NO

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

Initial linear ITS problem
   Start location: l55
      0: l0 -> l1 : __disjvr_0^0'=__disjvr_0^post_1, __disjvr_10^0'=__disjvr_10^post_1, __disjvr_11^0'=__disjvr_11^post_1, __disjvr_12^0'=__disjvr_12^post_1, __disjvr_13^0'=__disjvr_13^post_1, __disjvr_14^0'=__disjvr_14^post_1, __disjvr_15^0'=__disjvr_15^post_1, __disjvr_16^0'=__disjvr_16^post_1, __disjvr_17^0'=__disjvr_17^post_1, __disjvr_18^0'=__disjvr_18^post_1, __disjvr_19^0'=__disjvr_19^post_1, __disjvr_1^0'=__disjvr_1^post_1, __disjvr_20^0'=__disjvr_20^post_1, __disjvr_21^0'=__disjvr_21^post_1, __disjvr_22^0'=__disjvr_22^post_1, __disjvr_23^0'=__disjvr_23^post_1, __disjvr_24^0'=__disjvr_24^post_1, __disjvr_25^0'=__disjvr_25^post_1, __disjvr_2^0'=__disjvr_2^post_1, __disjvr_3^0'=__disjvr_3^post_1, __disjvr_4^0'=__disjvr_4^post_1, __disjvr_5^0'=__disjvr_5^post_1, __disjvr_6^0'=__disjvr_6^post_1, __disjvr_7^0'=__disjvr_7^post_1, __disjvr_8^0'=__disjvr_8^post_1, __disjvr_9^0'=__disjvr_9^post_1, a_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 && __disjvr_0^0==__disjvr_0^post_1 && __disjvr_1^0==__disjvr_1^post_1 && __disjvr_10^0==__disjvr_10^post_1 && __disjvr_11^0==__disjvr_11^post_1 && __disjvr_12^0==__disjvr_12^post_1 && __disjvr_13^0==__disjvr_13^post_1 && __disjvr_14^0==__disjvr_14^post_1 && __disjvr_15^0==__disjvr_15^post_1 && __disjvr_16^0==__disjvr_16^post_1 && __disjvr_17^0==__disjvr_17^post_1 && __disjvr_18^0==__disjvr_18^post_1 && __disjvr_19^0==__disjvr_19^post_1 && __disjvr_2^0==__disjvr_2^post_1 && __disjvr_20^0==__disjvr_20^post_1 && __disjvr_21^0==__disjvr_21^post_1 && __disjvr_22^0==__disjvr_22^post_1 && __disjvr_23^0==__disjvr_23^post_1 && __disjvr_24^0==__disjvr_24^post_1 && __disjvr_25^0==__disjvr_25^post_1 && __disjvr_3^0==__disjvr_3^post_1 && __disjvr_4^0==__disjvr_4^post_1 && __disjvr_5^0==__disjvr_5^post_1 && __disjvr_6^0==__disjvr_6^post_1 && __disjvr_7^0==__disjvr_7^post_1 && __disjvr_8^0==__disjvr_8^post_1 && __disjvr_9^0==__disjvr_9^post_1 && a_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 : __disjvr_0^0'=__disjvr_0^post_2, __disjvr_10^0'=__disjvr_10^post_2, __disjvr_11^0'=__disjvr_11^post_2, __disjvr_12^0'=__disjvr_12^post_2, __disjvr_13^0'=__disjvr_13^post_2, __disjvr_14^0'=__disjvr_14^post_2, __disjvr_15^0'=__disjvr_15^post_2, __disjvr_16^0'=__disjvr_16^post_2, __disjvr_17^0'=__disjvr_17^post_2, __disjvr_18^0'=__disjvr_18^post_2, __disjvr_19^0'=__disjvr_19^post_2, __disjvr_1^0'=__disjvr_1^post_2, __disjvr_20^0'=__disjvr_20^post_2, __disjvr_21^0'=__disjvr_21^post_2, __disjvr_22^0'=__disjvr_22^post_2, __disjvr_23^0'=__disjvr_23^post_2, __disjvr_24^0'=__disjvr_24^post_2, __disjvr_25^0'=__disjvr_25^post_2, __disjvr_2^0'=__disjvr_2^post_2, __disjvr_3^0'=__disjvr_3^post_2, __disjvr_4^0'=__disjvr_4^post_2, __disjvr_5^0'=__disjvr_5^post_2, __disjvr_6^0'=__disjvr_6^post_2, __disjvr_7^0'=__disjvr_7^post_2, __disjvr_8^0'=__disjvr_8^post_2, __disjvr_9^0'=__disjvr_9^post_2, a_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 && __disjvr_0^0==__disjvr_0^post_2 && __disjvr_1^0==__disjvr_1^post_2 && __disjvr_10^0==__disjvr_10^post_2 && __disjvr_11^0==__disjvr_11^post_2 && __disjvr_12^0==__disjvr_12^post_2 && __disjvr_13^0==__disjvr_13^post_2 && __disjvr_14^0==__disjvr_14^post_2 && __disjvr_15^0==__disjvr_15^post_2 && __disjvr_16^0==__disjvr_16^post_2 && __disjvr_17^0==__disjvr_17^post_2 && __disjvr_18^0==__disjvr_18^post_2 && __disjvr_19^0==__disjvr_19^post_2 && __disjvr_2^0==__disjvr_2^post_2 && __disjvr_20^0==__disjvr_20^post_2 && __disjvr_21^0==__disjvr_21^post_2 && __disjvr_22^0==__disjvr_22^post_2 && __disjvr_23^0==__disjvr_23^post_2 && __disjvr_24^0==__disjvr_24^post_2 && __disjvr_25^0==__disjvr_25^post_2 && __disjvr_3^0==__disjvr_3^post_2 && __disjvr_4^0==__disjvr_4^post_2 && __disjvr_5^0==__disjvr_5^post_2 && __disjvr_6^0==__disjvr_6^post_2 && __disjvr_7^0==__disjvr_7^post_2 && __disjvr_8^0==__disjvr_8^post_2 && __disjvr_9^0==__disjvr_9^post_2 && a_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
      9: l0 -> l10 : __disjvr_0^0'=__disjvr_0^post_10, __disjvr_10^0'=__disjvr_10^post_10, __disjvr_11^0'=__disjvr_11^post_10, __disjvr_12^0'=__disjvr_12^post_10, __disjvr_13^0'=__disjvr_13^post_10, __disjvr_14^0'=__disjvr_14^post_10, __disjvr_15^0'=__disjvr_15^post_10, __disjvr_16^0'=__disjvr_16^post_10, __disjvr_17^0'=__disjvr_17^post_10, __disjvr_18^0'=__disjvr_18^post_10, __disjvr_19^0'=__disjvr_19^post_10, __disjvr_1^0'=__disjvr_1^post_10, __disjvr_20^0'=__disjvr_20^post_10, __disjvr_21^0'=__disjvr_21^post_10, __disjvr_22^0'=__disjvr_22^post_10, __disjvr_23^0'=__disjvr_23^post_10, __disjvr_24^0'=__disjvr_24^post_10, __disjvr_25^0'=__disjvr_25^post_10, __disjvr_2^0'=__disjvr_2^post_10, __disjvr_3^0'=__disjvr_3^post_10, __disjvr_4^0'=__disjvr_4^post_10, __disjvr_5^0'=__disjvr_5^post_10, __disjvr_6^0'=__disjvr_6^post_10, __disjvr_7^0'=__disjvr_7^post_10, __disjvr_8^0'=__disjvr_8^post_10, __disjvr_9^0'=__disjvr_9^post_10, a_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, [ 0<=i_29^0 && rcd_104^post_10==rcd_104^post_10 && i_110^post_10==i_110^post_10 && 1+i_29^0<=length_27^0 && tmp_33^post_10==temp_34^0 && temp_34^post_10==temp_34^post_10 && head_31^post_10==tmp_33^post_10 && i_29^post_10==1+i_29^0 && rcd_112^post_10==rcd_112^post_10 && i_29^post_10<=1+i_110^post_10 && 1+i_110^post_10<=i_29^post_10 && i_110^post_10<=-1+i_29^post_10 && -1+i_29^post_10<=i_110^post_10 && rcd_43^0<=rcd_112^post_10 && rcd_112^post_10<=rcd_43^0 && 1+i_110^post_10<=length_27^0 && rcd_43^post_10==rcd_43^post_10 && rcd_43^post_10<=rcd_112^post_10 && rcd_112^post_10<=rcd_43^post_10 && __disjvr_0^0==__disjvr_0^post_10 && __disjvr_1^0==__disjvr_1^post_10 && __disjvr_10^0==__disjvr_10^post_10 && __disjvr_11^0==__disjvr_11^post_10 && __disjvr_12^0==__disjvr_12^post_10 && __disjvr_13^0==__disjvr_13^post_10 && __disjvr_14^0==__disjvr_14^post_10 && __disjvr_15^0==__disjvr_15^post_10 && __disjvr_16^0==__disjvr_16^post_10 && __disjvr_17^0==__disjvr_17^post_10 && __disjvr_18^0==__disjvr_18^post_10 && __disjvr_19^0==__disjvr_19^post_10 && __disjvr_2^0==__disjvr_2^post_10 && __disjvr_20^0==__disjvr_20^post_10 && __disjvr_21^0==__disjvr_21^post_10 && __disjvr_22^0==__disjvr_22^post_10 && __disjvr_23^0==__disjvr_23^post_10 && __disjvr_24^0==__disjvr_24^post_10 && __disjvr_25^0==__disjvr_25^post_10 && __disjvr_3^0==__disjvr_3^post_10 && __disjvr_4^0==__disjvr_4^post_10 && __disjvr_5^0==__disjvr_5^post_10 && __disjvr_6^0==__disjvr_6^post_10 && __disjvr_7^0==__disjvr_7^post_10 && __disjvr_8^0==__disjvr_8^post_10 && __disjvr_9^0==__disjvr_9^post_10 && a_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_SLAM_f_28^0==head_SLAM_f_28^post_10 && i_120^0==i_120^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_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_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_35^0==temp_35^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
      2: l3 -> l4 : __disjvr_0^0'=__disjvr_0^post_3, __disjvr_10^0'=__disjvr_10^post_3, __disjvr_11^0'=__disjvr_11^post_3, __disjvr_12^0'=__disjvr_12^post_3, __disjvr_13^0'=__disjvr_13^post_3, __disjvr_14^0'=__disjvr_14^post_3, __disjvr_15^0'=__disjvr_15^post_3, __disjvr_16^0'=__disjvr_16^post_3, __disjvr_17^0'=__disjvr_17^post_3, __disjvr_18^0'=__disjvr_18^post_3, __disjvr_19^0'=__disjvr_19^post_3, __disjvr_1^0'=__disjvr_1^post_3, __disjvr_20^0'=__disjvr_20^post_3, __disjvr_21^0'=__disjvr_21^post_3, __disjvr_22^0'=__disjvr_22^post_3, __disjvr_23^0'=__disjvr_23^post_3, __disjvr_24^0'=__disjvr_24^post_3, __disjvr_25^0'=__disjvr_25^post_3, __disjvr_2^0'=__disjvr_2^post_3, __disjvr_3^0'=__disjvr_3^post_3, __disjvr_4^0'=__disjvr_4^post_3, __disjvr_5^0'=__disjvr_5^post_3, __disjvr_6^0'=__disjvr_6^post_3, __disjvr_7^0'=__disjvr_7^post_3, __disjvr_8^0'=__disjvr_8^post_3, __disjvr_9^0'=__disjvr_9^post_3, a_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, [ __disjvr_0^post_3==__disjvr_0^0 && __disjvr_0^0==__disjvr_0^post_3 && __disjvr_1^0==__disjvr_1^post_3 && __disjvr_10^0==__disjvr_10^post_3 && __disjvr_11^0==__disjvr_11^post_3 && __disjvr_12^0==__disjvr_12^post_3 && __disjvr_13^0==__disjvr_13^post_3 && __disjvr_14^0==__disjvr_14^post_3 && __disjvr_15^0==__disjvr_15^post_3 && __disjvr_16^0==__disjvr_16^post_3 && __disjvr_17^0==__disjvr_17^post_3 && __disjvr_18^0==__disjvr_18^post_3 && __disjvr_19^0==__disjvr_19^post_3 && __disjvr_2^0==__disjvr_2^post_3 && __disjvr_20^0==__disjvr_20^post_3 && __disjvr_21^0==__disjvr_21^post_3 && __disjvr_22^0==__disjvr_22^post_3 && __disjvr_23^0==__disjvr_23^post_3 && __disjvr_24^0==__disjvr_24^post_3 && __disjvr_25^0==__disjvr_25^post_3 && __disjvr_3^0==__disjvr_3^post_3 && __disjvr_4^0==__disjvr_4^post_3 && __disjvr_5^0==__disjvr_5^post_3 && __disjvr_6^0==__disjvr_6^post_3 && __disjvr_7^0==__disjvr_7^post_3 && __disjvr_8^0==__disjvr_8^post_3 && __disjvr_9^0==__disjvr_9^post_3 && a_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: l4 -> l5 : __disjvr_0^0'=__disjvr_0^post_4, __disjvr_10^0'=__disjvr_10^post_4, __disjvr_11^0'=__disjvr_11^post_4, __disjvr_12^0'=__disjvr_12^post_4, __disjvr_13^0'=__disjvr_13^post_4, __disjvr_14^0'=__disjvr_14^post_4, __disjvr_15^0'=__disjvr_15^post_4, __disjvr_16^0'=__disjvr_16^post_4, __disjvr_17^0'=__disjvr_17^post_4, __disjvr_18^0'=__disjvr_18^post_4, __disjvr_19^0'=__disjvr_19^post_4, __disjvr_1^0'=__disjvr_1^post_4, __disjvr_20^0'=__disjvr_20^post_4, __disjvr_21^0'=__disjvr_21^post_4, __disjvr_22^0'=__disjvr_22^post_4, __disjvr_23^0'=__disjvr_23^post_4, __disjvr_24^0'=__disjvr_24^post_4, __disjvr_25^0'=__disjvr_25^post_4, __disjvr_2^0'=__disjvr_2^post_4, __disjvr_3^0'=__disjvr_3^post_4, __disjvr_4^0'=__disjvr_4^post_4, __disjvr_5^0'=__disjvr_5^post_4, __disjvr_6^0'=__disjvr_6^post_4, __disjvr_7^0'=__disjvr_7^post_4, __disjvr_8^0'=__disjvr_8^post_4, __disjvr_9^0'=__disjvr_9^post_4, a_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, [ lt_17^post_4==lt_17^post_4 && x_SLAM_f_22^1_1==head_16^0 && y_23^post_4==lt_20^0 && x_24^post_4==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_4 && x_24^post_4<=head_16^0 && lt_20^0<=y_23^post_4 && y_23^post_4<=lt_20^0 && x_SLAM_f_22^1_1<=x_24^post_4 && x_24^post_4<=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_4==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_4 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_4==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_4 && tail_15^post_4==tail_15^post_4 && head_16^post_4==head_16^post_4 && lt_20^post_4==lt_20^post_4 && x_SLAM_f_22^post_4==x_SLAM_f_22^post_4 && rcd_185^post_4==rcd_185^post_4 && rcd_190^post_4==rcd_190^post_4 && __disjvr_0^0==__disjvr_0^post_4 && __disjvr_1^0==__disjvr_1^post_4 && __disjvr_10^0==__disjvr_10^post_4 && __disjvr_11^0==__disjvr_11^post_4 && __disjvr_12^0==__disjvr_12^post_4 && __disjvr_13^0==__disjvr_13^post_4 && __disjvr_14^0==__disjvr_14^post_4 && __disjvr_15^0==__disjvr_15^post_4 && __disjvr_16^0==__disjvr_16^post_4 && __disjvr_17^0==__disjvr_17^post_4 && __disjvr_18^0==__disjvr_18^post_4 && __disjvr_19^0==__disjvr_19^post_4 && __disjvr_2^0==__disjvr_2^post_4 && __disjvr_20^0==__disjvr_20^post_4 && __disjvr_21^0==__disjvr_21^post_4 && __disjvr_22^0==__disjvr_22^post_4 && __disjvr_23^0==__disjvr_23^post_4 && __disjvr_24^0==__disjvr_24^post_4 && __disjvr_25^0==__disjvr_25^post_4 && __disjvr_3^0==__disjvr_3^post_4 && __disjvr_4^0==__disjvr_4^post_4 && __disjvr_5^0==__disjvr_5^post_4 && __disjvr_6^0==__disjvr_6^post_4 && __disjvr_7^0==__disjvr_7^post_4 && __disjvr_8^0==__disjvr_8^post_4 && __disjvr_9^0==__disjvr_9^post_4 && a_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_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 && 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_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_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_4 && t_25^0==t_25^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 ], cost: 1
      4: l5 -> l6 : __disjvr_0^0'=__disjvr_0^post_5, __disjvr_10^0'=__disjvr_10^post_5, __disjvr_11^0'=__disjvr_11^post_5, __disjvr_12^0'=__disjvr_12^post_5, __disjvr_13^0'=__disjvr_13^post_5, __disjvr_14^0'=__disjvr_14^post_5, __disjvr_15^0'=__disjvr_15^post_5, __disjvr_16^0'=__disjvr_16^post_5, __disjvr_17^0'=__disjvr_17^post_5, __disjvr_18^0'=__disjvr_18^post_5, __disjvr_19^0'=__disjvr_19^post_5, __disjvr_1^0'=__disjvr_1^post_5, __disjvr_20^0'=__disjvr_20^post_5, __disjvr_21^0'=__disjvr_21^post_5, __disjvr_22^0'=__disjvr_22^post_5, __disjvr_23^0'=__disjvr_23^post_5, __disjvr_24^0'=__disjvr_24^post_5, __disjvr_25^0'=__disjvr_25^post_5, __disjvr_2^0'=__disjvr_2^post_5, __disjvr_3^0'=__disjvr_3^post_5, __disjvr_4^0'=__disjvr_4^post_5, __disjvr_5^0'=__disjvr_5^post_5, __disjvr_6^0'=__disjvr_6^post_5, __disjvr_7^0'=__disjvr_7^post_5, __disjvr_8^0'=__disjvr_8^post_5, __disjvr_9^0'=__disjvr_9^post_5, a_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, [ __disjvr_1^post_5==__disjvr_1^0 && __disjvr_0^0==__disjvr_0^post_5 && __disjvr_1^0==__disjvr_1^post_5 && __disjvr_10^0==__disjvr_10^post_5 && __disjvr_11^0==__disjvr_11^post_5 && __disjvr_12^0==__disjvr_12^post_5 && __disjvr_13^0==__disjvr_13^post_5 && __disjvr_14^0==__disjvr_14^post_5 && __disjvr_15^0==__disjvr_15^post_5 && __disjvr_16^0==__disjvr_16^post_5 && __disjvr_17^0==__disjvr_17^post_5 && __disjvr_18^0==__disjvr_18^post_5 && __disjvr_19^0==__disjvr_19^post_5 && __disjvr_2^0==__disjvr_2^post_5 && __disjvr_20^0==__disjvr_20^post_5 && __disjvr_21^0==__disjvr_21^post_5 && __disjvr_22^0==__disjvr_22^post_5 && __disjvr_23^0==__disjvr_23^post_5 && __disjvr_24^0==__disjvr_24^post_5 && __disjvr_25^0==__disjvr_25^post_5 && __disjvr_3^0==__disjvr_3^post_5 && __disjvr_4^0==__disjvr_4^post_5 && __disjvr_5^0==__disjvr_5^post_5 && __disjvr_6^0==__disjvr_6^post_5 && __disjvr_7^0==__disjvr_7^post_5 && __disjvr_8^0==__disjvr_8^post_5 && __disjvr_9^0==__disjvr_9^post_5 && a_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 ], cost: 1
      5: l6 -> l7 : __disjvr_0^0'=__disjvr_0^post_6, __disjvr_10^0'=__disjvr_10^post_6, __disjvr_11^0'=__disjvr_11^post_6, __disjvr_12^0'=__disjvr_12^post_6, __disjvr_13^0'=__disjvr_13^post_6, __disjvr_14^0'=__disjvr_14^post_6, __disjvr_15^0'=__disjvr_15^post_6, __disjvr_16^0'=__disjvr_16^post_6, __disjvr_17^0'=__disjvr_17^post_6, __disjvr_18^0'=__disjvr_18^post_6, __disjvr_19^0'=__disjvr_19^post_6, __disjvr_1^0'=__disjvr_1^post_6, __disjvr_20^0'=__disjvr_20^post_6, __disjvr_21^0'=__disjvr_21^post_6, __disjvr_22^0'=__disjvr_22^post_6, __disjvr_23^0'=__disjvr_23^post_6, __disjvr_24^0'=__disjvr_24^post_6, __disjvr_25^0'=__disjvr_25^post_6, __disjvr_2^0'=__disjvr_2^post_6, __disjvr_3^0'=__disjvr_3^post_6, __disjvr_4^0'=__disjvr_4^post_6, __disjvr_5^0'=__disjvr_5^post_6, __disjvr_6^0'=__disjvr_6^post_6, __disjvr_7^0'=__disjvr_7^post_6, __disjvr_8^0'=__disjvr_8^post_6, __disjvr_9^0'=__disjvr_9^post_6, a_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, [ t_25^post_6==x_24^0 && a_153^post_6==a_153^post_6 && 0<=a_178^0-a_153^post_6 && a_178^0-a_153^post_6<=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_6 && t_25^post_6<=head_16^0 && lt_20^0<=y_23^0 && y_23^0<=lt_20^0 && a_153^post_6<=a_178^0 && a_178^0<=a_153^post_6 && rcd_43^0<=rcd_185^0 && rcd_185^0<=rcd_43^0 && __disjvr_0^0==__disjvr_0^post_6 && __disjvr_1^0==__disjvr_1^post_6 && __disjvr_10^0==__disjvr_10^post_6 && __disjvr_11^0==__disjvr_11^post_6 && __disjvr_12^0==__disjvr_12^post_6 && __disjvr_13^0==__disjvr_13^post_6 && __disjvr_14^0==__disjvr_14^post_6 && __disjvr_15^0==__disjvr_15^post_6 && __disjvr_16^0==__disjvr_16^post_6 && __disjvr_17^0==__disjvr_17^post_6 && __disjvr_18^0==__disjvr_18^post_6 && __disjvr_19^0==__disjvr_19^post_6 && __disjvr_2^0==__disjvr_2^post_6 && __disjvr_20^0==__disjvr_20^post_6 && __disjvr_21^0==__disjvr_21^post_6 && __disjvr_22^0==__disjvr_22^post_6 && __disjvr_23^0==__disjvr_23^post_6 && __disjvr_24^0==__disjvr_24^post_6 && __disjvr_25^0==__disjvr_25^post_6 && __disjvr_3^0==__disjvr_3^post_6 && __disjvr_4^0==__disjvr_4^post_6 && __disjvr_5^0==__disjvr_5^post_6 && __disjvr_6^0==__disjvr_6^post_6 && __disjvr_7^0==__disjvr_7^post_6 && __disjvr_8^0==__disjvr_8^post_6 && __disjvr_9^0==__disjvr_9^post_6 && a_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 && 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: l7 -> l8 : __disjvr_0^0'=__disjvr_0^post_7, __disjvr_10^0'=__disjvr_10^post_7, __disjvr_11^0'=__disjvr_11^post_7, __disjvr_12^0'=__disjvr_12^post_7, __disjvr_13^0'=__disjvr_13^post_7, __disjvr_14^0'=__disjvr_14^post_7, __disjvr_15^0'=__disjvr_15^post_7, __disjvr_16^0'=__disjvr_16^post_7, __disjvr_17^0'=__disjvr_17^post_7, __disjvr_18^0'=__disjvr_18^post_7, __disjvr_19^0'=__disjvr_19^post_7, __disjvr_1^0'=__disjvr_1^post_7, __disjvr_20^0'=__disjvr_20^post_7, __disjvr_21^0'=__disjvr_21^post_7, __disjvr_22^0'=__disjvr_22^post_7, __disjvr_23^0'=__disjvr_23^post_7, __disjvr_24^0'=__disjvr_24^post_7, __disjvr_25^0'=__disjvr_25^post_7, __disjvr_2^0'=__disjvr_2^post_7, __disjvr_3^0'=__disjvr_3^post_7, __disjvr_4^0'=__disjvr_4^post_7, __disjvr_5^0'=__disjvr_5^post_7, __disjvr_6^0'=__disjvr_6^post_7, __disjvr_7^0'=__disjvr_7^post_7, __disjvr_8^0'=__disjvr_8^post_7, __disjvr_9^0'=__disjvr_9^post_7, a_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, [ __disjvr_2^post_7==__disjvr_2^0 && __disjvr_0^0==__disjvr_0^post_7 && __disjvr_1^0==__disjvr_1^post_7 && __disjvr_10^0==__disjvr_10^post_7 && __disjvr_11^0==__disjvr_11^post_7 && __disjvr_12^0==__disjvr_12^post_7 && __disjvr_13^0==__disjvr_13^post_7 && __disjvr_14^0==__disjvr_14^post_7 && __disjvr_15^0==__disjvr_15^post_7 && __disjvr_16^0==__disjvr_16^post_7 && __disjvr_17^0==__disjvr_17^post_7 && __disjvr_18^0==__disjvr_18^post_7 && __disjvr_19^0==__disjvr_19^post_7 && __disjvr_2^0==__disjvr_2^post_7 && __disjvr_20^0==__disjvr_20^post_7 && __disjvr_21^0==__disjvr_21^post_7 && __disjvr_22^0==__disjvr_22^post_7 && __disjvr_23^0==__disjvr_23^post_7 && __disjvr_24^0==__disjvr_24^post_7 && __disjvr_25^0==__disjvr_25^post_7 && __disjvr_3^0==__disjvr_3^post_7 && __disjvr_4^0==__disjvr_4^post_7 && __disjvr_5^0==__disjvr_5^post_7 && __disjvr_6^0==__disjvr_6^post_7 && __disjvr_7^0==__disjvr_7^post_7 && __disjvr_8^0==__disjvr_8^post_7 && __disjvr_9^0==__disjvr_9^post_7 && a_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: l8 -> l9 : __disjvr_0^0'=__disjvr_0^post_8, __disjvr_10^0'=__disjvr_10^post_8, __disjvr_11^0'=__disjvr_11^post_8, __disjvr_12^0'=__disjvr_12^post_8, __disjvr_13^0'=__disjvr_13^post_8, __disjvr_14^0'=__disjvr_14^post_8, __disjvr_15^0'=__disjvr_15^post_8, __disjvr_16^0'=__disjvr_16^post_8, __disjvr_17^0'=__disjvr_17^post_8, __disjvr_18^0'=__disjvr_18^post_8, __disjvr_19^0'=__disjvr_19^post_8, __disjvr_1^0'=__disjvr_1^post_8, __disjvr_20^0'=__disjvr_20^post_8, __disjvr_21^0'=__disjvr_21^post_8, __disjvr_22^0'=__disjvr_22^post_8, __disjvr_23^0'=__disjvr_23^post_8, __disjvr_24^0'=__disjvr_24^post_8, __disjvr_25^0'=__disjvr_25^post_8, __disjvr_2^0'=__disjvr_2^post_8, __disjvr_3^0'=__disjvr_3^post_8, __disjvr_4^0'=__disjvr_4^post_8, __disjvr_5^0'=__disjvr_5^post_8, __disjvr_6^0'=__disjvr_6^post_8, __disjvr_7^0'=__disjvr_7^post_8, __disjvr_8^0'=__disjvr_8^post_8, __disjvr_9^0'=__disjvr_9^post_8, a_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, [ __disjvr_3^post_8==__disjvr_3^0 && __disjvr_0^0==__disjvr_0^post_8 && __disjvr_1^0==__disjvr_1^post_8 && __disjvr_10^0==__disjvr_10^post_8 && __disjvr_11^0==__disjvr_11^post_8 && __disjvr_12^0==__disjvr_12^post_8 && __disjvr_13^0==__disjvr_13^post_8 && __disjvr_14^0==__disjvr_14^post_8 && __disjvr_15^0==__disjvr_15^post_8 && __disjvr_16^0==__disjvr_16^post_8 && __disjvr_17^0==__disjvr_17^post_8 && __disjvr_18^0==__disjvr_18^post_8 && __disjvr_19^0==__disjvr_19^post_8 && __disjvr_2^0==__disjvr_2^post_8 && __disjvr_20^0==__disjvr_20^post_8 && __disjvr_21^0==__disjvr_21^post_8 && __disjvr_22^0==__disjvr_22^post_8 && __disjvr_23^0==__disjvr_23^post_8 && __disjvr_24^0==__disjvr_24^post_8 && __disjvr_25^0==__disjvr_25^post_8 && __disjvr_3^0==__disjvr_3^post_8 && __disjvr_4^0==__disjvr_4^post_8 && __disjvr_5^0==__disjvr_5^post_8 && __disjvr_6^0==__disjvr_6^post_8 && __disjvr_7^0==__disjvr_7^post_8 && __disjvr_8^0==__disjvr_8^post_8 && __disjvr_9^0==__disjvr_9^post_8 && a_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 ], cost: 1
      8: l9 -> l2 : __disjvr_0^0'=__disjvr_0^post_9, __disjvr_10^0'=__disjvr_10^post_9, __disjvr_11^0'=__disjvr_11^post_9, __disjvr_12^0'=__disjvr_12^post_9, __disjvr_13^0'=__disjvr_13^post_9, __disjvr_14^0'=__disjvr_14^post_9, __disjvr_15^0'=__disjvr_15^post_9, __disjvr_16^0'=__disjvr_16^post_9, __disjvr_17^0'=__disjvr_17^post_9, __disjvr_18^0'=__disjvr_18^post_9, __disjvr_19^0'=__disjvr_19^post_9, __disjvr_1^0'=__disjvr_1^post_9, __disjvr_20^0'=__disjvr_20^post_9, __disjvr_21^0'=__disjvr_21^post_9, __disjvr_22^0'=__disjvr_22^post_9, __disjvr_23^0'=__disjvr_23^post_9, __disjvr_24^0'=__disjvr_24^post_9, __disjvr_25^0'=__disjvr_25^post_9, __disjvr_2^0'=__disjvr_2^post_9, __disjvr_3^0'=__disjvr_3^post_9, __disjvr_4^0'=__disjvr_4^post_9, __disjvr_5^0'=__disjvr_5^post_9, __disjvr_6^0'=__disjvr_6^post_9, __disjvr_7^0'=__disjvr_7^post_9, __disjvr_8^0'=__disjvr_8^post_9, __disjvr_9^0'=__disjvr_9^post_9, a_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<=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_9==i_120^post_9 && -1+i_120^post_9<=a_153^0 && a_153^0<=-1+i_120^post_9 && __disjvr_0^0==__disjvr_0^post_9 && __disjvr_1^0==__disjvr_1^post_9 && __disjvr_10^0==__disjvr_10^post_9 && __disjvr_11^0==__disjvr_11^post_9 && __disjvr_12^0==__disjvr_12^post_9 && __disjvr_13^0==__disjvr_13^post_9 && __disjvr_14^0==__disjvr_14^post_9 && __disjvr_15^0==__disjvr_15^post_9 && __disjvr_16^0==__disjvr_16^post_9 && __disjvr_17^0==__disjvr_17^post_9 && __disjvr_18^0==__disjvr_18^post_9 && __disjvr_19^0==__disjvr_19^post_9 && __disjvr_2^0==__disjvr_2^post_9 && __disjvr_20^0==__disjvr_20^post_9 && __disjvr_21^0==__disjvr_21^post_9 && __disjvr_22^0==__disjvr_22^post_9 && __disjvr_23^0==__disjvr_23^post_9 && __disjvr_24^0==__disjvr_24^post_9 && __disjvr_25^0==__disjvr_25^post_9 && __disjvr_3^0==__disjvr_3^post_9 && __disjvr_4^0==__disjvr_4^post_9 && __disjvr_5^0==__disjvr_5^post_9 && __disjvr_6^0==__disjvr_6^post_9 && __disjvr_7^0==__disjvr_7^post_9 && __disjvr_8^0==__disjvr_8^post_9 && __disjvr_9^0==__disjvr_9^post_9 && a_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_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
     25: l2 -> l1 : __disjvr_0^0'=__disjvr_0^post_26, __disjvr_10^0'=__disjvr_10^post_26, __disjvr_11^0'=__disjvr_11^post_26, __disjvr_12^0'=__disjvr_12^post_26, __disjvr_13^0'=__disjvr_13^post_26, __disjvr_14^0'=__disjvr_14^post_26, __disjvr_15^0'=__disjvr_15^post_26, __disjvr_16^0'=__disjvr_16^post_26, __disjvr_17^0'=__disjvr_17^post_26, __disjvr_18^0'=__disjvr_18^post_26, __disjvr_19^0'=__disjvr_19^post_26, __disjvr_1^0'=__disjvr_1^post_26, __disjvr_20^0'=__disjvr_20^post_26, __disjvr_21^0'=__disjvr_21^post_26, __disjvr_22^0'=__disjvr_22^post_26, __disjvr_23^0'=__disjvr_23^post_26, __disjvr_24^0'=__disjvr_24^post_26, __disjvr_25^0'=__disjvr_25^post_26, __disjvr_2^0'=__disjvr_2^post_26, __disjvr_3^0'=__disjvr_3^post_26, __disjvr_4^0'=__disjvr_4^post_26, __disjvr_5^0'=__disjvr_5^post_26, __disjvr_6^0'=__disjvr_6^post_26, __disjvr_7^0'=__disjvr_7^post_26, __disjvr_8^0'=__disjvr_8^post_26, __disjvr_9^0'=__disjvr_9^post_26, a_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, [ y_23^0<=x_24^0 && x_24^0<=y_23^0 && x_SLAM_f_22^post_26==x_SLAM_f_22^post_26 && y_23^post_26==y_23^post_26 && x_24^post_26==x_24^post_26 && t_25^post_26==t_25^post_26 && lt_20^post_26==lt_20^post_26 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_26==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_26 && head_16^post_26==head_16^post_26 && result_11^post_26==temp0_21^0 && 1<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_26 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_26 && __disjvr_0^0==__disjvr_0^post_26 && __disjvr_1^0==__disjvr_1^post_26 && __disjvr_10^0==__disjvr_10^post_26 && __disjvr_11^0==__disjvr_11^post_26 && __disjvr_12^0==__disjvr_12^post_26 && __disjvr_13^0==__disjvr_13^post_26 && __disjvr_14^0==__disjvr_14^post_26 && __disjvr_15^0==__disjvr_15^post_26 && __disjvr_16^0==__disjvr_16^post_26 && __disjvr_17^0==__disjvr_17^post_26 && __disjvr_18^0==__disjvr_18^post_26 && __disjvr_19^0==__disjvr_19^post_26 && __disjvr_2^0==__disjvr_2^post_26 && __disjvr_20^0==__disjvr_20^post_26 && __disjvr_21^0==__disjvr_21^post_26 && __disjvr_22^0==__disjvr_22^post_26 && __disjvr_23^0==__disjvr_23^post_26 && __disjvr_24^0==__disjvr_24^post_26 && __disjvr_25^0==__disjvr_25^post_26 && __disjvr_3^0==__disjvr_3^post_26 && __disjvr_4^0==__disjvr_4^post_26 && __disjvr_5^0==__disjvr_5^post_26 && __disjvr_6^0==__disjvr_6^post_26 && __disjvr_7^0==__disjvr_7^post_26 && __disjvr_8^0==__disjvr_8^post_26 && __disjvr_9^0==__disjvr_9^post_26 && a_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_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 && 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_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 && 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 ], cost: 1
     26: l2 -> l26 : __disjvr_0^0'=__disjvr_0^post_27, __disjvr_10^0'=__disjvr_10^post_27, __disjvr_11^0'=__disjvr_11^post_27, __disjvr_12^0'=__disjvr_12^post_27, __disjvr_13^0'=__disjvr_13^post_27, __disjvr_14^0'=__disjvr_14^post_27, __disjvr_15^0'=__disjvr_15^post_27, __disjvr_16^0'=__disjvr_16^post_27, __disjvr_17^0'=__disjvr_17^post_27, __disjvr_18^0'=__disjvr_18^post_27, __disjvr_19^0'=__disjvr_19^post_27, __disjvr_1^0'=__disjvr_1^post_27, __disjvr_20^0'=__disjvr_20^post_27, __disjvr_21^0'=__disjvr_21^post_27, __disjvr_22^0'=__disjvr_22^post_27, __disjvr_23^0'=__disjvr_23^post_27, __disjvr_24^0'=__disjvr_24^post_27, __disjvr_25^0'=__disjvr_25^post_27, __disjvr_2^0'=__disjvr_2^post_27, __disjvr_3^0'=__disjvr_3^post_27, __disjvr_4^0'=__disjvr_4^post_27, __disjvr_5^0'=__disjvr_5^post_27, __disjvr_6^0'=__disjvr_6^post_27, __disjvr_7^0'=__disjvr_7^post_27, __disjvr_8^0'=__disjvr_8^post_27, __disjvr_9^0'=__disjvr_9^post_27, a_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, [ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_27==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_27 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_27==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_27 && tail_15^post_27==tail_15^post_27 && head_16^post_27==head_16^post_27 && lt_20^post_27==lt_20^post_27 && x_SLAM_f_22^post_27==x_SLAM_f_22^post_27 && r_39^post_27==r_39^post_27 && r_197^post_27==r_197^post_27 && f_198^post_27==f_198^post_27 && __disjvr_0^0==__disjvr_0^post_27 && __disjvr_1^0==__disjvr_1^post_27 && __disjvr_10^0==__disjvr_10^post_27 && __disjvr_11^0==__disjvr_11^post_27 && __disjvr_12^0==__disjvr_12^post_27 && __disjvr_13^0==__disjvr_13^post_27 && __disjvr_14^0==__disjvr_14^post_27 && __disjvr_15^0==__disjvr_15^post_27 && __disjvr_16^0==__disjvr_16^post_27 && __disjvr_17^0==__disjvr_17^post_27 && __disjvr_18^0==__disjvr_18^post_27 && __disjvr_19^0==__disjvr_19^post_27 && __disjvr_2^0==__disjvr_2^post_27 && __disjvr_20^0==__disjvr_20^post_27 && __disjvr_21^0==__disjvr_21^post_27 && __disjvr_22^0==__disjvr_22^post_27 && __disjvr_23^0==__disjvr_23^post_27 && __disjvr_24^0==__disjvr_24^post_27 && __disjvr_25^0==__disjvr_25^post_27 && __disjvr_3^0==__disjvr_3^post_27 && __disjvr_4^0==__disjvr_4^post_27 && __disjvr_5^0==__disjvr_5^post_27 && __disjvr_6^0==__disjvr_6^post_27 && __disjvr_7^0==__disjvr_7^post_27 && __disjvr_8^0==__disjvr_8^post_27 && __disjvr_9^0==__disjvr_9^post_27 && a_153^0==a_153^post_27 && a_178^0==a_178^post_27 && a_208^0==a_208^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 && nondet_12^0==nondet_12^post_27 && r_164^0==r_164^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_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_27 && t_25^0==t_25^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 && y_23^0==y_23^post_27 ], cost: 1
     10: l10 -> l0 : __disjvr_0^0'=__disjvr_0^post_11, __disjvr_10^0'=__disjvr_10^post_11, __disjvr_11^0'=__disjvr_11^post_11, __disjvr_12^0'=__disjvr_12^post_11, __disjvr_13^0'=__disjvr_13^post_11, __disjvr_14^0'=__disjvr_14^post_11, __disjvr_15^0'=__disjvr_15^post_11, __disjvr_16^0'=__disjvr_16^post_11, __disjvr_17^0'=__disjvr_17^post_11, __disjvr_18^0'=__disjvr_18^post_11, __disjvr_19^0'=__disjvr_19^post_11, __disjvr_1^0'=__disjvr_1^post_11, __disjvr_20^0'=__disjvr_20^post_11, __disjvr_21^0'=__disjvr_21^post_11, __disjvr_22^0'=__disjvr_22^post_11, __disjvr_23^0'=__disjvr_23^post_11, __disjvr_24^0'=__disjvr_24^post_11, __disjvr_25^0'=__disjvr_25^post_11, __disjvr_2^0'=__disjvr_2^post_11, __disjvr_3^0'=__disjvr_3^post_11, __disjvr_4^0'=__disjvr_4^post_11, __disjvr_5^0'=__disjvr_5^post_11, __disjvr_6^0'=__disjvr_6^post_11, __disjvr_7^0'=__disjvr_7^post_11, __disjvr_8^0'=__disjvr_8^post_11, __disjvr_9^0'=__disjvr_9^post_11, a_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, [ __disjvr_0^0==__disjvr_0^post_11 && __disjvr_1^0==__disjvr_1^post_11 && __disjvr_10^0==__disjvr_10^post_11 && __disjvr_11^0==__disjvr_11^post_11 && __disjvr_12^0==__disjvr_12^post_11 && __disjvr_13^0==__disjvr_13^post_11 && __disjvr_14^0==__disjvr_14^post_11 && __disjvr_15^0==__disjvr_15^post_11 && __disjvr_16^0==__disjvr_16^post_11 && __disjvr_17^0==__disjvr_17^post_11 && __disjvr_18^0==__disjvr_18^post_11 && __disjvr_19^0==__disjvr_19^post_11 && __disjvr_2^0==__disjvr_2^post_11 && __disjvr_20^0==__disjvr_20^post_11 && __disjvr_21^0==__disjvr_21^post_11 && __disjvr_22^0==__disjvr_22^post_11 && __disjvr_23^0==__disjvr_23^post_11 && __disjvr_24^0==__disjvr_24^post_11 && __disjvr_25^0==__disjvr_25^post_11 && __disjvr_3^0==__disjvr_3^post_11 && __disjvr_4^0==__disjvr_4^post_11 && __disjvr_5^0==__disjvr_5^post_11 && __disjvr_6^0==__disjvr_6^post_11 && __disjvr_7^0==__disjvr_7^post_11 && __disjvr_8^0==__disjvr_8^post_11 && __disjvr_9^0==__disjvr_9^post_11 && a_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: l11 -> l13 : __disjvr_0^0'=__disjvr_0^post_12, __disjvr_10^0'=__disjvr_10^post_12, __disjvr_11^0'=__disjvr_11^post_12, __disjvr_12^0'=__disjvr_12^post_12, __disjvr_13^0'=__disjvr_13^post_12, __disjvr_14^0'=__disjvr_14^post_12, __disjvr_15^0'=__disjvr_15^post_12, __disjvr_16^0'=__disjvr_16^post_12, __disjvr_17^0'=__disjvr_17^post_12, __disjvr_18^0'=__disjvr_18^post_12, __disjvr_19^0'=__disjvr_19^post_12, __disjvr_1^0'=__disjvr_1^post_12, __disjvr_20^0'=__disjvr_20^post_12, __disjvr_21^0'=__disjvr_21^post_12, __disjvr_22^0'=__disjvr_22^post_12, __disjvr_23^0'=__disjvr_23^post_12, __disjvr_24^0'=__disjvr_24^post_12, __disjvr_25^0'=__disjvr_25^post_12, __disjvr_2^0'=__disjvr_2^post_12, __disjvr_3^0'=__disjvr_3^post_12, __disjvr_4^0'=__disjvr_4^post_12, __disjvr_5^0'=__disjvr_5^post_12, __disjvr_6^0'=__disjvr_6^post_12, __disjvr_7^0'=__disjvr_7^post_12, __disjvr_8^0'=__disjvr_8^post_12, __disjvr_9^0'=__disjvr_9^post_12, a_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, [ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_12==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_12 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_12==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_12 && tail_15^post_12==tail_15^post_12 && 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_12==length_27^post_12 && head_SLAM_f_28^post_12==head_SLAM_f_28^post_12 && i_29^post_12==i_29^post_12 && temp0_30^post_12==temp0_30^post_12 && head_31^post_12==head_31^post_12 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_12==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_12 && tmp_33^post_12==tmp_33^post_12 && temp_34^post_12==temp_34^post_12 && head_16^post_12==result_11^1_3 && result_11^post_12==result_11^post_12 && head_16^post_12<=lt_17^0 && lt_17^0<=head_16^post_12 && lt_17^post_12==lt_17^post_12 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_12<=tail_15^post_12 && tail_15^post_12<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_12 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_12<=head_16^post_12 && head_16^post_12<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_12 && __disjvr_0^0==__disjvr_0^post_12 && __disjvr_1^0==__disjvr_1^post_12 && __disjvr_10^0==__disjvr_10^post_12 && __disjvr_11^0==__disjvr_11^post_12 && __disjvr_12^0==__disjvr_12^post_12 && __disjvr_13^0==__disjvr_13^post_12 && __disjvr_14^0==__disjvr_14^post_12 && __disjvr_15^0==__disjvr_15^post_12 && __disjvr_16^0==__disjvr_16^post_12 && __disjvr_17^0==__disjvr_17^post_12 && __disjvr_18^0==__disjvr_18^post_12 && __disjvr_19^0==__disjvr_19^post_12 && __disjvr_2^0==__disjvr_2^post_12 && __disjvr_20^0==__disjvr_20^post_12 && __disjvr_21^0==__disjvr_21^post_12 && __disjvr_22^0==__disjvr_22^post_12 && __disjvr_23^0==__disjvr_23^post_12 && __disjvr_24^0==__disjvr_24^post_12 && __disjvr_25^0==__disjvr_25^post_12 && __disjvr_3^0==__disjvr_3^post_12 && __disjvr_4^0==__disjvr_4^post_12 && __disjvr_5^0==__disjvr_5^post_12 && __disjvr_6^0==__disjvr_6^post_12 && __disjvr_7^0==__disjvr_7^post_12 && __disjvr_8^0==__disjvr_8^post_12 && __disjvr_9^0==__disjvr_9^post_12 && a_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 && i_110^0==i_110^post_12 && i_120^0==i_120^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 && t_25^0==t_25^post_12 && temp0_21^0==temp0_21^post_12 && temp_35^0==temp_35^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
     15: l11 -> l16 : __disjvr_0^0'=__disjvr_0^post_16, __disjvr_10^0'=__disjvr_10^post_16, __disjvr_11^0'=__disjvr_11^post_16, __disjvr_12^0'=__disjvr_12^post_16, __disjvr_13^0'=__disjvr_13^post_16, __disjvr_14^0'=__disjvr_14^post_16, __disjvr_15^0'=__disjvr_15^post_16, __disjvr_16^0'=__disjvr_16^post_16, __disjvr_17^0'=__disjvr_17^post_16, __disjvr_18^0'=__disjvr_18^post_16, __disjvr_19^0'=__disjvr_19^post_16, __disjvr_1^0'=__disjvr_1^post_16, __disjvr_20^0'=__disjvr_20^post_16, __disjvr_21^0'=__disjvr_21^post_16, __disjvr_22^0'=__disjvr_22^post_16, __disjvr_23^0'=__disjvr_23^post_16, __disjvr_24^0'=__disjvr_24^post_16, __disjvr_25^0'=__disjvr_25^post_16, __disjvr_2^0'=__disjvr_2^post_16, __disjvr_3^0'=__disjvr_3^post_16, __disjvr_4^0'=__disjvr_4^post_16, __disjvr_5^0'=__disjvr_5^post_16, __disjvr_6^0'=__disjvr_6^post_16, __disjvr_7^0'=__disjvr_7^post_16, __disjvr_8^0'=__disjvr_8^post_16, __disjvr_9^0'=__disjvr_9^post_16, a_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_4_1==head_31^0 && result_11^1_4==temp0_30^1_4_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_4 && result_11^post_16==result_11^post_16 && __disjvr_0^0==__disjvr_0^post_16 && __disjvr_1^0==__disjvr_1^post_16 && __disjvr_10^0==__disjvr_10^post_16 && __disjvr_11^0==__disjvr_11^post_16 && __disjvr_12^0==__disjvr_12^post_16 && __disjvr_13^0==__disjvr_13^post_16 && __disjvr_14^0==__disjvr_14^post_16 && __disjvr_15^0==__disjvr_15^post_16 && __disjvr_16^0==__disjvr_16^post_16 && __disjvr_17^0==__disjvr_17^post_16 && __disjvr_18^0==__disjvr_18^post_16 && __disjvr_19^0==__disjvr_19^post_16 && __disjvr_2^0==__disjvr_2^post_16 && __disjvr_20^0==__disjvr_20^post_16 && __disjvr_21^0==__disjvr_21^post_16 && __disjvr_22^0==__disjvr_22^post_16 && __disjvr_23^0==__disjvr_23^post_16 && __disjvr_24^0==__disjvr_24^post_16 && __disjvr_25^0==__disjvr_25^post_16 && __disjvr_3^0==__disjvr_3^post_16 && __disjvr_4^0==__disjvr_4^post_16 && __disjvr_5^0==__disjvr_5^post_16 && __disjvr_6^0==__disjvr_6^post_16 && __disjvr_7^0==__disjvr_7^post_16 && __disjvr_8^0==__disjvr_8^post_16 && __disjvr_9^0==__disjvr_9^post_16 && a_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_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 && 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
     23: l11 -> l23 : __disjvr_0^0'=__disjvr_0^post_24, __disjvr_10^0'=__disjvr_10^post_24, __disjvr_11^0'=__disjvr_11^post_24, __disjvr_12^0'=__disjvr_12^post_24, __disjvr_13^0'=__disjvr_13^post_24, __disjvr_14^0'=__disjvr_14^post_24, __disjvr_15^0'=__disjvr_15^post_24, __disjvr_16^0'=__disjvr_16^post_24, __disjvr_17^0'=__disjvr_17^post_24, __disjvr_18^0'=__disjvr_18^post_24, __disjvr_19^0'=__disjvr_19^post_24, __disjvr_1^0'=__disjvr_1^post_24, __disjvr_20^0'=__disjvr_20^post_24, __disjvr_21^0'=__disjvr_21^post_24, __disjvr_22^0'=__disjvr_22^post_24, __disjvr_23^0'=__disjvr_23^post_24, __disjvr_24^0'=__disjvr_24^post_24, __disjvr_25^0'=__disjvr_25^post_24, __disjvr_2^0'=__disjvr_2^post_24, __disjvr_3^0'=__disjvr_3^post_24, __disjvr_4^0'=__disjvr_4^post_24, __disjvr_5^0'=__disjvr_5^post_24, __disjvr_6^0'=__disjvr_6^post_24, __disjvr_7^0'=__disjvr_7^post_24, __disjvr_8^0'=__disjvr_8^post_24, __disjvr_9^0'=__disjvr_9^post_24, a_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, [ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_24==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_24 && tail_15^post_24==tail_15^post_24 && head_SLAM_f_28^post_24==head_SLAM_f_28^post_24 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_24==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_24 && 1+i_29^0<=length_27^0 && tmp_33^post_24==temp_34^0 && temp_34^post_24==temp_34^post_24 && head_31^post_24==tmp_33^post_24 && i_29^post_24==1+i_29^0 && 1<=i_29^post_24 && i_29^post_24<=1 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24<=tail_15^post_24 && tail_15^post_24<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24<=head_SLAM_f_28^post_24 && head_SLAM_f_28^post_24<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_24<=length_27^0 && length_27^0<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_24 && tail_15^post_24<=head_SLAM_f_28^post_24 && head_SLAM_f_28^post_24<=tail_15^post_24 && head_31^post_24<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_24 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_24<=head_31^post_24 && head_31^post_24<=tmp_33^post_24 && tmp_33^post_24<=head_31^post_24 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_24<=tmp_33^post_24 && tmp_33^post_24<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_24 && 1<=length_27^0 && __disjvr_0^0==__disjvr_0^post_24 && __disjvr_1^0==__disjvr_1^post_24 && __disjvr_10^0==__disjvr_10^post_24 && __disjvr_11^0==__disjvr_11^post_24 && __disjvr_12^0==__disjvr_12^post_24 && __disjvr_13^0==__disjvr_13^post_24 && __disjvr_14^0==__disjvr_14^post_24 && __disjvr_15^0==__disjvr_15^post_24 && __disjvr_16^0==__disjvr_16^post_24 && __disjvr_17^0==__disjvr_17^post_24 && __disjvr_18^0==__disjvr_18^post_24 && __disjvr_19^0==__disjvr_19^post_24 && __disjvr_2^0==__disjvr_2^post_24 && __disjvr_20^0==__disjvr_20^post_24 && __disjvr_21^0==__disjvr_21^post_24 && __disjvr_22^0==__disjvr_22^post_24 && __disjvr_23^0==__disjvr_23^post_24 && __disjvr_24^0==__disjvr_24^post_24 && __disjvr_25^0==__disjvr_25^post_24 && __disjvr_3^0==__disjvr_3^post_24 && __disjvr_4^0==__disjvr_4^post_24 && __disjvr_5^0==__disjvr_5^post_24 && __disjvr_6^0==__disjvr_6^post_24 && __disjvr_7^0==__disjvr_7^post_24 && __disjvr_8^0==__disjvr_8^post_24 && __disjvr_9^0==__disjvr_9^post_24 && a_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 && i_110^0==i_110^post_24 && i_120^0==i_120^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 && t_25^0==t_25^post_24 && temp0_21^0==temp0_21^post_24 && temp0_30^0==temp0_30^post_24 && temp_35^0==temp_35^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
     12: l13 -> l14 : __disjvr_0^0'=__disjvr_0^post_13, __disjvr_10^0'=__disjvr_10^post_13, __disjvr_11^0'=__disjvr_11^post_13, __disjvr_12^0'=__disjvr_12^post_13, __disjvr_13^0'=__disjvr_13^post_13, __disjvr_14^0'=__disjvr_14^post_13, __disjvr_15^0'=__disjvr_15^post_13, __disjvr_16^0'=__disjvr_16^post_13, __disjvr_17^0'=__disjvr_17^post_13, __disjvr_18^0'=__disjvr_18^post_13, __disjvr_19^0'=__disjvr_19^post_13, __disjvr_1^0'=__disjvr_1^post_13, __disjvr_20^0'=__disjvr_20^post_13, __disjvr_21^0'=__disjvr_21^post_13, __disjvr_22^0'=__disjvr_22^post_13, __disjvr_23^0'=__disjvr_23^post_13, __disjvr_24^0'=__disjvr_24^post_13, __disjvr_25^0'=__disjvr_25^post_13, __disjvr_2^0'=__disjvr_2^post_13, __disjvr_3^0'=__disjvr_3^post_13, __disjvr_4^0'=__disjvr_4^post_13, __disjvr_5^0'=__disjvr_5^post_13, __disjvr_6^0'=__disjvr_6^post_13, __disjvr_7^0'=__disjvr_7^post_13, __disjvr_8^0'=__disjvr_8^post_13, __disjvr_9^0'=__disjvr_9^post_13, a_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, [ __disjvr_4^post_13==__disjvr_4^0 && __disjvr_0^0==__disjvr_0^post_13 && __disjvr_1^0==__disjvr_1^post_13 && __disjvr_10^0==__disjvr_10^post_13 && __disjvr_11^0==__disjvr_11^post_13 && __disjvr_12^0==__disjvr_12^post_13 && __disjvr_13^0==__disjvr_13^post_13 && __disjvr_14^0==__disjvr_14^post_13 && __disjvr_15^0==__disjvr_15^post_13 && __disjvr_16^0==__disjvr_16^post_13 && __disjvr_17^0==__disjvr_17^post_13 && __disjvr_18^0==__disjvr_18^post_13 && __disjvr_19^0==__disjvr_19^post_13 && __disjvr_2^0==__disjvr_2^post_13 && __disjvr_20^0==__disjvr_20^post_13 && __disjvr_21^0==__disjvr_21^post_13 && __disjvr_22^0==__disjvr_22^post_13 && __disjvr_23^0==__disjvr_23^post_13 && __disjvr_24^0==__disjvr_24^post_13 && __disjvr_25^0==__disjvr_25^post_13 && __disjvr_3^0==__disjvr_3^post_13 && __disjvr_4^0==__disjvr_4^post_13 && __disjvr_5^0==__disjvr_5^post_13 && __disjvr_6^0==__disjvr_6^post_13 && __disjvr_7^0==__disjvr_7^post_13 && __disjvr_8^0==__disjvr_8^post_13 && __disjvr_9^0==__disjvr_9^post_13 && a_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 ], cost: 1
     13: l14 -> l15 : __disjvr_0^0'=__disjvr_0^post_14, __disjvr_10^0'=__disjvr_10^post_14, __disjvr_11^0'=__disjvr_11^post_14, __disjvr_12^0'=__disjvr_12^post_14, __disjvr_13^0'=__disjvr_13^post_14, __disjvr_14^0'=__disjvr_14^post_14, __disjvr_15^0'=__disjvr_15^post_14, __disjvr_16^0'=__disjvr_16^post_14, __disjvr_17^0'=__disjvr_17^post_14, __disjvr_18^0'=__disjvr_18^post_14, __disjvr_19^0'=__disjvr_19^post_14, __disjvr_1^0'=__disjvr_1^post_14, __disjvr_20^0'=__disjvr_20^post_14, __disjvr_21^0'=__disjvr_21^post_14, __disjvr_22^0'=__disjvr_22^post_14, __disjvr_23^0'=__disjvr_23^post_14, __disjvr_24^0'=__disjvr_24^post_14, __disjvr_25^0'=__disjvr_25^post_14, __disjvr_2^0'=__disjvr_2^post_14, __disjvr_3^0'=__disjvr_3^post_14, __disjvr_4^0'=__disjvr_4^post_14, __disjvr_5^0'=__disjvr_5^post_14, __disjvr_6^0'=__disjvr_6^post_14, __disjvr_7^0'=__disjvr_7^post_14, __disjvr_8^0'=__disjvr_8^post_14, __disjvr_9^0'=__disjvr_9^post_14, a_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, [ __disjvr_5^post_14==__disjvr_5^0 && __disjvr_0^0==__disjvr_0^post_14 && __disjvr_1^0==__disjvr_1^post_14 && __disjvr_10^0==__disjvr_10^post_14 && __disjvr_11^0==__disjvr_11^post_14 && __disjvr_12^0==__disjvr_12^post_14 && __disjvr_13^0==__disjvr_13^post_14 && __disjvr_14^0==__disjvr_14^post_14 && __disjvr_15^0==__disjvr_15^post_14 && __disjvr_16^0==__disjvr_16^post_14 && __disjvr_17^0==__disjvr_17^post_14 && __disjvr_18^0==__disjvr_18^post_14 && __disjvr_19^0==__disjvr_19^post_14 && __disjvr_2^0==__disjvr_2^post_14 && __disjvr_20^0==__disjvr_20^post_14 && __disjvr_21^0==__disjvr_21^post_14 && __disjvr_22^0==__disjvr_22^post_14 && __disjvr_23^0==__disjvr_23^post_14 && __disjvr_24^0==__disjvr_24^post_14 && __disjvr_25^0==__disjvr_25^post_14 && __disjvr_3^0==__disjvr_3^post_14 && __disjvr_4^0==__disjvr_4^post_14 && __disjvr_5^0==__disjvr_5^post_14 && __disjvr_6^0==__disjvr_6^post_14 && __disjvr_7^0==__disjvr_7^post_14 && __disjvr_8^0==__disjvr_8^post_14 && __disjvr_9^0==__disjvr_9^post_14 && a_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 ], cost: 1
     14: l15 -> l12 : __disjvr_0^0'=__disjvr_0^post_15, __disjvr_10^0'=__disjvr_10^post_15, __disjvr_11^0'=__disjvr_11^post_15, __disjvr_12^0'=__disjvr_12^post_15, __disjvr_13^0'=__disjvr_13^post_15, __disjvr_14^0'=__disjvr_14^post_15, __disjvr_15^0'=__disjvr_15^post_15, __disjvr_16^0'=__disjvr_16^post_15, __disjvr_17^0'=__disjvr_17^post_15, __disjvr_18^0'=__disjvr_18^post_15, __disjvr_19^0'=__disjvr_19^post_15, __disjvr_1^0'=__disjvr_1^post_15, __disjvr_20^0'=__disjvr_20^post_15, __disjvr_21^0'=__disjvr_21^post_15, __disjvr_22^0'=__disjvr_22^post_15, __disjvr_23^0'=__disjvr_23^post_15, __disjvr_24^0'=__disjvr_24^post_15, __disjvr_25^0'=__disjvr_25^post_15, __disjvr_2^0'=__disjvr_2^post_15, __disjvr_3^0'=__disjvr_3^post_15, __disjvr_4^0'=__disjvr_4^post_15, __disjvr_5^0'=__disjvr_5^post_15, __disjvr_6^0'=__disjvr_6^post_15, __disjvr_7^0'=__disjvr_7^post_15, __disjvr_8^0'=__disjvr_8^post_15, __disjvr_9^0'=__disjvr_9^post_15, a_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, [ result_dot_nondet_sdv_special_RETURN_VALUE_14^0<=0 && __disjvr_0^0==__disjvr_0^post_15 && __disjvr_1^0==__disjvr_1^post_15 && __disjvr_10^0==__disjvr_10^post_15 && __disjvr_11^0==__disjvr_11^post_15 && __disjvr_12^0==__disjvr_12^post_15 && __disjvr_13^0==__disjvr_13^post_15 && __disjvr_14^0==__disjvr_14^post_15 && __disjvr_15^0==__disjvr_15^post_15 && __disjvr_16^0==__disjvr_16^post_15 && __disjvr_17^0==__disjvr_17^post_15 && __disjvr_18^0==__disjvr_18^post_15 && __disjvr_19^0==__disjvr_19^post_15 && __disjvr_2^0==__disjvr_2^post_15 && __disjvr_20^0==__disjvr_20^post_15 && __disjvr_21^0==__disjvr_21^post_15 && __disjvr_22^0==__disjvr_22^post_15 && __disjvr_23^0==__disjvr_23^post_15 && __disjvr_24^0==__disjvr_24^post_15 && __disjvr_25^0==__disjvr_25^post_15 && __disjvr_3^0==__disjvr_3^post_15 && __disjvr_4^0==__disjvr_4^post_15 && __disjvr_5^0==__disjvr_5^post_15 && __disjvr_6^0==__disjvr_6^post_15 && __disjvr_7^0==__disjvr_7^post_15 && __disjvr_8^0==__disjvr_8^post_15 && __disjvr_9^0==__disjvr_9^post_15 && a_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
     60: l12 -> l53 : __disjvr_0^0'=__disjvr_0^post_61, __disjvr_10^0'=__disjvr_10^post_61, __disjvr_11^0'=__disjvr_11^post_61, __disjvr_12^0'=__disjvr_12^post_61, __disjvr_13^0'=__disjvr_13^post_61, __disjvr_14^0'=__disjvr_14^post_61, __disjvr_15^0'=__disjvr_15^post_61, __disjvr_16^0'=__disjvr_16^post_61, __disjvr_17^0'=__disjvr_17^post_61, __disjvr_18^0'=__disjvr_18^post_61, __disjvr_19^0'=__disjvr_19^post_61, __disjvr_1^0'=__disjvr_1^post_61, __disjvr_20^0'=__disjvr_20^post_61, __disjvr_21^0'=__disjvr_21^post_61, __disjvr_22^0'=__disjvr_22^post_61, __disjvr_23^0'=__disjvr_23^post_61, __disjvr_24^0'=__disjvr_24^post_61, __disjvr_25^0'=__disjvr_25^post_61, __disjvr_2^0'=__disjvr_2^post_61, __disjvr_3^0'=__disjvr_3^post_61, __disjvr_4^0'=__disjvr_4^post_61, __disjvr_5^0'=__disjvr_5^post_61, __disjvr_6^0'=__disjvr_6^post_61, __disjvr_7^0'=__disjvr_7^post_61, __disjvr_8^0'=__disjvr_8^post_61, __disjvr_9^0'=__disjvr_9^post_61, 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, [ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_61==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_61 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_61==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_61 && result_11^post_61==temp0_21^0 && __disjvr_0^0==__disjvr_0^post_61 && __disjvr_1^0==__disjvr_1^post_61 && __disjvr_10^0==__disjvr_10^post_61 && __disjvr_11^0==__disjvr_11^post_61 && __disjvr_12^0==__disjvr_12^post_61 && __disjvr_13^0==__disjvr_13^post_61 && __disjvr_14^0==__disjvr_14^post_61 && __disjvr_15^0==__disjvr_15^post_61 && __disjvr_16^0==__disjvr_16^post_61 && __disjvr_17^0==__disjvr_17^post_61 && __disjvr_18^0==__disjvr_18^post_61 && __disjvr_19^0==__disjvr_19^post_61 && __disjvr_2^0==__disjvr_2^post_61 && __disjvr_20^0==__disjvr_20^post_61 && __disjvr_21^0==__disjvr_21^post_61 && __disjvr_22^0==__disjvr_22^post_61 && __disjvr_23^0==__disjvr_23^post_61 && __disjvr_24^0==__disjvr_24^post_61 && __disjvr_25^0==__disjvr_25^post_61 && __disjvr_3^0==__disjvr_3^post_61 && __disjvr_4^0==__disjvr_4^post_61 && __disjvr_5^0==__disjvr_5^post_61 && __disjvr_6^0==__disjvr_6^post_61 && __disjvr_7^0==__disjvr_7^post_61 && __disjvr_8^0==__disjvr_8^post_61 && __disjvr_9^0==__disjvr_9^post_61 && 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_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^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 ], cost: 1
