post_34 && result_11^0==result_11^post_34 && t_25^0==t_25^post_34 && temp0_21^0==temp0_21^post_34 && temp0_30^0==temp0_30^post_34 && temp_35^0==temp_35^post_34 && x_24^0==x_24^post_34 && x_SLAM_f_22^0==x_SLAM_f_22^post_34 && y_23^0==y_23^post_34 ], cost: 1 84: l23 -> l0 : a_153^0'=a_153^post_85, a_178^0'=a_178^post_85, a_208^0'=a_208^post_85, f_198^0'=f_198^post_85, head_16^0'=head_16^post_85, head_31^0'=head_31^post_85, head_SLAM_f_28^0'=head_SLAM_f_28^post_85, i_110^0'=i_110^post_85, i_120^0'=i_120^post_85, i_29^0'=i_29^post_85, length_27^0'=length_27^post_85, lt_17^0'=lt_17^post_85, lt_20^0'=lt_20^post_85, nondet_12^0'=nondet_12^post_85, r_164^0'=r_164^post_85, r_197^0'=r_197^post_85, r_39^0'=r_39^post_85, rcd_104^0'=rcd_104^post_85, rcd_112^0'=rcd_112^post_85, rcd_179^0'=rcd_179^post_85, rcd_185^0'=rcd_185^post_85, rcd_190^0'=rcd_190^post_85, rcd_207^0'=rcd_207^post_85, rcd_43^0'=rcd_43^post_85, rcd_69^0'=rcd_69^post_85, result_11^0'=result_11^post_85, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_85, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_85, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_85, t_25^0'=t_25^post_85, tail_15^0'=tail_15^post_85, temp0_21^0'=temp0_21^post_85, temp0_30^0'=temp0_30^post_85, temp_34^0'=temp_34^post_85, temp_35^0'=temp_35^post_85, tmp_33^0'=tmp_33^post_85, x_24^0'=x_24^post_85, x_SLAM_f_22^0'=x_SLAM_f_22^post_85, y_23^0'=y_23^post_85, [ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_85==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_85 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_85==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_85 && tail_15^post_85==tail_15^post_85 && head_SLAM_f_28^post_85==head_SLAM_f_28^post_85 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_85==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_85 && rcd_69^post_85==rcd_69^post_85 && 1+i_29^0<=length_27^0 && tmp_33^post_85==temp_34^0 && temp_34^post_85==temp_34^post_85 && head_31^post_85==tmp_33^post_85 && i_29^post_85==1+i_29^0 && 2<=i_29^post_85 && i_29^post_85<=2 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_85<=tail_15^post_85 && tail_15^post_85<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_85 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_85<=head_SLAM_f_28^post_85 && head_SLAM_f_28^post_85<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_85 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_85<=length_27^0 && length_27^0<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_85 && tail_15^post_85<=head_SLAM_f_28^post_85 && head_SLAM_f_28^post_85<=tail_15^post_85 && head_31^post_85<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_85 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_85<=head_31^post_85 && head_31^post_85<=tmp_33^post_85 && tmp_33^post_85<=head_31^post_85 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_85<=tmp_33^post_85 && tmp_33^post_85<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_85 && 1<=length_27^0 && 2<=length_27^0 && a_153^0==a_153^post_85 && a_178^0==a_178^post_85 && a_208^0==a_208^post_85 && f_198^0==f_198^post_85 && head_16^0==head_16^post_85 && i_110^0==i_110^post_85 && i_120^0==i_120^post_85 && length_27^0==length_27^post_85 && lt_17^0==lt_17^post_85 && lt_20^0==lt_20^post_85 && nondet_12^0==nondet_12^post_85 && r_164^0==r_164^post_85 && r_197^0==r_197^post_85 && r_39^0==r_39^post_85 && rcd_104^0==rcd_104^post_85 && rcd_112^0==rcd_112^post_85 && rcd_179^0==rcd_179^post_85 && rcd_185^0==rcd_185^post_85 && rcd_190^0==rcd_190^post_85 && rcd_207^0==rcd_207^post_85 && rcd_43^0==rcd_43^post_85 && result_11^0==result_11^post_85 && t_25^0==t_25^post_85 && temp0_21^0==temp0_21^post_85 && temp0_30^0==temp0_30^post_85 && temp_35^0==temp_35^post_85 && x_24^0==x_24^post_85 && x_SLAM_f_22^0==x_SLAM_f_22^post_85 && y_23^0==y_23^post_85 ], cost: 1 37: l26 -> l27 : a_153^0'=a_153^post_38, a_178^0'=a_178^post_38, a_208^0'=a_208^post_38, f_198^0'=f_198^post_38, head_16^0'=head_16^post_38, head_31^0'=head_31^post_38, head_SLAM_f_28^0'=head_SLAM_f_28^post_38, i_110^0'=i_110^post_38, i_120^0'=i_120^post_38, i_29^0'=i_29^post_38, length_27^0'=length_27^post_38, lt_17^0'=lt_17^post_38, lt_20^0'=lt_20^post_38, nondet_12^0'=nondet_12^post_38, r_164^0'=r_164^post_38, r_197^0'=r_197^post_38, r_39^0'=r_39^post_38, rcd_104^0'=rcd_104^post_38, rcd_112^0'=rcd_112^post_38, rcd_179^0'=rcd_179^post_38, rcd_185^0'=rcd_185^post_38, rcd_190^0'=rcd_190^post_38, rcd_207^0'=rcd_207^post_38, rcd_43^0'=rcd_43^post_38, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_38, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_38, t_25^0'=t_25^post_38, tail_15^0'=tail_15^post_38, temp0_21^0'=temp0_21^post_38, temp0_30^0'=temp0_30^post_38, temp_34^0'=temp_34^post_38, temp_35^0'=temp_35^post_38, tmp_33^0'=tmp_33^post_38, x_24^0'=x_24^post_38, x_SLAM_f_22^0'=x_SLAM_f_22^post_38, y_23^0'=y_23^post_38, [ 1+y_23^0<=x_24^0 && a_153^0==a_153^post_38 && a_178^0==a_178^post_38 && a_208^0==a_208^post_38 && f_198^0==f_198^post_38 && head_16^0==head_16^post_38 && head_31^0==head_31^post_38 && head_SLAM_f_28^0==head_SLAM_f_28^post_38 && i_110^0==i_110^post_38 && i_120^0==i_120^post_38 && i_29^0==i_29^post_38 && length_27^0==length_27^post_38 && lt_17^0==lt_17^post_38 && lt_20^0==lt_20^post_38 && nondet_12^0==nondet_12^post_38 && r_164^0==r_164^post_38 && r_197^0==r_197^post_38 && r_39^0==r_39^post_38 && rcd_104^0==rcd_104^post_38 && rcd_112^0==rcd_112^post_38 && rcd_179^0==rcd_179^post_38 && rcd_185^0==rcd_185^post_38 && rcd_190^0==rcd_190^post_38 && rcd_207^0==rcd_207^post_38 && rcd_43^0==rcd_43^post_38 && rcd_69^0==rcd_69^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_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_38 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_38 && t_25^0==t_25^post_38 && tail_15^0==tail_15^post_38 && temp0_21^0==temp0_21^post_38 && temp0_30^0==temp0_30^post_38 && temp_34^0==temp_34^post_38 && temp_35^0==temp_35^post_38 && tmp_33^0==tmp_33^post_38 && x_24^0==x_24^post_38 && x_SLAM_f_22^0==x_SLAM_f_22^post_38 && y_23^0==y_23^post_38 ], cost: 1 38: l26 -> l27 : a_153^0'=a_153^post_39, a_178^0'=a_178^post_39, a_208^0'=a_208^post_39, f_198^0'=f_198^post_39, head_16^0'=head_16^post_39, head_31^0'=head_31^post_39, head_SLAM_f_28^0'=head_SLAM_f_28^post_39, i_110^0'=i_110^post_39, i_120^0'=i_120^post_39, i_29^0'=i_29^post_39, length_27^0'=length_27^post_39, lt_17^0'=lt_17^post_39, lt_20^0'=lt_20^post_39, nondet_12^0'=nondet_12^post_39, r_164^0'=r_164^post_39, r_197^0'=r_197^post_39, r_39^0'=r_39^post_39, rcd_104^0'=rcd_104^post_39, rcd_112^0'=rcd_112^post_39, rcd_179^0'=rcd_179^post_39, rcd_185^0'=rcd_185^post_39, rcd_190^0'=rcd_190^post_39, rcd_207^0'=rcd_207^post_39, rcd_43^0'=rcd_43^post_39, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_39, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_39, t_25^0'=t_25^post_39, tail_15^0'=tail_15^post_39, temp0_21^0'=temp0_21^post_39, temp0_30^0'=temp0_30^post_39, temp_34^0'=temp_34^post_39, temp_35^0'=temp_35^post_39, tmp_33^0'=tmp_33^post_39, x_24^0'=x_24^post_39, x_SLAM_f_22^0'=x_SLAM_f_22^post_39, y_23^0'=y_23^post_39, [ 1+x_24^0<=y_23^0 && a_153^0==a_153^post_39 && a_178^0==a_178^post_39 && a_208^0==a_208^post_39 && f_198^0==f_198^post_39 && head_16^0==head_16^post_39 && head_31^0==head_31^post_39 && head_SLAM_f_28^0==head_SLAM_f_28^post_39 && i_110^0==i_110^post_39 && i_120^0==i_120^post_39 && i_29^0==i_29^post_39 && length_27^0==length_27^post_39 && lt_17^0==lt_17^post_39 && lt_20^0==lt_20^post_39 && nondet_12^0==nondet_12^post_39 && r_164^0==r_164^post_39 && r_197^0==r_197^post_39 && r_39^0==r_39^post_39 && rcd_104^0==rcd_104^post_39 && rcd_112^0==rcd_112^post_39 && rcd_179^0==rcd_179^post_39 && rcd_185^0==rcd_185^post_39 && rcd_190^0==rcd_190^post_39 && rcd_207^0==rcd_207^post_39 && rcd_43^0==rcd_43^post_39 && rcd_69^0==rcd_69^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_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_39 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_39 && t_25^0==t_25^post_39 && tail_15^0==tail_15^post_39 && temp0_21^0==temp0_21^post_39 && temp0_30^0==temp0_30^post_39 && temp_34^0==temp_34^post_39 && temp_35^0==temp_35^post_39 && tmp_33^0==tmp_33^post_39 && x_24^0==x_24^post_39 && x_SLAM_f_22^0==x_SLAM_f_22^post_39 && y_23^0==y_23^post_39 ], cost: 1 39: l27 -> l28 : a_153^0'=a_153^post_40, a_178^0'=a_178^post_40, a_208^0'=a_208^post_40, f_198^0'=f_198^post_40, head_16^0'=head_16^post_40, head_31^0'=head_31^post_40, head_SLAM_f_28^0'=head_SLAM_f_28^post_40, i_110^0'=i_110^post_40, i_120^0'=i_120^post_40, i_29^0'=i_29^post_40, length_27^0'=length_27^post_40, lt_17^0'=lt_17^post_40, lt_20^0'=lt_20^post_40, nondet_12^0'=nondet_12^post_40, r_164^0'=r_164^post_40, r_197^0'=r_197^post_40, r_39^0'=r_39^post_40, rcd_104^0'=rcd_104^post_40, rcd_112^0'=rcd_112^post_40, rcd_179^0'=rcd_179^post_40, rcd_185^0'=rcd_185^post_40, rcd_190^0'=rcd_190^post_40, rcd_207^0'=rcd_207^post_40, rcd_43^0'=rcd_43^post_40, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_40, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_40, t_25^0'=t_25^post_40, tail_15^0'=tail_15^post_40, temp0_21^0'=temp0_21^post_40, temp0_30^0'=temp0_30^post_40, temp_34^0'=temp_34^post_40, temp_35^0'=temp_35^post_40, tmp_33^0'=tmp_33^post_40, x_24^0'=x_24^post_40, x_SLAM_f_22^0'=x_SLAM_f_22^post_40, y_23^0'=y_23^post_40, [ t_25^post_40==x_24^0 && rcd_207^post_40==rcd_207^post_40 && a_208^post_40==a_208^post_40 && 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 && head_16^0<=x_SLAM_f_22^0 && x_SLAM_f_22^0<=head_16^0 && lt_20^0<=y_23^0 && y_23^0<=lt_20^0 && a_153^0==a_153^post_40 && a_178^0==a_178^post_40 && f_198^0==f_198^post_40 && head_16^0==head_16^post_40 && head_31^0==head_31^post_40 && head_SLAM_f_28^0==head_SLAM_f_28^post_40 && i_110^0==i_110^post_40 && i_120^0==i_120^post_40 && i_29^0==i_29^post_40 && length_27^0==length_27^post_40 && lt_17^0==lt_17^post_40 && lt_20^0==lt_20^post_40 && nondet_12^0==nondet_12^post_40 && r_164^0==r_164^post_40 && r_197^0==r_197^post_40 && r_39^0==r_39^post_40 && rcd_104^0==rcd_104^post_40 && rcd_112^0==rcd_112^post_40 && rcd_179^0==rcd_179^post_40 && rcd_185^0==rcd_185^post_40 && rcd_190^0==rcd_190^post_40 && rcd_43^0==rcd_43^post_40 && rcd_69^0==rcd_69^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_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_40 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_40 && tail_15^0==tail_15^post_40 && temp0_21^0==temp0_21^post_40 && temp0_30^0==temp0_30^post_40 && temp_34^0==temp_34^post_40 && temp_35^0==temp_35^post_40 && tmp_33^0==tmp_33^post_40 && x_24^0==x_24^post_40 && x_SLAM_f_22^0==x_SLAM_f_22^post_40 && y_23^0==y_23^post_40 ], cost: 1 40: l28 -> l29 : a_153^0'=a_153^post_41, a_178^0'=a_178^post_41, a_208^0'=a_208^post_41, f_198^0'=f_198^post_41, head_16^0'=head_16^post_41, head_31^0'=head_31^post_41, head_SLAM_f_28^0'=head_SLAM_f_28^post_41, i_110^0'=i_110^post_41, i_120^0'=i_120^post_41, i_29^0'=i_29^post_41, length_27^0'=length_27^post_41, lt_17^0'=lt_17^post_41, lt_20^0'=lt_20^post_41, nondet_12^0'=nondet_12^post_41, r_164^0'=r_164^post_41, r_197^0'=r_197^post_41, r_39^0'=r_39^post_41, rcd_104^0'=rcd_104^post_41, rcd_112^0'=rcd_112^post_41, rcd_179^0'=rcd_179^post_41, rcd_185^0'=rcd_185^post_41, rcd_190^0'=rcd_190^post_41, rcd_207^0'=rcd_207^post_41, rcd_43^0'=rcd_43^post_41, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_41, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_41, t_25^0'=t_25^post_41, tail_15^0'=tail_15^post_41, temp0_21^0'=temp0_21^post_41, temp0_30^0'=temp0_30^post_41, temp_34^0'=temp_34^post_41, temp_35^0'=temp_35^post_41, tmp_33^0'=tmp_33^post_41, x_24^0'=x_24^post_41, x_SLAM_f_22^0'=x_SLAM_f_22^post_41, y_23^0'=y_23^post_41, [ 1+head_16^0<=y_23^0 && a_153^0==a_153^post_41 && a_178^0==a_178^post_41 && a_208^0==a_208^post_41 && f_198^0==f_198^post_41 && head_16^0==head_16^post_41 && head_31^0==head_31^post_41 && head_SLAM_f_28^0==head_SLAM_f_28^post_41 && i_110^0==i_110^post_41 && i_120^0==i_120^post_41 && i_29^0==i_29^post_41 && length_27^0==length_27^post_41 && lt_17^0==lt_17^post_41 && lt_20^0==lt_20^post_41 && nondet_12^0==nondet_12^post_41 && r_164^0==r_164^post_41 && r_197^0==r_197^post_41 && r_39^0==r_39^post_41 && rcd_104^0==rcd_104^post_41 && rcd_112^0==rcd_112^post_41 && rcd_179^0==rcd_179^post_41 && rcd_185^0==rcd_185^post_41 && rcd_190^0==rcd_190^post_41 && rcd_207^0==rcd_207^post_41 && rcd_43^0==rcd_43^post_41 && rcd_69^0==rcd_69^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_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_41 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_41 && t_25^0==t_25^post_41 && tail_15^0==tail_15^post_41 && temp0_21^0==temp0_21^post_41 && temp0_30^0==temp0_30^post_41 && temp_34^0==temp_34^post_41 && temp_35^0==temp_35^post_41 && tmp_33^0==tmp_33^post_41 && x_24^0==x_24^post_41 && x_SLAM_f_22^0==x_SLAM_f_22^post_41 && y_23^0==y_23^post_41 ], cost: 1 41: l28 -> l29 : a_153^0'=a_153^post_42, a_178^0'=a_178^post_42, a_208^0'=a_208^post_42, f_198^0'=f_198^post_42, head_16^0'=head_16^post_42, head_31^0'=head_31^post_42, head_SLAM_f_28^0'=head_SLAM_f_28^post_42, i_110^0'=i_110^post_42, i_120^0'=i_120^post_42, i_29^0'=i_29^post_42, length_27^0'=length_27^post_42, lt_17^0'=lt_17^post_42, lt_20^0'=lt_20^post_42, nondet_12^0'=nondet_12^post_42, r_164^0'=r_164^post_42, r_197^0'=r_197^post_42, r_39^0'=r_39^post_42, rcd_104^0'=rcd_104^post_42, rcd_112^0'=rcd_112^post_42, rcd_179^0'=rcd_179^post_42, rcd_185^0'=rcd_185^post_42, rcd_190^0'=rcd_190^post_42, rcd_207^0'=rcd_207^post_42, rcd_43^0'=rcd_43^post_42, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_42, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_42, t_25^0'=t_25^post_42, tail_15^0'=tail_15^post_42, temp0_21^0'=temp0_21^post_42, temp0_30^0'=temp0_30^post_42, temp_34^0'=temp_34^post_42, temp_35^0'=temp_35^post_42, tmp_33^0'=tmp_33^post_42, x_24^0'=x_24^post_42, x_SLAM_f_22^0'=x_SLAM_f_22^post_42, y_23^0'=y_23^post_42, [ 1+y_23^0<=head_16^0 && a_153^0==a_153^post_42 && a_178^0==a_178^post_42 && a_208^0==a_208^post_42 && f_198^0==f_198^post_42 && head_16^0==head_16^post_42 && head_31^0==head_31^post_42 && head_SLAM_f_28^0==head_SLAM_f_28^post_42 && i_110^0==i_110^post_42 && i_120^0==i_120^post_42 && i_29^0==i_29^post_42 && length_27^0==length_27^post_42 && lt_17^0==lt_17^post_42 && lt_20^0==lt_20^post_42 && nondet_12^0==nondet_12^post_42 && r_164^0==r_164^post_42 && r_197^0==r_197^post_42 && r_39^0==r_39^post_42 && rcd_104^0==rcd_104^post_42 && rcd_112^0==rcd_112^post_42 && rcd_179^0==rcd_179^post_42 && rcd_185^0==rcd_185^post_42 && rcd_190^0==rcd_190^post_42 && rcd_207^0==rcd_207^post_42 && rcd_43^0==rcd_43^post_42 && rcd_69^0==rcd_69^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_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_42 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_42 && t_25^0==t_25^post_42 && tail_15^0==tail_15^post_42 && temp0_21^0==temp0_21^post_42 && temp0_30^0==temp0_30^post_42 && temp_34^0==temp_34^post_42 && temp_35^0==temp_35^post_42 && tmp_33^0==tmp_33^post_42 && x_24^0==x_24^post_42 && x_SLAM_f_22^0==x_SLAM_f_22^post_42 && y_23^0==y_23^post_42 ], cost: 1 42: l29 -> l30 : a_153^0'=a_153^post_43, a_178^0'=a_178^post_43, a_208^0'=a_208^post_43, f_198^0'=f_198^post_43, head_16^0'=head_16^post_43, head_31^0'=head_31^post_43, head_SLAM_f_28^0'=head_SLAM_f_28^post_43, i_110^0'=i_110^post_43, i_120^0'=i_120^post_43, i_29^0'=i_29^post_43, length_27^0'=length_27^post_43, lt_17^0'=lt_17^post_43, lt_20^0'=lt_20^post_43, nondet_12^0'=nondet_12^post_43, r_164^0'=r_164^post_43, r_197^0'=r_197^post_43, r_39^0'=r_39^post_43, rcd_104^0'=rcd_104^post_43, rcd_112^0'=rcd_112^post_43, rcd_179^0'=rcd_179^post_43, rcd_185^0'=rcd_185^post_43, rcd_190^0'=rcd_190^post_43, rcd_207^0'=rcd_207^post_43, rcd_43^0'=rcd_43^post_43, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_43, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_43, t_25^0'=t_25^post_43, tail_15^0'=tail_15^post_43, temp0_21^0'=temp0_21^post_43, temp0_30^0'=temp0_30^post_43, temp_34^0'=temp_34^post_43, temp_35^0'=temp_35^post_43, tmp_33^0'=tmp_33^post_43, x_24^0'=x_24^post_43, x_SLAM_f_22^0'=x_SLAM_f_22^post_43, y_23^0'=y_23^post_43, [ 1+y_23^0<=t_25^0 && a_153^0==a_153^post_43 && a_178^0==a_178^post_43 && a_208^0==a_208^post_43 && f_198^0==f_198^post_43 && head_16^0==head_16^post_43 && head_31^0==head_31^post_43 && head_SLAM_f_28^0==head_SLAM_f_28^post_43 && i_110^0==i_110^post_43 && i_120^0==i_120^post_43 && i_29^0==i_29^post_43 && length_27^0==length_27^post_43 && lt_17^0==lt_17^post_43 && lt_20^0==lt_20^post_43 && nondet_12^0==nondet_12^post_43 && r_164^0==r_164^post_43 && r_197^0==r_197^post_43 && r_39^0==r_39^post_43 && rcd_104^0==rcd_104^post_43 && rcd_112^0==rcd_112^post_43 && rcd_179^0==rcd_179^post_43 && rcd_185^0==rcd_185^post_43 && rcd_190^0==rcd_190^post_43 && rcd_207^0==rcd_207^post_43 && rcd_43^0==rcd_43^post_43 && rcd_69^0==rcd_69^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_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_43 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_43 && t_25^0==t_25^post_43 && tail_15^0==tail_15^post_43 && temp0_21^0==temp0_21^post_43 && temp0_30^0==temp0_30^post_43 && temp_34^0==temp_34^post_43 && temp_35^0==temp_35^post_43 && tmp_33^0==tmp_33^post_43 && x_24^0==x_24^post_43 && x_SLAM_f_22^0==x_SLAM_f_22^post_43 && y_23^0==y_23^post_43 ], cost: 1 43: l29 -> l30 : a_153^0'=a_153^post_44, a_178^0'=a_178^post_44, a_208^0'=a_208^post_44, f_198^0'=f_198^post_44, head_16^0'=head_16^post_44, head_31^0'=head_31^post_44, head_SLAM_f_28^0'=head_SLAM_f_28^post_44, i_110^0'=i_110^post_44, i_120^0'=i_120^post_44, i_29^0'=i_29^post_44, length_27^0'=length_27^post_44, lt_17^0'=lt_17^post_44, lt_20^0'=lt_20^post_44, nondet_12^0'=nondet_12^post_44, r_164^0'=r_164^post_44, r_197^0'=r_197^post_44, r_39^0'=r_39^post_44, rcd_104^0'=rcd_104^post_44, rcd_112^0'=rcd_112^post_44, rcd_179^0'=rcd_179^post_44, rcd_185^0'=rcd_185^post_44, rcd_190^0'=rcd_190^post_44, rcd_207^0'=rcd_207^post_44, rcd_43^0'=rcd_43^post_44, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_44, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_44, t_25^0'=t_25^post_44, tail_15^0'=tail_15^post_44, temp0_21^0'=temp0_21^post_44, temp0_30^0'=temp0_30^post_44, temp_34^0'=temp_34^post_44, temp_35^0'=temp_35^post_44, tmp_33^0'=tmp_33^post_44, x_24^0'=x_24^post_44, x_SLAM_f_22^0'=x_SLAM_f_22^post_44, y_23^0'=y_23^post_44, [ 1+t_25^0<=y_23^0 && a_153^0==a_153^post_44 && a_178^0==a_178^post_44 && a_208^0==a_208^post_44 && f_198^0==f_198^post_44 && head_16^0==head_16^post_44 && head_31^0==head_31^post_44 && head_SLAM_f_28^0==head_SLAM_f_28^post_44 && i_110^0==i_110^post_44 && i_120^0==i_120^post_44 && i_29^0==i_29^post_44 && length_27^0==length_27^post_44 && lt_17^0==lt_17^post_44 && lt_20^0==lt_20^post_44 && nondet_12^0==nondet_12^post_44 && r_164^0==r_164^post_44 && r_197^0==r_197^post_44 && r_39^0==r_39^post_44 && rcd_104^0==rcd_104^post_44 && rcd_112^0==rcd_112^post_44 && rcd_179^0==rcd_179^post_44 && rcd_185^0==rcd_185^post_44 && rcd_190^0==rcd_190^post_44 && rcd_207^0==rcd_207^post_44 && rcd_43^0==rcd_43^post_44 && rcd_69^0==rcd_69^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_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_44 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_44 && t_25^0==t_25^post_44 && tail_15^0==tail_15^post_44 && temp0_21^0==temp0_21^post_44 && temp0_30^0==temp0_30^post_44 && temp_34^0==temp_34^post_44 && temp_35^0==temp_35^post_44 && tmp_33^0==tmp_33^post_44 && x_24^0==x_24^post_44 && x_SLAM_f_22^0==x_SLAM_f_22^post_44 && y_23^0==y_23^post_44 ], cost: 1 44: l30 -> l25 : a_153^0'=a_153^post_45, a_178^0'=a_178^post_45, a_208^0'=a_208^post_45, f_198^0'=f_198^post_45, head_16^0'=head_16^post_45, head_31^0'=head_31^post_45, head_SLAM_f_28^0'=head_SLAM_f_28^post_45, i_110^0'=i_110^post_45, i_120^0'=i_120^post_45, i_29^0'=i_29^post_45, length_27^0'=length_27^post_45, lt_17^0'=lt_17^post_45, lt_20^0'=lt_20^post_45, nondet_12^0'=nondet_12^post_45, r_164^0'=r_164^post_45, r_197^0'=r_197^post_45, r_39^0'=r_39^post_45, rcd_104^0'=rcd_104^post_45, rcd_112^0'=rcd_112^post_45, rcd_179^0'=rcd_179^post_45, rcd_185^0'=rcd_185^post_45, rcd_190^0'=rcd_190^post_45, rcd_207^0'=rcd_207^post_45, rcd_43^0'=rcd_43^post_45, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_45, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_45, t_25^0'=t_25^post_45, tail_15^0'=tail_15^post_45, temp0_21^0'=temp0_21^post_45, temp0_30^0'=temp0_30^post_45, temp_34^0'=temp_34^post_45, temp_35^0'=temp_35^post_45, tmp_33^0'=tmp_33^post_45, x_24^0'=x_24^post_45, x_SLAM_f_22^0'=x_SLAM_f_22^post_45, y_23^0'=y_23^post_45, [ 1<=result_dot_nondet_sdv_special_RETURN_VALUE_14^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^0 && rcd_43^post_45==rcd_43^post_45 && rcd_43^post_45<=rcd_207^0 && rcd_207^0<=rcd_43^post_45 && a_178^post_45==a_178^post_45 && a_178^post_45<=a_208^0 && a_208^0<=a_178^post_45 && a_153^0==a_153^post_45 && a_208^0==a_208^post_45 && f_198^0==f_198^post_45 && head_16^0==head_16^post_45 && head_31^0==head_31^post_45 && head_SLAM_f_28^0==head_SLAM_f_28^post_45 && i_110^0==i_110^post_45 && i_120^0==i_120^post_45 && i_29^0==i_29^post_45 && length_27^0==length_27^post_45 && lt_17^0==lt_17^post_45 && lt_20^0==lt_20^post_45 && nondet_12^0==nondet_12^post_45 && r_164^0==r_164^post_45 && r_197^0==r_197^post_45 && r_39^0==r_39^post_45 && rcd_104^0==rcd_104^post_45 && rcd_112^0==rcd_112^post_45 && rcd_179^0==rcd_179^post_45 && rcd_185^0==rcd_185^post_45 && rcd_190^0==rcd_190^post_45 && rcd_207^0==rcd_207^post_45 && rcd_69^0==rcd_69^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_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_45 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_45 && t_25^0==t_25^post_45 && tail_15^0==tail_15^post_45 && temp0_21^0==temp0_21^post_45 && temp0_30^0==temp0_30^post_45 && temp_34^0==temp_34^post_45 && temp_35^0==temp_35^post_45 && tmp_33^0==tmp_33^post_45 && x_24^0==x_24^post_45 && x_SLAM_f_22^0==x_SLAM_f_22^post_45 && y_23^0==y_23^post_45 ], cost: 1 45: l25 -> l2 : a_153^0'=a_153^post_46, a_178^0'=a_178^post_46, a_208^0'=a_208^post_46, f_198^0'=f_198^post_46, head_16^0'=head_16^post_46, head_31^0'=head_31^post_46, head_SLAM_f_28^0'=head_SLAM_f_28^post_46, i_110^0'=i_110^post_46, i_120^0'=i_120^post_46, i_29^0'=i_29^post_46, length_27^0'=length_27^post_46, lt_17^0'=lt_17^post_46, lt_20^0'=lt_20^post_46, nondet_12^0'=nondet_12^post_46, r_164^0'=r_164^post_46, r_197^0'=r_197^post_46, r_39^0'=r_39^post_46, rcd_104^0'=rcd_104^post_46, rcd_112^0'=rcd_112^post_46, rcd_179^0'=rcd_179^post_46, rcd_185^0'=rcd_185^post_46, rcd_190^0'=rcd_190^post_46, rcd_207^0'=rcd_207^post_46, rcd_43^0'=rcd_43^post_46, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_46, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_46, t_25^0'=t_25^post_46, tail_15^0'=tail_15^post_46, temp0_21^0'=temp0_21^post_46, temp0_30^0'=temp0_30^post_46, temp_34^0'=temp_34^post_46, temp_35^0'=temp_35^post_46, tmp_33^0'=tmp_33^post_46, x_24^0'=x_24^post_46, x_SLAM_f_22^0'=x_SLAM_f_22^post_46, y_23^0'=y_23^post_46, [ a_153^0==a_153^post_46 && a_178^0==a_178^post_46 && a_208^0==a_208^post_46 && f_198^0==f_198^post_46 && head_16^0==head_16^post_46 && head_31^0==head_31^post_46 && head_SLAM_f_28^0==head_SLAM_f_28^post_46 && i_110^0==i_110^post_46 && i_120^0==i_120^post_46 && i_29^0==i_29^post_46 && length_27^0==length_27^post_46 && lt_17^0==lt_17^post_46 && lt_20^0==lt_20^post_46 && nondet_12^0==nondet_12^post_46 && r_164^0==r_164^post_46 && r_197^0==r_197^post_46 && r_39^0==r_39^post_46 && rcd_104^0==rcd_104^post_46 && rcd_112^0==rcd_112^post_46 && rcd_179^0==rcd_179^post_46 && rcd_185^0==rcd_185^post_46 && rcd_190^0==rcd_190^post_46 && rcd_207^0==rcd_207^post_46 && rcd_43^0==rcd_43^post_46 && rcd_69^0==rcd_69^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_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_46 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_46 && t_25^0==t_25^post_46 && tail_15^0==tail_15^post_46 && temp0_21^0==temp0_21^post_46 && temp0_30^0==temp0_30^post_46 && temp_34^0==temp_34^post_46 && temp_35^0==temp_35^post_46 && tmp_33^0==tmp_33^post_46 && x_24^0==x_24^post_46 && x_SLAM_f_22^0==x_SLAM_f_22^post_46 && y_23^0==y_23^post_46 ], cost: 1 72: l46 -> l11 : a_153^0'=a_153^post_73, a_178^0'=a_178^post_73, a_208^0'=a_208^post_73, f_198^0'=f_198^post_73, head_16^0'=head_16^post_73, head_31^0'=head_31^post_73, head_SLAM_f_28^0'=head_SLAM_f_28^post_73, i_110^0'=i_110^post_73, i_120^0'=i_120^post_73, i_29^0'=i_29^post_73, length_27^0'=length_27^post_73, lt_17^0'=lt_17^post_73, lt_20^0'=lt_20^post_73, nondet_12^0'=nondet_12^post_73, r_164^0'=r_164^post_73, r_197^0'=r_197^post_73, r_39^0'=r_39^post_73, rcd_104^0'=rcd_104^post_73, rcd_112^0'=rcd_112^post_73, rcd_179^0'=rcd_179^post_73, rcd_185^0'=rcd_185^post_73, rcd_190^0'=rcd_190^post_73, rcd_207^0'=rcd_207^post_73, rcd_43^0'=rcd_43^post_73, rcd_69^0'=rcd_69^post_73, result_11^0'=result_11^post_73, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_73, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_73, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_73, t_25^0'=t_25^post_73, tail_15^0'=tail_15^post_73, temp0_21^0'=temp0_21^post_73, temp0_30^0'=temp0_30^post_73, temp_34^0'=temp_34^post_73, temp_35^0'=temp_35^post_73, tmp_33^0'=tmp_33^post_73, x_24^0'=x_24^post_73, x_SLAM_f_22^0'=x_SLAM_f_22^post_73, y_23^0'=y_23^post_73, [ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_73==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_73 && tail_15^post_73==temp_35^0 && temp_35^post_73==temp_35^post_73 && nondet_12^1_1==nondet_12^1_1 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_73==nondet_12^1_1 && nondet_12^post_73==nondet_12^post_73 && length_27^post_73==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_73 && head_SLAM_f_28^post_73==tail_15^post_73 && head_31^post_73==head_SLAM_f_28^post_73 && i_29^post_73==0 && 0<=i_29^post_73 && i_29^post_73<=0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_73<=tail_15^post_73 && tail_15^post_73<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_73 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_73<=head_SLAM_f_28^post_73 && head_SLAM_f_28^post_73<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_73 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_73<=head_31^post_73 && head_31^post_73<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_73 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_73<=length_27^post_73 && length_27^post_73<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_73 && tail_15^post_73<=head_SLAM_f_28^post_73 && head_SLAM_f_28^post_73<=tail_15^post_73 && head_SLAM_f_28^post_73<=head_31^post_73 && head_31^post_73<=head_SLAM_f_28^post_73 && a_153^0==a_153^post_73 && a_178^0==a_178^post_73 && a_208^0==a_208^post_73 && f_198^0==f_198^post_73 && head_16^0==head_16^post_73 && i_110^0==i_110^post_73 && i_120^0==i_120^post_73 && lt_17^0==lt_17^post_73 && lt_20^0==lt_20^post_73 && r_164^0==r_164^post_73 && r_197^0==r_197^post_73 && r_39^0==r_39^post_73 && rcd_104^0==rcd_104^post_73 && rcd_112^0==rcd_112^post_73 && rcd_179^0==rcd_179^post_73 && rcd_185^0==rcd_185^post_73 && rcd_190^0==rcd_190^post_73 && rcd_207^0==rcd_207^post_73 && rcd_43^0==rcd_43^post_73 && rcd_69^0==rcd_69^post_73 && result_11^0==result_11^post_73 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_73 && t_25^0==t_25^post_73 && temp0_21^0==temp0_21^post_73 && temp0_30^0==temp0_30^post_73 && temp_34^0==temp_34^post_73 && tmp_33^0==tmp_33^post_73 && x_24^0==x_24^post_73 && x_SLAM_f_22^0==x_SLAM_f_22^post_73 && y_23^0==y_23^post_73 ], cost: 1 89: l55 -> l46 : a_153^0'=a_153^post_90, a_178^0'=a_178^post_90, a_208^0'=a_208^post_90, f_198^0'=f_198^post_90, head_16^0'=head_16^post_90, head_31^0'=head_31^post_90, head_SLAM_f_28^0'=head_SLAM_f_28^post_90, i_110^0'=i_110^post_90, i_120^0'=i_120^post_90, i_29^0'=i_29^post_90, length_27^0'=length_27^post_90, lt_17^0'=lt_17^post_90, lt_20^0'=lt_20^post_90, nondet_12^0'=nondet_12^post_90, r_164^0'=r_164^post_90, r_197^0'=r_197^post_90, r_39^0'=r_39^post_90, rcd_104^0'=rcd_104^post_90, rcd_112^0'=rcd_112^post_90, rcd_179^0'=rcd_179^post_90, rcd_185^0'=rcd_185^post_90, rcd_190^0'=rcd_190^post_90, rcd_207^0'=rcd_207^post_90, rcd_43^0'=rcd_43^post_90, rcd_69^0'=rcd_69^post_90, result_11^0'=result_11^post_90, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_90, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_90, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_90, t_25^0'=t_25^post_90, tail_15^0'=tail_15^post_90, temp0_21^0'=temp0_21^post_90, temp0_30^0'=temp0_30^post_90, temp_34^0'=temp_34^post_90, temp_35^0'=temp_35^post_90, tmp_33^0'=tmp_33^post_90, x_24^0'=x_24^post_90, x_SLAM_f_22^0'=x_SLAM_f_22^post_90, y_23^0'=y_23^post_90, [ a_153^0==a_153^post_90 && a_178^0==a_178^post_90 && a_208^0==a_208^post_90 && f_198^0==f_198^post_90 && head_16^0==head_16^post_90 && head_31^0==head_31^post_90 && head_SLAM_f_28^0==head_SLAM_f_28^post_90 && i_110^0==i_110^post_90 && i_120^0==i_120^post_90 && i_29^0==i_29^post_90 && length_27^0==length_27^post_90 && lt_17^0==lt_17^post_90 && lt_20^0==lt_20^post_90 && nondet_12^0==nondet_12^post_90 && r_164^0==r_164^post_90 && r_197^0==r_197^post_90 && r_39^0==r_39^post_90 && rcd_104^0==rcd_104^post_90 && rcd_112^0==rcd_112^post_90 && rcd_179^0==rcd_179^post_90 && rcd_185^0==rcd_185^post_90 && rcd_190^0==rcd_190^post_90 && rcd_207^0==rcd_207^post_90 && rcd_43^0==rcd_43^post_90 && rcd_69^0==rcd_69^post_90 && result_11^0==result_11^post_90 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_90 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_90 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_90 && t_25^0==t_25^post_90 && tail_15^0==tail_15^post_90 && temp0_21^0==temp0_21^post_90 && temp0_30^0==temp0_30^post_90 && temp_34^0==temp_34^post_90 && temp_35^0==temp_35^post_90 && tmp_33^0==tmp_33^post_90 && x_24^0==x_24^post_90 && x_SLAM_f_22^0==x_SLAM_f_22^post_90 && y_23^0==y_23^post_90 ], cost: 1 Removed unreachable and leaf rules: Start location: l55 1: l0 -> l3 : a_153^0'=a_153^post_2, a_178^0'=a_178^post_2, a_208^0'=a_208^post_2, f_198^0'=f_198^post_2, head_16^0'=head_16^post_2, head_31^0'=head_31^post_2, head_SLAM_f_28^0'=head_SLAM_f_28^post_2, i_110^0'=i_110^post_2, i_120^0'=i_120^post_2, i_29^0'=i_29^post_2, length_27^0'=length_27^post_2, lt_17^0'=lt_17^post_2, lt_20^0'=lt_20^post_2, nondet_12^0'=nondet_12^post_2, r_164^0'=r_164^post_2, r_197^0'=r_197^post_2, r_39^0'=r_39^post_2, rcd_104^0'=rcd_104^post_2, rcd_112^0'=rcd_112^post_2, rcd_179^0'=rcd_179^post_2, rcd_185^0'=rcd_185^post_2, rcd_190^0'=rcd_190^post_2, rcd_207^0'=rcd_207^post_2, rcd_43^0'=rcd_43^post_2, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_2, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2, t_25^0'=t_25^post_2, tail_15^0'=tail_15^post_2, temp0_21^0'=temp0_21^post_2, temp0_30^0'=temp0_30^post_2, temp_34^0'=temp_34^post_2, temp_35^0'=temp_35^post_2, tmp_33^0'=tmp_33^post_2, x_24^0'=x_24^post_2, x_SLAM_f_22^0'=x_SLAM_f_22^post_2, y_23^0'=y_23^post_2, [ 0<=i_29^0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_2==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_2 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2 && tail_15^post_2==tail_15^post_2 && length_27^0<=i_29^0 && temp0_30^1_2_1==head_31^0 && result_11^1_2==temp0_30^1_2_1 && length_27^post_2==length_27^post_2 && head_SLAM_f_28^post_2==head_SLAM_f_28^post_2 && i_29^post_2==i_29^post_2 && temp0_30^post_2==temp0_30^post_2 && head_31^post_2==head_31^post_2 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_2==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_2 && tmp_33^post_2==tmp_33^post_2 && temp_34^post_2==temp_34^post_2 && head_16^post_2==result_11^1_2 && result_11^post_2==result_11^post_2 && a_153^0==a_153^post_2 && a_178^0==a_178^post_2 && a_208^0==a_208^post_2 && f_198^0==f_198^post_2 && i_110^0==i_110^post_2 && i_120^0==i_120^post_2 && lt_17^0==lt_17^post_2 && lt_20^0==lt_20^post_2 && nondet_12^0==nondet_12^post_2 && r_164^0==r_164^post_2 && r_197^0==r_197^post_2 && r_39^0==r_39^post_2 && rcd_104^0==rcd_104^post_2 && rcd_112^0==rcd_112^post_2 && rcd_179^0==rcd_179^post_2 && rcd_185^0==rcd_185^post_2 && rcd_190^0==rcd_190^post_2 && rcd_207^0==rcd_207^post_2 && rcd_43^0==rcd_43^post_2 && rcd_69^0==rcd_69^post_2 && t_25^0==t_25^post_2 && temp0_21^0==temp0_21^post_2 && temp_35^0==temp_35^post_2 && x_24^0==x_24^post_2 && x_SLAM_f_22^0==x_SLAM_f_22^post_2 && y_23^0==y_23^post_2 ], cost: 1 13: l0 -> l10 : a_153^0'=a_153^post_14, a_178^0'=a_178^post_14, a_208^0'=a_208^post_14, f_198^0'=f_198^post_14, head_16^0'=head_16^post_14, head_31^0'=head_31^post_14, head_SLAM_f_28^0'=head_SLAM_f_28^post_14, i_110^0'=i_110^post_14, i_120^0'=i_120^post_14, i_29^0'=i_29^post_14, length_27^0'=length_27^post_14, lt_17^0'=lt_17^post_14, lt_20^0'=lt_20^post_14, nondet_12^0'=nondet_12^post_14, r_164^0'=r_164^post_14, r_197^0'=r_197^post_14, r_39^0'=r_39^post_14, rcd_104^0'=rcd_104^post_14, rcd_112^0'=rcd_112^post_14, rcd_179^0'=rcd_179^post_14, rcd_185^0'=rcd_185^post_14, rcd_190^0'=rcd_190^post_14, rcd_207^0'=rcd_207^post_14, rcd_43^0'=rcd_43^post_14, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_14, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_14, t_25^0'=t_25^post_14, tail_15^0'=tail_15^post_14, temp0_21^0'=temp0_21^post_14, temp0_30^0'=temp0_30^post_14, temp_34^0'=temp_34^post_14, temp_35^0'=temp_35^post_14, tmp_33^0'=tmp_33^post_14, x_24^0'=x_24^post_14, x_SLAM_f_22^0'=x_SLAM_f_22^post_14, y_23^0'=y_23^post_14, [ 0<=i_29^0 && rcd_104^post_14==rcd_104^post_14 && i_110^post_14==i_110^post_14 && 1+i_29^0<=length_27^0 && tmp_33^post_14==temp_34^0 && temp_34^post_14==temp_34^post_14 && head_31^post_14==tmp_33^post_14 && i_29^post_14==1+i_29^0 && rcd_112^post_14==rcd_112^post_14 && i_29^post_14<=1+i_110^post_14 && 1+i_110^post_14<=i_29^post_14 && i_110^post_14<=-1+i_29^post_14 && -1+i_29^post_14<=i_110^post_14 && rcd_43^0<=rcd_112^post_14 && rcd_112^post_14<=rcd_43^0 && 1+i_110^post_14<=length_27^0 && rcd_43^post_14==rcd_43^post_14 && rcd_43^post_14<=rcd_112^post_14 && rcd_112^post_14<=rcd_43^post_14 && a_153^0==a_153^post_14 && a_178^0==a_178^post_14 && a_208^0==a_208^post_14 && f_198^0==f_198^post_14 && head_16^0==head_16^post_14 && head_SLAM_f_28^0==head_SLAM_f_28^post_14 && i_120^0==i_120^post_14 && length_27^0==length_27^post_14 && lt_17^0==lt_17^post_14 && lt_20^0==lt_20^post_14 && nondet_12^0==nondet_12^post_14 && r_164^0==r_164^post_14 && r_197^0==r_197^post_14 && r_39^0==r_39^post_14 && rcd_179^0==rcd_179^post_14 && rcd_185^0==rcd_185^post_14 && rcd_190^0==rcd_190^post_14 && rcd_207^0==rcd_207^post_14 && rcd_69^0==rcd_69^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_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_14 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_14 && t_25^0==t_25^post_14 && tail_15^0==tail_15^post_14 && temp0_21^0==temp0_21^post_14 && temp0_30^0==temp0_30^post_14 && temp_35^0==temp_35^post_14 && x_24^0==x_24^post_14 && x_SLAM_f_22^0==x_SLAM_f_22^post_14 && y_23^0==y_23^post_14 ], cost: 1 2: l3 -> l4 : a_153^0'=a_153^post_3, a_178^0'=a_178^post_3, a_208^0'=a_208^post_3, f_198^0'=f_198^post_3, head_16^0'=head_16^post_3, head_31^0'=head_31^post_3, head_SLAM_f_28^0'=head_SLAM_f_28^post_3, i_110^0'=i_110^post_3, i_120^0'=i_120^post_3, i_29^0'=i_29^post_3, length_27^0'=length_27^post_3, lt_17^0'=lt_17^post_3, lt_20^0'=lt_20^post_3, nondet_12^0'=nondet_12^post_3, r_164^0'=r_164^post_3, r_197^0'=r_197^post_3, r_39^0'=r_39^post_3, rcd_104^0'=rcd_104^post_3, rcd_112^0'=rcd_112^post_3, rcd_179^0'=rcd_179^post_3, rcd_185^0'=rcd_185^post_3, rcd_190^0'=rcd_190^post_3, rcd_207^0'=rcd_207^post_3, rcd_43^0'=rcd_43^post_3, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_3, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_3, t_25^0'=t_25^post_3, tail_15^0'=tail_15^post_3, temp0_21^0'=temp0_21^post_3, temp0_30^0'=temp0_30^post_3, temp_34^0'=temp_34^post_3, temp_35^0'=temp_35^post_3, tmp_33^0'=tmp_33^post_3, x_24^0'=x_24^post_3, x_SLAM_f_22^0'=x_SLAM_f_22^post_3, y_23^0'=y_23^post_3, [ 1+head_16^0<=lt_17^0 && a_153^0==a_153^post_3 && a_178^0==a_178^post_3 && a_208^0==a_208^post_3 && f_198^0==f_198^post_3 && head_16^0==head_16^post_3 && head_31^0==head_31^post_3 && head_SLAM_f_28^0==head_SLAM_f_28^post_3 && i_110^0==i_110^post_3 && i_120^0==i_120^post_3 && i_29^0==i_29^post_3 && length_27^0==length_27^post_3 && lt_17^0==lt_17^post_3 && lt_20^0==lt_20^post_3 && nondet_12^0==nondet_12^post_3 && r_164^0==r_164^post_3 && r_197^0==r_197^post_3 && r_39^0==r_39^post_3 && rcd_104^0==rcd_104^post_3 && rcd_112^0==rcd_112^post_3 && rcd_179^0==rcd_179^post_3 && rcd_185^0==rcd_185^post_3 && rcd_190^0==rcd_190^post_3 && rcd_207^0==rcd_207^post_3 && rcd_43^0==rcd_43^post_3 && rcd_69^0==rcd_69^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_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_3 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_3 && t_25^0==t_25^post_3 && tail_15^0==tail_15^post_3 && temp0_21^0==temp0_21^post_3 && temp0_30^0==temp0_30^post_3 && temp_34^0==temp_34^post_3 && temp_35^0==temp_35^post_3 && tmp_33^0==tmp_33^post_3 && x_24^0==x_24^post_3 && x_SLAM_f_22^0==x_SLAM_f_22^post_3 && y_23^0==y_23^post_3 ], cost: 1 3: l3 -> l4 : a_153^0'=a_153^post_4, a_178^0'=a_178^post_4, a_208^0'=a_208^post_4, f_198^0'=f_198^post_4, head_16^0'=head_16^post_4, head_31^0'=head_31^post_4, head_SLAM_f_28^0'=head_SLAM_f_28^post_4, i_110^0'=i_110^post_4, i_120^0'=i_120^post_4, i_29^0'=i_29^post_4, length_27^0'=length_27^post_4, lt_17^0'=lt_17^post_4, lt_20^0'=lt_20^post_4, nondet_12^0'=nondet_12^post_4, r_164^0'=r_164^post_4, r_197^0'=r_197^post_4, r_39^0'=r_39^post_4, rcd_104^0'=rcd_104^post_4, rcd_112^0'=rcd_112^post_4, rcd_179^0'=rcd_179^post_4, rcd_185^0'=rcd_185^post_4, rcd_190^0'=rcd_190^post_4, rcd_207^0'=rcd_207^post_4, rcd_43^0'=rcd_43^post_4, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_4, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_4, t_25^0'=t_25^post_4, tail_15^0'=tail_15^post_4, temp0_21^0'=temp0_21^post_4, temp0_30^0'=temp0_30^post_4, temp_34^0'=temp_34^post_4, temp_35^0'=temp_35^post_4, tmp_33^0'=tmp_33^post_4, x_24^0'=x_24^post_4, x_SLAM_f_22^0'=x_SLAM_f_22^post_4, y_23^0'=y_23^post_4, [ 1+lt_17^0<=head_16^0 && a_153^0==a_153^post_4 && a_178^0==a_178^post_4 && a_208^0==a_208^post_4 && f_198^0==f_198^post_4 && head_16^0==head_16^post_4 && head_31^0==head_31^post_4 && head_SLAM_f_28^0==head_SLAM_f_28^post_4 && i_110^0==i_110^post_4 && i_120^0==i_120^post_4 && i_29^0==i_29^post_4 && length_27^0==length_27^post_4 && lt_17^0==lt_17^post_4 && lt_20^0==lt_20^post_4 && nondet_12^0==nondet_12^post_4 && r_164^0==r_164^post_4 && r_197^0==r_197^post_4 && r_39^0==r_39^post_4 && rcd_104^0==rcd_104^post_4 && rcd_112^0==rcd_112^post_4 && rcd_179^0==rcd_179^post_4 && rcd_185^0==rcd_185^post_4 && rcd_190^0==rcd_190^post_4 && rcd_207^0==rcd_207^post_4 && rcd_43^0==rcd_43^post_4 && rcd_69^0==rcd_69^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_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_4 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_4 && t_25^0==t_25^post_4 && tail_15^0==tail_15^post_4 && temp0_21^0==temp0_21^post_4 && temp0_30^0==temp0_30^post_4 && temp_34^0==temp_34^post_4 && temp_35^0==temp_35^post_4 && tmp_33^0==tmp_33^post_4 && x_24^0==x_24^post_4 && x_SLAM_f_22^0==x_SLAM_f_22^post_4 && y_23^0==y_23^post_4 ], cost: 1 4: l4 -> l5 : a_153^0'=a_153^post_5, a_178^0'=a_178^post_5, a_208^0'=a_208^post_5, f_198^0'=f_198^post_5, head_16^0'=head_16^post_5, head_31^0'=head_31^post_5, head_SLAM_f_28^0'=head_SLAM_f_28^post_5, i_110^0'=i_110^post_5, i_120^0'=i_120^post_5, i_29^0'=i_29^post_5, length_27^0'=length_27^post_5, lt_17^0'=lt_17^post_5, lt_20^0'=lt_20^post_5, nondet_12^0'=nondet_12^post_5, r_164^0'=r_164^post_5, r_197^0'=r_197^post_5, r_39^0'=r_39^post_5, rcd_104^0'=rcd_104^post_5, rcd_112^0'=rcd_112^post_5, rcd_179^0'=rcd_179^post_5, rcd_185^0'=rcd_185^post_5, rcd_190^0'=rcd_190^post_5, rcd_207^0'=rcd_207^post_5, rcd_43^0'=rcd_43^post_5, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_5, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_5, t_25^0'=t_25^post_5, tail_15^0'=tail_15^post_5, temp0_21^0'=temp0_21^post_5, temp0_30^0'=temp0_30^post_5, temp_34^0'=temp_34^post_5, temp_35^0'=temp_35^post_5, tmp_33^0'=tmp_33^post_5, x_24^0'=x_24^post_5, x_SLAM_f_22^0'=x_SLAM_f_22^post_5, y_23^0'=y_23^post_5, [ lt_17^post_5==lt_17^post_5 && x_SLAM_f_22^1_1==head_16^0 && y_23^post_5==lt_20^0 && x_24^post_5==x_SLAM_f_22^1_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 && head_16^0<=x_SLAM_f_22^1_1 && x_SLAM_f_22^1_1<=head_16^0 && head_16^0<=x_24^post_5 && x_24^post_5<=head_16^0 && lt_20^0<=y_23^post_5 && y_23^post_5<=lt_20^0 && x_SLAM_f_22^1_1<=x_24^post_5 && x_24^post_5<=x_SLAM_f_22^1_1 && 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_120^0 && 0<=i_120^0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_5==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_5 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_5==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_5 && tail_15^post_5==tail_15^post_5 && head_16^post_5==head_16^post_5 && lt_20^post_5==lt_20^post_5 && x_SLAM_f_22^post_5==x_SLAM_f_22^post_5 && rcd_185^post_5==rcd_185^post_5 && rcd_190^post_5==rcd_190^post_5 && a_153^0==a_153^post_5 && a_178^0==a_178^post_5 && a_208^0==a_208^post_5 && f_198^0==f_198^post_5 && head_31^0==head_31^post_5 && head_SLAM_f_28^0==head_SLAM_f_28^post_5 && i_110^0==i_110^post_5 && i_120^0==i_120^post_5 && i_29^0==i_29^post_5 && length_27^0==length_27^post_5 && nondet_12^0==nondet_12^post_5 && r_164^0==r_164^post_5 && r_197^0==r_197^post_5 && r_39^0==r_39^post_5 && rcd_104^0==rcd_104^post_5 && rcd_112^0==rcd_112^post_5 && rcd_179^0==rcd_179^post_5 && rcd_207^0==rcd_207^post_5 && rcd_43^0==rcd_43^post_5 && rcd_69^0==rcd_69^post_5 && result_11^0==result_11^post_5 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_5 && t_25^0==t_25^post_5 && temp0_21^0==temp0_21^post_5 && temp0_30^0==temp0_30^post_5 && temp_34^0==temp_34^post_5 && temp_35^0==temp_35^post_5 && tmp_33^0==tmp_33^post_5 ], cost: 1 5: l5 -> l6 : a_153^0'=a_153^post_6, a_178^0'=a_178^post_6, a_208^0'=a_208^post_6, f_198^0'=f_198^post_6, head_16^0'=head_16^post_6, head_31^0'=head_31^post_6, head_SLAM_f_28^0'=head_SLAM_f_28^post_6, i_110^0'=i_110^post_6, i_120^0'=i_120^post_6, i_29^0'=i_29^post_6, length_27^0'=length_27^post_6, lt_17^0'=lt_17^post_6, lt_20^0'=lt_20^post_6, nondet_12^0'=nondet_12^post_6, r_164^0'=r_164^post_6, r_197^0'=r_197^post_6, r_39^0'=r_39^post_6, rcd_104^0'=rcd_104^post_6, rcd_112^0'=rcd_112^post_6, rcd_179^0'=rcd_179^post_6, rcd_185^0'=rcd_185^post_6, rcd_190^0'=rcd_190^post_6, rcd_207^0'=rcd_207^post_6, rcd_43^0'=rcd_43^post_6, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_6, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_6, t_25^0'=t_25^post_6, tail_15^0'=tail_15^post_6, temp0_21^0'=temp0_21^post_6, temp0_30^0'=temp0_30^post_6, temp_34^0'=temp_34^post_6, temp_35^0'=temp_35^post_6, tmp_33^0'=tmp_33^post_6, x_24^0'=x_24^post_6, x_SLAM_f_22^0'=x_SLAM_f_22^post_6, y_23^0'=y_23^post_6, [ 1+y_23^0<=x_24^0 && a_153^0==a_153^post_6 && a_178^0==a_178^post_6 && a_208^0==a_208^post_6 && f_198^0==f_198^post_6 && head_16^0==head_16^post_6 && head_31^0==head_31^post_6 && head_SLAM_f_28^0==head_SLAM_f_28^post_6 && i_110^0==i_110^post_6 && i_120^0==i_120^post_6 && i_29^0==i_29^post_6 && length_27^0==length_27^post_6 && lt_17^0==lt_17^post_6 && lt_20^0==lt_20^post_6 && nondet_12^0==nondet_12^post_6 && r_164^0==r_164^post_6 && r_197^0==r_197^post_6 && r_39^0==r_39^post_6 && rcd_104^0==rcd_104^post_6 && rcd_112^0==rcd_112^post_6 && rcd_179^0==rcd_179^post_6 && rcd_185^0==rcd_185^post_6 && rcd_190^0==rcd_190^post_6 && rcd_207^0==rcd_207^post_6 && rcd_43^0==rcd_43^post_6 && rcd_69^0==rcd_69^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_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_6 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_6 && t_25^0==t_25^post_6 && tail_15^0==tail_15^post_6 && temp0_21^0==temp0_21^post_6 && temp0_30^0==temp0_30^post_6 && temp_34^0==temp_34^post_6 && temp_35^0==temp_35^post_6 && tmp_33^0==tmp_33^post_6 && x_24^0==x_24^post_6 && x_SLAM_f_22^0==x_SLAM_f_22^post_6 && y_23^0==y_23^post_6 ], cost: 1 6: l5 -> l6 : a_153^0'=a_153^post_7, a_178^0'=a_178^post_7, a_208^0'=a_208^post_7, f_198^0'=f_198^post_7, head_16^0'=head_16^post_7, head_31^0'=head_31^post_7, head_SLAM_f_28^0'=head_SLAM_f_28^post_7, i_110^0'=i_110^post_7, i_120^0'=i_120^post_7, i_29^0'=i_29^post_7, length_27^0'=length_27^post_7, lt_17^0'=lt_17^post_7, lt_20^0'=lt_20^post_7, nondet_12^0'=nondet_12^post_7, r_164^0'=r_164^post_7, r_197^0'=r_197^post_7, r_39^0'=r_39^post_7, rcd_104^0'=rcd_104^post_7, rcd_112^0'=rcd_112^post_7, rcd_179^0'=rcd_179^post_7, rcd_185^0'=rcd_185^post_7, rcd_190^0'=rcd_190^post_7, rcd_207^0'=rcd_207^post_7, rcd_43^0'=rcd_43^post_7, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_7, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_7, t_25^0'=t_25^post_7, tail_15^0'=tail_15^post_7, temp0_21^0'=temp0_21^post_7, temp0_30^0'=temp0_30^post_7, temp_34^0'=temp_34^post_7, temp_35^0'=temp_35^post_7, tmp_33^0'=tmp_33^post_7, x_24^0'=x_24^post_7, x_SLAM_f_22^0'=x_SLAM_f_22^post_7, y_23^0'=y_23^post_7, [ 1+x_24^0<=y_23^0 && a_153^0==a_153^post_7 && a_178^0==a_178^post_7 && a_208^0==a_208^post_7 && f_198^0==f_198^post_7 && head_16^0==head_16^post_7 && head_31^0==head_31^post_7 && head_SLAM_f_28^0==head_SLAM_f_28^post_7 && i_110^0==i_110^post_7 && i_120^0==i_120^post_7 && i_29^0==i_29^post_7 && length_27^0==length_27^post_7 && lt_17^0==lt_17^post_7 && lt_20^0==lt_20^post_7 && nondet_12^0==nondet_12^post_7 && r_164^0==r_164^post_7 && r_197^0==r_197^post_7 && r_39^0==r_39^post_7 && rcd_104^0==rcd_104^post_7 && rcd_112^0==rcd_112^post_7 && rcd_179^0==rcd_179^post_7 && rcd_185^0==rcd_185^post_7 && rcd_190^0==rcd_190^post_7 && rcd_207^0==rcd_207^post_7 && rcd_43^0==rcd_43^post_7 && rcd_69^0==rcd_69^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_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_7 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_7 && t_25^0==t_25^post_7 && tail_15^0==tail_15^post_7 && temp0_21^0==temp0_21^post_7 && temp0_30^0==temp0_30^post_7 && temp_34^0==temp_34^post_7 && temp_35^0==temp_35^post_7 && tmp_33^0==tmp_33^post_7 && x_24^0==x_24^post_7 && x_SLAM_f_22^0==x_SLAM_f_22^post_7 && y_23^0==y_23^post_7 ], cost: 1 7: l6 -> l7 : a_153^0'=a_153^post_8, a_178^0'=a_178^post_8, a_208^0'=a_208^post_8, f_198^0'=f_198^post_8, head_16^0'=head_16^post_8, head_31^0'=head_31^post_8, head_SLAM_f_28^0'=head_SLAM_f_28^post_8, i_110^0'=i_110^post_8, i_120^0'=i_120^post_8, i_29^0'=i_29^post_8, length_27^0'=length_27^post_8, lt_17^0'=lt_17^post_8, lt_20^0'=lt_20^post_8, nondet_12^0'=nondet_12^post_8, r_164^0'=r_164^post_8, r_197^0'=r_197^post_8, r_39^0'=r_39^post_8, rcd_104^0'=rcd_104^post_8, rcd_112^0'=rcd_112^post_8, rcd_179^0'=rcd_179^post_8, rcd_185^0'=rcd_185^post_8, rcd_190^0'=rcd_190^post_8, rcd_207^0'=rcd_207^post_8, rcd_43^0'=rcd_43^post_8, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_8, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_8, t_25^0'=t_25^post_8, tail_15^0'=tail_15^post_8, temp0_21^0'=temp0_21^post_8, temp0_30^0'=temp0_30^post_8, temp_34^0'=temp_34^post_8, temp_35^0'=temp_35^post_8, tmp_33^0'=tmp_33^post_8, x_24^0'=x_24^post_8, x_SLAM_f_22^0'=x_SLAM_f_22^post_8, y_23^0'=y_23^post_8, [ t_25^post_8==x_24^0 && a_153^post_8==a_153^post_8 && 0<=a_178^0-a_153^post_8 && a_178^0-a_153^post_8<=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 && head_16^0<=x_SLAM_f_22^0 && x_SLAM_f_22^0<=head_16^0 && head_16^0<=t_25^post_8 && t_25^post_8<=head_16^0 && lt_20^0<=y_23^0 && y_23^0<=lt_20^0 && a_153^post_8<=a_178^0 && a_178^0<=a_153^post_8 && rcd_43^0<=rcd_185^0 && rcd_185^0<=rcd_43^0 && a_178^0==a_178^post_8 && a_208^0==a_208^post_8 && f_198^0==f_198^post_8 && head_16^0==head_16^post_8 && head_31^0==head_31^post_8 && head_SLAM_f_28^0==head_SLAM_f_28^post_8 && i_110^0==i_110^post_8 && i_120^0==i_120^post_8 && i_29^0==i_29^post_8 && length_27^0==length_27^post_8 && lt_17^0==lt_17^post_8 && lt_20^0==lt_20^post_8 && nondet_12^0==nondet_12^post_8 && r_164^0==r_164^post_8 && r_197^0==r_197^post_8 && r_39^0==r_39^post_8 && rcd_104^0==rcd_104^post_8 && rcd_112^0==rcd_112^post_8 && rcd_179^0==rcd_179^post_8 && rcd_185^0==rcd_185^post_8 && rcd_190^0==rcd_190^post_8 && rcd_207^0==rcd_207^post_8 && rcd_43^0==rcd_43^post_8 && rcd_69^0==rcd_69^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_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_8 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_8 && tail_15^0==tail_15^post_8 && temp0_21^0==temp0_21^post_8 && temp0_30^0==temp0_30^post_8 && temp_34^0==temp_34^post_8 && temp_35^0==temp_35^post_8 && tmp_33^0==tmp_33^post_8 && x_24^0==x_24^post_8 && x_SLAM_f_22^0==x_SLAM_f_22^post_8 && y_23^0==y_23^post_8 ], cost: 1 8: l7 -> l8 : a_153^0'=a_153^post_9, a_178^0'=a_178^post_9, a_208^0'=a_208^post_9, f_198^0'=f_198^post_9, head_16^0'=head_16^post_9, head_31^0'=head_31^post_9, head_SLAM_f_28^0'=head_SLAM_f_28^post_9, i_110^0'=i_110^post_9, i_120^0'=i_120^post_9, i_29^0'=i_29^post_9, length_27^0'=length_27^post_9, lt_17^0'=lt_17^post_9, lt_20^0'=lt_20^post_9, nondet_12^0'=nondet_12^post_9, r_164^0'=r_164^post_9, r_197^0'=r_197^post_9, r_39^0'=r_39^post_9, rcd_104^0'=rcd_104^post_9, rcd_112^0'=rcd_112^post_9, rcd_179^0'=rcd_179^post_9, rcd_185^0'=rcd_185^post_9, rcd_190^0'=rcd_190^post_9, rcd_207^0'=rcd_207^post_9, rcd_43^0'=rcd_43^post_9, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_9, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_9, t_25^0'=t_25^post_9, tail_15^0'=tail_15^post_9, temp0_21^0'=temp0_21^post_9, temp0_30^0'=temp0_30^post_9, temp_34^0'=temp_34^post_9, temp_35^0'=temp_35^post_9, tmp_33^0'=tmp_33^post_9, x_24^0'=x_24^post_9, x_SLAM_f_22^0'=x_SLAM_f_22^post_9, y_23^0'=y_23^post_9, [ 1+head_16^0<=y_23^0 && a_153^0==a_153^post_9 && a_178^0==a_178^post_9 && a_208^0==a_208^post_9 && f_198^0==f_198^post_9 && head_16^0==head_16^post_9 && head_31^0==head_31^post_9 && head_SLAM_f_28^0==head_SLAM_f_28^post_9 && i_110^0==i_110^post_9 && i_120^0==i_120^post_9 && i_29^0==i_29^post_9 && length_27^0==length_27^post_9 && lt_17^0==lt_17^post_9 && lt_20^0==lt_20^post_9 && nondet_12^0==nondet_12^post_9 && r_164^0==r_164^post_9 && r_197^0==r_197^post_9 && r_39^0==r_39^post_9 && rcd_104^0==rcd_104^post_9 && rcd_112^0==rcd_112^post_9 && rcd_179^0==rcd_179^post_9 && rcd_185^0==rcd_185^post_9 && rcd_190^0==rcd_190^post_9 && rcd_207^0==rcd_207^post_9 && rcd_43^0==rcd_43^post_9 && rcd_69^0==rcd_69^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_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_9 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_9 && t_25^0==t_25^post_9 && tail_15^0==tail_15^post_9 && temp0_21^0==temp0_21^post_9 && temp0_30^0==temp0_30^post_9 && temp_34^0==temp_34^post_9 && temp_35^0==temp_35^post_9 && tmp_33^0==tmp_33^post_9 && x_24^0==x_24^post_9 && x_SLAM_f_22^0==x_SLAM_f_22^post_9 && y_23^0==y_23^post_9 ], cost: 1 9: l7 -> l8 : a_153^0'=a_153^post_10, a_178^0'=a_178^post_10, a_208^0'=a_208^post_10, f_198^0'=f_198^post_10, head_16^0'=head_16^post_10, head_31^0'=head_31^post_10, head_SLAM_f_28^0'=head_SLAM_f_28^post_10, i_110^0'=i_110^post_10, i_120^0'=i_120^post_10, i_29^0'=i_29^post_10, length_27^0'=length_27^post_10, lt_17^0'=lt_17^post_10, lt_20^0'=lt_20^post_10, nondet_12^0'=nondet_12^post_10, r_164^0'=r_164^post_10, r_197^0'=r_197^post_10, r_39^0'=r_39^post_10, rcd_104^0'=rcd_104^post_10, rcd_112^0'=rcd_112^post_10, rcd_179^0'=rcd_179^post_10, rcd_185^0'=rcd_185^post_10, rcd_190^0'=rcd_190^post_10, rcd_207^0'=rcd_207^post_10, rcd_43^0'=rcd_43^post_10, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_10, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_10, t_25^0'=t_25^post_10, tail_15^0'=tail_15^post_10, temp0_21^0'=temp0_21^post_10, temp0_30^0'=temp0_30^post_10, temp_34^0'=temp_34^post_10, temp_35^0'=temp_35^post_10, tmp_33^0'=tmp_33^post_10, x_24^0'=x_24^post_10, x_SLAM_f_22^0'=x_SLAM_f_22^post_10, y_23^0'=y_23^post_10, [ 1+y_23^0<=head_16^0 && a_153^0==a_153^post_10 && a_178^0==a_178^post_10 && a_208^0==a_208^post_10 && f_198^0==f_198^post_10 && head_16^0==head_16^post_10 && head_31^0==head_31^post_10 && head_SLAM_f_28^0==head_SLAM_f_28^post_10 && i_110^0==i_110^post_10 && i_120^0==i_120^post_10 && i_29^0==i_29^post_10 && length_27^0==length_27^post_10 && lt_17^0==lt_17^post_10 && lt_20^0==lt_20^post_10 && nondet_12^0==nondet_12^post_10 && r_164^0==r_164^post_10 && r_197^0==r_197^post_10 && r_39^0==r_39^post_10 && rcd_104^0==rcd_104^post_10 && rcd_112^0==rcd_112^post_10 && rcd_179^0==rcd_179^post_10 && rcd_185^0==rcd_185^post_10 && rcd_190^0==rcd_190^post_10 && rcd_207^0==rcd_207^post_10 && rcd_43^0==rcd_43^post_10 && rcd_69^0==rcd_69^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_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_10 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_10 && t_25^0==t_25^post_10 && tail_15^0==tail_15^post_10 && temp0_21^0==temp0_21^post_10 && temp0_30^0==temp0_30^post_10 && temp_34^0==temp_34^post_10 && temp_35^0==temp_35^post_10 && tmp_33^0==tmp_33^post_10 && x_24^0==x_24^post_10 && x_SLAM_f_22^0==x_SLAM_f_22^post_10 && y_23^0==y_23^post_10 ], cost: 1 10: l8 -> l9 : a_153^0'=a_153^post_11, a_178^0'=a_178^post_11, a_208^0'=a_208^post_11, f_198^0'=f_198^post_11, head_16^0'=head_16^post_11, head_31^0'=head_31^post_11, head_SLAM_f_28^0'=head_SLAM_f_28^post_11, i_110^0'=i_110^post_11, i_120^0'=i_120^post_11, i_29^0'=i_29^post_11, length_27^0'=length_27^post_11, lt_17^0'=lt_17^post_11, lt_20^0'=lt_20^post_11, nondet_12^0'=nondet_12^post_11, r_164^0'=r_164^post_11, r_197^0'=r_197^post_11, r_39^0'=r_39^post_11, rcd_104^0'=rcd_104^post_11, rcd_112^0'=rcd_112^post_11, rcd_179^0'=rcd_179^post_11, rcd_185^0'=rcd_185^post_11, rcd_190^0'=rcd_190^post_11, rcd_207^0'=rcd_207^post_11, rcd_43^0'=rcd_43^post_11, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_11, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_11, t_25^0'=t_25^post_11, tail_15^0'=tail_15^post_11, temp0_21^0'=temp0_21^post_11, temp0_30^0'=temp0_30^post_11, temp_34^0'=temp_34^post_11, temp_35^0'=temp_35^post_11, tmp_33^0'=tmp_33^post_11, x_24^0'=x_24^post_11, x_SLAM_f_22^0'=x_SLAM_f_22^post_11, y_23^0'=y_23^post_11, [ 1+y_23^0<=t_25^0 && a_153^0==a_153^post_11 && a_178^0==a_178^post_11 && a_208^0==a_208^post_11 && f_198^0==f_198^post_11 && head_16^0==head_16^post_11 && head_31^0==head_31^post_11 && head_SLAM_f_28^0==head_SLAM_f_28^post_11 && i_110^0==i_110^post_11 && i_120^0==i_120^post_11 && i_29^0==i_29^post_11 && length_27^0==length_27^post_11 && lt_17^0==lt_17^post_11 && lt_20^0==lt_20^post_11 && nondet_12^0==nondet_12^post_11 && r_164^0==r_164^post_11 && r_197^0==r_197^post_11 && r_39^0==r_39^post_11 && rcd_104^0==rcd_104^post_11 && rcd_112^0==rcd_112^post_11 && rcd_179^0==rcd_179^post_11 && rcd_185^0==rcd_185^post_11 && rcd_190^0==rcd_190^post_11 && rcd_207^0==rcd_207^post_11 && rcd_43^0==rcd_43^post_11 && rcd_69^0==rcd_69^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_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_11 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_11 && t_25^0==t_25^post_11 && tail_15^0==tail_15^post_11 && temp0_21^0==temp0_21^post_11 && temp0_30^0==temp0_30^post_11 && temp_34^0==temp_34^post_11 && temp_35^0==temp_35^post_11 && tmp_33^0==tmp_33^post_11 && x_24^0==x_24^post_11 && x_SLAM_f_22^0==x_SLAM_f_22^post_11 && y_23^0==y_23^post_11 ], cost: 1 11: l8 -> l9 : a_153^0'=a_153^post_12, a_178^0'=a_178^post_12, a_208^0'=a_208^post_12, f_198^0'=f_198^post_12, head_16^0'=head_16^post_12, head_31^0'=head_31^post_12, head_SLAM_f_28^0'=head_SLAM_f_28^post_12, i_110^0'=i_110^post_12, i_120^0'=i_120^post_12, i_29^0'=i_29^post_12, length_27^0'=length_27^post_12, lt_17^0'=lt_17^post_12, lt_20^0'=lt_20^post_12, nondet_12^0'=nondet_12^post_12, r_164^0'=r_164^post_12, r_197^0'=r_197^post_12, r_39^0'=r_39^post_12, rcd_104^0'=rcd_104^post_12, rcd_112^0'=rcd_112^post_12, rcd_179^0'=rcd_179^post_12, rcd_185^0'=rcd_185^post_12, rcd_190^0'=rcd_190^post_12, rcd_207^0'=rcd_207^post_12, rcd_43^0'=rcd_43^post_12, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_12, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_12, t_25^0'=t_25^post_12, tail_15^0'=tail_15^post_12, temp0_21^0'=temp0_21^post_12, temp0_30^0'=temp0_30^post_12, temp_34^0'=temp_34^post_12, temp_35^0'=temp_35^post_12, tmp_33^0'=tmp_33^post_12, x_24^0'=x_24^post_12, x_SLAM_f_22^0'=x_SLAM_f_22^post_12, y_23^0'=y_23^post_12, [ 1+t_25^0<=y_23^0 && a_153^0==a_153^post_12 && a_178^0==a_178^post_12 && a_208^0==a_208^post_12 && f_198^0==f_198^post_12 && head_16^0==head_16^post_12 && head_31^0==head_31^post_12 && head_SLAM_f_28^0==head_SLAM_f_28^post_12 && i_110^0==i_110^post_12 && i_120^0==i_120^post_12 && i_29^0==i_29^post_12 && length_27^0==length_27^post_12 && lt_17^0==lt_17^post_12 && lt_20^0==lt_20^post_12 && nondet_12^0==nondet_12^post_12 && r_164^0==r_164^post_12 && r_197^0==r_197^post_12 && r_39^0==r_39^post_12 && rcd_104^0==rcd_104^post_12 && rcd_112^0==rcd_112^post_12 && rcd_179^0==rcd_179^post_12 && rcd_185^0==rcd_185^post_12 && rcd_190^0==rcd_190^post_12 && rcd_207^0==rcd_207^post_12 && rcd_43^0==rcd_43^post_12 && rcd_69^0==rcd_69^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_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_12 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_12 && t_25^0==t_25^post_12 && tail_15^0==tail_15^post_12 && temp0_21^0==temp0_21^post_12 && temp0_30^0==temp0_30^post_12 && temp_34^0==temp_34^post_12 && temp_35^0==temp_35^post_12 && tmp_33^0==tmp_33^post_12 && x_24^0==x_24^post_12 && x_SLAM_f_22^0==x_SLAM_f_22^post_12 && y_23^0==y_23^post_12 ], cost: 1 12: l9 -> l2 : a_153^0'=a_153^post_13, a_178^0'=a_178^post_13, a_208^0'=a_208^post_13, f_198^0'=f_198^post_13, head_16^0'=head_16^post_13, head_31^0'=head_31^post_13, head_SLAM_f_28^0'=head_SLAM_f_28^post_13, i_110^0'=i_110^post_13, i_120^0'=i_120^post_13, i_29^0'=i_29^post_13, length_27^0'=length_27^post_13, lt_17^0'=lt_17^post_13, lt_20^0'=lt_20^post_13, nondet_12^0'=nondet_12^post_13, r_164^0'=r_164^post_13, r_197^0'=r_197^post_13, r_39^0'=r_39^post_13, rcd_104^0'=rcd_104^post_13, rcd_112^0'=rcd_112^post_13, rcd_179^0'=rcd_179^post_13, rcd_185^0'=rcd_185^post_13, rcd_190^0'=rcd_190^post_13, rcd_207^0'=rcd_207^post_13, rcd_43^0'=rcd_43^post_13, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_13, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_13, t_25^0'=t_25^post_13, tail_15^0'=tail_15^post_13, temp0_21^0'=temp0_21^post_13, temp0_30^0'=temp0_30^post_13, temp_34^0'=temp_34^post_13, temp_35^0'=temp_35^post_13, tmp_33^0'=tmp_33^post_13, x_24^0'=x_24^post_13, x_SLAM_f_22^0'=x_SLAM_f_22^post_13, y_23^0'=y_23^post_13, [ 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_120^0 && i_120^post_13==i_120^post_13 && -1+i_120^post_13<=a_153^0 && a_153^0<=-1+i_120^post_13 && a_153^0==a_153^post_13 && a_178^0==a_178^post_13 && a_208^0==a_208^post_13 && f_198^0==f_198^post_13 && head_16^0==head_16^post_13 && head_31^0==head_31^post_13 && head_SLAM_f_28^0==head_SLAM_f_28^post_13 && i_110^0==i_110^post_13 && i_29^0==i_29^post_13 && length_27^0==length_27^post_13 && lt_17^0==lt_17^post_13 && lt_20^0==lt_20^post_13 && nondet_12^0==nondet_12^post_13 && r_164^0==r_164^post_13 && r_197^0==r_197^post_13 && r_39^0==r_39^post_13 && rcd_104^0==rcd_104^post_13 && rcd_112^0==rcd_112^post_13 && rcd_179^0==rcd_179^post_13 && rcd_185^0==rcd_185^post_13 && rcd_190^0==rcd_190^post_13 && rcd_207^0==rcd_207^post_13 && rcd_43^0==rcd_43^post_13 && rcd_69^0==rcd_69^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_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_13 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_13 && t_25^0==t_25^post_13 && tail_15^0==tail_15^post_13 && temp0_21^0==temp0_21^post_13 && temp0_30^0==temp0_30^post_13 && temp_34^0==temp_34^post_13 && temp_35^0==temp_35^post_13 && tmp_33^0==tmp_33^post_13 && x_24^0==x_24^post_13 && x_SLAM_f_22^0==x_SLAM_f_22^post_13 && y_23^0==y_23^post_13 ], cost: 1 36: l2 -> l26 : a_153^0'=a_153^post_37, a_178^0'=a_178^post_37, a_208^0'=a_208^post_37, f_198^0'=f_198^post_37, head_16^0'=head_16^post_37, head_31^0'=head_31^post_37, head_SLAM_f_28^0'=head_SLAM_f_28^post_37, i_110^0'=i_110^post_37, i_120^0'=i_120^post_37, i_29^0'=i_29^post_37, length_27^0'=length_27^post_37, lt_17^0'=lt_17^post_37, lt_20^0'=lt_20^post_37, nondet_12^0'=nondet_12^post_37, r_164^0'=r_164^post_37, r_197^0'=r_197^post_37, r_39^0'=r_39^post_37, rcd_104^0'=rcd_104^post_37, rcd_112^0'=rcd_112^post_37, rcd_179^0'=rcd_179^post_37, rcd_185^0'=rcd_185^post_37, rcd_190^0'=rcd_190^post_37, rcd_207^0'=rcd_207^post_37, rcd_43^0'=rcd_43^post_37, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_37, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_37, t_25^0'=t_25^post_37, tail_15^0'=tail_15^post_37, temp0_21^0'=temp0_21^post_37, temp0_30^0'=temp0_30^post_37, temp_34^0'=temp_34^post_37, temp_35^0'=temp_35^post_37, tmp_33^0'=tmp_33^post_37, x_24^0'=x_24^post_37, x_SLAM_f_22^0'=x_SLAM_f_22^post_37, y_23^0'=y_23^post_37, [ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_37==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_37 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_37==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_37 && tail_15^post_37==tail_15^post_37 && head_16^post_37==head_16^post_37 && lt_20^post_37==lt_20^post_37 && x_SLAM_f_22^post_37==x_SLAM_f_22^post_37 && r_39^post_37==r_39^post_37 && r_197^post_37==r_197^post_37 && f_198^post_37==f_198^post_37 && a_153^0==a_153^post_37 && a_178^0==a_178^post_37 && a_208^0==a_208^post_37 && head_31^0==head_31^post_37 && head_SLAM_f_28^0==head_SLAM_f_28^post_37 && i_110^0==i_110^post_37 && i_120^0==i_120^post_37 && i_29^0==i_29^post_37 && length_27^0==length_27^post_37 && lt_17^0==lt_17^post_37 && nondet_12^0==nondet_12^post_37 && r_164^0==r_164^post_37 && rcd_104^0==rcd_104^post_37 && rcd_112^0==rcd_112^post_37 && rcd_179^0==rcd_179^post_37 && rcd_185^0==rcd_185^post_37 && rcd_190^0==rcd_190^post_37 && rcd_207^0==rcd_207^post_37 && rcd_43^0==rcd_43^post_37 && rcd_69^0==rcd_69^post_37 && result_11^0==result_11^post_37 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_37 && t_25^0==t_25^post_37 && temp0_21^0==temp0_21^post_37 && temp0_30^0==temp0_30^post_37 && temp_34^0==temp_34^post_37 && temp_35^0==temp_35^post_37 && tmp_33^0==tmp_33^post_37 && x_24^0==x_24^post_37 && y_23^0==y_23^post_37 ], cost: 1 14: l10 -> l0 : a_153^0'=a_153^post_15, a_178^0'=a_178^post_15, a_208^0'=a_208^post_15, f_198^0'=f_198^post_15, head_16^0'=head_16^post_15, head_31^0'=head_31^post_15, head_SLAM_f_28^0'=head_SLAM_f_28^post_15, i_110^0'=i_110^post_15, i_120^0'=i_120^post_15, i_29^0'=i_29^post_15, length_27^0'=length_27^post_15, lt_17^0'=lt_17^post_15, lt_20^0'=lt_20^post_15, nondet_12^0'=nondet_12^post_15, r_164^0'=r_164^post_15, r_197^0'=r_197^post_15, r_39^0'=r_39^post_15, rcd_104^0'=rcd_104^post_15, rcd_112^0'=rcd_112^post_15, rcd_179^0'=rcd_179^post_15, rcd_185^0'=rcd_185^post_15, rcd_190^0'=rcd_190^post_15, rcd_207^0'=rcd_207^post_15, rcd_43^0'=rcd_43^post_15, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_15, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_15, t_25^0'=t_25^post_15, tail_15^0'=tail_15^post_15, temp0_21^0'=temp0_21^post_15, temp0_30^0'=temp0_30^post_15, temp_34^0'=temp_34^post_15, temp_35^0'=temp_35^post_15, tmp_33^0'=tmp_33^post_15, x_24^0'=x_24^post_15, x_SLAM_f_22^0'=x_SLAM_f_22^post_15, y_23^0'=y_23^post_15, [ a_153^0==a_153^post_15 && a_178^0==a_178^post_15 && a_208^0==a_208^post_15 && f_198^0==f_198^post_15 && head_16^0==head_16^post_15 && head_31^0==head_31^post_15 && head_SLAM_f_28^0==head_SLAM_f_28^post_15 && i_110^0==i_110^post_15 && i_120^0==i_120^post_15 && i_29^0==i_29^post_15 && length_27^0==length_27^post_15 && lt_17^0==lt_17^post_15 && lt_20^0==lt_20^post_15 && nondet_12^0==nondet_12^post_15 && r_164^0==r_164^post_15 && r_197^0==r_197^post_15 && r_39^0==r_39^post_15 && rcd_104^0==rcd_104^post_15 && rcd_112^0==rcd_112^post_15 && rcd_179^0==rcd_179^post_15 && rcd_185^0==rcd_185^post_15 && rcd_190^0==rcd_190^post_15 && rcd_207^0==rcd_207^post_15 && rcd_43^0==rcd_43^post_15 && rcd_69^0==rcd_69^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_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_15 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_15 && t_25^0==t_25^post_15 && tail_15^0==tail_15^post_15 && temp0_21^0==temp0_21^post_15 && temp0_30^0==temp0_30^post_15 && temp_34^0==temp_34^post_15 && temp_35^0==temp_35^post_15 && tmp_33^0==tmp_33^post_15 && x_24^0==x_24^post_15 && x_SLAM_f_22^0==x_SLAM_f_22^post_15 && y_23^0==y_23^post_15 ], cost: 1 33: l11 -> l23 : a_153^0'=a_153^post_34, a_178^0'=a_178^post_34, a_208^0'=a_208^post_34, f_198^0'=f_198^post_34, head_16^0'=head_16^post_34, head_31^0'=head_31^post_34, head_SLAM_f_28^0'=head_SLAM_f_28^post_34, i_110^0'=i_110^post_34, i_120^0'=i_120^post_34, i_29^0'=i_29^post_34, length_27^0'=length_27^post_34, lt_17^0'=lt_17^post_34, lt_20^0'=lt_20^post_34, nondet_12^0'=nondet_12^post_34, r_164^0'=r_164^post_34, r_197^0'=r_197^post_34, r_39^0'=r_39^post_34, rcd_104^0'=rcd_104^post_34, rcd_112^0'=rcd_112^post_34, rcd_179^0'=rcd_179^post_34, rcd_185^0'=rcd_185^post_34, rcd_190^0'=rcd_190^post_34, rcd_207^0'=rcd_207^post_34, rcd_43^0'=rcd_43^post_34, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_34, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_34, t_25^0'=t_25^post_34, tail_15^0'=tail_15^post_34, temp0_21^0'=temp0_21^post_34, temp0_30^0'=temp0_30^post_34, temp_34^0'=temp_34^post_34, temp_35^0'=temp_35^post_34, tmp_33^0'=tmp_33^post_34, x_24^0'=x_24^post_34, x_SLAM_f_22^0'=x_SLAM_f_22^post_34, y_23^0'=y_23^post_34, [ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_34==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_34 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_34==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_34 && tail_15^post_34==tail_15^post_34 && head_SLAM_f_28^post_34==head_SLAM_f_28^post_34 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_34==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_34 && 1+i_29^0<=length_27^0 && tmp_33^post_34==temp_34^0 && temp_34^post_34==temp_34^post_34 && head_31^post_34==tmp_33^post_34 && i_29^post_34==1+i_29^0 && 1<=i_29^post_34 && i_29^post_34<=1 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_34<=tail_15^post_34 && tail_15^post_34<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_34 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_34<=head_SLAM_f_28^post_34 && head_SLAM_f_28^post_34<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_34 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_34<=length_27^0 && length_27^0<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_34 && tail_15^post_34<=head_SLAM_f_28^post_34 && head_SLAM_f_28^post_34<=tail_15^post_34 && head_31^post_34<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_34 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_34<=head_31^post_34 && head_31^post_34<=tmp_33^post_34 && tmp_33^post_34<=head_31^post_34 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_34<=tmp_33^post_34 && tmp_33^post_34<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_34 && 1<=length_27^0 && a_153^0==a_153^post_34 && a_178^0==a_178^post_34 && a_208^0==a_208^post_34 && f_198^0==f_198^post_34 && head_16^0==head_16^post_34 && i_110^0==i_110^post_34 && i_120^0==i_120^post_34 && length_27^0==length_27^post_34 && lt_17^0==lt_17^post_34 && lt_20^0==lt_20^post_34 && nondet_12^0==nondet_12^post_34 && r_164^0==r_164^post_34 && r_197^0==r_197^post_34 && r_39^0==r_39^post_34 && rcd_104^0==rcd_104^post_34 && rcd_112^0==rcd_112^post_34 && rcd_179^0==rcd_179^post_34 && rcd_185^0==rcd_185^post_34 && rcd_190^0==rcd_190^post_34 && rcd_207^0==rcd_207^post_34 && rcd_43^0==rcd_43^post_34 && rcd_69^0==rcd_69^post_34 && result_11^0==result_11^post_34 && t_25^0==t_25^post_34 && temp0_21^0==temp0_21^post_34 && temp0_30^0==temp0_30^post_34 && temp_35^0==temp_35^post_34 && x_24^0==x_24^post_34 && x_SLAM_f_22^0==x_SLAM_f_22^post_34 && y_23^0==y_23^post_34 ], cost: 1 84: l23 -> l0 : a_153^0'=a_153^post_85, a_178^0'=a_178^post_85, a_208^0'=a_208^post_85, f_198^0'=f_198^post_85, head_16^0'=head_16^post_85, head_31^0'=head_31^post_85, head_SLAM_f_28^0'=head_SLAM_f_28^post_85, i_110^0'=i_110^post_85, i_120^0'=i_120^post_85, i_29^0'=i_29^post_85, length_27^0'=length_27^post_85, lt_17^0'=lt_17^post_85, lt_20^0'=lt_20^post_85, nondet_12^0'=nondet_12^post_85, r_164^0'=r_164^post_85, r_197^0'=r_197^post_85, r_39^0'=r_39^post_85, rcd_104^0'=rcd_104^post_85, rcd_112^0'=rcd_112^post_85, rcd_179^0'=rcd_179^post_85, rcd_185^0'=rcd_185^post_85, rcd_190^0'=rcd_190^post_85, rcd_207^0'=rcd_207^post_85, rcd_43^0'=rcd_43^post_85, rcd_69^0'=rcd_69^post_85, result_11^0'=result_11^post_85, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_85, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_85, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_85, t_25^0'=t_25^post_85, tail_15^0'=tail_15^post_85, temp0_21^0'=temp0_21^post_85, temp0_30^0'=temp0_30^post_85, temp_34^0'=temp_34^post_85, temp_35^0'=temp_35^post_85, tmp_33^0'=tmp_33^post_85, x_24^0'=x_24^post_85, x_SLAM_f_22^0'=x_SLAM_f_22^post_85, y_23^0'=y_23^post_85, [ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_85==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_85 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_85==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_85 && tail_15^post_85==tail_15^post_85 && head_SLAM_f_28^post_85==head_SLAM_f_28^post_85 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_85==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_85 && rcd_69^post_85==rcd_69^post_85 && 1+i_29^0<=length_27^0 && tmp_33^post_85==temp_34^0 && temp_34^post_85==temp_34^post_85 && head_31^post_85==tmp_33^post_85 && i_29^post_85==1+i_29^0 && 2<=i_29^post_85 && i_29^post_85<=2 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_85<=tail_15^post_85 && tail_15^post_85<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_85 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_85<=head_SLAM_f_28^post_85 && head_SLAM_f_28^post_85<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_85 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_85<=length_27^0 && length_27^0<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_85 && tail_15^post_85<=head_SLAM_f_28^post_85 && head_SLAM_f_28^post_85<=tail_15^post_85 && head_31^post_85<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_85 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_85<=head_31^post_85 && head_31^post_85<=tmp_33^post_85 && tmp_33^post_85<=head_31^post_85 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_85<=tmp_33^post_85 && tmp_33^post_85<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_85 && 1<=length_27^0 && 2<=length_27^0 && a_153^0==a_153^post_85 && a_178^0==a_178^post_85 && a_208^0==a_208^post_85 && f_198^0==f_198^post_85 && head_16^0==head_16^post_85 && i_110^0==i_110^post_85 && i_120^0==i_120^post_85 && length_27^0==length_27^post_85 && lt_17^0==lt_17^post_85 && lt_20^0==lt_20^post_85 && nondet_12^0==nondet_12^post_85 && r_164^0==r_164^post_85 && r_197^0==r_197^post_85 && r_39^0==r_39^post_85 && rcd_104^0==rcd_104^post_85 && rcd_112^0==rcd_112^post_85 && rcd_179^0==rcd_179^post_85 && rcd_185^0==rcd_185^post_85 && rcd_190^0==rcd_190^post_85 && rcd_207^0==rcd_207^post_85 && rcd_43^0==rcd_43^post_85 && result_11^0==result_11^post_85 && t_25^0==t_25^post_85 && temp0_21^0==temp0_21^post_85 && temp0_30^0==temp0_30^post_85 && temp_35^0==temp_35^post_85 && x_24^0==x_24^post_85 && x_SLAM_f_22^0==x_SLAM_f_22^post_85 && y_23^0==y_23^post_85 ], cost: 1 37: l26 -> l27 : a_153^0'=a_153^post_38, a_178^0'=a_178^post_38, a_208^0'=a_208^post_38, f_198^0'=f_198^post_38, head_16^0'=head_16^post_38, head_31^0'=head_31^post_38, head_SLAM_f_28^0'=head_SLAM_f_28^post_38, i_110^0'=i_110^post_38, i_120^0'=i_120^post_38, i_29^0'=i_29^post_38, length_27^0'=length_27^post_38, lt_17^0'=lt_17^post_38, lt_20^0'=lt_20^post_38, nondet_12^0'=nondet_12^post_38, r_164^0'=r_164^post_38, r_197^0'=r_197^post_38, r_39^0'=r_39^post_38, rcd_104^0'=rcd_104^post_38, rcd_112^0'=rcd_112^post_38, rcd_179^0'=rcd_179^post_38, rcd_185^0'=rcd_185^post_38, rcd_190^0'=rcd_190^post_38, rcd_207^0'=rcd_207^post_38, rcd_43^0'=rcd_43^post_38, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_38, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_38, t_25^0'=t_25^post_38, tail_15^0'=tail_15^post_38, temp0_21^0'=temp0_21^post_38, temp0_30^0'=temp0_30^post_38, temp_34^0'=temp_34^post_38, temp_35^0'=temp_35^post_38, tmp_33^0'=tmp_33^post_38, x_24^0'=x_24^post_38, x_SLAM_f_22^0'=x_SLAM_f_22^post_38, y_23^0'=y_23^post_38, [ 1+y_23^0<=x_24^0 && a_153^0==a_153^post_38 && a_178^0==a_178^post_38 && a_208^0==a_208^post_38 && f_198^0==f_198^post_38 && head_16^0==head_16^post_38 && head_31^0==head_31^post_38 && head_SLAM_f_28^0==head_SLAM_f_28^post_38 && i_110^0==i_110^post_38 && i_120^0==i_120^post_38 && i_29^0==i_29^post_38 && length_27^0==length_27^post_38 && lt_17^0==lt_17^post_38 && lt_20^0==lt_20^post_38 && nondet_12^0==nondet_12^post_38 && r_164^0==r_164^post_38 && r_197^0==r_197^post_38 && r_39^0==r_39^post_38 && rcd_104^0==rcd_104^post_38 && rcd_112^0==rcd_112^post_38 && rcd_179^0==rcd_179^post_38 && rcd_185^0==rcd_185^post_38 && rcd_190^0==rcd_190^post_38 && rcd_207^0==rcd_207^post_38 && rcd_43^0==rcd_43^post_38 && rcd_69^0==rcd_69^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_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_38 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_38 && t_25^0==t_25^post_38 && tail_15^0==tail_15^post_38 && temp0_21^0==temp0_21^post_38 && temp0_30^0==temp0_30^post_38 && temp_34^0==temp_34^post_38 && temp_35^0==temp_35^post_38 && tmp_33^0==tmp_33^post_38 && x_24^0==x_24^post_38 && x_SLAM_f_22^0==x_SLAM_f_22^post_38 && y_23^0==y_23^post_38 ], cost: 1 38: l26 -> l27 : a_153^0'=a_153^post_39, a_178^0'=a_178^post_39, a_208^0'=a_208^post_39, f_198^0'=f_198^post_39, head_16^0'=head_16^post_39, head_31^0'=head_31^post_39, head_SLAM_f_28^0'=head_SLAM_f_28^post_39, i_110^0'=i_110^post_39, i_120^0'=i_120^post_39, i_29^0'=i_29^post_39, length_27^0'=length_27^post_39, lt_17^0'=lt_17^post_39, lt_20^0'=lt_20^post_39, nondet_12^0'=nondet_12^post_39, r_164^0'=r_164^post_39, r_197^0'=r_197^post_39, r_39^0'=r_39^post_39, rcd_104^0'=rcd_104^post_39, rcd_112^0'=rcd_112^post_39, rcd_179^0'=rcd_179^post_39, rcd_185^0'=rcd_185^post_39, rcd_190^0'=rcd_190^post_39, rcd_207^0'=rcd_207^post_39, rcd_43^0'=rcd_43^post_39, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_39, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_39, t_25^0'=t_25^post_39, tail_15^0'=tail_15^post_39, temp0_21^0'=temp0_21^post_39, temp0_30^0'=temp0_30^post_39, temp_34^0'=temp_34^post_39, temp_35^0'=temp_35^post_39, tmp_33^0'=tmp_33^post_39, x_24^0'=x_24^post_39, x_SLAM_f_22^0'=x_SLAM_f_22^post_39, y_23^0'=y_23^post_39, [ 1+x_24^0<=y_23^0 && a_153^0==a_153^post_39 && a_178^0==a_178^post_39 && a_208^0==a_208^post_39 && f_198^0==f_198^post_39 && head_16^0==head_16^post_39 && head_31^0==head_31^post_39 && head_SLAM_f_28^0==head_SLAM_f_28^post_39 && i_110^0==i_110^post_39 && i_120^0==i_120^post_39 && i_29^0==i_29^post_39 && length_27^0==length_27^post_39 && lt_17^0==lt_17^post_39 && lt_20^0==lt_20^post_39 && nondet_12^0==nondet_12^post_39 && r_164^0==r_164^post_39 && r_197^0==r_197^post_39 && r_39^0==r_39^post_39 && rcd_104^0==rcd_104^post_39 && rcd_112^0==rcd_112^post_39 && rcd_179^0==rcd_179^post_39 && rcd_185^0==rcd_185^post_39 && rcd_190^0==rcd_190^post_39 && rcd_207^0==rcd_207^post_39 && rcd_43^0==rcd_43^post_39 && rcd_69^0==rcd_69^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_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_39 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_39 && t_25^0==t_25^post_39 && tail_15^0==tail_15^post_39 && temp0_21^0==temp0_21^post_39 && temp0_30^0==temp0_30^post_39 && temp_34^0==temp_34^post_39 && temp_35^0==temp_35^post_39 && tmp_33^0==tmp_33^post_39 && x_24^0==x_24^post_39 && x_SLAM_f_22^0==x_SLAM_f_22^post_39 && y_23^0==y_23^post_39 ], cost: 1 39: l27 -> l28 : a_153^0'=a_153^post_40, a_178^0'=a_178^post_40, a_208^0'=a_208^post_40, f_198^0'=f_198^post_40, head_16^0'=head_16^post_40, head_31^0'=head_31^post_40, head_SLAM_f_28^0'=head_SLAM_f_28^post_40, i_110^0'=i_110^post_40, i_120^0'=i_120^post_40, i_29^0'=i_29^post_40, length_27^0'=length_27^post_40, lt_17^0'=lt_17^post_40, lt_20^0'=lt_20^post_40, nondet_12^0'=nondet_12^post_40, r_164^0'=r_164^post_40, r_197^0'=r_197^post_40, r_39^0'=r_39^post_40, rcd_104^0'=rcd_104^post_40, rcd_112^0'=rcd_112^post_40, rcd_179^0'=rcd_179^post_40, rcd_185^0'=rcd_185^post_40, rcd_190^0'=rcd_190^post_40, rcd_207^0'=rcd_207^post_40, rcd_43^0'=rcd_43^post_40, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_40, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_40, t_25^0'=t_25^post_40, tail_15^0'=tail_15^post_40, temp0_21^0'=temp0_21^post_40, temp0_30^0'=temp0_30^post_40, temp_34^0'=temp_34^post_40, temp_35^0'=temp_35^post_40, tmp_33^0'=tmp_33^post_40, x_24^0'=x_24^post_40, x_SLAM_f_22^0'=x_SLAM_f_22^post_40, y_23^0'=y_23^post_40, [ t_25^post_40==x_24^0 && rcd_207^post_40==rcd_207^post_40 && a_208^post_40==a_208^post_40 && 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 && head_16^0<=x_SLAM_f_22^0 && x_SLAM_f_22^0<=head_16^0 && lt_20^0<=y_23^0 && y_23^0<=lt_20^0 && a_153^0==a_153^post_40 && a_178^0==a_178^post_40 && f_198^0==f_198^post_40 && head_16^0==head_16^post_40 && head_31^0==head_31^post_40 && head_SLAM_f_28^0==head_SLAM_f_28^post_40 && i_110^0==i_110^post_40 && i_120^0==i_120^post_40 && i_29^0==i_29^post_40 && length_27^0==length_27^post_40 && lt_17^0==lt_17^post_40 && lt_20^0==lt_20^post_40 && nondet_12^0==nondet_12^post_40 && r_164^0==r_164^post_40 && r_197^0==r_197^post_40 && r_39^0==r_39^post_40 && rcd_104^0==rcd_104^post_40 && rcd_112^0==rcd_112^post_40 && rcd_179^0==rcd_179^post_40 && rcd_185^0==rcd_185^post_40 && rcd_190^0==rcd_190^post_40 && rcd_43^0==rcd_43^post_40 && rcd_69^0==rcd_69^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_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_40 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_40 && tail_15^0==tail_15^post_40 && temp0_21^0==temp0_21^post_40 && temp0_30^0==temp0_30^post_40 && temp_34^0==temp_34^post_40 && temp_35^0==temp_35^post_40 && tmp_33^0==tmp_33^post_40 && x_24^0==x_24^post_40 && x_SLAM_f_22^0==x_SLAM_f_22^post_40 && y_23^0==y_23^post_40 ], cost: 1 40: l28 -> l29 : a_153^0'=a_153^post_41, a_178^0'=a_178^post_41, a_208^0'=a_208^post_41, f_198^0'=f_198^post_41, head_16^0'=head_16^post_41, head_31^0'=head_31^post_41, head_SLAM_f_28^0'=head_SLAM_f_28^post_41, i_110^0'=i_110^post_41, i_120^0'=i_120^post_41, i_29^0'=i_29^post_41, length_27^0'=length_27^post_41, lt_17^0'=lt_17^post_41, lt_20^0'=lt_20^post_41, nondet_12^0'=nondet_12^post_41, r_164^0'=r_164^post_41, r_197^0'=r_197^post_41, r_39^0'=r_39^post_41, rcd_104^0'=rcd_104^post_41, rcd_112^0'=rcd_112^post_41, rcd_179^0'=rcd_179^post_41, rcd_185^0'=rcd_185^post_41, rcd_190^0'=rcd_190^post_41, rcd_207^0'=rcd_207^post_41, rcd_43^0'=rcd_43^post_41, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_41, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_41, t_25^0'=t_25^post_41, tail_15^0'=tail_15^post_41, temp0_21^0'=temp0_21^post_41, temp0_30^0'=temp0_30^post_41, temp_34^0'=temp_34^post_41, temp_35^0'=temp_35^post_41, tmp_33^0'=tmp_33^post_41, x_24^0'=x_24^post_41, x_SLAM_f_22^0'=x_SLAM_f_22^post_41, y_23^0'=y_23^post_41, [ 1+head_16^0<=y_23^0 && a_153^0==a_153^post_41 && a_178^0==a_178^post_41 && a_208^0==a_208^post_41 && f_198^0==f_198^post_41 && head_16^0==head_16^post_41 && head_31^0==head_31^post_41 && head_SLAM_f_28^0==head_SLAM_f_28^post_41 && i_110^0==i_110^post_41 && i_120^0==i_120^post_41 && i_29^0==i_29^post_41 && length_27^0==length_27^post_41 && lt_17^0==lt_17^post_41 && lt_20^0==lt_20^post_41 && nondet_12^0==nondet_12^post_41 && r_164^0==r_164^post_41 && r_197^0==r_197^post_41 && r_39^0==r_39^post_41 && rcd_104^0==rcd_104^post_41 && rcd_112^0==rcd_112^post_41 && rcd_179^0==rcd_179^post_41 && rcd_185^0==rcd_185^post_41 && rcd_190^0==rcd_190^post_41 && rcd_207^0==rcd_207^post_41 && rcd_43^0==rcd_43^post_41 && rcd_69^0==rcd_69^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_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_41 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_41 && t_25^0==t_25^post_41 && tail_15^0==tail_15^post_41 && temp0_21^0==temp0_21^post_41 && temp0_30^0==temp0_30^post_41 && temp_34^0==temp_34^post_41 && temp_35^0==temp_35^post_41 && tmp_33^0==tmp_33^post_41 && x_24^0==x_24^post_41 && x_SLAM_f_22^0==x_SLAM_f_22^post_41 && y_23^0==y_23^post_41 ], cost: 1 41: l28 -> l29 : a_153^0'=a_153^post_42, a_178^0'=a_178^post_42, a_208^0'=a_208^post_42, f_198^0'=f_198^post_42, head_16^0'=head_16^post_42, head_31^0'=head_31^post_42, head_SLAM_f_28^0'=head_SLAM_f_28^post_42, i_110^0'=i_110^post_42, i_120^0'=i_120^post_42, i_29^0'=i_29^post_42, length_27^0'=length_27^post_42, lt_17^0'=lt_17^post_42, lt_20^0'=lt_20^post_42, nondet_12^0'=nondet_12^post_42, r_164^0'=r_164^post_42, r_197^0'=r_197^post_42, r_39^0'=r_39^post_42, rcd_104^0'=rcd_104^post_42, rcd_112^0'=rcd_112^post_42, rcd_179^0'=rcd_179^post_42, rcd_185^0'=rcd_185^post_42, rcd_190^0'=rcd_190^post_42, rcd_207^0'=rcd_207^post_42, rcd_43^0'=rcd_43^post_42, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_42, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_42, t_25^0'=t_25^post_42, tail_15^0'=tail_15^post_42, temp0_21^0'=temp0_21^post_42, temp0_30^0'=temp0_30^post_42, temp_34^0'=temp_34^post_42, temp_35^0'=temp_35^post_42, tmp_33^0'=tmp_33^post_42, x_24^0'=x_24^post_42, x_SLAM_f_22^0'=x_SLAM_f_22^post_42, y_23^0'=y_23^post_42, [ 1+y_23^0<=head_16^0 && a_153^0==a_153^post_42 && a_178^0==a_178^post_42 && a_208^0==a_208^post_42 && f_198^0==f_198^post_42 && head_16^0==head_16^post_42 && head_31^0==head_31^post_42 && head_SLAM_f_28^0==head_SLAM_f_28^post_42 && i_110^0==i_110^post_42 && i_120^0==i_120^post_42 && i_29^0==i_29^post_42 && length_27^0==length_27^post_42 && lt_17^0==lt_17^post_42 && lt_20^0==lt_20^post_42 && nondet_12^0==nondet_12^post_42 && r_164^0==r_164^post_42 && r_197^0==r_197^post_42 && r_39^0==r_39^post_42 && rcd_104^0==rcd_104^post_42 && rcd_112^0==rcd_112^post_42 && rcd_179^0==rcd_179^post_42 && rcd_185^0==rcd_185^post_42 && rcd_190^0==rcd_190^post_42 && rcd_207^0==rcd_207^post_42 && rcd_43^0==rcd_43^post_42 && rcd_69^0==rcd_69^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_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_42 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_42 && t_25^0==t_25^post_42 && tail_15^0==tail_15^post_42 && temp0_21^0==temp0_21^post_42 && temp0_30^0==temp0_30^post_42 && temp_34^0==temp_34^post_42 && temp_35^0==temp_35^post_42 && tmp_33^0==tmp_33^post_42 && x_24^0==x_24^post_42 && x_SLAM_f_22^0==x_SLAM_f_22^post_42 && y_23^0==y_23^post_42 ], cost: 1 42: l29 -> l30 : a_153^0'=a_153^post_43, a_178^0'=a_178^post_43, a_208^0'=a_208^post_43, f_198^0'=f_198^post_43, head_16^0'=head_16^post_43, head_31^0'=head_31^post_43, head_SLAM_f_28^0'=head_SLAM_f_28^post_43, i_110^0'=i_110^post_43, i_120^0'=i_120^post_43, i_29^0'=i_29^post_43, length_27^0'=length_27^post_43, lt_17^0'=lt_17^post_43, lt_20^0'=lt_20^post_43, nondet_12^0'=nondet_12^post_43, r_164^0'=r_164^post_43, r_197^0'=r_197^post_43, r_39^0'=r_39^post_43, rcd_104^0'=rcd_104^post_43, rcd_112^0'=rcd_112^post_43, rcd_179^0'=rcd_179^post_43, rcd_185^0'=rcd_185^post_43, rcd_190^0'=rcd_190^post_43, rcd_207^0'=rcd_207^post_43, rcd_43^0'=rcd_43^post_43, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_43, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_43, t_25^0'=t_25^post_43, tail_15^0'=tail_15^post_43, temp0_21^0'=temp0_21^post_43, temp0_30^0'=temp0_30^post_43, temp_34^0'=temp_34^post_43, temp_35^0'=temp_35^post_43, tmp_33^0'=tmp_33^post_43, x_24^0'=x_24^post_43, x_SLAM_f_22^0'=x_SLAM_f_22^post_43, y_23^0'=y_23^post_43, [ 1+y_23^0<=t_25^0 && a_153^0==a_153^post_43 && a_178^0==a_178^post_43 && a_208^0==a_208^post_43 && f_198^0==f_198^post_43 && head_16^0==head_16^post_43 && head_31^0==head_31^post_43 && head_SLAM_f_28^0==head_SLAM_f_28^post_43 && i_110^0==i_110^post_43 && i_120^0==i_120^post_43 && i_29^0==i_29^post_43 && length_27^0==length_27^post_43 && lt_17^0==lt_17^post_43 && lt_20^0==lt_20^post_43 && nondet_12^0==nondet_12^post_43 && r_164^0==r_164^post_43 && r_197^0==r_197^post_43 && r_39^0==r_39^post_43 && rcd_104^0==rcd_104^post_43 && rcd_112^0==rcd_112^post_43 && rcd_179^0==rcd_179^post_43 && rcd_185^0==rcd_185^post_43 && rcd_190^0==rcd_190^post_43 && rcd_207^0==rcd_207^post_43 && rcd_43^0==rcd_43^post_43 && rcd_69^0==rcd_69^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_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_43 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_43 && t_25^0==t_25^post_43 && tail_15^0==tail_15^post_43 && temp0_21^0==temp0_21^post_43 && temp0_30^0==temp0_30^post_43 && temp_34^0==temp_34^post_43 && temp_35^0==temp_35^post_43 && tmp_33^0==tmp_33^post_43 && x_24^0==x_24^post_43 && x_SLAM_f_22^0==x_SLAM_f_22^post_43 && y_23^0==y_23^post_43 ], cost: 1 43: l29 -> l30 : a_153^0'=a_153^post_44, a_178^0'=a_178^post_44, a_208^0'=a_208^post_44, f_198^0'=f_198^post_44, head_16^0'=head_16^post_44, head_31^0'=head_31^post_44, head_SLAM_f_28^0'=head_SLAM_f_28^post_44, i_110^0'=i_110^post_44, i_120^0'=i_120^post_44, i_29^0'=i_29^post_44, length_27^0'=length_27^post_44, lt_17^0'=lt_17^post_44, lt_20^0'=lt_20^post_44, nondet_12^0'=nondet_12^post_44, r_164^0'=r_164^post_44, r_197^0'=r_197^post_44, r_39^0'=r_39^post_44, rcd_104^0'=rcd_104^post_44, rcd_112^0'=rcd_112^post_44, rcd_179^0'=rcd_179^post_44, rcd_185^0'=rcd_185^post_44, rcd_190^0'=rcd_190^post_44, rcd_207^0'=rcd_207^post_44, rcd_43^0'=rcd_43^post_44, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_44, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_44, t_25^0'=t_25^post_44, tail_15^0'=tail_15^post_44, temp0_21^0'=temp0_21^post_44, temp0_30^0'=temp0_30^post_44, temp_34^0'=temp_34^post_44, temp_35^0'=temp_35^post_44, tmp_33^0'=tmp_33^post_44, x_24^0'=x_24^post_44, x_SLAM_f_22^0'=x_SLAM_f_22^post_44, y_23^0'=y_23^post_44, [ 1+t_25^0<=y_23^0 && a_153^0==a_153^post_44 && a_178^0==a_178^post_44 && a_208^0==a_208^post_44 && f_198^0==f_198^post_44 && head_16^0==head_16^post_44 && head_31^0==head_31^post_44 && head_SLAM_f_28^0==head_SLAM_f_28^post_44 && i_110^0==i_110^post_44 && i_120^0==i_120^post_44 && i_29^0==i_29^post_44 && length_27^0==length_27^post_44 && lt_17^0==lt_17^post_44 && lt_20^0==lt_20^post_44 && nondet_12^0==nondet_12^post_44 && r_164^0==r_164^post_44 && r_197^0==r_197^post_44 && r_39^0==r_39^post_44 && rcd_104^0==rcd_104^post_44 && rcd_112^0==rcd_112^post_44 && rcd_179^0==rcd_179^post_44 && rcd_185^0==rcd_185^post_44 && rcd_190^0==rcd_190^post_44 && rcd_207^0==rcd_207^post_44 && rcd_43^0==rcd_43^post_44 && rcd_69^0==rcd_69^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_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_44 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_44 && t_25^0==t_25^post_44 && tail_15^0==tail_15^post_44 && temp0_21^0==temp0_21^post_44 && temp0_30^0==temp0_30^post_44 && temp_34^0==temp_34^post_44 && temp_35^0==temp_35^post_44 && tmp_33^0==tmp_33^post_44 && x_24^0==x_24^post_44 && x_SLAM_f_22^0==x_SLAM_f_22^post_44 && y_23^0==y_23^post_44 ], cost: 1 44: l30 -> l25 : a_153^0'=a_153^post_45, a_178^0'=a_178^post_45, a_208^0'=a_208^post_45, f_198^0'=f_198^post_45, head_16^0'=head_16^post_45, head_31^0'=head_31^post_45, head_SLAM_f_28^0'=head_SLAM_f_28^post_45, i_110^0'=i_110^post_45, i_120^0'=i_120^post_45, i_29^0'=i_29^post_45, length_27^0'=length_27^post_45, lt_17^0'=lt_17^post_45, lt_20^0'=lt_20^post_45, nondet_12^0'=nondet_12^post_45, r_164^0'=r_164^post_45, r_197^0'=r_197^post_45, r_39^0'=r_39^post_45, rcd_104^0'=rcd_104^post_45, rcd_112^0'=rcd_112^post_45, rcd_179^0'=rcd_179^post_45, rcd_185^0'=rcd_185^post_45, rcd_190^0'=rcd_190^post_45, rcd_207^0'=rcd_207^post_45, rcd_43^0'=rcd_43^post_45, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_45, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_45, t_25^0'=t_25^post_45, tail_15^0'=tail_15^post_45, temp0_21^0'=temp0_21^post_45, temp0_30^0'=temp0_30^post_45, temp_34^0'=temp_34^post_45, temp_35^0'=temp_35^post_45, tmp_33^0'=tmp_33^post_45, x_24^0'=x_24^post_45, x_SLAM_f_22^0'=x_SLAM_f_22^post_45, y_23^0'=y_23^post_45, [ 1<=result_dot_nondet_sdv_special_RETURN_VALUE_14^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^0 && rcd_43^post_45==rcd_43^post_45 && rcd_43^post_45<=rcd_207^0 && rcd_207^0<=rcd_43^post_45 && a_178^post_45==a_178^post_45 && a_178^post_45<=a_208^0 && a_208^0<=a_178^post_45 && a_153^0==a_153^post_45 && a_208^0==a_208^post_45 && f_198^0==f_198^post_45 && head_16^0==head_16^post_45 && head_31^0==head_31^post_45 && head_SLAM_f_28^0==head_SLAM_f_28^post_45 && i_110^0==i_110^post_45 && i_120^0==i_120^post_45 && i_29^0==i_29^post_45 && length_27^0==length_27^post_45 && lt_17^0==lt_17^post_45 && lt_20^0==lt_20^post_45 && nondet_12^0==nondet_12^post_45 && r_164^0==r_164^post_45 && r_197^0==r_197^post_45 && r_39^0==r_39^post_45 && rcd_104^0==rcd_104^post_45 && rcd_112^0==rcd_112^post_45 && rcd_179^0==rcd_179^post_45 && rcd_185^0==rcd_185^post_45 && rcd_190^0==rcd_190^post_45 && rcd_207^0==rcd_207^post_45 && rcd_69^0==rcd_69^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_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_45 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_45 && t_25^0==t_25^post_45 && tail_15^0==tail_15^post_45 && temp0_21^0==temp0_21^post_45 && temp0_30^0==temp0_30^post_45 && temp_34^0==temp_34^post_45 && temp_35^0==temp_35^post_45 && tmp_33^0==tmp_33^post_45 && x_24^0==x_24^post_45 && x_SLAM_f_22^0==x_SLAM_f_22^post_45 && y_23^0==y_23^post_45 ], cost: 1 45: l25 -> l2 : a_153^0'=a_153^post_46, a_178^0'=a_178^post_46, a_208^0'=a_208^post_46, f_198^0'=f_198^post_46, head_16^0'=head_16^post_46, head_31^0'=head_31^post_46, head_SLAM_f_28^0'=head_SLAM_f_28^post_46, i_110^0'=i_110^post_46, i_120^0'=i_120^post_46, i_29^0'=i_29^post_46, length_27^0'=length_27^post_46, lt_17^0'=lt_17^post_46, lt_20^0'=lt_20^post_46, nondet_12^0'=nondet_12^post_46, r_164^0'=r_164^post_46, r_197^0'=r_197^post_46, r_39^0'=r_39^post_46, rcd_104^0'=rcd_104^post_46, rcd_112^0'=rcd_112^post_46, rcd_179^0'=rcd_179^post_46, rcd_185^0'=rcd_185^post_46, rcd_190^0'=rcd_190^post_46, rcd_207^0'=rcd_207^post_46, rcd_43^0'=rcd_43^post_46, rcd_69^0'=rcd_69^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_46, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_46, t_25^0'=t_25^post_46, tail_15^0'=tail_15^post_46, temp0_21^0'=temp0_21^post_46, temp0_30^0'=temp0_30^post_46, temp_34^0'=temp_34^post_46, temp_35^0'=temp_35^post_46, tmp_33^0'=tmp_33^post_46, x_24^0'=x_24^post_46, x_SLAM_f_22^0'=x_SLAM_f_22^post_46, y_23^0'=y_23^post_46, [ a_153^0==a_153^post_46 && a_178^0==a_178^post_46 && a_208^0==a_208^post_46 && f_198^0==f_198^post_46 && head_16^0==head_16^post_46 && head_31^0==head_31^post_46 && head_SLAM_f_28^0==head_SLAM_f_28^post_46 && i_110^0==i_110^post_46 && i_120^0==i_120^post_46 && i_29^0==i_29^post_46 && length_27^0==length_27^post_46 && lt_17^0==lt_17^post_46 && lt_20^0==lt_20^post_46 && nondet_12^0==nondet_12^post_46 && r_164^0==r_164^post_46 && r_197^0==r_197^post_46 && r_39^0==r_39^post_46 && rcd_104^0==rcd_104^post_46 && rcd_112^0==rcd_112^post_46 && rcd_179^0==rcd_179^post_46 && rcd_185^0==rcd_185^post_46 && rcd_190^0==rcd_190^post_46 && rcd_207^0==rcd_207^post_46 && rcd_43^0==rcd_43^post_46 && rcd_69^0==rcd_69^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_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_46 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_46 && t_25^0==t_25^post_46 && tail_15^0==tail_15^post_46 && temp0_21^0==temp0_21^post_46 && temp0_30^0==temp0_30^post_46 && temp_34^0==temp_34^post_46 && temp_35^0==temp_35^post_46 && tmp_33^0==tmp_33^post_46 && x_24^0==x_24^post_46 && x_SLAM_f_22^0==x_SLAM_f_22^post_46 && y_23^0==y_23^post_46 ], cost: 1 72: l46 -> l11 : a_153^0'=a_153^post_73, a_178^0'=a_178^post_73, a_208^0'=a_208^post_73, f_198^0'=f_198^post_73, head_16^0'=head_16^post_73, head_31^0'=head_31^post_73, head_SLAM_f_28^0'=head_SLAM_f_28^post_73, i_110^0'=i_110^post_73, i_120^0'=i_120^post_73, i_29^0'=i_29^post_73, length_27^0'=length_27^post_73, lt_17^0'=lt_17^post_73, lt_20^0'=lt_20^post_73, nondet_12^0'=nondet_12^post_73, r_164^0'=r_164^post_73, r_197^0'=r_197^post_73, r_39^0'=r_39^post_73, rcd_104^0'=rcd_104^post_73, rcd_112^0'=rcd_112^post_73, rcd_179^0'=rcd_179^post_73, rcd_185^0'=rcd_185^post_73, rcd_190^0'=rcd_190^post_73, rcd_207^0'=rcd_207^post_73, rcd_43^0'=rcd_43^post_73, rcd_69^0'=rcd_69^post_73, result_11^0'=result_11^post_73, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_73, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_73, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_73, t_25^0'=t_25^post_73, tail_15^0'=tail_15^post_73, temp0_21^0'=temp0_21^post_73, temp0_30^0'=temp0_30^post_73, temp_34^0'=temp_34^post_73, temp_35^0'=temp_35^post_73, tmp_33^0'=tmp_33^post_73, x_24^0'=x_24^post_73, x_SLAM_f_22^0'=x_SLAM_f_22^post_73, y_23^0'=y_23^post_73, [ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_73==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_73 && tail_15^post_73==temp_35^0 && temp_35^post_73==temp_35^post_73 && nondet_12^1_1==nondet_12^1_1 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_73==nondet_12^1_1 && nondet_12^post_73==nondet_12^post_73 && length_27^post_73==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_73 && head_SLAM_f_28^post_73==tail_15^post_73 && head_31^post_73==head_SLAM_f_28^post_73 && i_29^post_73==0 && 0<=i_29^post_73 && i_29^post_73<=0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_73<=tail_15^post_73 && tail_15^post_73<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_73 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_73<=head_SLAM_f_28^post_73 && head_SLAM_f_28^post_73<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_73 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_73<=head_31^post_73 && head_31^post_73<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_73 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_73<=length_27^post_73 && length_27^post_73<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_73 && tail_15^post_73<=head_SLAM_f_28^post_73 && head_SLAM_f_28^post_73<=tail_15^post_73 && head_SLAM_f_28^post_73<=head_31^post_73 && head_31^post_73<=head_SLAM_f_28^post_73 && a_153^0==a_153^post_73 && a_178^0==a_178^post_73 && a_208^0==a_208^post_73 && f_198^0==f_198^post_73 && head_16^0==head_16^post_73 && i_110^0==i_110^post_73 && i_120^0==i_120^post_73 && lt_17^0==lt_17^post_73 && lt_20^0==lt_20^post_73 && r_164^0==r_164^post_73 && r_197^0==r_197^post_73 && r_39^0==r_39^post_73 && rcd_104^0==rcd_104^post_73 && rcd_112^0==rcd_112^post_73 && rcd_179^0==rcd_179^post_73 && rcd_185^0==rcd_185^post_73 && rcd_190^0==rcd_190^post_73 && rcd_207^0==rcd_207^post_73 && rcd_43^0==rcd_43^post_73 && rcd_69^0==rcd_69^post_73 && result_11^0==result_11^post_73 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_73 && t_25^0==t_25^post_73 && temp0_21^0==temp0_21^post_73 && temp0_30^0==temp0_30^post_73 && temp_34^0==temp_34^post_73 && tmp_33^0==tmp_33^post_73 && x_24^0==x_24^post_73 && x_SLAM_f_22^0==x_SLAM_f_22^post_73 && y_23^0==y_23^post_73 ], cost: 1 89: l55 -> l46 : a_153^0'=a_153^post_90, a_178^0'=a_178^post_90, a_208^0'=a_208^post_90, f_198^0'=f_198^post_90, head_16^0'=head_16^post_90, head_31^0'=head_31^post_90, head_SLAM_f_28^0'=head_SLAM_f_28^post_90, i_110^0'=i_110^post_90, i_120^0'=i_120^post_90, i_29^0'=i_29^post_90, length_27^0'=length_27^post_90, lt_17^0'=lt_17^post_90, lt_20^0'=lt_20^post_90, nondet_12^0'=nondet_12^post_90, r_164^0'=r_164^post_90, r_197^0'=r_197^post_90, r_39^0'=r_39^post_90, rcd_104^0'=rcd_104^post_90, rcd_112^0'=rcd_112^post_90, rcd_179^0'=rcd_179^post_90, rcd_185^0'=rcd_185^post_90, rcd_190^0'=rcd_190^post_90, rcd_207^0'=rcd_207^post_90, rcd_43^0'=rcd_43^post_90, rcd_69^0'=rcd_69^post_90, result_11^0'=result_11^post_90, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_90, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_90, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_90, t_25^0'=t_25^post_90, tail_15^0'=tail_15^post_90, temp0_21^0'=temp0_21^post_90, temp0_30^0'=temp0_30^post_90, temp_34^0'=temp_34^post_90, temp_35^0'=temp_35^post_90, tmp_33^0'=tmp_33^post_90, x_24^0'=x_24^post_90, x_SLAM_f_22^0'=x_SLAM_f_22^post_90, y_23^0'=y_23^post_90, [ a_153^0==a_153^post_90 && a_178^0==a_178^post_90 && a_208^0==a_208^post_90 && f_198^0==f_198^post_90 && head_16^0==head_16^post_90 && head_31^0==head_31^post_90 && head_SLAM_f_28^0==head_SLAM_f_28^post_90 && i_110^0==i_110^post_90 && i_120^0==i_120^post_90 && i_29^0==i_29^post_90 && length_27^0==length_27^post_90 && lt_17^0==lt_17^post_90 && lt_20^0==lt_20^post_90 && nondet_12^0==nondet_12^post_90 && r_164^0==r_164^post_90 && r_197^0==r_197^post_90 && r_39^0==r_39^post_90 && rcd_104^0==rcd_104^post_90 && rcd_112^0==rcd_112^post_90 && rcd_179^0==rcd_179^post_90 && rcd_185^0==rcd_185^post_90 && rcd_190^0==rcd_190^post_90 && rcd_207^0==rcd_207^post_90 && rcd_43^0==rcd_43^post_90 && rcd_69^0==rcd_69^post_90 && result_11^0==result_11^post_90 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_90 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_90 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_90 && t_25^0==t_25^post_90 && tail_15^0==tail_15^post_90 && temp0_21^0==temp0_21^post_90 && temp0_30^0==temp0_30^post_90 && temp_34^0==temp_34^post_90 && temp_35^0==temp_35^post_90 && tmp_33^0==tmp_33^post_90 && x_24^0==x_24^post_90 && x_SLAM_f_22^0==x_SLAM_f_22^post_90 && y_23^0==y_23^post_90 ], cost: 1 Simplified all rules, resulting in: Start location: l55 1: l0 -> l3 : head_16^0'=head_31^0, head_31^0'=head_31^post_2, head_SLAM_f_28^0'=head_SLAM_f_28^post_2, i_29^0'=i_29^post_2, length_27^0'=length_27^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_2, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2, tail_15^0'=tail_15^post_2, temp0_30^0'=temp0_30^post_2, temp_34^0'=temp_34^post_2, tmp_33^0'=tmp_33^post_2, [ 0<=i_29^0 && length_27^0<=i_29^0 ], cost: 1 13: l0 -> l10 : head_31^0'=temp_34^0, i_110^0'=i_29^0, i_29^0'=1+i_29^0, rcd_104^0'=rcd_104^post_14, rcd_112^0'=rcd_43^0, temp_34^0'=temp_34^post_14, tmp_33^0'=temp_34^0, [ 0<=i_29^0 && 1+i_29^0<=length_27^0 ], cost: 1 2: l3 -> l4 : [ 1+head_16^0<=lt_17^0 ], cost: 1 3: l3 -> l4 : [ 1+lt_17^0<=head_16^0 ], cost: 1 4: l4 -> l5 : head_16^0'=head_16^post_5, lt_17^0'=lt_17^post_5, lt_20^0'=lt_20^post_5, rcd_185^0'=rcd_185^post_5, rcd_190^0'=rcd_190^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_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_5, tail_15^0'=tail_15^post_5, x_24^0'=head_16^0, x_SLAM_f_22^0'=x_SLAM_f_22^post_5, y_23^0'=lt_20^0, [ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^0 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0<=i_120^0 ], cost: 1 5: l5 -> l6 : [ 1+y_23^0<=x_24^0 ], cost: 1 6: l5 -> l6 : [ 1+x_24^0<=y_23^0 ], cost: 1 7: l6 -> l7 : a_153^0'=a_178^0, t_25^0'=x_24^0, [ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==0 && head_16^0-x_SLAM_f_22^0==0 && head_16^0-x_24^0==0 && lt_20^0-y_23^0==0 && rcd_43^0-rcd_185^0==0 ], cost: 1 8: l7 -> l8 : [ 1+head_16^0<=y_23^0 ], cost: 1 9: l7 -> l8 : [ 1+y_23^0<=head_16^0 ], cost: 1 10: l8 -> l9 : [ 1+y_23^0<=t_25^0 ], cost: 1 11: l8 -> l9 : [ 1+t_25^0<=y_23^0 ], cost: 1 12: l9 -> l2 : i_120^0'=1+a_153^0, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^0 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0<=i_120^0 ], cost: 1 36: l2 -> l26 : f_198^0'=f_198^post_37, head_16^0'=head_16^post_37, lt_20^0'=lt_20^post_37, r_197^0'=r_197^post_37, r_39^0'=r_39^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_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_37, tail_15^0'=tail_15^post_37, x_SLAM_f_22^0'=x_SLAM_f_22^post_37, [], cost: 1 14: l10 -> l0 : [], cost: 1 33: l11 -> l23 : head_31^0'=temp_34^0, head_SLAM_f_28^0'=head_SLAM_f_28^post_34, i_29^0'=1+i_29^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=head_SLAM_f_28^post_34, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0'=temp_34^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=length_27^0, tail_15^0'=head_SLAM_f_28^post_34, temp_34^0'=temp_34^post_34, tmp_33^0'=temp_34^0, [ 1+i_29^0<=length_27^0 && -i_29^0==0 ], cost: 1 84: l23 -> l0 : head_31^0'=temp_34^0, head_SLAM_f_28^0'=head_SLAM_f_28^post_85, i_29^0'=1+i_29^0, rcd_69^0'=rcd_69^post_85, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=head_SLAM_f_28^post_85, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0'=temp_34^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=length_27^0, tail_15^0'=head_SLAM_f_28^post_85, temp_34^0'=temp_34^post_85, tmp_33^0'=temp_34^0, [ 1+i_29^0<=length_27^0 && 1-i_29^0==0 ], cost: 1 37: l26 -> l27 : [ 1+y_23^0<=x_24^0 ], cost: 1 38: l26 -> l27 : [ 1+x_24^0<=y_23^0 ], cost: 1 39: l27 -> l28 : a_208^0'=a_208^post_40, rcd_207^0'=rcd_207^post_40, t_25^0'=x_24^0, [ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==0 && head_16^0-x_SLAM_f_22^0==0 && lt_20^0-y_23^0==0 ], cost: 1 40: l28 -> l29 : [ 1+head_16^0<=y_23^0 ], cost: 1 41: l28 -> l29 : [ 1+y_23^0<=head_16^0 ], cost: 1 42: l29 -> l30 : [ 1+y_23^0<=t_25^0 ], cost: 1 43: l29 -> l30 : [ 1+t_25^0<=y_23^0 ], cost: 1 44: l30 -> l25 : a_178^0'=a_208^0, rcd_43^0'=rcd_207^0, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^0 ], cost: 1 45: l25 -> l2 : [], cost: 1 72: l46 -> l11 : head_31^0'=temp_35^0, head_SLAM_f_28^0'=temp_35^0, i_29^0'=0, length_27^0'=nondet_12^1_1, nondet_12^0'=nondet_12^post_73, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=temp_35^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^1_1, tail_15^0'=temp_35^0, temp_35^0'=temp_35^post_73, [], cost: 1 89: l55 -> l46 : [], cost: 1 ### Simplification by acceleration and chaining ### Eliminated locations (on linear paths): Start location: l55 1: l0 -> l3 : head_16^0'=head_31^0, head_31^0'=head_31^post_2, head_SLAM_f_28^0'=head_SLAM_f_28^post_2, i_29^0'=i_29^post_2, length_27^0'=length_27^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_2, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2, tail_15^0'=tail_15^post_2, temp0_30^0'=temp0_30^post_2, temp_34^0'=temp_34^post_2, tmp_33^0'=tmp_33^post_2, [ 0<=i_29^0 && length_27^0<=i_29^0 ], cost: 1 93: l0 -> l0 : head_31^0'=temp_34^0, i_110^0'=i_29^0, i_29^0'=1+i_29^0, rcd_104^0'=rcd_104^post_14, rcd_112^0'=rcd_43^0, temp_34^0'=temp_34^post_14, tmp_33^0'=temp_34^0, [ 0<=i_29^0 && 1+i_29^0<=length_27^0 ], cost: 2 2: l3 -> l4 : [ 1+head_16^0<=lt_17^0 ], cost: 1 3: l3 -> l4 : [ 1+lt_17^0<=head_16^0 ], cost: 1 4: l4 -> l5 : head_16^0'=head_16^post_5, lt_17^0'=lt_17^post_5, lt_20^0'=lt_20^post_5, rcd_185^0'=rcd_185^post_5, rcd_190^0'=rcd_190^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_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_5, tail_15^0'=tail_15^post_5, x_24^0'=head_16^0, x_SLAM_f_22^0'=x_SLAM_f_22^post_5, y_23^0'=lt_20^0, [ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^0 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0<=i_120^0 ], cost: 1 5: l5 -> l6 : [ 1+y_23^0<=x_24^0 ], cost: 1 6: l5 -> l6 : [ 1+x_24^0<=y_23^0 ], cost: 1 7: l6 -> l7 : a_153^0'=a_178^0, t_25^0'=x_24^0, [ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==0 && head_16^0-x_SLAM_f_22^0==0 && head_16^0-x_24^0==0 && lt_20^0-y_23^0==0 && rcd_43^0-rcd_185^0==0 ], cost: 1 8: l7 -> l8 : [ 1+head_16^0<=y_23^0 ], cost: 1 9: l7 -> l8 : [ 1+y_23^0<=head_16^0 ], cost: 1 10: l8 -> l9 : [ 1+y_23^0<=t_25^0 ], cost: 1 11: l8 -> l9 : [ 1+t_25^0<=y_23^0 ], cost: 1 12: l9 -> l2 : i_120^0'=1+a_153^0, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^0 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0<=i_120^0 ], cost: 1 36: l2 -> l26 : f_198^0'=f_198^post_37, head_16^0'=head_16^post_37, lt_20^0'=lt_20^post_37, r_197^0'=r_197^post_37, r_39^0'=r_39^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_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_37, tail_15^0'=tail_15^post_37, x_SLAM_f_22^0'=x_SLAM_f_22^post_37, [], cost: 1 37: l26 -> l27 : [ 1+y_23^0<=x_24^0 ], cost: 1 38: l26 -> l27 : [ 1+x_24^0<=y_23^0 ], cost: 1 39: l27 -> l28 : a_208^0'=a_208^post_40, rcd_207^0'=rcd_207^post_40, t_25^0'=x_24^0, [ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==0 && head_16^0-x_SLAM_f_22^0==0 && lt_20^0-y_23^0==0 ], cost: 1 40: l28 -> l29 : [ 1+head_16^0<=y_23^0 ], cost: 1 41: l28 -> l29 : [ 1+y_23^0<=head_16^0 ], cost: 1 42: l29 -> l30 : [ 1+y_23^0<=t_25^0 ], cost: 1 43: l29 -> l30 : [ 1+t_25^0<=y_23^0 ], cost: 1 94: l30 -> l2 : a_178^0'=a_208^0, rcd_43^0'=rcd_207^0, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^0 ], cost: 2 92: l55 -> l0 : head_31^0'=temp_34^post_34, head_SLAM_f_28^0'=head_SLAM_f_28^post_85, i_29^0'=2, length_27^0'=nondet_12^1_1, nondet_12^0'=nondet_12^post_73, rcd_69^0'=rcd_69^post_85, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=head_SLAM_f_28^post_85, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0'=temp_34^post_34, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^1_1, tail_15^0'=head_SLAM_f_28^post_85, temp_34^0'=temp_34^post_85, temp_35^0'=temp_35^post_73, tmp_33^0'=temp_34^post_34, [ 2<=nondet_12^1_1 ], cost: 4 Accelerating simple loops of location 0. Accelerating the following rules: 93: l0 -> l0 : head_31^0'=temp_34^0, i_110^0'=i_29^0, i_29^0'=1+i_29^0, rcd_104^0'=rcd_104^post_14, rcd_112^0'=rcd_43^0, temp_34^0'=temp_34^post_14, tmp_33^0'=temp_34^0, [ 0<=i_29^0 && 1+i_29^0<=length_27^0 ], cost: 2 Accelerated rule 93 with backward acceleration, yielding the new rule 95. [accelerate] Nesting with 1 inner and 1 outer candidates Removing the simple loops: 93. Accelerated all simple loops using metering functions (where possible): Start location: l55 1: l0 -> l3 : head_16^0'=head_31^0, head_31^0'=head_31^post_2, head_SLAM_f_28^0'=head_SLAM_f_28^post_2, i_29^0'=i_29^post_2, length_27^0'=length_27^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_2, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2, tail_15^0'=tail_15^post_2, temp0_30^0'=temp0_30^post_2, temp_34^0'=temp_34^post_2, tmp_33^0'=tmp_33^post_2, [ 0<=i_29^0 && length_27^0<=i_29^0 ], cost: 1 95: l0 -> l0 : head_31^0'=temp_34^post_14, i_110^0'=-1+length_27^0, i_29^0'=length_27^0, rcd_104^0'=rcd_104^post_14, rcd_112^0'=rcd_43^0, temp_34^0'=temp_34^post_14, tmp_33^0'=temp_34^post_14, [ 0<=i_29^0 && -i_29^0+length_27^0>=1 ], cost: -2*i_29^0+2*length_27^0 2: l3 -> l4 : [ 1+head_16^0<=lt_17^0 ], cost: 1 3: l3 -> l4 : [ 1+lt_17^0<=head_16^0 ], cost: 1 4: l4 -> l5 : head_16^0'=head_16^post_5, lt_17^0'=lt_17^post_5, lt_20^0'=lt_20^post_5, rcd_185^0'=rcd_185^post_5, rcd_190^0'=rcd_190^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_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_5, tail_15^0'=tail_15^post_5, x_24^0'=head_16^0, x_SLAM_f_22^0'=x_SLAM_f_22^post_5, y_23^0'=lt_20^0, [ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^0 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0<=i_120^0 ], cost: 1 5: l5 -> l6 : [ 1+y_23^0<=x_24^0 ], cost: 1 6: l5 -> l6 : [ 1+x_24^0<=y_23^0 ], cost: 1 7: l6 -> l7 : a_153^0'=a_178^0, t_25^0'=x_24^0, [ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==0 && head_16^0-x_SLAM_f_22^0==0 && head_16^0-x_24^0==0 && lt_20^0-y_23^0==0 && rcd_43^0-rcd_185^0==0 ], cost: 1 8: l7 -> l8 : [ 1+head_16^0<=y_23^0 ], cost: 1 9: l7 -> l8 : [ 1+y_23^0<=head_16^0 ], cost: 1 10: l8 -> l9 : [ 1+y_23^0<=t_25^0 ], cost: 1 11: l8 -> l9 : [ 1+t_25^0<=y_23^0 ], cost: 1 12: l9 -> l2 : i_120^0'=1+a_153^0, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^0 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0<=i_120^0 ], cost: 1 36: l2 -> l26 : f_198^0'=f_198^post_37, head_16^0'=head_16^post_37, lt_20^0'=lt_20^post_37, r_197^0'=r_197^post_37, r_39^0'=r_39^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_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_37, tail_15^0'=tail_15^post_37, x_SLAM_f_22^0'=x_SLAM_f_22^post_37, [], cost: 1 37: l26 -> l27 : [ 1+y_23^0<=x_24^0 ], cost: 1 38: l26 -> l27 : [ 1+x_24^0<=y_23^0 ], cost: 1 39: l27 -> l28 : a_208^0'=a_208^post_40, rcd_207^0'=rcd_207^post_40, t_25^0'=x_24^0, [ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==0 && head_16^0-x_SLAM_f_22^0==0 && lt_20^0-y_23^0==0 ], cost: 1 40: l28 -> l29 : [ 1+head_16^0<=y_23^0 ], cost: 1 41: l28 -> l29 : [ 1+y_23^0<=head_16^0 ], cost: 1 42: l29 -> l30 : [ 1+y_23^0<=t_25^0 ], cost: 1 43: l29 -> l30 : [ 1+t_25^0<=y_23^0 ], cost: 1 94: l30 -> l2 : a_178^0'=a_208^0, rcd_43^0'=rcd_207^0, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^0 ], cost: 2 92: l55 -> l0 : head_31^0'=temp_34^post_34, head_SLAM_f_28^0'=head_SLAM_f_28^post_85, i_29^0'=2, length_27^0'=nondet_12^1_1, nondet_12^0'=nondet_12^post_73, rcd_69^0'=rcd_69^post_85, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=head_SLAM_f_28^post_85, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0'=temp_34^post_34, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^1_1, tail_15^0'=head_SLAM_f_28^post_85, temp_34^0'=temp_34^post_85, temp_35^0'=temp_35^post_73, tmp_33^0'=temp_34^post_34, [ 2<=nondet_12^1_1 ], cost: 4 Chained accelerated rules (with incoming rules): Start location: l55 1: l0 -> l3 : head_16^0'=head_31^0, head_31^0'=head_31^post_2, head_SLAM_f_28^0'=head_SLAM_f_28^post_2, i_29^0'=i_29^post_2, length_27^0'=length_27^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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_2, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2, tail_15^0'=tail_15^post_2, temp0_30^0'=temp0_30^post_2, temp_34^0'=temp_34^post_2, tmp_33^0'=tmp_33^post_2, [ 0<=i_29^0 && length_27^0<=i_29^0 ], cost: 1 2: l3 -> l4 : [ 1+head_16^0<=lt_17^0 ], cost: 1 3: l3 -> l4 : [ 1+lt_17^0<=head_16^0 ], cost: 1 4: l4 -> l5 : head_16^0'=head_16^post_5, lt_17^0'=lt_17^post_5, lt_20^0'=lt_20^post_5, rcd_185^0'=rcd_185^post_5, rcd_190^0'=rcd_190^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_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_5, tail_15^0'=tail_15^post_5, x_24^0'=head_16^0, x_SLAM_f_22^0'=x_SLAM_f_22^post_5, y_23^0'=lt_20^0, [ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^0 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0<=i_120^0 ], cost: 1 5: l5 -> l6 : [ 1+y_23^0<=x_24^0 ], cost: 1 6: l5 -> l6 : [ 1+x_24^0<=y_23^0 ], cost: 1 7: l6 -> l7 : a_153^0'=a_178^0, t_25^0'=x_24^0, [ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==0 && head_16^0-x_SLAM_f_22^0==0 && head_16^0-x_24^0==0 && lt_20^0-y_23^0==0 && rcd_43^0-rcd_185^0==0 ], cost: 1 8: l7 -> l8 : [ 1+head_16^0<=y_23^0 ], cost: 1 9: l7 -> l8 : [ 1+y_23^0<=head_16^0 ], cost: 1 10: l8 -> l9 : [ 1+y_23^0<=t_25^0 ], cost: 1 11: l8 -> l9 : [ 1+t_25^0<=y_23^0 ], cost: 1 12: l9 -> l2 : i_120^0'=1+a_153^0, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^0 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0<=i_120^0 ], cost: 1 36: l2 -> l26 : f_198^0'=f_198^post_37, head_16^0'=head_16^post_37, lt_20^0'=lt_20^post_37, r_197^0'=r_197^post_37, r_39^0'=r_39^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_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_37, tail_15^0'=tail_15^post_37, x_SLAM_f_22^0'=x_SLAM_f_22^post_37, [], cost: 1 37: l26 -> l27 : [ 1+y_23^0<=x_24^0 ], cost: 1 38: l26 -> l27 : [ 1+x_24^0<=y_23^0 ], cost: 1 39: l27 -> l28 : a_208^0'=a_208^post_40, rcd_207^0'=rcd_207^post_40, t_25^0'=x_24^0, [ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==0 && head_16^0-x_SLAM_f_22^0==0 && lt_20^0-y_23^0==0 ], cost: 1 40: l28 -> l29 : [ 1+head_16^0<=y_23^0 ], cost: 1 41: l28 -> l29 : [ 1+y_23^0<=head_16^0 ], cost: 1 42: l29 -> l30 : [ 1+y_23^0<=t_25^0 ], cost: 1 43: l29 -> l30 : [ 1+t_25^0<=y_23^0 ], cost: 1 94: l30 -> l2 : a_178^0'=a_208^0, rcd_43^0'=rcd_207^0, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^0 ], cost: 2 92: l55 -> l0 : head_31^0'=temp_34^post_34, head_SLAM_f_28^0'=head_SLAM_f_28^post_85, i_29^0'=2, length_27^0'=nondet_12^1_1, nondet_12^0'=nondet_12^post_73, rcd_69^0'=rcd_69^post_85, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=head_SLAM_f_28^post_85, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0'=temp_34^post_34, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^1_1, tail_15^0'=head_SLAM_f_28^post_85, temp_34^0'=temp_34^post_85, temp_35^0'=temp_35^post_73, tmp_33^0'=temp_34^post_34, [ 2<=nondet_12^1_1 ], cost: 4 96: l55 -> l0 : head_31^0'=temp_34^post_14, head_SLAM_f_28^0'=head_SLAM_f_28^post_85, i_110^0'=-1+nondet_12^1_1, i_29^0'=nondet_12^1_1, length_27^0'=nondet_12^1_1, nondet_12^0'=nondet_12^post_73, rcd_104^0'=rcd_104^post_14, rcd_112^0'=rcd_43^0, rcd_69^0'=rcd_69^post_85, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=head_SLAM_f_28^post_85, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0'=temp_34^post_34, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^1_1, tail_15^0'=head_SLAM_f_28^post_85, temp_34^0'=temp_34^post_14, temp_35^0'=temp_35^post_73, tmp_33^0'=temp_34^post_14, [ -2+nondet_12^1_1>=1 ], cost: 2*nondet_12^1_1 Eliminated locations (on tree-shaped paths): Start location: l55 99: l3 -> l5 : head_16^0'=head_16^post_5, lt_17^0'=lt_17^post_5, lt_20^0'=lt_20^post_5, rcd_185^0'=rcd_185^post_5, rcd_190^0'=rcd_190^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_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_5, tail_15^0'=tail_15^post_5, x_24^0'=head_16^0, x_SLAM_f_22^0'=x_SLAM_f_22^post_5, y_23^0'=lt_20^0, [ 1+head_16^0<=lt_17^0 && -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^0 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0<=i_120^0 ], cost: 2 100: l3 -> l5 : head_16^0'=head_16^post_5, lt_17^0'=lt_17^post_5, lt_20^0'=lt_20^post_5, rcd_185^0'=rcd_185^post_5, rcd_190^0'=rcd_190^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_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_5, tail_15^0'=tail_15^post_5, x_24^0'=head_16^0, x_SLAM_f_22^0'=x_SLAM_f_22^post_5, y_23^0'=lt_20^0, [ 1+lt_17^0<=head_16^0 && -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^0 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0<=i_120^0 ], cost: 2 101: l5 -> l7 : a_153^0'=a_178^0, t_25^0'=x_24^0, [ 1+y_23^0<=x_24^0 && -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==0 && head_16^0-x_SLAM_f_22^0==0 && head_16^0-x_24^0==0 && lt_20^0-y_23^0==0 && rcd_43^0-rcd_185^0==0 ], cost: 2 102: l5 -> l7 : a_153^0'=a_178^0, t_25^0'=x_24^0, [ 1+x_24^0<=y_23^0 && -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==0 && head_16^0-x_SLAM_f_22^0==0 && head_16^0-x_24^0==0 && lt_20^0-y_23^0==0 && rcd_43^0-rcd_185^0==0 ], cost: 2 103: l7 -> l9 : [ 1+head_16^0<=y_23^0 && 1+y_23^0<=t_25^0 ], cost: 2 104: l7 -> l9 : [ 1+head_16^0<=y_23^0 && 1+t_25^0<=y_23^0 ], cost: 2 105: l7 -> l9 : [ 1+y_23^0<=head_16^0 && 1+y_23^0<=t_25^0 ], cost: 2 106: l7 -> l9 : [ 1+y_23^0<=head_16^0 && 1+t_25^0<=y_23^0 ], cost: 2 12: l9 -> l2 : i_120^0'=1+a_153^0, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^0 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0<=i_120^0 ], cost: 1 107: l2 -> l27 : f_198^0'=f_198^post_37, head_16^0'=head_16^post_37, lt_20^0'=lt_20^post_37, r_197^0'=r_197^post_37, r_39^0'=r_39^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_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_37, tail_15^0'=tail_15^post_37, x_SLAM_f_22^0'=x_SLAM_f_22^post_37, [ 1+y_23^0<=x_24^0 ], cost: 2 108: l2 -> l27 : f_198^0'=f_198^post_37, head_16^0'=head_16^post_37, lt_20^0'=lt_20^post_37, r_197^0'=r_197^post_37, r_39^0'=r_39^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_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_37, tail_15^0'=tail_15^post_37, x_SLAM_f_22^0'=x_SLAM_f_22^post_37, [ 1+x_24^0<=y_23^0 ], cost: 2 109: l27 -> l29 : a_208^0'=a_208^post_40, rcd_207^0'=rcd_207^post_40, t_25^0'=x_24^0, [ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==0 && head_16^0-x_SLAM_f_22^0==0 && lt_20^0-y_23^0==0 && 1+head_16^0<=y_23^0 ], cost: 2 110: l27 -> l29 : a_208^0'=a_208^post_40, rcd_207^0'=rcd_207^post_40, t_25^0'=x_24^0, [ -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==0 && head_16^0-x_SLAM_f_22^0==0 && lt_20^0-y_23^0==0 && 1+y_23^0<=head_16^0 ], cost: 2 111: l29 -> l2 : a_178^0'=a_208^0, rcd_43^0'=rcd_207^0, [ 1+y_23^0<=t_25^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^0 ], cost: 3 112: l29 -> l2 : a_178^0'=a_208^0, rcd_43^0'=rcd_207^0, [ 1+t_25^0<=y_23^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^0 ], cost: 3 97: l55 -> l3 : head_16^0'=temp_34^post_34, head_31^0'=head_31^post_2, head_SLAM_f_28^0'=head_SLAM_f_28^post_2, i_29^0'=i_29^post_2, length_27^0'=length_27^post_2, nondet_12^0'=nondet_12^post_73, rcd_69^0'=rcd_69^post_85, 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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_2, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2, tail_15^0'=tail_15^post_2, temp0_30^0'=temp0_30^post_2, temp_34^0'=temp_34^post_2, temp_35^0'=temp_35^post_73, tmp_33^0'=tmp_33^post_2, [ 2<=nondet_12^1_1 && nondet_12^1_1<=2 ], cost: 5 98: l55 -> l3 : head_16^0'=temp_34^post_14, head_31^0'=head_31^post_2, head_SLAM_f_28^0'=head_SLAM_f_28^post_2, i_110^0'=-1+nondet_12^1_1, i_29^0'=i_29^post_2, length_27^0'=length_27^post_2, nondet_12^0'=nondet_12^post_73, rcd_104^0'=rcd_104^post_14, rcd_112^0'=rcd_43^0, rcd_69^0'=rcd_69^post_85, 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_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_2, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2, tail_15^0'=tail_15^post_2, temp0_30^0'=temp0_30^post_2, temp_34^0'=temp_34^post_2, temp_35^0'=temp_35^post_73, tmp_33^0'=tmp_33^post_2, [ -2+nondet_12^1_1>=1 ], cost: 1+2*nondet_12^1_1 Eliminated locations (on tree-shaped paths): Start location: l55 117: l5 -> l9 : a_153^0'=a_178^0, t_25^0'=x_24^0, [ 1+y_23^0<=x_24^0 && -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==0 && head_16^0-x_SLAM_f_22^0==0 && head_16^0-x_24^0==0 && lt_20^0-y_23^0==0 && rcd_43^0-rcd_185^0==0 && 1+y_23^0<=head_16^0 ], cost: 4 118: l5 -> l9 : a_153^0'=a_178^0, t_25^0'=x_24^0, [ 1+x_24^0<=y_23^0 && -tail_15^0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==0 && head_16^0-x_SLAM_f_22^0==0 && head_16^0-x_24^0==0 && lt_20^0-y_23^0==0 && rcd_43^0-rcd_185^0==0 && 1+head_16^0<=y_23^0 ], cost: 4 12: l9 -> l2 : i_120^0'=1+a_153^0, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^0 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0<=i_120^0 ], cost: 1 119: l2 -> l29 : a_208^0'=a_208^post_40, f_198^0'=f_198^post_37, head_16^0'=head_16^post_37, lt_20^0'=lt_20^post_37, r_197^0'=r_197^post_37, r_39^0'=r_39^post_37, rcd_207^0'=rcd_207^post_40, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_37, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_37, t_25^0'=x_24^0, tail_15^0'=tail_15^post_37, x_SLAM_f_22^0'=x_SLAM_f_22^post_37, [ 1+y_23^0<=x_24^0 && -tail_15^post_37+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_37==0 && head_16^post_37-x_SLAM_f_22^post_37==0 && lt_20^post_37-y_23^0==0 && 1+head_16^post_37<=y_23^0 ], cost: 4 120: l2 -> l29 : a_208^0'=a_208^post_40, f_198^0'=f_198^post_37, head_16^0'=head_16^post_37, lt_20^0'=lt_20^post_37, r_197^0'=r_197^post_37, r_39^0'=r_39^post_37, rcd_207^0'=rcd_207^post_40, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_37, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_37, t_25^0'=x_24^0, tail_15^0'=tail_15^post_37, x_SLAM_f_22^0'=x_SLAM_f_22^post_37, [ 1+y_23^0<=x_24^0 && -tail_15^post_37+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_37==0 && head_16^post_37-x_SLAM_f_22^post_37==0 && lt_20^post_37-y_23^0==0 && 1+y_23^0<=head_16^post_37 ], cost: 4 121: l2 -> l29 : a_208^0'=a_208^post_40, f_198^0'=f_198^post_37, head_16^0'=head_16^post_37, lt_20^0'=lt_20^post_37, r_197^0'=r_197^post_37, r_39^0'=r_39^post_37, rcd_207^0'=rcd_207^post_40, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_37, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_37, t_25^0'=x_24^0, tail_15^0'=tail_15^post_37, x_SLAM_f_22^0'=x_SLAM_f_22^post_37, [ 1+x_24^0<=y_23^0 && -tail_15^post_37+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_37==0 && head_16^post_37-x_SLAM_f_22^post_37==0 && lt_20^post_37-y_23^0==0 && 1+head_16^post_37<=y_23^0 ], cost: 4 122: l2 -> l29 : a_208^0'=a_208^post_40, f_198^0'=f_198^post_37, head_16^0'=head_16^post_37, lt_20^0'=lt_20^post_37, r_197^0'=r_197^post_37, r_39^0'=r_39^post_37, rcd_207^0'=rcd_207^post_40, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_37, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_37, t_25^0'=x_24^0, tail_15^0'=tail_15^post_37, x_SLAM_f_22^0'=x_SLAM_f_22^post_37, [ 1+x_24^0<=y_23^0 && -tail_15^post_37+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_37==0 && head_16^post_37-x_SLAM_f_22^post_37==0 && lt_20^post_37-y_23^0==0 && 1+y_23^0<=head_16^post_37 ], cost: 4 111: l29 -> l2 : a_178^0'=a_208^0, rcd_43^0'=rcd_207^0, [ 1+y_23^0<=t_25^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^0 ], cost: 3 112: l29 -> l2 : a_178^0'=a_208^0, rcd_43^0'=rcd_207^0, [ 1+t_25^0<=y_23^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^0 ], cost: 3 113: l55 -> l5 : head_16^0'=head_16^post_5, head_31^0'=head_31^post_2, head_SLAM_f_28^0'=head_SLAM_f_28^post_2, i_29^0'=i_29^post_2, length_27^0'=length_27^post_2, lt_17^0'=lt_17^post_5, lt_20^0'=lt_20^post_5, nondet_12^0'=nondet_12^post_73, rcd_185^0'=rcd_185^post_5, rcd_190^0'=rcd_190^post_5, rcd_69^0'=rcd_69^post_85, 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_5, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_2, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_5, tail_15^0'=tail_15^post_5, temp0_30^0'=temp0_30^post_2, temp_34^0'=temp_34^post_2, temp_35^0'=temp_35^post_73, tmp_33^0'=tmp_33^post_2, x_24^0'=temp_34^post_34, x_SLAM_f_22^0'=x_SLAM_f_22^post_5, y_23^0'=lt_20^0, [ 2<=nondet_12^1_1 && nondet_12^1_1<=2 && 1+temp_34^post_34<=lt_17^0 && -tail_15^post_2+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_2==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2<=i_120^0 ], cost: 7 114: l55 -> l5 : head_16^0'=head_16^post_5, head_31^0'=head_31^post_2, head_SLAM_f_28^0'=head_SLAM_f_28^post_2, i_29^0'=i_29^post_2, length_27^0'=length_27^post_2, lt_17^0'=lt_17^post_5, lt_20^0'=lt_20^post_5, nondet_12^0'=nondet_12^post_73, rcd_185^0'=rcd_185^post_5, rcd_190^0'=rcd_190^post_5, rcd_69^0'=rcd_69^post_85, 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_5, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_2, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_5, tail_15^0'=tail_15^post_5, temp0_30^0'=temp0_30^post_2, temp_34^0'=temp_34^post_2, temp_35^0'=temp_35^post_73, tmp_33^0'=tmp_33^post_2, x_24^0'=temp_34^post_34, x_SLAM_f_22^0'=x_SLAM_f_22^post_5, y_23^0'=lt_20^0, [ 2<=nondet_12^1_1 && nondet_12^1_1<=2 && 1+lt_17^0<=temp_34^post_34 && -tail_15^post_2+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_2==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2<=i_120^0 ], cost: 7 115: l55 -> l5 : head_16^0'=head_16^post_5, head_31^0'=head_31^post_2, head_SLAM_f_28^0'=head_SLAM_f_28^post_2, i_110^0'=-1+nondet_12^1_1, i_29^0'=i_29^post_2, length_27^0'=length_27^post_2, lt_17^0'=lt_17^post_5, lt_20^0'=lt_20^post_5, nondet_12^0'=nondet_12^post_73, rcd_104^0'=rcd_104^post_14, rcd_112^0'=rcd_43^0, rcd_185^0'=rcd_185^post_5, rcd_190^0'=rcd_190^post_5, rcd_69^0'=rcd_69^post_85, 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_5, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_2, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_5, tail_15^0'=tail_15^post_5, temp0_30^0'=temp0_30^post_2, temp_34^0'=temp_34^post_2, temp_35^0'=temp_35^post_73, tmp_33^0'=tmp_33^post_2, x_24^0'=temp_34^post_14, x_SLAM_f_22^0'=x_SLAM_f_22^post_5, y_23^0'=lt_20^0, [ -2+nondet_12^1_1>=1 && 1+temp_34^post_14<=lt_17^0 && -tail_15^post_2+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_2==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2<=i_120^0 ], cost: 3+2*nondet_12^1_1 116: l55 -> l5 : head_16^0'=head_16^post_5, head_31^0'=head_31^post_2, head_SLAM_f_28^0'=head_SLAM_f_28^post_2, i_110^0'=-1+nondet_12^1_1, i_29^0'=i_29^post_2, length_27^0'=length_27^post_2, lt_17^0'=lt_17^post_5, lt_20^0'=lt_20^post_5, nondet_12^0'=nondet_12^post_73, rcd_104^0'=rcd_104^post_14, rcd_112^0'=rcd_43^0, rcd_185^0'=rcd_185^post_5, rcd_190^0'=rcd_190^post_5, rcd_69^0'=rcd_69^post_85, 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_5, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_2, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_5, tail_15^0'=tail_15^post_5, temp0_30^0'=temp0_30^post_2, temp_34^0'=temp_34^post_2, temp_35^0'=temp_35^post_73, tmp_33^0'=tmp_33^post_2, x_24^0'=temp_34^post_14, x_SLAM_f_22^0'=x_SLAM_f_22^post_5, y_23^0'=lt_20^0, [ -2+nondet_12^1_1>=1 && 1+lt_17^0<=temp_34^post_14 && -tail_15^post_2+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_2==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2<=i_120^0 ], cost: 3+2*nondet_12^1_1 Eliminated locations (on tree-shaped paths): Start location: l55 12: l9 -> l2 : i_120^0'=1+a_153^0, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^0 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0<=i_120^0 ], cost: 1 131: l2 -> l2 : a_178^0'=a_208^post_40, a_208^0'=a_208^post_40, f_198^0'=f_198^post_37, head_16^0'=head_16^post_37, lt_20^0'=lt_20^post_37, r_197^0'=r_197^post_37, r_39^0'=r_39^post_37, rcd_207^0'=rcd_207^post_40, rcd_43^0'=rcd_207^post_40, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_37, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_37, t_25^0'=x_24^0, tail_15^0'=tail_15^post_37, x_SLAM_f_22^0'=x_SLAM_f_22^post_37, [ 1+y_23^0<=x_24^0 && -tail_15^post_37+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_37==0 && head_16^post_37-x_SLAM_f_22^post_37==0 && lt_20^post_37-y_23^0==0 && 1+head_16^post_37<=y_23^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_37 ], cost: 7 132: l2 -> l2 : a_178^0'=a_208^post_40, a_208^0'=a_208^post_40, f_198^0'=f_198^post_37, head_16^0'=head_16^post_37, lt_20^0'=lt_20^post_37, r_197^0'=r_197^post_37, r_39^0'=r_39^post_37, rcd_207^0'=rcd_207^post_40, rcd_43^0'=rcd_207^post_40, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_37, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_37, t_25^0'=x_24^0, tail_15^0'=tail_15^post_37, x_SLAM_f_22^0'=x_SLAM_f_22^post_37, [ 1+y_23^0<=x_24^0 && -tail_15^post_37+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_37==0 && head_16^post_37-x_SLAM_f_22^post_37==0 && lt_20^post_37-y_23^0==0 && 1+y_23^0<=head_16^post_37 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_37 ], cost: 7 133: l2 -> l2 : a_178^0'=a_208^post_40, a_208^0'=a_208^post_40, f_198^0'=f_198^post_37, head_16^0'=head_16^post_37, lt_20^0'=lt_20^post_37, r_197^0'=r_197^post_37, r_39^0'=r_39^post_37, rcd_207^0'=rcd_207^post_40, rcd_43^0'=rcd_207^post_40, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_37, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_37, t_25^0'=x_24^0, tail_15^0'=tail_15^post_37, x_SLAM_f_22^0'=x_SLAM_f_22^post_37, [ 1+x_24^0<=y_23^0 && -tail_15^post_37+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_37==0 && head_16^post_37-x_SLAM_f_22^post_37==0 && lt_20^post_37-y_23^0==0 && 1+head_16^post_37<=y_23^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_37 ], cost: 7 134: l2 -> l2 : a_178^0'=a_208^post_40, a_208^0'=a_208^post_40, f_198^0'=f_198^post_37, head_16^0'=head_16^post_37, lt_20^0'=lt_20^post_37, r_197^0'=r_197^post_37, r_39^0'=r_39^post_37, rcd_207^0'=rcd_207^post_40, rcd_43^0'=rcd_207^post_40, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_37, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_37, t_25^0'=x_24^0, tail_15^0'=tail_15^post_37, x_SLAM_f_22^0'=x_SLAM_f_22^post_37, [ 1+x_24^0<=y_23^0 && -tail_15^post_37+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_37==0 && head_16^post_37-x_SLAM_f_22^post_37==0 && lt_20^post_37-y_23^0==0 && 1+y_23^0<=head_16^post_37 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_37 ], cost: 7 123: l55 -> l9 : a_153^0'=a_178^0, head_16^0'=head_16^post_5, head_31^0'=head_31^post_2, head_SLAM_f_28^0'=head_SLAM_f_28^post_2, i_29^0'=i_29^post_2, length_27^0'=length_27^post_2, lt_17^0'=lt_17^post_5, lt_20^0'=lt_20^post_5, nondet_12^0'=nondet_12^post_73, rcd_185^0'=rcd_185^post_5, rcd_190^0'=rcd_190^post_5, rcd_69^0'=rcd_69^post_85, 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_5, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_2, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_5, t_25^0'=temp_34^post_34, tail_15^0'=tail_15^post_5, temp0_30^0'=temp0_30^post_2, temp_34^0'=temp_34^post_2, temp_35^0'=temp_35^post_73, tmp_33^0'=tmp_33^post_2, x_24^0'=temp_34^post_34, x_SLAM_f_22^0'=x_SLAM_f_22^post_5, y_23^0'=lt_20^0, [ 2<=nondet_12^1_1 && nondet_12^1_1<=2 && 1+temp_34^post_34<=lt_17^0 && -tail_15^post_2+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_2==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2<=i_120^0 && 1+lt_20^0<=temp_34^post_34 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_5-tail_15^post_5==0 && -x_SLAM_f_22^post_5+head_16^post_5==0 && head_16^post_5-temp_34^post_34==0 && lt_20^post_5-lt_20^0==0 && rcd_43^0-rcd_185^post_5==0 && 1+lt_20^0<=head_16^post_5 ], cost: 11 124: l55 -> l9 : a_153^0'=a_178^0, head_16^0'=head_16^post_5, head_31^0'=head_31^post_2, head_SLAM_f_28^0'=head_SLAM_f_28^post_2, i_29^0'=i_29^post_2, length_27^0'=length_27^post_2, lt_17^0'=lt_17^post_5, lt_20^0'=lt_20^post_5, nondet_12^0'=nondet_12^post_73, rcd_185^0'=rcd_185^post_5, rcd_190^0'=rcd_190^post_5, rcd_69^0'=rcd_69^post_85, 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_5, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_2, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_5, t_25^0'=temp_34^post_34, tail_15^0'=tail_15^post_5, temp0_30^0'=temp0_30^post_2, temp_34^0'=temp_34^post_2, temp_35^0'=temp_35^post_73, tmp_33^0'=tmp_33^post_2, x_24^0'=temp_34^post_34, x_SLAM_f_22^0'=x_SLAM_f_22^post_5, y_23^0'=lt_20^0, [ 2<=nondet_12^1_1 && nondet_12^1_1<=2 && 1+temp_34^post_34<=lt_17^0 && -tail_15^post_2+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_2==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2<=i_120^0 && 1+temp_34^post_34<=lt_20^0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_5-tail_15^post_5==0 && -x_SLAM_f_22^post_5+head_16^post_5==0 && head_16^post_5-temp_34^post_34==0 && lt_20^post_5-lt_20^0==0 && rcd_43^0-rcd_185^post_5==0 && 1+head_16^post_5<=lt_20^0 ], cost: 11 125: l55 -> l9 : a_153^0'=a_178^0, head_16^0'=head_16^post_5, head_31^0'=head_31^post_2, head_SLAM_f_28^0'=head_SLAM_f_28^post_2, i_29^0'=i_29^post_2, length_27^0'=length_27^post_2, lt_17^0'=lt_17^post_5, lt_20^0'=lt_20^post_5, nondet_12^0'=nondet_12^post_73, rcd_185^0'=rcd_185^post_5, rcd_190^0'=rcd_190^post_5, rcd_69^0'=rcd_69^post_85, 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_5, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_2, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_5, t_25^0'=temp_34^post_34, tail_15^0'=tail_15^post_5, temp0_30^0'=temp0_30^post_2, temp_34^0'=temp_34^post_2, temp_35^0'=temp_35^post_73, tmp_33^0'=tmp_33^post_2, x_24^0'=temp_34^post_34, x_SLAM_f_22^0'=x_SLAM_f_22^post_5, y_23^0'=lt_20^0, [ 2<=nondet_12^1_1 && nondet_12^1_1<=2 && 1+lt_17^0<=temp_34^post_34 && -tail_15^post_2+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_2==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2<=i_120^0 && 1+lt_20^0<=temp_34^post_34 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_5-tail_15^post_5==0 && -x_SLAM_f_22^post_5+head_16^post_5==0 && head_16^post_5-temp_34^post_34==0 && lt_20^post_5-lt_20^0==0 && rcd_43^0-rcd_185^post_5==0 && 1+lt_20^0<=head_16^post_5 ], cost: 11 126: l55 -> l9 : a_153^0'=a_178^0, head_16^0'=head_16^post_5, head_31^0'=head_31^post_2, head_SLAM_f_28^0'=head_SLAM_f_28^post_2, i_29^0'=i_29^post_2, length_27^0'=length_27^post_2, lt_17^0'=lt_17^post_5, lt_20^0'=lt_20^post_5, nondet_12^0'=nondet_12^post_73, rcd_185^0'=rcd_185^post_5, rcd_190^0'=rcd_190^post_5, rcd_69^0'=rcd_69^post_85, 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_5, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_2, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_5, t_25^0'=temp_34^post_34, tail_15^0'=tail_15^post_5, temp0_30^0'=temp0_30^post_2, temp_34^0'=temp_34^post_2, temp_35^0'=temp_35^post_73, tmp_33^0'=tmp_33^post_2, x_24^0'=temp_34^post_34, x_SLAM_f_22^0'=x_SLAM_f_22^post_5, y_23^0'=lt_20^0, [ 2<=nondet_12^1_1 && nondet_12^1_1<=2 && 1+lt_17^0<=temp_34^post_34 && -tail_15^post_2+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_2==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2<=i_120^0 && 1+temp_34^post_34<=lt_20^0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_5-tail_15^post_5==0 && -x_SLAM_f_22^post_5+head_16^post_5==0 && head_16^post_5-temp_34^post_34==0 && lt_20^post_5-lt_20^0==0 && rcd_43^0-rcd_185^post_5==0 && 1+head_16^post_5<=lt_20^0 ], cost: 11 127: l55 -> l9 : a_153^0'=a_178^0, head_16^0'=head_16^post_5, head_31^0'=head_31^post_2, head_SLAM_f_28^0'=head_SLAM_f_28^post_2, i_110^0'=-1+nondet_12^1_1, i_29^0'=i_29^post_2, length_27^0'=length_27^post_2, lt_17^0'=lt_17^post_5, lt_20^0'=lt_20^post_5, nondet_12^0'=nondet_12^post_73, rcd_104^0'=rcd_104^post_14, rcd_112^0'=rcd_43^0, rcd_185^0'=rcd_185^post_5, rcd_190^0'=rcd_190^post_5, rcd_69^0'=rcd_69^post_85, 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_5, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_2, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_5, t_25^0'=temp_34^post_14, tail_15^0'=tail_15^post_5, temp0_30^0'=temp0_30^post_2, temp_34^0'=temp_34^post_2, temp_35^0'=temp_35^post_73, tmp_33^0'=tmp_33^post_2, x_24^0'=temp_34^post_14, x_SLAM_f_22^0'=x_SLAM_f_22^post_5, y_23^0'=lt_20^0, [ -2+nondet_12^1_1>=1 && 1+temp_34^post_14<=lt_17^0 && -tail_15^post_2+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_2==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2<=i_120^0 && 1+lt_20^0<=temp_34^post_14 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_5-tail_15^post_5==0 && -x_SLAM_f_22^post_5+head_16^post_5==0 && -temp_34^post_14+head_16^post_5==0 && lt_20^post_5-lt_20^0==0 && rcd_43^0-rcd_185^post_5==0 && 1+lt_20^0<=head_16^post_5 ], cost: 7+2*nondet_12^1_1 128: l55 -> l9 : a_153^0'=a_178^0, head_16^0'=head_16^post_5, head_31^0'=head_31^post_2, head_SLAM_f_28^0'=head_SLAM_f_28^post_2, i_110^0'=-1+nondet_12^1_1, i_29^0'=i_29^post_2, length_27^0'=length_27^post_2, lt_17^0'=lt_17^post_5, lt_20^0'=lt_20^post_5, nondet_12^0'=nondet_12^post_73, rcd_104^0'=rcd_104^post_14, rcd_112^0'=rcd_43^0, rcd_185^0'=rcd_185^post_5, rcd_190^0'=rcd_190^post_5, rcd_69^0'=rcd_69^post_85, 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_5, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_2, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_5, t_25^0'=temp_34^post_14, tail_15^0'=tail_15^post_5, temp0_30^0'=temp0_30^post_2, temp_34^0'=temp_34^post_2, temp_35^0'=temp_35^post_73, tmp_33^0'=tmp_33^post_2, x_24^0'=temp_34^post_14, x_SLAM_f_22^0'=x_SLAM_f_22^post_5, y_23^0'=lt_20^0, [ -2+nondet_12^1_1>=1 && 1+temp_34^post_14<=lt_17^0 && -tail_15^post_2+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_2==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2<=i_120^0 && 1+temp_34^post_14<=lt_20^0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_5-tail_15^post_5==0 && -x_SLAM_f_22^post_5+head_16^post_5==0 && -temp_34^post_14+head_16^post_5==0 && lt_20^post_5-lt_20^0==0 && rcd_43^0-rcd_185^post_5==0 && 1+head_16^post_5<=lt_20^0 ], cost: 7+2*nondet_12^1_1 129: l55 -> l9 : a_153^0'=a_178^0, head_16^0'=head_16^post_5, head_31^0'=head_31^post_2, head_SLAM_f_28^0'=head_SLAM_f_28^post_2, i_110^0'=-1+nondet_12^1_1, i_29^0'=i_29^post_2, length_27^0'=length_27^post_2, lt_17^0'=lt_17^post_5, lt_20^0'=lt_20^post_5, nondet_12^0'=nondet_12^post_73, rcd_104^0'=rcd_104^post_14, rcd_112^0'=rcd_43^0, rcd_185^0'=rcd_185^post_5, rcd_190^0'=rcd_190^post_5, rcd_69^0'=rcd_69^post_85, 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_5, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_2, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_5, t_25^0'=temp_34^post_14, tail_15^0'=tail_15^post_5, temp0_30^0'=temp0_30^post_2, temp_34^0'=temp_34^post_2, temp_35^0'=temp_35^post_73, tmp_33^0'=tmp_33^post_2, x_24^0'=temp_34^post_14, x_SLAM_f_22^0'=x_SLAM_f_22^post_5, y_23^0'=lt_20^0, [ -2+nondet_12^1_1>=1 && 1+lt_17^0<=temp_34^post_14 && -tail_15^post_2+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_2==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2<=i_120^0 && 1+lt_20^0<=temp_34^post_14 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_5-tail_15^post_5==0 && -x_SLAM_f_22^post_5+head_16^post_5==0 && -temp_34^post_14+head_16^post_5==0 && lt_20^post_5-lt_20^0==0 && rcd_43^0-rcd_185^post_5==0 && 1+lt_20^0<=head_16^post_5 ], cost: 7+2*nondet_12^1_1 130: l55 -> l9 : a_153^0'=a_178^0, head_16^0'=head_16^post_5, head_31^0'=head_31^post_2, head_SLAM_f_28^0'=head_SLAM_f_28^post_2, i_110^0'=-1+nondet_12^1_1, i_29^0'=i_29^post_2, length_27^0'=length_27^post_2, lt_17^0'=lt_17^post_5, lt_20^0'=lt_20^post_5, nondet_12^0'=nondet_12^post_73, rcd_104^0'=rcd_104^post_14, rcd_112^0'=rcd_43^0, rcd_185^0'=rcd_185^post_5, rcd_190^0'=rcd_190^post_5, rcd_69^0'=rcd_69^post_85, 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_5, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_2, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_5, t_25^0'=temp_34^post_14, tail_15^0'=tail_15^post_5, temp0_30^0'=temp0_30^post_2, temp_34^0'=temp_34^post_2, temp_35^0'=temp_35^post_73, tmp_33^0'=tmp_33^post_2, x_24^0'=temp_34^post_14, x_SLAM_f_22^0'=x_SLAM_f_22^post_5, y_23^0'=lt_20^0, [ -2+nondet_12^1_1>=1 && 1+lt_17^0<=temp_34^post_14 && -tail_15^post_2+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_2==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2<=i_120^0 && 1+temp_34^post_14<=lt_20^0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_5-tail_15^post_5==0 && -x_SLAM_f_22^post_5+head_16^post_5==0 && -temp_34^post_14+head_16^post_5==0 && lt_20^post_5-lt_20^0==0 && rcd_43^0-rcd_185^post_5==0 && 1+head_16^post_5<=lt_20^0 ], cost: 7+2*nondet_12^1_1 Applied pruning (of leafs and parallel rules): Start location: l55 12: l9 -> l2 : i_120^0'=1+a_153^0, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^0 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0<=i_120^0 ], cost: 1 131: l2 -> l2 : a_178^0'=a_208^post_40, a_208^0'=a_208^post_40, f_198^0'=f_198^post_37, head_16^0'=head_16^post_37, lt_20^0'=lt_20^post_37, r_197^0'=r_197^post_37, r_39^0'=r_39^post_37, rcd_207^0'=rcd_207^post_40, rcd_43^0'=rcd_207^post_40, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_37, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_37, t_25^0'=x_24^0, tail_15^0'=tail_15^post_37, x_SLAM_f_22^0'=x_SLAM_f_22^post_37, [ 1+y_23^0<=x_24^0 && -tail_15^post_37+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_37==0 && head_16^post_37-x_SLAM_f_22^post_37==0 && lt_20^post_37-y_23^0==0 && 1+head_16^post_37<=y_23^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_37 ], cost: 7 132: l2 -> l2 : a_178^0'=a_208^post_40, a_208^0'=a_208^post_40, f_198^0'=f_198^post_37, head_16^0'=head_16^post_37, lt_20^0'=lt_20^post_37, r_197^0'=r_197^post_37, r_39^0'=r_39^post_37, rcd_207^0'=rcd_207^post_40, rcd_43^0'=rcd_207^post_40, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_37, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_37, t_25^0'=x_24^0, tail_15^0'=tail_15^post_37, x_SLAM_f_22^0'=x_SLAM_f_22^post_37, [ 1+y_23^0<=x_24^0 && -tail_15^post_37+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_37==0 && head_16^post_37-x_SLAM_f_22^post_37==0 && lt_20^post_37-y_23^0==0 && 1+y_23^0<=head_16^post_37 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_37 ], cost: 7 133: l2 -> l2 : a_178^0'=a_208^post_40, a_208^0'=a_208^post_40, f_198^0'=f_198^post_37, head_16^0'=head_16^post_37, lt_20^0'=lt_20^post_37, r_197^0'=r_197^post_37, r_39^0'=r_39^post_37, rcd_207^0'=rcd_207^post_40, rcd_43^0'=rcd_207^post_40, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_37, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_37, t_25^0'=x_24^0, tail_15^0'=tail_15^post_37, x_SLAM_f_22^0'=x_SLAM_f_22^post_37, [ 1+x_24^0<=y_23^0 && -tail_15^post_37+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_37==0 && head_16^post_37-x_SLAM_f_22^post_37==0 && lt_20^post_37-y_23^0==0 && 1+head_16^post_37<=y_23^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_37 ], cost: 7 134: l2 -> l2 : a_178^0'=a_208^post_40, a_208^0'=a_208^post_40, f_198^0'=f_198^post_37, head_16^0'=head_16^post_37, lt_20^0'=lt_20^post_37, r_197^0'=r_197^post_37, r_39^0'=r_39^post_37, rcd_207^0'=rcd_207^post_40, rcd_43^0'=rcd_207^post_40, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_37, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_37, t_25^0'=x_24^0, tail_15^0'=tail_15^post_37, x_SLAM_f_22^0'=x_SLAM_f_22^post_37, [ 1+x_24^0<=y_23^0 && -tail_15^post_37+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_37==0 && head_16^post_37-x_SLAM_f_22^post_37==0 && lt_20^post_37-y_23^0==0 && 1+y_23^0<=head_16^post_37 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_37 ], cost: 7 126: l55 -> l9 : a_153^0'=a_178^0, head_16^0'=head_16^post_5, head_31^0'=head_31^post_2, head_SLAM_f_28^0'=head_SLAM_f_28^post_2, i_29^0'=i_29^post_2, length_27^0'=length_27^post_2, lt_17^0'=lt_17^post_5, lt_20^0'=lt_20^post_5, nondet_12^0'=nondet_12^post_73, rcd_185^0'=rcd_185^post_5, rcd_190^0'=rcd_190^post_5, rcd_69^0'=rcd_69^post_85, 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_5, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_2, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_5, t_25^0'=temp_34^post_34, tail_15^0'=tail_15^post_5, temp0_30^0'=temp0_30^post_2, temp_34^0'=temp_34^post_2, temp_35^0'=temp_35^post_73, tmp_33^0'=tmp_33^post_2, x_24^0'=temp_34^post_34, x_SLAM_f_22^0'=x_SLAM_f_22^post_5, y_23^0'=lt_20^0, [ 2<=nondet_12^1_1 && nondet_12^1_1<=2 && 1+lt_17^0<=temp_34^post_34 && -tail_15^post_2+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_2==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2<=i_120^0 && 1+temp_34^post_34<=lt_20^0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_5-tail_15^post_5==0 && -x_SLAM_f_22^post_5+head_16^post_5==0 && head_16^post_5-temp_34^post_34==0 && lt_20^post_5-lt_20^0==0 && rcd_43^0-rcd_185^post_5==0 && 1+head_16^post_5<=lt_20^0 ], cost: 11 127: l55 -> l9 : a_153^0'=a_178^0, head_16^0'=head_16^post_5, head_31^0'=head_31^post_2, head_SLAM_f_28^0'=head_SLAM_f_28^post_2, i_110^0'=-1+nondet_12^1_1, i_29^0'=i_29^post_2, length_27^0'=length_27^post_2, lt_17^0'=lt_17^post_5, lt_20^0'=lt_20^post_5, nondet_12^0'=nondet_12^post_73, rcd_104^0'=rcd_104^post_14, rcd_112^0'=rcd_43^0, rcd_185^0'=rcd_185^post_5, rcd_190^0'=rcd_190^post_5, rcd_69^0'=rcd_69^post_85, 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_5, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_2, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_5, t_25^0'=temp_34^post_14, tail_15^0'=tail_15^post_5, temp0_30^0'=temp0_30^post_2, temp_34^0'=temp_34^post_2, temp_35^0'=temp_35^post_73, tmp_33^0'=tmp_33^post_2, x_24^0'=temp_34^post_14, x_SLAM_f_22^0'=x_SLAM_f_22^post_5, y_23^0'=lt_20^0, [ -2+nondet_12^1_1>=1 && 1+temp_34^post_14<=lt_17^0 && -tail_15^post_2+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_2==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2<=i_120^0 && 1+lt_20^0<=temp_34^post_14 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_5-tail_15^post_5==0 && -x_SLAM_f_22^post_5+head_16^post_5==0 && -temp_34^post_14+head_16^post_5==0 && lt_20^post_5-lt_20^0==0 && rcd_43^0-rcd_185^post_5==0 && 1+lt_20^0<=head_16^post_5 ], cost: 7+2*nondet_12^1_1 128: l55 -> l9 : a_153^0'=a_178^0, head_16^0'=head_16^post_5, head_31^0'=head_31^post_2, head_SLAM_f_28^0'=head_SLAM_f_28^post_2, i_110^0'=-1+nondet_12^1_1, i_29^0'=i_29^post_2, length_27^0'=length_27^post_2, lt_17^0'=lt_17^post_5, lt_20^0'=lt_20^post_5, nondet_12^0'=nondet_12^post_73, rcd_104^0'=rcd_104^post_14, rcd_112^0'=rcd_43^0, rcd_185^0'=rcd_185^post_5, rcd_190^0'=rcd_190^post_5, rcd_69^0'=rcd_69^post_85, 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_5, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_2, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_5, t_25^0'=temp_34^post_14, tail_15^0'=tail_15^post_5, temp0_30^0'=temp0_30^post_2, temp_34^0'=temp_34^post_2, temp_35^0'=temp_35^post_73, tmp_33^0'=tmp_33^post_2, x_24^0'=temp_34^post_14, x_SLAM_f_22^0'=x_SLAM_f_22^post_5, y_23^0'=lt_20^0, [ -2+nondet_12^1_1>=1 && 1+temp_34^post_14<=lt_17^0 && -tail_15^post_2+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_2==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2<=i_120^0 && 1+temp_34^post_14<=lt_20^0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_5-tail_15^post_5==0 && -x_SLAM_f_22^post_5+head_16^post_5==0 && -temp_34^post_14+head_16^post_5==0 && lt_20^post_5-lt_20^0==0 && rcd_43^0-rcd_185^post_5==0 && 1+head_16^post_5<=lt_20^0 ], cost: 7+2*nondet_12^1_1 129: l55 -> l9 : a_153^0'=a_178^0, head_16^0'=head_16^post_5, head_31^0'=head_31^post_2, head_SLAM_f_28^0'=head_SLAM_f_28^post_2, i_110^0'=-1+nondet_12^1_1, i_29^0'=i_29^post_2, length_27^0'=length_27^post_2, lt_17^0'=lt_17^post_5, lt_20^0'=lt_20^post_5, nondet_12^0'=nondet_12^post_73, rcd_104^0'=rcd_104^post_14, rcd_112^0'=rcd_43^0, rcd_185^0'=rcd_185^post_5, rcd_190^0'=rcd_190^post_5, rcd_69^0'=rcd_69^post_85, 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_5, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_2, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_5, t_25^0'=temp_34^post_14, tail_15^0'=tail_15^post_5, temp0_30^0'=temp0_30^post_2, temp_34^0'=temp_34^post_2, temp_35^0'=temp_35^post_73, tmp_33^0'=tmp_33^post_2, x_24^0'=temp_34^post_14, x_SLAM_f_22^0'=x_SLAM_f_22^post_5, y_23^0'=lt_20^0, [ -2+nondet_12^1_1>=1 && 1+lt_17^0<=temp_34^post_14 && -tail_15^post_2+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_2==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2<=i_120^0 && 1+lt_20^0<=temp_34^post_14 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_5-tail_15^post_5==0 && -x_SLAM_f_22^post_5+head_16^post_5==0 && -temp_34^post_14+head_16^post_5==0 && lt_20^post_5-lt_20^0==0 && rcd_43^0-rcd_185^post_5==0 && 1+lt_20^0<=head_16^post_5 ], cost: 7+2*nondet_12^1_1 130: l55 -> l9 : a_153^0'=a_178^0, head_16^0'=head_16^post_5, head_31^0'=head_31^post_2, head_SLAM_f_28^0'=head_SLAM_f_28^post_2, i_110^0'=-1+nondet_12^1_1, i_29^0'=i_29^post_2, length_27^0'=length_27^post_2, lt_17^0'=lt_17^post_5, lt_20^0'=lt_20^post_5, nondet_12^0'=nondet_12^post_73, rcd_104^0'=rcd_104^post_14, rcd_112^0'=rcd_43^0, rcd_185^0'=rcd_185^post_5, rcd_190^0'=rcd_190^post_5, rcd_69^0'=rcd_69^post_85, 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_5, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_2, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_5, t_25^0'=temp_34^post_14, tail_15^0'=tail_15^post_5, temp0_30^0'=temp0_30^post_2, temp_34^0'=temp_34^post_2, temp_35^0'=temp_35^post_73, tmp_33^0'=tmp_33^post_2, x_24^0'=temp_34^post_14, x_SLAM_f_22^0'=x_SLAM_f_22^post_5, y_23^0'=lt_20^0, [ -2+nondet_12^1_1>=1 && 1+lt_17^0<=temp_34^post_14 && -tail_15^post_2+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_2==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2<=i_120^0 && 1+temp_34^post_14<=lt_20^0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_5-tail_15^post_5==0 && -x_SLAM_f_22^post_5+head_16^post_5==0 && -temp_34^post_14+head_16^post_5==0 && lt_20^post_5-lt_20^0==0 && rcd_43^0-rcd_185^post_5==0 && 1+head_16^post_5<=lt_20^0 ], cost: 7+2*nondet_12^1_1 Accelerating simple loops of location 9. Simplified some of the simple loops (and removed duplicate rules). Accelerating the following rules: 131: l2 -> l2 : a_178^0'=a_208^post_40, a_208^0'=a_208^post_40, f_198^0'=f_198^post_37, head_16^0'=x_SLAM_f_22^post_37, lt_20^0'=y_23^0, r_197^0'=r_197^post_37, r_39^0'=r_39^post_37, rcd_207^0'=rcd_207^post_40, rcd_43^0'=rcd_207^post_40, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_37, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_37, t_25^0'=x_24^0, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_37, x_SLAM_f_22^0'=x_SLAM_f_22^post_37, [ 1+y_23^0<=x_24^0 && 1+x_SLAM_f_22^post_37<=y_23^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_37 ], cost: 7 132: l2 -> l2 : a_178^0'=a_208^post_40, a_208^0'=a_208^post_40, f_198^0'=f_198^post_37, head_16^0'=x_SLAM_f_22^post_37, lt_20^0'=y_23^0, r_197^0'=r_197^post_37, r_39^0'=r_39^post_37, rcd_207^0'=rcd_207^post_40, rcd_43^0'=rcd_207^post_40, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_37, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_37, t_25^0'=x_24^0, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_37, x_SLAM_f_22^0'=x_SLAM_f_22^post_37, [ 1+y_23^0<=x_24^0 && 1+y_23^0<=x_SLAM_f_22^post_37 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_37 ], cost: 7 133: l2 -> l2 : a_178^0'=a_208^post_40, a_208^0'=a_208^post_40, f_198^0'=f_198^post_37, head_16^0'=x_SLAM_f_22^post_37, lt_20^0'=y_23^0, r_197^0'=r_197^post_37, r_39^0'=r_39^post_37, rcd_207^0'=rcd_207^post_40, rcd_43^0'=rcd_207^post_40, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_37, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_37, t_25^0'=x_24^0, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_37, x_SLAM_f_22^0'=x_SLAM_f_22^post_37, [ 1+x_24^0<=y_23^0 && 1+x_SLAM_f_22^post_37<=y_23^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_37 ], cost: 7 134: l2 -> l2 : a_178^0'=a_208^post_40, a_208^0'=a_208^post_40, f_198^0'=f_198^post_37, head_16^0'=x_SLAM_f_22^post_37, lt_20^0'=y_23^0, r_197^0'=r_197^post_37, r_39^0'=r_39^post_37, rcd_207^0'=rcd_207^post_40, rcd_43^0'=rcd_207^post_40, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_37, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_37, t_25^0'=x_24^0, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_37, x_SLAM_f_22^0'=x_SLAM_f_22^post_37, [ 1+x_24^0<=y_23^0 && 1+y_23^0<=x_SLAM_f_22^post_37 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_37 ], cost: 7 Accelerated rule 131 with non-termination, yielding the new rule 135. Accelerated rule 132 with non-termination, yielding the new rule 136. Accelerated rule 133 with non-termination, yielding the new rule 137. Accelerated rule 134 with non-termination, yielding the new rule 138. [accelerate] Nesting with 0 inner and 0 outer candidates Removing the simple loops: 131 132 133 134. Accelerated all simple loops using metering functions (where possible): Start location: l55 12: l9 -> l2 : i_120^0'=1+a_153^0, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^0 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0<=i_120^0 ], cost: 1 135: l2 -> [57] : [ 1+y_23^0<=x_24^0 && 1+x_SLAM_f_22^post_37<=y_23^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_37 ], cost: NONTERM 136: l2 -> [57] : [ 1+y_23^0<=x_24^0 && 1+y_23^0<=x_SLAM_f_22^post_37 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_37 ], cost: NONTERM 137: l2 -> [57] : [ 1+x_24^0<=y_23^0 && 1+x_SLAM_f_22^post_37<=y_23^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_37 ], cost: NONTERM 138: l2 -> [57] : [ 1+x_24^0<=y_23^0 && 1+y_23^0<=x_SLAM_f_22^post_37 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_37 ], cost: NONTERM 126: l55 -> l9 : a_153^0'=a_178^0, head_16^0'=head_16^post_5, head_31^0'=head_31^post_2, head_SLAM_f_28^0'=head_SLAM_f_28^post_2, i_29^0'=i_29^post_2, length_27^0'=length_27^post_2, lt_17^0'=lt_17^post_5, lt_20^0'=lt_20^post_5, nondet_12^0'=nondet_12^post_73, rcd_185^0'=rcd_185^post_5, rcd_190^0'=rcd_190^post_5, rcd_69^0'=rcd_69^post_85, 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_5, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_2, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_5, t_25^0'=temp_34^post_34, tail_15^0'=tail_15^post_5, temp0_30^0'=temp0_30^post_2, temp_34^0'=temp_34^post_2, temp_35^0'=temp_35^post_73, tmp_33^0'=tmp_33^post_2, x_24^0'=temp_34^post_34, x_SLAM_f_22^0'=x_SLAM_f_22^post_5, y_23^0'=lt_20^0, [ 2<=nondet_12^1_1 && nondet_12^1_1<=2 && 1+lt_17^0<=temp_34^post_34 && -tail_15^post_2+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_2==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2<=i_120^0 && 1+temp_34^post_34<=lt_20^0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_5-tail_15^post_5==0 && -x_SLAM_f_22^post_5+head_16^post_5==0 && head_16^post_5-temp_34^post_34==0 && lt_20^post_5-lt_20^0==0 && rcd_43^0-rcd_185^post_5==0 && 1+head_16^post_5<=lt_20^0 ], cost: 11 127: l55 -> l9 : a_153^0'=a_178^0, head_16^0'=head_16^post_5, head_31^0'=head_31^post_2, head_SLAM_f_28^0'=head_SLAM_f_28^post_2, i_110^0'=-1+nondet_12^1_1, i_29^0'=i_29^post_2, length_27^0'=length_27^post_2, lt_17^0'=lt_17^post_5, lt_20^0'=lt_20^post_5, nondet_12^0'=nondet_12^post_73, rcd_104^0'=rcd_104^post_14, rcd_112^0'=rcd_43^0, rcd_185^0'=rcd_185^post_5, rcd_190^0'=rcd_190^post_5, rcd_69^0'=rcd_69^post_85, 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_5, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_2, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_5, t_25^0'=temp_34^post_14, tail_15^0'=tail_15^post_5, temp0_30^0'=temp0_30^post_2, temp_34^0'=temp_34^post_2, temp_35^0'=temp_35^post_73, tmp_33^0'=tmp_33^post_2, x_24^0'=temp_34^post_14, x_SLAM_f_22^0'=x_SLAM_f_22^post_5, y_23^0'=lt_20^0, [ -2+nondet_12^1_1>=1 && 1+temp_34^post_14<=lt_17^0 && -tail_15^post_2+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_2==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2<=i_120^0 && 1+lt_20^0<=temp_34^post_14 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_5-tail_15^post_5==0 && -x_SLAM_f_22^post_5+head_16^post_5==0 && -temp_34^post_14+head_16^post_5==0 && lt_20^post_5-lt_20^0==0 && rcd_43^0-rcd_185^post_5==0 && 1+lt_20^0<=head_16^post_5 ], cost: 7+2*nondet_12^1_1 128: l55 -> l9 : a_153^0'=a_178^0, head_16^0'=head_16^post_5, head_31^0'=head_31^post_2, head_SLAM_f_28^0'=head_SLAM_f_28^post_2, i_110^0'=-1+nondet_12^1_1, i_29^0'=i_29^post_2, length_27^0'=length_27^post_2, lt_17^0'=lt_17^post_5, lt_20^0'=lt_20^post_5, nondet_12^0'=nondet_12^post_73, rcd_104^0'=rcd_104^post_14, rcd_112^0'=rcd_43^0, rcd_185^0'=rcd_185^post_5, rcd_190^0'=rcd_190^post_5, rcd_69^0'=rcd_69^post_85, 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_5, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_2, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_5, t_25^0'=temp_34^post_14, tail_15^0'=tail_15^post_5, temp0_30^0'=temp0_30^post_2, temp_34^0'=temp_34^post_2, temp_35^0'=temp_35^post_73, tmp_33^0'=tmp_33^post_2, x_24^0'=temp_34^post_14, x_SLAM_f_22^0'=x_SLAM_f_22^post_5, y_23^0'=lt_20^0, [ -2+nondet_12^1_1>=1 && 1+temp_34^post_14<=lt_17^0 && -tail_15^post_2+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_2==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2<=i_120^0 && 1+temp_34^post_14<=lt_20^0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_5-tail_15^post_5==0 && -x_SLAM_f_22^post_5+head_16^post_5==0 && -temp_34^post_14+head_16^post_5==0 && lt_20^post_5-lt_20^0==0 && rcd_43^0-rcd_185^post_5==0 && 1+head_16^post_5<=lt_20^0 ], cost: 7+2*nondet_12^1_1 129: l55 -> l9 : a_153^0'=a_178^0, head_16^0'=head_16^post_5, head_31^0'=head_31^post_2, head_SLAM_f_28^0'=head_SLAM_f_28^post_2, i_110^0'=-1+nondet_12^1_1, i_29^0'=i_29^post_2, length_27^0'=length_27^post_2, lt_17^0'=lt_17^post_5, lt_20^0'=lt_20^post_5, nondet_12^0'=nondet_12^post_73, rcd_104^0'=rcd_104^post_14, rcd_112^0'=rcd_43^0, rcd_185^0'=rcd_185^post_5, rcd_190^0'=rcd_190^post_5, rcd_69^0'=rcd_69^post_85, 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_5, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_2, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_5, t_25^0'=temp_34^post_14, tail_15^0'=tail_15^post_5, temp0_30^0'=temp0_30^post_2, temp_34^0'=temp_34^post_2, temp_35^0'=temp_35^post_73, tmp_33^0'=tmp_33^post_2, x_24^0'=temp_34^post_14, x_SLAM_f_22^0'=x_SLAM_f_22^post_5, y_23^0'=lt_20^0, [ -2+nondet_12^1_1>=1 && 1+lt_17^0<=temp_34^post_14 && -tail_15^post_2+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_2==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2<=i_120^0 && 1+lt_20^0<=temp_34^post_14 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_5-tail_15^post_5==0 && -x_SLAM_f_22^post_5+head_16^post_5==0 && -temp_34^post_14+head_16^post_5==0 && lt_20^post_5-lt_20^0==0 && rcd_43^0-rcd_185^post_5==0 && 1+lt_20^0<=head_16^post_5 ], cost: 7+2*nondet_12^1_1 130: l55 -> l9 : a_153^0'=a_178^0, head_16^0'=head_16^post_5, head_31^0'=head_31^post_2, head_SLAM_f_28^0'=head_SLAM_f_28^post_2, i_110^0'=-1+nondet_12^1_1, i_29^0'=i_29^post_2, length_27^0'=length_27^post_2, lt_17^0'=lt_17^post_5, lt_20^0'=lt_20^post_5, nondet_12^0'=nondet_12^post_73, rcd_104^0'=rcd_104^post_14, rcd_112^0'=rcd_43^0, rcd_185^0'=rcd_185^post_5, rcd_190^0'=rcd_190^post_5, rcd_69^0'=rcd_69^post_85, 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_5, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_2, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_5, t_25^0'=temp_34^post_14, tail_15^0'=tail_15^post_5, temp0_30^0'=temp0_30^post_2, temp_34^0'=temp_34^post_2, temp_35^0'=temp_35^post_73, tmp_33^0'=tmp_33^post_2, x_24^0'=temp_34^post_14, x_SLAM_f_22^0'=x_SLAM_f_22^post_5, y_23^0'=lt_20^0, [ -2+nondet_12^1_1>=1 && 1+lt_17^0<=temp_34^post_14 && -tail_15^post_2+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_2==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2<=i_120^0 && 1+temp_34^post_14<=lt_20^0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_5-tail_15^post_5==0 && -x_SLAM_f_22^post_5+head_16^post_5==0 && -temp_34^post_14+head_16^post_5==0 && lt_20^post_5-lt_20^0==0 && rcd_43^0-rcd_185^post_5==0 && 1+head_16^post_5<=lt_20^0 ], cost: 7+2*nondet_12^1_1 Chained accelerated rules (with incoming rules): Start location: l55 12: l9 -> l2 : i_120^0'=1+a_153^0, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^0 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0<=i_120^0 ], cost: 1 139: l9 -> [57] : [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^0 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0<=i_120^0 && 1+y_23^0<=x_24^0 ], cost: NONTERM 140: l9 -> [57] : [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^0 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0<=i_120^0 && 1+y_23^0<=x_24^0 ], cost: NONTERM 141: l9 -> [57] : [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^0 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0<=i_120^0 && 1+x_24^0<=y_23^0 ], cost: NONTERM 142: l9 -> [57] : [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^0 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0<=i_120^0 && 1+x_24^0<=y_23^0 ], cost: NONTERM 126: l55 -> l9 : a_153^0'=a_178^0, head_16^0'=head_16^post_5, head_31^0'=head_31^post_2, head_SLAM_f_28^0'=head_SLAM_f_28^post_2, i_29^0'=i_29^post_2, length_27^0'=length_27^post_2, lt_17^0'=lt_17^post_5, lt_20^0'=lt_20^post_5, nondet_12^0'=nondet_12^post_73, rcd_185^0'=rcd_185^post_5, rcd_190^0'=rcd_190^post_5, rcd_69^0'=rcd_69^post_85, 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_5, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_2, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_5, t_25^0'=temp_34^post_34, tail_15^0'=tail_15^post_5, temp0_30^0'=temp0_30^post_2, temp_34^0'=temp_34^post_2, temp_35^0'=temp_35^post_73, tmp_33^0'=tmp_33^post_2, x_24^0'=temp_34^post_34, x_SLAM_f_22^0'=x_SLAM_f_22^post_5, y_23^0'=lt_20^0, [ 2<=nondet_12^1_1 && nondet_12^1_1<=2 && 1+lt_17^0<=temp_34^post_34 && -tail_15^post_2+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_2==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2<=i_120^0 && 1+temp_34^post_34<=lt_20^0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_5-tail_15^post_5==0 && -x_SLAM_f_22^post_5+head_16^post_5==0 && head_16^post_5-temp_34^post_34==0 && lt_20^post_5-lt_20^0==0 && rcd_43^0-rcd_185^post_5==0 && 1+head_16^post_5<=lt_20^0 ], cost: 11 127: l55 -> l9 : a_153^0'=a_178^0, head_16^0'=head_16^post_5, head_31^0'=head_31^post_2, head_SLAM_f_28^0'=head_SLAM_f_28^post_2, i_110^0'=-1+nondet_12^1_1, i_29^0'=i_29^post_2, length_27^0'=length_27^post_2, lt_17^0'=lt_17^post_5, lt_20^0'=lt_20^post_5, nondet_12^0'=nondet_12^post_73, rcd_104^0'=rcd_104^post_14, rcd_112^0'=rcd_43^0, rcd_185^0'=rcd_185^post_5, rcd_190^0'=rcd_190^post_5, rcd_69^0'=rcd_69^post_85, 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_5, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_2, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_5, t_25^0'=temp_34^post_14, tail_15^0'=tail_15^post_5, temp0_30^0'=temp0_30^post_2, temp_34^0'=temp_34^post_2, temp_35^0'=temp_35^post_73, tmp_33^0'=tmp_33^post_2, x_24^0'=temp_34^post_14, x_SLAM_f_22^0'=x_SLAM_f_22^post_5, y_23^0'=lt_20^0, [ -2+nondet_12^1_1>=1 && 1+temp_34^post_14<=lt_17^0 && -tail_15^post_2+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_2==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2<=i_120^0 && 1+lt_20^0<=temp_34^post_14 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_5-tail_15^post_5==0 && -x_SLAM_f_22^post_5+head_16^post_5==0 && -temp_34^post_14+head_16^post_5==0 && lt_20^post_5-lt_20^0==0 && rcd_43^0-rcd_185^post_5==0 && 1+lt_20^0<=head_16^post_5 ], cost: 7+2*nondet_12^1_1 128: l55 -> l9 : a_153^0'=a_178^0, head_16^0'=head_16^post_5, head_31^0'=head_31^post_2, head_SLAM_f_28^0'=head_SLAM_f_28^post_2, i_110^0'=-1+nondet_12^1_1, i_29^0'=i_29^post_2, length_27^0'=length_27^post_2, lt_17^0'=lt_17^post_5, lt_20^0'=lt_20^post_5, nondet_12^0'=nondet_12^post_73, rcd_104^0'=rcd_104^post_14, rcd_112^0'=rcd_43^0, rcd_185^0'=rcd_185^post_5, rcd_190^0'=rcd_190^post_5, rcd_69^0'=rcd_69^post_85, 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_5, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_2, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_5, t_25^0'=temp_34^post_14, tail_15^0'=tail_15^post_5, temp0_30^0'=temp0_30^post_2, temp_34^0'=temp_34^post_2, temp_35^0'=temp_35^post_73, tmp_33^0'=tmp_33^post_2, x_24^0'=temp_34^post_14, x_SLAM_f_22^0'=x_SLAM_f_22^post_5, y_23^0'=lt_20^0, [ -2+nondet_12^1_1>=1 && 1+temp_34^post_14<=lt_17^0 && -tail_15^post_2+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_2==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2<=i_120^0 && 1+temp_34^post_14<=lt_20^0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_5-tail_15^post_5==0 && -x_SLAM_f_22^post_5+head_16^post_5==0 && -temp_34^post_14+head_16^post_5==0 && lt_20^post_5-lt_20^0==0 && rcd_43^0-rcd_185^post_5==0 && 1+head_16^post_5<=lt_20^0 ], cost: 7+2*nondet_12^1_1 129: l55 -> l9 : a_153^0'=a_178^0, head_16^0'=head_16^post_5, head_31^0'=head_31^post_2, head_SLAM_f_28^0'=head_SLAM_f_28^post_2, i_110^0'=-1+nondet_12^1_1, i_29^0'=i_29^post_2, length_27^0'=length_27^post_2, lt_17^0'=lt_17^post_5, lt_20^0'=lt_20^post_5, nondet_12^0'=nondet_12^post_73, rcd_104^0'=rcd_104^post_14, rcd_112^0'=rcd_43^0, rcd_185^0'=rcd_185^post_5, rcd_190^0'=rcd_190^post_5, rcd_69^0'=rcd_69^post_85, 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_5, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_2, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_5, t_25^0'=temp_34^post_14, tail_15^0'=tail_15^post_5, temp0_30^0'=temp0_30^post_2, temp_34^0'=temp_34^post_2, temp_35^0'=temp_35^post_73, tmp_33^0'=tmp_33^post_2, x_24^0'=temp_34^post_14, x_SLAM_f_22^0'=x_SLAM_f_22^post_5, y_23^0'=lt_20^0, [ -2+nondet_12^1_1>=1 && 1+lt_17^0<=temp_34^post_14 && -tail_15^post_2+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_2==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2<=i_120^0 && 1+lt_20^0<=temp_34^post_14 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_5-tail_15^post_5==0 && -x_SLAM_f_22^post_5+head_16^post_5==0 && -temp_34^post_14+head_16^post_5==0 && lt_20^post_5-lt_20^0==0 && rcd_43^0-rcd_185^post_5==0 && 1+lt_20^0<=head_16^post_5 ], cost: 7+2*nondet_12^1_1 130: l55 -> l9 : a_153^0'=a_178^0, head_16^0'=head_16^post_5, head_31^0'=head_31^post_2, head_SLAM_f_28^0'=head_SLAM_f_28^post_2, i_110^0'=-1+nondet_12^1_1, i_29^0'=i_29^post_2, length_27^0'=length_27^post_2, lt_17^0'=lt_17^post_5, lt_20^0'=lt_20^post_5, nondet_12^0'=nondet_12^post_73, rcd_104^0'=rcd_104^post_14, rcd_112^0'=rcd_43^0, rcd_185^0'=rcd_185^post_5, rcd_190^0'=rcd_190^post_5, rcd_69^0'=rcd_69^post_85, 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_5, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_2, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_5, t_25^0'=temp_34^post_14, tail_15^0'=tail_15^post_5, temp0_30^0'=temp0_30^post_2, temp_34^0'=temp_34^post_2, temp_35^0'=temp_35^post_73, tmp_33^0'=tmp_33^post_2, x_24^0'=temp_34^post_14, x_SLAM_f_22^0'=x_SLAM_f_22^post_5, y_23^0'=lt_20^0, [ -2+nondet_12^1_1>=1 && 1+lt_17^0<=temp_34^post_14 && -tail_15^post_2+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_2==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2<=i_120^0 && 1+temp_34^post_14<=lt_20^0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_5-tail_15^post_5==0 && -x_SLAM_f_22^post_5+head_16^post_5==0 && -temp_34^post_14+head_16^post_5==0 && lt_20^post_5-lt_20^0==0 && rcd_43^0-rcd_185^post_5==0 && 1+head_16^post_5<=lt_20^0 ], cost: 7+2*nondet_12^1_1 Removed unreachable locations (and leaf rules with constant cost): Start location: l55 139: l9 -> [57] : [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^0 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0<=i_120^0 && 1+y_23^0<=x_24^0 ], cost: NONTERM 140: l9 -> [57] : [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^0 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0<=i_120^0 && 1+y_23^0<=x_24^0 ], cost: NONTERM 141: l9 -> [57] : [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^0 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0<=i_120^0 && 1+x_24^0<=y_23^0 ], cost: NONTERM 142: l9 -> [57] : [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^0 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0<=i_120^0 && 1+x_24^0<=y_23^0 ], cost: NONTERM 126: l55 -> l9 : a_153^0'=a_178^0, head_16^0'=head_16^post_5, head_31^0'=head_31^post_2, head_SLAM_f_28^0'=head_SLAM_f_28^post_2, i_29^0'=i_29^post_2, length_27^0'=length_27^post_2, lt_17^0'=lt_17^post_5, lt_20^0'=lt_20^post_5, nondet_12^0'=nondet_12^post_73, rcd_185^0'=rcd_185^post_5, rcd_190^0'=rcd_190^post_5, rcd_69^0'=rcd_69^post_85, 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_5, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_2, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_5, t_25^0'=temp_34^post_34, tail_15^0'=tail_15^post_5, temp0_30^0'=temp0_30^post_2, temp_34^0'=temp_34^post_2, temp_35^0'=temp_35^post_73, tmp_33^0'=tmp_33^post_2, x_24^0'=temp_34^post_34, x_SLAM_f_22^0'=x_SLAM_f_22^post_5, y_23^0'=lt_20^0, [ 2<=nondet_12^1_1 && nondet_12^1_1<=2 && 1+lt_17^0<=temp_34^post_34 && -tail_15^post_2+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_2==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2<=i_120^0 && 1+temp_34^post_34<=lt_20^0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_5-tail_15^post_5==0 && -x_SLAM_f_22^post_5+head_16^post_5==0 && head_16^post_5-temp_34^post_34==0 && lt_20^post_5-lt_20^0==0 && rcd_43^0-rcd_185^post_5==0 && 1+head_16^post_5<=lt_20^0 ], cost: 11 127: l55 -> l9 : a_153^0'=a_178^0, head_16^0'=head_16^post_5, head_31^0'=head_31^post_2, head_SLAM_f_28^0'=head_SLAM_f_28^post_2, i_110^0'=-1+nondet_12^1_1, i_29^0'=i_29^post_2, length_27^0'=length_27^post_2, lt_17^0'=lt_17^post_5, lt_20^0'=lt_20^post_5, nondet_12^0'=nondet_12^post_73, rcd_104^0'=rcd_104^post_14, rcd_112^0'=rcd_43^0, rcd_185^0'=rcd_185^post_5, rcd_190^0'=rcd_190^post_5, rcd_69^0'=rcd_69^post_85, 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_5, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_2, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_5, t_25^0'=temp_34^post_14, tail_15^0'=tail_15^post_5, temp0_30^0'=temp0_30^post_2, temp_34^0'=temp_34^post_2, temp_35^0'=temp_35^post_73, tmp_33^0'=tmp_33^post_2, x_24^0'=temp_34^post_14, x_SLAM_f_22^0'=x_SLAM_f_22^post_5, y_23^0'=lt_20^0, [ -2+nondet_12^1_1>=1 && 1+temp_34^post_14<=lt_17^0 && -tail_15^post_2+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_2==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2<=i_120^0 && 1+lt_20^0<=temp_34^post_14 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_5-tail_15^post_5==0 && -x_SLAM_f_22^post_5+head_16^post_5==0 && -temp_34^post_14+head_16^post_5==0 && lt_20^post_5-lt_20^0==0 && rcd_43^0-rcd_185^post_5==0 && 1+lt_20^0<=head_16^post_5 ], cost: 7+2*nondet_12^1_1 128: l55 -> l9 : a_153^0'=a_178^0, head_16^0'=head_16^post_5, head_31^0'=head_31^post_2, head_SLAM_f_28^0'=head_SLAM_f_28^post_2, i_110^0'=-1+nondet_12^1_1, i_29^0'=i_29^post_2, length_27^0'=length_27^post_2, lt_17^0'=lt_17^post_5, lt_20^0'=lt_20^post_5, nondet_12^0'=nondet_12^post_73, rcd_104^0'=rcd_104^post_14, rcd_112^0'=rcd_43^0, rcd_185^0'=rcd_185^post_5, rcd_190^0'=rcd_190^post_5, rcd_69^0'=rcd_69^post_85, 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_5, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_2, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_5, t_25^0'=temp_34^post_14, tail_15^0'=tail_15^post_5, temp0_30^0'=temp0_30^post_2, temp_34^0'=temp_34^post_2, temp_35^0'=temp_35^post_73, tmp_33^0'=tmp_33^post_2, x_24^0'=temp_34^post_14, x_SLAM_f_22^0'=x_SLAM_f_22^post_5, y_23^0'=lt_20^0, [ -2+nondet_12^1_1>=1 && 1+temp_34^post_14<=lt_17^0 && -tail_15^post_2+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_2==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2<=i_120^0 && 1+temp_34^post_14<=lt_20^0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_5-tail_15^post_5==0 && -x_SLAM_f_22^post_5+head_16^post_5==0 && -temp_34^post_14+head_16^post_5==0 && lt_20^post_5-lt_20^0==0 && rcd_43^0-rcd_185^post_5==0 && 1+head_16^post_5<=lt_20^0 ], cost: 7+2*nondet_12^1_1 129: l55 -> l9 : a_153^0'=a_178^0, head_16^0'=head_16^post_5, head_31^0'=head_31^post_2, head_SLAM_f_28^0'=head_SLAM_f_28^post_2, i_110^0'=-1+nondet_12^1_1, i_29^0'=i_29^post_2, length_27^0'=length_27^post_2, lt_17^0'=lt_17^post_5, lt_20^0'=lt_20^post_5, nondet_12^0'=nondet_12^post_73, rcd_104^0'=rcd_104^post_14, rcd_112^0'=rcd_43^0, rcd_185^0'=rcd_185^post_5, rcd_190^0'=rcd_190^post_5, rcd_69^0'=rcd_69^post_85, 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_5, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_2, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_5, t_25^0'=temp_34^post_14, tail_15^0'=tail_15^post_5, temp0_30^0'=temp0_30^post_2, temp_34^0'=temp_34^post_2, temp_35^0'=temp_35^post_73, tmp_33^0'=tmp_33^post_2, x_24^0'=temp_34^post_14, x_SLAM_f_22^0'=x_SLAM_f_22^post_5, y_23^0'=lt_20^0, [ -2+nondet_12^1_1>=1 && 1+lt_17^0<=temp_34^post_14 && -tail_15^post_2+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_2==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2<=i_120^0 && 1+lt_20^0<=temp_34^post_14 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_5-tail_15^post_5==0 && -x_SLAM_f_22^post_5+head_16^post_5==0 && -temp_34^post_14+head_16^post_5==0 && lt_20^post_5-lt_20^0==0 && rcd_43^0-rcd_185^post_5==0 && 1+lt_20^0<=head_16^post_5 ], cost: 7+2*nondet_12^1_1 130: l55 -> l9 : a_153^0'=a_178^0, head_16^0'=head_16^post_5, head_31^0'=head_31^post_2, head_SLAM_f_28^0'=head_SLAM_f_28^post_2, i_110^0'=-1+nondet_12^1_1, i_29^0'=i_29^post_2, length_27^0'=length_27^post_2, lt_17^0'=lt_17^post_5, lt_20^0'=lt_20^post_5, nondet_12^0'=nondet_12^post_73, rcd_104^0'=rcd_104^post_14, rcd_112^0'=rcd_43^0, rcd_185^0'=rcd_185^post_5, rcd_190^0'=rcd_190^post_5, rcd_69^0'=rcd_69^post_85, 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_5, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_2, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_5, t_25^0'=temp_34^post_14, tail_15^0'=tail_15^post_5, temp0_30^0'=temp0_30^post_2, temp_34^0'=temp_34^post_2, temp_35^0'=temp_35^post_73, tmp_33^0'=tmp_33^post_2, x_24^0'=temp_34^post_14, x_SLAM_f_22^0'=x_SLAM_f_22^post_5, y_23^0'=lt_20^0, [ -2+nondet_12^1_1>=1 && 1+lt_17^0<=temp_34^post_14 && -tail_15^post_2+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_2==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2<=i_120^0 && 1+temp_34^post_14<=lt_20^0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_5-tail_15^post_5==0 && -x_SLAM_f_22^post_5+head_16^post_5==0 && -temp_34^post_14+head_16^post_5==0 && lt_20^post_5-lt_20^0==0 && rcd_43^0-rcd_185^post_5==0 && 1+head_16^post_5<=lt_20^0 ], cost: 7+2*nondet_12^1_1 Eliminated locations (on tree-shaped paths): Start location: l55 143: l55 -> [57] : [ 2<=nondet_12^1_1 && nondet_12^1_1<=2 && 1+lt_17^0<=temp_34^post_34 && -tail_15^post_2+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_2==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2<=i_120^0 && 1+temp_34^post_34<=lt_20^0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_5-tail_15^post_5==0 && -x_SLAM_f_22^post_5+head_16^post_5==0 && head_16^post_5-temp_34^post_34==0 && lt_20^post_5-lt_20^0==0 && rcd_43^0-rcd_185^post_5==0 && 1+head_16^post_5<=lt_20^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_5 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_5<=i_120^0 ], cost: NONTERM 144: l55 -> [57] : [ 2<=nondet_12^1_1 && nondet_12^1_1<=2 && 1+lt_17^0<=temp_34^post_34 && -tail_15^post_2+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_2==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2<=i_120^0 && 1+temp_34^post_34<=lt_20^0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_5-tail_15^post_5==0 && -x_SLAM_f_22^post_5+head_16^post_5==0 && head_16^post_5-temp_34^post_34==0 && lt_20^post_5-lt_20^0==0 && rcd_43^0-rcd_185^post_5==0 && 1+head_16^post_5<=lt_20^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_5 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_5<=i_120^0 ], cost: NONTERM 145: l55 -> [57] : [ -2+nondet_12^1_1>=1 && 1+temp_34^post_14<=lt_17^0 && -tail_15^post_2+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_2==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2<=i_120^0 && 1+lt_20^0<=temp_34^post_14 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_5-tail_15^post_5==0 && -x_SLAM_f_22^post_5+head_16^post_5==0 && -temp_34^post_14+head_16^post_5==0 && lt_20^post_5-lt_20^0==0 && rcd_43^0-rcd_185^post_5==0 && 1+lt_20^0<=head_16^post_5 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_5 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_5<=i_120^0 ], cost: NONTERM 146: l55 -> [57] : [ -2+nondet_12^1_1>=1 && 1+temp_34^post_14<=lt_17^0 && -tail_15^post_2+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_2==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2<=i_120^0 && 1+lt_20^0<=temp_34^post_14 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_5-tail_15^post_5==0 && -x_SLAM_f_22^post_5+head_16^post_5==0 && -temp_34^post_14+head_16^post_5==0 && lt_20^post_5-lt_20^0==0 && rcd_43^0-rcd_185^post_5==0 && 1+lt_20^0<=head_16^post_5 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_5 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_5<=i_120^0 ], cost: NONTERM 147: l55 -> [57] : [ -2+nondet_12^1_1>=1 && 1+temp_34^post_14<=lt_17^0 && -tail_15^post_2+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_2==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2<=i_120^0 && 1+temp_34^post_14<=lt_20^0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_5-tail_15^post_5==0 && -x_SLAM_f_22^post_5+head_16^post_5==0 && -temp_34^post_14+head_16^post_5==0 && lt_20^post_5-lt_20^0==0 && rcd_43^0-rcd_185^post_5==0 && 1+head_16^post_5<=lt_20^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_5 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_5<=i_120^0 ], cost: NONTERM 148: l55 -> [57] : [ -2+nondet_12^1_1>=1 && 1+temp_34^post_14<=lt_17^0 && -tail_15^post_2+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_2==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2<=i_120^0 && 1+temp_34^post_14<=lt_20^0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_5-tail_15^post_5==0 && -x_SLAM_f_22^post_5+head_16^post_5==0 && -temp_34^post_14+head_16^post_5==0 && lt_20^post_5-lt_20^0==0 && rcd_43^0-rcd_185^post_5==0 && 1+head_16^post_5<=lt_20^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_5 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_5<=i_120^0 ], cost: NONTERM 149: l55 -> [57] : [ -2+nondet_12^1_1>=1 && 1+lt_17^0<=temp_34^post_14 && -tail_15^post_2+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_2==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2<=i_120^0 && 1+lt_20^0<=temp_34^post_14 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_5-tail_15^post_5==0 && -x_SLAM_f_22^post_5+head_16^post_5==0 && -temp_34^post_14+head_16^post_5==0 && lt_20^post_5-lt_20^0==0 && rcd_43^0-rcd_185^post_5==0 && 1+lt_20^0<=head_16^post_5 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_5 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_5<=i_120^0 ], cost: NONTERM 150: l55 -> [57] : [ -2+nondet_12^1_1>=1 && 1+lt_17^0<=temp_34^post_14 && -tail_15^post_2+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_2==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2<=i_120^0 && 1+lt_20^0<=temp_34^post_14 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_5-tail_15^post_5==0 && -x_SLAM_f_22^post_5+head_16^post_5==0 && -temp_34^post_14+head_16^post_5==0 && lt_20^post_5-lt_20^0==0 && rcd_43^0-rcd_185^post_5==0 && 1+lt_20^0<=head_16^post_5 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_5 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_5<=i_120^0 ], cost: NONTERM 151: l55 -> [57] : [ -2+nondet_12^1_1>=1 && 1+lt_17^0<=temp_34^post_14 && -tail_15^post_2+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_2==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2<=i_120^0 && 1+temp_34^post_14<=lt_20^0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_5-tail_15^post_5==0 && -x_SLAM_f_22^post_5+head_16^post_5==0 && -temp_34^post_14+head_16^post_5==0 && lt_20^post_5-lt_20^0==0 && rcd_43^0-rcd_185^post_5==0 && 1+head_16^post_5<=lt_20^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_5 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_5<=i_120^0 ], cost: NONTERM 152: l55 -> [57] : [ -2+nondet_12^1_1>=1 && 1+lt_17^0<=temp_34^post_14 && -tail_15^post_2+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_2==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2<=i_120^0 && 1+temp_34^post_14<=lt_20^0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_5-tail_15^post_5==0 && -x_SLAM_f_22^post_5+head_16^post_5==0 && -temp_34^post_14+head_16^post_5==0 && lt_20^post_5-lt_20^0==0 && rcd_43^0-rcd_185^post_5==0 && 1+head_16^post_5<=lt_20^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_5 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_5<=i_120^0 ], cost: NONTERM 153: l55 -> [58] : [ -2+nondet_12^1_1>=1 && 1+temp_34^post_14<=lt_17^0 && -tail_15^post_2+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_2==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2<=i_120^0 && 1+lt_20^0<=temp_34^post_14 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_5-tail_15^post_5==0 && -x_SLAM_f_22^post_5+head_16^post_5==0 && -temp_34^post_14+head_16^post_5==0 && lt_20^post_5-lt_20^0==0 && rcd_43^0-rcd_185^post_5==0 && 1+lt_20^0<=head_16^post_5 ], cost: 7+2*nondet_12^1_1 154: l55 -> [58] : [ -2+nondet_12^1_1>=1 && 1+temp_34^post_14<=lt_17^0 && -tail_15^post_2+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_2==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2<=i_120^0 && 1+temp_34^post_14<=lt_20^0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_5-tail_15^post_5==0 && -x_SLAM_f_22^post_5+head_16^post_5==0 && -temp_34^post_14+head_16^post_5==0 && lt_20^post_5-lt_20^0==0 && rcd_43^0-rcd_185^post_5==0 && 1+head_16^post_5<=lt_20^0 ], cost: 7+2*nondet_12^1_1 155: l55 -> [58] : [ -2+nondet_12^1_1>=1 && 1+lt_17^0<=temp_34^post_14 && -tail_15^post_2+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_2==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2<=i_120^0 && 1+lt_20^0<=temp_34^post_14 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_5-tail_15^post_5==0 && -x_SLAM_f_22^post_5+head_16^post_5==0 && -temp_34^post_14+head_16^post_5==0 && lt_20^post_5-lt_20^0==0 && rcd_43^0-rcd_185^post_5==0 && 1+lt_20^0<=head_16^post_5 ], cost: 7+2*nondet_12^1_1 156: l55 -> [58] : [ -2+nondet_12^1_1>=1 && 1+lt_17^0<=temp_34^post_14 && -tail_15^post_2+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_2==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2<=i_120^0 && 1+temp_34^post_14<=lt_20^0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_5-tail_15^post_5==0 && -x_SLAM_f_22^post_5+head_16^post_5==0 && -temp_34^post_14+head_16^post_5==0 && lt_20^post_5-lt_20^0==0 && rcd_43^0-rcd_185^post_5==0 && 1+head_16^post_5<=lt_20^0 ], cost: 7+2*nondet_12^1_1 ### Computing asymptotic complexity ### Fully simplified ITS problem Start location: l55 144: l55 -> [57] : [ 2<=nondet_12^1_1 && nondet_12^1_1<=2 && 1+lt_17^0<=temp_34^post_34 && -tail_15^post_2+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_2==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2<=i_120^0 && 1+temp_34^post_34<=lt_20^0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_5-tail_15^post_5==0 && -x_SLAM_f_22^post_5+head_16^post_5==0 && head_16^post_5-temp_34^post_34==0 && lt_20^post_5-lt_20^0==0 && rcd_43^0-rcd_185^post_5==0 && 1+head_16^post_5<=lt_20^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_5 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_5<=i_120^0 ], cost: NONTERM 146: l55 -> [57] : [ -2+nondet_12^1_1>=1 && 1+temp_34^post_14<=lt_17^0 && -tail_15^post_2+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_2==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2<=i_120^0 && 1+lt_20^0<=temp_34^post_14 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_5-tail_15^post_5==0 && -x_SLAM_f_22^post_5+head_16^post_5==0 && -temp_34^post_14+head_16^post_5==0 && lt_20^post_5-lt_20^0==0 && rcd_43^0-rcd_185^post_5==0 && 1+lt_20^0<=head_16^post_5 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_5 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_5<=i_120^0 ], cost: NONTERM 148: l55 -> [57] : [ -2+nondet_12^1_1>=1 && 1+temp_34^post_14<=lt_17^0 && -tail_15^post_2+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_2==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2<=i_120^0 && 1+temp_34^post_14<=lt_20^0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_5-tail_15^post_5==0 && -x_SLAM_f_22^post_5+head_16^post_5==0 && -temp_34^post_14+head_16^post_5==0 && lt_20^post_5-lt_20^0==0 && rcd_43^0-rcd_185^post_5==0 && 1+head_16^post_5<=lt_20^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_5 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_5<=i_120^0 ], cost: NONTERM 150: l55 -> [57] : [ -2+nondet_12^1_1>=1 && 1+lt_17^0<=temp_34^post_14 && -tail_15^post_2+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_2==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2<=i_120^0 && 1+lt_20^0<=temp_34^post_14 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_5-tail_15^post_5==0 && -x_SLAM_f_22^post_5+head_16^post_5==0 && -temp_34^post_14+head_16^post_5==0 && lt_20^post_5-lt_20^0==0 && rcd_43^0-rcd_185^post_5==0 && 1+lt_20^0<=head_16^post_5 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_5 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_5<=i_120^0 ], cost: NONTERM 152: l55 -> [57] : [ -2+nondet_12^1_1>=1 && 1+lt_17^0<=temp_34^post_14 && -tail_15^post_2+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_2==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2<=i_120^0 && 1+temp_34^post_14<=lt_20^0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_5-tail_15^post_5==0 && -x_SLAM_f_22^post_5+head_16^post_5==0 && -temp_34^post_14+head_16^post_5==0 && lt_20^post_5-lt_20^0==0 && rcd_43^0-rcd_185^post_5==0 && 1+head_16^post_5<=lt_20^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_5 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_5<=i_120^0 ], cost: NONTERM 153: l55 -> [58] : [ -2+nondet_12^1_1>=1 && 1+temp_34^post_14<=lt_17^0 && -tail_15^post_2+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_2==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2<=i_120^0 && 1+lt_20^0<=temp_34^post_14 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_5-tail_15^post_5==0 && -x_SLAM_f_22^post_5+head_16^post_5==0 && -temp_34^post_14+head_16^post_5==0 && lt_20^post_5-lt_20^0==0 && rcd_43^0-rcd_185^post_5==0 && 1+lt_20^0<=head_16^post_5 ], cost: 7+2*nondet_12^1_1 154: l55 -> [58] : [ -2+nondet_12^1_1>=1 && 1+temp_34^post_14<=lt_17^0 && -tail_15^post_2+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_2==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2<=i_120^0 && 1+temp_34^post_14<=lt_20^0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_5-tail_15^post_5==0 && -x_SLAM_f_22^post_5+head_16^post_5==0 && -temp_34^post_14+head_16^post_5==0 && lt_20^post_5-lt_20^0==0 && rcd_43^0-rcd_185^post_5==0 && 1+head_16^post_5<=lt_20^0 ], cost: 7+2*nondet_12^1_1 155: l55 -> [58] : [ -2+nondet_12^1_1>=1 && 1+lt_17^0<=temp_34^post_14 && -tail_15^post_2+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_2==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2<=i_120^0 && 1+lt_20^0<=temp_34^post_14 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_5-tail_15^post_5==0 && -x_SLAM_f_22^post_5+head_16^post_5==0 && -temp_34^post_14+head_16^post_5==0 && lt_20^post_5-lt_20^0==0 && rcd_43^0-rcd_185^post_5==0 && 1+lt_20^0<=head_16^post_5 ], cost: 7+2*nondet_12^1_1 156: l55 -> [58] : [ -2+nondet_12^1_1>=1 && 1+lt_17^0<=temp_34^post_14 && -tail_15^post_2+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_2==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2<=i_120^0 && 1+temp_34^post_14<=lt_20^0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_5-tail_15^post_5==0 && -x_SLAM_f_22^post_5+head_16^post_5==0 && -temp_34^post_14+head_16^post_5==0 && lt_20^post_5-lt_20^0==0 && rcd_43^0-rcd_185^post_5==0 && 1+head_16^post_5<=lt_20^0 ], cost: 7+2*nondet_12^1_1 Computing asymptotic complexity for rule 146 Guard is satisfiable, yielding nontermination Resulting cost NONTERM has complexity: Nonterm Found new complexity Nonterm. Obtained the following overall complexity (w.r.t. the length of the input n): Complexity: Nonterm Cpx degree: Nonterm Solved cost: NONTERM Rule cost: NONTERM Rule guard: [ -2+nondet_12^1_1>=1 && 1+temp_34^post_14<=lt_17^0 && -tail_15^post_2+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_2==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_2<=i_120^0 && 1+lt_20^0<=temp_34^post_14 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_5-tail_15^post_5==0 && -x_SLAM_f_22^post_5+head_16^post_5==0 && -temp_34^post_14+head_16^post_5==0 && lt_20^post_5-lt_20^0==0 && rcd_43^0-rcd_185^post_5==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_5 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_5<=i_120^0 ] NO