WORST_CASE(Omega(1),?)

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

Initial linear ITS problem
   Start location: l66
      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_26^0'=__disjvr_26^post_1, __disjvr_27^0'=__disjvr_27^post_1, __disjvr_28^0'=__disjvr_28^post_1, __disjvr_29^0'=__disjvr_29^post_1, __disjvr_2^0'=__disjvr_2^post_1, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_1, a_147^0'=a_147^post_1, a_184^0'=a_184^post_1, a_215^0'=a_215^post_1, a_237^0'=a_237^post_1, a_260^0'=a_260^post_1, ct_17^0'=ct_17^post_1, f_170^0'=f_170^post_1, head_129^0'=head_129^post_1, head_14^0'=head_14^post_1, head_175^0'=head_175^post_1, head_27^0'=head_27^post_1, head_32^0'=head_32^post_1, head_SLAM_f_26^0'=head_SLAM_f_26^post_1, i_108^0'=i_108^post_1, i_167^0'=i_167^post_1, i_30^0'=i_30^post_1, i_94^0'=i_94^post_1, len_132^0'=len_132^post_1, len_183^0'=len_183^post_1, length_29^0'=length_29^post_1, nondet_12^0'=nondet_12^post_1, r_124^0'=r_124^post_1, r_163^0'=r_163^post_1, r_39^0'=r_39^post_1, rcd_58^0'=rcd_58^post_1, rcd_88^0'=rcd_88^post_1, result_11^0'=result_11^post_1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1, t_23^0'=t_23^post_1, temp0_15^0'=temp0_15^post_1, temp0_31^0'=temp0_31^post_1, temp_35^0'=temp_35^post_1, tmp_34^0'=tmp_34^post_1, x_16^0'=x_16^post_1, x_20^0'=x_20^post_1, x_SLAM_f_18^0'=x_SLAM_f_18^post_1, y_19^0'=y_19^post_1, [ 0<=a_237^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1 && y_19^0<=x_20^0 && x_20^0<=y_19^0 && x_SLAM_f_18^1_1==x_SLAM_f_18^1_1 && y_19^1_1==y_19^1_1 && x_20^1_1==x_20^1_1 && t_23^1_1==t_23^1_1 && ct_17^1_1==ct_17^1_1 && x_16^post_1==x_16^post_1 && ct_17^post_1==ct_17^post_1 && x_SLAM_f_18^post_1==x_SLAM_f_18^post_1 && y_19^post_1==y_19^post_1 && x_20^post_1==x_20^post_1 && t_23^post_1==t_23^post_1 && result_11^post_1==temp0_15^0 && 1<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1 && __disjvr_0^0==__disjvr_0^post_1 && __disjvr_1^0==__disjvr_1^post_1 && __disjvr_10^0==__disjvr_10^post_1 && __disjvr_11^0==__disjvr_11^post_1 && __disjvr_12^0==__disjvr_12^post_1 && __disjvr_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_26^0==__disjvr_26^post_1 && __disjvr_27^0==__disjvr_27^post_1 && __disjvr_28^0==__disjvr_28^post_1 && __disjvr_29^0==__disjvr_29^post_1 && __disjvr_3^0==__disjvr_3^post_1 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_1 && a_147^0==a_147^post_1 && a_184^0==a_184^post_1 && a_215^0==a_215^post_1 && a_237^0==a_237^post_1 && a_260^0==a_260^post_1 && f_170^0==f_170^post_1 && head_129^0==head_129^post_1 && head_14^0==head_14^post_1 && head_175^0==head_175^post_1 && head_27^0==head_27^post_1 && head_32^0==head_32^post_1 && head_SLAM_f_26^0==head_SLAM_f_26^post_1 && i_108^0==i_108^post_1 && i_167^0==i_167^post_1 && i_30^0==i_30^post_1 && i_94^0==i_94^post_1 && len_132^0==len_132^post_1 && len_183^0==len_183^post_1 && length_29^0==length_29^post_1 && nondet_12^0==nondet_12^post_1 && r_124^0==r_124^post_1 && r_163^0==r_163^post_1 && r_39^0==r_39^post_1 && rcd_58^0==rcd_58^post_1 && rcd_88^0==rcd_88^post_1 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_1 && temp0_15^0==temp0_15^post_1 && temp0_31^0==temp0_31^post_1 && temp_35^0==temp_35^post_1 && tmp_34^0==tmp_34^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_26^0'=__disjvr_26^post_2, __disjvr_27^0'=__disjvr_27^post_2, __disjvr_28^0'=__disjvr_28^post_2, __disjvr_29^0'=__disjvr_29^post_2, __disjvr_2^0'=__disjvr_2^post_2, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_2, a_147^0'=a_147^post_2, a_184^0'=a_184^post_2, a_215^0'=a_215^post_2, a_237^0'=a_237^post_2, a_260^0'=a_260^post_2, ct_17^0'=ct_17^post_2, f_170^0'=f_170^post_2, head_129^0'=head_129^post_2, head_14^0'=head_14^post_2, head_175^0'=head_175^post_2, head_27^0'=head_27^post_2, head_32^0'=head_32^post_2, head_SLAM_f_26^0'=head_SLAM_f_26^post_2, i_108^0'=i_108^post_2, i_167^0'=i_167^post_2, i_30^0'=i_30^post_2, i_94^0'=i_94^post_2, len_132^0'=len_132^post_2, len_183^0'=len_183^post_2, length_29^0'=length_29^post_2, nondet_12^0'=nondet_12^post_2, r_124^0'=r_124^post_2, r_163^0'=r_163^post_2, r_39^0'=r_39^post_2, rcd_58^0'=rcd_58^post_2, rcd_88^0'=rcd_88^post_2, result_11^0'=result_11^post_2, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_2, t_23^0'=t_23^post_2, temp0_15^0'=temp0_15^post_2, temp0_31^0'=temp0_31^post_2, temp_35^0'=temp_35^post_2, tmp_34^0'=tmp_34^post_2, x_16^0'=x_16^post_2, x_20^0'=x_20^post_2, x_SLAM_f_18^0'=x_SLAM_f_18^post_2, y_19^0'=y_19^post_2, [ 0<=a_237^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_2==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_2 && head_14^post_2==head_14^post_2 && x_16^post_2==x_16^post_2 && ct_17^post_2==ct_17^post_2 && x_SLAM_f_18^post_2==x_SLAM_f_18^post_2 && r_39^post_2==r_39^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_26^0==__disjvr_26^post_2 && __disjvr_27^0==__disjvr_27^post_2 && __disjvr_28^0==__disjvr_28^post_2 && __disjvr_29^0==__disjvr_29^post_2 && __disjvr_3^0==__disjvr_3^post_2 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_2 && a_147^0==a_147^post_2 && a_184^0==a_184^post_2 && a_215^0==a_215^post_2 && a_237^0==a_237^post_2 && a_260^0==a_260^post_2 && f_170^0==f_170^post_2 && head_129^0==head_129^post_2 && head_175^0==head_175^post_2 && head_27^0==head_27^post_2 && head_32^0==head_32^post_2 && head_SLAM_f_26^0==head_SLAM_f_26^post_2 && i_108^0==i_108^post_2 && i_167^0==i_167^post_2 && i_30^0==i_30^post_2 && i_94^0==i_94^post_2 && len_132^0==len_132^post_2 && len_183^0==len_183^post_2 && length_29^0==length_29^post_2 && nondet_12^0==nondet_12^post_2 && r_124^0==r_124^post_2 && r_163^0==r_163^post_2 && rcd_58^0==rcd_58^post_2 && rcd_88^0==rcd_88^post_2 && result_11^0==result_11^post_2 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_2 && t_23^0==t_23^post_2 && temp0_15^0==temp0_15^post_2 && temp0_31^0==temp0_31^post_2 && temp_35^0==temp_35^post_2 && tmp_34^0==tmp_34^post_2 && x_20^0==x_20^post_2 && y_19^0==y_19^post_2 ], cost: 1
      2: l3 -> l4 : __disjvr_0^0'=__disjvr_0^post_3, __disjvr_10^0'=__disjvr_10^post_3, __disjvr_11^0'=__disjvr_11^post_3, __disjvr_12^0'=__disjvr_12^post_3, __disjvr_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_26^0'=__disjvr_26^post_3, __disjvr_27^0'=__disjvr_27^post_3, __disjvr_28^0'=__disjvr_28^post_3, __disjvr_29^0'=__disjvr_29^post_3, __disjvr_2^0'=__disjvr_2^post_3, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_3, a_147^0'=a_147^post_3, a_184^0'=a_184^post_3, a_215^0'=a_215^post_3, a_237^0'=a_237^post_3, a_260^0'=a_260^post_3, ct_17^0'=ct_17^post_3, f_170^0'=f_170^post_3, head_129^0'=head_129^post_3, head_14^0'=head_14^post_3, head_175^0'=head_175^post_3, head_27^0'=head_27^post_3, head_32^0'=head_32^post_3, head_SLAM_f_26^0'=head_SLAM_f_26^post_3, i_108^0'=i_108^post_3, i_167^0'=i_167^post_3, i_30^0'=i_30^post_3, i_94^0'=i_94^post_3, len_132^0'=len_132^post_3, len_183^0'=len_183^post_3, length_29^0'=length_29^post_3, nondet_12^0'=nondet_12^post_3, r_124^0'=r_124^post_3, r_163^0'=r_163^post_3, r_39^0'=r_39^post_3, rcd_58^0'=rcd_58^post_3, rcd_88^0'=rcd_88^post_3, result_11^0'=result_11^post_3, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_3, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_3, t_23^0'=t_23^post_3, temp0_15^0'=temp0_15^post_3, temp0_31^0'=temp0_31^post_3, temp_35^0'=temp_35^post_3, tmp_34^0'=tmp_34^post_3, x_16^0'=x_16^post_3, x_20^0'=x_20^post_3, x_SLAM_f_18^0'=x_SLAM_f_18^post_3, y_19^0'=y_19^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_26^0==__disjvr_26^post_3 && __disjvr_27^0==__disjvr_27^post_3 && __disjvr_28^0==__disjvr_28^post_3 && __disjvr_29^0==__disjvr_29^post_3 && __disjvr_3^0==__disjvr_3^post_3 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_3 && a_147^0==a_147^post_3 && a_184^0==a_184^post_3 && a_215^0==a_215^post_3 && a_237^0==a_237^post_3 && a_260^0==a_260^post_3 && ct_17^0==ct_17^post_3 && f_170^0==f_170^post_3 && head_129^0==head_129^post_3 && head_14^0==head_14^post_3 && head_175^0==head_175^post_3 && head_27^0==head_27^post_3 && head_32^0==head_32^post_3 && head_SLAM_f_26^0==head_SLAM_f_26^post_3 && i_108^0==i_108^post_3 && i_167^0==i_167^post_3 && i_30^0==i_30^post_3 && i_94^0==i_94^post_3 && len_132^0==len_132^post_3 && len_183^0==len_183^post_3 && length_29^0==length_29^post_3 && nondet_12^0==nondet_12^post_3 && r_124^0==r_124^post_3 && r_163^0==r_163^post_3 && r_39^0==r_39^post_3 && rcd_58^0==rcd_58^post_3 && rcd_88^0==rcd_88^post_3 && result_11^0==result_11^post_3 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_3 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_3 && t_23^0==t_23^post_3 && temp0_15^0==temp0_15^post_3 && temp0_31^0==temp0_31^post_3 && temp_35^0==temp_35^post_3 && tmp_34^0==tmp_34^post_3 && x_16^0==x_16^post_3 && x_20^0==x_20^post_3 && x_SLAM_f_18^0==x_SLAM_f_18^post_3 && y_19^0==y_19^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_26^0'=__disjvr_26^post_4, __disjvr_27^0'=__disjvr_27^post_4, __disjvr_28^0'=__disjvr_28^post_4, __disjvr_29^0'=__disjvr_29^post_4, __disjvr_2^0'=__disjvr_2^post_4, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_4, a_147^0'=a_147^post_4, a_184^0'=a_184^post_4, a_215^0'=a_215^post_4, a_237^0'=a_237^post_4, a_260^0'=a_260^post_4, ct_17^0'=ct_17^post_4, f_170^0'=f_170^post_4, head_129^0'=head_129^post_4, head_14^0'=head_14^post_4, head_175^0'=head_175^post_4, head_27^0'=head_27^post_4, head_32^0'=head_32^post_4, head_SLAM_f_26^0'=head_SLAM_f_26^post_4, i_108^0'=i_108^post_4, i_167^0'=i_167^post_4, i_30^0'=i_30^post_4, i_94^0'=i_94^post_4, len_132^0'=len_132^post_4, len_183^0'=len_183^post_4, length_29^0'=length_29^post_4, nondet_12^0'=nondet_12^post_4, r_124^0'=r_124^post_4, r_163^0'=r_163^post_4, r_39^0'=r_39^post_4, rcd_58^0'=rcd_58^post_4, rcd_88^0'=rcd_88^post_4, result_11^0'=result_11^post_4, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_4, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_4, t_23^0'=t_23^post_4, temp0_15^0'=temp0_15^post_4, temp0_31^0'=temp0_31^post_4, temp_35^0'=temp_35^post_4, tmp_34^0'=tmp_34^post_4, x_16^0'=x_16^post_4, x_20^0'=x_20^post_4, x_SLAM_f_18^0'=x_SLAM_f_18^post_4, y_19^0'=y_19^post_4, [ t_23^post_4==x_20^0 && a_260^post_4==a_260^post_4 && 0<=ct_17^0 && ct_17^0<=0 && 0<=y_19^0 && y_19^0<=0 && head_14^0<=x_16^0 && x_16^0<=head_14^0 && head_14^0<=x_SLAM_f_18^0 && x_SLAM_f_18^0<=head_14^0 && x_16^0<=x_SLAM_f_18^0 && x_SLAM_f_18^0<=x_16^0 && ct_17^0<=y_19^0 && y_19^0<=ct_17^0 && a_260^post_4<=-1+a_237^0 && -1+a_237^0<=a_260^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_26^0==__disjvr_26^post_4 && __disjvr_27^0==__disjvr_27^post_4 && __disjvr_28^0==__disjvr_28^post_4 && __disjvr_29^0==__disjvr_29^post_4 && __disjvr_3^0==__disjvr_3^post_4 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_4 && a_147^0==a_147^post_4 && a_184^0==a_184^post_4 && a_215^0==a_215^post_4 && a_237^0==a_237^post_4 && ct_17^0==ct_17^post_4 && f_170^0==f_170^post_4 && head_129^0==head_129^post_4 && head_14^0==head_14^post_4 && head_175^0==head_175^post_4 && head_27^0==head_27^post_4 && head_32^0==head_32^post_4 && head_SLAM_f_26^0==head_SLAM_f_26^post_4 && i_108^0==i_108^post_4 && i_167^0==i_167^post_4 && i_30^0==i_30^post_4 && i_94^0==i_94^post_4 && len_132^0==len_132^post_4 && len_183^0==len_183^post_4 && length_29^0==length_29^post_4 && nondet_12^0==nondet_12^post_4 && r_124^0==r_124^post_4 && r_163^0==r_163^post_4 && r_39^0==r_39^post_4 && rcd_58^0==rcd_58^post_4 && rcd_88^0==rcd_88^post_4 && result_11^0==result_11^post_4 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_4 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_4 && temp0_15^0==temp0_15^post_4 && temp0_31^0==temp0_31^post_4 && temp_35^0==temp_35^post_4 && tmp_34^0==tmp_34^post_4 && x_16^0==x_16^post_4 && x_20^0==x_20^post_4 && x_SLAM_f_18^0==x_SLAM_f_18^post_4 && y_19^0==y_19^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_26^0'=__disjvr_26^post_5, __disjvr_27^0'=__disjvr_27^post_5, __disjvr_28^0'=__disjvr_28^post_5, __disjvr_29^0'=__disjvr_29^post_5, __disjvr_2^0'=__disjvr_2^post_5, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_5, a_147^0'=a_147^post_5, a_184^0'=a_184^post_5, a_215^0'=a_215^post_5, a_237^0'=a_237^post_5, a_260^0'=a_260^post_5, ct_17^0'=ct_17^post_5, f_170^0'=f_170^post_5, head_129^0'=head_129^post_5, head_14^0'=head_14^post_5, head_175^0'=head_175^post_5, head_27^0'=head_27^post_5, head_32^0'=head_32^post_5, head_SLAM_f_26^0'=head_SLAM_f_26^post_5, i_108^0'=i_108^post_5, i_167^0'=i_167^post_5, i_30^0'=i_30^post_5, i_94^0'=i_94^post_5, len_132^0'=len_132^post_5, len_183^0'=len_183^post_5, length_29^0'=length_29^post_5, nondet_12^0'=nondet_12^post_5, r_124^0'=r_124^post_5, r_163^0'=r_163^post_5, r_39^0'=r_39^post_5, rcd_58^0'=rcd_58^post_5, rcd_88^0'=rcd_88^post_5, result_11^0'=result_11^post_5, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_5, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_5, t_23^0'=t_23^post_5, temp0_15^0'=temp0_15^post_5, temp0_31^0'=temp0_31^post_5, temp_35^0'=temp_35^post_5, tmp_34^0'=tmp_34^post_5, x_16^0'=x_16^post_5, x_20^0'=x_20^post_5, x_SLAM_f_18^0'=x_SLAM_f_18^post_5, y_19^0'=y_19^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_26^0==__disjvr_26^post_5 && __disjvr_27^0==__disjvr_27^post_5 && __disjvr_28^0==__disjvr_28^post_5 && __disjvr_29^0==__disjvr_29^post_5 && __disjvr_3^0==__disjvr_3^post_5 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_5 && a_147^0==a_147^post_5 && a_184^0==a_184^post_5 && a_215^0==a_215^post_5 && a_237^0==a_237^post_5 && a_260^0==a_260^post_5 && ct_17^0==ct_17^post_5 && f_170^0==f_170^post_5 && head_129^0==head_129^post_5 && head_14^0==head_14^post_5 && head_175^0==head_175^post_5 && head_27^0==head_27^post_5 && head_32^0==head_32^post_5 && head_SLAM_f_26^0==head_SLAM_f_26^post_5 && i_108^0==i_108^post_5 && i_167^0==i_167^post_5 && i_30^0==i_30^post_5 && i_94^0==i_94^post_5 && len_132^0==len_132^post_5 && len_183^0==len_183^post_5 && length_29^0==length_29^post_5 && nondet_12^0==nondet_12^post_5 && r_124^0==r_124^post_5 && r_163^0==r_163^post_5 && r_39^0==r_39^post_5 && rcd_58^0==rcd_58^post_5 && rcd_88^0==rcd_88^post_5 && result_11^0==result_11^post_5 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_5 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_5 && t_23^0==t_23^post_5 && temp0_15^0==temp0_15^post_5 && temp0_31^0==temp0_31^post_5 && temp_35^0==temp_35^post_5 && tmp_34^0==tmp_34^post_5 && x_16^0==x_16^post_5 && x_20^0==x_20^post_5 && x_SLAM_f_18^0==x_SLAM_f_18^post_5 && y_19^0==y_19^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_26^0'=__disjvr_26^post_6, __disjvr_27^0'=__disjvr_27^post_6, __disjvr_28^0'=__disjvr_28^post_6, __disjvr_29^0'=__disjvr_29^post_6, __disjvr_2^0'=__disjvr_2^post_6, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_6, a_147^0'=a_147^post_6, a_184^0'=a_184^post_6, a_215^0'=a_215^post_6, a_237^0'=a_237^post_6, a_260^0'=a_260^post_6, ct_17^0'=ct_17^post_6, f_170^0'=f_170^post_6, head_129^0'=head_129^post_6, head_14^0'=head_14^post_6, head_175^0'=head_175^post_6, head_27^0'=head_27^post_6, head_32^0'=head_32^post_6, head_SLAM_f_26^0'=head_SLAM_f_26^post_6, i_108^0'=i_108^post_6, i_167^0'=i_167^post_6, i_30^0'=i_30^post_6, i_94^0'=i_94^post_6, len_132^0'=len_132^post_6, len_183^0'=len_183^post_6, length_29^0'=length_29^post_6, nondet_12^0'=nondet_12^post_6, r_124^0'=r_124^post_6, r_163^0'=r_163^post_6, r_39^0'=r_39^post_6, rcd_58^0'=rcd_58^post_6, rcd_88^0'=rcd_88^post_6, result_11^0'=result_11^post_6, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_6, t_23^0'=t_23^post_6, temp0_15^0'=temp0_15^post_6, temp0_31^0'=temp0_31^post_6, temp_35^0'=temp_35^post_6, tmp_34^0'=tmp_34^post_6, x_16^0'=x_16^post_6, x_20^0'=x_20^post_6, x_SLAM_f_18^0'=x_SLAM_f_18^post_6, y_19^0'=y_19^post_6, [ __disjvr_2^post_6==__disjvr_2^0 && __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_26^0==__disjvr_26^post_6 && __disjvr_27^0==__disjvr_27^post_6 && __disjvr_28^0==__disjvr_28^post_6 && __disjvr_29^0==__disjvr_29^post_6 && __disjvr_3^0==__disjvr_3^post_6 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_6 && a_147^0==a_147^post_6 && a_184^0==a_184^post_6 && a_215^0==a_215^post_6 && a_237^0==a_237^post_6 && a_260^0==a_260^post_6 && ct_17^0==ct_17^post_6 && f_170^0==f_170^post_6 && head_129^0==head_129^post_6 && head_14^0==head_14^post_6 && head_175^0==head_175^post_6 && head_27^0==head_27^post_6 && head_32^0==head_32^post_6 && head_SLAM_f_26^0==head_SLAM_f_26^post_6 && i_108^0==i_108^post_6 && i_167^0==i_167^post_6 && i_30^0==i_30^post_6 && i_94^0==i_94^post_6 && len_132^0==len_132^post_6 && len_183^0==len_183^post_6 && length_29^0==length_29^post_6 && nondet_12^0==nondet_12^post_6 && r_124^0==r_124^post_6 && r_163^0==r_163^post_6 && r_39^0==r_39^post_6 && rcd_58^0==rcd_58^post_6 && rcd_88^0==rcd_88^post_6 && result_11^0==result_11^post_6 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_6 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_6 && t_23^0==t_23^post_6 && temp0_15^0==temp0_15^post_6 && temp0_31^0==temp0_31^post_6 && temp_35^0==temp_35^post_6 && tmp_34^0==tmp_34^post_6 && x_16^0==x_16^post_6 && x_20^0==x_20^post_6 && x_SLAM_f_18^0==x_SLAM_f_18^post_6 && y_19^0==y_19^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_26^0'=__disjvr_26^post_7, __disjvr_27^0'=__disjvr_27^post_7, __disjvr_28^0'=__disjvr_28^post_7, __disjvr_29^0'=__disjvr_29^post_7, __disjvr_2^0'=__disjvr_2^post_7, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_7, a_147^0'=a_147^post_7, a_184^0'=a_184^post_7, a_215^0'=a_215^post_7, a_237^0'=a_237^post_7, a_260^0'=a_260^post_7, ct_17^0'=ct_17^post_7, f_170^0'=f_170^post_7, head_129^0'=head_129^post_7, head_14^0'=head_14^post_7, head_175^0'=head_175^post_7, head_27^0'=head_27^post_7, head_32^0'=head_32^post_7, head_SLAM_f_26^0'=head_SLAM_f_26^post_7, i_108^0'=i_108^post_7, i_167^0'=i_167^post_7, i_30^0'=i_30^post_7, i_94^0'=i_94^post_7, len_132^0'=len_132^post_7, len_183^0'=len_183^post_7, length_29^0'=length_29^post_7, nondet_12^0'=nondet_12^post_7, r_124^0'=r_124^post_7, r_163^0'=r_163^post_7, r_39^0'=r_39^post_7, rcd_58^0'=rcd_58^post_7, rcd_88^0'=rcd_88^post_7, result_11^0'=result_11^post_7, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_7, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7, t_23^0'=t_23^post_7, temp0_15^0'=temp0_15^post_7, temp0_31^0'=temp0_31^post_7, temp_35^0'=temp_35^post_7, tmp_34^0'=tmp_34^post_7, x_16^0'=x_16^post_7, x_20^0'=x_20^post_7, x_SLAM_f_18^0'=x_SLAM_f_18^post_7, y_19^0'=y_19^post_7, [ __disjvr_3^post_7==__disjvr_3^0 && __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_26^0==__disjvr_26^post_7 && __disjvr_27^0==__disjvr_27^post_7 && __disjvr_28^0==__disjvr_28^post_7 && __disjvr_29^0==__disjvr_29^post_7 && __disjvr_3^0==__disjvr_3^post_7 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_7 && a_147^0==a_147^post_7 && a_184^0==a_184^post_7 && a_215^0==a_215^post_7 && a_237^0==a_237^post_7 && a_260^0==a_260^post_7 && ct_17^0==ct_17^post_7 && f_170^0==f_170^post_7 && head_129^0==head_129^post_7 && head_14^0==head_14^post_7 && head_175^0==head_175^post_7 && head_27^0==head_27^post_7 && head_32^0==head_32^post_7 && head_SLAM_f_26^0==head_SLAM_f_26^post_7 && i_108^0==i_108^post_7 && i_167^0==i_167^post_7 && i_30^0==i_30^post_7 && i_94^0==i_94^post_7 && len_132^0==len_132^post_7 && len_183^0==len_183^post_7 && length_29^0==length_29^post_7 && nondet_12^0==nondet_12^post_7 && r_124^0==r_124^post_7 && r_163^0==r_163^post_7 && r_39^0==r_39^post_7 && rcd_58^0==rcd_58^post_7 && rcd_88^0==rcd_88^post_7 && result_11^0==result_11^post_7 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_7 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7 && t_23^0==t_23^post_7 && temp0_15^0==temp0_15^post_7 && temp0_31^0==temp0_31^post_7 && temp_35^0==temp_35^post_7 && tmp_34^0==tmp_34^post_7 && x_16^0==x_16^post_7 && x_20^0==x_20^post_7 && x_SLAM_f_18^0==x_SLAM_f_18^post_7 && y_19^0==y_19^post_7 ], cost: 1
      7: l8 -> l2 : __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_26^0'=__disjvr_26^post_8, __disjvr_27^0'=__disjvr_27^post_8, __disjvr_28^0'=__disjvr_28^post_8, __disjvr_29^0'=__disjvr_29^post_8, __disjvr_2^0'=__disjvr_2^post_8, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_8, a_147^0'=a_147^post_8, a_184^0'=a_184^post_8, a_215^0'=a_215^post_8, a_237^0'=a_237^post_8, a_260^0'=a_260^post_8, ct_17^0'=ct_17^post_8, f_170^0'=f_170^post_8, head_129^0'=head_129^post_8, head_14^0'=head_14^post_8, head_175^0'=head_175^post_8, head_27^0'=head_27^post_8, head_32^0'=head_32^post_8, head_SLAM_f_26^0'=head_SLAM_f_26^post_8, i_108^0'=i_108^post_8, i_167^0'=i_167^post_8, i_30^0'=i_30^post_8, i_94^0'=i_94^post_8, len_132^0'=len_132^post_8, len_183^0'=len_183^post_8, length_29^0'=length_29^post_8, nondet_12^0'=nondet_12^post_8, r_124^0'=r_124^post_8, r_163^0'=r_163^post_8, r_39^0'=r_39^post_8, rcd_58^0'=rcd_58^post_8, rcd_88^0'=rcd_88^post_8, result_11^0'=result_11^post_8, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_8, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_8, t_23^0'=t_23^post_8, temp0_15^0'=temp0_15^post_8, temp0_31^0'=temp0_31^post_8, temp_35^0'=temp_35^post_8, tmp_34^0'=tmp_34^post_8, x_16^0'=x_16^post_8, x_20^0'=x_20^post_8, x_SLAM_f_18^0'=x_SLAM_f_18^post_8, y_19^0'=y_19^post_8, [ 1<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && a_237^post_8==a_237^post_8 && a_237^post_8<=a_260^0 && a_260^0<=a_237^post_8 && __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_26^0==__disjvr_26^post_8 && __disjvr_27^0==__disjvr_27^post_8 && __disjvr_28^0==__disjvr_28^post_8 && __disjvr_29^0==__disjvr_29^post_8 && __disjvr_3^0==__disjvr_3^post_8 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_8 && a_147^0==a_147^post_8 && a_184^0==a_184^post_8 && a_215^0==a_215^post_8 && a_260^0==a_260^post_8 && ct_17^0==ct_17^post_8 && f_170^0==f_170^post_8 && head_129^0==head_129^post_8 && head_14^0==head_14^post_8 && head_175^0==head_175^post_8 && head_27^0==head_27^post_8 && head_32^0==head_32^post_8 && head_SLAM_f_26^0==head_SLAM_f_26^post_8 && i_108^0==i_108^post_8 && i_167^0==i_167^post_8 && i_30^0==i_30^post_8 && i_94^0==i_94^post_8 && len_132^0==len_132^post_8 && len_183^0==len_183^post_8 && length_29^0==length_29^post_8 && nondet_12^0==nondet_12^post_8 && r_124^0==r_124^post_8 && r_163^0==r_163^post_8 && r_39^0==r_39^post_8 && rcd_58^0==rcd_58^post_8 && rcd_88^0==rcd_88^post_8 && result_11^0==result_11^post_8 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_8 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_8 && t_23^0==t_23^post_8 && temp0_15^0==temp0_15^post_8 && temp0_31^0==temp0_31^post_8 && temp_35^0==temp_35^post_8 && tmp_34^0==tmp_34^post_8 && x_16^0==x_16^post_8 && x_20^0==x_20^post_8 && x_SLAM_f_18^0==x_SLAM_f_18^post_8 && y_19^0==y_19^post_8 ], cost: 1
      8: l2 -> l0 : __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_26^0'=__disjvr_26^post_9, __disjvr_27^0'=__disjvr_27^post_9, __disjvr_28^0'=__disjvr_28^post_9, __disjvr_29^0'=__disjvr_29^post_9, __disjvr_2^0'=__disjvr_2^post_9, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_9, a_147^0'=a_147^post_9, a_184^0'=a_184^post_9, a_215^0'=a_215^post_9, a_237^0'=a_237^post_9, a_260^0'=a_260^post_9, ct_17^0'=ct_17^post_9, f_170^0'=f_170^post_9, head_129^0'=head_129^post_9, head_14^0'=head_14^post_9, head_175^0'=head_175^post_9, head_27^0'=head_27^post_9, head_32^0'=head_32^post_9, head_SLAM_f_26^0'=head_SLAM_f_26^post_9, i_108^0'=i_108^post_9, i_167^0'=i_167^post_9, i_30^0'=i_30^post_9, i_94^0'=i_94^post_9, len_132^0'=len_132^post_9, len_183^0'=len_183^post_9, length_29^0'=length_29^post_9, nondet_12^0'=nondet_12^post_9, r_124^0'=r_124^post_9, r_163^0'=r_163^post_9, r_39^0'=r_39^post_9, rcd_58^0'=rcd_58^post_9, rcd_88^0'=rcd_88^post_9, result_11^0'=result_11^post_9, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_9, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_9, t_23^0'=t_23^post_9, temp0_15^0'=temp0_15^post_9, temp0_31^0'=temp0_31^post_9, temp_35^0'=temp_35^post_9, tmp_34^0'=tmp_34^post_9, x_16^0'=x_16^post_9, x_20^0'=x_20^post_9, x_SLAM_f_18^0'=x_SLAM_f_18^post_9, y_19^0'=y_19^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_26^0==__disjvr_26^post_9 && __disjvr_27^0==__disjvr_27^post_9 && __disjvr_28^0==__disjvr_28^post_9 && __disjvr_29^0==__disjvr_29^post_9 && __disjvr_3^0==__disjvr_3^post_9 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_9 && a_147^0==a_147^post_9 && a_184^0==a_184^post_9 && a_215^0==a_215^post_9 && a_237^0==a_237^post_9 && a_260^0==a_260^post_9 && ct_17^0==ct_17^post_9 && f_170^0==f_170^post_9 && head_129^0==head_129^post_9 && head_14^0==head_14^post_9 && head_175^0==head_175^post_9 && head_27^0==head_27^post_9 && head_32^0==head_32^post_9 && head_SLAM_f_26^0==head_SLAM_f_26^post_9 && i_108^0==i_108^post_9 && i_167^0==i_167^post_9 && i_30^0==i_30^post_9 && i_94^0==i_94^post_9 && len_132^0==len_132^post_9 && len_183^0==len_183^post_9 && length_29^0==length_29^post_9 && nondet_12^0==nondet_12^post_9 && r_124^0==r_124^post_9 && r_163^0==r_163^post_9 && r_39^0==r_39^post_9 && rcd_58^0==rcd_58^post_9 && rcd_88^0==rcd_88^post_9 && result_11^0==result_11^post_9 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_9 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_9 && t_23^0==t_23^post_9 && temp0_15^0==temp0_15^post_9 && temp0_31^0==temp0_31^post_9 && temp_35^0==temp_35^post_9 && tmp_34^0==tmp_34^post_9 && x_16^0==x_16^post_9 && x_20^0==x_20^post_9 && x_SLAM_f_18^0==x_SLAM_f_18^post_9 && y_19^0==y_19^post_9 ], cost: 1
      9: l9 -> 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_26^0'=__disjvr_26^post_10, __disjvr_27^0'=__disjvr_27^post_10, __disjvr_28^0'=__disjvr_28^post_10, __disjvr_29^0'=__disjvr_29^post_10, __disjvr_2^0'=__disjvr_2^post_10, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_10, a_147^0'=a_147^post_10, a_184^0'=a_184^post_10, a_215^0'=a_215^post_10, a_237^0'=a_237^post_10, a_260^0'=a_260^post_10, ct_17^0'=ct_17^post_10, f_170^0'=f_170^post_10, head_129^0'=head_129^post_10, head_14^0'=head_14^post_10, head_175^0'=head_175^post_10, head_27^0'=head_27^post_10, head_32^0'=head_32^post_10, head_SLAM_f_26^0'=head_SLAM_f_26^post_10, i_108^0'=i_108^post_10, i_167^0'=i_167^post_10, i_30^0'=i_30^post_10, i_94^0'=i_94^post_10, len_132^0'=len_132^post_10, len_183^0'=len_183^post_10, length_29^0'=length_29^post_10, nondet_12^0'=nondet_12^post_10, r_124^0'=r_124^post_10, r_163^0'=r_163^post_10, r_39^0'=r_39^post_10, rcd_58^0'=rcd_58^post_10, rcd_88^0'=rcd_88^post_10, result_11^0'=result_11^post_10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_10, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_10, t_23^0'=t_23^post_10, temp0_15^0'=temp0_15^post_10, temp0_31^0'=temp0_31^post_10, temp_35^0'=temp_35^post_10, tmp_34^0'=tmp_34^post_10, x_16^0'=x_16^post_10, x_20^0'=x_20^post_10, x_SLAM_f_18^0'=x_SLAM_f_18^post_10, y_19^0'=y_19^post_10, [ 0<=a_215^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_10==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_10 && head_14^post_10==head_14^post_10 && y_19^0<=x_20^0 && x_20^0<=y_19^0 && x_SLAM_f_18^1_2_1==x_SLAM_f_18^1_2_1 && y_19^1_2_1==y_19^1_2_1 && x_20^1_2_1==x_20^1_2_1 && t_23^1_2_1==t_23^1_2_1 && ct_17^1_2==ct_17^1_2 && x_16^post_10==x_16^post_10 && ct_17^post_10==ct_17^post_10 && x_SLAM_f_18^post_10==x_SLAM_f_18^post_10 && y_19^post_10==y_19^post_10 && x_20^post_10==x_20^post_10 && t_23^post_10==t_23^post_10 && result_11^post_10==temp0_15^0 && __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_26^0==__disjvr_26^post_10 && __disjvr_27^0==__disjvr_27^post_10 && __disjvr_28^0==__disjvr_28^post_10 && __disjvr_29^0==__disjvr_29^post_10 && __disjvr_3^0==__disjvr_3^post_10 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_10 && a_147^0==a_147^post_10 && a_184^0==a_184^post_10 && a_215^0==a_215^post_10 && a_237^0==a_237^post_10 && a_260^0==a_260^post_10 && f_170^0==f_170^post_10 && head_129^0==head_129^post_10 && head_175^0==head_175^post_10 && head_27^0==head_27^post_10 && head_32^0==head_32^post_10 && head_SLAM_f_26^0==head_SLAM_f_26^post_10 && i_108^0==i_108^post_10 && i_167^0==i_167^post_10 && i_30^0==i_30^post_10 && i_94^0==i_94^post_10 && len_132^0==len_132^post_10 && len_183^0==len_183^post_10 && length_29^0==length_29^post_10 && nondet_12^0==nondet_12^post_10 && r_124^0==r_124^post_10 && r_163^0==r_163^post_10 && r_39^0==r_39^post_10 && rcd_58^0==rcd_58^post_10 && rcd_88^0==rcd_88^post_10 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_10 && temp0_15^0==temp0_15^post_10 && temp0_31^0==temp0_31^post_10 && temp_35^0==temp_35^post_10 && tmp_34^0==tmp_34^post_10 ], cost: 1
     12: l9 -> l12 : __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_26^0'=__disjvr_26^post_13, __disjvr_27^0'=__disjvr_27^post_13, __disjvr_28^0'=__disjvr_28^post_13, __disjvr_29^0'=__disjvr_29^post_13, __disjvr_2^0'=__disjvr_2^post_13, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_13, a_147^0'=a_147^post_13, a_184^0'=a_184^post_13, a_215^0'=a_215^post_13, a_237^0'=a_237^post_13, a_260^0'=a_260^post_13, ct_17^0'=ct_17^post_13, f_170^0'=f_170^post_13, head_129^0'=head_129^post_13, head_14^0'=head_14^post_13, head_175^0'=head_175^post_13, head_27^0'=head_27^post_13, head_32^0'=head_32^post_13, head_SLAM_f_26^0'=head_SLAM_f_26^post_13, i_108^0'=i_108^post_13, i_167^0'=i_167^post_13, i_30^0'=i_30^post_13, i_94^0'=i_94^post_13, len_132^0'=len_132^post_13, len_183^0'=len_183^post_13, length_29^0'=length_29^post_13, nondet_12^0'=nondet_12^post_13, r_124^0'=r_124^post_13, r_163^0'=r_163^post_13, r_39^0'=r_39^post_13, rcd_58^0'=rcd_58^post_13, rcd_88^0'=rcd_88^post_13, result_11^0'=result_11^post_13, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_13, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_13, t_23^0'=t_23^post_13, temp0_15^0'=temp0_15^post_13, temp0_31^0'=temp0_31^post_13, temp_35^0'=temp_35^post_13, tmp_34^0'=tmp_34^post_13, x_16^0'=x_16^post_13, x_20^0'=x_20^post_13, x_SLAM_f_18^0'=x_SLAM_f_18^post_13, y_19^0'=y_19^post_13, [ 0<=a_215^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_13==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_13 && head_14^post_13==head_14^post_13 && x_16^post_13==x_16^post_13 && ct_17^post_13==ct_17^post_13 && x_SLAM_f_18^post_13==x_SLAM_f_18^post_13 && __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_26^0==__disjvr_26^post_13 && __disjvr_27^0==__disjvr_27^post_13 && __disjvr_28^0==__disjvr_28^post_13 && __disjvr_29^0==__disjvr_29^post_13 && __disjvr_3^0==__disjvr_3^post_13 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_13 && a_147^0==a_147^post_13 && a_184^0==a_184^post_13 && a_215^0==a_215^post_13 && a_237^0==a_237^post_13 && a_260^0==a_260^post_13 && f_170^0==f_170^post_13 && head_129^0==head_129^post_13 && head_175^0==head_175^post_13 && head_27^0==head_27^post_13 && head_32^0==head_32^post_13 && head_SLAM_f_26^0==head_SLAM_f_26^post_13 && i_108^0==i_108^post_13 && i_167^0==i_167^post_13 && i_30^0==i_30^post_13 && i_94^0==i_94^post_13 && len_132^0==len_132^post_13 && len_183^0==len_183^post_13 && length_29^0==length_29^post_13 && nondet_12^0==nondet_12^post_13 && r_124^0==r_124^post_13 && r_163^0==r_163^post_13 && r_39^0==r_39^post_13 && rcd_58^0==rcd_58^post_13 && rcd_88^0==rcd_88^post_13 && result_11^0==result_11^post_13 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_13 && t_23^0==t_23^post_13 && temp0_15^0==temp0_15^post_13 && temp0_31^0==temp0_31^post_13 && temp_35^0==temp_35^post_13 && tmp_34^0==tmp_34^post_13 && x_20^0==x_20^post_13 && y_19^0==y_19^post_13 ], cost: 1