     16: l16 -> l17 : __disjvr_0^0'=__disjvr_0^post_17, __disjvr_10^0'=__disjvr_10^post_17, __disjvr_11^0'=__disjvr_11^post_17, __disjvr_12^0'=__disjvr_12^post_17, __disjvr_13^0'=__disjvr_13^post_17, __disjvr_14^0'=__disjvr_14^post_17, __disjvr_15^0'=__disjvr_15^post_17, __disjvr_16^0'=__disjvr_16^post_17, __disjvr_17^0'=__disjvr_17^post_17, __disjvr_18^0'=__disjvr_18^post_17, __disjvr_19^0'=__disjvr_19^post_17, __disjvr_1^0'=__disjvr_1^post_17, __disjvr_20^0'=__disjvr_20^post_17, __disjvr_21^0'=__disjvr_21^post_17, __disjvr_22^0'=__disjvr_22^post_17, __disjvr_23^0'=__disjvr_23^post_17, __disjvr_24^0'=__disjvr_24^post_17, __disjvr_25^0'=__disjvr_25^post_17, __disjvr_2^0'=__disjvr_2^post_17, __disjvr_3^0'=__disjvr_3^post_17, __disjvr_4^0'=__disjvr_4^post_17, __disjvr_5^0'=__disjvr_5^post_17, __disjvr_6^0'=__disjvr_6^post_17, __disjvr_7^0'=__disjvr_7^post_17, __disjvr_8^0'=__disjvr_8^post_17, __disjvr_9^0'=__disjvr_9^post_17, a_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, [ __disjvr_6^post_17==__disjvr_6^0 && __disjvr_0^0==__disjvr_0^post_17 && __disjvr_1^0==__disjvr_1^post_17 && __disjvr_10^0==__disjvr_10^post_17 && __disjvr_11^0==__disjvr_11^post_17 && __disjvr_12^0==__disjvr_12^post_17 && __disjvr_13^0==__disjvr_13^post_17 && __disjvr_14^0==__disjvr_14^post_17 && __disjvr_15^0==__disjvr_15^post_17 && __disjvr_16^0==__disjvr_16^post_17 && __disjvr_17^0==__disjvr_17^post_17 && __disjvr_18^0==__disjvr_18^post_17 && __disjvr_19^0==__disjvr_19^post_17 && __disjvr_2^0==__disjvr_2^post_17 && __disjvr_20^0==__disjvr_20^post_17 && __disjvr_21^0==__disjvr_21^post_17 && __disjvr_22^0==__disjvr_22^post_17 && __disjvr_23^0==__disjvr_23^post_17 && __disjvr_24^0==__disjvr_24^post_17 && __disjvr_25^0==__disjvr_25^post_17 && __disjvr_3^0==__disjvr_3^post_17 && __disjvr_4^0==__disjvr_4^post_17 && __disjvr_5^0==__disjvr_5^post_17 && __disjvr_6^0==__disjvr_6^post_17 && __disjvr_7^0==__disjvr_7^post_17 && __disjvr_8^0==__disjvr_8^post_17 && __disjvr_9^0==__disjvr_9^post_17 && a_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: l17 -> l18 : __disjvr_0^0'=__disjvr_0^post_18, __disjvr_10^0'=__disjvr_10^post_18, __disjvr_11^0'=__disjvr_11^post_18, __disjvr_12^0'=__disjvr_12^post_18, __disjvr_13^0'=__disjvr_13^post_18, __disjvr_14^0'=__disjvr_14^post_18, __disjvr_15^0'=__disjvr_15^post_18, __disjvr_16^0'=__disjvr_16^post_18, __disjvr_17^0'=__disjvr_17^post_18, __disjvr_18^0'=__disjvr_18^post_18, __disjvr_19^0'=__disjvr_19^post_18, __disjvr_1^0'=__disjvr_1^post_18, __disjvr_20^0'=__disjvr_20^post_18, __disjvr_21^0'=__disjvr_21^post_18, __disjvr_22^0'=__disjvr_22^post_18, __disjvr_23^0'=__disjvr_23^post_18, __disjvr_24^0'=__disjvr_24^post_18, __disjvr_25^0'=__disjvr_25^post_18, __disjvr_2^0'=__disjvr_2^post_18, __disjvr_3^0'=__disjvr_3^post_18, __disjvr_4^0'=__disjvr_4^post_18, __disjvr_5^0'=__disjvr_5^post_18, __disjvr_6^0'=__disjvr_6^post_18, __disjvr_7^0'=__disjvr_7^post_18, __disjvr_8^0'=__disjvr_8^post_18, __disjvr_9^0'=__disjvr_9^post_18, a_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, [ lt_17^post_18==lt_17^post_18 && x_SLAM_f_22^1_2==head_16^0 && y_23^post_18==lt_20^0 && x_24^post_18==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_18 && x_24^post_18<=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_18 && y_23^post_18<=lt_20^0 && x_SLAM_f_22^1_2<=x_24^post_18 && x_24^post_18<=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_18==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_18 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_18==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_18 && tail_15^post_18==tail_15^post_18 && head_16^post_18==head_16^post_18 && lt_20^post_18==lt_20^post_18 && x_SLAM_f_22^post_18==x_SLAM_f_22^post_18 && __disjvr_0^0==__disjvr_0^post_18 && __disjvr_1^0==__disjvr_1^post_18 && __disjvr_10^0==__disjvr_10^post_18 && __disjvr_11^0==__disjvr_11^post_18 && __disjvr_12^0==__disjvr_12^post_18 && __disjvr_13^0==__disjvr_13^post_18 && __disjvr_14^0==__disjvr_14^post_18 && __disjvr_15^0==__disjvr_15^post_18 && __disjvr_16^0==__disjvr_16^post_18 && __disjvr_17^0==__disjvr_17^post_18 && __disjvr_18^0==__disjvr_18^post_18 && __disjvr_19^0==__disjvr_19^post_18 && __disjvr_2^0==__disjvr_2^post_18 && __disjvr_20^0==__disjvr_20^post_18 && __disjvr_21^0==__disjvr_21^post_18 && __disjvr_22^0==__disjvr_22^post_18 && __disjvr_23^0==__disjvr_23^post_18 && __disjvr_24^0==__disjvr_24^post_18 && __disjvr_25^0==__disjvr_25^post_18 && __disjvr_3^0==__disjvr_3^post_18 && __disjvr_4^0==__disjvr_4^post_18 && __disjvr_5^0==__disjvr_5^post_18 && __disjvr_6^0==__disjvr_6^post_18 && __disjvr_7^0==__disjvr_7^post_18 && __disjvr_8^0==__disjvr_8^post_18 && __disjvr_9^0==__disjvr_9^post_18 && a_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_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 && 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_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_18 && t_25^0==t_25^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 ], cost: 1
     18: l18 -> l19 : __disjvr_0^0'=__disjvr_0^post_19, __disjvr_10^0'=__disjvr_10^post_19, __disjvr_11^0'=__disjvr_11^post_19, __disjvr_12^0'=__disjvr_12^post_19, __disjvr_13^0'=__disjvr_13^post_19, __disjvr_14^0'=__disjvr_14^post_19, __disjvr_15^0'=__disjvr_15^post_19, __disjvr_16^0'=__disjvr_16^post_19, __disjvr_17^0'=__disjvr_17^post_19, __disjvr_18^0'=__disjvr_18^post_19, __disjvr_19^0'=__disjvr_19^post_19, __disjvr_1^0'=__disjvr_1^post_19, __disjvr_20^0'=__disjvr_20^post_19, __disjvr_21^0'=__disjvr_21^post_19, __disjvr_22^0'=__disjvr_22^post_19, __disjvr_23^0'=__disjvr_23^post_19, __disjvr_24^0'=__disjvr_24^post_19, __disjvr_25^0'=__disjvr_25^post_19, __disjvr_2^0'=__disjvr_2^post_19, __disjvr_3^0'=__disjvr_3^post_19, __disjvr_4^0'=__disjvr_4^post_19, __disjvr_5^0'=__disjvr_5^post_19, __disjvr_6^0'=__disjvr_6^post_19, __disjvr_7^0'=__disjvr_7^post_19, __disjvr_8^0'=__disjvr_8^post_19, __disjvr_9^0'=__disjvr_9^post_19, a_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, [ __disjvr_7^post_19==__disjvr_7^0 && __disjvr_0^0==__disjvr_0^post_19 && __disjvr_1^0==__disjvr_1^post_19 && __disjvr_10^0==__disjvr_10^post_19 && __disjvr_11^0==__disjvr_11^post_19 && __disjvr_12^0==__disjvr_12^post_19 && __disjvr_13^0==__disjvr_13^post_19 && __disjvr_14^0==__disjvr_14^post_19 && __disjvr_15^0==__disjvr_15^post_19 && __disjvr_16^0==__disjvr_16^post_19 && __disjvr_17^0==__disjvr_17^post_19 && __disjvr_18^0==__disjvr_18^post_19 && __disjvr_19^0==__disjvr_19^post_19 && __disjvr_2^0==__disjvr_2^post_19 && __disjvr_20^0==__disjvr_20^post_19 && __disjvr_21^0==__disjvr_21^post_19 && __disjvr_22^0==__disjvr_22^post_19 && __disjvr_23^0==__disjvr_23^post_19 && __disjvr_24^0==__disjvr_24^post_19 && __disjvr_25^0==__disjvr_25^post_19 && __disjvr_3^0==__disjvr_3^post_19 && __disjvr_4^0==__disjvr_4^post_19 && __disjvr_5^0==__disjvr_5^post_19 && __disjvr_6^0==__disjvr_6^post_19 && __disjvr_7^0==__disjvr_7^post_19 && __disjvr_8^0==__disjvr_8^post_19 && __disjvr_9^0==__disjvr_9^post_19 && a_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: l19 -> l20 : __disjvr_0^0'=__disjvr_0^post_20, __disjvr_10^0'=__disjvr_10^post_20, __disjvr_11^0'=__disjvr_11^post_20, __disjvr_12^0'=__disjvr_12^post_20, __disjvr_13^0'=__disjvr_13^post_20, __disjvr_14^0'=__disjvr_14^post_20, __disjvr_15^0'=__disjvr_15^post_20, __disjvr_16^0'=__disjvr_16^post_20, __disjvr_17^0'=__disjvr_17^post_20, __disjvr_18^0'=__disjvr_18^post_20, __disjvr_19^0'=__disjvr_19^post_20, __disjvr_1^0'=__disjvr_1^post_20, __disjvr_20^0'=__disjvr_20^post_20, __disjvr_21^0'=__disjvr_21^post_20, __disjvr_22^0'=__disjvr_22^post_20, __disjvr_23^0'=__disjvr_23^post_20, __disjvr_24^0'=__disjvr_24^post_20, __disjvr_25^0'=__disjvr_25^post_20, __disjvr_2^0'=__disjvr_2^post_20, __disjvr_3^0'=__disjvr_3^post_20, __disjvr_4^0'=__disjvr_4^post_20, __disjvr_5^0'=__disjvr_5^post_20, __disjvr_6^0'=__disjvr_6^post_20, __disjvr_7^0'=__disjvr_7^post_20, __disjvr_8^0'=__disjvr_8^post_20, __disjvr_9^0'=__disjvr_9^post_20, a_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, [ t_25^post_20==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_20 && t_25^post_20<=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 && __disjvr_0^0==__disjvr_0^post_20 && __disjvr_1^0==__disjvr_1^post_20 && __disjvr_10^0==__disjvr_10^post_20 && __disjvr_11^0==__disjvr_11^post_20 && __disjvr_12^0==__disjvr_12^post_20 && __disjvr_13^0==__disjvr_13^post_20 && __disjvr_14^0==__disjvr_14^post_20 && __disjvr_15^0==__disjvr_15^post_20 && __disjvr_16^0==__disjvr_16^post_20 && __disjvr_17^0==__disjvr_17^post_20 && __disjvr_18^0==__disjvr_18^post_20 && __disjvr_19^0==__disjvr_19^post_20 && __disjvr_2^0==__disjvr_2^post_20 && __disjvr_20^0==__disjvr_20^post_20 && __disjvr_21^0==__disjvr_21^post_20 && __disjvr_22^0==__disjvr_22^post_20 && __disjvr_23^0==__disjvr_23^post_20 && __disjvr_24^0==__disjvr_24^post_20 && __disjvr_25^0==__disjvr_25^post_20 && __disjvr_3^0==__disjvr_3^post_20 && __disjvr_4^0==__disjvr_4^post_20 && __disjvr_5^0==__disjvr_5^post_20 && __disjvr_6^0==__disjvr_6^post_20 && __disjvr_7^0==__disjvr_7^post_20 && __disjvr_8^0==__disjvr_8^post_20 && __disjvr_9^0==__disjvr_9^post_20 && a_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 && 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: l20 -> l21 : __disjvr_0^0'=__disjvr_0^post_21, __disjvr_10^0'=__disjvr_10^post_21, __disjvr_11^0'=__disjvr_11^post_21, __disjvr_12^0'=__disjvr_12^post_21, __disjvr_13^0'=__disjvr_13^post_21, __disjvr_14^0'=__disjvr_14^post_21, __disjvr_15^0'=__disjvr_15^post_21, __disjvr_16^0'=__disjvr_16^post_21, __disjvr_17^0'=__disjvr_17^post_21, __disjvr_18^0'=__disjvr_18^post_21, __disjvr_19^0'=__disjvr_19^post_21, __disjvr_1^0'=__disjvr_1^post_21, __disjvr_20^0'=__disjvr_20^post_21, __disjvr_21^0'=__disjvr_21^post_21, __disjvr_22^0'=__disjvr_22^post_21, __disjvr_23^0'=__disjvr_23^post_21, __disjvr_24^0'=__disjvr_24^post_21, __disjvr_25^0'=__disjvr_25^post_21, __disjvr_2^0'=__disjvr_2^post_21, __disjvr_3^0'=__disjvr_3^post_21, __disjvr_4^0'=__disjvr_4^post_21, __disjvr_5^0'=__disjvr_5^post_21, __disjvr_6^0'=__disjvr_6^post_21, __disjvr_7^0'=__disjvr_7^post_21, __disjvr_8^0'=__disjvr_8^post_21, __disjvr_9^0'=__disjvr_9^post_21, a_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, [ __disjvr_8^post_21==__disjvr_8^0 && __disjvr_0^0==__disjvr_0^post_21 && __disjvr_1^0==__disjvr_1^post_21 && __disjvr_10^0==__disjvr_10^post_21 && __disjvr_11^0==__disjvr_11^post_21 && __disjvr_12^0==__disjvr_12^post_21 && __disjvr_13^0==__disjvr_13^post_21 && __disjvr_14^0==__disjvr_14^post_21 && __disjvr_15^0==__disjvr_15^post_21 && __disjvr_16^0==__disjvr_16^post_21 && __disjvr_17^0==__disjvr_17^post_21 && __disjvr_18^0==__disjvr_18^post_21 && __disjvr_19^0==__disjvr_19^post_21 && __disjvr_2^0==__disjvr_2^post_21 && __disjvr_20^0==__disjvr_20^post_21 && __disjvr_21^0==__disjvr_21^post_21 && __disjvr_22^0==__disjvr_22^post_21 && __disjvr_23^0==__disjvr_23^post_21 && __disjvr_24^0==__disjvr_24^post_21 && __disjvr_25^0==__disjvr_25^post_21 && __disjvr_3^0==__disjvr_3^post_21 && __disjvr_4^0==__disjvr_4^post_21 && __disjvr_5^0==__disjvr_5^post_21 && __disjvr_6^0==__disjvr_6^post_21 && __disjvr_7^0==__disjvr_7^post_21 && __disjvr_8^0==__disjvr_8^post_21 && __disjvr_9^0==__disjvr_9^post_21 && a_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
     21: l21 -> l22 : __disjvr_0^0'=__disjvr_0^post_22, __disjvr_10^0'=__disjvr_10^post_22, __disjvr_11^0'=__disjvr_11^post_22, __disjvr_12^0'=__disjvr_12^post_22, __disjvr_13^0'=__disjvr_13^post_22, __disjvr_14^0'=__disjvr_14^post_22, __disjvr_15^0'=__disjvr_15^post_22, __disjvr_16^0'=__disjvr_16^post_22, __disjvr_17^0'=__disjvr_17^post_22, __disjvr_18^0'=__disjvr_18^post_22, __disjvr_19^0'=__disjvr_19^post_22, __disjvr_1^0'=__disjvr_1^post_22, __disjvr_20^0'=__disjvr_20^post_22, __disjvr_21^0'=__disjvr_21^post_22, __disjvr_22^0'=__disjvr_22^post_22, __disjvr_23^0'=__disjvr_23^post_22, __disjvr_24^0'=__disjvr_24^post_22, __disjvr_25^0'=__disjvr_25^post_22, __disjvr_2^0'=__disjvr_2^post_22, __disjvr_3^0'=__disjvr_3^post_22, __disjvr_4^0'=__disjvr_4^post_22, __disjvr_5^0'=__disjvr_5^post_22, __disjvr_6^0'=__disjvr_6^post_22, __disjvr_7^0'=__disjvr_7^post_22, __disjvr_8^0'=__disjvr_8^post_22, __disjvr_9^0'=__disjvr_9^post_22, a_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, [ __disjvr_9^post_22==__disjvr_9^0 && __disjvr_0^0==__disjvr_0^post_22 && __disjvr_1^0==__disjvr_1^post_22 && __disjvr_10^0==__disjvr_10^post_22 && __disjvr_11^0==__disjvr_11^post_22 && __disjvr_12^0==__disjvr_12^post_22 && __disjvr_13^0==__disjvr_13^post_22 && __disjvr_14^0==__disjvr_14^post_22 && __disjvr_15^0==__disjvr_15^post_22 && __disjvr_16^0==__disjvr_16^post_22 && __disjvr_17^0==__disjvr_17^post_22 && __disjvr_18^0==__disjvr_18^post_22 && __disjvr_19^0==__disjvr_19^post_22 && __disjvr_2^0==__disjvr_2^post_22 && __disjvr_20^0==__disjvr_20^post_22 && __disjvr_21^0==__disjvr_21^post_22 && __disjvr_22^0==__disjvr_22^post_22 && __disjvr_23^0==__disjvr_23^post_22 && __disjvr_24^0==__disjvr_24^post_22 && __disjvr_25^0==__disjvr_25^post_22 && __disjvr_3^0==__disjvr_3^post_22 && __disjvr_4^0==__disjvr_4^post_22 && __disjvr_5^0==__disjvr_5^post_22 && __disjvr_6^0==__disjvr_6^post_22 && __disjvr_7^0==__disjvr_7^post_22 && __disjvr_8^0==__disjvr_8^post_22 && __disjvr_9^0==__disjvr_9^post_22 && a_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 ], cost: 1
     22: l22 -> l12 : __disjvr_0^0'=__disjvr_0^post_23, __disjvr_10^0'=__disjvr_10^post_23, __disjvr_11^0'=__disjvr_11^post_23, __disjvr_12^0'=__disjvr_12^post_23, __disjvr_13^0'=__disjvr_13^post_23, __disjvr_14^0'=__disjvr_14^post_23, __disjvr_15^0'=__disjvr_15^post_23, __disjvr_16^0'=__disjvr_16^post_23, __disjvr_17^0'=__disjvr_17^post_23, __disjvr_18^0'=__disjvr_18^post_23, __disjvr_19^0'=__disjvr_19^post_23, __disjvr_1^0'=__disjvr_1^post_23, __disjvr_20^0'=__disjvr_20^post_23, __disjvr_21^0'=__disjvr_21^post_23, __disjvr_22^0'=__disjvr_22^post_23, __disjvr_23^0'=__disjvr_23^post_23, __disjvr_24^0'=__disjvr_24^post_23, __disjvr_25^0'=__disjvr_25^post_23, __disjvr_2^0'=__disjvr_2^post_23, __disjvr_3^0'=__disjvr_3^post_23, __disjvr_4^0'=__disjvr_4^post_23, __disjvr_5^0'=__disjvr_5^post_23, __disjvr_6^0'=__disjvr_6^post_23, __disjvr_7^0'=__disjvr_7^post_23, __disjvr_8^0'=__disjvr_8^post_23, __disjvr_9^0'=__disjvr_9^post_23, a_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, [ 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_23==x_SLAM_f_22^post_23 && y_23^post_23==y_23^post_23 && x_24^post_23==x_24^post_23 && t_25^post_23==t_25^post_23 && lt_20^post_23==lt_20^post_23 && __disjvr_0^0==__disjvr_0^post_23 && __disjvr_1^0==__disjvr_1^post_23 && __disjvr_10^0==__disjvr_10^post_23 && __disjvr_11^0==__disjvr_11^post_23 && __disjvr_12^0==__disjvr_12^post_23 && __disjvr_13^0==__disjvr_13^post_23 && __disjvr_14^0==__disjvr_14^post_23 && __disjvr_15^0==__disjvr_15^post_23 && __disjvr_16^0==__disjvr_16^post_23 && __disjvr_17^0==__disjvr_17^post_23 && __disjvr_18^0==__disjvr_18^post_23 && __disjvr_19^0==__disjvr_19^post_23 && __disjvr_2^0==__disjvr_2^post_23 && __disjvr_20^0==__disjvr_20^post_23 && __disjvr_21^0==__disjvr_21^post_23 && __disjvr_22^0==__disjvr_22^post_23 && __disjvr_23^0==__disjvr_23^post_23 && __disjvr_24^0==__disjvr_24^post_23 && __disjvr_25^0==__disjvr_25^post_23 && __disjvr_3^0==__disjvr_3^post_23 && __disjvr_4^0==__disjvr_4^post_23 && __disjvr_5^0==__disjvr_5^post_23 && __disjvr_6^0==__disjvr_6^post_23 && __disjvr_7^0==__disjvr_7^post_23 && __disjvr_8^0==__disjvr_8^post_23 && __disjvr_9^0==__disjvr_9^post_23 && a_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 && 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 && 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 ], cost: 1
     51: l23 -> l1 : __disjvr_0^0'=__disjvr_0^post_52, __disjvr_10^0'=__disjvr_10^post_52, __disjvr_11^0'=__disjvr_11^post_52, __disjvr_12^0'=__disjvr_12^post_52, __disjvr_13^0'=__disjvr_13^post_52, __disjvr_14^0'=__disjvr_14^post_52, __disjvr_15^0'=__disjvr_15^post_52, __disjvr_16^0'=__disjvr_16^post_52, __disjvr_17^0'=__disjvr_17^post_52, __disjvr_18^0'=__disjvr_18^post_52, __disjvr_19^0'=__disjvr_19^post_52, __disjvr_1^0'=__disjvr_1^post_52, __disjvr_20^0'=__disjvr_20^post_52, __disjvr_21^0'=__disjvr_21^post_52, __disjvr_22^0'=__disjvr_22^post_52, __disjvr_23^0'=__disjvr_23^post_52, __disjvr_24^0'=__disjvr_24^post_52, __disjvr_25^0'=__disjvr_25^post_52, __disjvr_2^0'=__disjvr_2^post_52, __disjvr_3^0'=__disjvr_3^post_52, __disjvr_4^0'=__disjvr_4^post_52, __disjvr_5^0'=__disjvr_5^post_52, __disjvr_6^0'=__disjvr_6^post_52, __disjvr_7^0'=__disjvr_7^post_52, __disjvr_8^0'=__disjvr_8^post_52, __disjvr_9^0'=__disjvr_9^post_52, 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, [ 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_52==length_27^post_52 && head_SLAM_f_28^post_52==head_SLAM_f_28^post_52 && i_29^post_52==i_29^post_52 && temp0_30^post_52==temp0_30^post_52 && head_31^post_52==head_31^post_52 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_52==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_52 && tmp_33^post_52==tmp_33^post_52 && temp_34^post_52==temp_34^post_52 && head_16^post_52==result_11^1_5 && result_11^2_2_1==result_11^2_2_1 && head_16^post_52<=lt_17^0 && lt_17^0<=head_16^post_52 && lt_17^post_52==lt_17^post_52 && result_11^post_52==temp0_21^0 && __disjvr_0^0==__disjvr_0^post_52 && __disjvr_1^0==__disjvr_1^post_52 && __disjvr_10^0==__disjvr_10^post_52 && __disjvr_11^0==__disjvr_11^post_52 && __disjvr_12^0==__disjvr_12^post_52 && __disjvr_13^0==__disjvr_13^post_52 && __disjvr_14^0==__disjvr_14^post_52 && __disjvr_15^0==__disjvr_15^post_52 && __disjvr_16^0==__disjvr_16^post_52 && __disjvr_17^0==__disjvr_17^post_52 && __disjvr_18^0==__disjvr_18^post_52 && __disjvr_19^0==__disjvr_19^post_52 && __disjvr_2^0==__disjvr_2^post_52 && __disjvr_20^0==__disjvr_20^post_52 && __disjvr_21^0==__disjvr_21^post_52 && __disjvr_22^0==__disjvr_22^post_52 && __disjvr_23^0==__disjvr_23^post_52 && __disjvr_24^0==__disjvr_24^post_52 && __disjvr_25^0==__disjvr_25^post_52 && __disjvr_3^0==__disjvr_3^post_52 && __disjvr_4^0==__disjvr_4^post_52 && __disjvr_5^0==__disjvr_5^post_52 && __disjvr_6^0==__disjvr_6^post_52 && __disjvr_7^0==__disjvr_7^post_52 && __disjvr_8^0==__disjvr_8^post_52 && __disjvr_9^0==__disjvr_9^post_52 && 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 && i_110^0==i_110^post_52 && i_120^0==i_120^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_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^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 && temp_35^0==temp_35^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: l23 -> l47 : __disjvr_0^0'=__disjvr_0^post_53, __disjvr_10^0'=__disjvr_10^post_53, __disjvr_11^0'=__disjvr_11^post_53, __disjvr_12^0'=__disjvr_12^post_53, __disjvr_13^0'=__disjvr_13^post_53, __disjvr_14^0'=__disjvr_14^post_53, __disjvr_15^0'=__disjvr_15^post_53, __disjvr_16^0'=__disjvr_16^post_53, __disjvr_17^0'=__disjvr_17^post_53, __disjvr_18^0'=__disjvr_18^post_53, __disjvr_19^0'=__disjvr_19^post_53, __disjvr_1^0'=__disjvr_1^post_53, __disjvr_20^0'=__disjvr_20^post_53, __disjvr_21^0'=__disjvr_21^post_53, __disjvr_22^0'=__disjvr_22^post_53, __disjvr_23^0'=__disjvr_23^post_53, __disjvr_24^0'=__disjvr_24^post_53, __disjvr_25^0'=__disjvr_25^post_53, __disjvr_2^0'=__disjvr_2^post_53, __disjvr_3^0'=__disjvr_3^post_53, __disjvr_4^0'=__disjvr_4^post_53, __disjvr_5^0'=__disjvr_5^post_53, __disjvr_6^0'=__disjvr_6^post_53, __disjvr_7^0'=__disjvr_7^post_53, __disjvr_8^0'=__disjvr_8^post_53, __disjvr_9^0'=__disjvr_9^post_53, 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, [ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_53==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_53 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_53==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_53 && tail_15^post_53==tail_15^post_53 && 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_53==length_27^post_53 && head_SLAM_f_28^post_53==head_SLAM_f_28^post_53 && i_29^post_53==i_29^post_53 && temp0_30^post_53==temp0_30^post_53 && head_31^post_53==head_31^post_53 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_53==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_53 && tmp_33^post_53==tmp_33^post_53 && temp_34^post_53==temp_34^post_53 && head_16^post_53==result_11^1_6 && result_11^post_53==result_11^post_53 && __disjvr_0^0==__disjvr_0^post_53 && __disjvr_1^0==__disjvr_1^post_53 && __disjvr_10^0==__disjvr_10^post_53 && __disjvr_11^0==__disjvr_11^post_53 && __disjvr_12^0==__disjvr_12^post_53 && __disjvr_13^0==__disjvr_13^post_53 && __disjvr_14^0==__disjvr_14^post_53 && __disjvr_15^0==__disjvr_15^post_53 && __disjvr_16^0==__disjvr_16^post_53 && __disjvr_17^0==__disjvr_17^post_53 && __disjvr_18^0==__disjvr_18^post_53 && __disjvr_19^0==__disjvr_19^post_53 && __disjvr_2^0==__disjvr_2^post_53 && __disjvr_20^0==__disjvr_20^post_53 && __disjvr_21^0==__disjvr_21^post_53 && __disjvr_22^0==__disjvr_22^post_53 && __disjvr_23^0==__disjvr_23^post_53 && __disjvr_24^0==__disjvr_24^post_53 && __disjvr_25^0==__disjvr_25^post_53 && __disjvr_3^0==__disjvr_3^post_53 && __disjvr_4^0==__disjvr_4^post_53 && __disjvr_5^0==__disjvr_5^post_53 && __disjvr_6^0==__disjvr_6^post_53 && __disjvr_7^0==__disjvr_7^post_53 && __disjvr_8^0==__disjvr_8^post_53 && __disjvr_9^0==__disjvr_9^post_53 && 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 && i_110^0==i_110^post_53 && i_120^0==i_120^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 && t_25^0==t_25^post_53 && temp0_21^0==temp0_21^post_53 && temp_35^0==temp_35^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
     59: l23 -> l0 : __disjvr_0^0'=__disjvr_0^post_60, __disjvr_10^0'=__disjvr_10^post_60, __disjvr_11^0'=__disjvr_11^post_60, __disjvr_12^0'=__disjvr_12^post_60, __disjvr_13^0'=__disjvr_13^post_60, __disjvr_14^0'=__disjvr_14^post_60, __disjvr_15^0'=__disjvr_15^post_60, __disjvr_16^0'=__disjvr_16^post_60, __disjvr_17^0'=__disjvr_17^post_60, __disjvr_18^0'=__disjvr_18^post_60, __disjvr_19^0'=__disjvr_19^post_60, __disjvr_1^0'=__disjvr_1^post_60, __disjvr_20^0'=__disjvr_20^post_60, __disjvr_21^0'=__disjvr_21^post_60, __disjvr_22^0'=__disjvr_22^post_60, __disjvr_23^0'=__disjvr_23^post_60, __disjvr_24^0'=__disjvr_24^post_60, __disjvr_25^0'=__disjvr_25^post_60, __disjvr_2^0'=__disjvr_2^post_60, __disjvr_3^0'=__disjvr_3^post_60, __disjvr_4^0'=__disjvr_4^post_60, __disjvr_5^0'=__disjvr_5^post_60, __disjvr_6^0'=__disjvr_6^post_60, __disjvr_7^0'=__disjvr_7^post_60, __disjvr_8^0'=__disjvr_8^post_60, __disjvr_9^0'=__disjvr_9^post_60, 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, [ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_60==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_60 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_60==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_60 && tail_15^post_60==tail_15^post_60 && head_SLAM_f_28^post_60==head_SLAM_f_28^post_60 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_60==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_60 && rcd_69^post_60==rcd_69^post_60 && 1+i_29^0<=length_27^0 && tmp_33^post_60==temp_34^0 && temp_34^post_60==temp_34^post_60 && head_31^post_60==tmp_33^post_60 && i_29^post_60==1+i_29^0 && 2<=i_29^post_60 && i_29^post_60<=2 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_60<=tail_15^post_60 && tail_15^post_60<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_60 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_60<=head_SLAM_f_28^post_60 && head_SLAM_f_28^post_60<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_60 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_60<=length_27^0 && length_27^0<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_60 && tail_15^post_60<=head_SLAM_f_28^post_60 && head_SLAM_f_28^post_60<=tail_15^post_60 && head_31^post_60<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_60 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_60<=head_31^post_60 && head_31^post_60<=tmp_33^post_60 && tmp_33^post_60<=head_31^post_60 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_60<=tmp_33^post_60 && tmp_33^post_60<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_60 && 1<=length_27^0 && 2<=length_27^0 && __disjvr_0^0==__disjvr_0^post_60 && __disjvr_1^0==__disjvr_1^post_60 && __disjvr_10^0==__disjvr_10^post_60 && __disjvr_11^0==__disjvr_11^post_60 && __disjvr_12^0==__disjvr_12^post_60 && __disjvr_13^0==__disjvr_13^post_60 && __disjvr_14^0==__disjvr_14^post_60 && __disjvr_15^0==__disjvr_15^post_60 && __disjvr_16^0==__disjvr_16^post_60 && __disjvr_17^0==__disjvr_17^post_60 && __disjvr_18^0==__disjvr_18^post_60 && __disjvr_19^0==__disjvr_19^post_60 && __disjvr_2^0==__disjvr_2^post_60 && __disjvr_20^0==__disjvr_20^post_60 && __disjvr_21^0==__disjvr_21^post_60 && __disjvr_22^0==__disjvr_22^post_60 && __disjvr_23^0==__disjvr_23^post_60 && __disjvr_24^0==__disjvr_24^post_60 && __disjvr_25^0==__disjvr_25^post_60 && __disjvr_3^0==__disjvr_3^post_60 && __disjvr_4^0==__disjvr_4^post_60 && __disjvr_5^0==__disjvr_5^post_60 && __disjvr_6^0==__disjvr_6^post_60 && __disjvr_7^0==__disjvr_7^post_60 && __disjvr_8^0==__disjvr_8^post_60 && __disjvr_9^0==__disjvr_9^post_60 && 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 && i_110^0==i_110^post_60 && i_120^0==i_120^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 && result_11^0==result_11^post_60 && t_25^0==t_25^post_60 && temp0_21^0==temp0_21^post_60 && temp0_30^0==temp0_30^post_60 && temp_35^0==temp_35^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
     24: l24 -> l1 : __disjvr_0^0'=__disjvr_0^post_25, __disjvr_10^0'=__disjvr_10^post_25, __disjvr_11^0'=__disjvr_11^post_25, __disjvr_12^0'=__disjvr_12^post_25, __disjvr_13^0'=__disjvr_13^post_25, __disjvr_14^0'=__disjvr_14^post_25, __disjvr_15^0'=__disjvr_15^post_25, __disjvr_16^0'=__disjvr_16^post_25, __disjvr_17^0'=__disjvr_17^post_25, __disjvr_18^0'=__disjvr_18^post_25, __disjvr_19^0'=__disjvr_19^post_25, __disjvr_1^0'=__disjvr_1^post_25, __disjvr_20^0'=__disjvr_20^post_25, __disjvr_21^0'=__disjvr_21^post_25, __disjvr_22^0'=__disjvr_22^post_25, __disjvr_23^0'=__disjvr_23^post_25, __disjvr_24^0'=__disjvr_24^post_25, __disjvr_25^0'=__disjvr_25^post_25, __disjvr_2^0'=__disjvr_2^post_25, __disjvr_3^0'=__disjvr_3^post_25, __disjvr_4^0'=__disjvr_4^post_25, __disjvr_5^0'=__disjvr_5^post_25, __disjvr_6^0'=__disjvr_6^post_25, __disjvr_7^0'=__disjvr_7^post_25, __disjvr_8^0'=__disjvr_8^post_25, __disjvr_9^0'=__disjvr_9^post_25, a_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, [ result_dot_nondet_sdv_special_RETURN_VALUE_14^post_25==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_25 && result_11^post_25==temp0_21^0 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_25<=0 && __disjvr_0^0==__disjvr_0^post_25 && __disjvr_1^0==__disjvr_1^post_25 && __disjvr_10^0==__disjvr_10^post_25 && __disjvr_11^0==__disjvr_11^post_25 && __disjvr_12^0==__disjvr_12^post_25 && __disjvr_13^0==__disjvr_13^post_25 && __disjvr_14^0==__disjvr_14^post_25 && __disjvr_15^0==__disjvr_15^post_25 && __disjvr_16^0==__disjvr_16^post_25 && __disjvr_17^0==__disjvr_17^post_25 && __disjvr_18^0==__disjvr_18^post_25 && __disjvr_19^0==__disjvr_19^post_25 && __disjvr_2^0==__disjvr_2^post_25 && __disjvr_20^0==__disjvr_20^post_25 && __disjvr_21^0==__disjvr_21^post_25 && __disjvr_22^0==__disjvr_22^post_25 && __disjvr_23^0==__disjvr_23^post_25 && __disjvr_24^0==__disjvr_24^post_25 && __disjvr_25^0==__disjvr_25^post_25 && __disjvr_3^0==__disjvr_3^post_25 && __disjvr_4^0==__disjvr_4^post_25 && __disjvr_5^0==__disjvr_5^post_25 && __disjvr_6^0==__disjvr_6^post_25 && __disjvr_7^0==__disjvr_7^post_25 && __disjvr_8^0==__disjvr_8^post_25 && __disjvr_9^0==__disjvr_9^post_25 && a_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_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 && 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 ], cost: 1
     27: l26 -> l27 : __disjvr_0^0'=__disjvr_0^post_28, __disjvr_10^0'=__disjvr_10^post_28, __disjvr_11^0'=__disjvr_11^post_28, __disjvr_12^0'=__disjvr_12^post_28, __disjvr_13^0'=__disjvr_13^post_28, __disjvr_14^0'=__disjvr_14^post_28, __disjvr_15^0'=__disjvr_15^post_28, __disjvr_16^0'=__disjvr_16^post_28, __disjvr_17^0'=__disjvr_17^post_28, __disjvr_18^0'=__disjvr_18^post_28, __disjvr_19^0'=__disjvr_19^post_28, __disjvr_1^0'=__disjvr_1^post_28, __disjvr_20^0'=__disjvr_20^post_28, __disjvr_21^0'=__disjvr_21^post_28, __disjvr_22^0'=__disjvr_22^post_28, __disjvr_23^0'=__disjvr_23^post_28, __disjvr_24^0'=__disjvr_24^post_28, __disjvr_25^0'=__disjvr_25^post_28, __disjvr_2^0'=__disjvr_2^post_28, __disjvr_3^0'=__disjvr_3^post_28, __disjvr_4^0'=__disjvr_4^post_28, __disjvr_5^0'=__disjvr_5^post_28, __disjvr_6^0'=__disjvr_6^post_28, __disjvr_7^0'=__disjvr_7^post_28, __disjvr_8^0'=__disjvr_8^post_28, __disjvr_9^0'=__disjvr_9^post_28, a_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, [ __disjvr_10^post_28==__disjvr_10^0 && __disjvr_0^0==__disjvr_0^post_28 && __disjvr_1^0==__disjvr_1^post_28 && __disjvr_10^0==__disjvr_10^post_28 && __disjvr_11^0==__disjvr_11^post_28 && __disjvr_12^0==__disjvr_12^post_28 && __disjvr_13^0==__disjvr_13^post_28 && __disjvr_14^0==__disjvr_14^post_28 && __disjvr_15^0==__disjvr_15^post_28 && __disjvr_16^0==__disjvr_16^post_28 && __disjvr_17^0==__disjvr_17^post_28 && __disjvr_18^0==__disjvr_18^post_28 && __disjvr_19^0==__disjvr_19^post_28 && __disjvr_2^0==__disjvr_2^post_28 && __disjvr_20^0==__disjvr_20^post_28 && __disjvr_21^0==__disjvr_21^post_28 && __disjvr_22^0==__disjvr_22^post_28 && __disjvr_23^0==__disjvr_23^post_28 && __disjvr_24^0==__disjvr_24^post_28 && __disjvr_25^0==__disjvr_25^post_28 && __disjvr_3^0==__disjvr_3^post_28 && __disjvr_4^0==__disjvr_4^post_28 && __disjvr_5^0==__disjvr_5^post_28 && __disjvr_6^0==__disjvr_6^post_28 && __disjvr_7^0==__disjvr_7^post_28 && __disjvr_8^0==__disjvr_8^post_28 && __disjvr_9^0==__disjvr_9^post_28 && a_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 ], cost: 1
     28: l27 -> l28 : __disjvr_0^0'=__disjvr_0^post_29, __disjvr_10^0'=__disjvr_10^post_29, __disjvr_11^0'=__disjvr_11^post_29, __disjvr_12^0'=__disjvr_12^post_29, __disjvr_13^0'=__disjvr_13^post_29, __disjvr_14^0'=__disjvr_14^post_29, __disjvr_15^0'=__disjvr_15^post_29, __disjvr_16^0'=__disjvr_16^post_29, __disjvr_17^0'=__disjvr_17^post_29, __disjvr_18^0'=__disjvr_18^post_29, __disjvr_19^0'=__disjvr_19^post_29, __disjvr_1^0'=__disjvr_1^post_29, __disjvr_20^0'=__disjvr_20^post_29, __disjvr_21^0'=__disjvr_21^post_29, __disjvr_22^0'=__disjvr_22^post_29, __disjvr_23^0'=__disjvr_23^post_29, __disjvr_24^0'=__disjvr_24^post_29, __disjvr_25^0'=__disjvr_25^post_29, __disjvr_2^0'=__disjvr_2^post_29, __disjvr_3^0'=__disjvr_3^post_29, __disjvr_4^0'=__disjvr_4^post_29, __disjvr_5^0'=__disjvr_5^post_29, __disjvr_6^0'=__disjvr_6^post_29, __disjvr_7^0'=__disjvr_7^post_29, __disjvr_8^0'=__disjvr_8^post_29, __disjvr_9^0'=__disjvr_9^post_29, a_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, [ t_25^post_29==x_24^0 && rcd_207^post_29==rcd_207^post_29 && a_208^post_29==a_208^post_29 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0<=tail_15^0 && tail_15^0<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 && 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 && __disjvr_0^0==__disjvr_0^post_29 && __disjvr_1^0==__disjvr_1^post_29 && __disjvr_10^0==__disjvr_10^post_29 && __disjvr_11^0==__disjvr_11^post_29 && __disjvr_12^0==__disjvr_12^post_29 && __disjvr_13^0==__disjvr_13^post_29 && __disjvr_14^0==__disjvr_14^post_29 && __disjvr_15^0==__disjvr_15^post_29 && __disjvr_16^0==__disjvr_16^post_29 && __disjvr_17^0==__disjvr_17^post_29 && __disjvr_18^0==__disjvr_18^post_29 && __disjvr_19^0==__disjvr_19^post_29 && __disjvr_2^0==__disjvr_2^post_29 && __disjvr_20^0==__disjvr_20^post_29 && __disjvr_21^0==__disjvr_21^post_29 && __disjvr_22^0==__disjvr_22^post_29 && __disjvr_23^0==__disjvr_23^post_29 && __disjvr_24^0==__disjvr_24^post_29 && __disjvr_25^0==__disjvr_25^post_29 && __disjvr_3^0==__disjvr_3^post_29 && __disjvr_4^0==__disjvr_4^post_29 && __disjvr_5^0==__disjvr_5^post_29 && __disjvr_6^0==__disjvr_6^post_29 && __disjvr_7^0==__disjvr_7^post_29 && __disjvr_8^0==__disjvr_8^post_29 && __disjvr_9^0==__disjvr_9^post_29 && a_153^0==a_153^post_29 && a_178^0==a_178^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_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 && 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: l28 -> l29 : __disjvr_0^0'=__disjvr_0^post_30, __disjvr_10^0'=__disjvr_10^post_30, __disjvr_11^0'=__disjvr_11^post_30, __disjvr_12^0'=__disjvr_12^post_30, __disjvr_13^0'=__disjvr_13^post_30, __disjvr_14^0'=__disjvr_14^post_30, __disjvr_15^0'=__disjvr_15^post_30, __disjvr_16^0'=__disjvr_16^post_30, __disjvr_17^0'=__disjvr_17^post_30, __disjvr_18^0'=__disjvr_18^post_30, __disjvr_19^0'=__disjvr_19^post_30, __disjvr_1^0'=__disjvr_1^post_30, __disjvr_20^0'=__disjvr_20^post_30, __disjvr_21^0'=__disjvr_21^post_30, __disjvr_22^0'=__disjvr_22^post_30, __disjvr_23^0'=__disjvr_23^post_30, __disjvr_24^0'=__disjvr_24^post_30, __disjvr_25^0'=__disjvr_25^post_30, __disjvr_2^0'=__disjvr_2^post_30, __disjvr_3^0'=__disjvr_3^post_30, __disjvr_4^0'=__disjvr_4^post_30, __disjvr_5^0'=__disjvr_5^post_30, __disjvr_6^0'=__disjvr_6^post_30, __disjvr_7^0'=__disjvr_7^post_30, __disjvr_8^0'=__disjvr_8^post_30, __disjvr_9^0'=__disjvr_9^post_30, a_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, [ __disjvr_11^post_30==__disjvr_11^0 && __disjvr_0^0==__disjvr_0^post_30 && __disjvr_1^0==__disjvr_1^post_30 && __disjvr_10^0==__disjvr_10^post_30 && __disjvr_11^0==__disjvr_11^post_30 && __disjvr_12^0==__disjvr_12^post_30 && __disjvr_13^0==__disjvr_13^post_30 && __disjvr_14^0==__disjvr_14^post_30 && __disjvr_15^0==__disjvr_15^post_30 && __disjvr_16^0==__disjvr_16^post_30 && __disjvr_17^0==__disjvr_17^post_30 && __disjvr_18^0==__disjvr_18^post_30 && __disjvr_19^0==__disjvr_19^post_30 && __disjvr_2^0==__disjvr_2^post_30 && __disjvr_20^0==__disjvr_20^post_30 && __disjvr_21^0==__disjvr_21^post_30 && __disjvr_22^0==__disjvr_22^post_30 && __disjvr_23^0==__disjvr_23^post_30 && __disjvr_24^0==__disjvr_24^post_30 && __disjvr_25^0==__disjvr_25^post_30 && __disjvr_3^0==__disjvr_3^post_30 && __disjvr_4^0==__disjvr_4^post_30 && __disjvr_5^0==__disjvr_5^post_30 && __disjvr_6^0==__disjvr_6^post_30 && __disjvr_7^0==__disjvr_7^post_30 && __disjvr_8^0==__disjvr_8^post_30 && __disjvr_9^0==__disjvr_9^post_30 && a_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: l29 -> l30 : __disjvr_0^0'=__disjvr_0^post_31, __disjvr_10^0'=__disjvr_10^post_31, __disjvr_11^0'=__disjvr_11^post_31, __disjvr_12^0'=__disjvr_12^post_31, __disjvr_13^0'=__disjvr_13^post_31, __disjvr_14^0'=__disjvr_14^post_31, __disjvr_15^0'=__disjvr_15^post_31, __disjvr_16^0'=__disjvr_16^post_31, __disjvr_17^0'=__disjvr_17^post_31, __disjvr_18^0'=__disjvr_18^post_31, __disjvr_19^0'=__disjvr_19^post_31, __disjvr_1^0'=__disjvr_1^post_31, __disjvr_20^0'=__disjvr_20^post_31, __disjvr_21^0'=__disjvr_21^post_31, __disjvr_22^0'=__disjvr_22^post_31, __disjvr_23^0'=__disjvr_23^post_31, __disjvr_24^0'=__disjvr_24^post_31, __disjvr_25^0'=__disjvr_25^post_31, __disjvr_2^0'=__disjvr_2^post_31, __disjvr_3^0'=__disjvr_3^post_31, __disjvr_4^0'=__disjvr_4^post_31, __disjvr_5^0'=__disjvr_5^post_31, __disjvr_6^0'=__disjvr_6^post_31, __disjvr_7^0'=__disjvr_7^post_31, __disjvr_8^0'=__disjvr_8^post_31, __disjvr_9^0'=__disjvr_9^post_31, a_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, [ __disjvr_12^post_31==__disjvr_12^0 && __disjvr_0^0==__disjvr_0^post_31 && __disjvr_1^0==__disjvr_1^post_31 && __disjvr_10^0==__disjvr_10^post_31 && __disjvr_11^0==__disjvr_11^post_31 && __disjvr_12^0==__disjvr_12^post_31 && __disjvr_13^0==__disjvr_13^post_31 && __disjvr_14^0==__disjvr_14^post_31 && __disjvr_15^0==__disjvr_15^post_31 && __disjvr_16^0==__disjvr_16^post_31 && __disjvr_17^0==__disjvr_17^post_31 && __disjvr_18^0==__disjvr_18^post_31 && __disjvr_19^0==__disjvr_19^post_31 && __disjvr_2^0==__disjvr_2^post_31 && __disjvr_20^0==__disjvr_20^post_31 && __disjvr_21^0==__disjvr_21^post_31 && __disjvr_22^0==__disjvr_22^post_31 && __disjvr_23^0==__disjvr_23^post_31 && __disjvr_24^0==__disjvr_24^post_31 && __disjvr_25^0==__disjvr_25^post_31 && __disjvr_3^0==__disjvr_3^post_31 && __disjvr_4^0==__disjvr_4^post_31 && __disjvr_5^0==__disjvr_5^post_31 && __disjvr_6^0==__disjvr_6^post_31 && __disjvr_7^0==__disjvr_7^post_31 && __disjvr_8^0==__disjvr_8^post_31 && __disjvr_9^0==__disjvr_9^post_31 && a_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: l30 -> l25 : __disjvr_0^0'=__disjvr_0^post_32, __disjvr_10^0'=__disjvr_10^post_32, __disjvr_11^0'=__disjvr_11^post_32, __disjvr_12^0'=__disjvr_12^post_32, __disjvr_13^0'=__disjvr_13^post_32, __disjvr_14^0'=__disjvr_14^post_32, __disjvr_15^0'=__disjvr_15^post_32, __disjvr_16^0'=__disjvr_16^post_32, __disjvr_17^0'=__disjvr_17^post_32, __disjvr_18^0'=__disjvr_18^post_32, __disjvr_19^0'=__disjvr_19^post_32, __disjvr_1^0'=__disjvr_1^post_32, __disjvr_20^0'=__disjvr_20^post_32, __disjvr_21^0'=__disjvr_21^post_32, __disjvr_22^0'=__disjvr_22^post_32, __disjvr_23^0'=__disjvr_23^post_32, __disjvr_24^0'=__disjvr_24^post_32, __disjvr_25^0'=__disjvr_25^post_32, __disjvr_2^0'=__disjvr_2^post_32, __disjvr_3^0'=__disjvr_3^post_32, __disjvr_4^0'=__disjvr_4^post_32, __disjvr_5^0'=__disjvr_5^post_32, __disjvr_6^0'=__disjvr_6^post_32, __disjvr_7^0'=__disjvr_7^post_32, __disjvr_8^0'=__disjvr_8^post_32, __disjvr_9^0'=__disjvr_9^post_32, a_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<=result_dot_nondet_sdv_special_RETURN_VALUE_14^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^0 && rcd_43^post_32==rcd_43^post_32 && rcd_43^post_32<=rcd_207^0 && rcd_207^0<=rcd_43^post_32 && a_178^post_32==a_178^post_32 && a_178^post_32<=a_208^0 && a_208^0<=a_178^post_32 && __disjvr_0^0==__disjvr_0^post_32 && __disjvr_1^0==__disjvr_1^post_32 && __disjvr_10^0==__disjvr_10^post_32 && __disjvr_11^0==__disjvr_11^post_32 && __disjvr_12^0==__disjvr_12^post_32 && __disjvr_13^0==__disjvr_13^post_32 && __disjvr_14^0==__disjvr_14^post_32 && __disjvr_15^0==__disjvr_15^post_32 && __disjvr_16^0==__disjvr_16^post_32 && __disjvr_17^0==__disjvr_17^post_32 && __disjvr_18^0==__disjvr_18^post_32 && __disjvr_19^0==__disjvr_19^post_32 && __disjvr_2^0==__disjvr_2^post_32 && __disjvr_20^0==__disjvr_20^post_32 && __disjvr_21^0==__disjvr_21^post_32 && __disjvr_22^0==__disjvr_22^post_32 && __disjvr_23^0==__disjvr_23^post_32 && __disjvr_24^0==__disjvr_24^post_32 && __disjvr_25^0==__disjvr_25^post_32 && __disjvr_3^0==__disjvr_3^post_32 && __disjvr_4^0==__disjvr_4^post_32 && __disjvr_5^0==__disjvr_5^post_32 && __disjvr_6^0==__disjvr_6^post_32 && __disjvr_7^0==__disjvr_7^post_32 && __disjvr_8^0==__disjvr_8^post_32 && __disjvr_9^0==__disjvr_9^post_32 && a_153^0==a_153^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_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: l25 -> l2 : __disjvr_0^0'=__disjvr_0^post_33, __disjvr_10^0'=__disjvr_10^post_33, __disjvr_11^0'=__disjvr_11^post_33, __disjvr_12^0'=__disjvr_12^post_33, __disjvr_13^0'=__disjvr_13^post_33, __disjvr_14^0'=__disjvr_14^post_33, __disjvr_15^0'=__disjvr_15^post_33, __disjvr_16^0'=__disjvr_16^post_33, __disjvr_17^0'=__disjvr_17^post_33, __disjvr_18^0'=__disjvr_18^post_33, __disjvr_19^0'=__disjvr_19^post_33, __disjvr_1^0'=__disjvr_1^post_33, __disjvr_20^0'=__disjvr_20^post_33, __disjvr_21^0'=__disjvr_21^post_33, __disjvr_22^0'=__disjvr_22^post_33, __disjvr_23^0'=__disjvr_23^post_33, __disjvr_24^0'=__disjvr_24^post_33, __disjvr_25^0'=__disjvr_25^post_33, __disjvr_2^0'=__disjvr_2^post_33, __disjvr_3^0'=__disjvr_3^post_33, __disjvr_4^0'=__disjvr_4^post_33, __disjvr_5^0'=__disjvr_5^post_33, __disjvr_6^0'=__disjvr_6^post_33, __disjvr_7^0'=__disjvr_7^post_33, __disjvr_8^0'=__disjvr_8^post_33, __disjvr_9^0'=__disjvr_9^post_33, a_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, [ __disjvr_0^0==__disjvr_0^post_33 && __disjvr_1^0==__disjvr_1^post_33 && __disjvr_10^0==__disjvr_10^post_33 && __disjvr_11^0==__disjvr_11^post_33 && __disjvr_12^0==__disjvr_12^post_33 && __disjvr_13^0==__disjvr_13^post_33 && __disjvr_14^0==__disjvr_14^post_33 && __disjvr_15^0==__disjvr_15^post_33 && __disjvr_16^0==__disjvr_16^post_33 && __disjvr_17^0==__disjvr_17^post_33 && __disjvr_18^0==__disjvr_18^post_33 && __disjvr_19^0==__disjvr_19^post_33 && __disjvr_2^0==__disjvr_2^post_33 && __disjvr_20^0==__disjvr_20^post_33 && __disjvr_21^0==__disjvr_21^post_33 && __disjvr_22^0==__disjvr_22^post_33 && __disjvr_23^0==__disjvr_23^post_33 && __disjvr_24^0==__disjvr_24^post_33 && __disjvr_25^0==__disjvr_25^post_33 && __disjvr_3^0==__disjvr_3^post_33 && __disjvr_4^0==__disjvr_4^post_33 && __disjvr_5^0==__disjvr_5^post_33 && __disjvr_6^0==__disjvr_6^post_33 && __disjvr_7^0==__disjvr_7^post_33 && __disjvr_8^0==__disjvr_8^post_33 && __disjvr_9^0==__disjvr_9^post_33 && a_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 ], cost: 1
     33: l31 -> l1 : __disjvr_0^0'=__disjvr_0^post_34, __disjvr_10^0'=__disjvr_10^post_34, __disjvr_11^0'=__disjvr_11^post_34, __disjvr_12^0'=__disjvr_12^post_34, __disjvr_13^0'=__disjvr_13^post_34, __disjvr_14^0'=__disjvr_14^post_34, __disjvr_15^0'=__disjvr_15^post_34, __disjvr_16^0'=__disjvr_16^post_34, __disjvr_17^0'=__disjvr_17^post_34, __disjvr_18^0'=__disjvr_18^post_34, __disjvr_19^0'=__disjvr_19^post_34, __disjvr_1^0'=__disjvr_1^post_34, __disjvr_20^0'=__disjvr_20^post_34, __disjvr_21^0'=__disjvr_21^post_34, __disjvr_22^0'=__disjvr_22^post_34, __disjvr_23^0'=__disjvr_23^post_34, __disjvr_24^0'=__disjvr_24^post_34, __disjvr_25^0'=__disjvr_25^post_34, __disjvr_2^0'=__disjvr_2^post_34, __disjvr_3^0'=__disjvr_3^post_34, __disjvr_4^0'=__disjvr_4^post_34, __disjvr_5^0'=__disjvr_5^post_34, __disjvr_6^0'=__disjvr_6^post_34, __disjvr_7^0'=__disjvr_7^post_34, __disjvr_8^0'=__disjvr_8^post_34, __disjvr_9^0'=__disjvr_9^post_34, a_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, [ 0<=a_153^0 && y_23^0<=x_24^0 && x_24^0<=y_23^0 && x_SLAM_f_22^post_34==x_SLAM_f_22^post_34 && y_23^post_34==y_23^post_34 && x_24^post_34==x_24^post_34 && t_25^post_34==t_25^post_34 && lt_20^post_34==lt_20^post_34 && 0<=a_153^0 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_34==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_34 && head_16^post_34==head_16^post_34 && result_11^post_34==temp0_21^0 && 1<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_34 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_34 && __disjvr_0^0==__disjvr_0^post_34 && __disjvr_1^0==__disjvr_1^post_34 && __disjvr_10^0==__disjvr_10^post_34 && __disjvr_11^0==__disjvr_11^post_34 && __disjvr_12^0==__disjvr_12^post_34 && __disjvr_13^0==__disjvr_13^post_34 && __disjvr_14^0==__disjvr_14^post_34 && __disjvr_15^0==__disjvr_15^post_34 && __disjvr_16^0==__disjvr_16^post_34 && __disjvr_17^0==__disjvr_17^post_34 && __disjvr_18^0==__disjvr_18^post_34 && __disjvr_19^0==__disjvr_19^post_34 && __disjvr_2^0==__disjvr_2^post_34 && __disjvr_20^0==__disjvr_20^post_34 && __disjvr_21^0==__disjvr_21^post_34 && __disjvr_22^0==__disjvr_22^post_34 && __disjvr_23^0==__disjvr_23^post_34 && __disjvr_24^0==__disjvr_24^post_34 && __disjvr_25^0==__disjvr_25^post_34 && __disjvr_3^0==__disjvr_3^post_34 && __disjvr_4^0==__disjvr_4^post_34 && __disjvr_5^0==__disjvr_5^post_34 && __disjvr_6^0==__disjvr_6^post_34 && __disjvr_7^0==__disjvr_7^post_34 && __disjvr_8^0==__disjvr_8^post_34 && __disjvr_9^0==__disjvr_9^post_34 && a_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_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 && 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_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 && 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 ], cost: 1
     34: l31 -> l32 : __disjvr_0^0'=__disjvr_0^post_35, __disjvr_10^0'=__disjvr_10^post_35, __disjvr_11^0'=__disjvr_11^post_35, __disjvr_12^0'=__disjvr_12^post_35, __disjvr_13^0'=__disjvr_13^post_35, __disjvr_14^0'=__disjvr_14^post_35, __disjvr_15^0'=__disjvr_15^post_35, __disjvr_16^0'=__disjvr_16^post_35, __disjvr_17^0'=__disjvr_17^post_35, __disjvr_18^0'=__disjvr_18^post_35, __disjvr_19^0'=__disjvr_19^post_35, __disjvr_1^0'=__disjvr_1^post_35, __disjvr_20^0'=__disjvr_20^post_35, __disjvr_21^0'=__disjvr_21^post_35, __disjvr_22^0'=__disjvr_22^post_35, __disjvr_23^0'=__disjvr_23^post_35, __disjvr_24^0'=__disjvr_24^post_35, __disjvr_25^0'=__disjvr_25^post_35, __disjvr_2^0'=__disjvr_2^post_35, __disjvr_3^0'=__disjvr_3^post_35, __disjvr_4^0'=__disjvr_4^post_35, __disjvr_5^0'=__disjvr_5^post_35, __disjvr_6^0'=__disjvr_6^post_35, __disjvr_7^0'=__disjvr_7^post_35, __disjvr_8^0'=__disjvr_8^post_35, __disjvr_9^0'=__disjvr_9^post_35, a_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, [ 0<=a_153^0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_35==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_35 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_35==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_35 && tail_15^post_35==tail_15^post_35 && head_16^post_35==head_16^post_35 && lt_20^post_35==lt_20^post_35 && x_SLAM_f_22^post_35==x_SLAM_f_22^post_35 && r_164^post_35==r_164^post_35 && __disjvr_0^0==__disjvr_0^post_35 && __disjvr_1^0==__disjvr_1^post_35 && __disjvr_10^0==__disjvr_10^post_35 && __disjvr_11^0==__disjvr_11^post_35 && __disjvr_12^0==__disjvr_12^post_35 && __disjvr_13^0==__disjvr_13^post_35 && __disjvr_14^0==__disjvr_14^post_35 && __disjvr_15^0==__disjvr_15^post_35 && __disjvr_16^0==__disjvr_16^post_35 && __disjvr_17^0==__disjvr_17^post_35 && __disjvr_18^0==__disjvr_18^post_35 && __disjvr_19^0==__disjvr_19^post_35 && __disjvr_2^0==__disjvr_2^post_35 && __disjvr_20^0==__disjvr_20^post_35 && __disjvr_21^0==__disjvr_21^post_35 && __disjvr_22^0==__disjvr_22^post_35 && __disjvr_23^0==__disjvr_23^post_35 && __disjvr_24^0==__disjvr_24^post_35 && __disjvr_25^0==__disjvr_25^post_35 && __disjvr_3^0==__disjvr_3^post_35 && __disjvr_4^0==__disjvr_4^post_35 && __disjvr_5^0==__disjvr_5^post_35 && __disjvr_6^0==__disjvr_6^post_35 && __disjvr_7^0==__disjvr_7^post_35 && __disjvr_8^0==__disjvr_8^post_35 && __disjvr_9^0==__disjvr_9^post_35 && a_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_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 && nondet_12^0==nondet_12^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_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_35 && t_25^0==t_25^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 && y_23^0==y_23^post_35 ], cost: 1
     35: l32 -> l33 : __disjvr_0^0'=__disjvr_0^post_36, __disjvr_10^0'=__disjvr_10^post_36, __disjvr_11^0'=__disjvr_11^post_36, __disjvr_12^0'=__disjvr_12^post_36, __disjvr_13^0'=__disjvr_13^post_36, __disjvr_14^0'=__disjvr_14^post_36, __disjvr_15^0'=__disjvr_15^post_36, __disjvr_16^0'=__disjvr_16^post_36, __disjvr_17^0'=__disjvr_17^post_36, __disjvr_18^0'=__disjvr_18^post_36, __disjvr_19^0'=__disjvr_19^post_36, __disjvr_1^0'=__disjvr_1^post_36, __disjvr_20^0'=__disjvr_20^post_36, __disjvr_21^0'=__disjvr_21^post_36, __disjvr_22^0'=__disjvr_22^post_36, __disjvr_23^0'=__disjvr_23^post_36, __disjvr_24^0'=__disjvr_24^post_36, __disjvr_25^0'=__disjvr_25^post_36, __disjvr_2^0'=__disjvr_2^post_36, __disjvr_3^0'=__disjvr_3^post_36, __disjvr_4^0'=__disjvr_4^post_36, __disjvr_5^0'=__disjvr_5^post_36, __disjvr_6^0'=__disjvr_6^post_36, __disjvr_7^0'=__disjvr_7^post_36, __disjvr_8^0'=__disjvr_8^post_36, __disjvr_9^0'=__disjvr_9^post_36, a_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, [ __disjvr_13^post_36==__disjvr_13^0 && __disjvr_0^0==__disjvr_0^post_36 && __disjvr_1^0==__disjvr_1^post_36 && __disjvr_10^0==__disjvr_10^post_36 && __disjvr_11^0==__disjvr_11^post_36 && __disjvr_12^0==__disjvr_12^post_36 && __disjvr_13^0==__disjvr_13^post_36 && __disjvr_14^0==__disjvr_14^post_36 && __disjvr_15^0==__disjvr_15^post_36 && __disjvr_16^0==__disjvr_16^post_36 && __disjvr_17^0==__disjvr_17^post_36 && __disjvr_18^0==__disjvr_18^post_36 && __disjvr_19^0==__disjvr_19^post_36 && __disjvr_2^0==__disjvr_2^post_36 && __disjvr_20^0==__disjvr_20^post_36 && __disjvr_21^0==__disjvr_21^post_36 && __disjvr_22^0==__disjvr_22^post_36 && __disjvr_23^0==__disjvr_23^post_36 && __disjvr_24^0==__disjvr_24^post_36 && __disjvr_25^0==__disjvr_25^post_36 && __disjvr_3^0==__disjvr_3^post_36 && __disjvr_4^0==__disjvr_4^post_36 && __disjvr_5^0==__disjvr_5^post_36 && __disjvr_6^0==__disjvr_6^post_36 && __disjvr_7^0==__disjvr_7^post_36 && __disjvr_8^0==__disjvr_8^post_36 && __disjvr_9^0==__disjvr_9^post_36 && a_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 ], cost: 1
     36: l33 -> l34 : __disjvr_0^0'=__disjvr_0^post_37, __disjvr_10^0'=__disjvr_10^post_37, __disjvr_11^0'=__disjvr_11^post_37, __disjvr_12^0'=__disjvr_12^post_37, __disjvr_13^0'=__disjvr_13^post_37, __disjvr_14^0'=__disjvr_14^post_37, __disjvr_15^0'=__disjvr_15^post_37, __disjvr_16^0'=__disjvr_16^post_37, __disjvr_17^0'=__disjvr_17^post_37, __disjvr_18^0'=__disjvr_18^post_37, __disjvr_19^0'=__disjvr_19^post_37, __disjvr_1^0'=__disjvr_1^post_37, __disjvr_20^0'=__disjvr_20^post_37, __disjvr_21^0'=__disjvr_21^post_37, __disjvr_22^0'=__disjvr_22^post_37, __disjvr_23^0'=__disjvr_23^post_37, __disjvr_24^0'=__disjvr_24^post_37, __disjvr_25^0'=__disjvr_25^post_37, __disjvr_2^0'=__disjvr_2^post_37, __disjvr_3^0'=__disjvr_3^post_37, __disjvr_4^0'=__disjvr_4^post_37, __disjvr_5^0'=__disjvr_5^post_37, __disjvr_6^0'=__disjvr_6^post_37, __disjvr_7^0'=__disjvr_7^post_37, __disjvr_8^0'=__disjvr_8^post_37, __disjvr_9^0'=__disjvr_9^post_37, 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, [ t_25^post_37==x_24^0 && a_178^post_37==a_178^post_37 && rcd_179^post_37==rcd_179^post_37 && 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 && __disjvr_0^0==__disjvr_0^post_37 && __disjvr_1^0==__disjvr_1^post_37 && __disjvr_10^0==__disjvr_10^post_37 && __disjvr_11^0==__disjvr_11^post_37 && __disjvr_12^0==__disjvr_12^post_37 && __disjvr_13^0==__disjvr_13^post_37 && __disjvr_14^0==__disjvr_14^post_37 && __disjvr_15^0==__disjvr_15^post_37 && __disjvr_16^0==__disjvr_16^post_37 && __disjvr_17^0==__disjvr_17^post_37 && __disjvr_18^0==__disjvr_18^post_37 && __disjvr_19^0==__disjvr_19^post_37 && __disjvr_2^0==__disjvr_2^post_37 && __disjvr_20^0==__disjvr_20^post_37 && __disjvr_21^0==__disjvr_21^post_37 && __disjvr_22^0==__disjvr_22^post_37 && __disjvr_23^0==__disjvr_23^post_37 && __disjvr_24^0==__disjvr_24^post_37 && __disjvr_25^0==__disjvr_25^post_37 && __disjvr_3^0==__disjvr_3^post_37 && __disjvr_4^0==__disjvr_4^post_37 && __disjvr_5^0==__disjvr_5^post_37 && __disjvr_6^0==__disjvr_6^post_37 && __disjvr_7^0==__disjvr_7^post_37 && __disjvr_8^0==__disjvr_8^post_37 && __disjvr_9^0==__disjvr_9^post_37 && a_153^0==a_153^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_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 && 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 ], cost: 1
     37: l34 -> l35 : __disjvr_0^0'=__disjvr_0^post_38, __disjvr_10^0'=__disjvr_10^post_38, __disjvr_11^0'=__disjvr_11^post_38, __disjvr_12^0'=__disjvr_12^post_38, __disjvr_13^0'=__disjvr_13^post_38, __disjvr_14^0'=__disjvr_14^post_38, __disjvr_15^0'=__disjvr_15^post_38, __disjvr_16^0'=__disjvr_16^post_38, __disjvr_17^0'=__disjvr_17^post_38, __disjvr_18^0'=__disjvr_18^post_38, __disjvr_19^0'=__disjvr_19^post_38, __disjvr_1^0'=__disjvr_1^post_38, __disjvr_20^0'=__disjvr_20^post_38, __disjvr_21^0'=__disjvr_21^post_38, __disjvr_22^0'=__disjvr_22^post_38, __disjvr_23^0'=__disjvr_23^post_38, __disjvr_24^0'=__disjvr_24^post_38, __disjvr_25^0'=__disjvr_25^post_38, __disjvr_2^0'=__disjvr_2^post_38, __disjvr_3^0'=__disjvr_3^post_38, __disjvr_4^0'=__disjvr_4^post_38, __disjvr_5^0'=__disjvr_5^post_38, __disjvr_6^0'=__disjvr_6^post_38, __disjvr_7^0'=__disjvr_7^post_38, __disjvr_8^0'=__disjvr_8^post_38, __disjvr_9^0'=__disjvr_9^post_38, 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, [ __disjvr_14^post_38==__disjvr_14^0 && __disjvr_0^0==__disjvr_0^post_38 && __disjvr_1^0==__disjvr_1^post_38 && __disjvr_10^0==__disjvr_10^post_38 && __disjvr_11^0==__disjvr_11^post_38 && __disjvr_12^0==__disjvr_12^post_38 && __disjvr_13^0==__disjvr_13^post_38 && __disjvr_14^0==__disjvr_14^post_38 && __disjvr_15^0==__disjvr_15^post_38 && __disjvr_16^0==__disjvr_16^post_38 && __disjvr_17^0==__disjvr_17^post_38 && __disjvr_18^0==__disjvr_18^post_38 && __disjvr_19^0==__disjvr_19^post_38 && __disjvr_2^0==__disjvr_2^post_38 && __disjvr_20^0==__disjvr_20^post_38 && __disjvr_21^0==__disjvr_21^post_38 && __disjvr_22^0==__disjvr_22^post_38 && __disjvr_23^0==__disjvr_23^post_38 && __disjvr_24^0==__disjvr_24^post_38 && __disjvr_25^0==__disjvr_25^post_38 && __disjvr_3^0==__disjvr_3^post_38 && __disjvr_4^0==__disjvr_4^post_38 && __disjvr_5^0==__disjvr_5^post_38 && __disjvr_6^0==__disjvr_6^post_38 && __disjvr_7^0==__disjvr_7^post_38 && __disjvr_8^0==__disjvr_8^post_38 && __disjvr_9^0==__disjvr_9^post_38 && 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: l35 -> l36 : __disjvr_0^0'=__disjvr_0^post_39, __disjvr_10^0'=__disjvr_10^post_39, __disjvr_11^0'=__disjvr_11^post_39, __disjvr_12^0'=__disjvr_12^post_39, __disjvr_13^0'=__disjvr_13^post_39, __disjvr_14^0'=__disjvr_14^post_39, __disjvr_15^0'=__disjvr_15^post_39, __disjvr_16^0'=__disjvr_16^post_39, __disjvr_17^0'=__disjvr_17^post_39, __disjvr_18^0'=__disjvr_18^post_39, __disjvr_19^0'=__disjvr_19^post_39, __disjvr_1^0'=__disjvr_1^post_39, __disjvr_20^0'=__disjvr_20^post_39, __disjvr_21^0'=__disjvr_21^post_39, __disjvr_22^0'=__disjvr_22^post_39, __disjvr_23^0'=__disjvr_23^post_39, __disjvr_24^0'=__disjvr_24^post_39, __disjvr_25^0'=__disjvr_25^post_39, __disjvr_2^0'=__disjvr_2^post_39, __disjvr_3^0'=__disjvr_3^post_39, __disjvr_4^0'=__disjvr_4^post_39, __disjvr_5^0'=__disjvr_5^post_39, __disjvr_6^0'=__disjvr_6^post_39, __disjvr_7^0'=__disjvr_7^post_39, __disjvr_8^0'=__disjvr_8^post_39, __disjvr_9^0'=__disjvr_9^post_39, 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, [ __disjvr_15^post_39==__disjvr_15^0 && __disjvr_0^0==__disjvr_0^post_39 && __disjvr_1^0==__disjvr_1^post_39 && __disjvr_10^0==__disjvr_10^post_39 && __disjvr_11^0==__disjvr_11^post_39 && __disjvr_12^0==__disjvr_12^post_39 && __disjvr_13^0==__disjvr_13^post_39 && __disjvr_14^0==__disjvr_14^post_39 && __disjvr_15^0==__disjvr_15^post_39 && __disjvr_16^0==__disjvr_16^post_39 && __disjvr_17^0==__disjvr_17^post_39 && __disjvr_18^0==__disjvr_18^post_39 && __disjvr_19^0==__disjvr_19^post_39 && __disjvr_2^0==__disjvr_2^post_39 && __disjvr_20^0==__disjvr_20^post_39 && __disjvr_21^0==__disjvr_21^post_39 && __disjvr_22^0==__disjvr_22^post_39 && __disjvr_23^0==__disjvr_23^post_39 && __disjvr_24^0==__disjvr_24^post_39 && __disjvr_25^0==__disjvr_25^post_39 && __disjvr_3^0==__disjvr_3^post_39 && __disjvr_4^0==__disjvr_4^post_39 && __disjvr_5^0==__disjvr_5^post_39 && __disjvr_6^0==__disjvr_6^post_39 && __disjvr_7^0==__disjvr_7^post_39 && __disjvr_8^0==__disjvr_8^post_39 && __disjvr_9^0==__disjvr_9^post_39 && 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: l36 -> l2 : __disjvr_0^0'=__disjvr_0^post_40, __disjvr_10^0'=__disjvr_10^post_40, __disjvr_11^0'=__disjvr_11^post_40, __disjvr_12^0'=__disjvr_12^post_40, __disjvr_13^0'=__disjvr_13^post_40, __disjvr_14^0'=__disjvr_14^post_40, __disjvr_15^0'=__disjvr_15^post_40, __disjvr_16^0'=__disjvr_16^post_40, __disjvr_17^0'=__disjvr_17^post_40, __disjvr_18^0'=__disjvr_18^post_40, __disjvr_19^0'=__disjvr_19^post_40, __disjvr_1^0'=__disjvr_1^post_40, __disjvr_20^0'=__disjvr_20^post_40, __disjvr_21^0'=__disjvr_21^post_40, __disjvr_22^0'=__disjvr_22^post_40, __disjvr_23^0'=__disjvr_23^post_40, __disjvr_24^0'=__disjvr_24^post_40, __disjvr_25^0'=__disjvr_25^post_40, __disjvr_2^0'=__disjvr_2^post_40, __disjvr_3^0'=__disjvr_3^post_40, __disjvr_4^0'=__disjvr_4^post_40, __disjvr_5^0'=__disjvr_5^post_40, __disjvr_6^0'=__disjvr_6^post_40, __disjvr_7^0'=__disjvr_7^post_40, __disjvr_8^0'=__disjvr_8^post_40, __disjvr_9^0'=__disjvr_9^post_40, 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, [ 1<=result_dot_nondet_sdv_special_RETURN_VALUE_14^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^0 && rcd_43^post_40==rcd_43^post_40 && rcd_43^post_40<=rcd_179^0 && rcd_179^0<=rcd_43^post_40 && a_153^post_40==a_153^post_40 && -1+a_153^post_40<=a_178^0 && a_178^0<=-1+a_153^post_40 && __disjvr_0^0==__disjvr_0^post_40 && __disjvr_1^0==__disjvr_1^post_40 && __disjvr_10^0==__disjvr_10^post_40 && __disjvr_11^0==__disjvr_11^post_40 && __disjvr_12^0==__disjvr_12^post_40 && __disjvr_13^0==__disjvr_13^post_40 && __disjvr_14^0==__disjvr_14^post_40 && __disjvr_15^0==__disjvr_15^post_40 && __disjvr_16^0==__disjvr_16^post_40 && __disjvr_17^0==__disjvr_17^post_40 && __disjvr_18^0==__disjvr_18^post_40 && __disjvr_19^0==__disjvr_19^post_40 && __disjvr_2^0==__disjvr_2^post_40 && __disjvr_20^0==__disjvr_20^post_40 && __disjvr_21^0==__disjvr_21^post_40 && __disjvr_22^0==__disjvr_22^post_40 && __disjvr_23^0==__disjvr_23^post_40 && __disjvr_24^0==__disjvr_24^post_40 && __disjvr_25^0==__disjvr_25^post_40 && __disjvr_3^0==__disjvr_3^post_40 && __disjvr_4^0==__disjvr_4^post_40 && __disjvr_5^0==__disjvr_5^post_40 && __disjvr_6^0==__disjvr_6^post_40 && __disjvr_7^0==__disjvr_7^post_40 && __disjvr_8^0==__disjvr_8^post_40 && __disjvr_9^0==__disjvr_9^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_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 ], cost: 1
     40: l37 -> l1 : __disjvr_0^0'=__disjvr_0^post_41, __disjvr_10^0'=__disjvr_10^post_41, __disjvr_11^0'=__disjvr_11^post_41, __disjvr_12^0'=__disjvr_12^post_41, __disjvr_13^0'=__disjvr_13^post_41, __disjvr_14^0'=__disjvr_14^post_41, __disjvr_15^0'=__disjvr_15^post_41, __disjvr_16^0'=__disjvr_16^post_41, __disjvr_17^0'=__disjvr_17^post_41, __disjvr_18^0'=__disjvr_18^post_41, __disjvr_19^0'=__disjvr_19^post_41, __disjvr_1^0'=__disjvr_1^post_41, __disjvr_20^0'=__disjvr_20^post_41, __disjvr_21^0'=__disjvr_21^post_41, __disjvr_22^0'=__disjvr_22^post_41, __disjvr_23^0'=__disjvr_23^post_41, __disjvr_24^0'=__disjvr_24^post_41, __disjvr_25^0'=__disjvr_25^post_41, __disjvr_2^0'=__disjvr_2^post_41, __disjvr_3^0'=__disjvr_3^post_41, __disjvr_4^0'=__disjvr_4^post_41, __disjvr_5^0'=__disjvr_5^post_41, __disjvr_6^0'=__disjvr_6^post_41, __disjvr_7^0'=__disjvr_7^post_41, __disjvr_8^0'=__disjvr_8^post_41, __disjvr_9^0'=__disjvr_9^post_41, 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, [ y_23^0<=x_24^0 && x_24^0<=y_23^0 && x_SLAM_f_22^post_41==x_SLAM_f_22^post_41 && y_23^post_41==y_23^post_41 && x_24^post_41==x_24^post_41 && t_25^post_41==t_25^post_41 && lt_20^post_41==lt_20^post_41 && head_16^post_41==head_16^post_41 && result_11^post_41==temp0_21^0 && __disjvr_0^0==__disjvr_0^post_41 && __disjvr_1^0==__disjvr_1^post_41 && __disjvr_10^0==__disjvr_10^post_41 && __disjvr_11^0==__disjvr_11^post_41 && __disjvr_12^0==__disjvr_12^post_41 && __disjvr_13^0==__disjvr_13^post_41 && __disjvr_14^0==__disjvr_14^post_41 && __disjvr_15^0==__disjvr_15^post_41 && __disjvr_16^0==__disjvr_16^post_41 && __disjvr_17^0==__disjvr_17^post_41 && __disjvr_18^0==__disjvr_18^post_41 && __disjvr_19^0==__disjvr_19^post_41 && __disjvr_2^0==__disjvr_2^post_41 && __disjvr_20^0==__disjvr_20^post_41 && __disjvr_21^0==__disjvr_21^post_41 && __disjvr_22^0==__disjvr_22^post_41 && __disjvr_23^0==__disjvr_23^post_41 && __disjvr_24^0==__disjvr_24^post_41 && __disjvr_25^0==__disjvr_25^post_41 && __disjvr_3^0==__disjvr_3^post_41 && __disjvr_4^0==__disjvr_4^post_41 && __disjvr_5^0==__disjvr_5^post_41 && __disjvr_6^0==__disjvr_6^post_41 && __disjvr_7^0==__disjvr_7^post_41 && __disjvr_8^0==__disjvr_8^post_41 && __disjvr_9^0==__disjvr_9^post_41 && 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_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 && 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_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 && 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 ], cost: 1
     41: l37 -> l38 : __disjvr_0^0'=__disjvr_0^post_42, __disjvr_10^0'=__disjvr_10^post_42, __disjvr_11^0'=__disjvr_11^post_42, __disjvr_12^0'=__disjvr_12^post_42, __disjvr_13^0'=__disjvr_13^post_42, __disjvr_14^0'=__disjvr_14^post_42, __disjvr_15^0'=__disjvr_15^post_42, __disjvr_16^0'=__disjvr_16^post_42, __disjvr_17^0'=__disjvr_17^post_42, __disjvr_18^0'=__disjvr_18^post_42, __disjvr_19^0'=__disjvr_19^post_42, __disjvr_1^0'=__disjvr_1^post_42, __disjvr_20^0'=__disjvr_20^post_42, __disjvr_21^0'=__disjvr_21^post_42, __disjvr_22^0'=__disjvr_22^post_42, __disjvr_23^0'=__disjvr_23^post_42, __disjvr_24^0'=__disjvr_24^post_42, __disjvr_25^0'=__disjvr_25^post_42, __disjvr_2^0'=__disjvr_2^post_42, __disjvr_3^0'=__disjvr_3^post_42, __disjvr_4^0'=__disjvr_4^post_42, __disjvr_5^0'=__disjvr_5^post_42, __disjvr_6^0'=__disjvr_6^post_42, __disjvr_7^0'=__disjvr_7^post_42, __disjvr_8^0'=__disjvr_8^post_42, __disjvr_9^0'=__disjvr_9^post_42, 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, [ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_42==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_42 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_42==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_42 && tail_15^post_42==tail_15^post_42 && head_16^post_42==head_16^post_42 && lt_20^post_42==lt_20^post_42 && x_SLAM_f_22^post_42==x_SLAM_f_22^post_42 && __disjvr_0^0==__disjvr_0^post_42 && __disjvr_1^0==__disjvr_1^post_42 && __disjvr_10^0==__disjvr_10^post_42 && __disjvr_11^0==__disjvr_11^post_42 && __disjvr_12^0==__disjvr_12^post_42 && __disjvr_13^0==__disjvr_13^post_42 && __disjvr_14^0==__disjvr_14^post_42 && __disjvr_15^0==__disjvr_15^post_42 && __disjvr_16^0==__disjvr_16^post_42 && __disjvr_17^0==__disjvr_17^post_42 && __disjvr_18^0==__disjvr_18^post_42 && __disjvr_19^0==__disjvr_19^post_42 && __disjvr_2^0==__disjvr_2^post_42 && __disjvr_20^0==__disjvr_20^post_42 && __disjvr_21^0==__disjvr_21^post_42 && __disjvr_22^0==__disjvr_22^post_42 && __disjvr_23^0==__disjvr_23^post_42 && __disjvr_24^0==__disjvr_24^post_42 && __disjvr_25^0==__disjvr_25^post_42 && __disjvr_3^0==__disjvr_3^post_42 && __disjvr_4^0==__disjvr_4^post_42 && __disjvr_5^0==__disjvr_5^post_42 && __disjvr_6^0==__disjvr_6^post_42 && __disjvr_7^0==__disjvr_7^post_42 && __disjvr_8^0==__disjvr_8^post_42 && __disjvr_9^0==__disjvr_9^post_42 && 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_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 && 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_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_42 && t_25^0==t_25^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 && y_23^0==y_23^post_42 ], cost: 1
     42: l38 -> l39 : __disjvr_0^0'=__disjvr_0^post_43, __disjvr_10^0'=__disjvr_10^post_43, __disjvr_11^0'=__disjvr_11^post_43, __disjvr_12^0'=__disjvr_12^post_43, __disjvr_13^0'=__disjvr_13^post_43, __disjvr_14^0'=__disjvr_14^post_43, __disjvr_15^0'=__disjvr_15^post_43, __disjvr_16^0'=__disjvr_16^post_43, __disjvr_17^0'=__disjvr_17^post_43, __disjvr_18^0'=__disjvr_18^post_43, __disjvr_19^0'=__disjvr_19^post_43, __disjvr_1^0'=__disjvr_1^post_43, __disjvr_20^0'=__disjvr_20^post_43, __disjvr_21^0'=__disjvr_21^post_43, __disjvr_22^0'=__disjvr_22^post_43, __disjvr_23^0'=__disjvr_23^post_43, __disjvr_24^0'=__disjvr_24^post_43, __disjvr_25^0'=__disjvr_25^post_43, __disjvr_2^0'=__disjvr_2^post_43, __disjvr_3^0'=__disjvr_3^post_43, __disjvr_4^0'=__disjvr_4^post_43, __disjvr_5^0'=__disjvr_5^post_43, __disjvr_6^0'=__disjvr_6^post_43, __disjvr_7^0'=__disjvr_7^post_43, __disjvr_8^0'=__disjvr_8^post_43, __disjvr_9^0'=__disjvr_9^post_43, 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, [ __disjvr_16^post_43==__disjvr_16^0 && __disjvr_0^0==__disjvr_0^post_43 && __disjvr_1^0==__disjvr_1^post_43 && __disjvr_10^0==__disjvr_10^post_43 && __disjvr_11^0==__disjvr_11^post_43 && __disjvr_12^0==__disjvr_12^post_43 && __disjvr_13^0==__disjvr_13^post_43 && __disjvr_14^0==__disjvr_14^post_43 && __disjvr_15^0==__disjvr_15^post_43 && __disjvr_16^0==__disjvr_16^post_43 && __disjvr_17^0==__disjvr_17^post_43 && __disjvr_18^0==__disjvr_18^post_43 && __disjvr_19^0==__disjvr_19^post_43 && __disjvr_2^0==__disjvr_2^post_43 && __disjvr_20^0==__disjvr_20^post_43 && __disjvr_21^0==__disjvr_21^post_43 && __disjvr_22^0==__disjvr_22^post_43 && __disjvr_23^0==__disjvr_23^post_43 && __disjvr_24^0==__disjvr_24^post_43 && __disjvr_25^0==__disjvr_25^post_43 && __disjvr_3^0==__disjvr_3^post_43 && __disjvr_4^0==__disjvr_4^post_43 && __disjvr_5^0==__disjvr_5^post_43 && __disjvr_6^0==__disjvr_6^post_43 && __disjvr_7^0==__disjvr_7^post_43 && __disjvr_8^0==__disjvr_8^post_43 && __disjvr_9^0==__disjvr_9^post_43 && 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: l39 -> l40 : __disjvr_0^0'=__disjvr_0^post_44, __disjvr_10^0'=__disjvr_10^post_44, __disjvr_11^0'=__disjvr_11^post_44, __disjvr_12^0'=__disjvr_12^post_44, __disjvr_13^0'=__disjvr_13^post_44, __disjvr_14^0'=__disjvr_14^post_44, __disjvr_15^0'=__disjvr_15^post_44, __disjvr_16^0'=__disjvr_16^post_44, __disjvr_17^0'=__disjvr_17^post_44, __disjvr_18^0'=__disjvr_18^post_44, __disjvr_19^0'=__disjvr_19^post_44, __disjvr_1^0'=__disjvr_1^post_44, __disjvr_20^0'=__disjvr_20^post_44, __disjvr_21^0'=__disjvr_21^post_44, __disjvr_22^0'=__disjvr_22^post_44, __disjvr_23^0'=__disjvr_23^post_44, __disjvr_24^0'=__disjvr_24^post_44, __disjvr_25^0'=__disjvr_25^post_44, __disjvr_2^0'=__disjvr_2^post_44, __disjvr_3^0'=__disjvr_3^post_44, __disjvr_4^0'=__disjvr_4^post_44, __disjvr_5^0'=__disjvr_5^post_44, __disjvr_6^0'=__disjvr_6^post_44, __disjvr_7^0'=__disjvr_7^post_44, __disjvr_8^0'=__disjvr_8^post_44, __disjvr_9^0'=__disjvr_9^post_44, 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, [ t_25^post_44==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_44 && t_25^post_44<=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 && __disjvr_0^0==__disjvr_0^post_44 && __disjvr_1^0==__disjvr_1^post_44 && __disjvr_10^0==__disjvr_10^post_44 && __disjvr_11^0==__disjvr_11^post_44 && __disjvr_12^0==__disjvr_12^post_44 && __disjvr_13^0==__disjvr_13^post_44 && __disjvr_14^0==__disjvr_14^post_44 && __disjvr_15^0==__disjvr_15^post_44 && __disjvr_16^0==__disjvr_16^post_44 && __disjvr_17^0==__disjvr_17^post_44 && __disjvr_18^0==__disjvr_18^post_44 && __disjvr_19^0==__disjvr_19^post_44 && __disjvr_2^0==__disjvr_2^post_44 && __disjvr_20^0==__disjvr_20^post_44 && __disjvr_21^0==__disjvr_21^post_44 && __disjvr_22^0==__disjvr_22^post_44 && __disjvr_23^0==__disjvr_23^post_44 && __disjvr_24^0==__disjvr_24^post_44 && __disjvr_25^0==__disjvr_25^post_44 && __disjvr_3^0==__disjvr_3^post_44 && __disjvr_4^0==__disjvr_4^post_44 && __disjvr_5^0==__disjvr_5^post_44 && __disjvr_6^0==__disjvr_6^post_44 && __disjvr_7^0==__disjvr_7^post_44 && __disjvr_8^0==__disjvr_8^post_44 && __disjvr_9^0==__disjvr_9^post_44 && 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 && 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: l40 -> l41 : __disjvr_0^0'=__disjvr_0^post_45, __disjvr_10^0'=__disjvr_10^post_45, __disjvr_11^0'=__disjvr_11^post_45, __disjvr_12^0'=__disjvr_12^post_45, __disjvr_13^0'=__disjvr_13^post_45, __disjvr_14^0'=__disjvr_14^post_45, __disjvr_15^0'=__disjvr_15^post_45, __disjvr_16^0'=__disjvr_16^post_45, __disjvr_17^0'=__disjvr_17^post_45, __disjvr_18^0'=__disjvr_18^post_45, __disjvr_19^0'=__disjvr_19^post_45, __disjvr_1^0'=__disjvr_1^post_45, __disjvr_20^0'=__disjvr_20^post_45, __disjvr_21^0'=__disjvr_21^post_45, __disjvr_22^0'=__disjvr_22^post_45, __disjvr_23^0'=__disjvr_23^post_45, __disjvr_24^0'=__disjvr_24^post_45, __disjvr_25^0'=__disjvr_25^post_45, __disjvr_2^0'=__disjvr_2^post_45, __disjvr_3^0'=__disjvr_3^post_45, __disjvr_4^0'=__disjvr_4^post_45, __disjvr_5^0'=__disjvr_5^post_45, __disjvr_6^0'=__disjvr_6^post_45, __disjvr_7^0'=__disjvr_7^post_45, __disjvr_8^0'=__disjvr_8^post_45, __disjvr_9^0'=__disjvr_9^post_45, 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, [ __disjvr_17^post_45==__disjvr_17^0 && __disjvr_0^0==__disjvr_0^post_45 && __disjvr_1^0==__disjvr_1^post_45 && __disjvr_10^0==__disjvr_10^post_45 && __disjvr_11^0==__disjvr_11^post_45 && __disjvr_12^0==__disjvr_12^post_45 && __disjvr_13^0==__disjvr_13^post_45 && __disjvr_14^0==__disjvr_14^post_45 && __disjvr_15^0==__disjvr_15^post_45 && __disjvr_16^0==__disjvr_16^post_45 && __disjvr_17^0==__disjvr_17^post_45 && __disjvr_18^0==__disjvr_18^post_45 && __disjvr_19^0==__disjvr_19^post_45 && __disjvr_2^0==__disjvr_2^post_45 && __disjvr_20^0==__disjvr_20^post_45 && __disjvr_21^0==__disjvr_21^post_45 && __disjvr_22^0==__disjvr_22^post_45 && __disjvr_23^0==__disjvr_23^post_45 && __disjvr_24^0==__disjvr_24^post_45 && __disjvr_25^0==__disjvr_25^post_45 && __disjvr_3^0==__disjvr_3^post_45 && __disjvr_4^0==__disjvr_4^post_45 && __disjvr_5^0==__disjvr_5^post_45 && __disjvr_6^0==__disjvr_6^post_45 && __disjvr_7^0==__disjvr_7^post_45 && __disjvr_8^0==__disjvr_8^post_45 && __disjvr_9^0==__disjvr_9^post_45 && 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 ], cost: 1
     45: l41 -> l42 : __disjvr_0^0'=__disjvr_0^post_46, __disjvr_10^0'=__disjvr_10^post_46, __disjvr_11^0'=__disjvr_11^post_46, __disjvr_12^0'=__disjvr_12^post_46, __disjvr_13^0'=__disjvr_13^post_46, __disjvr_14^0'=__disjvr_14^post_46, __disjvr_15^0'=__disjvr_15^post_46, __disjvr_16^0'=__disjvr_16^post_46, __disjvr_17^0'=__disjvr_17^post_46, __disjvr_18^0'=__disjvr_18^post_46, __disjvr_19^0'=__disjvr_19^post_46, __disjvr_1^0'=__disjvr_1^post_46, __disjvr_20^0'=__disjvr_20^post_46, __disjvr_21^0'=__disjvr_21^post_46, __disjvr_22^0'=__disjvr_22^post_46, __disjvr_23^0'=__disjvr_23^post_46, __disjvr_24^0'=__disjvr_24^post_46, __disjvr_25^0'=__disjvr_25^post_46, __disjvr_2^0'=__disjvr_2^post_46, __disjvr_3^0'=__disjvr_3^post_46, __disjvr_4^0'=__disjvr_4^post_46, __disjvr_5^0'=__disjvr_5^post_46, __disjvr_6^0'=__disjvr_6^post_46, __disjvr_7^0'=__disjvr_7^post_46, __disjvr_8^0'=__disjvr_8^post_46, __disjvr_9^0'=__disjvr_9^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, [ __disjvr_18^post_46==__disjvr_18^0 && __disjvr_0^0==__disjvr_0^post_46 && __disjvr_1^0==__disjvr_1^post_46 && __disjvr_10^0==__disjvr_10^post_46 && __disjvr_11^0==__disjvr_11^post_46 && __disjvr_12^0==__disjvr_12^post_46 && __disjvr_13^0==__disjvr_13^post_46 && __disjvr_14^0==__disjvr_14^post_46 && __disjvr_15^0==__disjvr_15^post_46 && __disjvr_16^0==__disjvr_16^post_46 && __disjvr_17^0==__disjvr_17^post_46 && __disjvr_18^0==__disjvr_18^post_46 && __disjvr_19^0==__disjvr_19^post_46 && __disjvr_2^0==__disjvr_2^post_46 && __disjvr_20^0==__disjvr_20^post_46 && __disjvr_21^0==__disjvr_21^post_46 && __disjvr_22^0==__disjvr_22^post_46 && __disjvr_23^0==__disjvr_23^post_46 && __disjvr_24^0==__disjvr_24^post_46 && __disjvr_25^0==__disjvr_25^post_46 && __disjvr_3^0==__disjvr_3^post_46 && __disjvr_4^0==__disjvr_4^post_46 && __disjvr_5^0==__disjvr_5^post_46 && __disjvr_6^0==__disjvr_6^post_46 && __disjvr_7^0==__disjvr_7^post_46 && __disjvr_8^0==__disjvr_8^post_46 && __disjvr_9^0==__disjvr_9^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: l42 -> l43 : __disjvr_0^0'=__disjvr_0^post_47, __disjvr_10^0'=__disjvr_10^post_47, __disjvr_11^0'=__disjvr_11^post_47, __disjvr_12^0'=__disjvr_12^post_47, __disjvr_13^0'=__disjvr_13^post_47, __disjvr_14^0'=__disjvr_14^post_47, __disjvr_15^0'=__disjvr_15^post_47, __disjvr_16^0'=__disjvr_16^post_47, __disjvr_17^0'=__disjvr_17^post_47, __disjvr_18^0'=__disjvr_18^post_47, __disjvr_19^0'=__disjvr_19^post_47, __disjvr_1^0'=__disjvr_1^post_47, __disjvr_20^0'=__disjvr_20^post_47, __disjvr_21^0'=__disjvr_21^post_47, __disjvr_22^0'=__disjvr_22^post_47, __disjvr_23^0'=__disjvr_23^post_47, __disjvr_24^0'=__disjvr_24^post_47, __disjvr_25^0'=__disjvr_25^post_47, __disjvr_2^0'=__disjvr_2^post_47, __disjvr_3^0'=__disjvr_3^post_47, __disjvr_4^0'=__disjvr_4^post_47, __disjvr_5^0'=__disjvr_5^post_47, __disjvr_6^0'=__disjvr_6^post_47, __disjvr_7^0'=__disjvr_7^post_47, __disjvr_8^0'=__disjvr_8^post_47, __disjvr_9^0'=__disjvr_9^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_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, [ __disjvr_19^post_47==__disjvr_19^0 && __disjvr_0^0==__disjvr_0^post_47 && __disjvr_1^0==__disjvr_1^post_47 && __disjvr_10^0==__disjvr_10^post_47 && __disjvr_11^0==__disjvr_11^post_47 && __disjvr_12^0==__disjvr_12^post_47 && __disjvr_13^0==__disjvr_13^post_47 && __disjvr_14^0==__disjvr_14^post_47 && __disjvr_15^0==__disjvr_15^post_47 && __disjvr_16^0==__disjvr_16^post_47 && __disjvr_17^0==__disjvr_17^post_47 && __disjvr_18^0==__disjvr_18^post_47 && __disjvr_19^0==__disjvr_19^post_47 && __disjvr_2^0==__disjvr_2^post_47 && __disjvr_20^0==__disjvr_20^post_47 && __disjvr_21^0==__disjvr_21^post_47 && __disjvr_22^0==__disjvr_22^post_47 && __disjvr_23^0==__disjvr_23^post_47 && __disjvr_24^0==__disjvr_24^post_47 && __disjvr_25^0==__disjvr_25^post_47 && __disjvr_3^0==__disjvr_3^post_47 && __disjvr_4^0==__disjvr_4^post_47 && __disjvr_5^0==__disjvr_5^post_47 && __disjvr_6^0==__disjvr_6^post_47 && __disjvr_7^0==__disjvr_7^post_47 && __disjvr_8^0==__disjvr_8^post_47 && __disjvr_9^0==__disjvr_9^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_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 ], cost: 1
     47: l43 -> l44 : __disjvr_0^0'=__disjvr_0^post_48, __disjvr_10^0'=__disjvr_10^post_48, __disjvr_11^0'=__disjvr_11^post_48, __disjvr_12^0'=__disjvr_12^post_48, __disjvr_13^0'=__disjvr_13^post_48, __disjvr_14^0'=__disjvr_14^post_48, __disjvr_15^0'=__disjvr_15^post_48, __disjvr_16^0'=__disjvr_16^post_48, __disjvr_17^0'=__disjvr_17^post_48, __disjvr_18^0'=__disjvr_18^post_48, __disjvr_19^0'=__disjvr_19^post_48, __disjvr_1^0'=__disjvr_1^post_48, __disjvr_20^0'=__disjvr_20^post_48, __disjvr_21^0'=__disjvr_21^post_48, __disjvr_22^0'=__disjvr_22^post_48, __disjvr_23^0'=__disjvr_23^post_48, __disjvr_24^0'=__disjvr_24^post_48, __disjvr_25^0'=__disjvr_25^post_48, __disjvr_2^0'=__disjvr_2^post_48, __disjvr_3^0'=__disjvr_3^post_48, __disjvr_4^0'=__disjvr_4^post_48, __disjvr_5^0'=__disjvr_5^post_48, __disjvr_6^0'=__disjvr_6^post_48, __disjvr_7^0'=__disjvr_7^post_48, __disjvr_8^0'=__disjvr_8^post_48, __disjvr_9^0'=__disjvr_9^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_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, [ 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_48==x_SLAM_f_22^post_48 && y_23^post_48==y_23^post_48 && x_24^post_48==x_24^post_48 && t_25^post_48==t_25^post_48 && lt_20^post_48==lt_20^post_48 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_48==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_48 && head_16^post_48==head_16^post_48 && result_11^post_48==temp0_21^0 && __disjvr_0^0==__disjvr_0^post_48 && __disjvr_1^0==__disjvr_1^post_48 && __disjvr_10^0==__disjvr_10^post_48 && __disjvr_11^0==__disjvr_11^post_48 && __disjvr_12^0==__disjvr_12^post_48 && __disjvr_13^0==__disjvr_13^post_48 && __disjvr_14^0==__disjvr_14^post_48 && __disjvr_15^0==__disjvr_15^post_48 && __disjvr_16^0==__disjvr_16^post_48 && __disjvr_17^0==__disjvr_17^post_48 && __disjvr_18^0==__disjvr_18^post_48 && __disjvr_19^0==__disjvr_19^post_48 && __disjvr_2^0==__disjvr_2^post_48 && __disjvr_20^0==__disjvr_20^post_48 && __disjvr_21^0==__disjvr_21^post_48 && __disjvr_22^0==__disjvr_22^post_48 && __disjvr_23^0==__disjvr_23^post_48 && __disjvr_24^0==__disjvr_24^post_48 && __disjvr_25^0==__disjvr_25^post_48 && __disjvr_3^0==__disjvr_3^post_48 && __disjvr_4^0==__disjvr_4^post_48 && __disjvr_5^0==__disjvr_5^post_48 && __disjvr_6^0==__disjvr_6^post_48 && __disjvr_7^0==__disjvr_7^post_48 && __disjvr_8^0==__disjvr_8^post_48 && __disjvr_9^0==__disjvr_9^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_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_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 && 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 ], cost: 1
     48: l44 -> l45 : __disjvr_0^0'=__disjvr_0^post_49, __disjvr_10^0'=__disjvr_10^post_49, __disjvr_11^0'=__disjvr_11^post_49, __disjvr_12^0'=__disjvr_12^post_49, __disjvr_13^0'=__disjvr_13^post_49, __disjvr_14^0'=__disjvr_14^post_49, __disjvr_15^0'=__disjvr_15^post_49, __disjvr_16^0'=__disjvr_16^post_49, __disjvr_17^0'=__disjvr_17^post_49, __disjvr_18^0'=__disjvr_18^post_49, __disjvr_19^0'=__disjvr_19^post_49, __disjvr_1^0'=__disjvr_1^post_49, __disjvr_20^0'=__disjvr_20^post_49, __disjvr_21^0'=__disjvr_21^post_49, __disjvr_22^0'=__disjvr_22^post_49, __disjvr_23^0'=__disjvr_23^post_49, __disjvr_24^0'=__disjvr_24^post_49, __disjvr_25^0'=__disjvr_25^post_49, __disjvr_2^0'=__disjvr_2^post_49, __disjvr_3^0'=__disjvr_3^post_49, __disjvr_4^0'=__disjvr_4^post_49, __disjvr_5^0'=__disjvr_5^post_49, __disjvr_6^0'=__disjvr_6^post_49, __disjvr_7^0'=__disjvr_7^post_49, __disjvr_8^0'=__disjvr_8^post_49, __disjvr_9^0'=__disjvr_9^post_49, 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, [ __disjvr_20^post_49==__disjvr_20^0 && __disjvr_0^0==__disjvr_0^post_49 && __disjvr_1^0==__disjvr_1^post_49 && __disjvr_10^0==__disjvr_10^post_49 && __disjvr_11^0==__disjvr_11^post_49 && __disjvr_12^0==__disjvr_12^post_49 && __disjvr_13^0==__disjvr_13^post_49 && __disjvr_14^0==__disjvr_14^post_49 && __disjvr_15^0==__disjvr_15^post_49 && __disjvr_16^0==__disjvr_16^post_49 && __disjvr_17^0==__disjvr_17^post_49 && __disjvr_18^0==__disjvr_18^post_49 && __disjvr_19^0==__disjvr_19^post_49 && __disjvr_2^0==__disjvr_2^post_49 && __disjvr_20^0==__disjvr_20^post_49 && __disjvr_21^0==__disjvr_21^post_49 && __disjvr_22^0==__disjvr_22^post_49 && __disjvr_23^0==__disjvr_23^post_49 && __disjvr_24^0==__disjvr_24^post_49 && __disjvr_25^0==__disjvr_25^post_49 && __disjvr_3^0==__disjvr_3^post_49 && __disjvr_4^0==__disjvr_4^post_49 && __disjvr_5^0==__disjvr_5^post_49 && __disjvr_6^0==__disjvr_6^post_49 && __disjvr_7^0==__disjvr_7^post_49 && __disjvr_8^0==__disjvr_8^post_49 && __disjvr_9^0==__disjvr_9^post_49 && 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: l45 -> l1 : __disjvr_0^0'=__disjvr_0^post_50, __disjvr_10^0'=__disjvr_10^post_50, __disjvr_11^0'=__disjvr_11^post_50, __disjvr_12^0'=__disjvr_12^post_50, __disjvr_13^0'=__disjvr_13^post_50, __disjvr_14^0'=__disjvr_14^post_50, __disjvr_15^0'=__disjvr_15^post_50, __disjvr_16^0'=__disjvr_16^post_50, __disjvr_17^0'=__disjvr_17^post_50, __disjvr_18^0'=__disjvr_18^post_50, __disjvr_19^0'=__disjvr_19^post_50, __disjvr_1^0'=__disjvr_1^post_50, __disjvr_20^0'=__disjvr_20^post_50, __disjvr_21^0'=__disjvr_21^post_50, __disjvr_22^0'=__disjvr_22^post_50, __disjvr_23^0'=__disjvr_23^post_50, __disjvr_24^0'=__disjvr_24^post_50, __disjvr_25^0'=__disjvr_25^post_50, __disjvr_2^0'=__disjvr_2^post_50, __disjvr_3^0'=__disjvr_3^post_50, __disjvr_4^0'=__disjvr_4^post_50, __disjvr_5^0'=__disjvr_5^post_50, __disjvr_6^0'=__disjvr_6^post_50, __disjvr_7^0'=__disjvr_7^post_50, __disjvr_8^0'=__disjvr_8^post_50, __disjvr_9^0'=__disjvr_9^post_50, 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, [ __disjvr_21^post_50==__disjvr_21^0 && __disjvr_0^0==__disjvr_0^post_50 && __disjvr_1^0==__disjvr_1^post_50 && __disjvr_10^0==__disjvr_10^post_50 && __disjvr_11^0==__disjvr_11^post_50 && __disjvr_12^0==__disjvr_12^post_50 && __disjvr_13^0==__disjvr_13^post_50 && __disjvr_14^0==__disjvr_14^post_50 && __disjvr_15^0==__disjvr_15^post_50 && __disjvr_16^0==__disjvr_16^post_50 && __disjvr_17^0==__disjvr_17^post_50 && __disjvr_18^0==__disjvr_18^post_50 && __disjvr_19^0==__disjvr_19^post_50 && __disjvr_2^0==__disjvr_2^post_50 && __disjvr_20^0==__disjvr_20^post_50 && __disjvr_21^0==__disjvr_21^post_50 && __disjvr_22^0==__disjvr_22^post_50 && __disjvr_23^0==__disjvr_23^post_50 && __disjvr_24^0==__disjvr_24^post_50 && __disjvr_25^0==__disjvr_25^post_50 && __disjvr_3^0==__disjvr_3^post_50 && __disjvr_4^0==__disjvr_4^post_50 && __disjvr_5^0==__disjvr_5^post_50 && __disjvr_6^0==__disjvr_6^post_50 && __disjvr_7^0==__disjvr_7^post_50 && __disjvr_8^0==__disjvr_8^post_50 && __disjvr_9^0==__disjvr_9^post_50 && 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: l46 -> l11 : __disjvr_0^0'=__disjvr_0^post_51, __disjvr_10^0'=__disjvr_10^post_51, __disjvr_11^0'=__disjvr_11^post_51, __disjvr_12^0'=__disjvr_12^post_51, __disjvr_13^0'=__disjvr_13^post_51, __disjvr_14^0'=__disjvr_14^post_51, __disjvr_15^0'=__disjvr_15^post_51, __disjvr_16^0'=__disjvr_16^post_51, __disjvr_17^0'=__disjvr_17^post_51, __disjvr_18^0'=__disjvr_18^post_51, __disjvr_19^0'=__disjvr_19^post_51, __disjvr_1^0'=__disjvr_1^post_51, __disjvr_20^0'=__disjvr_20^post_51, __disjvr_21^0'=__disjvr_21^post_51, __disjvr_22^0'=__disjvr_22^post_51, __disjvr_23^0'=__disjvr_23^post_51, __disjvr_24^0'=__disjvr_24^post_51, __disjvr_25^0'=__disjvr_25^post_51, __disjvr_2^0'=__disjvr_2^post_51, __disjvr_3^0'=__disjvr_3^post_51, __disjvr_4^0'=__disjvr_4^post_51, __disjvr_5^0'=__disjvr_5^post_51, __disjvr_6^0'=__disjvr_6^post_51, __disjvr_7^0'=__disjvr_7^post_51, __disjvr_8^0'=__disjvr_8^post_51, __disjvr_9^0'=__disjvr_9^post_51, 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, [ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_51==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_51 && tail_15^post_51==temp_35^0 && temp_35^post_51==temp_35^post_51 && nondet_12^1_1==nondet_12^1_1 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_51==nondet_12^1_1 && nondet_12^post_51==nondet_12^post_51 && length_27^post_51==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_51 && head_SLAM_f_28^post_51==tail_15^post_51 && head_31^post_51==head_SLAM_f_28^post_51 && i_29^post_51==0 && 0<=i_29^post_51 && i_29^post_51<=0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_51<=tail_15^post_51 && tail_15^post_51<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_51 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_51<=head_SLAM_f_28^post_51 && head_SLAM_f_28^post_51<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_51 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_51<=head_31^post_51 && head_31^post_51<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_51 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_51<=length_27^post_51 && length_27^post_51<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_51 && tail_15^post_51<=head_SLAM_f_28^post_51 && head_SLAM_f_28^post_51<=tail_15^post_51 && head_SLAM_f_28^post_51<=head_31^post_51 && head_31^post_51<=head_SLAM_f_28^post_51 && __disjvr_0^0==__disjvr_0^post_51 && __disjvr_1^0==__disjvr_1^post_51 && __disjvr_10^0==__disjvr_10^post_51 && __disjvr_11^0==__disjvr_11^post_51 && __disjvr_12^0==__disjvr_12^post_51 && __disjvr_13^0==__disjvr_13^post_51 && __disjvr_14^0==__disjvr_14^post_51 && __disjvr_15^0==__disjvr_15^post_51 && __disjvr_16^0==__disjvr_16^post_51 && __disjvr_17^0==__disjvr_17^post_51 && __disjvr_18^0==__disjvr_18^post_51 && __disjvr_19^0==__disjvr_19^post_51 && __disjvr_2^0==__disjvr_2^post_51 && __disjvr_20^0==__disjvr_20^post_51 && __disjvr_21^0==__disjvr_21^post_51 && __disjvr_22^0==__disjvr_22^post_51 && __disjvr_23^0==__disjvr_23^post_51 && __disjvr_24^0==__disjvr_24^post_51 && __disjvr_25^0==__disjvr_25^post_51 && __disjvr_3^0==__disjvr_3^post_51 && __disjvr_4^0==__disjvr_4^post_51 && __disjvr_5^0==__disjvr_5^post_51 && __disjvr_6^0==__disjvr_6^post_51 && __disjvr_7^0==__disjvr_7^post_51 && __disjvr_8^0==__disjvr_8^post_51 && __disjvr_9^0==__disjvr_9^post_51 && 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 && i_110^0==i_110^post_51 && i_120^0==i_120^post_51 && lt_17^0==lt_17^post_51 && lt_20^0==lt_20^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_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_51 && t_25^0==t_25^post_51 && temp0_21^0==temp0_21^post_51 && temp0_30^0==temp0_30^post_51 && temp_34^0==temp_34^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
     53: l47 -> l48 : __disjvr_0^0'=__disjvr_0^post_54, __disjvr_10^0'=__disjvr_10^post_54, __disjvr_11^0'=__disjvr_11^post_54, __disjvr_12^0'=__disjvr_12^post_54, __disjvr_13^0'=__disjvr_13^post_54, __disjvr_14^0'=__disjvr_14^post_54, __disjvr_15^0'=__disjvr_15^post_54, __disjvr_16^0'=__disjvr_16^post_54, __disjvr_17^0'=__disjvr_17^post_54, __disjvr_18^0'=__disjvr_18^post_54, __disjvr_19^0'=__disjvr_19^post_54, __disjvr_1^0'=__disjvr_1^post_54, __disjvr_20^0'=__disjvr_20^post_54, __disjvr_21^0'=__disjvr_21^post_54, __disjvr_22^0'=__disjvr_22^post_54, __disjvr_23^0'=__disjvr_23^post_54, __disjvr_24^0'=__disjvr_24^post_54, __disjvr_25^0'=__disjvr_25^post_54, __disjvr_2^0'=__disjvr_2^post_54, __disjvr_3^0'=__disjvr_3^post_54, __disjvr_4^0'=__disjvr_4^post_54, __disjvr_5^0'=__disjvr_5^post_54, __disjvr_6^0'=__disjvr_6^post_54, __disjvr_7^0'=__disjvr_7^post_54, __disjvr_8^0'=__disjvr_8^post_54, __disjvr_9^0'=__disjvr_9^post_54, 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, [ __disjvr_22^post_54==__disjvr_22^0 && __disjvr_0^0==__disjvr_0^post_54 && __disjvr_1^0==__disjvr_1^post_54 && __disjvr_10^0==__disjvr_10^post_54 && __disjvr_11^0==__disjvr_11^post_54 && __disjvr_12^0==__disjvr_12^post_54 && __disjvr_13^0==__disjvr_13^post_54 && __disjvr_14^0==__disjvr_14^post_54 && __disjvr_15^0==__disjvr_15^post_54 && __disjvr_16^0==__disjvr_16^post_54 && __disjvr_17^0==__disjvr_17^post_54 && __disjvr_18^0==__disjvr_18^post_54 && __disjvr_19^0==__disjvr_19^post_54 && __disjvr_2^0==__disjvr_2^post_54 && __disjvr_20^0==__disjvr_20^post_54 && __disjvr_21^0==__disjvr_21^post_54 && __disjvr_22^0==__disjvr_22^post_54 && __disjvr_23^0==__disjvr_23^post_54 && __disjvr_24^0==__disjvr_24^post_54 && __disjvr_25^0==__disjvr_25^post_54 && __disjvr_3^0==__disjvr_3^post_54 && __disjvr_4^0==__disjvr_4^post_54 && __disjvr_5^0==__disjvr_5^post_54 && __disjvr_6^0==__disjvr_6^post_54 && __disjvr_7^0==__disjvr_7^post_54 && __disjvr_8^0==__disjvr_8^post_54 && __disjvr_9^0==__disjvr_9^post_54 && 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: l48 -> l49 : __disjvr_0^0'=__disjvr_0^post_55, __disjvr_10^0'=__disjvr_10^post_55, __disjvr_11^0'=__disjvr_11^post_55, __disjvr_12^0'=__disjvr_12^post_55, __disjvr_13^0'=__disjvr_13^post_55, __disjvr_14^0'=__disjvr_14^post_55, __disjvr_15^0'=__disjvr_15^post_55, __disjvr_16^0'=__disjvr_16^post_55, __disjvr_17^0'=__disjvr_17^post_55, __disjvr_18^0'=__disjvr_18^post_55, __disjvr_19^0'=__disjvr_19^post_55, __disjvr_1^0'=__disjvr_1^post_55, __disjvr_20^0'=__disjvr_20^post_55, __disjvr_21^0'=__disjvr_21^post_55, __disjvr_22^0'=__disjvr_22^post_55, __disjvr_23^0'=__disjvr_23^post_55, __disjvr_24^0'=__disjvr_24^post_55, __disjvr_25^0'=__disjvr_25^post_55, __disjvr_2^0'=__disjvr_2^post_55, __disjvr_3^0'=__disjvr_3^post_55, __disjvr_4^0'=__disjvr_4^post_55, __disjvr_5^0'=__disjvr_5^post_55, __disjvr_6^0'=__disjvr_6^post_55, __disjvr_7^0'=__disjvr_7^post_55, __disjvr_8^0'=__disjvr_8^post_55, __disjvr_9^0'=__disjvr_9^post_55, 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, [ lt_17^post_55==lt_17^post_55 && x_SLAM_f_22^1_3==head_16^0 && y_23^post_55==lt_20^0 && x_24^post_55==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_55 && x_24^post_55<=head_16^0 && lt_20^0<=y_23^post_55 && y_23^post_55<=lt_20^0 && x_SLAM_f_22^1_3<=x_24^post_55 && x_24^post_55<=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_55==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_55 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_55==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_55 && tail_15^post_55==tail_15^post_55 && head_16^post_55==head_16^post_55 && lt_20^post_55==lt_20^post_55 && x_SLAM_f_22^post_55==x_SLAM_f_22^post_55 && __disjvr_0^0==__disjvr_0^post_55 && __disjvr_1^0==__disjvr_1^post_55 && __disjvr_10^0==__disjvr_10^post_55 && __disjvr_11^0==__disjvr_11^post_55 && __disjvr_12^0==__disjvr_12^post_55 && __disjvr_13^0==__disjvr_13^post_55 && __disjvr_14^0==__disjvr_14^post_55 && __disjvr_15^0==__disjvr_15^post_55 && __disjvr_16^0==__disjvr_16^post_55 && __disjvr_17^0==__disjvr_17^post_55 && __disjvr_18^0==__disjvr_18^post_55 && __disjvr_19^0==__disjvr_19^post_55 && __disjvr_2^0==__disjvr_2^post_55 && __disjvr_20^0==__disjvr_20^post_55 && __disjvr_21^0==__disjvr_21^post_55 && __disjvr_22^0==__disjvr_22^post_55 && __disjvr_23^0==__disjvr_23^post_55 && __disjvr_24^0==__disjvr_24^post_55 && __disjvr_25^0==__disjvr_25^post_55 && __disjvr_3^0==__disjvr_3^post_55 && __disjvr_4^0==__disjvr_4^post_55 && __disjvr_5^0==__disjvr_5^post_55 && __disjvr_6^0==__disjvr_6^post_55 && __disjvr_7^0==__disjvr_7^post_55 && __disjvr_8^0==__disjvr_8^post_55 && __disjvr_9^0==__disjvr_9^post_55 && 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_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 && 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_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_55 && t_25^0==t_25^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 ], cost: 1
     55: l49 -> l50 : __disjvr_0^0'=__disjvr_0^post_56, __disjvr_10^0'=__disjvr_10^post_56, __disjvr_11^0'=__disjvr_11^post_56, __disjvr_12^0'=__disjvr_12^post_56, __disjvr_13^0'=__disjvr_13^post_56, __disjvr_14^0'=__disjvr_14^post_56, __disjvr_15^0'=__disjvr_15^post_56, __disjvr_16^0'=__disjvr_16^post_56, __disjvr_17^0'=__disjvr_17^post_56, __disjvr_18^0'=__disjvr_18^post_56, __disjvr_19^0'=__disjvr_19^post_56, __disjvr_1^0'=__disjvr_1^post_56, __disjvr_20^0'=__disjvr_20^post_56, __disjvr_21^0'=__disjvr_21^post_56, __disjvr_22^0'=__disjvr_22^post_56, __disjvr_23^0'=__disjvr_23^post_56, __disjvr_24^0'=__disjvr_24^post_56, __disjvr_25^0'=__disjvr_25^post_56, __disjvr_2^0'=__disjvr_2^post_56, __disjvr_3^0'=__disjvr_3^post_56, __disjvr_4^0'=__disjvr_4^post_56, __disjvr_5^0'=__disjvr_5^post_56, __disjvr_6^0'=__disjvr_6^post_56, __disjvr_7^0'=__disjvr_7^post_56, __disjvr_8^0'=__disjvr_8^post_56, __disjvr_9^0'=__disjvr_9^post_56, 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, [ __disjvr_23^post_56==__disjvr_23^0 && __disjvr_0^0==__disjvr_0^post_56 && __disjvr_1^0==__disjvr_1^post_56 && __disjvr_10^0==__disjvr_10^post_56 && __disjvr_11^0==__disjvr_11^post_56 && __disjvr_12^0==__disjvr_12^post_56 && __disjvr_13^0==__disjvr_13^post_56 && __disjvr_14^0==__disjvr_14^post_56 && __disjvr_15^0==__disjvr_15^post_56 && __disjvr_16^0==__disjvr_16^post_56 && __disjvr_17^0==__disjvr_17^post_56 && __disjvr_18^0==__disjvr_18^post_56 && __disjvr_19^0==__disjvr_19^post_56 && __disjvr_2^0==__disjvr_2^post_56 && __disjvr_20^0==__disjvr_20^post_56 && __disjvr_21^0==__disjvr_21^post_56 && __disjvr_22^0==__disjvr_22^post_56 && __disjvr_23^0==__disjvr_23^post_56 && __disjvr_24^0==__disjvr_24^post_56 && __disjvr_25^0==__disjvr_25^post_56 && __disjvr_3^0==__disjvr_3^post_56 && __disjvr_4^0==__disjvr_4^post_56 && __disjvr_5^0==__disjvr_5^post_56 && __disjvr_6^0==__disjvr_6^post_56 && __disjvr_7^0==__disjvr_7^post_56 && __disjvr_8^0==__disjvr_8^post_56 && __disjvr_9^0==__disjvr_9^post_56 && 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 ], cost: 1
     56: l50 -> l51 : __disjvr_0^0'=__disjvr_0^post_57, __disjvr_10^0'=__disjvr_10^post_57, __disjvr_11^0'=__disjvr_11^post_57, __disjvr_12^0'=__disjvr_12^post_57, __disjvr_13^0'=__disjvr_13^post_57, __disjvr_14^0'=__disjvr_14^post_57, __disjvr_15^0'=__disjvr_15^post_57, __disjvr_16^0'=__disjvr_16^post_57, __disjvr_17^0'=__disjvr_17^post_57, __disjvr_18^0'=__disjvr_18^post_57, __disjvr_19^0'=__disjvr_19^post_57, __disjvr_1^0'=__disjvr_1^post_57, __disjvr_20^0'=__disjvr_20^post_57, __disjvr_21^0'=__disjvr_21^post_57, __disjvr_22^0'=__disjvr_22^post_57, __disjvr_23^0'=__disjvr_23^post_57, __disjvr_24^0'=__disjvr_24^post_57, __disjvr_25^0'=__disjvr_25^post_57, __disjvr_2^0'=__disjvr_2^post_57, __disjvr_3^0'=__disjvr_3^post_57, __disjvr_4^0'=__disjvr_4^post_57, __disjvr_5^0'=__disjvr_5^post_57, __disjvr_6^0'=__disjvr_6^post_57, __disjvr_7^0'=__disjvr_7^post_57, __disjvr_8^0'=__disjvr_8^post_57, __disjvr_9^0'=__disjvr_9^post_57, 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, [ t_25^post_57==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_57 && t_25^post_57<=head_16^0 && lt_20^0<=y_23^0 && y_23^0<=lt_20^0 && __disjvr_0^0==__disjvr_0^post_57 && __disjvr_1^0==__disjvr_1^post_57 && __disjvr_10^0==__disjvr_10^post_57 && __disjvr_11^0==__disjvr_11^post_57 && __disjvr_12^0==__disjvr_12^post_57 && __disjvr_13^0==__disjvr_13^post_57 && __disjvr_14^0==__disjvr_14^post_57 && __disjvr_15^0==__disjvr_15^post_57 && __disjvr_16^0==__disjvr_16^post_57 && __disjvr_17^0==__disjvr_17^post_57 && __disjvr_18^0==__disjvr_18^post_57 && __disjvr_19^0==__disjvr_19^post_57 && __disjvr_2^0==__disjvr_2^post_57 && __disjvr_20^0==__disjvr_20^post_57 && __disjvr_21^0==__disjvr_21^post_57 && __disjvr_22^0==__disjvr_22^post_57 && __disjvr_23^0==__disjvr_23^post_57 && __disjvr_24^0==__disjvr_24^post_57 && __disjvr_25^0==__disjvr_25^post_57 && __disjvr_3^0==__disjvr_3^post_57 && __disjvr_4^0==__disjvr_4^post_57 && __disjvr_5^0==__disjvr_5^post_57 && __disjvr_6^0==__disjvr_6^post_57 && __disjvr_7^0==__disjvr_7^post_57 && __disjvr_8^0==__disjvr_8^post_57 && __disjvr_9^0==__disjvr_9^post_57 && 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 && 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 ], cost: 1
     57: l51 -> l52 : __disjvr_0^0'=__disjvr_0^post_58, __disjvr_10^0'=__disjvr_10^post_58, __disjvr_11^0'=__disjvr_11^post_58, __disjvr_12^0'=__disjvr_12^post_58, __disjvr_13^0'=__disjvr_13^post_58, __disjvr_14^0'=__disjvr_14^post_58, __disjvr_15^0'=__disjvr_15^post_58, __disjvr_16^0'=__disjvr_16^post_58, __disjvr_17^0'=__disjvr_17^post_58, __disjvr_18^0'=__disjvr_18^post_58, __disjvr_19^0'=__disjvr_19^post_58, __disjvr_1^0'=__disjvr_1^post_58, __disjvr_20^0'=__disjvr_20^post_58, __disjvr_21^0'=__disjvr_21^post_58, __disjvr_22^0'=__disjvr_22^post_58, __disjvr_23^0'=__disjvr_23^post_58, __disjvr_24^0'=__disjvr_24^post_58, __disjvr_25^0'=__disjvr_25^post_58, __disjvr_2^0'=__disjvr_2^post_58, __disjvr_3^0'=__disjvr_3^post_58, __disjvr_4^0'=__disjvr_4^post_58, __disjvr_5^0'=__disjvr_5^post_58, __disjvr_6^0'=__disjvr_6^post_58, __disjvr_7^0'=__disjvr_7^post_58, __disjvr_8^0'=__disjvr_8^post_58, __disjvr_9^0'=__disjvr_9^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_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, [ __disjvr_24^post_58==__disjvr_24^0 && __disjvr_0^0==__disjvr_0^post_58 && __disjvr_1^0==__disjvr_1^post_58 && __disjvr_10^0==__disjvr_10^post_58 && __disjvr_11^0==__disjvr_11^post_58 && __disjvr_12^0==__disjvr_12^post_58 && __disjvr_13^0==__disjvr_13^post_58 && __disjvr_14^0==__disjvr_14^post_58 && __disjvr_15^0==__disjvr_15^post_58 && __disjvr_16^0==__disjvr_16^post_58 && __disjvr_17^0==__disjvr_17^post_58 && __disjvr_18^0==__disjvr_18^post_58 && __disjvr_19^0==__disjvr_19^post_58 && __disjvr_2^0==__disjvr_2^post_58 && __disjvr_20^0==__disjvr_20^post_58 && __disjvr_21^0==__disjvr_21^post_58 && __disjvr_22^0==__disjvr_22^post_58 && __disjvr_23^0==__disjvr_23^post_58 && __disjvr_24^0==__disjvr_24^post_58 && __disjvr_25^0==__disjvr_25^post_58 && __disjvr_3^0==__disjvr_3^post_58 && __disjvr_4^0==__disjvr_4^post_58 && __disjvr_5^0==__disjvr_5^post_58 && __disjvr_6^0==__disjvr_6^post_58 && __disjvr_7^0==__disjvr_7^post_58 && __disjvr_8^0==__disjvr_8^post_58 && __disjvr_9^0==__disjvr_9^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_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 ], cost: 1
     58: l52 -> l37 : __disjvr_0^0'=__disjvr_0^post_59, __disjvr_10^0'=__disjvr_10^post_59, __disjvr_11^0'=__disjvr_11^post_59, __disjvr_12^0'=__disjvr_12^post_59, __disjvr_13^0'=__disjvr_13^post_59, __disjvr_14^0'=__disjvr_14^post_59, __disjvr_15^0'=__disjvr_15^post_59, __disjvr_16^0'=__disjvr_16^post_59, __disjvr_17^0'=__disjvr_17^post_59, __disjvr_18^0'=__disjvr_18^post_59, __disjvr_19^0'=__disjvr_19^post_59, __disjvr_1^0'=__disjvr_1^post_59, __disjvr_20^0'=__disjvr_20^post_59, __disjvr_21^0'=__disjvr_21^post_59, __disjvr_22^0'=__disjvr_22^post_59, __disjvr_23^0'=__disjvr_23^post_59, __disjvr_24^0'=__disjvr_24^post_59, __disjvr_25^0'=__disjvr_25^post_59, __disjvr_2^0'=__disjvr_2^post_59, __disjvr_3^0'=__disjvr_3^post_59, __disjvr_4^0'=__disjvr_4^post_59, __disjvr_5^0'=__disjvr_5^post_59, __disjvr_6^0'=__disjvr_6^post_59, __disjvr_7^0'=__disjvr_7^post_59, __disjvr_8^0'=__disjvr_8^post_59, __disjvr_9^0'=__disjvr_9^post_59, 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<=result_dot_nondet_sdv_special_RETURN_VALUE_14^0 && result_dot_nondet_sdv_special_RETURN_VALUE_14^0<=1 && __disjvr_0^0==__disjvr_0^post_59 && __disjvr_1^0==__disjvr_1^post_59 && __disjvr_10^0==__disjvr_10^post_59 && __disjvr_11^0==__disjvr_11^post_59 && __disjvr_12^0==__disjvr_12^post_59 && __disjvr_13^0==__disjvr_13^post_59 && __disjvr_14^0==__disjvr_14^post_59 && __disjvr_15^0==__disjvr_15^post_59 && __disjvr_16^0==__disjvr_16^post_59 && __disjvr_17^0==__disjvr_17^post_59 && __disjvr_18^0==__disjvr_18^post_59 && __disjvr_19^0==__disjvr_19^post_59 && __disjvr_2^0==__disjvr_2^post_59 && __disjvr_20^0==__disjvr_20^post_59 && __disjvr_21^0==__disjvr_21^post_59 && __disjvr_22^0==__disjvr_22^post_59 && __disjvr_23^0==__disjvr_23^post_59 && __disjvr_24^0==__disjvr_24^post_59 && __disjvr_25^0==__disjvr_25^post_59 && __disjvr_3^0==__disjvr_3^post_59 && __disjvr_4^0==__disjvr_4^post_59 && __disjvr_5^0==__disjvr_5^post_59 && __disjvr_6^0==__disjvr_6^post_59 && __disjvr_7^0==__disjvr_7^post_59 && __disjvr_8^0==__disjvr_8^post_59 && __disjvr_9^0==__disjvr_9^post_59 && 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
     61: l53 -> l54 : __disjvr_0^0'=__disjvr_0^post_62, __disjvr_10^0'=__disjvr_10^post_62, __disjvr_11^0'=__disjvr_11^post_62, __disjvr_12^0'=__disjvr_12^post_62, __disjvr_13^0'=__disjvr_13^post_62, __disjvr_14^0'=__disjvr_14^post_62, __disjvr_15^0'=__disjvr_15^post_62, __disjvr_16^0'=__disjvr_16^post_62, __disjvr_17^0'=__disjvr_17^post_62, __disjvr_18^0'=__disjvr_18^post_62, __disjvr_19^0'=__disjvr_19^post_62, __disjvr_1^0'=__disjvr_1^post_62, __disjvr_20^0'=__disjvr_20^post_62, __disjvr_21^0'=__disjvr_21^post_62, __disjvr_22^0'=__disjvr_22^post_62, __disjvr_23^0'=__disjvr_23^post_62, __disjvr_24^0'=__disjvr_24^post_62, __disjvr_25^0'=__disjvr_25^post_62, __disjvr_2^0'=__disjvr_2^post_62, __disjvr_3^0'=__disjvr_3^post_62, __disjvr_4^0'=__disjvr_4^post_62, __disjvr_5^0'=__disjvr_5^post_62, __disjvr_6^0'=__disjvr_6^post_62, __disjvr_7^0'=__disjvr_7^post_62, __disjvr_8^0'=__disjvr_8^post_62, __disjvr_9^0'=__disjvr_9^post_62, 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, [ __disjvr_25^post_62==__disjvr_25^0 && __disjvr_0^0==__disjvr_0^post_62 && __disjvr_1^0==__disjvr_1^post_62 && __disjvr_10^0==__disjvr_10^post_62 && __disjvr_11^0==__disjvr_11^post_62 && __disjvr_12^0==__disjvr_12^post_62 && __disjvr_13^0==__disjvr_13^post_62 && __disjvr_14^0==__disjvr_14^post_62 && __disjvr_15^0==__disjvr_15^post_62 && __disjvr_16^0==__disjvr_16^post_62 && __disjvr_17^0==__disjvr_17^post_62 && __disjvr_18^0==__disjvr_18^post_62 && __disjvr_19^0==__disjvr_19^post_62 && __disjvr_2^0==__disjvr_2^post_62 && __disjvr_20^0==__disjvr_20^post_62 && __disjvr_21^0==__disjvr_21^post_62 && __disjvr_22^0==__disjvr_22^post_62 && __disjvr_23^0==__disjvr_23^post_62 && __disjvr_24^0==__disjvr_24^post_62 && __disjvr_25^0==__disjvr_25^post_62 && __disjvr_3^0==__disjvr_3^post_62 && __disjvr_4^0==__disjvr_4^post_62 && __disjvr_5^0==__disjvr_5^post_62 && __disjvr_6^0==__disjvr_6^post_62 && __disjvr_7^0==__disjvr_7^post_62 && __disjvr_8^0==__disjvr_8^post_62 && __disjvr_9^0==__disjvr_9^post_62 && 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: l54 -> l1 : __disjvr_0^0'=__disjvr_0^post_63, __disjvr_10^0'=__disjvr_10^post_63, __disjvr_11^0'=__disjvr_11^post_63, __disjvr_12^0'=__disjvr_12^post_63, __disjvr_13^0'=__disjvr_13^post_63, __disjvr_14^0'=__disjvr_14^post_63, __disjvr_15^0'=__disjvr_15^post_63, __disjvr_16^0'=__disjvr_16^post_63, __disjvr_17^0'=__disjvr_17^post_63, __disjvr_18^0'=__disjvr_18^post_63, __disjvr_19^0'=__disjvr_19^post_63, __disjvr_1^0'=__disjvr_1^post_63, __disjvr_20^0'=__disjvr_20^post_63, __disjvr_21^0'=__disjvr_21^post_63, __disjvr_22^0'=__disjvr_22^post_63, __disjvr_23^0'=__disjvr_23^post_63, __disjvr_24^0'=__disjvr_24^post_63, __disjvr_25^0'=__disjvr_25^post_63, __disjvr_2^0'=__disjvr_2^post_63, __disjvr_3^0'=__disjvr_3^post_63, __disjvr_4^0'=__disjvr_4^post_63, __disjvr_5^0'=__disjvr_5^post_63, __disjvr_6^0'=__disjvr_6^post_63, __disjvr_7^0'=__disjvr_7^post_63, __disjvr_8^0'=__disjvr_8^post_63, __disjvr_9^0'=__disjvr_9^post_63, 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, [ result_dot_nondet_sdv_special_RETURN_VALUE_14^0<=0 && __disjvr_0^0==__disjvr_0^post_63 && __disjvr_1^0==__disjvr_1^post_63 && __disjvr_10^0==__disjvr_10^post_63 && __disjvr_11^0==__disjvr_11^post_63 && __disjvr_12^0==__disjvr_12^post_63 && __disjvr_13^0==__disjvr_13^post_63 && __disjvr_14^0==__disjvr_14^post_63 && __disjvr_15^0==__disjvr_15^post_63 && __disjvr_16^0==__disjvr_16^post_63 && __disjvr_17^0==__disjvr_17^post_63 && __disjvr_18^0==__disjvr_18^post_63 && __disjvr_19^0==__disjvr_19^post_63 && __disjvr_2^0==__disjvr_2^post_63 && __disjvr_20^0==__disjvr_20^post_63 && __disjvr_21^0==__disjvr_21^post_63 && __disjvr_22^0==__disjvr_22^post_63 && __disjvr_23^0==__disjvr_23^post_63 && __disjvr_24^0==__disjvr_24^post_63 && __disjvr_25^0==__disjvr_25^post_63 && __disjvr_3^0==__disjvr_3^post_63 && __disjvr_4^0==__disjvr_4^post_63 && __disjvr_5^0==__disjvr_5^post_63 && __disjvr_6^0==__disjvr_6^post_63 && __disjvr_7^0==__disjvr_7^post_63 && __disjvr_8^0==__disjvr_8^post_63 && __disjvr_9^0==__disjvr_9^post_63 && 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: l55 -> l46 : __disjvr_0^0'=__disjvr_0^post_64, __disjvr_10^0'=__disjvr_10^post_64, __disjvr_11^0'=__disjvr_11^post_64, __disjvr_12^0'=__disjvr_12^post_64, __disjvr_13^0'=__disjvr_13^post_64, __disjvr_14^0'=__disjvr_14^post_64, __disjvr_15^0'=__disjvr_15^post_64, __disjvr_16^0'=__disjvr_16^post_64, __disjvr_17^0'=__disjvr_17^post_64, __disjvr_18^0'=__disjvr_18^post_64, __disjvr_19^0'=__disjvr_19^post_64, __disjvr_1^0'=__disjvr_1^post_64, __disjvr_20^0'=__disjvr_20^post_64, __disjvr_21^0'=__disjvr_21^post_64, __disjvr_22^0'=__disjvr_22^post_64, __disjvr_23^0'=__disjvr_23^post_64, __disjvr_24^0'=__disjvr_24^post_64, __disjvr_25^0'=__disjvr_25^post_64, __disjvr_2^0'=__disjvr_2^post_64, __disjvr_3^0'=__disjvr_3^post_64, __disjvr_4^0'=__disjvr_4^post_64, __disjvr_5^0'=__disjvr_5^post_64, __disjvr_6^0'=__disjvr_6^post_64, __disjvr_7^0'=__disjvr_7^post_64, __disjvr_8^0'=__disjvr_8^post_64, __disjvr_9^0'=__disjvr_9^post_64, 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, [ __disjvr_0^0==__disjvr_0^post_64 && __disjvr_1^0==__disjvr_1^post_64 && __disjvr_10^0==__disjvr_10^post_64 && __disjvr_11^0==__disjvr_11^post_64 && __disjvr_12^0==__disjvr_12^post_64 && __disjvr_13^0==__disjvr_13^post_64 && __disjvr_14^0==__disjvr_14^post_64 && __disjvr_15^0==__disjvr_15^post_64 && __disjvr_16^0==__disjvr_16^post_64 && __disjvr_17^0==__disjvr_17^post_64 && __disjvr_18^0==__disjvr_18^post_64 && __disjvr_19^0==__disjvr_19^post_64 && __disjvr_2^0==__disjvr_2^post_64 && __disjvr_20^0==__disjvr_20^post_64 && __disjvr_21^0==__disjvr_21^post_64 && __disjvr_22^0==__disjvr_22^post_64 && __disjvr_23^0==__disjvr_23^post_64 && __disjvr_24^0==__disjvr_24^post_64 && __disjvr_25^0==__disjvr_25^post_64 && __disjvr_3^0==__disjvr_3^post_64 && __disjvr_4^0==__disjvr_4^post_64 && __disjvr_5^0==__disjvr_5^post_64 && __disjvr_6^0==__disjvr_6^post_64 && __disjvr_7^0==__disjvr_7^post_64 && __disjvr_8^0==__disjvr_8^post_64 && __disjvr_9^0==__disjvr_9^post_64 && 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