     10: l10 -> l11 : __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_26^0'=__disjvr_26^post_11, __disjvr_27^0'=__disjvr_27^post_11, __disjvr_28^0'=__disjvr_28^post_11, __disjvr_29^0'=__disjvr_29^post_11, __disjvr_2^0'=__disjvr_2^post_11, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_11, a_147^0'=a_147^post_11, a_184^0'=a_184^post_11, a_215^0'=a_215^post_11, a_237^0'=a_237^post_11, a_260^0'=a_260^post_11, ct_17^0'=ct_17^post_11, f_170^0'=f_170^post_11, head_129^0'=head_129^post_11, head_14^0'=head_14^post_11, head_175^0'=head_175^post_11, head_27^0'=head_27^post_11, head_32^0'=head_32^post_11, head_SLAM_f_26^0'=head_SLAM_f_26^post_11, i_108^0'=i_108^post_11, i_167^0'=i_167^post_11, i_30^0'=i_30^post_11, i_94^0'=i_94^post_11, len_132^0'=len_132^post_11, len_183^0'=len_183^post_11, length_29^0'=length_29^post_11, nondet_12^0'=nondet_12^post_11, r_124^0'=r_124^post_11, r_163^0'=r_163^post_11, r_39^0'=r_39^post_11, rcd_58^0'=rcd_58^post_11, rcd_88^0'=rcd_88^post_11, result_11^0'=result_11^post_11, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_11, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_11, t_23^0'=t_23^post_11, temp0_15^0'=temp0_15^post_11, temp0_31^0'=temp0_31^post_11, temp_35^0'=temp_35^post_11, tmp_34^0'=tmp_34^post_11, x_16^0'=x_16^post_11, x_20^0'=x_20^post_11, x_SLAM_f_18^0'=x_SLAM_f_18^post_11, y_19^0'=y_19^post_11, [ __disjvr_4^post_11==__disjvr_4^0 && __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_26^0==__disjvr_26^post_11 && __disjvr_27^0==__disjvr_27^post_11 && __disjvr_28^0==__disjvr_28^post_11 && __disjvr_29^0==__disjvr_29^post_11 && __disjvr_3^0==__disjvr_3^post_11 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_11 && a_147^0==a_147^post_11 && a_184^0==a_184^post_11 && a_215^0==a_215^post_11 && a_237^0==a_237^post_11 && a_260^0==a_260^post_11 && ct_17^0==ct_17^post_11 && f_170^0==f_170^post_11 && head_129^0==head_129^post_11 && head_14^0==head_14^post_11 && head_175^0==head_175^post_11 && head_27^0==head_27^post_11 && head_32^0==head_32^post_11 && head_SLAM_f_26^0==head_SLAM_f_26^post_11 && i_108^0==i_108^post_11 && i_167^0==i_167^post_11 && i_30^0==i_30^post_11 && i_94^0==i_94^post_11 && len_132^0==len_132^post_11 && len_183^0==len_183^post_11 && length_29^0==length_29^post_11 && nondet_12^0==nondet_12^post_11 && r_124^0==r_124^post_11 && r_163^0==r_163^post_11 && r_39^0==r_39^post_11 && rcd_58^0==rcd_58^post_11 && rcd_88^0==rcd_88^post_11 && result_11^0==result_11^post_11 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_11 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_11 && t_23^0==t_23^post_11 && temp0_15^0==temp0_15^post_11 && temp0_31^0==temp0_31^post_11 && temp_35^0==temp_35^post_11 && tmp_34^0==tmp_34^post_11 && x_16^0==x_16^post_11 && x_20^0==x_20^post_11 && x_SLAM_f_18^0==x_SLAM_f_18^post_11 && y_19^0==y_19^post_11 ], cost: 1
     11: l11 -> l1 : __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_26^0'=__disjvr_26^post_12, __disjvr_27^0'=__disjvr_27^post_12, __disjvr_28^0'=__disjvr_28^post_12, __disjvr_29^0'=__disjvr_29^post_12, __disjvr_2^0'=__disjvr_2^post_12, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_12, a_147^0'=a_147^post_12, a_184^0'=a_184^post_12, a_215^0'=a_215^post_12, a_237^0'=a_237^post_12, a_260^0'=a_260^post_12, ct_17^0'=ct_17^post_12, f_170^0'=f_170^post_12, head_129^0'=head_129^post_12, head_14^0'=head_14^post_12, head_175^0'=head_175^post_12, head_27^0'=head_27^post_12, head_32^0'=head_32^post_12, head_SLAM_f_26^0'=head_SLAM_f_26^post_12, i_108^0'=i_108^post_12, i_167^0'=i_167^post_12, i_30^0'=i_30^post_12, i_94^0'=i_94^post_12, len_132^0'=len_132^post_12, len_183^0'=len_183^post_12, length_29^0'=length_29^post_12, nondet_12^0'=nondet_12^post_12, r_124^0'=r_124^post_12, r_163^0'=r_163^post_12, r_39^0'=r_39^post_12, rcd_58^0'=rcd_58^post_12, rcd_88^0'=rcd_88^post_12, result_11^0'=result_11^post_12, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_12, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_12, t_23^0'=t_23^post_12, temp0_15^0'=temp0_15^post_12, temp0_31^0'=temp0_31^post_12, temp_35^0'=temp_35^post_12, tmp_34^0'=tmp_34^post_12, x_16^0'=x_16^post_12, x_20^0'=x_20^post_12, x_SLAM_f_18^0'=x_SLAM_f_18^post_12, y_19^0'=y_19^post_12, [ 1<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && __disjvr_0^0==__disjvr_0^post_12 && __disjvr_1^0==__disjvr_1^post_12 && __disjvr_10^0==__disjvr_10^post_12 && __disjvr_11^0==__disjvr_11^post_12 && __disjvr_12^0==__disjvr_12^post_12 && __disjvr_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_26^0==__disjvr_26^post_12 && __disjvr_27^0==__disjvr_27^post_12 && __disjvr_28^0==__disjvr_28^post_12 && __disjvr_29^0==__disjvr_29^post_12 && __disjvr_3^0==__disjvr_3^post_12 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_12 && a_147^0==a_147^post_12 && a_184^0==a_184^post_12 && a_215^0==a_215^post_12 && a_237^0==a_237^post_12 && a_260^0==a_260^post_12 && ct_17^0==ct_17^post_12 && f_170^0==f_170^post_12 && head_129^0==head_129^post_12 && head_14^0==head_14^post_12 && head_175^0==head_175^post_12 && head_27^0==head_27^post_12 && head_32^0==head_32^post_12 && head_SLAM_f_26^0==head_SLAM_f_26^post_12 && i_108^0==i_108^post_12 && i_167^0==i_167^post_12 && i_30^0==i_30^post_12 && i_94^0==i_94^post_12 && len_132^0==len_132^post_12 && len_183^0==len_183^post_12 && length_29^0==length_29^post_12 && nondet_12^0==nondet_12^post_12 && r_124^0==r_124^post_12 && r_163^0==r_163^post_12 && r_39^0==r_39^post_12 && rcd_58^0==rcd_58^post_12 && rcd_88^0==rcd_88^post_12 && result_11^0==result_11^post_12 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_12 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_12 && t_23^0==t_23^post_12 && temp0_15^0==temp0_15^post_12 && temp0_31^0==temp0_31^post_12 && temp_35^0==temp_35^post_12 && tmp_34^0==tmp_34^post_12 && x_16^0==x_16^post_12 && x_20^0==x_20^post_12 && x_SLAM_f_18^0==x_SLAM_f_18^post_12 && y_19^0==y_19^post_12 ], cost: 1
     13: l12 -> l13 : __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_26^0'=__disjvr_26^post_14, __disjvr_27^0'=__disjvr_27^post_14, __disjvr_28^0'=__disjvr_28^post_14, __disjvr_29^0'=__disjvr_29^post_14, __disjvr_2^0'=__disjvr_2^post_14, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_14, a_147^0'=a_147^post_14, a_184^0'=a_184^post_14, a_215^0'=a_215^post_14, a_237^0'=a_237^post_14, a_260^0'=a_260^post_14, ct_17^0'=ct_17^post_14, f_170^0'=f_170^post_14, head_129^0'=head_129^post_14, head_14^0'=head_14^post_14, head_175^0'=head_175^post_14, head_27^0'=head_27^post_14, head_32^0'=head_32^post_14, head_SLAM_f_26^0'=head_SLAM_f_26^post_14, i_108^0'=i_108^post_14, i_167^0'=i_167^post_14, i_30^0'=i_30^post_14, i_94^0'=i_94^post_14, len_132^0'=len_132^post_14, len_183^0'=len_183^post_14, length_29^0'=length_29^post_14, nondet_12^0'=nondet_12^post_14, r_124^0'=r_124^post_14, r_163^0'=r_163^post_14, r_39^0'=r_39^post_14, rcd_58^0'=rcd_58^post_14, rcd_88^0'=rcd_88^post_14, result_11^0'=result_11^post_14, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_14, t_23^0'=t_23^post_14, temp0_15^0'=temp0_15^post_14, temp0_31^0'=temp0_31^post_14, temp_35^0'=temp_35^post_14, tmp_34^0'=tmp_34^post_14, x_16^0'=x_16^post_14, x_20^0'=x_20^post_14, x_SLAM_f_18^0'=x_SLAM_f_18^post_14, y_19^0'=y_19^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_26^0==__disjvr_26^post_14 && __disjvr_27^0==__disjvr_27^post_14 && __disjvr_28^0==__disjvr_28^post_14 && __disjvr_29^0==__disjvr_29^post_14 && __disjvr_3^0==__disjvr_3^post_14 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_14 && a_147^0==a_147^post_14 && a_184^0==a_184^post_14 && a_215^0==a_215^post_14 && a_237^0==a_237^post_14 && a_260^0==a_260^post_14 && ct_17^0==ct_17^post_14 && f_170^0==f_170^post_14 && head_129^0==head_129^post_14 && head_14^0==head_14^post_14 && head_175^0==head_175^post_14 && head_27^0==head_27^post_14 && head_32^0==head_32^post_14 && head_SLAM_f_26^0==head_SLAM_f_26^post_14 && i_108^0==i_108^post_14 && i_167^0==i_167^post_14 && i_30^0==i_30^post_14 && i_94^0==i_94^post_14 && len_132^0==len_132^post_14 && len_183^0==len_183^post_14 && length_29^0==length_29^post_14 && nondet_12^0==nondet_12^post_14 && r_124^0==r_124^post_14 && r_163^0==r_163^post_14 && r_39^0==r_39^post_14 && rcd_58^0==rcd_58^post_14 && rcd_88^0==rcd_88^post_14 && result_11^0==result_11^post_14 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_14 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_14 && t_23^0==t_23^post_14 && temp0_15^0==temp0_15^post_14 && temp0_31^0==temp0_31^post_14 && temp_35^0==temp_35^post_14 && tmp_34^0==tmp_34^post_14 && x_16^0==x_16^post_14 && x_20^0==x_20^post_14 && x_SLAM_f_18^0==x_SLAM_f_18^post_14 && y_19^0==y_19^post_14 ], cost: 1
     14: l13 -> l14 : __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_26^0'=__disjvr_26^post_15, __disjvr_27^0'=__disjvr_27^post_15, __disjvr_28^0'=__disjvr_28^post_15, __disjvr_29^0'=__disjvr_29^post_15, __disjvr_2^0'=__disjvr_2^post_15, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_15, a_147^0'=a_147^post_15, a_184^0'=a_184^post_15, a_215^0'=a_215^post_15, a_237^0'=a_237^post_15, a_260^0'=a_260^post_15, ct_17^0'=ct_17^post_15, f_170^0'=f_170^post_15, head_129^0'=head_129^post_15, head_14^0'=head_14^post_15, head_175^0'=head_175^post_15, head_27^0'=head_27^post_15, head_32^0'=head_32^post_15, head_SLAM_f_26^0'=head_SLAM_f_26^post_15, i_108^0'=i_108^post_15, i_167^0'=i_167^post_15, i_30^0'=i_30^post_15, i_94^0'=i_94^post_15, len_132^0'=len_132^post_15, len_183^0'=len_183^post_15, length_29^0'=length_29^post_15, nondet_12^0'=nondet_12^post_15, r_124^0'=r_124^post_15, r_163^0'=r_163^post_15, r_39^0'=r_39^post_15, rcd_58^0'=rcd_58^post_15, rcd_88^0'=rcd_88^post_15, result_11^0'=result_11^post_15, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_15, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_15, t_23^0'=t_23^post_15, temp0_15^0'=temp0_15^post_15, temp0_31^0'=temp0_31^post_15, temp_35^0'=temp_35^post_15, tmp_34^0'=tmp_34^post_15, x_16^0'=x_16^post_15, x_20^0'=x_20^post_15, x_SLAM_f_18^0'=x_SLAM_f_18^post_15, y_19^0'=y_19^post_15, [ t_23^post_15==x_20^0 && 0<=ct_17^0 && ct_17^0<=0 && 0<=y_19^0 && y_19^0<=0 && head_14^0<=x_16^0 && x_16^0<=head_14^0 && head_14^0<=x_SLAM_f_18^0 && x_SLAM_f_18^0<=head_14^0 && x_16^0<=x_SLAM_f_18^0 && x_SLAM_f_18^0<=x_16^0 && ct_17^0<=y_19^0 && y_19^0<=ct_17^0 && __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_26^0==__disjvr_26^post_15 && __disjvr_27^0==__disjvr_27^post_15 && __disjvr_28^0==__disjvr_28^post_15 && __disjvr_29^0==__disjvr_29^post_15 && __disjvr_3^0==__disjvr_3^post_15 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_15 && a_147^0==a_147^post_15 && a_184^0==a_184^post_15 && a_215^0==a_215^post_15 && a_237^0==a_237^post_15 && a_260^0==a_260^post_15 && ct_17^0==ct_17^post_15 && f_170^0==f_170^post_15 && head_129^0==head_129^post_15 && head_14^0==head_14^post_15 && head_175^0==head_175^post_15 && head_27^0==head_27^post_15 && head_32^0==head_32^post_15 && head_SLAM_f_26^0==head_SLAM_f_26^post_15 && i_108^0==i_108^post_15 && i_167^0==i_167^post_15 && i_30^0==i_30^post_15 && i_94^0==i_94^post_15 && len_132^0==len_132^post_15 && len_183^0==len_183^post_15 && length_29^0==length_29^post_15 && nondet_12^0==nondet_12^post_15 && r_124^0==r_124^post_15 && r_163^0==r_163^post_15 && r_39^0==r_39^post_15 && rcd_58^0==rcd_58^post_15 && rcd_88^0==rcd_88^post_15 && result_11^0==result_11^post_15 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_15 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_15 && temp0_15^0==temp0_15^post_15 && temp0_31^0==temp0_31^post_15 && temp_35^0==temp_35^post_15 && tmp_34^0==tmp_34^post_15 && x_16^0==x_16^post_15 && x_20^0==x_20^post_15 && x_SLAM_f_18^0==x_SLAM_f_18^post_15 && y_19^0==y_19^post_15 ], cost: 1
     15: l14 -> l15 : __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_26^0'=__disjvr_26^post_16, __disjvr_27^0'=__disjvr_27^post_16, __disjvr_28^0'=__disjvr_28^post_16, __disjvr_29^0'=__disjvr_29^post_16, __disjvr_2^0'=__disjvr_2^post_16, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_16, a_147^0'=a_147^post_16, a_184^0'=a_184^post_16, a_215^0'=a_215^post_16, a_237^0'=a_237^post_16, a_260^0'=a_260^post_16, ct_17^0'=ct_17^post_16, f_170^0'=f_170^post_16, head_129^0'=head_129^post_16, head_14^0'=head_14^post_16, head_175^0'=head_175^post_16, head_27^0'=head_27^post_16, head_32^0'=head_32^post_16, head_SLAM_f_26^0'=head_SLAM_f_26^post_16, i_108^0'=i_108^post_16, i_167^0'=i_167^post_16, i_30^0'=i_30^post_16, i_94^0'=i_94^post_16, len_132^0'=len_132^post_16, len_183^0'=len_183^post_16, length_29^0'=length_29^post_16, nondet_12^0'=nondet_12^post_16, r_124^0'=r_124^post_16, r_163^0'=r_163^post_16, r_39^0'=r_39^post_16, rcd_58^0'=rcd_58^post_16, rcd_88^0'=rcd_88^post_16, result_11^0'=result_11^post_16, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_16, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_16, t_23^0'=t_23^post_16, temp0_15^0'=temp0_15^post_16, temp0_31^0'=temp0_31^post_16, temp_35^0'=temp_35^post_16, tmp_34^0'=tmp_34^post_16, x_16^0'=x_16^post_16, x_20^0'=x_20^post_16, x_SLAM_f_18^0'=x_SLAM_f_18^post_16, y_19^0'=y_19^post_16, [ __disjvr_6^post_16==__disjvr_6^0 && __disjvr_0^0==__disjvr_0^post_16 && __disjvr_1^0==__disjvr_1^post_16 && __disjvr_10^0==__disjvr_10^post_16 && __disjvr_11^0==__disjvr_11^post_16 && __disjvr_12^0==__disjvr_12^post_16 && __disjvr_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_26^0==__disjvr_26^post_16 && __disjvr_27^0==__disjvr_27^post_16 && __disjvr_28^0==__disjvr_28^post_16 && __disjvr_29^0==__disjvr_29^post_16 && __disjvr_3^0==__disjvr_3^post_16 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_16 && a_147^0==a_147^post_16 && a_184^0==a_184^post_16 && a_215^0==a_215^post_16 && a_237^0==a_237^post_16 && a_260^0==a_260^post_16 && ct_17^0==ct_17^post_16 && f_170^0==f_170^post_16 && head_129^0==head_129^post_16 && head_14^0==head_14^post_16 && head_175^0==head_175^post_16 && head_27^0==head_27^post_16 && head_32^0==head_32^post_16 && head_SLAM_f_26^0==head_SLAM_f_26^post_16 && i_108^0==i_108^post_16 && i_167^0==i_167^post_16 && i_30^0==i_30^post_16 && i_94^0==i_94^post_16 && len_132^0==len_132^post_16 && len_183^0==len_183^post_16 && length_29^0==length_29^post_16 && nondet_12^0==nondet_12^post_16 && r_124^0==r_124^post_16 && r_163^0==r_163^post_16 && r_39^0==r_39^post_16 && rcd_58^0==rcd_58^post_16 && rcd_88^0==rcd_88^post_16 && result_11^0==result_11^post_16 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_16 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_16 && t_23^0==t_23^post_16 && temp0_15^0==temp0_15^post_16 && temp0_31^0==temp0_31^post_16 && temp_35^0==temp_35^post_16 && tmp_34^0==tmp_34^post_16 && x_16^0==x_16^post_16 && x_20^0==x_20^post_16 && x_SLAM_f_18^0==x_SLAM_f_18^post_16 && y_19^0==y_19^post_16 ], cost: 1