Checking for constant complexity:
   The following rule is satisfiable with cost >= 1, yielding constant complexity:
     63: l55 -> l46 : __disjvr_0^0'=__disjvr_0^post_64, __disjvr_10^0'=__disjvr_10^post_64, __disjvr_11^0'=__disjvr_11^post_64, __disjvr_12^0'=__disjvr_12^post_64, __disjvr_13^0'=__disjvr_13^post_64, __disjvr_14^0'=__disjvr_14^post_64, __disjvr_15^0'=__disjvr_15^post_64, __disjvr_16^0'=__disjvr_16^post_64, __disjvr_17^0'=__disjvr_17^post_64, __disjvr_18^0'=__disjvr_18^post_64, __disjvr_19^0'=__disjvr_19^post_64, __disjvr_1^0'=__disjvr_1^post_64, __disjvr_20^0'=__disjvr_20^post_64, __disjvr_21^0'=__disjvr_21^post_64, __disjvr_22^0'=__disjvr_22^post_64, __disjvr_23^0'=__disjvr_23^post_64, __disjvr_24^0'=__disjvr_24^post_64, __disjvr_25^0'=__disjvr_25^post_64, __disjvr_2^0'=__disjvr_2^post_64, __disjvr_3^0'=__disjvr_3^post_64, __disjvr_4^0'=__disjvr_4^post_64, __disjvr_5^0'=__disjvr_5^post_64, __disjvr_6^0'=__disjvr_6^post_64, __disjvr_7^0'=__disjvr_7^post_64, __disjvr_8^0'=__disjvr_8^post_64, __disjvr_9^0'=__disjvr_9^post_64, 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, [ __disjvr_0^0==__disjvr_0^post_64 && __disjvr_1^0==__disjvr_1^post_64 && __disjvr_10^0==__disjvr_10^post_64 && __disjvr_11^0==__disjvr_11^post_64 && __disjvr_12^0==__disjvr_12^post_64 && __disjvr_13^0==__disjvr_13^post_64 && __disjvr_14^0==__disjvr_14^post_64 && __disjvr_15^0==__disjvr_15^post_64 && __disjvr_16^0==__disjvr_16^post_64 && __disjvr_17^0==__disjvr_17^post_64 && __disjvr_18^0==__disjvr_18^post_64 && __disjvr_19^0==__disjvr_19^post_64 && __disjvr_2^0==__disjvr_2^post_64 && __disjvr_20^0==__disjvr_20^post_64 && __disjvr_21^0==__disjvr_21^post_64 && __disjvr_22^0==__disjvr_22^post_64 && __disjvr_23^0==__disjvr_23^post_64 && __disjvr_24^0==__disjvr_24^post_64 && __disjvr_25^0==__disjvr_25^post_64 && __disjvr_3^0==__disjvr_3^post_64 && __disjvr_4^0==__disjvr_4^post_64 && __disjvr_5^0==__disjvr_5^post_64 && __disjvr_6^0==__disjvr_6^post_64 && __disjvr_7^0==__disjvr_7^post_64 && __disjvr_8^0==__disjvr_8^post_64 && __disjvr_9^0==__disjvr_9^post_64 && 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