     16: l15 -> l16 : __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_26^0'=__disjvr_26^post_17, __disjvr_27^0'=__disjvr_27^post_17, __disjvr_28^0'=__disjvr_28^post_17, __disjvr_29^0'=__disjvr_29^post_17, __disjvr_2^0'=__disjvr_2^post_17, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_17, a_147^0'=a_147^post_17, a_184^0'=a_184^post_17, a_215^0'=a_215^post_17, a_237^0'=a_237^post_17, a_260^0'=a_260^post_17, ct_17^0'=ct_17^post_17, f_170^0'=f_170^post_17, head_129^0'=head_129^post_17, head_14^0'=head_14^post_17, head_175^0'=head_175^post_17, head_27^0'=head_27^post_17, head_32^0'=head_32^post_17, head_SLAM_f_26^0'=head_SLAM_f_26^post_17, i_108^0'=i_108^post_17, i_167^0'=i_167^post_17, i_30^0'=i_30^post_17, i_94^0'=i_94^post_17, len_132^0'=len_132^post_17, len_183^0'=len_183^post_17, length_29^0'=length_29^post_17, nondet_12^0'=nondet_12^post_17, r_124^0'=r_124^post_17, r_163^0'=r_163^post_17, r_39^0'=r_39^post_17, rcd_58^0'=rcd_58^post_17, rcd_88^0'=rcd_88^post_17, result_11^0'=result_11^post_17, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_17, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_17, t_23^0'=t_23^post_17, temp0_15^0'=temp0_15^post_17, temp0_31^0'=temp0_31^post_17, temp_35^0'=temp_35^post_17, tmp_34^0'=tmp_34^post_17, x_16^0'=x_16^post_17, x_20^0'=x_20^post_17, x_SLAM_f_18^0'=x_SLAM_f_18^post_17, y_19^0'=y_19^post_17, [ __disjvr_7^post_17==__disjvr_7^0 && __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_26^0==__disjvr_26^post_17 && __disjvr_27^0==__disjvr_27^post_17 && __disjvr_28^0==__disjvr_28^post_17 && __disjvr_29^0==__disjvr_29^post_17 && __disjvr_3^0==__disjvr_3^post_17 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_17 && a_147^0==a_147^post_17 && a_184^0==a_184^post_17 && a_215^0==a_215^post_17 && a_237^0==a_237^post_17 && a_260^0==a_260^post_17 && ct_17^0==ct_17^post_17 && f_170^0==f_170^post_17 && head_129^0==head_129^post_17 && head_14^0==head_14^post_17 && head_175^0==head_175^post_17 && head_27^0==head_27^post_17 && head_32^0==head_32^post_17 && head_SLAM_f_26^0==head_SLAM_f_26^post_17 && i_108^0==i_108^post_17 && i_167^0==i_167^post_17 && i_30^0==i_30^post_17 && i_94^0==i_94^post_17 && len_132^0==len_132^post_17 && len_183^0==len_183^post_17 && length_29^0==length_29^post_17 && nondet_12^0==nondet_12^post_17 && r_124^0==r_124^post_17 && r_163^0==r_163^post_17 && r_39^0==r_39^post_17 && rcd_58^0==rcd_58^post_17 && rcd_88^0==rcd_88^post_17 && result_11^0==result_11^post_17 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_17 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_17 && t_23^0==t_23^post_17 && temp0_15^0==temp0_15^post_17 && temp0_31^0==temp0_31^post_17 && temp_35^0==temp_35^post_17 && tmp_34^0==tmp_34^post_17 && x_16^0==x_16^post_17 && x_20^0==x_20^post_17 && x_SLAM_f_18^0==x_SLAM_f_18^post_17 && y_19^0==y_19^post_17 ], cost: 1
     17: l16 -> l17 : __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_26^0'=__disjvr_26^post_18, __disjvr_27^0'=__disjvr_27^post_18, __disjvr_28^0'=__disjvr_28^post_18, __disjvr_29^0'=__disjvr_29^post_18, __disjvr_2^0'=__disjvr_2^post_18, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_18, a_147^0'=a_147^post_18, a_184^0'=a_184^post_18, a_215^0'=a_215^post_18, a_237^0'=a_237^post_18, a_260^0'=a_260^post_18, ct_17^0'=ct_17^post_18, f_170^0'=f_170^post_18, head_129^0'=head_129^post_18, head_14^0'=head_14^post_18, head_175^0'=head_175^post_18, head_27^0'=head_27^post_18, head_32^0'=head_32^post_18, head_SLAM_f_26^0'=head_SLAM_f_26^post_18, i_108^0'=i_108^post_18, i_167^0'=i_167^post_18, i_30^0'=i_30^post_18, i_94^0'=i_94^post_18, len_132^0'=len_132^post_18, len_183^0'=len_183^post_18, length_29^0'=length_29^post_18, nondet_12^0'=nondet_12^post_18, r_124^0'=r_124^post_18, r_163^0'=r_163^post_18, r_39^0'=r_39^post_18, rcd_58^0'=rcd_58^post_18, rcd_88^0'=rcd_88^post_18, result_11^0'=result_11^post_18, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_18, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_18, t_23^0'=t_23^post_18, temp0_15^0'=temp0_15^post_18, temp0_31^0'=temp0_31^post_18, temp_35^0'=temp_35^post_18, tmp_34^0'=tmp_34^post_18, x_16^0'=x_16^post_18, x_20^0'=x_20^post_18, x_SLAM_f_18^0'=x_SLAM_f_18^post_18, y_19^0'=y_19^post_18, [ __disjvr_8^post_18==__disjvr_8^0 && __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_26^0==__disjvr_26^post_18 && __disjvr_27^0==__disjvr_27^post_18 && __disjvr_28^0==__disjvr_28^post_18 && __disjvr_29^0==__disjvr_29^post_18 && __disjvr_3^0==__disjvr_3^post_18 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_18 && a_147^0==a_147^post_18 && a_184^0==a_184^post_18 && a_215^0==a_215^post_18 && a_237^0==a_237^post_18 && a_260^0==a_260^post_18 && ct_17^0==ct_17^post_18 && f_170^0==f_170^post_18 && head_129^0==head_129^post_18 && head_14^0==head_14^post_18 && head_175^0==head_175^post_18 && head_27^0==head_27^post_18 && head_32^0==head_32^post_18 && head_SLAM_f_26^0==head_SLAM_f_26^post_18 && i_108^0==i_108^post_18 && i_167^0==i_167^post_18 && i_30^0==i_30^post_18 && i_94^0==i_94^post_18 && len_132^0==len_132^post_18 && len_183^0==len_183^post_18 && length_29^0==length_29^post_18 && nondet_12^0==nondet_12^post_18 && r_124^0==r_124^post_18 && r_163^0==r_163^post_18 && r_39^0==r_39^post_18 && rcd_58^0==rcd_58^post_18 && rcd_88^0==rcd_88^post_18 && result_11^0==result_11^post_18 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_18 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_18 && t_23^0==t_23^post_18 && temp0_15^0==temp0_15^post_18 && temp0_31^0==temp0_31^post_18 && temp_35^0==temp_35^post_18 && tmp_34^0==tmp_34^post_18 && x_16^0==x_16^post_18 && x_20^0==x_20^post_18 && x_SLAM_f_18^0==x_SLAM_f_18^post_18 && y_19^0==y_19^post_18 ], cost: 1
     18: l17 -> l0 : __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_26^0'=__disjvr_26^post_19, __disjvr_27^0'=__disjvr_27^post_19, __disjvr_28^0'=__disjvr_28^post_19, __disjvr_29^0'=__disjvr_29^post_19, __disjvr_2^0'=__disjvr_2^post_19, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_19, a_147^0'=a_147^post_19, a_184^0'=a_184^post_19, a_215^0'=a_215^post_19, a_237^0'=a_237^post_19, a_260^0'=a_260^post_19, ct_17^0'=ct_17^post_19, f_170^0'=f_170^post_19, head_129^0'=head_129^post_19, head_14^0'=head_14^post_19, head_175^0'=head_175^post_19, head_27^0'=head_27^post_19, head_32^0'=head_32^post_19, head_SLAM_f_26^0'=head_SLAM_f_26^post_19, i_108^0'=i_108^post_19, i_167^0'=i_167^post_19, i_30^0'=i_30^post_19, i_94^0'=i_94^post_19, len_132^0'=len_132^post_19, len_183^0'=len_183^post_19, length_29^0'=length_29^post_19, nondet_12^0'=nondet_12^post_19, r_124^0'=r_124^post_19, r_163^0'=r_163^post_19, r_39^0'=r_39^post_19, rcd_58^0'=rcd_58^post_19, rcd_88^0'=rcd_88^post_19, result_11^0'=result_11^post_19, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_19, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_19, t_23^0'=t_23^post_19, temp0_15^0'=temp0_15^post_19, temp0_31^0'=temp0_31^post_19, temp_35^0'=temp_35^post_19, tmp_34^0'=tmp_34^post_19, x_16^0'=x_16^post_19, x_20^0'=x_20^post_19, x_SLAM_f_18^0'=x_SLAM_f_18^post_19, y_19^0'=y_19^post_19, [ 1<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && __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_26^0==__disjvr_26^post_19 && __disjvr_27^0==__disjvr_27^post_19 && __disjvr_28^0==__disjvr_28^post_19 && __disjvr_29^0==__disjvr_29^post_19 && __disjvr_3^0==__disjvr_3^post_19 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_19 && a_147^0==a_147^post_19 && a_184^0==a_184^post_19 && a_215^0==a_215^post_19 && a_237^0==a_237^post_19 && a_260^0==a_260^post_19 && ct_17^0==ct_17^post_19 && f_170^0==f_170^post_19 && head_129^0==head_129^post_19 && head_14^0==head_14^post_19 && head_175^0==head_175^post_19 && head_27^0==head_27^post_19 && head_32^0==head_32^post_19 && head_SLAM_f_26^0==head_SLAM_f_26^post_19 && i_108^0==i_108^post_19 && i_167^0==i_167^post_19 && i_30^0==i_30^post_19 && i_94^0==i_94^post_19 && len_132^0==len_132^post_19 && len_183^0==len_183^post_19 && length_29^0==length_29^post_19 && nondet_12^0==nondet_12^post_19 && r_124^0==r_124^post_19 && r_163^0==r_163^post_19 && r_39^0==r_39^post_19 && rcd_58^0==rcd_58^post_19 && rcd_88^0==rcd_88^post_19 && result_11^0==result_11^post_19 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_19 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_19 && t_23^0==t_23^post_19 && temp0_15^0==temp0_15^post_19 && temp0_31^0==temp0_31^post_19 && temp_35^0==temp_35^post_19 && tmp_34^0==tmp_34^post_19 && x_16^0==x_16^post_19 && x_20^0==x_20^post_19 && x_SLAM_f_18^0==x_SLAM_f_18^post_19 && y_19^0==y_19^post_19 ], cost: 1
     19: l18 -> l19 : __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_26^0'=__disjvr_26^post_20, __disjvr_27^0'=__disjvr_27^post_20, __disjvr_28^0'=__disjvr_28^post_20, __disjvr_29^0'=__disjvr_29^post_20, __disjvr_2^0'=__disjvr_2^post_20, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_20, a_147^0'=a_147^post_20, a_184^0'=a_184^post_20, a_215^0'=a_215^post_20, a_237^0'=a_237^post_20, a_260^0'=a_260^post_20, ct_17^0'=ct_17^post_20, f_170^0'=f_170^post_20, head_129^0'=head_129^post_20, head_14^0'=head_14^post_20, head_175^0'=head_175^post_20, head_27^0'=head_27^post_20, head_32^0'=head_32^post_20, head_SLAM_f_26^0'=head_SLAM_f_26^post_20, i_108^0'=i_108^post_20, i_167^0'=i_167^post_20, i_30^0'=i_30^post_20, i_94^0'=i_94^post_20, len_132^0'=len_132^post_20, len_183^0'=len_183^post_20, length_29^0'=length_29^post_20, nondet_12^0'=nondet_12^post_20, r_124^0'=r_124^post_20, r_163^0'=r_163^post_20, r_39^0'=r_39^post_20, rcd_58^0'=rcd_58^post_20, rcd_88^0'=rcd_88^post_20, result_11^0'=result_11^post_20, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_20, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_20, t_23^0'=t_23^post_20, temp0_15^0'=temp0_15^post_20, temp0_31^0'=temp0_31^post_20, temp_35^0'=temp_35^post_20, tmp_34^0'=tmp_34^post_20, x_16^0'=x_16^post_20, x_20^0'=x_20^post_20, x_SLAM_f_18^0'=x_SLAM_f_18^post_20, y_19^0'=y_19^post_20, [ 0<=len_132^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_20==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_20 && head_14^post_20==head_14^post_20 && x_16^post_20==x_16^post_20 && ct_17^post_20==ct_17^post_20 && x_SLAM_f_18^post_20==x_SLAM_f_18^post_20 && __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_26^0==__disjvr_26^post_20 && __disjvr_27^0==__disjvr_27^post_20 && __disjvr_28^0==__disjvr_28^post_20 && __disjvr_29^0==__disjvr_29^post_20 && __disjvr_3^0==__disjvr_3^post_20 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_20 && a_147^0==a_147^post_20 && a_184^0==a_184^post_20 && a_215^0==a_215^post_20 && a_237^0==a_237^post_20 && a_260^0==a_260^post_20 && f_170^0==f_170^post_20 && head_129^0==head_129^post_20 && head_175^0==head_175^post_20 && head_27^0==head_27^post_20 && head_32^0==head_32^post_20 && head_SLAM_f_26^0==head_SLAM_f_26^post_20 && i_108^0==i_108^post_20 && i_167^0==i_167^post_20 && i_30^0==i_30^post_20 && i_94^0==i_94^post_20 && len_132^0==len_132^post_20 && len_183^0==len_183^post_20 && length_29^0==length_29^post_20 && nondet_12^0==nondet_12^post_20 && r_124^0==r_124^post_20 && r_163^0==r_163^post_20 && r_39^0==r_39^post_20 && rcd_58^0==rcd_58^post_20 && rcd_88^0==rcd_88^post_20 && result_11^0==result_11^post_20 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_20 && t_23^0==t_23^post_20 && temp0_15^0==temp0_15^post_20 && temp0_31^0==temp0_31^post_20 && temp_35^0==temp_35^post_20 && tmp_34^0==tmp_34^post_20 && x_20^0==x_20^post_20 && y_19^0==y_19^post_20 ], cost: 1
     20: l19 -> l20 : __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_26^0'=__disjvr_26^post_21, __disjvr_27^0'=__disjvr_27^post_21, __disjvr_28^0'=__disjvr_28^post_21, __disjvr_29^0'=__disjvr_29^post_21, __disjvr_2^0'=__disjvr_2^post_21, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_21, a_147^0'=a_147^post_21, a_184^0'=a_184^post_21, a_215^0'=a_215^post_21, a_237^0'=a_237^post_21, a_260^0'=a_260^post_21, ct_17^0'=ct_17^post_21, f_170^0'=f_170^post_21, head_129^0'=head_129^post_21, head_14^0'=head_14^post_21, head_175^0'=head_175^post_21, head_27^0'=head_27^post_21, head_32^0'=head_32^post_21, head_SLAM_f_26^0'=head_SLAM_f_26^post_21, i_108^0'=i_108^post_21, i_167^0'=i_167^post_21, i_30^0'=i_30^post_21, i_94^0'=i_94^post_21, len_132^0'=len_132^post_21, len_183^0'=len_183^post_21, length_29^0'=length_29^post_21, nondet_12^0'=nondet_12^post_21, r_124^0'=r_124^post_21, r_163^0'=r_163^post_21, r_39^0'=r_39^post_21, rcd_58^0'=rcd_58^post_21, rcd_88^0'=rcd_88^post_21, result_11^0'=result_11^post_21, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_21, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_21, t_23^0'=t_23^post_21, temp0_15^0'=temp0_15^post_21, temp0_31^0'=temp0_31^post_21, temp_35^0'=temp_35^post_21, tmp_34^0'=tmp_34^post_21, x_16^0'=x_16^post_21, x_20^0'=x_20^post_21, x_SLAM_f_18^0'=x_SLAM_f_18^post_21, y_19^0'=y_19^post_21, [ __disjvr_9^post_21==__disjvr_9^0 && __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_26^0==__disjvr_26^post_21 && __disjvr_27^0==__disjvr_27^post_21 && __disjvr_28^0==__disjvr_28^post_21 && __disjvr_29^0==__disjvr_29^post_21 && __disjvr_3^0==__disjvr_3^post_21 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_21 && a_147^0==a_147^post_21 && a_184^0==a_184^post_21 && a_215^0==a_215^post_21 && a_237^0==a_237^post_21 && a_260^0==a_260^post_21 && ct_17^0==ct_17^post_21 && f_170^0==f_170^post_21 && head_129^0==head_129^post_21 && head_14^0==head_14^post_21 && head_175^0==head_175^post_21 && head_27^0==head_27^post_21 && head_32^0==head_32^post_21 && head_SLAM_f_26^0==head_SLAM_f_26^post_21 && i_108^0==i_108^post_21 && i_167^0==i_167^post_21 && i_30^0==i_30^post_21 && i_94^0==i_94^post_21 && len_132^0==len_132^post_21 && len_183^0==len_183^post_21 && length_29^0==length_29^post_21 && nondet_12^0==nondet_12^post_21 && r_124^0==r_124^post_21 && r_163^0==r_163^post_21 && r_39^0==r_39^post_21 && rcd_58^0==rcd_58^post_21 && rcd_88^0==rcd_88^post_21 && result_11^0==result_11^post_21 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_21 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_21 && t_23^0==t_23^post_21 && temp0_15^0==temp0_15^post_21 && temp0_31^0==temp0_31^post_21 && temp_35^0==temp_35^post_21 && tmp_34^0==tmp_34^post_21 && x_16^0==x_16^post_21 && x_20^0==x_20^post_21 && x_SLAM_f_18^0==x_SLAM_f_18^post_21 && y_19^0==y_19^post_21 ], cost: 1
     21: l20 -> l21 : __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_26^0'=__disjvr_26^post_22, __disjvr_27^0'=__disjvr_27^post_22, __disjvr_28^0'=__disjvr_28^post_22, __disjvr_29^0'=__disjvr_29^post_22, __disjvr_2^0'=__disjvr_2^post_22, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_22, a_147^0'=a_147^post_22, a_184^0'=a_184^post_22, a_215^0'=a_215^post_22, a_237^0'=a_237^post_22, a_260^0'=a_260^post_22, ct_17^0'=ct_17^post_22, f_170^0'=f_170^post_22, head_129^0'=head_129^post_22, head_14^0'=head_14^post_22, head_175^0'=head_175^post_22, head_27^0'=head_27^post_22, head_32^0'=head_32^post_22, head_SLAM_f_26^0'=head_SLAM_f_26^post_22, i_108^0'=i_108^post_22, i_167^0'=i_167^post_22, i_30^0'=i_30^post_22, i_94^0'=i_94^post_22, len_132^0'=len_132^post_22, len_183^0'=len_183^post_22, length_29^0'=length_29^post_22, nondet_12^0'=nondet_12^post_22, r_124^0'=r_124^post_22, r_163^0'=r_163^post_22, r_39^0'=r_39^post_22, rcd_58^0'=rcd_58^post_22, rcd_88^0'=rcd_88^post_22, result_11^0'=result_11^post_22, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_22, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_22, t_23^0'=t_23^post_22, temp0_15^0'=temp0_15^post_22, temp0_31^0'=temp0_31^post_22, temp_35^0'=temp_35^post_22, tmp_34^0'=tmp_34^post_22, x_16^0'=x_16^post_22, x_20^0'=x_20^post_22, x_SLAM_f_18^0'=x_SLAM_f_18^post_22, y_19^0'=y_19^post_22, [ t_23^post_22==x_20^0 && a_215^post_22==a_215^post_22 && 0<=ct_17^0 && ct_17^0<=0 && 0<=y_19^0 && y_19^0<=0 && 0<=-a_215^post_22+a_237^0 && -a_215^post_22+a_237^0<=0 && head_14^0<=x_16^0 && x_16^0<=head_14^0 && head_14^0<=x_SLAM_f_18^0 && x_SLAM_f_18^0<=head_14^0 && head_14^0<=t_23^post_22 && t_23^post_22<=head_14^0 && x_16^0<=x_SLAM_f_18^0 && x_SLAM_f_18^0<=x_16^0 && ct_17^0<=y_19^0 && y_19^0<=ct_17^0 && a_215^post_22<=a_237^0 && a_237^0<=a_215^post_22 && __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_26^0==__disjvr_26^post_22 && __disjvr_27^0==__disjvr_27^post_22 && __disjvr_28^0==__disjvr_28^post_22 && __disjvr_29^0==__disjvr_29^post_22 && __disjvr_3^0==__disjvr_3^post_22 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_22 && a_147^0==a_147^post_22 && a_184^0==a_184^post_22 && a_237^0==a_237^post_22 && a_260^0==a_260^post_22 && ct_17^0==ct_17^post_22 && f_170^0==f_170^post_22 && head_129^0==head_129^post_22 && head_14^0==head_14^post_22 && head_175^0==head_175^post_22 && head_27^0==head_27^post_22 && head_32^0==head_32^post_22 && head_SLAM_f_26^0==head_SLAM_f_26^post_22 && i_108^0==i_108^post_22 && i_167^0==i_167^post_22 && i_30^0==i_30^post_22 && i_94^0==i_94^post_22 && len_132^0==len_132^post_22 && len_183^0==len_183^post_22 && length_29^0==length_29^post_22 && nondet_12^0==nondet_12^post_22 && r_124^0==r_124^post_22 && r_163^0==r_163^post_22 && r_39^0==r_39^post_22 && rcd_58^0==rcd_58^post_22 && rcd_88^0==rcd_88^post_22 && result_11^0==result_11^post_22 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_22 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_22 && temp0_15^0==temp0_15^post_22 && temp0_31^0==temp0_31^post_22 && temp_35^0==temp_35^post_22 && tmp_34^0==tmp_34^post_22 && x_16^0==x_16^post_22 && x_20^0==x_20^post_22 && x_SLAM_f_18^0==x_SLAM_f_18^post_22 && y_19^0==y_19^post_22 ], cost: 1
     22: l21 -> l22 : __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_26^0'=__disjvr_26^post_23, __disjvr_27^0'=__disjvr_27^post_23, __disjvr_28^0'=__disjvr_28^post_23, __disjvr_29^0'=__disjvr_29^post_23, __disjvr_2^0'=__disjvr_2^post_23, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_23, a_147^0'=a_147^post_23, a_184^0'=a_184^post_23, a_215^0'=a_215^post_23, a_237^0'=a_237^post_23, a_260^0'=a_260^post_23, ct_17^0'=ct_17^post_23, f_170^0'=f_170^post_23, head_129^0'=head_129^post_23, head_14^0'=head_14^post_23, head_175^0'=head_175^post_23, head_27^0'=head_27^post_23, head_32^0'=head_32^post_23, head_SLAM_f_26^0'=head_SLAM_f_26^post_23, i_108^0'=i_108^post_23, i_167^0'=i_167^post_23, i_30^0'=i_30^post_23, i_94^0'=i_94^post_23, len_132^0'=len_132^post_23, len_183^0'=len_183^post_23, length_29^0'=length_29^post_23, nondet_12^0'=nondet_12^post_23, r_124^0'=r_124^post_23, r_163^0'=r_163^post_23, r_39^0'=r_39^post_23, rcd_58^0'=rcd_58^post_23, rcd_88^0'=rcd_88^post_23, result_11^0'=result_11^post_23, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_23, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_23, t_23^0'=t_23^post_23, temp0_15^0'=temp0_15^post_23, temp0_31^0'=temp0_31^post_23, temp_35^0'=temp_35^post_23, tmp_34^0'=tmp_34^post_23, x_16^0'=x_16^post_23, x_20^0'=x_20^post_23, x_SLAM_f_18^0'=x_SLAM_f_18^post_23, y_19^0'=y_19^post_23, [ __disjvr_10^post_23==__disjvr_10^0 && __disjvr_0^0==__disjvr_0^post_23 && __disjvr_1^0==__disjvr_1^post_23 && __disjvr_10^0==__disjvr_10^post_23 && __disjvr_11^0==__disjvr_11^post_23 && __disjvr_12^0==__disjvr_12^post_23 && __disjvr_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_26^0==__disjvr_26^post_23 && __disjvr_27^0==__disjvr_27^post_23 && __disjvr_28^0==__disjvr_28^post_23 && __disjvr_29^0==__disjvr_29^post_23 && __disjvr_3^0==__disjvr_3^post_23 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_23 && a_147^0==a_147^post_23 && a_184^0==a_184^post_23 && a_215^0==a_215^post_23 && a_237^0==a_237^post_23 && a_260^0==a_260^post_23 && ct_17^0==ct_17^post_23 && f_170^0==f_170^post_23 && head_129^0==head_129^post_23 && head_14^0==head_14^post_23 && head_175^0==head_175^post_23 && head_27^0==head_27^post_23 && head_32^0==head_32^post_23 && head_SLAM_f_26^0==head_SLAM_f_26^post_23 && i_108^0==i_108^post_23 && i_167^0==i_167^post_23 && i_30^0==i_30^post_23 && i_94^0==i_94^post_23 && len_132^0==len_132^post_23 && len_183^0==len_183^post_23 && length_29^0==length_29^post_23 && nondet_12^0==nondet_12^post_23 && r_124^0==r_124^post_23 && r_163^0==r_163^post_23 && r_39^0==r_39^post_23 && rcd_58^0==rcd_58^post_23 && rcd_88^0==rcd_88^post_23 && result_11^0==result_11^post_23 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_23 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_23 && t_23^0==t_23^post_23 && temp0_15^0==temp0_15^post_23 && temp0_31^0==temp0_31^post_23 && temp_35^0==temp_35^post_23 && tmp_34^0==tmp_34^post_23 && x_16^0==x_16^post_23 && x_20^0==x_20^post_23 && x_SLAM_f_18^0==x_SLAM_f_18^post_23 && y_19^0==y_19^post_23 ], cost: 1
     23: l22 -> 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_26^0'=__disjvr_26^post_24, __disjvr_27^0'=__disjvr_27^post_24, __disjvr_28^0'=__disjvr_28^post_24, __disjvr_29^0'=__disjvr_29^post_24, __disjvr_2^0'=__disjvr_2^post_24, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_24, a_147^0'=a_147^post_24, a_184^0'=a_184^post_24, a_215^0'=a_215^post_24, a_237^0'=a_237^post_24, a_260^0'=a_260^post_24, ct_17^0'=ct_17^post_24, f_170^0'=f_170^post_24, head_129^0'=head_129^post_24, head_14^0'=head_14^post_24, head_175^0'=head_175^post_24, head_27^0'=head_27^post_24, head_32^0'=head_32^post_24, head_SLAM_f_26^0'=head_SLAM_f_26^post_24, i_108^0'=i_108^post_24, i_167^0'=i_167^post_24, i_30^0'=i_30^post_24, i_94^0'=i_94^post_24, len_132^0'=len_132^post_24, len_183^0'=len_183^post_24, length_29^0'=length_29^post_24, nondet_12^0'=nondet_12^post_24, r_124^0'=r_124^post_24, r_163^0'=r_163^post_24, r_39^0'=r_39^post_24, rcd_58^0'=rcd_58^post_24, rcd_88^0'=rcd_88^post_24, result_11^0'=result_11^post_24, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_24, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_24, t_23^0'=t_23^post_24, temp0_15^0'=temp0_15^post_24, temp0_31^0'=temp0_31^post_24, temp_35^0'=temp_35^post_24, tmp_34^0'=tmp_34^post_24, x_16^0'=x_16^post_24, x_20^0'=x_20^post_24, x_SLAM_f_18^0'=x_SLAM_f_18^post_24, y_19^0'=y_19^post_24, [ __disjvr_11^post_24==__disjvr_11^0 && __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_26^0==__disjvr_26^post_24 && __disjvr_27^0==__disjvr_27^post_24 && __disjvr_28^0==__disjvr_28^post_24 && __disjvr_29^0==__disjvr_29^post_24 && __disjvr_3^0==__disjvr_3^post_24 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_24 && a_147^0==a_147^post_24 && a_184^0==a_184^post_24 && a_215^0==a_215^post_24 && a_237^0==a_237^post_24 && a_260^0==a_260^post_24 && ct_17^0==ct_17^post_24 && f_170^0==f_170^post_24 && head_129^0==head_129^post_24 && head_14^0==head_14^post_24 && head_175^0==head_175^post_24 && head_27^0==head_27^post_24 && head_32^0==head_32^post_24 && head_SLAM_f_26^0==head_SLAM_f_26^post_24 && i_108^0==i_108^post_24 && i_167^0==i_167^post_24 && i_30^0==i_30^post_24 && i_94^0==i_94^post_24 && len_132^0==len_132^post_24 && len_183^0==len_183^post_24 && length_29^0==length_29^post_24 && nondet_12^0==nondet_12^post_24 && r_124^0==r_124^post_24 && r_163^0==r_163^post_24 && r_39^0==r_39^post_24 && rcd_58^0==rcd_58^post_24 && rcd_88^0==rcd_88^post_24 && result_11^0==result_11^post_24 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_24 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_24 && t_23^0==t_23^post_24 && temp0_15^0==temp0_15^post_24 && temp0_31^0==temp0_31^post_24 && temp_35^0==temp_35^post_24 && tmp_34^0==tmp_34^post_24 && x_16^0==x_16^post_24 && x_20^0==x_20^post_24 && x_SLAM_f_18^0==x_SLAM_f_18^post_24 && y_19^0==y_19^post_24 ], cost: 1
     24: l23 -> l24 : __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_26^0'=__disjvr_26^post_25, __disjvr_27^0'=__disjvr_27^post_25, __disjvr_28^0'=__disjvr_28^post_25, __disjvr_29^0'=__disjvr_29^post_25, __disjvr_2^0'=__disjvr_2^post_25, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_25, a_147^0'=a_147^post_25, a_184^0'=a_184^post_25, a_215^0'=a_215^post_25, a_237^0'=a_237^post_25, a_260^0'=a_260^post_25, ct_17^0'=ct_17^post_25, f_170^0'=f_170^post_25, head_129^0'=head_129^post_25, head_14^0'=head_14^post_25, head_175^0'=head_175^post_25, head_27^0'=head_27^post_25, head_32^0'=head_32^post_25, head_SLAM_f_26^0'=head_SLAM_f_26^post_25, i_108^0'=i_108^post_25, i_167^0'=i_167^post_25, i_30^0'=i_30^post_25, i_94^0'=i_94^post_25, len_132^0'=len_132^post_25, len_183^0'=len_183^post_25, length_29^0'=length_29^post_25, nondet_12^0'=nondet_12^post_25, r_124^0'=r_124^post_25, r_163^0'=r_163^post_25, r_39^0'=r_39^post_25, rcd_58^0'=rcd_58^post_25, rcd_88^0'=rcd_88^post_25, result_11^0'=result_11^post_25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_25, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_25, t_23^0'=t_23^post_25, temp0_15^0'=temp0_15^post_25, temp0_31^0'=temp0_31^post_25, temp_35^0'=temp_35^post_25, tmp_34^0'=tmp_34^post_25, x_16^0'=x_16^post_25, x_20^0'=x_20^post_25, x_SLAM_f_18^0'=x_SLAM_f_18^post_25, y_19^0'=y_19^post_25, [ __disjvr_12^post_25==__disjvr_12^0 && __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_26^0==__disjvr_26^post_25 && __disjvr_27^0==__disjvr_27^post_25 && __disjvr_28^0==__disjvr_28^post_25 && __disjvr_29^0==__disjvr_29^post_25 && __disjvr_3^0==__disjvr_3^post_25 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_25 && a_147^0==a_147^post_25 && a_184^0==a_184^post_25 && a_215^0==a_215^post_25 && a_237^0==a_237^post_25 && a_260^0==a_260^post_25 && ct_17^0==ct_17^post_25 && f_170^0==f_170^post_25 && head_129^0==head_129^post_25 && head_14^0==head_14^post_25 && head_175^0==head_175^post_25 && head_27^0==head_27^post_25 && head_32^0==head_32^post_25 && head_SLAM_f_26^0==head_SLAM_f_26^post_25 && i_108^0==i_108^post_25 && i_167^0==i_167^post_25 && i_30^0==i_30^post_25 && i_94^0==i_94^post_25 && len_132^0==len_132^post_25 && len_183^0==len_183^post_25 && length_29^0==length_29^post_25 && nondet_12^0==nondet_12^post_25 && r_124^0==r_124^post_25 && r_163^0==r_163^post_25 && r_39^0==r_39^post_25 && rcd_58^0==rcd_58^post_25 && rcd_88^0==rcd_88^post_25 && result_11^0==result_11^post_25 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_25 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_25 && t_23^0==t_23^post_25 && temp0_15^0==temp0_15^post_25 && temp0_31^0==temp0_31^post_25 && temp_35^0==temp_35^post_25 && tmp_34^0==tmp_34^post_25 && x_16^0==x_16^post_25 && x_20^0==x_20^post_25 && x_SLAM_f_18^0==x_SLAM_f_18^post_25 && y_19^0==y_19^post_25 ], cost: 1
     25: l24 -> l0 : __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_26^0'=__disjvr_26^post_26, __disjvr_27^0'=__disjvr_27^post_26, __disjvr_28^0'=__disjvr_28^post_26, __disjvr_29^0'=__disjvr_29^post_26, __disjvr_2^0'=__disjvr_2^post_26, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_26, a_147^0'=a_147^post_26, a_184^0'=a_184^post_26, a_215^0'=a_215^post_26, a_237^0'=a_237^post_26, a_260^0'=a_260^post_26, ct_17^0'=ct_17^post_26, f_170^0'=f_170^post_26, head_129^0'=head_129^post_26, head_14^0'=head_14^post_26, head_175^0'=head_175^post_26, head_27^0'=head_27^post_26, head_32^0'=head_32^post_26, head_SLAM_f_26^0'=head_SLAM_f_26^post_26, i_108^0'=i_108^post_26, i_167^0'=i_167^post_26, i_30^0'=i_30^post_26, i_94^0'=i_94^post_26, len_132^0'=len_132^post_26, len_183^0'=len_183^post_26, length_29^0'=length_29^post_26, nondet_12^0'=nondet_12^post_26, r_124^0'=r_124^post_26, r_163^0'=r_163^post_26, r_39^0'=r_39^post_26, rcd_58^0'=rcd_58^post_26, rcd_88^0'=rcd_88^post_26, result_11^0'=result_11^post_26, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_26, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_26, t_23^0'=t_23^post_26, temp0_15^0'=temp0_15^post_26, temp0_31^0'=temp0_31^post_26, temp_35^0'=temp_35^post_26, tmp_34^0'=tmp_34^post_26, x_16^0'=x_16^post_26, x_20^0'=x_20^post_26, x_SLAM_f_18^0'=x_SLAM_f_18^post_26, y_19^0'=y_19^post_26, [ 1<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && len_132^post_26==len_132^post_26 && -1+len_132^post_26<=a_215^0 && a_215^0<=-1+len_132^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_26^0==__disjvr_26^post_26 && __disjvr_27^0==__disjvr_27^post_26 && __disjvr_28^0==__disjvr_28^post_26 && __disjvr_29^0==__disjvr_29^post_26 && __disjvr_3^0==__disjvr_3^post_26 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_26 && a_147^0==a_147^post_26 && a_184^0==a_184^post_26 && a_215^0==a_215^post_26 && a_237^0==a_237^post_26 && a_260^0==a_260^post_26 && ct_17^0==ct_17^post_26 && f_170^0==f_170^post_26 && head_129^0==head_129^post_26 && head_14^0==head_14^post_26 && head_175^0==head_175^post_26 && head_27^0==head_27^post_26 && head_32^0==head_32^post_26 && head_SLAM_f_26^0==head_SLAM_f_26^post_26 && i_108^0==i_108^post_26 && i_167^0==i_167^post_26 && i_30^0==i_30^post_26 && i_94^0==i_94^post_26 && len_183^0==len_183^post_26 && length_29^0==length_29^post_26 && nondet_12^0==nondet_12^post_26 && r_124^0==r_124^post_26 && r_163^0==r_163^post_26 && r_39^0==r_39^post_26 && rcd_58^0==rcd_58^post_26 && rcd_88^0==rcd_88^post_26 && result_11^0==result_11^post_26 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_26 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_26 && t_23^0==t_23^post_26 && temp0_15^0==temp0_15^post_26 && temp0_31^0==temp0_31^post_26 && temp_35^0==temp_35^post_26 && tmp_34^0==tmp_34^post_26 && x_16^0==x_16^post_26 && x_20^0==x_20^post_26 && x_SLAM_f_18^0==x_SLAM_f_18^post_26 && y_19^0==y_19^post_26 ], cost: 1