Removed unreachable and leaf rules:
   Start location: l55
      1: l0 -> l3 : __disjvr_0^0'=__disjvr_0^post_2, __disjvr_10^0'=__disjvr_10^post_2, __disjvr_11^0'=__disjvr_11^post_2, __disjvr_12^0'=__disjvr_12^post_2, __disjvr_13^0'=__disjvr_13^post_2, __disjvr_14^0'=__disjvr_14^post_2, __disjvr_15^0'=__disjvr_15^post_2, __disjvr_16^0'=__disjvr_16^post_2, __disjvr_17^0'=__disjvr_17^post_2, __disjvr_18^0'=__disjvr_18^post_2, __disjvr_19^0'=__disjvr_19^post_2, __disjvr_1^0'=__disjvr_1^post_2, __disjvr_20^0'=__disjvr_20^post_2, __disjvr_21^0'=__disjvr_21^post_2, __disjvr_22^0'=__disjvr_22^post_2, __disjvr_23^0'=__disjvr_23^post_2, __disjvr_24^0'=__disjvr_24^post_2, __disjvr_25^0'=__disjvr_25^post_2, __disjvr_2^0'=__disjvr_2^post_2, __disjvr_3^0'=__disjvr_3^post_2, __disjvr_4^0'=__disjvr_4^post_2, __disjvr_5^0'=__disjvr_5^post_2, __disjvr_6^0'=__disjvr_6^post_2, __disjvr_7^0'=__disjvr_7^post_2, __disjvr_8^0'=__disjvr_8^post_2, __disjvr_9^0'=__disjvr_9^post_2, a_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 && __disjvr_0^0==__disjvr_0^post_2 && __disjvr_1^0==__disjvr_1^post_2 && __disjvr_10^0==__disjvr_10^post_2 && __disjvr_11^0==__disjvr_11^post_2 && __disjvr_12^0==__disjvr_12^post_2 && __disjvr_13^0==__disjvr_13^post_2 && __disjvr_14^0==__disjvr_14^post_2 && __disjvr_15^0==__disjvr_15^post_2 && __disjvr_16^0==__disjvr_16^post_2 && __disjvr_17^0==__disjvr_17^post_2 && __disjvr_18^0==__disjvr_18^post_2 && __disjvr_19^0==__disjvr_19^post_2 && __disjvr_2^0==__disjvr_2^post_2 && __disjvr_20^0==__disjvr_20^post_2 && __disjvr_21^0==__disjvr_21^post_2 && __disjvr_22^0==__disjvr_22^post_2 && __disjvr_23^0==__disjvr_23^post_2 && __disjvr_24^0==__disjvr_24^post_2 && __disjvr_25^0==__disjvr_25^post_2 && __disjvr_3^0==__disjvr_3^post_2 && __disjvr_4^0==__disjvr_4^post_2 && __disjvr_5^0==__disjvr_5^post_2 && __disjvr_6^0==__disjvr_6^post_2 && __disjvr_7^0==__disjvr_7^post_2 && __disjvr_8^0==__disjvr_8^post_2 && __disjvr_9^0==__disjvr_9^post_2 && a_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
      9: l0 -> l10 : __disjvr_0^0'=__disjvr_0^post_10, __disjvr_10^0'=__disjvr_10^post_10, __disjvr_11^0'=__disjvr_11^post_10, __disjvr_12^0'=__disjvr_12^post_10, __disjvr_13^0'=__disjvr_13^post_10, __disjvr_14^0'=__disjvr_14^post_10, __disjvr_15^0'=__disjvr_15^post_10, __disjvr_16^0'=__disjvr_16^post_10, __disjvr_17^0'=__disjvr_17^post_10, __disjvr_18^0'=__disjvr_18^post_10, __disjvr_19^0'=__disjvr_19^post_10, __disjvr_1^0'=__disjvr_1^post_10, __disjvr_20^0'=__disjvr_20^post_10, __disjvr_21^0'=__disjvr_21^post_10, __disjvr_22^0'=__disjvr_22^post_10, __disjvr_23^0'=__disjvr_23^post_10, __disjvr_24^0'=__disjvr_24^post_10, __disjvr_25^0'=__disjvr_25^post_10, __disjvr_2^0'=__disjvr_2^post_10, __disjvr_3^0'=__disjvr_3^post_10, __disjvr_4^0'=__disjvr_4^post_10, __disjvr_5^0'=__disjvr_5^post_10, __disjvr_6^0'=__disjvr_6^post_10, __disjvr_7^0'=__disjvr_7^post_10, __disjvr_8^0'=__disjvr_8^post_10, __disjvr_9^0'=__disjvr_9^post_10, a_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, [ 0<=i_29^0 && rcd_104^post_10==rcd_104^post_10 && i_110^post_10==i_110^post_10 && 1+i_29^0<=length_27^0 && tmp_33^post_10==temp_34^0 && temp_34^post_10==temp_34^post_10 && head_31^post_10==tmp_33^post_10 && i_29^post_10==1+i_29^0 && rcd_112^post_10==rcd_112^post_10 && i_29^post_10<=1+i_110^post_10 && 1+i_110^post_10<=i_29^post_10 && i_110^post_10<=-1+i_29^post_10 && -1+i_29^post_10<=i_110^post_10 && rcd_43^0<=rcd_112^post_10 && rcd_112^post_10<=rcd_43^0 && 1+i_110^post_10<=length_27^0 && rcd_43^post_10==rcd_43^post_10 && rcd_43^post_10<=rcd_112^post_10 && rcd_112^post_10<=rcd_43^post_10 && __disjvr_0^0==__disjvr_0^post_10 && __disjvr_1^0==__disjvr_1^post_10 && __disjvr_10^0==__disjvr_10^post_10 && __disjvr_11^0==__disjvr_11^post_10 && __disjvr_12^0==__disjvr_12^post_10 && __disjvr_13^0==__disjvr_13^post_10 && __disjvr_14^0==__disjvr_14^post_10 && __disjvr_15^0==__disjvr_15^post_10 && __disjvr_16^0==__disjvr_16^post_10 && __disjvr_17^0==__disjvr_17^post_10 && __disjvr_18^0==__disjvr_18^post_10 && __disjvr_19^0==__disjvr_19^post_10 && __disjvr_2^0==__disjvr_2^post_10 && __disjvr_20^0==__disjvr_20^post_10 && __disjvr_21^0==__disjvr_21^post_10 && __disjvr_22^0==__disjvr_22^post_10 && __disjvr_23^0==__disjvr_23^post_10 && __disjvr_24^0==__disjvr_24^post_10 && __disjvr_25^0==__disjvr_25^post_10 && __disjvr_3^0==__disjvr_3^post_10 && __disjvr_4^0==__disjvr_4^post_10 && __disjvr_5^0==__disjvr_5^post_10 && __disjvr_6^0==__disjvr_6^post_10 && __disjvr_7^0==__disjvr_7^post_10 && __disjvr_8^0==__disjvr_8^post_10 && __disjvr_9^0==__disjvr_9^post_10 && a_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_SLAM_f_28^0==head_SLAM_f_28^post_10 && i_120^0==i_120^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_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_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_35^0==temp_35^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
      2: l3 -> l4 : __disjvr_0^0'=__disjvr_0^post_3, __disjvr_10^0'=__disjvr_10^post_3, __disjvr_11^0'=__disjvr_11^post_3, __disjvr_12^0'=__disjvr_12^post_3, __disjvr_13^0'=__disjvr_13^post_3, __disjvr_14^0'=__disjvr_14^post_3, __disjvr_15^0'=__disjvr_15^post_3, __disjvr_16^0'=__disjvr_16^post_3, __disjvr_17^0'=__disjvr_17^post_3, __disjvr_18^0'=__disjvr_18^post_3, __disjvr_19^0'=__disjvr_19^post_3, __disjvr_1^0'=__disjvr_1^post_3, __disjvr_20^0'=__disjvr_20^post_3, __disjvr_21^0'=__disjvr_21^post_3, __disjvr_22^0'=__disjvr_22^post_3, __disjvr_23^0'=__disjvr_23^post_3, __disjvr_24^0'=__disjvr_24^post_3, __disjvr_25^0'=__disjvr_25^post_3, __disjvr_2^0'=__disjvr_2^post_3, __disjvr_3^0'=__disjvr_3^post_3, __disjvr_4^0'=__disjvr_4^post_3, __disjvr_5^0'=__disjvr_5^post_3, __disjvr_6^0'=__disjvr_6^post_3, __disjvr_7^0'=__disjvr_7^post_3, __disjvr_8^0'=__disjvr_8^post_3, __disjvr_9^0'=__disjvr_9^post_3, a_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, [ __disjvr_0^post_3==__disjvr_0^0 && __disjvr_0^0==__disjvr_0^post_3 && __disjvr_1^0==__disjvr_1^post_3 && __disjvr_10^0==__disjvr_10^post_3 && __disjvr_11^0==__disjvr_11^post_3 && __disjvr_12^0==__disjvr_12^post_3 && __disjvr_13^0==__disjvr_13^post_3 && __disjvr_14^0==__disjvr_14^post_3 && __disjvr_15^0==__disjvr_15^post_3 && __disjvr_16^0==__disjvr_16^post_3 && __disjvr_17^0==__disjvr_17^post_3 && __disjvr_18^0==__disjvr_18^post_3 && __disjvr_19^0==__disjvr_19^post_3 && __disjvr_2^0==__disjvr_2^post_3 && __disjvr_20^0==__disjvr_20^post_3 && __disjvr_21^0==__disjvr_21^post_3 && __disjvr_22^0==__disjvr_22^post_3 && __disjvr_23^0==__disjvr_23^post_3 && __disjvr_24^0==__disjvr_24^post_3 && __disjvr_25^0==__disjvr_25^post_3 && __disjvr_3^0==__disjvr_3^post_3 && __disjvr_4^0==__disjvr_4^post_3 && __disjvr_5^0==__disjvr_5^post_3 && __disjvr_6^0==__disjvr_6^post_3 && __disjvr_7^0==__disjvr_7^post_3 && __disjvr_8^0==__disjvr_8^post_3 && __disjvr_9^0==__disjvr_9^post_3 && a_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: l4 -> l5 : __disjvr_0^0'=__disjvr_0^post_4, __disjvr_10^0'=__disjvr_10^post_4, __disjvr_11^0'=__disjvr_11^post_4, __disjvr_12^0'=__disjvr_12^post_4, __disjvr_13^0'=__disjvr_13^post_4, __disjvr_14^0'=__disjvr_14^post_4, __disjvr_15^0'=__disjvr_15^post_4, __disjvr_16^0'=__disjvr_16^post_4, __disjvr_17^0'=__disjvr_17^post_4, __disjvr_18^0'=__disjvr_18^post_4, __disjvr_19^0'=__disjvr_19^post_4, __disjvr_1^0'=__disjvr_1^post_4, __disjvr_20^0'=__disjvr_20^post_4, __disjvr_21^0'=__disjvr_21^post_4, __disjvr_22^0'=__disjvr_22^post_4, __disjvr_23^0'=__disjvr_23^post_4, __disjvr_24^0'=__disjvr_24^post_4, __disjvr_25^0'=__disjvr_25^post_4, __disjvr_2^0'=__disjvr_2^post_4, __disjvr_3^0'=__disjvr_3^post_4, __disjvr_4^0'=__disjvr_4^post_4, __disjvr_5^0'=__disjvr_5^post_4, __disjvr_6^0'=__disjvr_6^post_4, __disjvr_7^0'=__disjvr_7^post_4, __disjvr_8^0'=__disjvr_8^post_4, __disjvr_9^0'=__disjvr_9^post_4, a_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, [ lt_17^post_4==lt_17^post_4 && x_SLAM_f_22^1_1==head_16^0 && y_23^post_4==lt_20^0 && x_24^post_4==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_4 && x_24^post_4<=head_16^0 && lt_20^0<=y_23^post_4 && y_23^post_4<=lt_20^0 && x_SLAM_f_22^1_1<=x_24^post_4 && x_24^post_4<=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_4==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_4 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_4==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_4 && tail_15^post_4==tail_15^post_4 && head_16^post_4==head_16^post_4 && lt_20^post_4==lt_20^post_4 && x_SLAM_f_22^post_4==x_SLAM_f_22^post_4 && rcd_185^post_4==rcd_185^post_4 && rcd_190^post_4==rcd_190^post_4 && __disjvr_0^0==__disjvr_0^post_4 && __disjvr_1^0==__disjvr_1^post_4 && __disjvr_10^0==__disjvr_10^post_4 && __disjvr_11^0==__disjvr_11^post_4 && __disjvr_12^0==__disjvr_12^post_4 && __disjvr_13^0==__disjvr_13^post_4 && __disjvr_14^0==__disjvr_14^post_4 && __disjvr_15^0==__disjvr_15^post_4 && __disjvr_16^0==__disjvr_16^post_4 && __disjvr_17^0==__disjvr_17^post_4 && __disjvr_18^0==__disjvr_18^post_4 && __disjvr_19^0==__disjvr_19^post_4 && __disjvr_2^0==__disjvr_2^post_4 && __disjvr_20^0==__disjvr_20^post_4 && __disjvr_21^0==__disjvr_21^post_4 && __disjvr_22^0==__disjvr_22^post_4 && __disjvr_23^0==__disjvr_23^post_4 && __disjvr_24^0==__disjvr_24^post_4 && __disjvr_25^0==__disjvr_25^post_4 && __disjvr_3^0==__disjvr_3^post_4 && __disjvr_4^0==__disjvr_4^post_4 && __disjvr_5^0==__disjvr_5^post_4 && __disjvr_6^0==__disjvr_6^post_4 && __disjvr_7^0==__disjvr_7^post_4 && __disjvr_8^0==__disjvr_8^post_4 && __disjvr_9^0==__disjvr_9^post_4 && a_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_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 && 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_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_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_4 && t_25^0==t_25^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 ], cost: 1
      4: l5 -> l6 : __disjvr_0^0'=__disjvr_0^post_5, __disjvr_10^0'=__disjvr_10^post_5, __disjvr_11^0'=__disjvr_11^post_5, __disjvr_12^0'=__disjvr_12^post_5, __disjvr_13^0'=__disjvr_13^post_5, __disjvr_14^0'=__disjvr_14^post_5, __disjvr_15^0'=__disjvr_15^post_5, __disjvr_16^0'=__disjvr_16^post_5, __disjvr_17^0'=__disjvr_17^post_5, __disjvr_18^0'=__disjvr_18^post_5, __disjvr_19^0'=__disjvr_19^post_5, __disjvr_1^0'=__disjvr_1^post_5, __disjvr_20^0'=__disjvr_20^post_5, __disjvr_21^0'=__disjvr_21^post_5, __disjvr_22^0'=__disjvr_22^post_5, __disjvr_23^0'=__disjvr_23^post_5, __disjvr_24^0'=__disjvr_24^post_5, __disjvr_25^0'=__disjvr_25^post_5, __disjvr_2^0'=__disjvr_2^post_5, __disjvr_3^0'=__disjvr_3^post_5, __disjvr_4^0'=__disjvr_4^post_5, __disjvr_5^0'=__disjvr_5^post_5, __disjvr_6^0'=__disjvr_6^post_5, __disjvr_7^0'=__disjvr_7^post_5, __disjvr_8^0'=__disjvr_8^post_5, __disjvr_9^0'=__disjvr_9^post_5, a_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, [ __disjvr_1^post_5==__disjvr_1^0 && __disjvr_0^0==__disjvr_0^post_5 && __disjvr_1^0==__disjvr_1^post_5 && __disjvr_10^0==__disjvr_10^post_5 && __disjvr_11^0==__disjvr_11^post_5 && __disjvr_12^0==__disjvr_12^post_5 && __disjvr_13^0==__disjvr_13^post_5 && __disjvr_14^0==__disjvr_14^post_5 && __disjvr_15^0==__disjvr_15^post_5 && __disjvr_16^0==__disjvr_16^post_5 && __disjvr_17^0==__disjvr_17^post_5 && __disjvr_18^0==__disjvr_18^post_5 && __disjvr_19^0==__disjvr_19^post_5 && __disjvr_2^0==__disjvr_2^post_5 && __disjvr_20^0==__disjvr_20^post_5 && __disjvr_21^0==__disjvr_21^post_5 && __disjvr_22^0==__disjvr_22^post_5 && __disjvr_23^0==__disjvr_23^post_5 && __disjvr_24^0==__disjvr_24^post_5 && __disjvr_25^0==__disjvr_25^post_5 && __disjvr_3^0==__disjvr_3^post_5 && __disjvr_4^0==__disjvr_4^post_5 && __disjvr_5^0==__disjvr_5^post_5 && __disjvr_6^0==__disjvr_6^post_5 && __disjvr_7^0==__disjvr_7^post_5 && __disjvr_8^0==__disjvr_8^post_5 && __disjvr_9^0==__disjvr_9^post_5 && a_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 ], cost: 1
      5: l6 -> l7 : __disjvr_0^0'=__disjvr_0^post_6, __disjvr_10^0'=__disjvr_10^post_6, __disjvr_11^0'=__disjvr_11^post_6, __disjvr_12^0'=__disjvr_12^post_6, __disjvr_13^0'=__disjvr_13^post_6, __disjvr_14^0'=__disjvr_14^post_6, __disjvr_15^0'=__disjvr_15^post_6, __disjvr_16^0'=__disjvr_16^post_6, __disjvr_17^0'=__disjvr_17^post_6, __disjvr_18^0'=__disjvr_18^post_6, __disjvr_19^0'=__disjvr_19^post_6, __disjvr_1^0'=__disjvr_1^post_6, __disjvr_20^0'=__disjvr_20^post_6, __disjvr_21^0'=__disjvr_21^post_6, __disjvr_22^0'=__disjvr_22^post_6, __disjvr_23^0'=__disjvr_23^post_6, __disjvr_24^0'=__disjvr_24^post_6, __disjvr_25^0'=__disjvr_25^post_6, __disjvr_2^0'=__disjvr_2^post_6, __disjvr_3^0'=__disjvr_3^post_6, __disjvr_4^0'=__disjvr_4^post_6, __disjvr_5^0'=__disjvr_5^post_6, __disjvr_6^0'=__disjvr_6^post_6, __disjvr_7^0'=__disjvr_7^post_6, __disjvr_8^0'=__disjvr_8^post_6, __disjvr_9^0'=__disjvr_9^post_6, a_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, [ t_25^post_6==x_24^0 && a_153^post_6==a_153^post_6 && 0<=a_178^0-a_153^post_6 && a_178^0-a_153^post_6<=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_6 && t_25^post_6<=head_16^0 && lt_20^0<=y_23^0 && y_23^0<=lt_20^0 && a_153^post_6<=a_178^0 && a_178^0<=a_153^post_6 && rcd_43^0<=rcd_185^0 && rcd_185^0<=rcd_43^0 && __disjvr_0^0==__disjvr_0^post_6 && __disjvr_1^0==__disjvr_1^post_6 && __disjvr_10^0==__disjvr_10^post_6 && __disjvr_11^0==__disjvr_11^post_6 && __disjvr_12^0==__disjvr_12^post_6 && __disjvr_13^0==__disjvr_13^post_6 && __disjvr_14^0==__disjvr_14^post_6 && __disjvr_15^0==__disjvr_15^post_6 && __disjvr_16^0==__disjvr_16^post_6 && __disjvr_17^0==__disjvr_17^post_6 && __disjvr_18^0==__disjvr_18^post_6 && __disjvr_19^0==__disjvr_19^post_6 && __disjvr_2^0==__disjvr_2^post_6 && __disjvr_20^0==__disjvr_20^post_6 && __disjvr_21^0==__disjvr_21^post_6 && __disjvr_22^0==__disjvr_22^post_6 && __disjvr_23^0==__disjvr_23^post_6 && __disjvr_24^0==__disjvr_24^post_6 && __disjvr_25^0==__disjvr_25^post_6 && __disjvr_3^0==__disjvr_3^post_6 && __disjvr_4^0==__disjvr_4^post_6 && __disjvr_5^0==__disjvr_5^post_6 && __disjvr_6^0==__disjvr_6^post_6 && __disjvr_7^0==__disjvr_7^post_6 && __disjvr_8^0==__disjvr_8^post_6 && __disjvr_9^0==__disjvr_9^post_6 && a_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 && 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: l7 -> l8 : __disjvr_0^0'=__disjvr_0^post_7, __disjvr_10^0'=__disjvr_10^post_7, __disjvr_11^0'=__disjvr_11^post_7, __disjvr_12^0'=__disjvr_12^post_7, __disjvr_13^0'=__disjvr_13^post_7, __disjvr_14^0'=__disjvr_14^post_7, __disjvr_15^0'=__disjvr_15^post_7, __disjvr_16^0'=__disjvr_16^post_7, __disjvr_17^0'=__disjvr_17^post_7, __disjvr_18^0'=__disjvr_18^post_7, __disjvr_19^0'=__disjvr_19^post_7, __disjvr_1^0'=__disjvr_1^post_7, __disjvr_20^0'=__disjvr_20^post_7, __disjvr_21^0'=__disjvr_21^post_7, __disjvr_22^0'=__disjvr_22^post_7, __disjvr_23^0'=__disjvr_23^post_7, __disjvr_24^0'=__disjvr_24^post_7, __disjvr_25^0'=__disjvr_25^post_7, __disjvr_2^0'=__disjvr_2^post_7, __disjvr_3^0'=__disjvr_3^post_7, __disjvr_4^0'=__disjvr_4^post_7, __disjvr_5^0'=__disjvr_5^post_7, __disjvr_6^0'=__disjvr_6^post_7, __disjvr_7^0'=__disjvr_7^post_7, __disjvr_8^0'=__disjvr_8^post_7, __disjvr_9^0'=__disjvr_9^post_7, a_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, [ __disjvr_2^post_7==__disjvr_2^0 && __disjvr_0^0==__disjvr_0^post_7 && __disjvr_1^0==__disjvr_1^post_7 && __disjvr_10^0==__disjvr_10^post_7 && __disjvr_11^0==__disjvr_11^post_7 && __disjvr_12^0==__disjvr_12^post_7 && __disjvr_13^0==__disjvr_13^post_7 && __disjvr_14^0==__disjvr_14^post_7 && __disjvr_15^0==__disjvr_15^post_7 && __disjvr_16^0==__disjvr_16^post_7 && __disjvr_17^0==__disjvr_17^post_7 && __disjvr_18^0==__disjvr_18^post_7 && __disjvr_19^0==__disjvr_19^post_7 && __disjvr_2^0==__disjvr_2^post_7 && __disjvr_20^0==__disjvr_20^post_7 && __disjvr_21^0==__disjvr_21^post_7 && __disjvr_22^0==__disjvr_22^post_7 && __disjvr_23^0==__disjvr_23^post_7 && __disjvr_24^0==__disjvr_24^post_7 && __disjvr_25^0==__disjvr_25^post_7 && __disjvr_3^0==__disjvr_3^post_7 && __disjvr_4^0==__disjvr_4^post_7 && __disjvr_5^0==__disjvr_5^post_7 && __disjvr_6^0==__disjvr_6^post_7 && __disjvr_7^0==__disjvr_7^post_7 && __disjvr_8^0==__disjvr_8^post_7 && __disjvr_9^0==__disjvr_9^post_7 && a_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: l8 -> l9 : __disjvr_0^0'=__disjvr_0^post_8, __disjvr_10^0'=__disjvr_10^post_8, __disjvr_11^0'=__disjvr_11^post_8, __disjvr_12^0'=__disjvr_12^post_8, __disjvr_13^0'=__disjvr_13^post_8, __disjvr_14^0'=__disjvr_14^post_8, __disjvr_15^0'=__disjvr_15^post_8, __disjvr_16^0'=__disjvr_16^post_8, __disjvr_17^0'=__disjvr_17^post_8, __disjvr_18^0'=__disjvr_18^post_8, __disjvr_19^0'=__disjvr_19^post_8, __disjvr_1^0'=__disjvr_1^post_8, __disjvr_20^0'=__disjvr_20^post_8, __disjvr_21^0'=__disjvr_21^post_8, __disjvr_22^0'=__disjvr_22^post_8, __disjvr_23^0'=__disjvr_23^post_8, __disjvr_24^0'=__disjvr_24^post_8, __disjvr_25^0'=__disjvr_25^post_8, __disjvr_2^0'=__disjvr_2^post_8, __disjvr_3^0'=__disjvr_3^post_8, __disjvr_4^0'=__disjvr_4^post_8, __disjvr_5^0'=__disjvr_5^post_8, __disjvr_6^0'=__disjvr_6^post_8, __disjvr_7^0'=__disjvr_7^post_8, __disjvr_8^0'=__disjvr_8^post_8, __disjvr_9^0'=__disjvr_9^post_8, a_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, [ __disjvr_3^post_8==__disjvr_3^0 && __disjvr_0^0==__disjvr_0^post_8 && __disjvr_1^0==__disjvr_1^post_8 && __disjvr_10^0==__disjvr_10^post_8 && __disjvr_11^0==__disjvr_11^post_8 && __disjvr_12^0==__disjvr_12^post_8 && __disjvr_13^0==__disjvr_13^post_8 && __disjvr_14^0==__disjvr_14^post_8 && __disjvr_15^0==__disjvr_15^post_8 && __disjvr_16^0==__disjvr_16^post_8 && __disjvr_17^0==__disjvr_17^post_8 && __disjvr_18^0==__disjvr_18^post_8 && __disjvr_19^0==__disjvr_19^post_8 && __disjvr_2^0==__disjvr_2^post_8 && __disjvr_20^0==__disjvr_20^post_8 && __disjvr_21^0==__disjvr_21^post_8 && __disjvr_22^0==__disjvr_22^post_8 && __disjvr_23^0==__disjvr_23^post_8 && __disjvr_24^0==__disjvr_24^post_8 && __disjvr_25^0==__disjvr_25^post_8 && __disjvr_3^0==__disjvr_3^post_8 && __disjvr_4^0==__disjvr_4^post_8 && __disjvr_5^0==__disjvr_5^post_8 && __disjvr_6^0==__disjvr_6^post_8 && __disjvr_7^0==__disjvr_7^post_8 && __disjvr_8^0==__disjvr_8^post_8 && __disjvr_9^0==__disjvr_9^post_8 && a_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 ], cost: 1
      8: l9 -> l2 : __disjvr_0^0'=__disjvr_0^post_9, __disjvr_10^0'=__disjvr_10^post_9, __disjvr_11^0'=__disjvr_11^post_9, __disjvr_12^0'=__disjvr_12^post_9, __disjvr_13^0'=__disjvr_13^post_9, __disjvr_14^0'=__disjvr_14^post_9, __disjvr_15^0'=__disjvr_15^post_9, __disjvr_16^0'=__disjvr_16^post_9, __disjvr_17^0'=__disjvr_17^post_9, __disjvr_18^0'=__disjvr_18^post_9, __disjvr_19^0'=__disjvr_19^post_9, __disjvr_1^0'=__disjvr_1^post_9, __disjvr_20^0'=__disjvr_20^post_9, __disjvr_21^0'=__disjvr_21^post_9, __disjvr_22^0'=__disjvr_22^post_9, __disjvr_23^0'=__disjvr_23^post_9, __disjvr_24^0'=__disjvr_24^post_9, __disjvr_25^0'=__disjvr_25^post_9, __disjvr_2^0'=__disjvr_2^post_9, __disjvr_3^0'=__disjvr_3^post_9, __disjvr_4^0'=__disjvr_4^post_9, __disjvr_5^0'=__disjvr_5^post_9, __disjvr_6^0'=__disjvr_6^post_9, __disjvr_7^0'=__disjvr_7^post_9, __disjvr_8^0'=__disjvr_8^post_9, __disjvr_9^0'=__disjvr_9^post_9, a_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<=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_9==i_120^post_9 && -1+i_120^post_9<=a_153^0 && a_153^0<=-1+i_120^post_9 && __disjvr_0^0==__disjvr_0^post_9 && __disjvr_1^0==__disjvr_1^post_9 && __disjvr_10^0==__disjvr_10^post_9 && __disjvr_11^0==__disjvr_11^post_9 && __disjvr_12^0==__disjvr_12^post_9 && __disjvr_13^0==__disjvr_13^post_9 && __disjvr_14^0==__disjvr_14^post_9 && __disjvr_15^0==__disjvr_15^post_9 && __disjvr_16^0==__disjvr_16^post_9 && __disjvr_17^0==__disjvr_17^post_9 && __disjvr_18^0==__disjvr_18^post_9 && __disjvr_19^0==__disjvr_19^post_9 && __disjvr_2^0==__disjvr_2^post_9 && __disjvr_20^0==__disjvr_20^post_9 && __disjvr_21^0==__disjvr_21^post_9 && __disjvr_22^0==__disjvr_22^post_9 && __disjvr_23^0==__disjvr_23^post_9 && __disjvr_24^0==__disjvr_24^post_9 && __disjvr_25^0==__disjvr_25^post_9 && __disjvr_3^0==__disjvr_3^post_9 && __disjvr_4^0==__disjvr_4^post_9 && __disjvr_5^0==__disjvr_5^post_9 && __disjvr_6^0==__disjvr_6^post_9 && __disjvr_7^0==__disjvr_7^post_9 && __disjvr_8^0==__disjvr_8^post_9 && __disjvr_9^0==__disjvr_9^post_9 && a_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_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
     26: l2 -> l26 : __disjvr_0^0'=__disjvr_0^post_27, __disjvr_10^0'=__disjvr_10^post_27, __disjvr_11^0'=__disjvr_11^post_27, __disjvr_12^0'=__disjvr_12^post_27, __disjvr_13^0'=__disjvr_13^post_27, __disjvr_14^0'=__disjvr_14^post_27, __disjvr_15^0'=__disjvr_15^post_27, __disjvr_16^0'=__disjvr_16^post_27, __disjvr_17^0'=__disjvr_17^post_27, __disjvr_18^0'=__disjvr_18^post_27, __disjvr_19^0'=__disjvr_19^post_27, __disjvr_1^0'=__disjvr_1^post_27, __disjvr_20^0'=__disjvr_20^post_27, __disjvr_21^0'=__disjvr_21^post_27, __disjvr_22^0'=__disjvr_22^post_27, __disjvr_23^0'=__disjvr_23^post_27, __disjvr_24^0'=__disjvr_24^post_27, __disjvr_25^0'=__disjvr_25^post_27, __disjvr_2^0'=__disjvr_2^post_27, __disjvr_3^0'=__disjvr_3^post_27, __disjvr_4^0'=__disjvr_4^post_27, __disjvr_5^0'=__disjvr_5^post_27, __disjvr_6^0'=__disjvr_6^post_27, __disjvr_7^0'=__disjvr_7^post_27, __disjvr_8^0'=__disjvr_8^post_27, __disjvr_9^0'=__disjvr_9^post_27, a_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, [ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_27==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_27 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_27==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_27 && tail_15^post_27==tail_15^post_27 && head_16^post_27==head_16^post_27 && lt_20^post_27==lt_20^post_27 && x_SLAM_f_22^post_27==x_SLAM_f_22^post_27 && r_39^post_27==r_39^post_27 && r_197^post_27==r_197^post_27 && f_198^post_27==f_198^post_27 && __disjvr_0^0==__disjvr_0^post_27 && __disjvr_1^0==__disjvr_1^post_27 && __disjvr_10^0==__disjvr_10^post_27 && __disjvr_11^0==__disjvr_11^post_27 && __disjvr_12^0==__disjvr_12^post_27 && __disjvr_13^0==__disjvr_13^post_27 && __disjvr_14^0==__disjvr_14^post_27 && __disjvr_15^0==__disjvr_15^post_27 && __disjvr_16^0==__disjvr_16^post_27 && __disjvr_17^0==__disjvr_17^post_27 && __disjvr_18^0==__disjvr_18^post_27 && __disjvr_19^0==__disjvr_19^post_27 && __disjvr_2^0==__disjvr_2^post_27 && __disjvr_20^0==__disjvr_20^post_27 && __disjvr_21^0==__disjvr_21^post_27 && __disjvr_22^0==__disjvr_22^post_27 && __disjvr_23^0==__disjvr_23^post_27 && __disjvr_24^0==__disjvr_24^post_27 && __disjvr_25^0==__disjvr_25^post_27 && __disjvr_3^0==__disjvr_3^post_27 && __disjvr_4^0==__disjvr_4^post_27 && __disjvr_5^0==__disjvr_5^post_27 && __disjvr_6^0==__disjvr_6^post_27 && __disjvr_7^0==__disjvr_7^post_27 && __disjvr_8^0==__disjvr_8^post_27 && __disjvr_9^0==__disjvr_9^post_27 && a_153^0==a_153^post_27 && a_178^0==a_178^post_27 && a_208^0==a_208^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 && nondet_12^0==nondet_12^post_27 && r_164^0==r_164^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_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_27 && t_25^0==t_25^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 && y_23^0==y_23^post_27 ], cost: 1
     10: l10 -> l0 : __disjvr_0^0'=__disjvr_0^post_11, __disjvr_10^0'=__disjvr_10^post_11, __disjvr_11^0'=__disjvr_11^post_11, __disjvr_12^0'=__disjvr_12^post_11, __disjvr_13^0'=__disjvr_13^post_11, __disjvr_14^0'=__disjvr_14^post_11, __disjvr_15^0'=__disjvr_15^post_11, __disjvr_16^0'=__disjvr_16^post_11, __disjvr_17^0'=__disjvr_17^post_11, __disjvr_18^0'=__disjvr_18^post_11, __disjvr_19^0'=__disjvr_19^post_11, __disjvr_1^0'=__disjvr_1^post_11, __disjvr_20^0'=__disjvr_20^post_11, __disjvr_21^0'=__disjvr_21^post_11, __disjvr_22^0'=__disjvr_22^post_11, __disjvr_23^0'=__disjvr_23^post_11, __disjvr_24^0'=__disjvr_24^post_11, __disjvr_25^0'=__disjvr_25^post_11, __disjvr_2^0'=__disjvr_2^post_11, __disjvr_3^0'=__disjvr_3^post_11, __disjvr_4^0'=__disjvr_4^post_11, __disjvr_5^0'=__disjvr_5^post_11, __disjvr_6^0'=__disjvr_6^post_11, __disjvr_7^0'=__disjvr_7^post_11, __disjvr_8^0'=__disjvr_8^post_11, __disjvr_9^0'=__disjvr_9^post_11, a_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, [ __disjvr_0^0==__disjvr_0^post_11 && __disjvr_1^0==__disjvr_1^post_11 && __disjvr_10^0==__disjvr_10^post_11 && __disjvr_11^0==__disjvr_11^post_11 && __disjvr_12^0==__disjvr_12^post_11 && __disjvr_13^0==__disjvr_13^post_11 && __disjvr_14^0==__disjvr_14^post_11 && __disjvr_15^0==__disjvr_15^post_11 && __disjvr_16^0==__disjvr_16^post_11 && __disjvr_17^0==__disjvr_17^post_11 && __disjvr_18^0==__disjvr_18^post_11 && __disjvr_19^0==__disjvr_19^post_11 && __disjvr_2^0==__disjvr_2^post_11 && __disjvr_20^0==__disjvr_20^post_11 && __disjvr_21^0==__disjvr_21^post_11 && __disjvr_22^0==__disjvr_22^post_11 && __disjvr_23^0==__disjvr_23^post_11 && __disjvr_24^0==__disjvr_24^post_11 && __disjvr_25^0==__disjvr_25^post_11 && __disjvr_3^0==__disjvr_3^post_11 && __disjvr_4^0==__disjvr_4^post_11 && __disjvr_5^0==__disjvr_5^post_11 && __disjvr_6^0==__disjvr_6^post_11 && __disjvr_7^0==__disjvr_7^post_11 && __disjvr_8^0==__disjvr_8^post_11 && __disjvr_9^0==__disjvr_9^post_11 && a_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
     23: l11 -> l23 : __disjvr_0^0'=__disjvr_0^post_24, __disjvr_10^0'=__disjvr_10^post_24, __disjvr_11^0'=__disjvr_11^post_24, __disjvr_12^0'=__disjvr_12^post_24, __disjvr_13^0'=__disjvr_13^post_24, __disjvr_14^0'=__disjvr_14^post_24, __disjvr_15^0'=__disjvr_15^post_24, __disjvr_16^0'=__disjvr_16^post_24, __disjvr_17^0'=__disjvr_17^post_24, __disjvr_18^0'=__disjvr_18^post_24, __disjvr_19^0'=__disjvr_19^post_24, __disjvr_1^0'=__disjvr_1^post_24, __disjvr_20^0'=__disjvr_20^post_24, __disjvr_21^0'=__disjvr_21^post_24, __disjvr_22^0'=__disjvr_22^post_24, __disjvr_23^0'=__disjvr_23^post_24, __disjvr_24^0'=__disjvr_24^post_24, __disjvr_25^0'=__disjvr_25^post_24, __disjvr_2^0'=__disjvr_2^post_24, __disjvr_3^0'=__disjvr_3^post_24, __disjvr_4^0'=__disjvr_4^post_24, __disjvr_5^0'=__disjvr_5^post_24, __disjvr_6^0'=__disjvr_6^post_24, __disjvr_7^0'=__disjvr_7^post_24, __disjvr_8^0'=__disjvr_8^post_24, __disjvr_9^0'=__disjvr_9^post_24, a_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, [ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_24==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_24 && tail_15^post_24==tail_15^post_24 && head_SLAM_f_28^post_24==head_SLAM_f_28^post_24 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_24==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_24 && 1+i_29^0<=length_27^0 && tmp_33^post_24==temp_34^0 && temp_34^post_24==temp_34^post_24 && head_31^post_24==tmp_33^post_24 && i_29^post_24==1+i_29^0 && 1<=i_29^post_24 && i_29^post_24<=1 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24<=tail_15^post_24 && tail_15^post_24<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24<=head_SLAM_f_28^post_24 && head_SLAM_f_28^post_24<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_24<=length_27^0 && length_27^0<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_24 && tail_15^post_24<=head_SLAM_f_28^post_24 && head_SLAM_f_28^post_24<=tail_15^post_24 && head_31^post_24<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_24 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_24<=head_31^post_24 && head_31^post_24<=tmp_33^post_24 && tmp_33^post_24<=head_31^post_24 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_24<=tmp_33^post_24 && tmp_33^post_24<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_24 && 1<=length_27^0 && __disjvr_0^0==__disjvr_0^post_24 && __disjvr_1^0==__disjvr_1^post_24 && __disjvr_10^0==__disjvr_10^post_24 && __disjvr_11^0==__disjvr_11^post_24 && __disjvr_12^0==__disjvr_12^post_24 && __disjvr_13^0==__disjvr_13^post_24 && __disjvr_14^0==__disjvr_14^post_24 && __disjvr_15^0==__disjvr_15^post_24 && __disjvr_16^0==__disjvr_16^post_24 && __disjvr_17^0==__disjvr_17^post_24 && __disjvr_18^0==__disjvr_18^post_24 && __disjvr_19^0==__disjvr_19^post_24 && __disjvr_2^0==__disjvr_2^post_24 && __disjvr_20^0==__disjvr_20^post_24 && __disjvr_21^0==__disjvr_21^post_24 && __disjvr_22^0==__disjvr_22^post_24 && __disjvr_23^0==__disjvr_23^post_24 && __disjvr_24^0==__disjvr_24^post_24 && __disjvr_25^0==__disjvr_25^post_24 && __disjvr_3^0==__disjvr_3^post_24 && __disjvr_4^0==__disjvr_4^post_24 && __disjvr_5^0==__disjvr_5^post_24 && __disjvr_6^0==__disjvr_6^post_24 && __disjvr_7^0==__disjvr_7^post_24 && __disjvr_8^0==__disjvr_8^post_24 && __disjvr_9^0==__disjvr_9^post_24 && a_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 && i_110^0==i_110^post_24 && i_120^0==i_120^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 && t_25^0==t_25^post_24 && temp0_21^0==temp0_21^post_24 && temp0_30^0==temp0_30^post_24 && temp_35^0==temp_35^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
     59: l23 -> l0 : __disjvr_0^0'=__disjvr_0^post_60, __disjvr_10^0'=__disjvr_10^post_60, __disjvr_11^0'=__disjvr_11^post_60, __disjvr_12^0'=__disjvr_12^post_60, __disjvr_13^0'=__disjvr_13^post_60, __disjvr_14^0'=__disjvr_14^post_60, __disjvr_15^0'=__disjvr_15^post_60, __disjvr_16^0'=__disjvr_16^post_60, __disjvr_17^0'=__disjvr_17^post_60, __disjvr_18^0'=__disjvr_18^post_60, __disjvr_19^0'=__disjvr_19^post_60, __disjvr_1^0'=__disjvr_1^post_60, __disjvr_20^0'=__disjvr_20^post_60, __disjvr_21^0'=__disjvr_21^post_60, __disjvr_22^0'=__disjvr_22^post_60, __disjvr_23^0'=__disjvr_23^post_60, __disjvr_24^0'=__disjvr_24^post_60, __disjvr_25^0'=__disjvr_25^post_60, __disjvr_2^0'=__disjvr_2^post_60, __disjvr_3^0'=__disjvr_3^post_60, __disjvr_4^0'=__disjvr_4^post_60, __disjvr_5^0'=__disjvr_5^post_60, __disjvr_6^0'=__disjvr_6^post_60, __disjvr_7^0'=__disjvr_7^post_60, __disjvr_8^0'=__disjvr_8^post_60, __disjvr_9^0'=__disjvr_9^post_60, 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, [ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_60==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_60 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_60==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_60 && tail_15^post_60==tail_15^post_60 && head_SLAM_f_28^post_60==head_SLAM_f_28^post_60 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_60==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_60 && rcd_69^post_60==rcd_69^post_60 && 1+i_29^0<=length_27^0 && tmp_33^post_60==temp_34^0 && temp_34^post_60==temp_34^post_60 && head_31^post_60==tmp_33^post_60 && i_29^post_60==1+i_29^0 && 2<=i_29^post_60 && i_29^post_60<=2 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_60<=tail_15^post_60 && tail_15^post_60<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_60 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_60<=head_SLAM_f_28^post_60 && head_SLAM_f_28^post_60<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_60 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_60<=length_27^0 && length_27^0<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_60 && tail_15^post_60<=head_SLAM_f_28^post_60 && head_SLAM_f_28^post_60<=tail_15^post_60 && head_31^post_60<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_60 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_60<=head_31^post_60 && head_31^post_60<=tmp_33^post_60 && tmp_33^post_60<=head_31^post_60 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_60<=tmp_33^post_60 && tmp_33^post_60<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_60 && 1<=length_27^0 && 2<=length_27^0 && __disjvr_0^0==__disjvr_0^post_60 && __disjvr_1^0==__disjvr_1^post_60 && __disjvr_10^0==__disjvr_10^post_60 && __disjvr_11^0==__disjvr_11^post_60 && __disjvr_12^0==__disjvr_12^post_60 && __disjvr_13^0==__disjvr_13^post_60 && __disjvr_14^0==__disjvr_14^post_60 && __disjvr_15^0==__disjvr_15^post_60 && __disjvr_16^0==__disjvr_16^post_60 && __disjvr_17^0==__disjvr_17^post_60 && __disjvr_18^0==__disjvr_18^post_60 && __disjvr_19^0==__disjvr_19^post_60 && __disjvr_2^0==__disjvr_2^post_60 && __disjvr_20^0==__disjvr_20^post_60 && __disjvr_21^0==__disjvr_21^post_60 && __disjvr_22^0==__disjvr_22^post_60 && __disjvr_23^0==__disjvr_23^post_60 && __disjvr_24^0==__disjvr_24^post_60 && __disjvr_25^0==__disjvr_25^post_60 && __disjvr_3^0==__disjvr_3^post_60 && __disjvr_4^0==__disjvr_4^post_60 && __disjvr_5^0==__disjvr_5^post_60 && __disjvr_6^0==__disjvr_6^post_60 && __disjvr_7^0==__disjvr_7^post_60 && __disjvr_8^0==__disjvr_8^post_60 && __disjvr_9^0==__disjvr_9^post_60 && 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 && i_110^0==i_110^post_60 && i_120^0==i_120^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 && result_11^0==result_11^post_60 && t_25^0==t_25^post_60 && temp0_21^0==temp0_21^post_60 && temp0_30^0==temp0_30^post_60 && temp_35^0==temp_35^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
     27: l26 -> l27 : __disjvr_0^0'=__disjvr_0^post_28, __disjvr_10^0'=__disjvr_10^post_28, __disjvr_11^0'=__disjvr_11^post_28, __disjvr_12^0'=__disjvr_12^post_28, __disjvr_13^0'=__disjvr_13^post_28, __disjvr_14^0'=__disjvr_14^post_28, __disjvr_15^0'=__disjvr_15^post_28, __disjvr_16^0'=__disjvr_16^post_28, __disjvr_17^0'=__disjvr_17^post_28, __disjvr_18^0'=__disjvr_18^post_28, __disjvr_19^0'=__disjvr_19^post_28, __disjvr_1^0'=__disjvr_1^post_28, __disjvr_20^0'=__disjvr_20^post_28, __disjvr_21^0'=__disjvr_21^post_28, __disjvr_22^0'=__disjvr_22^post_28, __disjvr_23^0'=__disjvr_23^post_28, __disjvr_24^0'=__disjvr_24^post_28, __disjvr_25^0'=__disjvr_25^post_28, __disjvr_2^0'=__disjvr_2^post_28, __disjvr_3^0'=__disjvr_3^post_28, __disjvr_4^0'=__disjvr_4^post_28, __disjvr_5^0'=__disjvr_5^post_28, __disjvr_6^0'=__disjvr_6^post_28, __disjvr_7^0'=__disjvr_7^post_28, __disjvr_8^0'=__disjvr_8^post_28, __disjvr_9^0'=__disjvr_9^post_28, a_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, [ __disjvr_10^post_28==__disjvr_10^0 && __disjvr_0^0==__disjvr_0^post_28 && __disjvr_1^0==__disjvr_1^post_28 && __disjvr_10^0==__disjvr_10^post_28 && __disjvr_11^0==__disjvr_11^post_28 && __disjvr_12^0==__disjvr_12^post_28 && __disjvr_13^0==__disjvr_13^post_28 && __disjvr_14^0==__disjvr_14^post_28 && __disjvr_15^0==__disjvr_15^post_28 && __disjvr_16^0==__disjvr_16^post_28 && __disjvr_17^0==__disjvr_17^post_28 && __disjvr_18^0==__disjvr_18^post_28 && __disjvr_19^0==__disjvr_19^post_28 && __disjvr_2^0==__disjvr_2^post_28 && __disjvr_20^0==__disjvr_20^post_28 && __disjvr_21^0==__disjvr_21^post_28 && __disjvr_22^0==__disjvr_22^post_28 && __disjvr_23^0==__disjvr_23^post_28 && __disjvr_24^0==__disjvr_24^post_28 && __disjvr_25^0==__disjvr_25^post_28 && __disjvr_3^0==__disjvr_3^post_28 && __disjvr_4^0==__disjvr_4^post_28 && __disjvr_5^0==__disjvr_5^post_28 && __disjvr_6^0==__disjvr_6^post_28 && __disjvr_7^0==__disjvr_7^post_28 && __disjvr_8^0==__disjvr_8^post_28 && __disjvr_9^0==__disjvr_9^post_28 && a_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 ], cost: 1
     28: l27 -> l28 : __disjvr_0^0'=__disjvr_0^post_29, __disjvr_10^0'=__disjvr_10^post_29, __disjvr_11^0'=__disjvr_11^post_29, __disjvr_12^0'=__disjvr_12^post_29, __disjvr_13^0'=__disjvr_13^post_29, __disjvr_14^0'=__disjvr_14^post_29, __disjvr_15^0'=__disjvr_15^post_29, __disjvr_16^0'=__disjvr_16^post_29, __disjvr_17^0'=__disjvr_17^post_29, __disjvr_18^0'=__disjvr_18^post_29, __disjvr_19^0'=__disjvr_19^post_29, __disjvr_1^0'=__disjvr_1^post_29, __disjvr_20^0'=__disjvr_20^post_29, __disjvr_21^0'=__disjvr_21^post_29, __disjvr_22^0'=__disjvr_22^post_29, __disjvr_23^0'=__disjvr_23^post_29, __disjvr_24^0'=__disjvr_24^post_29, __disjvr_25^0'=__disjvr_25^post_29, __disjvr_2^0'=__disjvr_2^post_29, __disjvr_3^0'=__disjvr_3^post_29, __disjvr_4^0'=__disjvr_4^post_29, __disjvr_5^0'=__disjvr_5^post_29, __disjvr_6^0'=__disjvr_6^post_29, __disjvr_7^0'=__disjvr_7^post_29, __disjvr_8^0'=__disjvr_8^post_29, __disjvr_9^0'=__disjvr_9^post_29, a_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, [ t_25^post_29==x_24^0 && rcd_207^post_29==rcd_207^post_29 && a_208^post_29==a_208^post_29 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0<=tail_15^0 && tail_15^0<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 && 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 && __disjvr_0^0==__disjvr_0^post_29 && __disjvr_1^0==__disjvr_1^post_29 && __disjvr_10^0==__disjvr_10^post_29 && __disjvr_11^0==__disjvr_11^post_29 && __disjvr_12^0==__disjvr_12^post_29 && __disjvr_13^0==__disjvr_13^post_29 && __disjvr_14^0==__disjvr_14^post_29 && __disjvr_15^0==__disjvr_15^post_29 && __disjvr_16^0==__disjvr_16^post_29 && __disjvr_17^0==__disjvr_17^post_29 && __disjvr_18^0==__disjvr_18^post_29 && __disjvr_19^0==__disjvr_19^post_29 && __disjvr_2^0==__disjvr_2^post_29 && __disjvr_20^0==__disjvr_20^post_29 && __disjvr_21^0==__disjvr_21^post_29 && __disjvr_22^0==__disjvr_22^post_29 && __disjvr_23^0==__disjvr_23^post_29 && __disjvr_24^0==__disjvr_24^post_29 && __disjvr_25^0==__disjvr_25^post_29 && __disjvr_3^0==__disjvr_3^post_29 && __disjvr_4^0==__disjvr_4^post_29 && __disjvr_5^0==__disjvr_5^post_29 && __disjvr_6^0==__disjvr_6^post_29 && __disjvr_7^0==__disjvr_7^post_29 && __disjvr_8^0==__disjvr_8^post_29 && __disjvr_9^0==__disjvr_9^post_29 && a_153^0==a_153^post_29 && a_178^0==a_178^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_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 && 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: l28 -> l29 : __disjvr_0^0'=__disjvr_0^post_30, __disjvr_10^0'=__disjvr_10^post_30, __disjvr_11^0'=__disjvr_11^post_30, __disjvr_12^0'=__disjvr_12^post_30, __disjvr_13^0'=__disjvr_13^post_30, __disjvr_14^0'=__disjvr_14^post_30, __disjvr_15^0'=__disjvr_15^post_30, __disjvr_16^0'=__disjvr_16^post_30, __disjvr_17^0'=__disjvr_17^post_30, __disjvr_18^0'=__disjvr_18^post_30, __disjvr_19^0'=__disjvr_19^post_30, __disjvr_1^0'=__disjvr_1^post_30, __disjvr_20^0'=__disjvr_20^post_30, __disjvr_21^0'=__disjvr_21^post_30, __disjvr_22^0'=__disjvr_22^post_30, __disjvr_23^0'=__disjvr_23^post_30, __disjvr_24^0'=__disjvr_24^post_30, __disjvr_25^0'=__disjvr_25^post_30, __disjvr_2^0'=__disjvr_2^post_30, __disjvr_3^0'=__disjvr_3^post_30, __disjvr_4^0'=__disjvr_4^post_30, __disjvr_5^0'=__disjvr_5^post_30, __disjvr_6^0'=__disjvr_6^post_30, __disjvr_7^0'=__disjvr_7^post_30, __disjvr_8^0'=__disjvr_8^post_30, __disjvr_9^0'=__disjvr_9^post_30, a_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, [ __disjvr_11^post_30==__disjvr_11^0 && __disjvr_0^0==__disjvr_0^post_30 && __disjvr_1^0==__disjvr_1^post_30 && __disjvr_10^0==__disjvr_10^post_30 && __disjvr_11^0==__disjvr_11^post_30 && __disjvr_12^0==__disjvr_12^post_30 && __disjvr_13^0==__disjvr_13^post_30 && __disjvr_14^0==__disjvr_14^post_30 && __disjvr_15^0==__disjvr_15^post_30 && __disjvr_16^0==__disjvr_16^post_30 && __disjvr_17^0==__disjvr_17^post_30 && __disjvr_18^0==__disjvr_18^post_30 && __disjvr_19^0==__disjvr_19^post_30 && __disjvr_2^0==__disjvr_2^post_30 && __disjvr_20^0==__disjvr_20^post_30 && __disjvr_21^0==__disjvr_21^post_30 && __disjvr_22^0==__disjvr_22^post_30 && __disjvr_23^0==__disjvr_23^post_30 && __disjvr_24^0==__disjvr_24^post_30 && __disjvr_25^0==__disjvr_25^post_30 && __disjvr_3^0==__disjvr_3^post_30 && __disjvr_4^0==__disjvr_4^post_30 && __disjvr_5^0==__disjvr_5^post_30 && __disjvr_6^0==__disjvr_6^post_30 && __disjvr_7^0==__disjvr_7^post_30 && __disjvr_8^0==__disjvr_8^post_30 && __disjvr_9^0==__disjvr_9^post_30 && a_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: l29 -> l30 : __disjvr_0^0'=__disjvr_0^post_31, __disjvr_10^0'=__disjvr_10^post_31, __disjvr_11^0'=__disjvr_11^post_31, __disjvr_12^0'=__disjvr_12^post_31, __disjvr_13^0'=__disjvr_13^post_31, __disjvr_14^0'=__disjvr_14^post_31, __disjvr_15^0'=__disjvr_15^post_31, __disjvr_16^0'=__disjvr_16^post_31, __disjvr_17^0'=__disjvr_17^post_31, __disjvr_18^0'=__disjvr_18^post_31, __disjvr_19^0'=__disjvr_19^post_31, __disjvr_1^0'=__disjvr_1^post_31, __disjvr_20^0'=__disjvr_20^post_31, __disjvr_21^0'=__disjvr_21^post_31, __disjvr_22^0'=__disjvr_22^post_31, __disjvr_23^0'=__disjvr_23^post_31, __disjvr_24^0'=__disjvr_24^post_31, __disjvr_25^0'=__disjvr_25^post_31, __disjvr_2^0'=__disjvr_2^post_31, __disjvr_3^0'=__disjvr_3^post_31, __disjvr_4^0'=__disjvr_4^post_31, __disjvr_5^0'=__disjvr_5^post_31, __disjvr_6^0'=__disjvr_6^post_31, __disjvr_7^0'=__disjvr_7^post_31, __disjvr_8^0'=__disjvr_8^post_31, __disjvr_9^0'=__disjvr_9^post_31, a_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, [ __disjvr_12^post_31==__disjvr_12^0 && __disjvr_0^0==__disjvr_0^post_31 && __disjvr_1^0==__disjvr_1^post_31 && __disjvr_10^0==__disjvr_10^post_31 && __disjvr_11^0==__disjvr_11^post_31 && __disjvr_12^0==__disjvr_12^post_31 && __disjvr_13^0==__disjvr_13^post_31 && __disjvr_14^0==__disjvr_14^post_31 && __disjvr_15^0==__disjvr_15^post_31 && __disjvr_16^0==__disjvr_16^post_31 && __disjvr_17^0==__disjvr_17^post_31 && __disjvr_18^0==__disjvr_18^post_31 && __disjvr_19^0==__disjvr_19^post_31 && __disjvr_2^0==__disjvr_2^post_31 && __disjvr_20^0==__disjvr_20^post_31 && __disjvr_21^0==__disjvr_21^post_31 && __disjvr_22^0==__disjvr_22^post_31 && __disjvr_23^0==__disjvr_23^post_31 && __disjvr_24^0==__disjvr_24^post_31 && __disjvr_25^0==__disjvr_25^post_31 && __disjvr_3^0==__disjvr_3^post_31 && __disjvr_4^0==__disjvr_4^post_31 && __disjvr_5^0==__disjvr_5^post_31 && __disjvr_6^0==__disjvr_6^post_31 && __disjvr_7^0==__disjvr_7^post_31 && __disjvr_8^0==__disjvr_8^post_31 && __disjvr_9^0==__disjvr_9^post_31 && a_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: l30 -> l25 : __disjvr_0^0'=__disjvr_0^post_32, __disjvr_10^0'=__disjvr_10^post_32, __disjvr_11^0'=__disjvr_11^post_32, __disjvr_12^0'=__disjvr_12^post_32, __disjvr_13^0'=__disjvr_13^post_32, __disjvr_14^0'=__disjvr_14^post_32, __disjvr_15^0'=__disjvr_15^post_32, __disjvr_16^0'=__disjvr_16^post_32, __disjvr_17^0'=__disjvr_17^post_32, __disjvr_18^0'=__disjvr_18^post_32, __disjvr_19^0'=__disjvr_19^post_32, __disjvr_1^0'=__disjvr_1^post_32, __disjvr_20^0'=__disjvr_20^post_32, __disjvr_21^0'=__disjvr_21^post_32, __disjvr_22^0'=__disjvr_22^post_32, __disjvr_23^0'=__disjvr_23^post_32, __disjvr_24^0'=__disjvr_24^post_32, __disjvr_25^0'=__disjvr_25^post_32, __disjvr_2^0'=__disjvr_2^post_32, __disjvr_3^0'=__disjvr_3^post_32, __disjvr_4^0'=__disjvr_4^post_32, __disjvr_5^0'=__disjvr_5^post_32, __disjvr_6^0'=__disjvr_6^post_32, __disjvr_7^0'=__disjvr_7^post_32, __disjvr_8^0'=__disjvr_8^post_32, __disjvr_9^0'=__disjvr_9^post_32, a_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<=result_dot_nondet_sdv_special_RETURN_VALUE_14^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^0 && rcd_43^post_32==rcd_43^post_32 && rcd_43^post_32<=rcd_207^0 && rcd_207^0<=rcd_43^post_32 && a_178^post_32==a_178^post_32 && a_178^post_32<=a_208^0 && a_208^0<=a_178^post_32 && __disjvr_0^0==__disjvr_0^post_32 && __disjvr_1^0==__disjvr_1^post_32 && __disjvr_10^0==__disjvr_10^post_32 && __disjvr_11^0==__disjvr_11^post_32 && __disjvr_12^0==__disjvr_12^post_32 && __disjvr_13^0==__disjvr_13^post_32 && __disjvr_14^0==__disjvr_14^post_32 && __disjvr_15^0==__disjvr_15^post_32 && __disjvr_16^0==__disjvr_16^post_32 && __disjvr_17^0==__disjvr_17^post_32 && __disjvr_18^0==__disjvr_18^post_32 && __disjvr_19^0==__disjvr_19^post_32 && __disjvr_2^0==__disjvr_2^post_32 && __disjvr_20^0==__disjvr_20^post_32 && __disjvr_21^0==__disjvr_21^post_32 && __disjvr_22^0==__disjvr_22^post_32 && __disjvr_23^0==__disjvr_23^post_32 && __disjvr_24^0==__disjvr_24^post_32 && __disjvr_25^0==__disjvr_25^post_32 && __disjvr_3^0==__disjvr_3^post_32 && __disjvr_4^0==__disjvr_4^post_32 && __disjvr_5^0==__disjvr_5^post_32 && __disjvr_6^0==__disjvr_6^post_32 && __disjvr_7^0==__disjvr_7^post_32 && __disjvr_8^0==__disjvr_8^post_32 && __disjvr_9^0==__disjvr_9^post_32 && a_153^0==a_153^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_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: l25 -> l2 : __disjvr_0^0'=__disjvr_0^post_33, __disjvr_10^0'=__disjvr_10^post_33, __disjvr_11^0'=__disjvr_11^post_33, __disjvr_12^0'=__disjvr_12^post_33, __disjvr_13^0'=__disjvr_13^post_33, __disjvr_14^0'=__disjvr_14^post_33, __disjvr_15^0'=__disjvr_15^post_33, __disjvr_16^0'=__disjvr_16^post_33, __disjvr_17^0'=__disjvr_17^post_33, __disjvr_18^0'=__disjvr_18^post_33, __disjvr_19^0'=__disjvr_19^post_33, __disjvr_1^0'=__disjvr_1^post_33, __disjvr_20^0'=__disjvr_20^post_33, __disjvr_21^0'=__disjvr_21^post_33, __disjvr_22^0'=__disjvr_22^post_33, __disjvr_23^0'=__disjvr_23^post_33, __disjvr_24^0'=__disjvr_24^post_33, __disjvr_25^0'=__disjvr_25^post_33, __disjvr_2^0'=__disjvr_2^post_33, __disjvr_3^0'=__disjvr_3^post_33, __disjvr_4^0'=__disjvr_4^post_33, __disjvr_5^0'=__disjvr_5^post_33, __disjvr_6^0'=__disjvr_6^post_33, __disjvr_7^0'=__disjvr_7^post_33, __disjvr_8^0'=__disjvr_8^post_33, __disjvr_9^0'=__disjvr_9^post_33, a_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, [ __disjvr_0^0==__disjvr_0^post_33 && __disjvr_1^0==__disjvr_1^post_33 && __disjvr_10^0==__disjvr_10^post_33 && __disjvr_11^0==__disjvr_11^post_33 && __disjvr_12^0==__disjvr_12^post_33 && __disjvr_13^0==__disjvr_13^post_33 && __disjvr_14^0==__disjvr_14^post_33 && __disjvr_15^0==__disjvr_15^post_33 && __disjvr_16^0==__disjvr_16^post_33 && __disjvr_17^0==__disjvr_17^post_33 && __disjvr_18^0==__disjvr_18^post_33 && __disjvr_19^0==__disjvr_19^post_33 && __disjvr_2^0==__disjvr_2^post_33 && __disjvr_20^0==__disjvr_20^post_33 && __disjvr_21^0==__disjvr_21^post_33 && __disjvr_22^0==__disjvr_22^post_33 && __disjvr_23^0==__disjvr_23^post_33 && __disjvr_24^0==__disjvr_24^post_33 && __disjvr_25^0==__disjvr_25^post_33 && __disjvr_3^0==__disjvr_3^post_33 && __disjvr_4^0==__disjvr_4^post_33 && __disjvr_5^0==__disjvr_5^post_33 && __disjvr_6^0==__disjvr_6^post_33 && __disjvr_7^0==__disjvr_7^post_33 && __disjvr_8^0==__disjvr_8^post_33 && __disjvr_9^0==__disjvr_9^post_33 && a_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 ], cost: 1
     50: l46 -> l11 : __disjvr_0^0'=__disjvr_0^post_51, __disjvr_10^0'=__disjvr_10^post_51, __disjvr_11^0'=__disjvr_11^post_51, __disjvr_12^0'=__disjvr_12^post_51, __disjvr_13^0'=__disjvr_13^post_51, __disjvr_14^0'=__disjvr_14^post_51, __disjvr_15^0'=__disjvr_15^post_51, __disjvr_16^0'=__disjvr_16^post_51, __disjvr_17^0'=__disjvr_17^post_51, __disjvr_18^0'=__disjvr_18^post_51, __disjvr_19^0'=__disjvr_19^post_51, __disjvr_1^0'=__disjvr_1^post_51, __disjvr_20^0'=__disjvr_20^post_51, __disjvr_21^0'=__disjvr_21^post_51, __disjvr_22^0'=__disjvr_22^post_51, __disjvr_23^0'=__disjvr_23^post_51, __disjvr_24^0'=__disjvr_24^post_51, __disjvr_25^0'=__disjvr_25^post_51, __disjvr_2^0'=__disjvr_2^post_51, __disjvr_3^0'=__disjvr_3^post_51, __disjvr_4^0'=__disjvr_4^post_51, __disjvr_5^0'=__disjvr_5^post_51, __disjvr_6^0'=__disjvr_6^post_51, __disjvr_7^0'=__disjvr_7^post_51, __disjvr_8^0'=__disjvr_8^post_51, __disjvr_9^0'=__disjvr_9^post_51, 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, [ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_51==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_51 && tail_15^post_51==temp_35^0 && temp_35^post_51==temp_35^post_51 && nondet_12^1_1==nondet_12^1_1 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_51==nondet_12^1_1 && nondet_12^post_51==nondet_12^post_51 && length_27^post_51==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_51 && head_SLAM_f_28^post_51==tail_15^post_51 && head_31^post_51==head_SLAM_f_28^post_51 && i_29^post_51==0 && 0<=i_29^post_51 && i_29^post_51<=0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_51<=tail_15^post_51 && tail_15^post_51<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_51 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_51<=head_SLAM_f_28^post_51 && head_SLAM_f_28^post_51<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_51 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_51<=head_31^post_51 && head_31^post_51<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_51 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_51<=length_27^post_51 && length_27^post_51<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_51 && tail_15^post_51<=head_SLAM_f_28^post_51 && head_SLAM_f_28^post_51<=tail_15^post_51 && head_SLAM_f_28^post_51<=head_31^post_51 && head_31^post_51<=head_SLAM_f_28^post_51 && __disjvr_0^0==__disjvr_0^post_51 && __disjvr_1^0==__disjvr_1^post_51 && __disjvr_10^0==__disjvr_10^post_51 && __disjvr_11^0==__disjvr_11^post_51 && __disjvr_12^0==__disjvr_12^post_51 && __disjvr_13^0==__disjvr_13^post_51 && __disjvr_14^0==__disjvr_14^post_51 && __disjvr_15^0==__disjvr_15^post_51 && __disjvr_16^0==__disjvr_16^post_51 && __disjvr_17^0==__disjvr_17^post_51 && __disjvr_18^0==__disjvr_18^post_51 && __disjvr_19^0==__disjvr_19^post_51 && __disjvr_2^0==__disjvr_2^post_51 && __disjvr_20^0==__disjvr_20^post_51 && __disjvr_21^0==__disjvr_21^post_51 && __disjvr_22^0==__disjvr_22^post_51 && __disjvr_23^0==__disjvr_23^post_51 && __disjvr_24^0==__disjvr_24^post_51 && __disjvr_25^0==__disjvr_25^post_51 && __disjvr_3^0==__disjvr_3^post_51 && __disjvr_4^0==__disjvr_4^post_51 && __disjvr_5^0==__disjvr_5^post_51 && __disjvr_6^0==__disjvr_6^post_51 && __disjvr_7^0==__disjvr_7^post_51 && __disjvr_8^0==__disjvr_8^post_51 && __disjvr_9^0==__disjvr_9^post_51 && 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 && i_110^0==i_110^post_51 && i_120^0==i_120^post_51 && lt_17^0==lt_17^post_51 && lt_20^0==lt_20^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_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_51 && t_25^0==t_25^post_51 && temp0_21^0==temp0_21^post_51 && temp0_30^0==temp0_30^post_51 && temp_34^0==temp_34^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
     63: l55 -> l46 : __disjvr_0^0'=__disjvr_0^post_64, __disjvr_10^0'=__disjvr_10^post_64, __disjvr_11^0'=__disjvr_11^post_64, __disjvr_12^0'=__disjvr_12^post_64, __disjvr_13^0'=__disjvr_13^post_64, __disjvr_14^0'=__disjvr_14^post_64, __disjvr_15^0'=__disjvr_15^post_64, __disjvr_16^0'=__disjvr_16^post_64, __disjvr_17^0'=__disjvr_17^post_64, __disjvr_18^0'=__disjvr_18^post_64, __disjvr_19^0'=__disjvr_19^post_64, __disjvr_1^0'=__disjvr_1^post_64, __disjvr_20^0'=__disjvr_20^post_64, __disjvr_21^0'=__disjvr_21^post_64, __disjvr_22^0'=__disjvr_22^post_64, __disjvr_23^0'=__disjvr_23^post_64, __disjvr_24^0'=__disjvr_24^post_64, __disjvr_25^0'=__disjvr_25^post_64, __disjvr_2^0'=__disjvr_2^post_64, __disjvr_3^0'=__disjvr_3^post_64, __disjvr_4^0'=__disjvr_4^post_64, __disjvr_5^0'=__disjvr_5^post_64, __disjvr_6^0'=__disjvr_6^post_64, __disjvr_7^0'=__disjvr_7^post_64, __disjvr_8^0'=__disjvr_8^post_64, __disjvr_9^0'=__disjvr_9^post_64, 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, [ __disjvr_0^0==__disjvr_0^post_64 && __disjvr_1^0==__disjvr_1^post_64 && __disjvr_10^0==__disjvr_10^post_64 && __disjvr_11^0==__disjvr_11^post_64 && __disjvr_12^0==__disjvr_12^post_64 && __disjvr_13^0==__disjvr_13^post_64 && __disjvr_14^0==__disjvr_14^post_64 && __disjvr_15^0==__disjvr_15^post_64 && __disjvr_16^0==__disjvr_16^post_64 && __disjvr_17^0==__disjvr_17^post_64 && __disjvr_18^0==__disjvr_18^post_64 && __disjvr_19^0==__disjvr_19^post_64 && __disjvr_2^0==__disjvr_2^post_64 && __disjvr_20^0==__disjvr_20^post_64 && __disjvr_21^0==__disjvr_21^post_64 && __disjvr_22^0==__disjvr_22^post_64 && __disjvr_23^0==__disjvr_23^post_64 && __disjvr_24^0==__disjvr_24^post_64 && __disjvr_25^0==__disjvr_25^post_64 && __disjvr_3^0==__disjvr_3^post_64 && __disjvr_4^0==__disjvr_4^post_64 && __disjvr_5^0==__disjvr_5^post_64 && __disjvr_6^0==__disjvr_6^post_64 && __disjvr_7^0==__disjvr_7^post_64 && __disjvr_8^0==__disjvr_8^post_64 && __disjvr_9^0==__disjvr_9^post_64 && 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

Removed unreachable and leaf rules:
   Start location: l55
      1: l0 -> l3 : __disjvr_0^0'=__disjvr_0^post_2, __disjvr_10^0'=__disjvr_10^post_2, __disjvr_11^0'=__disjvr_11^post_2, __disjvr_12^0'=__disjvr_12^post_2, __disjvr_13^0'=__disjvr_13^post_2, __disjvr_14^0'=__disjvr_14^post_2, __disjvr_15^0'=__disjvr_15^post_2, __disjvr_16^0'=__disjvr_16^post_2, __disjvr_17^0'=__disjvr_17^post_2, __disjvr_18^0'=__disjvr_18^post_2, __disjvr_19^0'=__disjvr_19^post_2, __disjvr_1^0'=__disjvr_1^post_2, __disjvr_20^0'=__disjvr_20^post_2, __disjvr_21^0'=__disjvr_21^post_2, __disjvr_22^0'=__disjvr_22^post_2, __disjvr_23^0'=__disjvr_23^post_2, __disjvr_24^0'=__disjvr_24^post_2, __disjvr_25^0'=__disjvr_25^post_2, __disjvr_2^0'=__disjvr_2^post_2, __disjvr_3^0'=__disjvr_3^post_2, __disjvr_4^0'=__disjvr_4^post_2, __disjvr_5^0'=__disjvr_5^post_2, __disjvr_6^0'=__disjvr_6^post_2, __disjvr_7^0'=__disjvr_7^post_2, __disjvr_8^0'=__disjvr_8^post_2, __disjvr_9^0'=__disjvr_9^post_2, a_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 && __disjvr_0^0==__disjvr_0^post_2 && __disjvr_1^0==__disjvr_1^post_2 && __disjvr_10^0==__disjvr_10^post_2 && __disjvr_11^0==__disjvr_11^post_2 && __disjvr_12^0==__disjvr_12^post_2 && __disjvr_13^0==__disjvr_13^post_2 && __disjvr_14^0==__disjvr_14^post_2 && __disjvr_15^0==__disjvr_15^post_2 && __disjvr_16^0==__disjvr_16^post_2 && __disjvr_17^0==__disjvr_17^post_2 && __disjvr_18^0==__disjvr_18^post_2 && __disjvr_19^0==__disjvr_19^post_2 && __disjvr_2^0==__disjvr_2^post_2 && __disjvr_20^0==__disjvr_20^post_2 && __disjvr_21^0==__disjvr_21^post_2 && __disjvr_22^0==__disjvr_22^post_2 && __disjvr_23^0==__disjvr_23^post_2 && __disjvr_24^0==__disjvr_24^post_2 && __disjvr_25^0==__disjvr_25^post_2 && __disjvr_3^0==__disjvr_3^post_2 && __disjvr_4^0==__disjvr_4^post_2 && __disjvr_5^0==__disjvr_5^post_2 && __disjvr_6^0==__disjvr_6^post_2 && __disjvr_7^0==__disjvr_7^post_2 && __disjvr_8^0==__disjvr_8^post_2 && __disjvr_9^0==__disjvr_9^post_2 && a_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
      9: l0 -> l10 : __disjvr_0^0'=__disjvr_0^post_10, __disjvr_10^0'=__disjvr_10^post_10, __disjvr_11^0'=__disjvr_11^post_10, __disjvr_12^0'=__disjvr_12^post_10, __disjvr_13^0'=__disjvr_13^post_10, __disjvr_14^0'=__disjvr_14^post_10, __disjvr_15^0'=__disjvr_15^post_10, __disjvr_16^0'=__disjvr_16^post_10, __disjvr_17^0'=__disjvr_17^post_10, __disjvr_18^0'=__disjvr_18^post_10, __disjvr_19^0'=__disjvr_19^post_10, __disjvr_1^0'=__disjvr_1^post_10, __disjvr_20^0'=__disjvr_20^post_10, __disjvr_21^0'=__disjvr_21^post_10, __disjvr_22^0'=__disjvr_22^post_10, __disjvr_23^0'=__disjvr_23^post_10, __disjvr_24^0'=__disjvr_24^post_10, __disjvr_25^0'=__disjvr_25^post_10, __disjvr_2^0'=__disjvr_2^post_10, __disjvr_3^0'=__disjvr_3^post_10, __disjvr_4^0'=__disjvr_4^post_10, __disjvr_5^0'=__disjvr_5^post_10, __disjvr_6^0'=__disjvr_6^post_10, __disjvr_7^0'=__disjvr_7^post_10, __disjvr_8^0'=__disjvr_8^post_10, __disjvr_9^0'=__disjvr_9^post_10, a_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, [ 0<=i_29^0 && rcd_104^post_10==rcd_104^post_10 && i_110^post_10==i_110^post_10 && 1+i_29^0<=length_27^0 && tmp_33^post_10==temp_34^0 && temp_34^post_10==temp_34^post_10 && head_31^post_10==tmp_33^post_10 && i_29^post_10==1+i_29^0 && rcd_112^post_10==rcd_112^post_10 && i_29^post_10<=1+i_110^post_10 && 1+i_110^post_10<=i_29^post_10 && i_110^post_10<=-1+i_29^post_10 && -1+i_29^post_10<=i_110^post_10 && rcd_43^0<=rcd_112^post_10 && rcd_112^post_10<=rcd_43^0 && 1+i_110^post_10<=length_27^0 && rcd_43^post_10==rcd_43^post_10 && rcd_43^post_10<=rcd_112^post_10 && rcd_112^post_10<=rcd_43^post_10 && __disjvr_0^0==__disjvr_0^post_10 && __disjvr_1^0==__disjvr_1^post_10 && __disjvr_10^0==__disjvr_10^post_10 && __disjvr_11^0==__disjvr_11^post_10 && __disjvr_12^0==__disjvr_12^post_10 && __disjvr_13^0==__disjvr_13^post_10 && __disjvr_14^0==__disjvr_14^post_10 && __disjvr_15^0==__disjvr_15^post_10 && __disjvr_16^0==__disjvr_16^post_10 && __disjvr_17^0==__disjvr_17^post_10 && __disjvr_18^0==__disjvr_18^post_10 && __disjvr_19^0==__disjvr_19^post_10 && __disjvr_2^0==__disjvr_2^post_10 && __disjvr_20^0==__disjvr_20^post_10 && __disjvr_21^0==__disjvr_21^post_10 && __disjvr_22^0==__disjvr_22^post_10 && __disjvr_23^0==__disjvr_23^post_10 && __disjvr_24^0==__disjvr_24^post_10 && __disjvr_25^0==__disjvr_25^post_10 && __disjvr_3^0==__disjvr_3^post_10 && __disjvr_4^0==__disjvr_4^post_10 && __disjvr_5^0==__disjvr_5^post_10 && __disjvr_6^0==__disjvr_6^post_10 && __disjvr_7^0==__disjvr_7^post_10 && __disjvr_8^0==__disjvr_8^post_10 && __disjvr_9^0==__disjvr_9^post_10 && a_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_SLAM_f_28^0==head_SLAM_f_28^post_10 && i_120^0==i_120^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_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_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_35^0==temp_35^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
      2: l3 -> l4 : __disjvr_0^0'=__disjvr_0^post_3, __disjvr_10^0'=__disjvr_10^post_3, __disjvr_11^0'=__disjvr_11^post_3, __disjvr_12^0'=__disjvr_12^post_3, __disjvr_13^0'=__disjvr_13^post_3, __disjvr_14^0'=__disjvr_14^post_3, __disjvr_15^0'=__disjvr_15^post_3, __disjvr_16^0'=__disjvr_16^post_3, __disjvr_17^0'=__disjvr_17^post_3, __disjvr_18^0'=__disjvr_18^post_3, __disjvr_19^0'=__disjvr_19^post_3, __disjvr_1^0'=__disjvr_1^post_3, __disjvr_20^0'=__disjvr_20^post_3, __disjvr_21^0'=__disjvr_21^post_3, __disjvr_22^0'=__disjvr_22^post_3, __disjvr_23^0'=__disjvr_23^post_3, __disjvr_24^0'=__disjvr_24^post_3, __disjvr_25^0'=__disjvr_25^post_3, __disjvr_2^0'=__disjvr_2^post_3, __disjvr_3^0'=__disjvr_3^post_3, __disjvr_4^0'=__disjvr_4^post_3, __disjvr_5^0'=__disjvr_5^post_3, __disjvr_6^0'=__disjvr_6^post_3, __disjvr_7^0'=__disjvr_7^post_3, __disjvr_8^0'=__disjvr_8^post_3, __disjvr_9^0'=__disjvr_9^post_3, a_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, [ __disjvr_0^post_3==__disjvr_0^0 && __disjvr_0^0==__disjvr_0^post_3 && __disjvr_1^0==__disjvr_1^post_3 && __disjvr_10^0==__disjvr_10^post_3 && __disjvr_11^0==__disjvr_11^post_3 && __disjvr_12^0==__disjvr_12^post_3 && __disjvr_13^0==__disjvr_13^post_3 && __disjvr_14^0==__disjvr_14^post_3 && __disjvr_15^0==__disjvr_15^post_3 && __disjvr_16^0==__disjvr_16^post_3 && __disjvr_17^0==__disjvr_17^post_3 && __disjvr_18^0==__disjvr_18^post_3 && __disjvr_19^0==__disjvr_19^post_3 && __disjvr_2^0==__disjvr_2^post_3 && __disjvr_20^0==__disjvr_20^post_3 && __disjvr_21^0==__disjvr_21^post_3 && __disjvr_22^0==__disjvr_22^post_3 && __disjvr_23^0==__disjvr_23^post_3 && __disjvr_24^0==__disjvr_24^post_3 && __disjvr_25^0==__disjvr_25^post_3 && __disjvr_3^0==__disjvr_3^post_3 && __disjvr_4^0==__disjvr_4^post_3 && __disjvr_5^0==__disjvr_5^post_3 && __disjvr_6^0==__disjvr_6^post_3 && __disjvr_7^0==__disjvr_7^post_3 && __disjvr_8^0==__disjvr_8^post_3 && __disjvr_9^0==__disjvr_9^post_3 && a_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: l4 -> l5 : __disjvr_0^0'=__disjvr_0^post_4, __disjvr_10^0'=__disjvr_10^post_4, __disjvr_11^0'=__disjvr_11^post_4, __disjvr_12^0'=__disjvr_12^post_4, __disjvr_13^0'=__disjvr_13^post_4, __disjvr_14^0'=__disjvr_14^post_4, __disjvr_15^0'=__disjvr_15^post_4, __disjvr_16^0'=__disjvr_16^post_4, __disjvr_17^0'=__disjvr_17^post_4, __disjvr_18^0'=__disjvr_18^post_4, __disjvr_19^0'=__disjvr_19^post_4, __disjvr_1^0'=__disjvr_1^post_4, __disjvr_20^0'=__disjvr_20^post_4, __disjvr_21^0'=__disjvr_21^post_4, __disjvr_22^0'=__disjvr_22^post_4, __disjvr_23^0'=__disjvr_23^post_4, __disjvr_24^0'=__disjvr_24^post_4, __disjvr_25^0'=__disjvr_25^post_4, __disjvr_2^0'=__disjvr_2^post_4, __disjvr_3^0'=__disjvr_3^post_4, __disjvr_4^0'=__disjvr_4^post_4, __disjvr_5^0'=__disjvr_5^post_4, __disjvr_6^0'=__disjvr_6^post_4, __disjvr_7^0'=__disjvr_7^post_4, __disjvr_8^0'=__disjvr_8^post_4, __disjvr_9^0'=__disjvr_9^post_4, a_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, [ lt_17^post_4==lt_17^post_4 && x_SLAM_f_22^1_1==head_16^0 && y_23^post_4==lt_20^0 && x_24^post_4==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_4 && x_24^post_4<=head_16^0 && lt_20^0<=y_23^post_4 && y_23^post_4<=lt_20^0 && x_SLAM_f_22^1_1<=x_24^post_4 && x_24^post_4<=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_4==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_4 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_4==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_4 && tail_15^post_4==tail_15^post_4 && head_16^post_4==head_16^post_4 && lt_20^post_4==lt_20^post_4 && x_SLAM_f_22^post_4==x_SLAM_f_22^post_4 && rcd_185^post_4==rcd_185^post_4 && rcd_190^post_4==rcd_190^post_4 && __disjvr_0^0==__disjvr_0^post_4 && __disjvr_1^0==__disjvr_1^post_4 && __disjvr_10^0==__disjvr_10^post_4 && __disjvr_11^0==__disjvr_11^post_4 && __disjvr_12^0==__disjvr_12^post_4 && __disjvr_13^0==__disjvr_13^post_4 && __disjvr_14^0==__disjvr_14^post_4 && __disjvr_15^0==__disjvr_15^post_4 && __disjvr_16^0==__disjvr_16^post_4 && __disjvr_17^0==__disjvr_17^post_4 && __disjvr_18^0==__disjvr_18^post_4 && __disjvr_19^0==__disjvr_19^post_4 && __disjvr_2^0==__disjvr_2^post_4 && __disjvr_20^0==__disjvr_20^post_4 && __disjvr_21^0==__disjvr_21^post_4 && __disjvr_22^0==__disjvr_22^post_4 && __disjvr_23^0==__disjvr_23^post_4 && __disjvr_24^0==__disjvr_24^post_4 && __disjvr_25^0==__disjvr_25^post_4 && __disjvr_3^0==__disjvr_3^post_4 && __disjvr_4^0==__disjvr_4^post_4 && __disjvr_5^0==__disjvr_5^post_4 && __disjvr_6^0==__disjvr_6^post_4 && __disjvr_7^0==__disjvr_7^post_4 && __disjvr_8^0==__disjvr_8^post_4 && __disjvr_9^0==__disjvr_9^post_4 && a_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_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 && 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_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_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_4 && t_25^0==t_25^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 ], cost: 1
      4: l5 -> l6 : __disjvr_0^0'=__disjvr_0^post_5, __disjvr_10^0'=__disjvr_10^post_5, __disjvr_11^0'=__disjvr_11^post_5, __disjvr_12^0'=__disjvr_12^post_5, __disjvr_13^0'=__disjvr_13^post_5, __disjvr_14^0'=__disjvr_14^post_5, __disjvr_15^0'=__disjvr_15^post_5, __disjvr_16^0'=__disjvr_16^post_5, __disjvr_17^0'=__disjvr_17^post_5, __disjvr_18^0'=__disjvr_18^post_5, __disjvr_19^0'=__disjvr_19^post_5, __disjvr_1^0'=__disjvr_1^post_5, __disjvr_20^0'=__disjvr_20^post_5, __disjvr_21^0'=__disjvr_21^post_5, __disjvr_22^0'=__disjvr_22^post_5, __disjvr_23^0'=__disjvr_23^post_5, __disjvr_24^0'=__disjvr_24^post_5, __disjvr_25^0'=__disjvr_25^post_5, __disjvr_2^0'=__disjvr_2^post_5, __disjvr_3^0'=__disjvr_3^post_5, __disjvr_4^0'=__disjvr_4^post_5, __disjvr_5^0'=__disjvr_5^post_5, __disjvr_6^0'=__disjvr_6^post_5, __disjvr_7^0'=__disjvr_7^post_5, __disjvr_8^0'=__disjvr_8^post_5, __disjvr_9^0'=__disjvr_9^post_5, a_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, [ __disjvr_1^post_5==__disjvr_1^0 && __disjvr_0^0==__disjvr_0^post_5 && __disjvr_1^0==__disjvr_1^post_5 && __disjvr_10^0==__disjvr_10^post_5 && __disjvr_11^0==__disjvr_11^post_5 && __disjvr_12^0==__disjvr_12^post_5 && __disjvr_13^0==__disjvr_13^post_5 && __disjvr_14^0==__disjvr_14^post_5 && __disjvr_15^0==__disjvr_15^post_5 && __disjvr_16^0==__disjvr_16^post_5 && __disjvr_17^0==__disjvr_17^post_5 && __disjvr_18^0==__disjvr_18^post_5 && __disjvr_19^0==__disjvr_19^post_5 && __disjvr_2^0==__disjvr_2^post_5 && __disjvr_20^0==__disjvr_20^post_5 && __disjvr_21^0==__disjvr_21^post_5 && __disjvr_22^0==__disjvr_22^post_5 && __disjvr_23^0==__disjvr_23^post_5 && __disjvr_24^0==__disjvr_24^post_5 && __disjvr_25^0==__disjvr_25^post_5 && __disjvr_3^0==__disjvr_3^post_5 && __disjvr_4^0==__disjvr_4^post_5 && __disjvr_5^0==__disjvr_5^post_5 && __disjvr_6^0==__disjvr_6^post_5 && __disjvr_7^0==__disjvr_7^post_5 && __disjvr_8^0==__disjvr_8^post_5 && __disjvr_9^0==__disjvr_9^post_5 && a_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 ], cost: 1
      5: l6 -> l7 : __disjvr_0^0'=__disjvr_0^post_6, __disjvr_10^0'=__disjvr_10^post_6, __disjvr_11^0'=__disjvr_11^post_6, __disjvr_12^0'=__disjvr_12^post_6, __disjvr_13^0'=__disjvr_13^post_6, __disjvr_14^0'=__disjvr_14^post_6, __disjvr_15^0'=__disjvr_15^post_6, __disjvr_16^0'=__disjvr_16^post_6, __disjvr_17^0'=__disjvr_17^post_6, __disjvr_18^0'=__disjvr_18^post_6, __disjvr_19^0'=__disjvr_19^post_6, __disjvr_1^0'=__disjvr_1^post_6, __disjvr_20^0'=__disjvr_20^post_6, __disjvr_21^0'=__disjvr_21^post_6, __disjvr_22^0'=__disjvr_22^post_6, __disjvr_23^0'=__disjvr_23^post_6, __disjvr_24^0'=__disjvr_24^post_6, __disjvr_25^0'=__disjvr_25^post_6, __disjvr_2^0'=__disjvr_2^post_6, __disjvr_3^0'=__disjvr_3^post_6, __disjvr_4^0'=__disjvr_4^post_6, __disjvr_5^0'=__disjvr_5^post_6, __disjvr_6^0'=__disjvr_6^post_6, __disjvr_7^0'=__disjvr_7^post_6, __disjvr_8^0'=__disjvr_8^post_6, __disjvr_9^0'=__disjvr_9^post_6, a_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, [ t_25^post_6==x_24^0 && a_153^post_6==a_153^post_6 && 0<=a_178^0-a_153^post_6 && a_178^0-a_153^post_6<=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_6 && t_25^post_6<=head_16^0 && lt_20^0<=y_23^0 && y_23^0<=lt_20^0 && a_153^post_6<=a_178^0 && a_178^0<=a_153^post_6 && rcd_43^0<=rcd_185^0 && rcd_185^0<=rcd_43^0 && __disjvr_0^0==__disjvr_0^post_6 && __disjvr_1^0==__disjvr_1^post_6 && __disjvr_10^0==__disjvr_10^post_6 && __disjvr_11^0==__disjvr_11^post_6 && __disjvr_12^0==__disjvr_12^post_6 && __disjvr_13^0==__disjvr_13^post_6 && __disjvr_14^0==__disjvr_14^post_6 && __disjvr_15^0==__disjvr_15^post_6 && __disjvr_16^0==__disjvr_16^post_6 && __disjvr_17^0==__disjvr_17^post_6 && __disjvr_18^0==__disjvr_18^post_6 && __disjvr_19^0==__disjvr_19^post_6 && __disjvr_2^0==__disjvr_2^post_6 && __disjvr_20^0==__disjvr_20^post_6 && __disjvr_21^0==__disjvr_21^post_6 && __disjvr_22^0==__disjvr_22^post_6 && __disjvr_23^0==__disjvr_23^post_6 && __disjvr_24^0==__disjvr_24^post_6 && __disjvr_25^0==__disjvr_25^post_6 && __disjvr_3^0==__disjvr_3^post_6 && __disjvr_4^0==__disjvr_4^post_6 && __disjvr_5^0==__disjvr_5^post_6 && __disjvr_6^0==__disjvr_6^post_6 && __disjvr_7^0==__disjvr_7^post_6 && __disjvr_8^0==__disjvr_8^post_6 && __disjvr_9^0==__disjvr_9^post_6 && a_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 && 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: l7 -> l8 : __disjvr_0^0'=__disjvr_0^post_7, __disjvr_10^0'=__disjvr_10^post_7, __disjvr_11^0'=__disjvr_11^post_7, __disjvr_12^0'=__disjvr_12^post_7, __disjvr_13^0'=__disjvr_13^post_7, __disjvr_14^0'=__disjvr_14^post_7, __disjvr_15^0'=__disjvr_15^post_7, __disjvr_16^0'=__disjvr_16^post_7, __disjvr_17^0'=__disjvr_17^post_7, __disjvr_18^0'=__disjvr_18^post_7, __disjvr_19^0'=__disjvr_19^post_7, __disjvr_1^0'=__disjvr_1^post_7, __disjvr_20^0'=__disjvr_20^post_7, __disjvr_21^0'=__disjvr_21^post_7, __disjvr_22^0'=__disjvr_22^post_7, __disjvr_23^0'=__disjvr_23^post_7, __disjvr_24^0'=__disjvr_24^post_7, __disjvr_25^0'=__disjvr_25^post_7, __disjvr_2^0'=__disjvr_2^post_7, __disjvr_3^0'=__disjvr_3^post_7, __disjvr_4^0'=__disjvr_4^post_7, __disjvr_5^0'=__disjvr_5^post_7, __disjvr_6^0'=__disjvr_6^post_7, __disjvr_7^0'=__disjvr_7^post_7, __disjvr_8^0'=__disjvr_8^post_7, __disjvr_9^0'=__disjvr_9^post_7, a_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, [ __disjvr_2^post_7==__disjvr_2^0 && __disjvr_0^0==__disjvr_0^post_7 && __disjvr_1^0==__disjvr_1^post_7 && __disjvr_10^0==__disjvr_10^post_7 && __disjvr_11^0==__disjvr_11^post_7 && __disjvr_12^0==__disjvr_12^post_7 && __disjvr_13^0==__disjvr_13^post_7 && __disjvr_14^0==__disjvr_14^post_7 && __disjvr_15^0==__disjvr_15^post_7 && __disjvr_16^0==__disjvr_16^post_7 && __disjvr_17^0==__disjvr_17^post_7 && __disjvr_18^0==__disjvr_18^post_7 && __disjvr_19^0==__disjvr_19^post_7 && __disjvr_2^0==__disjvr_2^post_7 && __disjvr_20^0==__disjvr_20^post_7 && __disjvr_21^0==__disjvr_21^post_7 && __disjvr_22^0==__disjvr_22^post_7 && __disjvr_23^0==__disjvr_23^post_7 && __disjvr_24^0==__disjvr_24^post_7 && __disjvr_25^0==__disjvr_25^post_7 && __disjvr_3^0==__disjvr_3^post_7 && __disjvr_4^0==__disjvr_4^post_7 && __disjvr_5^0==__disjvr_5^post_7 && __disjvr_6^0==__disjvr_6^post_7 && __disjvr_7^0==__disjvr_7^post_7 && __disjvr_8^0==__disjvr_8^post_7 && __disjvr_9^0==__disjvr_9^post_7 && a_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: l8 -> l9 : __disjvr_0^0'=__disjvr_0^post_8, __disjvr_10^0'=__disjvr_10^post_8, __disjvr_11^0'=__disjvr_11^post_8, __disjvr_12^0'=__disjvr_12^post_8, __disjvr_13^0'=__disjvr_13^post_8, __disjvr_14^0'=__disjvr_14^post_8, __disjvr_15^0'=__disjvr_15^post_8, __disjvr_16^0'=__disjvr_16^post_8, __disjvr_17^0'=__disjvr_17^post_8, __disjvr_18^0'=__disjvr_18^post_8, __disjvr_19^0'=__disjvr_19^post_8, __disjvr_1^0'=__disjvr_1^post_8, __disjvr_20^0'=__disjvr_20^post_8, __disjvr_21^0'=__disjvr_21^post_8, __disjvr_22^0'=__disjvr_22^post_8, __disjvr_23^0'=__disjvr_23^post_8, __disjvr_24^0'=__disjvr_24^post_8, __disjvr_25^0'=__disjvr_25^post_8, __disjvr_2^0'=__disjvr_2^post_8, __disjvr_3^0'=__disjvr_3^post_8, __disjvr_4^0'=__disjvr_4^post_8, __disjvr_5^0'=__disjvr_5^post_8, __disjvr_6^0'=__disjvr_6^post_8, __disjvr_7^0'=__disjvr_7^post_8, __disjvr_8^0'=__disjvr_8^post_8, __disjvr_9^0'=__disjvr_9^post_8, a_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, [ __disjvr_3^post_8==__disjvr_3^0 && __disjvr_0^0==__disjvr_0^post_8 && __disjvr_1^0==__disjvr_1^post_8 && __disjvr_10^0==__disjvr_10^post_8 && __disjvr_11^0==__disjvr_11^post_8 && __disjvr_12^0==__disjvr_12^post_8 && __disjvr_13^0==__disjvr_13^post_8 && __disjvr_14^0==__disjvr_14^post_8 && __disjvr_15^0==__disjvr_15^post_8 && __disjvr_16^0==__disjvr_16^post_8 && __disjvr_17^0==__disjvr_17^post_8 && __disjvr_18^0==__disjvr_18^post_8 && __disjvr_19^0==__disjvr_19^post_8 && __disjvr_2^0==__disjvr_2^post_8 && __disjvr_20^0==__disjvr_20^post_8 && __disjvr_21^0==__disjvr_21^post_8 && __disjvr_22^0==__disjvr_22^post_8 && __disjvr_23^0==__disjvr_23^post_8 && __disjvr_24^0==__disjvr_24^post_8 && __disjvr_25^0==__disjvr_25^post_8 && __disjvr_3^0==__disjvr_3^post_8 && __disjvr_4^0==__disjvr_4^post_8 && __disjvr_5^0==__disjvr_5^post_8 && __disjvr_6^0==__disjvr_6^post_8 && __disjvr_7^0==__disjvr_7^post_8 && __disjvr_8^0==__disjvr_8^post_8 && __disjvr_9^0==__disjvr_9^post_8 && a_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 ], cost: 1
      8: l9 -> l2 : __disjvr_0^0'=__disjvr_0^post_9, __disjvr_10^0'=__disjvr_10^post_9, __disjvr_11^0'=__disjvr_11^post_9, __disjvr_12^0'=__disjvr_12^post_9, __disjvr_13^0'=__disjvr_13^post_9, __disjvr_14^0'=__disjvr_14^post_9, __disjvr_15^0'=__disjvr_15^post_9, __disjvr_16^0'=__disjvr_16^post_9, __disjvr_17^0'=__disjvr_17^post_9, __disjvr_18^0'=__disjvr_18^post_9, __disjvr_19^0'=__disjvr_19^post_9, __disjvr_1^0'=__disjvr_1^post_9, __disjvr_20^0'=__disjvr_20^post_9, __disjvr_21^0'=__disjvr_21^post_9, __disjvr_22^0'=__disjvr_22^post_9, __disjvr_23^0'=__disjvr_23^post_9, __disjvr_24^0'=__disjvr_24^post_9, __disjvr_25^0'=__disjvr_25^post_9, __disjvr_2^0'=__disjvr_2^post_9, __disjvr_3^0'=__disjvr_3^post_9, __disjvr_4^0'=__disjvr_4^post_9, __disjvr_5^0'=__disjvr_5^post_9, __disjvr_6^0'=__disjvr_6^post_9, __disjvr_7^0'=__disjvr_7^post_9, __disjvr_8^0'=__disjvr_8^post_9, __disjvr_9^0'=__disjvr_9^post_9, a_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<=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_9==i_120^post_9 && -1+i_120^post_9<=a_153^0 && a_153^0<=-1+i_120^post_9 && __disjvr_0^0==__disjvr_0^post_9 && __disjvr_1^0==__disjvr_1^post_9 && __disjvr_10^0==__disjvr_10^post_9 && __disjvr_11^0==__disjvr_11^post_9 && __disjvr_12^0==__disjvr_12^post_9 && __disjvr_13^0==__disjvr_13^post_9 && __disjvr_14^0==__disjvr_14^post_9 && __disjvr_15^0==__disjvr_15^post_9 && __disjvr_16^0==__disjvr_16^post_9 && __disjvr_17^0==__disjvr_17^post_9 && __disjvr_18^0==__disjvr_18^post_9 && __disjvr_19^0==__disjvr_19^post_9 && __disjvr_2^0==__disjvr_2^post_9 && __disjvr_20^0==__disjvr_20^post_9 && __disjvr_21^0==__disjvr_21^post_9 && __disjvr_22^0==__disjvr_22^post_9 && __disjvr_23^0==__disjvr_23^post_9 && __disjvr_24^0==__disjvr_24^post_9 && __disjvr_25^0==__disjvr_25^post_9 && __disjvr_3^0==__disjvr_3^post_9 && __disjvr_4^0==__disjvr_4^post_9 && __disjvr_5^0==__disjvr_5^post_9 && __disjvr_6^0==__disjvr_6^post_9 && __disjvr_7^0==__disjvr_7^post_9 && __disjvr_8^0==__disjvr_8^post_9 && __disjvr_9^0==__disjvr_9^post_9 && a_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_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
     26: l2 -> l26 : __disjvr_0^0'=__disjvr_0^post_27, __disjvr_10^0'=__disjvr_10^post_27, __disjvr_11^0'=__disjvr_11^post_27, __disjvr_12^0'=__disjvr_12^post_27, __disjvr_13^0'=__disjvr_13^post_27, __disjvr_14^0'=__disjvr_14^post_27, __disjvr_15^0'=__disjvr_15^post_27, __disjvr_16^0'=__disjvr_16^post_27, __disjvr_17^0'=__disjvr_17^post_27, __disjvr_18^0'=__disjvr_18^post_27, __disjvr_19^0'=__disjvr_19^post_27, __disjvr_1^0'=__disjvr_1^post_27, __disjvr_20^0'=__disjvr_20^post_27, __disjvr_21^0'=__disjvr_21^post_27, __disjvr_22^0'=__disjvr_22^post_27, __disjvr_23^0'=__disjvr_23^post_27, __disjvr_24^0'=__disjvr_24^post_27, __disjvr_25^0'=__disjvr_25^post_27, __disjvr_2^0'=__disjvr_2^post_27, __disjvr_3^0'=__disjvr_3^post_27, __disjvr_4^0'=__disjvr_4^post_27, __disjvr_5^0'=__disjvr_5^post_27, __disjvr_6^0'=__disjvr_6^post_27, __disjvr_7^0'=__disjvr_7^post_27, __disjvr_8^0'=__disjvr_8^post_27, __disjvr_9^0'=__disjvr_9^post_27, a_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, [ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_27==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_27 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_27==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_27 && tail_15^post_27==tail_15^post_27 && head_16^post_27==head_16^post_27 && lt_20^post_27==lt_20^post_27 && x_SLAM_f_22^post_27==x_SLAM_f_22^post_27 && r_39^post_27==r_39^post_27 && r_197^post_27==r_197^post_27 && f_198^post_27==f_198^post_27 && __disjvr_0^0==__disjvr_0^post_27 && __disjvr_1^0==__disjvr_1^post_27 && __disjvr_10^0==__disjvr_10^post_27 && __disjvr_11^0==__disjvr_11^post_27 && __disjvr_12^0==__disjvr_12^post_27 && __disjvr_13^0==__disjvr_13^post_27 && __disjvr_14^0==__disjvr_14^post_27 && __disjvr_15^0==__disjvr_15^post_27 && __disjvr_16^0==__disjvr_16^post_27 && __disjvr_17^0==__disjvr_17^post_27 && __disjvr_18^0==__disjvr_18^post_27 && __disjvr_19^0==__disjvr_19^post_27 && __disjvr_2^0==__disjvr_2^post_27 && __disjvr_20^0==__disjvr_20^post_27 && __disjvr_21^0==__disjvr_21^post_27 && __disjvr_22^0==__disjvr_22^post_27 && __disjvr_23^0==__disjvr_23^post_27 && __disjvr_24^0==__disjvr_24^post_27 && __disjvr_25^0==__disjvr_25^post_27 && __disjvr_3^0==__disjvr_3^post_27 && __disjvr_4^0==__disjvr_4^post_27 && __disjvr_5^0==__disjvr_5^post_27 && __disjvr_6^0==__disjvr_6^post_27 && __disjvr_7^0==__disjvr_7^post_27 && __disjvr_8^0==__disjvr_8^post_27 && __disjvr_9^0==__disjvr_9^post_27 && a_153^0==a_153^post_27 && a_178^0==a_178^post_27 && a_208^0==a_208^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 && nondet_12^0==nondet_12^post_27 && r_164^0==r_164^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_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_27 && t_25^0==t_25^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 && y_23^0==y_23^post_27 ], cost: 1
     10: l10 -> l0 : __disjvr_0^0'=__disjvr_0^post_11, __disjvr_10^0'=__disjvr_10^post_11, __disjvr_11^0'=__disjvr_11^post_11, __disjvr_12^0'=__disjvr_12^post_11, __disjvr_13^0'=__disjvr_13^post_11, __disjvr_14^0'=__disjvr_14^post_11, __disjvr_15^0'=__disjvr_15^post_11, __disjvr_16^0'=__disjvr_16^post_11, __disjvr_17^0'=__disjvr_17^post_11, __disjvr_18^0'=__disjvr_18^post_11, __disjvr_19^0'=__disjvr_19^post_11, __disjvr_1^0'=__disjvr_1^post_11, __disjvr_20^0'=__disjvr_20^post_11, __disjvr_21^0'=__disjvr_21^post_11, __disjvr_22^0'=__disjvr_22^post_11, __disjvr_23^0'=__disjvr_23^post_11, __disjvr_24^0'=__disjvr_24^post_11, __disjvr_25^0'=__disjvr_25^post_11, __disjvr_2^0'=__disjvr_2^post_11, __disjvr_3^0'=__disjvr_3^post_11, __disjvr_4^0'=__disjvr_4^post_11, __disjvr_5^0'=__disjvr_5^post_11, __disjvr_6^0'=__disjvr_6^post_11, __disjvr_7^0'=__disjvr_7^post_11, __disjvr_8^0'=__disjvr_8^post_11, __disjvr_9^0'=__disjvr_9^post_11, a_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, [ __disjvr_0^0==__disjvr_0^post_11 && __disjvr_1^0==__disjvr_1^post_11 && __disjvr_10^0==__disjvr_10^post_11 && __disjvr_11^0==__disjvr_11^post_11 && __disjvr_12^0==__disjvr_12^post_11 && __disjvr_13^0==__disjvr_13^post_11 && __disjvr_14^0==__disjvr_14^post_11 && __disjvr_15^0==__disjvr_15^post_11 && __disjvr_16^0==__disjvr_16^post_11 && __disjvr_17^0==__disjvr_17^post_11 && __disjvr_18^0==__disjvr_18^post_11 && __disjvr_19^0==__disjvr_19^post_11 && __disjvr_2^0==__disjvr_2^post_11 && __disjvr_20^0==__disjvr_20^post_11 && __disjvr_21^0==__disjvr_21^post_11 && __disjvr_22^0==__disjvr_22^post_11 && __disjvr_23^0==__disjvr_23^post_11 && __disjvr_24^0==__disjvr_24^post_11 && __disjvr_25^0==__disjvr_25^post_11 && __disjvr_3^0==__disjvr_3^post_11 && __disjvr_4^0==__disjvr_4^post_11 && __disjvr_5^0==__disjvr_5^post_11 && __disjvr_6^0==__disjvr_6^post_11 && __disjvr_7^0==__disjvr_7^post_11 && __disjvr_8^0==__disjvr_8^post_11 && __disjvr_9^0==__disjvr_9^post_11 && a_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
     23: l11 -> l23 : __disjvr_0^0'=__disjvr_0^post_24, __disjvr_10^0'=__disjvr_10^post_24, __disjvr_11^0'=__disjvr_11^post_24, __disjvr_12^0'=__disjvr_12^post_24, __disjvr_13^0'=__disjvr_13^post_24, __disjvr_14^0'=__disjvr_14^post_24, __disjvr_15^0'=__disjvr_15^post_24, __disjvr_16^0'=__disjvr_16^post_24, __disjvr_17^0'=__disjvr_17^post_24, __disjvr_18^0'=__disjvr_18^post_24, __disjvr_19^0'=__disjvr_19^post_24, __disjvr_1^0'=__disjvr_1^post_24, __disjvr_20^0'=__disjvr_20^post_24, __disjvr_21^0'=__disjvr_21^post_24, __disjvr_22^0'=__disjvr_22^post_24, __disjvr_23^0'=__disjvr_23^post_24, __disjvr_24^0'=__disjvr_24^post_24, __disjvr_25^0'=__disjvr_25^post_24, __disjvr_2^0'=__disjvr_2^post_24, __disjvr_3^0'=__disjvr_3^post_24, __disjvr_4^0'=__disjvr_4^post_24, __disjvr_5^0'=__disjvr_5^post_24, __disjvr_6^0'=__disjvr_6^post_24, __disjvr_7^0'=__disjvr_7^post_24, __disjvr_8^0'=__disjvr_8^post_24, __disjvr_9^0'=__disjvr_9^post_24, a_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, [ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_24==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_24 && tail_15^post_24==tail_15^post_24 && head_SLAM_f_28^post_24==head_SLAM_f_28^post_24 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_24==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_24 && 1+i_29^0<=length_27^0 && tmp_33^post_24==temp_34^0 && temp_34^post_24==temp_34^post_24 && head_31^post_24==tmp_33^post_24 && i_29^post_24==1+i_29^0 && 1<=i_29^post_24 && i_29^post_24<=1 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24<=tail_15^post_24 && tail_15^post_24<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24<=head_SLAM_f_28^post_24 && head_SLAM_f_28^post_24<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_24 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_24<=length_27^0 && length_27^0<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_24 && tail_15^post_24<=head_SLAM_f_28^post_24 && head_SLAM_f_28^post_24<=tail_15^post_24 && head_31^post_24<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_24 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_24<=head_31^post_24 && head_31^post_24<=tmp_33^post_24 && tmp_33^post_24<=head_31^post_24 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_24<=tmp_33^post_24 && tmp_33^post_24<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_24 && 1<=length_27^0 && __disjvr_0^0==__disjvr_0^post_24 && __disjvr_1^0==__disjvr_1^post_24 && __disjvr_10^0==__disjvr_10^post_24 && __disjvr_11^0==__disjvr_11^post_24 && __disjvr_12^0==__disjvr_12^post_24 && __disjvr_13^0==__disjvr_13^post_24 && __disjvr_14^0==__disjvr_14^post_24 && __disjvr_15^0==__disjvr_15^post_24 && __disjvr_16^0==__disjvr_16^post_24 && __disjvr_17^0==__disjvr_17^post_24 && __disjvr_18^0==__disjvr_18^post_24 && __disjvr_19^0==__disjvr_19^post_24 && __disjvr_2^0==__disjvr_2^post_24 && __disjvr_20^0==__disjvr_20^post_24 && __disjvr_21^0==__disjvr_21^post_24 && __disjvr_22^0==__disjvr_22^post_24 && __disjvr_23^0==__disjvr_23^post_24 && __disjvr_24^0==__disjvr_24^post_24 && __disjvr_25^0==__disjvr_25^post_24 && __disjvr_3^0==__disjvr_3^post_24 && __disjvr_4^0==__disjvr_4^post_24 && __disjvr_5^0==__disjvr_5^post_24 && __disjvr_6^0==__disjvr_6^post_24 && __disjvr_7^0==__disjvr_7^post_24 && __disjvr_8^0==__disjvr_8^post_24 && __disjvr_9^0==__disjvr_9^post_24 && a_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 && i_110^0==i_110^post_24 && i_120^0==i_120^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 && t_25^0==t_25^post_24 && temp0_21^0==temp0_21^post_24 && temp0_30^0==temp0_30^post_24 && temp_35^0==temp_35^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
     59: l23 -> l0 : __disjvr_0^0'=__disjvr_0^post_60, __disjvr_10^0'=__disjvr_10^post_60, __disjvr_11^0'=__disjvr_11^post_60, __disjvr_12^0'=__disjvr_12^post_60, __disjvr_13^0'=__disjvr_13^post_60, __disjvr_14^0'=__disjvr_14^post_60, __disjvr_15^0'=__disjvr_15^post_60, __disjvr_16^0'=__disjvr_16^post_60, __disjvr_17^0'=__disjvr_17^post_60, __disjvr_18^0'=__disjvr_18^post_60, __disjvr_19^0'=__disjvr_19^post_60, __disjvr_1^0'=__disjvr_1^post_60, __disjvr_20^0'=__disjvr_20^post_60, __disjvr_21^0'=__disjvr_21^post_60, __disjvr_22^0'=__disjvr_22^post_60, __disjvr_23^0'=__disjvr_23^post_60, __disjvr_24^0'=__disjvr_24^post_60, __disjvr_25^0'=__disjvr_25^post_60, __disjvr_2^0'=__disjvr_2^post_60, __disjvr_3^0'=__disjvr_3^post_60, __disjvr_4^0'=__disjvr_4^post_60, __disjvr_5^0'=__disjvr_5^post_60, __disjvr_6^0'=__disjvr_6^post_60, __disjvr_7^0'=__disjvr_7^post_60, __disjvr_8^0'=__disjvr_8^post_60, __disjvr_9^0'=__disjvr_9^post_60, 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, [ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_60==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_60 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_60==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_60 && tail_15^post_60==tail_15^post_60 && head_SLAM_f_28^post_60==head_SLAM_f_28^post_60 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_60==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_60 && rcd_69^post_60==rcd_69^post_60 && 1+i_29^0<=length_27^0 && tmp_33^post_60==temp_34^0 && temp_34^post_60==temp_34^post_60 && head_31^post_60==tmp_33^post_60 && i_29^post_60==1+i_29^0 && 2<=i_29^post_60 && i_29^post_60<=2 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_60<=tail_15^post_60 && tail_15^post_60<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_60 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_60<=head_SLAM_f_28^post_60 && head_SLAM_f_28^post_60<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_60 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_60<=length_27^0 && length_27^0<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_60 && tail_15^post_60<=head_SLAM_f_28^post_60 && head_SLAM_f_28^post_60<=tail_15^post_60 && head_31^post_60<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_60 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_60<=head_31^post_60 && head_31^post_60<=tmp_33^post_60 && tmp_33^post_60<=head_31^post_60 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_60<=tmp_33^post_60 && tmp_33^post_60<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_60 && 1<=length_27^0 && 2<=length_27^0 && __disjvr_0^0==__disjvr_0^post_60 && __disjvr_1^0==__disjvr_1^post_60 && __disjvr_10^0==__disjvr_10^post_60 && __disjvr_11^0==__disjvr_11^post_60 && __disjvr_12^0==__disjvr_12^post_60 && __disjvr_13^0==__disjvr_13^post_60 && __disjvr_14^0==__disjvr_14^post_60 && __disjvr_15^0==__disjvr_15^post_60 && __disjvr_16^0==__disjvr_16^post_60 && __disjvr_17^0==__disjvr_17^post_60 && __disjvr_18^0==__disjvr_18^post_60 && __disjvr_19^0==__disjvr_19^post_60 && __disjvr_2^0==__disjvr_2^post_60 && __disjvr_20^0==__disjvr_20^post_60 && __disjvr_21^0==__disjvr_21^post_60 && __disjvr_22^0==__disjvr_22^post_60 && __disjvr_23^0==__disjvr_23^post_60 && __disjvr_24^0==__disjvr_24^post_60 && __disjvr_25^0==__disjvr_25^post_60 && __disjvr_3^0==__disjvr_3^post_60 && __disjvr_4^0==__disjvr_4^post_60 && __disjvr_5^0==__disjvr_5^post_60 && __disjvr_6^0==__disjvr_6^post_60 && __disjvr_7^0==__disjvr_7^post_60 && __disjvr_8^0==__disjvr_8^post_60 && __disjvr_9^0==__disjvr_9^post_60 && 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 && i_110^0==i_110^post_60 && i_120^0==i_120^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 && result_11^0==result_11^post_60 && t_25^0==t_25^post_60 && temp0_21^0==temp0_21^post_60 && temp0_30^0==temp0_30^post_60 && temp_35^0==temp_35^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
     27: l26 -> l27 : __disjvr_0^0'=__disjvr_0^post_28, __disjvr_10^0'=__disjvr_10^post_28, __disjvr_11^0'=__disjvr_11^post_28, __disjvr_12^0'=__disjvr_12^post_28, __disjvr_13^0'=__disjvr_13^post_28, __disjvr_14^0'=__disjvr_14^post_28, __disjvr_15^0'=__disjvr_15^post_28, __disjvr_16^0'=__disjvr_16^post_28, __disjvr_17^0'=__disjvr_17^post_28, __disjvr_18^0'=__disjvr_18^post_28, __disjvr_19^0'=__disjvr_19^post_28, __disjvr_1^0'=__disjvr_1^post_28, __disjvr_20^0'=__disjvr_20^post_28, __disjvr_21^0'=__disjvr_21^post_28, __disjvr_22^0'=__disjvr_22^post_28, __disjvr_23^0'=__disjvr_23^post_28, __disjvr_24^0'=__disjvr_24^post_28, __disjvr_25^0'=__disjvr_25^post_28, __disjvr_2^0'=__disjvr_2^post_28, __disjvr_3^0'=__disjvr_3^post_28, __disjvr_4^0'=__disjvr_4^post_28, __disjvr_5^0'=__disjvr_5^post_28, __disjvr_6^0'=__disjvr_6^post_28, __disjvr_7^0'=__disjvr_7^post_28, __disjvr_8^0'=__disjvr_8^post_28, __disjvr_9^0'=__disjvr_9^post_28, a_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, [ __disjvr_10^post_28==__disjvr_10^0 && __disjvr_0^0==__disjvr_0^post_28 && __disjvr_1^0==__disjvr_1^post_28 && __disjvr_10^0==__disjvr_10^post_28 && __disjvr_11^0==__disjvr_11^post_28 && __disjvr_12^0==__disjvr_12^post_28 && __disjvr_13^0==__disjvr_13^post_28 && __disjvr_14^0==__disjvr_14^post_28 && __disjvr_15^0==__disjvr_15^post_28 && __disjvr_16^0==__disjvr_16^post_28 && __disjvr_17^0==__disjvr_17^post_28 && __disjvr_18^0==__disjvr_18^post_28 && __disjvr_19^0==__disjvr_19^post_28 && __disjvr_2^0==__disjvr_2^post_28 && __disjvr_20^0==__disjvr_20^post_28 && __disjvr_21^0==__disjvr_21^post_28 && __disjvr_22^0==__disjvr_22^post_28 && __disjvr_23^0==__disjvr_23^post_28 && __disjvr_24^0==__disjvr_24^post_28 && __disjvr_25^0==__disjvr_25^post_28 && __disjvr_3^0==__disjvr_3^post_28 && __disjvr_4^0==__disjvr_4^post_28 && __disjvr_5^0==__disjvr_5^post_28 && __disjvr_6^0==__disjvr_6^post_28 && __disjvr_7^0==__disjvr_7^post_28 && __disjvr_8^0==__disjvr_8^post_28 && __disjvr_9^0==__disjvr_9^post_28 && a_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 ], cost: 1
     28: l27 -> l28 : __disjvr_0^0'=__disjvr_0^post_29, __disjvr_10^0'=__disjvr_10^post_29, __disjvr_11^0'=__disjvr_11^post_29, __disjvr_12^0'=__disjvr_12^post_29, __disjvr_13^0'=__disjvr_13^post_29, __disjvr_14^0'=__disjvr_14^post_29, __disjvr_15^0'=__disjvr_15^post_29, __disjvr_16^0'=__disjvr_16^post_29, __disjvr_17^0'=__disjvr_17^post_29, __disjvr_18^0'=__disjvr_18^post_29, __disjvr_19^0'=__disjvr_19^post_29, __disjvr_1^0'=__disjvr_1^post_29, __disjvr_20^0'=__disjvr_20^post_29, __disjvr_21^0'=__disjvr_21^post_29, __disjvr_22^0'=__disjvr_22^post_29, __disjvr_23^0'=__disjvr_23^post_29, __disjvr_24^0'=__disjvr_24^post_29, __disjvr_25^0'=__disjvr_25^post_29, __disjvr_2^0'=__disjvr_2^post_29, __disjvr_3^0'=__disjvr_3^post_29, __disjvr_4^0'=__disjvr_4^post_29, __disjvr_5^0'=__disjvr_5^post_29, __disjvr_6^0'=__disjvr_6^post_29, __disjvr_7^0'=__disjvr_7^post_29, __disjvr_8^0'=__disjvr_8^post_29, __disjvr_9^0'=__disjvr_9^post_29, a_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, [ t_25^post_29==x_24^0 && rcd_207^post_29==rcd_207^post_29 && a_208^post_29==a_208^post_29 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0<=tail_15^0 && tail_15^0<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0 && 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 && __disjvr_0^0==__disjvr_0^post_29 && __disjvr_1^0==__disjvr_1^post_29 && __disjvr_10^0==__disjvr_10^post_29 && __disjvr_11^0==__disjvr_11^post_29 && __disjvr_12^0==__disjvr_12^post_29 && __disjvr_13^0==__disjvr_13^post_29 && __disjvr_14^0==__disjvr_14^post_29 && __disjvr_15^0==__disjvr_15^post_29 && __disjvr_16^0==__disjvr_16^post_29 && __disjvr_17^0==__disjvr_17^post_29 && __disjvr_18^0==__disjvr_18^post_29 && __disjvr_19^0==__disjvr_19^post_29 && __disjvr_2^0==__disjvr_2^post_29 && __disjvr_20^0==__disjvr_20^post_29 && __disjvr_21^0==__disjvr_21^post_29 && __disjvr_22^0==__disjvr_22^post_29 && __disjvr_23^0==__disjvr_23^post_29 && __disjvr_24^0==__disjvr_24^post_29 && __disjvr_25^0==__disjvr_25^post_29 && __disjvr_3^0==__disjvr_3^post_29 && __disjvr_4^0==__disjvr_4^post_29 && __disjvr_5^0==__disjvr_5^post_29 && __disjvr_6^0==__disjvr_6^post_29 && __disjvr_7^0==__disjvr_7^post_29 && __disjvr_8^0==__disjvr_8^post_29 && __disjvr_9^0==__disjvr_9^post_29 && a_153^0==a_153^post_29 && a_178^0==a_178^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_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 && 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: l28 -> l29 : __disjvr_0^0'=__disjvr_0^post_30, __disjvr_10^0'=__disjvr_10^post_30, __disjvr_11^0'=__disjvr_11^post_30, __disjvr_12^0'=__disjvr_12^post_30, __disjvr_13^0'=__disjvr_13^post_30, __disjvr_14^0'=__disjvr_14^post_30, __disjvr_15^0'=__disjvr_15^post_30, __disjvr_16^0'=__disjvr_16^post_30, __disjvr_17^0'=__disjvr_17^post_30, __disjvr_18^0'=__disjvr_18^post_30, __disjvr_19^0'=__disjvr_19^post_30, __disjvr_1^0'=__disjvr_1^post_30, __disjvr_20^0'=__disjvr_20^post_30, __disjvr_21^0'=__disjvr_21^post_30, __disjvr_22^0'=__disjvr_22^post_30, __disjvr_23^0'=__disjvr_23^post_30, __disjvr_24^0'=__disjvr_24^post_30, __disjvr_25^0'=__disjvr_25^post_30, __disjvr_2^0'=__disjvr_2^post_30, __disjvr_3^0'=__disjvr_3^post_30, __disjvr_4^0'=__disjvr_4^post_30, __disjvr_5^0'=__disjvr_5^post_30, __disjvr_6^0'=__disjvr_6^post_30, __disjvr_7^0'=__disjvr_7^post_30, __disjvr_8^0'=__disjvr_8^post_30, __disjvr_9^0'=__disjvr_9^post_30, a_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, [ __disjvr_11^post_30==__disjvr_11^0 && __disjvr_0^0==__disjvr_0^post_30 && __disjvr_1^0==__disjvr_1^post_30 && __disjvr_10^0==__disjvr_10^post_30 && __disjvr_11^0==__disjvr_11^post_30 && __disjvr_12^0==__disjvr_12^post_30 && __disjvr_13^0==__disjvr_13^post_30 && __disjvr_14^0==__disjvr_14^post_30 && __disjvr_15^0==__disjvr_15^post_30 && __disjvr_16^0==__disjvr_16^post_30 && __disjvr_17^0==__disjvr_17^post_30 && __disjvr_18^0==__disjvr_18^post_30 && __disjvr_19^0==__disjvr_19^post_30 && __disjvr_2^0==__disjvr_2^post_30 && __disjvr_20^0==__disjvr_20^post_30 && __disjvr_21^0==__disjvr_21^post_30 && __disjvr_22^0==__disjvr_22^post_30 && __disjvr_23^0==__disjvr_23^post_30 && __disjvr_24^0==__disjvr_24^post_30 && __disjvr_25^0==__disjvr_25^post_30 && __disjvr_3^0==__disjvr_3^post_30 && __disjvr_4^0==__disjvr_4^post_30 && __disjvr_5^0==__disjvr_5^post_30 && __disjvr_6^0==__disjvr_6^post_30 && __disjvr_7^0==__disjvr_7^post_30 && __disjvr_8^0==__disjvr_8^post_30 && __disjvr_9^0==__disjvr_9^post_30 && a_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: l29 -> l30 : __disjvr_0^0'=__disjvr_0^post_31, __disjvr_10^0'=__disjvr_10^post_31, __disjvr_11^0'=__disjvr_11^post_31, __disjvr_12^0'=__disjvr_12^post_31, __disjvr_13^0'=__disjvr_13^post_31, __disjvr_14^0'=__disjvr_14^post_31, __disjvr_15^0'=__disjvr_15^post_31, __disjvr_16^0'=__disjvr_16^post_31, __disjvr_17^0'=__disjvr_17^post_31, __disjvr_18^0'=__disjvr_18^post_31, __disjvr_19^0'=__disjvr_19^post_31, __disjvr_1^0'=__disjvr_1^post_31, __disjvr_20^0'=__disjvr_20^post_31, __disjvr_21^0'=__disjvr_21^post_31, __disjvr_22^0'=__disjvr_22^post_31, __disjvr_23^0'=__disjvr_23^post_31, __disjvr_24^0'=__disjvr_24^post_31, __disjvr_25^0'=__disjvr_25^post_31, __disjvr_2^0'=__disjvr_2^post_31, __disjvr_3^0'=__disjvr_3^post_31, __disjvr_4^0'=__disjvr_4^post_31, __disjvr_5^0'=__disjvr_5^post_31, __disjvr_6^0'=__disjvr_6^post_31, __disjvr_7^0'=__disjvr_7^post_31, __disjvr_8^0'=__disjvr_8^post_31, __disjvr_9^0'=__disjvr_9^post_31, a_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, [ __disjvr_12^post_31==__disjvr_12^0 && __disjvr_0^0==__disjvr_0^post_31 && __disjvr_1^0==__disjvr_1^post_31 && __disjvr_10^0==__disjvr_10^post_31 && __disjvr_11^0==__disjvr_11^post_31 && __disjvr_12^0==__disjvr_12^post_31 && __disjvr_13^0==__disjvr_13^post_31 && __disjvr_14^0==__disjvr_14^post_31 && __disjvr_15^0==__disjvr_15^post_31 && __disjvr_16^0==__disjvr_16^post_31 && __disjvr_17^0==__disjvr_17^post_31 && __disjvr_18^0==__disjvr_18^post_31 && __disjvr_19^0==__disjvr_19^post_31 && __disjvr_2^0==__disjvr_2^post_31 && __disjvr_20^0==__disjvr_20^post_31 && __disjvr_21^0==__disjvr_21^post_31 && __disjvr_22^0==__disjvr_22^post_31 && __disjvr_23^0==__disjvr_23^post_31 && __disjvr_24^0==__disjvr_24^post_31 && __disjvr_25^0==__disjvr_25^post_31 && __disjvr_3^0==__disjvr_3^post_31 && __disjvr_4^0==__disjvr_4^post_31 && __disjvr_5^0==__disjvr_5^post_31 && __disjvr_6^0==__disjvr_6^post_31 && __disjvr_7^0==__disjvr_7^post_31 && __disjvr_8^0==__disjvr_8^post_31 && __disjvr_9^0==__disjvr_9^post_31 && a_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: l30 -> l25 : __disjvr_0^0'=__disjvr_0^post_32, __disjvr_10^0'=__disjvr_10^post_32, __disjvr_11^0'=__disjvr_11^post_32, __disjvr_12^0'=__disjvr_12^post_32, __disjvr_13^0'=__disjvr_13^post_32, __disjvr_14^0'=__disjvr_14^post_32, __disjvr_15^0'=__disjvr_15^post_32, __disjvr_16^0'=__disjvr_16^post_32, __disjvr_17^0'=__disjvr_17^post_32, __disjvr_18^0'=__disjvr_18^post_32, __disjvr_19^0'=__disjvr_19^post_32, __disjvr_1^0'=__disjvr_1^post_32, __disjvr_20^0'=__disjvr_20^post_32, __disjvr_21^0'=__disjvr_21^post_32, __disjvr_22^0'=__disjvr_22^post_32, __disjvr_23^0'=__disjvr_23^post_32, __disjvr_24^0'=__disjvr_24^post_32, __disjvr_25^0'=__disjvr_25^post_32, __disjvr_2^0'=__disjvr_2^post_32, __disjvr_3^0'=__disjvr_3^post_32, __disjvr_4^0'=__disjvr_4^post_32, __disjvr_5^0'=__disjvr_5^post_32, __disjvr_6^0'=__disjvr_6^post_32, __disjvr_7^0'=__disjvr_7^post_32, __disjvr_8^0'=__disjvr_8^post_32, __disjvr_9^0'=__disjvr_9^post_32, a_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<=result_dot_nondet_sdv_special_RETURN_VALUE_14^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^0 && rcd_43^post_32==rcd_43^post_32 && rcd_43^post_32<=rcd_207^0 && rcd_207^0<=rcd_43^post_32 && a_178^post_32==a_178^post_32 && a_178^post_32<=a_208^0 && a_208^0<=a_178^post_32 && __disjvr_0^0==__disjvr_0^post_32 && __disjvr_1^0==__disjvr_1^post_32 && __disjvr_10^0==__disjvr_10^post_32 && __disjvr_11^0==__disjvr_11^post_32 && __disjvr_12^0==__disjvr_12^post_32 && __disjvr_13^0==__disjvr_13^post_32 && __disjvr_14^0==__disjvr_14^post_32 && __disjvr_15^0==__disjvr_15^post_32 && __disjvr_16^0==__disjvr_16^post_32 && __disjvr_17^0==__disjvr_17^post_32 && __disjvr_18^0==__disjvr_18^post_32 && __disjvr_19^0==__disjvr_19^post_32 && __disjvr_2^0==__disjvr_2^post_32 && __disjvr_20^0==__disjvr_20^post_32 && __disjvr_21^0==__disjvr_21^post_32 && __disjvr_22^0==__disjvr_22^post_32 && __disjvr_23^0==__disjvr_23^post_32 && __disjvr_24^0==__disjvr_24^post_32 && __disjvr_25^0==__disjvr_25^post_32 && __disjvr_3^0==__disjvr_3^post_32 && __disjvr_4^0==__disjvr_4^post_32 && __disjvr_5^0==__disjvr_5^post_32 && __disjvr_6^0==__disjvr_6^post_32 && __disjvr_7^0==__disjvr_7^post_32 && __disjvr_8^0==__disjvr_8^post_32 && __disjvr_9^0==__disjvr_9^post_32 && a_153^0==a_153^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_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: l25 -> l2 : __disjvr_0^0'=__disjvr_0^post_33, __disjvr_10^0'=__disjvr_10^post_33, __disjvr_11^0'=__disjvr_11^post_33, __disjvr_12^0'=__disjvr_12^post_33, __disjvr_13^0'=__disjvr_13^post_33, __disjvr_14^0'=__disjvr_14^post_33, __disjvr_15^0'=__disjvr_15^post_33, __disjvr_16^0'=__disjvr_16^post_33, __disjvr_17^0'=__disjvr_17^post_33, __disjvr_18^0'=__disjvr_18^post_33, __disjvr_19^0'=__disjvr_19^post_33, __disjvr_1^0'=__disjvr_1^post_33, __disjvr_20^0'=__disjvr_20^post_33, __disjvr_21^0'=__disjvr_21^post_33, __disjvr_22^0'=__disjvr_22^post_33, __disjvr_23^0'=__disjvr_23^post_33, __disjvr_24^0'=__disjvr_24^post_33, __disjvr_25^0'=__disjvr_25^post_33, __disjvr_2^0'=__disjvr_2^post_33, __disjvr_3^0'=__disjvr_3^post_33, __disjvr_4^0'=__disjvr_4^post_33, __disjvr_5^0'=__disjvr_5^post_33, __disjvr_6^0'=__disjvr_6^post_33, __disjvr_7^0'=__disjvr_7^post_33, __disjvr_8^0'=__disjvr_8^post_33, __disjvr_9^0'=__disjvr_9^post_33, a_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, [ __disjvr_0^0==__disjvr_0^post_33 && __disjvr_1^0==__disjvr_1^post_33 && __disjvr_10^0==__disjvr_10^post_33 && __disjvr_11^0==__disjvr_11^post_33 && __disjvr_12^0==__disjvr_12^post_33 && __disjvr_13^0==__disjvr_13^post_33 && __disjvr_14^0==__disjvr_14^post_33 && __disjvr_15^0==__disjvr_15^post_33 && __disjvr_16^0==__disjvr_16^post_33 && __disjvr_17^0==__disjvr_17^post_33 && __disjvr_18^0==__disjvr_18^post_33 && __disjvr_19^0==__disjvr_19^post_33 && __disjvr_2^0==__disjvr_2^post_33 && __disjvr_20^0==__disjvr_20^post_33 && __disjvr_21^0==__disjvr_21^post_33 && __disjvr_22^0==__disjvr_22^post_33 && __disjvr_23^0==__disjvr_23^post_33 && __disjvr_24^0==__disjvr_24^post_33 && __disjvr_25^0==__disjvr_25^post_33 && __disjvr_3^0==__disjvr_3^post_33 && __disjvr_4^0==__disjvr_4^post_33 && __disjvr_5^0==__disjvr_5^post_33 && __disjvr_6^0==__disjvr_6^post_33 && __disjvr_7^0==__disjvr_7^post_33 && __disjvr_8^0==__disjvr_8^post_33 && __disjvr_9^0==__disjvr_9^post_33 && a_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 ], cost: 1
     50: l46 -> l11 : __disjvr_0^0'=__disjvr_0^post_51, __disjvr_10^0'=__disjvr_10^post_51, __disjvr_11^0'=__disjvr_11^post_51, __disjvr_12^0'=__disjvr_12^post_51, __disjvr_13^0'=__disjvr_13^post_51, __disjvr_14^0'=__disjvr_14^post_51, __disjvr_15^0'=__disjvr_15^post_51, __disjvr_16^0'=__disjvr_16^post_51, __disjvr_17^0'=__disjvr_17^post_51, __disjvr_18^0'=__disjvr_18^post_51, __disjvr_19^0'=__disjvr_19^post_51, __disjvr_1^0'=__disjvr_1^post_51, __disjvr_20^0'=__disjvr_20^post_51, __disjvr_21^0'=__disjvr_21^post_51, __disjvr_22^0'=__disjvr_22^post_51, __disjvr_23^0'=__disjvr_23^post_51, __disjvr_24^0'=__disjvr_24^post_51, __disjvr_25^0'=__disjvr_25^post_51, __disjvr_2^0'=__disjvr_2^post_51, __disjvr_3^0'=__disjvr_3^post_51, __disjvr_4^0'=__disjvr_4^post_51, __disjvr_5^0'=__disjvr_5^post_51, __disjvr_6^0'=__disjvr_6^post_51, __disjvr_7^0'=__disjvr_7^post_51, __disjvr_8^0'=__disjvr_8^post_51, __disjvr_9^0'=__disjvr_9^post_51, 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, [ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_51==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_51 && tail_15^post_51==temp_35^0 && temp_35^post_51==temp_35^post_51 && nondet_12^1_1==nondet_12^1_1 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_51==nondet_12^1_1 && nondet_12^post_51==nondet_12^post_51 && length_27^post_51==result_dot_nondet_sdv_special_RETURN_VALUE_14^post_51 && head_SLAM_f_28^post_51==tail_15^post_51 && head_31^post_51==head_SLAM_f_28^post_51 && i_29^post_51==0 && 0<=i_29^post_51 && i_29^post_51<=0 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_51<=tail_15^post_51 && tail_15^post_51<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_51 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_51<=head_SLAM_f_28^post_51 && head_SLAM_f_28^post_51<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_51 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_51<=head_31^post_51 && head_31^post_51<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_51 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_51<=length_27^post_51 && length_27^post_51<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_51 && tail_15^post_51<=head_SLAM_f_28^post_51 && head_SLAM_f_28^post_51<=tail_15^post_51 && head_SLAM_f_28^post_51<=head_31^post_51 && head_31^post_51<=head_SLAM_f_28^post_51 && __disjvr_0^0==__disjvr_0^post_51 && __disjvr_1^0==__disjvr_1^post_51 && __disjvr_10^0==__disjvr_10^post_51 && __disjvr_11^0==__disjvr_11^post_51 && __disjvr_12^0==__disjvr_12^post_51 && __disjvr_13^0==__disjvr_13^post_51 && __disjvr_14^0==__disjvr_14^post_51 && __disjvr_15^0==__disjvr_15^post_51 && __disjvr_16^0==__disjvr_16^post_51 && __disjvr_17^0==__disjvr_17^post_51 && __disjvr_18^0==__disjvr_18^post_51 && __disjvr_19^0==__disjvr_19^post_51 && __disjvr_2^0==__disjvr_2^post_51 && __disjvr_20^0==__disjvr_20^post_51 && __disjvr_21^0==__disjvr_21^post_51 && __disjvr_22^0==__disjvr_22^post_51 && __disjvr_23^0==__disjvr_23^post_51 && __disjvr_24^0==__disjvr_24^post_51 && __disjvr_25^0==__disjvr_25^post_51 && __disjvr_3^0==__disjvr_3^post_51 && __disjvr_4^0==__disjvr_4^post_51 && __disjvr_5^0==__disjvr_5^post_51 && __disjvr_6^0==__disjvr_6^post_51 && __disjvr_7^0==__disjvr_7^post_51 && __disjvr_8^0==__disjvr_8^post_51 && __disjvr_9^0==__disjvr_9^post_51 && 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 && i_110^0==i_110^post_51 && i_120^0==i_120^post_51 && lt_17^0==lt_17^post_51 && lt_20^0==lt_20^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_32^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_32^post_51 && t_25^0==t_25^post_51 && temp0_21^0==temp0_21^post_51 && temp0_30^0==temp0_30^post_51 && temp_34^0==temp_34^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
     63: l55 -> l46 : __disjvr_0^0'=__disjvr_0^post_64, __disjvr_10^0'=__disjvr_10^post_64, __disjvr_11^0'=__disjvr_11^post_64, __disjvr_12^0'=__disjvr_12^post_64, __disjvr_13^0'=__disjvr_13^post_64, __disjvr_14^0'=__disjvr_14^post_64, __disjvr_15^0'=__disjvr_15^post_64, __disjvr_16^0'=__disjvr_16^post_64, __disjvr_17^0'=__disjvr_17^post_64, __disjvr_18^0'=__disjvr_18^post_64, __disjvr_19^0'=__disjvr_19^post_64, __disjvr_1^0'=__disjvr_1^post_64, __disjvr_20^0'=__disjvr_20^post_64, __disjvr_21^0'=__disjvr_21^post_64, __disjvr_22^0'=__disjvr_22^post_64, __disjvr_23^0'=__disjvr_23^post_64, __disjvr_24^0'=__disjvr_24^post_64, __disjvr_25^0'=__disjvr_25^post_64, __disjvr_2^0'=__disjvr_2^post_64, __disjvr_3^0'=__disjvr_3^post_64, __disjvr_4^0'=__disjvr_4^post_64, __disjvr_5^0'=__disjvr_5^post_64, __disjvr_6^0'=__disjvr_6^post_64, __disjvr_7^0'=__disjvr_7^post_64, __disjvr_8^0'=__disjvr_8^post_64, __disjvr_9^0'=__disjvr_9^post_64, 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, [ __disjvr_0^0==__disjvr_0^post_64 && __disjvr_1^0==__disjvr_1^post_64 && __disjvr_10^0==__disjvr_10^post_64 && __disjvr_11^0==__disjvr_11^post_64 && __disjvr_12^0==__disjvr_12^post_64 && __disjvr_13^0==__disjvr_13^post_64 && __disjvr_14^0==__disjvr_14^post_64 && __disjvr_15^0==__disjvr_15^post_64 && __disjvr_16^0==__disjvr_16^post_64 && __disjvr_17^0==__disjvr_17^post_64 && __disjvr_18^0==__disjvr_18^post_64 && __disjvr_19^0==__disjvr_19^post_64 && __disjvr_2^0==__disjvr_2^post_64 && __disjvr_20^0==__disjvr_20^post_64 && __disjvr_21^0==__disjvr_21^post_64 && __disjvr_22^0==__disjvr_22^post_64 && __disjvr_23^0==__disjvr_23^post_64 && __disjvr_24^0==__disjvr_24^post_64 && __disjvr_25^0==__disjvr_25^post_64 && __disjvr_3^0==__disjvr_3^post_64 && __disjvr_4^0==__disjvr_4^post_64 && __disjvr_5^0==__disjvr_5^post_64 && __disjvr_6^0==__disjvr_6^post_64 && __disjvr_7^0==__disjvr_7^post_64 && __disjvr_8^0==__disjvr_8^post_64 && __disjvr_9^0==__disjvr_9^post_64 && 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