     26: l25 -> l26 : __disjvr_0^0'=__disjvr_0^post_27, __disjvr_10^0'=__disjvr_10^post_27, __disjvr_11^0'=__disjvr_11^post_27, __disjvr_12^0'=__disjvr_12^post_27, __disjvr_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_26^0'=__disjvr_26^post_27, __disjvr_27^0'=__disjvr_27^post_27, __disjvr_28^0'=__disjvr_28^post_27, __disjvr_29^0'=__disjvr_29^post_27, __disjvr_2^0'=__disjvr_2^post_27, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_27, a_147^0'=a_147^post_27, a_184^0'=a_184^post_27, a_215^0'=a_215^post_27, a_237^0'=a_237^post_27, a_260^0'=a_260^post_27, ct_17^0'=ct_17^post_27, f_170^0'=f_170^post_27, head_129^0'=head_129^post_27, head_14^0'=head_14^post_27, head_175^0'=head_175^post_27, head_27^0'=head_27^post_27, head_32^0'=head_32^post_27, head_SLAM_f_26^0'=head_SLAM_f_26^post_27, i_108^0'=i_108^post_27, i_167^0'=i_167^post_27, i_30^0'=i_30^post_27, i_94^0'=i_94^post_27, len_132^0'=len_132^post_27, len_183^0'=len_183^post_27, length_29^0'=length_29^post_27, nondet_12^0'=nondet_12^post_27, r_124^0'=r_124^post_27, r_163^0'=r_163^post_27, r_39^0'=r_39^post_27, rcd_58^0'=rcd_58^post_27, rcd_88^0'=rcd_88^post_27, result_11^0'=result_11^post_27, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_27, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_27, t_23^0'=t_23^post_27, temp0_15^0'=temp0_15^post_27, temp0_31^0'=temp0_31^post_27, temp_35^0'=temp_35^post_27, tmp_34^0'=tmp_34^post_27, x_16^0'=x_16^post_27, x_20^0'=x_20^post_27, x_SLAM_f_18^0'=x_SLAM_f_18^post_27, y_19^0'=y_19^post_27, [ result_dot_nondet_sdv_special_RETURN_VALUE_13^1_1==result_dot_nondet_sdv_special_RETURN_VALUE_13^1_1 && length_29^0<=i_30^0 && temp0_31^1_1==head_32^0 && result_11^1_1==temp0_31^1_1 && length_29^post_27==length_29^post_27 && i_30^post_27==i_30^post_27 && temp0_31^post_27==temp0_31^post_27 && head_32^post_27==head_32^post_27 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_27==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_27 && tmp_34^post_27==tmp_34^post_27 && temp_35^post_27==temp_35^post_27 && head_14^1_1==result_11^1_1 && result_11^post_27==result_11^post_27 && head_SLAM_f_26^1_1==head_14^1_1 && head_27^post_27==head_SLAM_f_26^1_1 && 1<=result_dot_nondet_sdv_special_RETURN_VALUE_13^1_1 && result_dot_nondet_sdv_special_RETURN_VALUE_13^1_1<=1 && head_14^1_1<=head_SLAM_f_26^1_1 && head_SLAM_f_26^1_1<=head_14^1_1 && head_14^1_1<=head_27^post_27 && head_27^post_27<=head_14^1_1 && head_SLAM_f_26^1_1<=head_27^post_27 && head_27^post_27<=head_SLAM_f_26^1_1 && 1<=result_dot_nondet_sdv_special_RETURN_VALUE_13^1_1 && result_dot_nondet_sdv_special_RETURN_VALUE_13^1_1<=1 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_27==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_27 && head_14^post_27==head_14^post_27 && head_SLAM_f_26^post_27==head_SLAM_f_26^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_26^0==__disjvr_26^post_27 && __disjvr_27^0==__disjvr_27^post_27 && __disjvr_28^0==__disjvr_28^post_27 && __disjvr_29^0==__disjvr_29^post_27 && __disjvr_3^0==__disjvr_3^post_27 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_27 && a_147^0==a_147^post_27 && a_184^0==a_184^post_27 && a_215^0==a_215^post_27 && a_237^0==a_237^post_27 && a_260^0==a_260^post_27 && ct_17^0==ct_17^post_27 && f_170^0==f_170^post_27 && head_129^0==head_129^post_27 && head_175^0==head_175^post_27 && i_108^0==i_108^post_27 && i_167^0==i_167^post_27 && i_94^0==i_94^post_27 && len_132^0==len_132^post_27 && len_183^0==len_183^post_27 && nondet_12^0==nondet_12^post_27 && r_124^0==r_124^post_27 && r_163^0==r_163^post_27 && r_39^0==r_39^post_27 && rcd_58^0==rcd_58^post_27 && rcd_88^0==rcd_88^post_27 && t_23^0==t_23^post_27 && temp0_15^0==temp0_15^post_27 && x_16^0==x_16^post_27 && x_20^0==x_20^post_27 && x_SLAM_f_18^0==x_SLAM_f_18^post_27 && y_19^0==y_19^post_27 ], cost: 1
     39: l25 -> l38 : __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_26^0'=__disjvr_26^post_40, __disjvr_27^0'=__disjvr_27^post_40, __disjvr_28^0'=__disjvr_28^post_40, __disjvr_29^0'=__disjvr_29^post_40, __disjvr_2^0'=__disjvr_2^post_40, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_40, a_147^0'=a_147^post_40, a_184^0'=a_184^post_40, a_215^0'=a_215^post_40, a_237^0'=a_237^post_40, a_260^0'=a_260^post_40, ct_17^0'=ct_17^post_40, f_170^0'=f_170^post_40, head_129^0'=head_129^post_40, head_14^0'=head_14^post_40, head_175^0'=head_175^post_40, head_27^0'=head_27^post_40, head_32^0'=head_32^post_40, head_SLAM_f_26^0'=head_SLAM_f_26^post_40, i_108^0'=i_108^post_40, i_167^0'=i_167^post_40, i_30^0'=i_30^post_40, i_94^0'=i_94^post_40, len_132^0'=len_132^post_40, len_183^0'=len_183^post_40, length_29^0'=length_29^post_40, nondet_12^0'=nondet_12^post_40, r_124^0'=r_124^post_40, r_163^0'=r_163^post_40, r_39^0'=r_39^post_40, rcd_58^0'=rcd_58^post_40, rcd_88^0'=rcd_88^post_40, result_11^0'=result_11^post_40, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_40, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_40, t_23^0'=t_23^post_40, temp0_15^0'=temp0_15^post_40, temp0_31^0'=temp0_31^post_40, temp_35^0'=temp_35^post_40, tmp_34^0'=tmp_34^post_40, x_16^0'=x_16^post_40, x_20^0'=x_20^post_40, x_SLAM_f_18^0'=x_SLAM_f_18^post_40, y_19^0'=y_19^post_40, [ result_dot_nondet_sdv_special_RETURN_VALUE_13^post_40==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_40 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_40==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_40 && rcd_58^post_40==rcd_58^post_40 && 1+i_30^0<=length_29^0 && tmp_34^post_40==temp_35^0 && temp_35^post_40==temp_35^post_40 && head_32^post_40==tmp_34^post_40 && i_30^post_40==1+i_30^0 && 2<=i_30^post_40 && i_30^post_40<=2 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_40<=length_29^0 && length_29^0<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_40 && head_32^post_40<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_40 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_40<=head_32^post_40 && head_32^post_40<=tmp_34^post_40 && tmp_34^post_40<=head_32^post_40 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_40<=tmp_34^post_40 && tmp_34^post_40<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_40 && 1<=length_29^0 && 2<=length_29^0 && __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_26^0==__disjvr_26^post_40 && __disjvr_27^0==__disjvr_27^post_40 && __disjvr_28^0==__disjvr_28^post_40 && __disjvr_29^0==__disjvr_29^post_40 && __disjvr_3^0==__disjvr_3^post_40 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_40 && a_147^0==a_147^post_40 && a_184^0==a_184^post_40 && a_215^0==a_215^post_40 && a_237^0==a_237^post_40 && a_260^0==a_260^post_40 && ct_17^0==ct_17^post_40 && f_170^0==f_170^post_40 && head_129^0==head_129^post_40 && head_14^0==head_14^post_40 && head_175^0==head_175^post_40 && head_27^0==head_27^post_40 && head_SLAM_f_26^0==head_SLAM_f_26^post_40 && i_108^0==i_108^post_40 && i_167^0==i_167^post_40 && i_94^0==i_94^post_40 && len_132^0==len_132^post_40 && len_183^0==len_183^post_40 && length_29^0==length_29^post_40 && nondet_12^0==nondet_12^post_40 && r_124^0==r_124^post_40 && r_163^0==r_163^post_40 && r_39^0==r_39^post_40 && rcd_88^0==rcd_88^post_40 && result_11^0==result_11^post_40 && t_23^0==t_23^post_40 && temp0_15^0==temp0_15^post_40 && temp0_31^0==temp0_31^post_40 && x_16^0==x_16^post_40 && x_20^0==x_20^post_40 && x_SLAM_f_18^0==x_SLAM_f_18^post_40 && y_19^0==y_19^post_40 ], 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_26^0'=__disjvr_26^post_28, __disjvr_27^0'=__disjvr_27^post_28, __disjvr_28^0'=__disjvr_28^post_28, __disjvr_29^0'=__disjvr_29^post_28, __disjvr_2^0'=__disjvr_2^post_28, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_28, a_147^0'=a_147^post_28, a_184^0'=a_184^post_28, a_215^0'=a_215^post_28, a_237^0'=a_237^post_28, a_260^0'=a_260^post_28, ct_17^0'=ct_17^post_28, f_170^0'=f_170^post_28, head_129^0'=head_129^post_28, head_14^0'=head_14^post_28, head_175^0'=head_175^post_28, head_27^0'=head_27^post_28, head_32^0'=head_32^post_28, head_SLAM_f_26^0'=head_SLAM_f_26^post_28, i_108^0'=i_108^post_28, i_167^0'=i_167^post_28, i_30^0'=i_30^post_28, i_94^0'=i_94^post_28, len_132^0'=len_132^post_28, len_183^0'=len_183^post_28, length_29^0'=length_29^post_28, nondet_12^0'=nondet_12^post_28, r_124^0'=r_124^post_28, r_163^0'=r_163^post_28, r_39^0'=r_39^post_28, rcd_58^0'=rcd_58^post_28, rcd_88^0'=rcd_88^post_28, result_11^0'=result_11^post_28, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_28, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_28, t_23^0'=t_23^post_28, temp0_15^0'=temp0_15^post_28, temp0_31^0'=temp0_31^post_28, temp_35^0'=temp_35^post_28, tmp_34^0'=tmp_34^post_28, x_16^0'=x_16^post_28, x_20^0'=x_20^post_28, x_SLAM_f_18^0'=x_SLAM_f_18^post_28, y_19^0'=y_19^post_28, [ __disjvr_13^post_28==__disjvr_13^0 && __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_26^0==__disjvr_26^post_28 && __disjvr_27^0==__disjvr_27^post_28 && __disjvr_28^0==__disjvr_28^post_28 && __disjvr_29^0==__disjvr_29^post_28 && __disjvr_3^0==__disjvr_3^post_28 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_28 && a_147^0==a_147^post_28 && a_184^0==a_184^post_28 && a_215^0==a_215^post_28 && a_237^0==a_237^post_28 && a_260^0==a_260^post_28 && ct_17^0==ct_17^post_28 && f_170^0==f_170^post_28 && head_129^0==head_129^post_28 && head_14^0==head_14^post_28 && head_175^0==head_175^post_28 && head_27^0==head_27^post_28 && head_32^0==head_32^post_28 && head_SLAM_f_26^0==head_SLAM_f_26^post_28 && i_108^0==i_108^post_28 && i_167^0==i_167^post_28 && i_30^0==i_30^post_28 && i_94^0==i_94^post_28 && len_132^0==len_132^post_28 && len_183^0==len_183^post_28 && length_29^0==length_29^post_28 && nondet_12^0==nondet_12^post_28 && r_124^0==r_124^post_28 && r_163^0==r_163^post_28 && r_39^0==r_39^post_28 && rcd_58^0==rcd_58^post_28 && rcd_88^0==rcd_88^post_28 && result_11^0==result_11^post_28 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_28 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_28 && t_23^0==t_23^post_28 && temp0_15^0==temp0_15^post_28 && temp0_31^0==temp0_31^post_28 && temp_35^0==temp_35^post_28 && tmp_34^0==tmp_34^post_28 && x_16^0==x_16^post_28 && x_20^0==x_20^post_28 && x_SLAM_f_18^0==x_SLAM_f_18^post_28 && y_19^0==y_19^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_26^0'=__disjvr_26^post_29, __disjvr_27^0'=__disjvr_27^post_29, __disjvr_28^0'=__disjvr_28^post_29, __disjvr_29^0'=__disjvr_29^post_29, __disjvr_2^0'=__disjvr_2^post_29, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_29, a_147^0'=a_147^post_29, a_184^0'=a_184^post_29, a_215^0'=a_215^post_29, a_237^0'=a_237^post_29, a_260^0'=a_260^post_29, ct_17^0'=ct_17^post_29, f_170^0'=f_170^post_29, head_129^0'=head_129^post_29, head_14^0'=head_14^post_29, head_175^0'=head_175^post_29, head_27^0'=head_27^post_29, head_32^0'=head_32^post_29, head_SLAM_f_26^0'=head_SLAM_f_26^post_29, i_108^0'=i_108^post_29, i_167^0'=i_167^post_29, i_30^0'=i_30^post_29, i_94^0'=i_94^post_29, len_132^0'=len_132^post_29, len_183^0'=len_183^post_29, length_29^0'=length_29^post_29, nondet_12^0'=nondet_12^post_29, r_124^0'=r_124^post_29, r_163^0'=r_163^post_29, r_39^0'=r_39^post_29, rcd_58^0'=rcd_58^post_29, rcd_88^0'=rcd_88^post_29, result_11^0'=result_11^post_29, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_29, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_29, t_23^0'=t_23^post_29, temp0_15^0'=temp0_15^post_29, temp0_31^0'=temp0_31^post_29, temp_35^0'=temp_35^post_29, tmp_34^0'=tmp_34^post_29, x_16^0'=x_16^post_29, x_20^0'=x_20^post_29, x_SLAM_f_18^0'=x_SLAM_f_18^post_29, y_19^0'=y_19^post_29, [ 0<=head_27^0 && head_27^0<=0 && 1<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0<=1 && head_14^0<=head_SLAM_f_26^0 && head_SLAM_f_26^0<=head_14^0 && __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_26^0==__disjvr_26^post_29 && __disjvr_27^0==__disjvr_27^post_29 && __disjvr_28^0==__disjvr_28^post_29 && __disjvr_29^0==__disjvr_29^post_29 && __disjvr_3^0==__disjvr_3^post_29 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_29 && a_147^0==a_147^post_29 && a_184^0==a_184^post_29 && a_215^0==a_215^post_29 && a_237^0==a_237^post_29 && a_260^0==a_260^post_29 && ct_17^0==ct_17^post_29 && f_170^0==f_170^post_29 && head_129^0==head_129^post_29 && head_14^0==head_14^post_29 && head_175^0==head_175^post_29 && head_27^0==head_27^post_29 && head_32^0==head_32^post_29 && head_SLAM_f_26^0==head_SLAM_f_26^post_29 && i_108^0==i_108^post_29 && i_167^0==i_167^post_29 && i_30^0==i_30^post_29 && i_94^0==i_94^post_29 && len_132^0==len_132^post_29 && len_183^0==len_183^post_29 && length_29^0==length_29^post_29 && nondet_12^0==nondet_12^post_29 && r_124^0==r_124^post_29 && r_163^0==r_163^post_29 && r_39^0==r_39^post_29 && rcd_58^0==rcd_58^post_29 && rcd_88^0==rcd_88^post_29 && result_11^0==result_11^post_29 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_29 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_29 && t_23^0==t_23^post_29 && temp0_15^0==temp0_15^post_29 && temp0_31^0==temp0_31^post_29 && temp_35^0==temp_35^post_29 && tmp_34^0==tmp_34^post_29 && x_16^0==x_16^post_29 && x_20^0==x_20^post_29 && x_SLAM_f_18^0==x_SLAM_f_18^post_29 && y_19^0==y_19^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_26^0'=__disjvr_26^post_30, __disjvr_27^0'=__disjvr_27^post_30, __disjvr_28^0'=__disjvr_28^post_30, __disjvr_29^0'=__disjvr_29^post_30, __disjvr_2^0'=__disjvr_2^post_30, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_30, a_147^0'=a_147^post_30, a_184^0'=a_184^post_30, a_215^0'=a_215^post_30, a_237^0'=a_237^post_30, a_260^0'=a_260^post_30, ct_17^0'=ct_17^post_30, f_170^0'=f_170^post_30, head_129^0'=head_129^post_30, head_14^0'=head_14^post_30, head_175^0'=head_175^post_30, head_27^0'=head_27^post_30, head_32^0'=head_32^post_30, head_SLAM_f_26^0'=head_SLAM_f_26^post_30, i_108^0'=i_108^post_30, i_167^0'=i_167^post_30, i_30^0'=i_30^post_30, i_94^0'=i_94^post_30, len_132^0'=len_132^post_30, len_183^0'=len_183^post_30, length_29^0'=length_29^post_30, nondet_12^0'=nondet_12^post_30, r_124^0'=r_124^post_30, r_163^0'=r_163^post_30, r_39^0'=r_39^post_30, rcd_58^0'=rcd_58^post_30, rcd_88^0'=rcd_88^post_30, result_11^0'=result_11^post_30, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_30, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_30, t_23^0'=t_23^post_30, temp0_15^0'=temp0_15^post_30, temp0_31^0'=temp0_31^post_30, temp_35^0'=temp_35^post_30, tmp_34^0'=tmp_34^post_30, x_16^0'=x_16^post_30, x_20^0'=x_20^post_30, x_SLAM_f_18^0'=x_SLAM_f_18^post_30, y_19^0'=y_19^post_30, [ __disjvr_14^post_30==__disjvr_14^0 && __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_26^0==__disjvr_26^post_30 && __disjvr_27^0==__disjvr_27^post_30 && __disjvr_28^0==__disjvr_28^post_30 && __disjvr_29^0==__disjvr_29^post_30 && __disjvr_3^0==__disjvr_3^post_30 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_30 && a_147^0==a_147^post_30 && a_184^0==a_184^post_30 && a_215^0==a_215^post_30 && a_237^0==a_237^post_30 && a_260^0==a_260^post_30 && ct_17^0==ct_17^post_30 && f_170^0==f_170^post_30 && head_129^0==head_129^post_30 && head_14^0==head_14^post_30 && head_175^0==head_175^post_30 && head_27^0==head_27^post_30 && head_32^0==head_32^post_30 && head_SLAM_f_26^0==head_SLAM_f_26^post_30 && i_108^0==i_108^post_30 && i_167^0==i_167^post_30 && i_30^0==i_30^post_30 && i_94^0==i_94^post_30 && len_132^0==len_132^post_30 && len_183^0==len_183^post_30 && length_29^0==length_29^post_30 && nondet_12^0==nondet_12^post_30 && r_124^0==r_124^post_30 && r_163^0==r_163^post_30 && r_39^0==r_39^post_30 && rcd_58^0==rcd_58^post_30 && rcd_88^0==rcd_88^post_30 && result_11^0==result_11^post_30 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_30 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_30 && t_23^0==t_23^post_30 && temp0_15^0==temp0_15^post_30 && temp0_31^0==temp0_31^post_30 && temp_35^0==temp_35^post_30 && tmp_34^0==tmp_34^post_30 && x_16^0==x_16^post_30 && x_20^0==x_20^post_30 && x_SLAM_f_18^0==x_SLAM_f_18^post_30 && y_19^0==y_19^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_26^0'=__disjvr_26^post_31, __disjvr_27^0'=__disjvr_27^post_31, __disjvr_28^0'=__disjvr_28^post_31, __disjvr_29^0'=__disjvr_29^post_31, __disjvr_2^0'=__disjvr_2^post_31, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_31, a_147^0'=a_147^post_31, a_184^0'=a_184^post_31, a_215^0'=a_215^post_31, a_237^0'=a_237^post_31, a_260^0'=a_260^post_31, ct_17^0'=ct_17^post_31, f_170^0'=f_170^post_31, head_129^0'=head_129^post_31, head_14^0'=head_14^post_31, head_175^0'=head_175^post_31, head_27^0'=head_27^post_31, head_32^0'=head_32^post_31, head_SLAM_f_26^0'=head_SLAM_f_26^post_31, i_108^0'=i_108^post_31, i_167^0'=i_167^post_31, i_30^0'=i_30^post_31, i_94^0'=i_94^post_31, len_132^0'=len_132^post_31, len_183^0'=len_183^post_31, length_29^0'=length_29^post_31, nondet_12^0'=nondet_12^post_31, r_124^0'=r_124^post_31, r_163^0'=r_163^post_31, r_39^0'=r_39^post_31, rcd_58^0'=rcd_58^post_31, rcd_88^0'=rcd_88^post_31, result_11^0'=result_11^post_31, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_31, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_31, t_23^0'=t_23^post_31, temp0_15^0'=temp0_15^post_31, temp0_31^0'=temp0_31^post_31, temp_35^0'=temp_35^post_31, tmp_34^0'=tmp_34^post_31, x_16^0'=x_16^post_31, x_20^0'=x_20^post_31, x_SLAM_f_18^0'=x_SLAM_f_18^post_31, y_19^0'=y_19^post_31, [ 1<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0<=1 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_31==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_31 && 0<=head_27^0 && head_27^0<=0 && head_SLAM_f_26^post_31==head_SLAM_f_26^post_31 && head_27^post_31==head_27^post_31 && x_16^post_31==head_14^0 && ct_17^post_31==0 && x_SLAM_f_18^post_31==x_16^post_31 && y_19^post_31==ct_17^post_31 && x_20^post_31==x_SLAM_f_18^post_31 && 0<=ct_17^post_31 && ct_17^post_31<=0 && 0<=y_19^post_31 && y_19^post_31<=0 && 1<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_31 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_31<=1 && head_14^0<=x_16^post_31 && x_16^post_31<=head_14^0 && head_14^0<=x_SLAM_f_18^post_31 && x_SLAM_f_18^post_31<=head_14^0 && head_14^0<=x_20^post_31 && x_20^post_31<=head_14^0 && x_16^post_31<=x_SLAM_f_18^post_31 && x_SLAM_f_18^post_31<=x_16^post_31 && ct_17^post_31<=y_19^post_31 && y_19^post_31<=ct_17^post_31 && x_SLAM_f_18^post_31<=x_20^post_31 && x_20^post_31<=x_SLAM_f_18^post_31 && __disjvr_0^0==__disjvr_0^post_31 && __disjvr_1^0==__disjvr_1^post_31 && __disjvr_10^0==__disjvr_10^post_31 && __disjvr_11^0==__disjvr_11^post_31 && __disjvr_12^0==__disjvr_12^post_31 && __disjvr_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_26^0==__disjvr_26^post_31 && __disjvr_27^0==__disjvr_27^post_31 && __disjvr_28^0==__disjvr_28^post_31 && __disjvr_29^0==__disjvr_29^post_31 && __disjvr_3^0==__disjvr_3^post_31 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_31 && a_147^0==a_147^post_31 && a_184^0==a_184^post_31 && a_215^0==a_215^post_31 && a_237^0==a_237^post_31 && a_260^0==a_260^post_31 && f_170^0==f_170^post_31 && head_129^0==head_129^post_31 && head_14^0==head_14^post_31 && head_175^0==head_175^post_31 && head_32^0==head_32^post_31 && i_108^0==i_108^post_31 && i_167^0==i_167^post_31 && i_30^0==i_30^post_31 && i_94^0==i_94^post_31 && len_132^0==len_132^post_31 && len_183^0==len_183^post_31 && length_29^0==length_29^post_31 && nondet_12^0==nondet_12^post_31 && r_124^0==r_124^post_31 && r_163^0==r_163^post_31 && r_39^0==r_39^post_31 && rcd_58^0==rcd_58^post_31 && rcd_88^0==rcd_88^post_31 && result_11^0==result_11^post_31 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_31 && t_23^0==t_23^post_31 && temp0_15^0==temp0_15^post_31 && temp0_31^0==temp0_31^post_31 && temp_35^0==temp_35^post_31 && tmp_34^0==tmp_34^post_31 ], cost: 1
     31: l30 -> l31 : __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_26^0'=__disjvr_26^post_32, __disjvr_27^0'=__disjvr_27^post_32, __disjvr_28^0'=__disjvr_28^post_32, __disjvr_29^0'=__disjvr_29^post_32, __disjvr_2^0'=__disjvr_2^post_32, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_32, a_147^0'=a_147^post_32, a_184^0'=a_184^post_32, a_215^0'=a_215^post_32, a_237^0'=a_237^post_32, a_260^0'=a_260^post_32, ct_17^0'=ct_17^post_32, f_170^0'=f_170^post_32, head_129^0'=head_129^post_32, head_14^0'=head_14^post_32, head_175^0'=head_175^post_32, head_27^0'=head_27^post_32, head_32^0'=head_32^post_32, head_SLAM_f_26^0'=head_SLAM_f_26^post_32, i_108^0'=i_108^post_32, i_167^0'=i_167^post_32, i_30^0'=i_30^post_32, i_94^0'=i_94^post_32, len_132^0'=len_132^post_32, len_183^0'=len_183^post_32, length_29^0'=length_29^post_32, nondet_12^0'=nondet_12^post_32, r_124^0'=r_124^post_32, r_163^0'=r_163^post_32, r_39^0'=r_39^post_32, rcd_58^0'=rcd_58^post_32, rcd_88^0'=rcd_88^post_32, result_11^0'=result_11^post_32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_32, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_32, t_23^0'=t_23^post_32, temp0_15^0'=temp0_15^post_32, temp0_31^0'=temp0_31^post_32, temp_35^0'=temp_35^post_32, tmp_34^0'=tmp_34^post_32, x_16^0'=x_16^post_32, x_20^0'=x_20^post_32, x_SLAM_f_18^0'=x_SLAM_f_18^post_32, y_19^0'=y_19^post_32, [ __disjvr_15^post_32==__disjvr_15^0 && __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_26^0==__disjvr_26^post_32 && __disjvr_27^0==__disjvr_27^post_32 && __disjvr_28^0==__disjvr_28^post_32 && __disjvr_29^0==__disjvr_29^post_32 && __disjvr_3^0==__disjvr_3^post_32 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_32 && a_147^0==a_147^post_32 && a_184^0==a_184^post_32 && a_215^0==a_215^post_32 && a_237^0==a_237^post_32 && a_260^0==a_260^post_32 && ct_17^0==ct_17^post_32 && f_170^0==f_170^post_32 && head_129^0==head_129^post_32 && head_14^0==head_14^post_32 && head_175^0==head_175^post_32 && head_27^0==head_27^post_32 && head_32^0==head_32^post_32 && head_SLAM_f_26^0==head_SLAM_f_26^post_32 && i_108^0==i_108^post_32 && i_167^0==i_167^post_32 && i_30^0==i_30^post_32 && i_94^0==i_94^post_32 && len_132^0==len_132^post_32 && len_183^0==len_183^post_32 && length_29^0==length_29^post_32 && nondet_12^0==nondet_12^post_32 && r_124^0==r_124^post_32 && r_163^0==r_163^post_32 && r_39^0==r_39^post_32 && rcd_58^0==rcd_58^post_32 && rcd_88^0==rcd_88^post_32 && result_11^0==result_11^post_32 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_32 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_32 && t_23^0==t_23^post_32 && temp0_15^0==temp0_15^post_32 && temp0_31^0==temp0_31^post_32 && temp_35^0==temp_35^post_32 && tmp_34^0==tmp_34^post_32 && x_16^0==x_16^post_32 && x_20^0==x_20^post_32 && x_SLAM_f_18^0==x_SLAM_f_18^post_32 && y_19^0==y_19^post_32 ], cost: 1
     32: l31 -> l32 : __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_26^0'=__disjvr_26^post_33, __disjvr_27^0'=__disjvr_27^post_33, __disjvr_28^0'=__disjvr_28^post_33, __disjvr_29^0'=__disjvr_29^post_33, __disjvr_2^0'=__disjvr_2^post_33, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_33, a_147^0'=a_147^post_33, a_184^0'=a_184^post_33, a_215^0'=a_215^post_33, a_237^0'=a_237^post_33, a_260^0'=a_260^post_33, ct_17^0'=ct_17^post_33, f_170^0'=f_170^post_33, head_129^0'=head_129^post_33, head_14^0'=head_14^post_33, head_175^0'=head_175^post_33, head_27^0'=head_27^post_33, head_32^0'=head_32^post_33, head_SLAM_f_26^0'=head_SLAM_f_26^post_33, i_108^0'=i_108^post_33, i_167^0'=i_167^post_33, i_30^0'=i_30^post_33, i_94^0'=i_94^post_33, len_132^0'=len_132^post_33, len_183^0'=len_183^post_33, length_29^0'=length_29^post_33, nondet_12^0'=nondet_12^post_33, r_124^0'=r_124^post_33, r_163^0'=r_163^post_33, r_39^0'=r_39^post_33, rcd_58^0'=rcd_58^post_33, rcd_88^0'=rcd_88^post_33, result_11^0'=result_11^post_33, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_33, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_33, t_23^0'=t_23^post_33, temp0_15^0'=temp0_15^post_33, temp0_31^0'=temp0_31^post_33, temp_35^0'=temp_35^post_33, tmp_34^0'=tmp_34^post_33, x_16^0'=x_16^post_33, x_20^0'=x_20^post_33, x_SLAM_f_18^0'=x_SLAM_f_18^post_33, y_19^0'=y_19^post_33, [ 1<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0<=1 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_33==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_33 && head_14^post_33==head_14^post_33 && x_16^post_33==x_16^post_33 && ct_17^post_33==ct_17^post_33 && x_SLAM_f_18^post_33==x_SLAM_f_18^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_26^0==__disjvr_26^post_33 && __disjvr_27^0==__disjvr_27^post_33 && __disjvr_28^0==__disjvr_28^post_33 && __disjvr_29^0==__disjvr_29^post_33 && __disjvr_3^0==__disjvr_3^post_33 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_33 && a_147^0==a_147^post_33 && a_184^0==a_184^post_33 && a_215^0==a_215^post_33 && a_237^0==a_237^post_33 && a_260^0==a_260^post_33 && f_170^0==f_170^post_33 && head_129^0==head_129^post_33 && head_175^0==head_175^post_33 && head_27^0==head_27^post_33 && head_32^0==head_32^post_33 && head_SLAM_f_26^0==head_SLAM_f_26^post_33 && i_108^0==i_108^post_33 && i_167^0==i_167^post_33 && i_30^0==i_30^post_33 && i_94^0==i_94^post_33 && len_132^0==len_132^post_33 && len_183^0==len_183^post_33 && length_29^0==length_29^post_33 && nondet_12^0==nondet_12^post_33 && r_124^0==r_124^post_33 && r_163^0==r_163^post_33 && r_39^0==r_39^post_33 && rcd_58^0==rcd_58^post_33 && rcd_88^0==rcd_88^post_33 && result_11^0==result_11^post_33 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_33 && t_23^0==t_23^post_33 && temp0_15^0==temp0_15^post_33 && temp0_31^0==temp0_31^post_33 && temp_35^0==temp_35^post_33 && tmp_34^0==tmp_34^post_33 && x_20^0==x_20^post_33 && y_19^0==y_19^post_33 ], cost: 1
     33: l32 -> l33 : __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_26^0'=__disjvr_26^post_34, __disjvr_27^0'=__disjvr_27^post_34, __disjvr_28^0'=__disjvr_28^post_34, __disjvr_29^0'=__disjvr_29^post_34, __disjvr_2^0'=__disjvr_2^post_34, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_34, a_147^0'=a_147^post_34, a_184^0'=a_184^post_34, a_215^0'=a_215^post_34, a_237^0'=a_237^post_34, a_260^0'=a_260^post_34, ct_17^0'=ct_17^post_34, f_170^0'=f_170^post_34, head_129^0'=head_129^post_34, head_14^0'=head_14^post_34, head_175^0'=head_175^post_34, head_27^0'=head_27^post_34, head_32^0'=head_32^post_34, head_SLAM_f_26^0'=head_SLAM_f_26^post_34, i_108^0'=i_108^post_34, i_167^0'=i_167^post_34, i_30^0'=i_30^post_34, i_94^0'=i_94^post_34, len_132^0'=len_132^post_34, len_183^0'=len_183^post_34, length_29^0'=length_29^post_34, nondet_12^0'=nondet_12^post_34, r_124^0'=r_124^post_34, r_163^0'=r_163^post_34, r_39^0'=r_39^post_34, rcd_58^0'=rcd_58^post_34, rcd_88^0'=rcd_88^post_34, result_11^0'=result_11^post_34, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_34, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_34, t_23^0'=t_23^post_34, temp0_15^0'=temp0_15^post_34, temp0_31^0'=temp0_31^post_34, temp_35^0'=temp_35^post_34, tmp_34^0'=tmp_34^post_34, x_16^0'=x_16^post_34, x_20^0'=x_20^post_34, x_SLAM_f_18^0'=x_SLAM_f_18^post_34, y_19^0'=y_19^post_34, [ __disjvr_16^post_34==__disjvr_16^0 && __disjvr_0^0==__disjvr_0^post_34 && __disjvr_1^0==__disjvr_1^post_34 && __disjvr_10^0==__disjvr_10^post_34 && __disjvr_11^0==__disjvr_11^post_34 && __disjvr_12^0==__disjvr_12^post_34 && __disjvr_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_26^0==__disjvr_26^post_34 && __disjvr_27^0==__disjvr_27^post_34 && __disjvr_28^0==__disjvr_28^post_34 && __disjvr_29^0==__disjvr_29^post_34 && __disjvr_3^0==__disjvr_3^post_34 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_34 && a_147^0==a_147^post_34 && a_184^0==a_184^post_34 && a_215^0==a_215^post_34 && a_237^0==a_237^post_34 && a_260^0==a_260^post_34 && ct_17^0==ct_17^post_34 && f_170^0==f_170^post_34 && head_129^0==head_129^post_34 && head_14^0==head_14^post_34 && head_175^0==head_175^post_34 && head_27^0==head_27^post_34 && head_32^0==head_32^post_34 && head_SLAM_f_26^0==head_SLAM_f_26^post_34 && i_108^0==i_108^post_34 && i_167^0==i_167^post_34 && i_30^0==i_30^post_34 && i_94^0==i_94^post_34 && len_132^0==len_132^post_34 && len_183^0==len_183^post_34 && length_29^0==length_29^post_34 && nondet_12^0==nondet_12^post_34 && r_124^0==r_124^post_34 && r_163^0==r_163^post_34 && r_39^0==r_39^post_34 && rcd_58^0==rcd_58^post_34 && rcd_88^0==rcd_88^post_34 && result_11^0==result_11^post_34 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_34 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_34 && t_23^0==t_23^post_34 && temp0_15^0==temp0_15^post_34 && temp0_31^0==temp0_31^post_34 && temp_35^0==temp_35^post_34 && tmp_34^0==tmp_34^post_34 && x_16^0==x_16^post_34 && x_20^0==x_20^post_34 && x_SLAM_f_18^0==x_SLAM_f_18^post_34 && y_19^0==y_19^post_34 ], cost: 1
     34: l33 -> l34 : __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_26^0'=__disjvr_26^post_35, __disjvr_27^0'=__disjvr_27^post_35, __disjvr_28^0'=__disjvr_28^post_35, __disjvr_29^0'=__disjvr_29^post_35, __disjvr_2^0'=__disjvr_2^post_35, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_35, a_147^0'=a_147^post_35, a_184^0'=a_184^post_35, a_215^0'=a_215^post_35, a_237^0'=a_237^post_35, a_260^0'=a_260^post_35, ct_17^0'=ct_17^post_35, f_170^0'=f_170^post_35, head_129^0'=head_129^post_35, head_14^0'=head_14^post_35, head_175^0'=head_175^post_35, head_27^0'=head_27^post_35, head_32^0'=head_32^post_35, head_SLAM_f_26^0'=head_SLAM_f_26^post_35, i_108^0'=i_108^post_35, i_167^0'=i_167^post_35, i_30^0'=i_30^post_35, i_94^0'=i_94^post_35, len_132^0'=len_132^post_35, len_183^0'=len_183^post_35, length_29^0'=length_29^post_35, nondet_12^0'=nondet_12^post_35, r_124^0'=r_124^post_35, r_163^0'=r_163^post_35, r_39^0'=r_39^post_35, rcd_58^0'=rcd_58^post_35, rcd_88^0'=rcd_88^post_35, result_11^0'=result_11^post_35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_35, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_35, t_23^0'=t_23^post_35, temp0_15^0'=temp0_15^post_35, temp0_31^0'=temp0_31^post_35, temp_35^0'=temp_35^post_35, tmp_34^0'=tmp_34^post_35, x_16^0'=x_16^post_35, x_20^0'=x_20^post_35, x_SLAM_f_18^0'=x_SLAM_f_18^post_35, y_19^0'=y_19^post_35, [ t_23^post_35==x_20^0 && 0<=ct_17^0 && ct_17^0<=0 && 0<=y_19^0 && y_19^0<=0 && 0<=x_20^0 && x_20^0<=0 && 1<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0<=1 && head_14^0<=x_16^0 && x_16^0<=head_14^0 && head_14^0<=x_SLAM_f_18^0 && x_SLAM_f_18^0<=head_14^0 && head_14^0<=t_23^post_35 && t_23^post_35<=head_14^0 && x_16^0<=x_SLAM_f_18^0 && x_SLAM_f_18^0<=x_16^0 && ct_17^0<=y_19^0 && y_19^0<=ct_17^0 && __disjvr_0^0==__disjvr_0^post_35 && __disjvr_1^0==__disjvr_1^post_35 && __disjvr_10^0==__disjvr_10^post_35 && __disjvr_11^0==__disjvr_11^post_35 && __disjvr_12^0==__disjvr_12^post_35 && __disjvr_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_26^0==__disjvr_26^post_35 && __disjvr_27^0==__disjvr_27^post_35 && __disjvr_28^0==__disjvr_28^post_35 && __disjvr_29^0==__disjvr_29^post_35 && __disjvr_3^0==__disjvr_3^post_35 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_35 && a_147^0==a_147^post_35 && a_184^0==a_184^post_35 && a_215^0==a_215^post_35 && a_237^0==a_237^post_35 && a_260^0==a_260^post_35 && ct_17^0==ct_17^post_35 && f_170^0==f_170^post_35 && head_129^0==head_129^post_35 && head_14^0==head_14^post_35 && head_175^0==head_175^post_35 && head_27^0==head_27^post_35 && head_32^0==head_32^post_35 && head_SLAM_f_26^0==head_SLAM_f_26^post_35 && i_108^0==i_108^post_35 && i_167^0==i_167^post_35 && i_30^0==i_30^post_35 && i_94^0==i_94^post_35 && len_132^0==len_132^post_35 && len_183^0==len_183^post_35 && length_29^0==length_29^post_35 && nondet_12^0==nondet_12^post_35 && r_124^0==r_124^post_35 && r_163^0==r_163^post_35 && r_39^0==r_39^post_35 && rcd_58^0==rcd_58^post_35 && rcd_88^0==rcd_88^post_35 && result_11^0==result_11^post_35 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_35 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_35 && temp0_15^0==temp0_15^post_35 && temp0_31^0==temp0_31^post_35 && temp_35^0==temp_35^post_35 && tmp_34^0==tmp_34^post_35 && x_16^0==x_16^post_35 && x_20^0==x_20^post_35 && x_SLAM_f_18^0==x_SLAM_f_18^post_35 && y_19^0==y_19^post_35 ], cost: 1