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
      9: 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_10, rcd_112^0'=rcd_43^0, temp_34^0'=temp_34^post_10, tmp_33^0'=temp_34^0, [ 0<=i_29^0 && 1+i_29^0<=length_27^0 ], cost: 1
      2: l3 -> l4 : [], cost: 1
      3: l4 -> l5 : head_16^0'=head_16^post_4, lt_17^0'=lt_17^post_4, lt_20^0'=lt_20^post_4, rcd_185^0'=rcd_185^post_4, rcd_190^0'=rcd_190^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_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_4, tail_15^0'=tail_15^post_4, x_24^0'=head_16^0, x_SLAM_f_22^0'=x_SLAM_f_22^post_4, y_23^0'=lt_20^0, [ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-tail_15^0==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
      4: l5 -> l6 : [], cost: 1
      5: l6 -> l7 : a_153^0'=a_178^0, t_25^0'=x_24^0, [ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-tail_15^0==0 && head_16^0-x_SLAM_f_22^0==0 && head_16^0-x_24^0==0 && -y_23^0+lt_20^0==0 && rcd_43^0-rcd_185^0==0 ], cost: 1
      6: l7 -> l8 : [], cost: 1
      7: l8 -> l9 : [], cost: 1
      8: 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
     26: l2 -> l26 : f_198^0'=f_198^post_27, head_16^0'=head_16^post_27, lt_20^0'=lt_20^post_27, r_197^0'=r_197^post_27, r_39^0'=r_39^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_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_27, tail_15^0'=tail_15^post_27, x_SLAM_f_22^0'=x_SLAM_f_22^post_27, [], cost: 1
     10: l10 -> l0 : [], cost: 1
     23: l11 -> l23 : head_31^0'=temp_34^0, head_SLAM_f_28^0'=tail_15^post_24, i_29^0'=1+i_29^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=tail_15^post_24, 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'=tail_15^post_24, temp_34^0'=temp_34^post_24, tmp_33^0'=temp_34^0, [ 1+i_29^0<=length_27^0 && -i_29^0==0 ], cost: 1
     59: l23 -> l0 : head_31^0'=temp_34^0, head_SLAM_f_28^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_60, i_29^0'=1+i_29^0, rcd_69^0'=rcd_69^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'=temp_34^0, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=length_27^0, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_60, temp_34^0'=temp_34^post_60, tmp_33^0'=temp_34^0, [ 1+i_29^0<=length_27^0 && 1-i_29^0==0 ], cost: 1
     27: l26 -> l27 : [], cost: 1
     28: l27 -> l28 : a_208^0'=a_208^post_29, rcd_207^0'=rcd_207^post_29, t_25^0'=x_24^0, [ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0-tail_15^0==0 && head_16^0-x_SLAM_f_22^0==0 && -y_23^0+lt_20^0==0 ], cost: 1
     29: l28 -> l29 : [], cost: 1
     30: l29 -> l30 : [], cost: 1
     31: 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
     32: l25 -> l2 : [], cost: 1
     50: 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_51, 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_51, [], cost: 1
     63: l55 -> l46 : [], cost: 1

### Simplification by acceleration and chaining ###

Eliminated locations (on linear paths):
   Start location: l55
     68: 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_10, rcd_112^0'=rcd_43^0, temp_34^0'=temp_34^post_10, tmp_33^0'=temp_34^0, [ 0<=i_29^0 && 1+i_29^0<=length_27^0 ], cost: 2
     74: l0 -> l2 : a_153^0'=a_178^0, head_16^0'=head_16^post_4, head_31^0'=head_31^post_2, head_SLAM_f_28^0'=head_SLAM_f_28^post_2, i_120^0'=1+a_178^0, i_29^0'=i_29^post_2, length_27^0'=length_27^post_2, lt_17^0'=lt_17^post_4, lt_20^0'=lt_20^post_4, rcd_185^0'=rcd_185^post_4, rcd_190^0'=rcd_190^post_4, 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_4, 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_4, t_25^0'=head_31^0, tail_15^0'=tail_15^post_4, temp0_30^0'=temp0_30^post_2, temp_34^0'=temp_34^post_2, tmp_33^0'=tmp_33^post_2, x_24^0'=head_31^0, x_SLAM_f_22^0'=x_SLAM_f_22^post_4, y_23^0'=lt_20^0, [ 0<=i_29^0 && length_27^0<=i_29^0 && -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 && -tail_15^post_4+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_4==0 && head_16^post_4-x_SLAM_f_22^post_4==0 && head_16^post_4-head_31^0==0 && lt_20^post_4-lt_20^0==0 && rcd_43^0-rcd_185^post_4==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_4 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_4<=i_120^0 ], cost: 8
     80: l2 -> l2 : a_178^0'=a_208^post_29, a_208^0'=a_208^post_29, f_198^0'=f_198^post_27, head_16^0'=head_16^post_27, lt_20^0'=lt_20^post_27, r_197^0'=r_197^post_27, r_39^0'=r_39^post_27, rcd_207^0'=rcd_207^post_29, rcd_43^0'=rcd_207^post_29, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_27, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_27, t_25^0'=x_24^0, tail_15^0'=tail_15^post_27, x_SLAM_f_22^0'=x_SLAM_f_22^post_27, [ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_27-tail_15^post_27==0 && head_16^post_27-x_SLAM_f_22^post_27==0 && -y_23^0+lt_20^post_27==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_27 ], cost: 7
     66: l55 -> l0 : head_31^0'=temp_34^post_24, head_SLAM_f_28^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_60, i_29^0'=2, length_27^0'=nondet_12^1_1, nondet_12^0'=nondet_12^post_51, rcd_69^0'=rcd_69^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'=temp_34^post_24, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^1_1, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_60, temp_34^0'=temp_34^post_60, temp_35^0'=temp_35^post_51, tmp_33^0'=temp_34^post_24, [ 2<=nondet_12^1_1 ], cost: 4

Accelerating simple loops of location 0.
   Accelerating the following rules:
     68: 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_10, rcd_112^0'=rcd_43^0, temp_34^0'=temp_34^post_10, tmp_33^0'=temp_34^0, [ 0<=i_29^0 && 1+i_29^0<=length_27^0 ], cost: 2

   Accelerated rule 68 with backward acceleration, yielding the new rule 81.
[accelerate] Nesting with 1 inner and 1 outer candidates
   Removing the simple loops: 68.

Accelerating simple loops of location 9.
   Simplified some of the simple loops (and removed duplicate rules).
   Accelerating the following rules:
     80: l2 -> l2 : a_178^0'=a_208^post_29, a_208^0'=a_208^post_29, f_198^0'=f_198^post_27, head_16^0'=x_SLAM_f_22^post_27, lt_20^0'=y_23^0, r_197^0'=r_197^post_27, r_39^0'=r_39^post_27, rcd_207^0'=rcd_207^post_29, rcd_43^0'=rcd_207^post_29, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^0'=tail_15^post_27, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_27, t_25^0'=x_24^0, tail_15^0'=tail_15^post_27, x_SLAM_f_22^0'=x_SLAM_f_22^post_27, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_27 ], cost: 7

   Accelerated rule 80 with non-termination, yielding the new rule 82.
[accelerate] Nesting with 0 inner and 0 outer candidates
   Removing the simple loops: 80.

Accelerated all simple loops using metering functions (where possible):
   Start location: l55
     74: l0 -> l2 : a_153^0'=a_178^0, head_16^0'=head_16^post_4, head_31^0'=head_31^post_2, head_SLAM_f_28^0'=head_SLAM_f_28^post_2, i_120^0'=1+a_178^0, i_29^0'=i_29^post_2, length_27^0'=length_27^post_2, lt_17^0'=lt_17^post_4, lt_20^0'=lt_20^post_4, rcd_185^0'=rcd_185^post_4, rcd_190^0'=rcd_190^post_4, 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_4, 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_4, t_25^0'=head_31^0, tail_15^0'=tail_15^post_4, temp0_30^0'=temp0_30^post_2, temp_34^0'=temp_34^post_2, tmp_33^0'=tmp_33^post_2, x_24^0'=head_31^0, x_SLAM_f_22^0'=x_SLAM_f_22^post_4, y_23^0'=lt_20^0, [ 0<=i_29^0 && length_27^0<=i_29^0 && -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 && -tail_15^post_4+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_4==0 && head_16^post_4-x_SLAM_f_22^post_4==0 && head_16^post_4-head_31^0==0 && lt_20^post_4-lt_20^0==0 && rcd_43^0-rcd_185^post_4==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_4 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_4<=i_120^0 ], cost: 8
     81: l0 -> l0 : head_31^0'=temp_34^post_10, i_110^0'=-1+length_27^0, i_29^0'=length_27^0, rcd_104^0'=rcd_104^post_10, rcd_112^0'=rcd_43^0, temp_34^0'=temp_34^post_10, tmp_33^0'=temp_34^post_10, [ 0<=i_29^0 && length_27^0-i_29^0>=1 ], cost: 2*length_27^0-2*i_29^0
     82: l2 -> [57] : [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_27 ], cost: NONTERM
     66: l55 -> l0 : head_31^0'=temp_34^post_24, head_SLAM_f_28^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_60, i_29^0'=2, length_27^0'=nondet_12^1_1, nondet_12^0'=nondet_12^post_51, rcd_69^0'=rcd_69^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'=temp_34^post_24, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^1_1, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_60, temp_34^0'=temp_34^post_60, temp_35^0'=temp_35^post_51, tmp_33^0'=temp_34^post_24, [ 2<=nondet_12^1_1 ], cost: 4

Chained accelerated rules (with incoming rules):
   Start location: l55
     74: l0 -> l2 : a_153^0'=a_178^0, head_16^0'=head_16^post_4, head_31^0'=head_31^post_2, head_SLAM_f_28^0'=head_SLAM_f_28^post_2, i_120^0'=1+a_178^0, i_29^0'=i_29^post_2, length_27^0'=length_27^post_2, lt_17^0'=lt_17^post_4, lt_20^0'=lt_20^post_4, rcd_185^0'=rcd_185^post_4, rcd_190^0'=rcd_190^post_4, 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_4, 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_4, t_25^0'=head_31^0, tail_15^0'=tail_15^post_4, temp0_30^0'=temp0_30^post_2, temp_34^0'=temp_34^post_2, tmp_33^0'=tmp_33^post_2, x_24^0'=head_31^0, x_SLAM_f_22^0'=x_SLAM_f_22^post_4, y_23^0'=lt_20^0, [ 0<=i_29^0 && length_27^0<=i_29^0 && -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 && -tail_15^post_4+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_4==0 && head_16^post_4-x_SLAM_f_22^post_4==0 && head_16^post_4-head_31^0==0 && lt_20^post_4-lt_20^0==0 && rcd_43^0-rcd_185^post_4==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_14^post_4 && result_dot_nondet_sdv_special_RETURN_VALUE_14^post_4<=i_120^0 ], cost: 8
     84: l0 -> [57] : [ 0<=i_29^0 && length_27^0<=i_29^0 && 2<=i_120^0 ], cost: NONTERM
     66: l55 -> l0 : head_31^0'=temp_34^post_24, head_SLAM_f_28^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_60, i_29^0'=2, length_27^0'=nondet_12^1_1, nondet_12^0'=nondet_12^post_51, rcd_69^0'=rcd_69^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'=temp_34^post_24, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^1_1, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_60, temp_34^0'=temp_34^post_60, temp_35^0'=temp_35^post_51, tmp_33^0'=temp_34^post_24, [ 2<=nondet_12^1_1 ], cost: 4
     83: l55 -> l0 : head_31^0'=temp_34^post_10, head_SLAM_f_28^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_60, 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_51, rcd_104^0'=rcd_104^post_10, rcd_112^0'=rcd_43^0, rcd_69^0'=rcd_69^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'=temp_34^post_24, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^1_1, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_60, temp_34^0'=temp_34^post_10, temp_35^0'=temp_35^post_51, tmp_33^0'=temp_34^post_10, [ -2+nondet_12^1_1>=1 ], cost: 2*nondet_12^1_1

Removed unreachable locations (and leaf rules with constant cost):
   Start location: l55
     84: l0 -> [57] : [ 0<=i_29^0 && length_27^0<=i_29^0 && 2<=i_120^0 ], cost: NONTERM
     66: l55 -> l0 : head_31^0'=temp_34^post_24, head_SLAM_f_28^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_60, i_29^0'=2, length_27^0'=nondet_12^1_1, nondet_12^0'=nondet_12^post_51, rcd_69^0'=rcd_69^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'=temp_34^post_24, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^1_1, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_60, temp_34^0'=temp_34^post_60, temp_35^0'=temp_35^post_51, tmp_33^0'=temp_34^post_24, [ 2<=nondet_12^1_1 ], cost: 4
     83: l55 -> l0 : head_31^0'=temp_34^post_10, head_SLAM_f_28^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_60, 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_51, rcd_104^0'=rcd_104^post_10, rcd_112^0'=rcd_43^0, rcd_69^0'=rcd_69^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'=temp_34^post_24, result_dot_nondet_sdv_special_RETURN_VALUE_14^0'=nondet_12^1_1, tail_15^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_13^post_60, temp_34^0'=temp_34^post_10, temp_35^0'=temp_35^post_51, tmp_33^0'=temp_34^post_10, [ -2+nondet_12^1_1>=1 ], cost: 2*nondet_12^1_1

Eliminated locations (on tree-shaped paths):
   Start location: l55
     85: l55 -> [57] : [ 2<=nondet_12^1_1 && nondet_12^1_1<=2 && 2<=i_120^0 ], cost: NONTERM
     86: l55 -> [57] : [ -2+nondet_12^1_1>=1 && 2<=i_120^0 ], cost: NONTERM

### Computing asymptotic complexity ###

Fully simplified ITS problem
   Start location: l55
     85: l55 -> [57] : [ 2<=nondet_12^1_1 && nondet_12^1_1<=2 && 2<=i_120^0 ], cost: NONTERM
     86: l55 -> [57] : [ -2+nondet_12^1_1>=1 && 2<=i_120^0 ], cost: NONTERM

Computing asymptotic complexity for rule 86
   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 && 2<=i_120^0 ]

NO