     35: l34 -> l35 : __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_26^0'=__disjvr_26^post_36, __disjvr_27^0'=__disjvr_27^post_36, __disjvr_28^0'=__disjvr_28^post_36, __disjvr_29^0'=__disjvr_29^post_36, __disjvr_2^0'=__disjvr_2^post_36, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_36, a_147^0'=a_147^post_36, a_184^0'=a_184^post_36, a_215^0'=a_215^post_36, a_237^0'=a_237^post_36, a_260^0'=a_260^post_36, ct_17^0'=ct_17^post_36, f_170^0'=f_170^post_36, head_129^0'=head_129^post_36, head_14^0'=head_14^post_36, head_175^0'=head_175^post_36, head_27^0'=head_27^post_36, head_32^0'=head_32^post_36, head_SLAM_f_26^0'=head_SLAM_f_26^post_36, i_108^0'=i_108^post_36, i_167^0'=i_167^post_36, i_30^0'=i_30^post_36, i_94^0'=i_94^post_36, len_132^0'=len_132^post_36, len_183^0'=len_183^post_36, length_29^0'=length_29^post_36, nondet_12^0'=nondet_12^post_36, r_124^0'=r_124^post_36, r_163^0'=r_163^post_36, r_39^0'=r_39^post_36, rcd_58^0'=rcd_58^post_36, rcd_88^0'=rcd_88^post_36, result_11^0'=result_11^post_36, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_36, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_36, t_23^0'=t_23^post_36, temp0_15^0'=temp0_15^post_36, temp0_31^0'=temp0_31^post_36, temp_35^0'=temp_35^post_36, tmp_34^0'=tmp_34^post_36, x_16^0'=x_16^post_36, x_20^0'=x_20^post_36, x_SLAM_f_18^0'=x_SLAM_f_18^post_36, y_19^0'=y_19^post_36, [ __disjvr_17^post_36==__disjvr_17^0 && __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_26^0==__disjvr_26^post_36 && __disjvr_27^0==__disjvr_27^post_36 && __disjvr_28^0==__disjvr_28^post_36 && __disjvr_29^0==__disjvr_29^post_36 && __disjvr_3^0==__disjvr_3^post_36 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_36 && a_147^0==a_147^post_36 && a_184^0==a_184^post_36 && a_215^0==a_215^post_36 && a_237^0==a_237^post_36 && a_260^0==a_260^post_36 && ct_17^0==ct_17^post_36 && f_170^0==f_170^post_36 && head_129^0==head_129^post_36 && head_14^0==head_14^post_36 && head_175^0==head_175^post_36 && head_27^0==head_27^post_36 && head_32^0==head_32^post_36 && head_SLAM_f_26^0==head_SLAM_f_26^post_36 && i_108^0==i_108^post_36 && i_167^0==i_167^post_36 && i_30^0==i_30^post_36 && i_94^0==i_94^post_36 && len_132^0==len_132^post_36 && len_183^0==len_183^post_36 && length_29^0==length_29^post_36 && nondet_12^0==nondet_12^post_36 && r_124^0==r_124^post_36 && r_163^0==r_163^post_36 && r_39^0==r_39^post_36 && rcd_58^0==rcd_58^post_36 && rcd_88^0==rcd_88^post_36 && result_11^0==result_11^post_36 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_36 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_36 && t_23^0==t_23^post_36 && temp0_15^0==temp0_15^post_36 && temp0_31^0==temp0_31^post_36 && temp_35^0==temp_35^post_36 && tmp_34^0==tmp_34^post_36 && x_16^0==x_16^post_36 && x_20^0==x_20^post_36 && x_SLAM_f_18^0==x_SLAM_f_18^post_36 && y_19^0==y_19^post_36 ], cost: 1
     36: l35 -> l36 : __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_26^0'=__disjvr_26^post_37, __disjvr_27^0'=__disjvr_27^post_37, __disjvr_28^0'=__disjvr_28^post_37, __disjvr_29^0'=__disjvr_29^post_37, __disjvr_2^0'=__disjvr_2^post_37, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_37, a_147^0'=a_147^post_37, a_184^0'=a_184^post_37, a_215^0'=a_215^post_37, a_237^0'=a_237^post_37, a_260^0'=a_260^post_37, ct_17^0'=ct_17^post_37, f_170^0'=f_170^post_37, head_129^0'=head_129^post_37, head_14^0'=head_14^post_37, head_175^0'=head_175^post_37, head_27^0'=head_27^post_37, head_32^0'=head_32^post_37, head_SLAM_f_26^0'=head_SLAM_f_26^post_37, i_108^0'=i_108^post_37, i_167^0'=i_167^post_37, i_30^0'=i_30^post_37, i_94^0'=i_94^post_37, len_132^0'=len_132^post_37, len_183^0'=len_183^post_37, length_29^0'=length_29^post_37, nondet_12^0'=nondet_12^post_37, r_124^0'=r_124^post_37, r_163^0'=r_163^post_37, r_39^0'=r_39^post_37, rcd_58^0'=rcd_58^post_37, rcd_88^0'=rcd_88^post_37, result_11^0'=result_11^post_37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_37, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_37, t_23^0'=t_23^post_37, temp0_15^0'=temp0_15^post_37, temp0_31^0'=temp0_31^post_37, temp_35^0'=temp_35^post_37, tmp_34^0'=tmp_34^post_37, x_16^0'=x_16^post_37, x_20^0'=x_20^post_37, x_SLAM_f_18^0'=x_SLAM_f_18^post_37, y_19^0'=y_19^post_37, [ __disjvr_18^post_37==__disjvr_18^0 && __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_26^0==__disjvr_26^post_37 && __disjvr_27^0==__disjvr_27^post_37 && __disjvr_28^0==__disjvr_28^post_37 && __disjvr_29^0==__disjvr_29^post_37 && __disjvr_3^0==__disjvr_3^post_37 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_37 && a_147^0==a_147^post_37 && a_184^0==a_184^post_37 && a_215^0==a_215^post_37 && a_237^0==a_237^post_37 && a_260^0==a_260^post_37 && ct_17^0==ct_17^post_37 && f_170^0==f_170^post_37 && head_129^0==head_129^post_37 && head_14^0==head_14^post_37 && head_175^0==head_175^post_37 && head_27^0==head_27^post_37 && head_32^0==head_32^post_37 && head_SLAM_f_26^0==head_SLAM_f_26^post_37 && i_108^0==i_108^post_37 && i_167^0==i_167^post_37 && i_30^0==i_30^post_37 && i_94^0==i_94^post_37 && len_132^0==len_132^post_37 && len_183^0==len_183^post_37 && length_29^0==length_29^post_37 && nondet_12^0==nondet_12^post_37 && r_124^0==r_124^post_37 && r_163^0==r_163^post_37 && r_39^0==r_39^post_37 && rcd_58^0==rcd_58^post_37 && rcd_88^0==rcd_88^post_37 && result_11^0==result_11^post_37 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_37 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_37 && t_23^0==t_23^post_37 && temp0_15^0==temp0_15^post_37 && temp0_31^0==temp0_31^post_37 && temp_35^0==temp_35^post_37 && tmp_34^0==tmp_34^post_37 && x_16^0==x_16^post_37 && x_20^0==x_20^post_37 && x_SLAM_f_18^0==x_SLAM_f_18^post_37 && y_19^0==y_19^post_37 ], cost: 1
     37: l36 -> l37 : __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_26^0'=__disjvr_26^post_38, __disjvr_27^0'=__disjvr_27^post_38, __disjvr_28^0'=__disjvr_28^post_38, __disjvr_29^0'=__disjvr_29^post_38, __disjvr_2^0'=__disjvr_2^post_38, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_38, a_147^0'=a_147^post_38, a_184^0'=a_184^post_38, a_215^0'=a_215^post_38, a_237^0'=a_237^post_38, a_260^0'=a_260^post_38, ct_17^0'=ct_17^post_38, f_170^0'=f_170^post_38, head_129^0'=head_129^post_38, head_14^0'=head_14^post_38, head_175^0'=head_175^post_38, head_27^0'=head_27^post_38, head_32^0'=head_32^post_38, head_SLAM_f_26^0'=head_SLAM_f_26^post_38, i_108^0'=i_108^post_38, i_167^0'=i_167^post_38, i_30^0'=i_30^post_38, i_94^0'=i_94^post_38, len_132^0'=len_132^post_38, len_183^0'=len_183^post_38, length_29^0'=length_29^post_38, nondet_12^0'=nondet_12^post_38, r_124^0'=r_124^post_38, r_163^0'=r_163^post_38, r_39^0'=r_39^post_38, rcd_58^0'=rcd_58^post_38, rcd_88^0'=rcd_88^post_38, result_11^0'=result_11^post_38, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_38, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_38, t_23^0'=t_23^post_38, temp0_15^0'=temp0_15^post_38, temp0_31^0'=temp0_31^post_38, temp_35^0'=temp_35^post_38, tmp_34^0'=tmp_34^post_38, x_16^0'=x_16^post_38, x_20^0'=x_20^post_38, x_SLAM_f_18^0'=x_SLAM_f_18^post_38, y_19^0'=y_19^post_38, [ 1<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0<=1 && head_14^post_38==head_14^post_38 && y_19^0<=x_20^0 && x_20^0<=y_19^0 && x_SLAM_f_18^1_3_1==x_SLAM_f_18^1_3_1 && y_19^1_3_1==y_19^1_3_1 && x_20^1_3_1==x_20^1_3_1 && t_23^1_3_1==t_23^1_3_1 && ct_17^1_3==ct_17^1_3 && x_16^post_38==x_16^post_38 && ct_17^post_38==ct_17^post_38 && x_SLAM_f_18^post_38==x_SLAM_f_18^post_38 && y_19^post_38==y_19^post_38 && x_20^post_38==x_20^post_38 && t_23^post_38==t_23^post_38 && result_11^post_38==temp0_15^0 && __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_26^0==__disjvr_26^post_38 && __disjvr_27^0==__disjvr_27^post_38 && __disjvr_28^0==__disjvr_28^post_38 && __disjvr_29^0==__disjvr_29^post_38 && __disjvr_3^0==__disjvr_3^post_38 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_38 && a_147^0==a_147^post_38 && a_184^0==a_184^post_38 && a_215^0==a_215^post_38 && a_237^0==a_237^post_38 && a_260^0==a_260^post_38 && f_170^0==f_170^post_38 && head_129^0==head_129^post_38 && head_175^0==head_175^post_38 && head_27^0==head_27^post_38 && head_32^0==head_32^post_38 && head_SLAM_f_26^0==head_SLAM_f_26^post_38 && i_108^0==i_108^post_38 && i_167^0==i_167^post_38 && i_30^0==i_30^post_38 && i_94^0==i_94^post_38 && len_132^0==len_132^post_38 && len_183^0==len_183^post_38 && length_29^0==length_29^post_38 && nondet_12^0==nondet_12^post_38 && r_124^0==r_124^post_38 && r_163^0==r_163^post_38 && r_39^0==r_39^post_38 && rcd_58^0==rcd_58^post_38 && rcd_88^0==rcd_88^post_38 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_38 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_38 && temp0_15^0==temp0_15^post_38 && temp0_31^0==temp0_31^post_38 && temp_35^0==temp_35^post_38 && tmp_34^0==tmp_34^post_38 ], cost: 1
     38: l37 -> l1 : __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_26^0'=__disjvr_26^post_39, __disjvr_27^0'=__disjvr_27^post_39, __disjvr_28^0'=__disjvr_28^post_39, __disjvr_29^0'=__disjvr_29^post_39, __disjvr_2^0'=__disjvr_2^post_39, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_39, a_147^0'=a_147^post_39, a_184^0'=a_184^post_39, a_215^0'=a_215^post_39, a_237^0'=a_237^post_39, a_260^0'=a_260^post_39, ct_17^0'=ct_17^post_39, f_170^0'=f_170^post_39, head_129^0'=head_129^post_39, head_14^0'=head_14^post_39, head_175^0'=head_175^post_39, head_27^0'=head_27^post_39, head_32^0'=head_32^post_39, head_SLAM_f_26^0'=head_SLAM_f_26^post_39, i_108^0'=i_108^post_39, i_167^0'=i_167^post_39, i_30^0'=i_30^post_39, i_94^0'=i_94^post_39, len_132^0'=len_132^post_39, len_183^0'=len_183^post_39, length_29^0'=length_29^post_39, nondet_12^0'=nondet_12^post_39, r_124^0'=r_124^post_39, r_163^0'=r_163^post_39, r_39^0'=r_39^post_39, rcd_58^0'=rcd_58^post_39, rcd_88^0'=rcd_88^post_39, result_11^0'=result_11^post_39, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_39, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_39, t_23^0'=t_23^post_39, temp0_15^0'=temp0_15^post_39, temp0_31^0'=temp0_31^post_39, temp_35^0'=temp_35^post_39, tmp_34^0'=tmp_34^post_39, x_16^0'=x_16^post_39, x_20^0'=x_20^post_39, x_SLAM_f_18^0'=x_SLAM_f_18^post_39, y_19^0'=y_19^post_39, [ __disjvr_19^post_39==__disjvr_19^0 && __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_26^0==__disjvr_26^post_39 && __disjvr_27^0==__disjvr_27^post_39 && __disjvr_28^0==__disjvr_28^post_39 && __disjvr_29^0==__disjvr_29^post_39 && __disjvr_3^0==__disjvr_3^post_39 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_39 && a_147^0==a_147^post_39 && a_184^0==a_184^post_39 && a_215^0==a_215^post_39 && a_237^0==a_237^post_39 && a_260^0==a_260^post_39 && ct_17^0==ct_17^post_39 && f_170^0==f_170^post_39 && head_129^0==head_129^post_39 && head_14^0==head_14^post_39 && head_175^0==head_175^post_39 && head_27^0==head_27^post_39 && head_32^0==head_32^post_39 && head_SLAM_f_26^0==head_SLAM_f_26^post_39 && i_108^0==i_108^post_39 && i_167^0==i_167^post_39 && i_30^0==i_30^post_39 && i_94^0==i_94^post_39 && len_132^0==len_132^post_39 && len_183^0==len_183^post_39 && length_29^0==length_29^post_39 && nondet_12^0==nondet_12^post_39 && r_124^0==r_124^post_39 && r_163^0==r_163^post_39 && r_39^0==r_39^post_39 && rcd_58^0==rcd_58^post_39 && rcd_88^0==rcd_88^post_39 && result_11^0==result_11^post_39 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_39 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_39 && t_23^0==t_23^post_39 && temp0_15^0==temp0_15^post_39 && temp0_31^0==temp0_31^post_39 && temp_35^0==temp_35^post_39 && tmp_34^0==tmp_34^post_39 && x_16^0==x_16^post_39 && x_20^0==x_20^post_39 && x_SLAM_f_18^0==x_SLAM_f_18^post_39 && y_19^0==y_19^post_39 ], cost: 1
     65: l38 -> l63 : __disjvr_0^0'=__disjvr_0^post_66, __disjvr_10^0'=__disjvr_10^post_66, __disjvr_11^0'=__disjvr_11^post_66, __disjvr_12^0'=__disjvr_12^post_66, __disjvr_13^0'=__disjvr_13^post_66, __disjvr_14^0'=__disjvr_14^post_66, __disjvr_15^0'=__disjvr_15^post_66, __disjvr_16^0'=__disjvr_16^post_66, __disjvr_17^0'=__disjvr_17^post_66, __disjvr_18^0'=__disjvr_18^post_66, __disjvr_19^0'=__disjvr_19^post_66, __disjvr_1^0'=__disjvr_1^post_66, __disjvr_20^0'=__disjvr_20^post_66, __disjvr_21^0'=__disjvr_21^post_66, __disjvr_22^0'=__disjvr_22^post_66, __disjvr_23^0'=__disjvr_23^post_66, __disjvr_24^0'=__disjvr_24^post_66, __disjvr_25^0'=__disjvr_25^post_66, __disjvr_26^0'=__disjvr_26^post_66, __disjvr_27^0'=__disjvr_27^post_66, __disjvr_28^0'=__disjvr_28^post_66, __disjvr_29^0'=__disjvr_29^post_66, __disjvr_2^0'=__disjvr_2^post_66, __disjvr_30^0'=__disjvr_30^post_66, __disjvr_3^0'=__disjvr_3^post_66, __disjvr_4^0'=__disjvr_4^post_66, __disjvr_5^0'=__disjvr_5^post_66, __disjvr_6^0'=__disjvr_6^post_66, __disjvr_7^0'=__disjvr_7^post_66, __disjvr_8^0'=__disjvr_8^post_66, __disjvr_9^0'=__disjvr_9^post_66, a_116^0'=a_116^post_66, a_147^0'=a_147^post_66, a_184^0'=a_184^post_66, a_215^0'=a_215^post_66, a_237^0'=a_237^post_66, a_260^0'=a_260^post_66, ct_17^0'=ct_17^post_66, f_170^0'=f_170^post_66, head_129^0'=head_129^post_66, head_14^0'=head_14^post_66, head_175^0'=head_175^post_66, head_27^0'=head_27^post_66, head_32^0'=head_32^post_66, head_SLAM_f_26^0'=head_SLAM_f_26^post_66, i_108^0'=i_108^post_66, i_167^0'=i_167^post_66, i_30^0'=i_30^post_66, i_94^0'=i_94^post_66, len_132^0'=len_132^post_66, len_183^0'=len_183^post_66, length_29^0'=length_29^post_66, nondet_12^0'=nondet_12^post_66, r_124^0'=r_124^post_66, r_163^0'=r_163^post_66, r_39^0'=r_39^post_66, rcd_58^0'=rcd_58^post_66, rcd_88^0'=rcd_88^post_66, result_11^0'=result_11^post_66, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_66, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66, t_23^0'=t_23^post_66, temp0_15^0'=temp0_15^post_66, temp0_31^0'=temp0_31^post_66, temp_35^0'=temp_35^post_66, tmp_34^0'=tmp_34^post_66, x_16^0'=x_16^post_66, x_20^0'=x_20^post_66, x_SLAM_f_18^0'=x_SLAM_f_18^post_66, y_19^0'=y_19^post_66, [ 0<=i_30^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66 && i_167^post_66==i_167^post_66 && length_29^0<=i_30^0 && temp0_31^1_2_1==head_32^0 && result_11^1_2==temp0_31^1_2_1 && length_29^post_66==length_29^post_66 && i_30^post_66==i_30^post_66 && temp0_31^post_66==temp0_31^post_66 && head_32^post_66==head_32^post_66 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_66==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_66 && tmp_34^post_66==tmp_34^post_66 && temp_35^post_66==temp_35^post_66 && head_14^post_66==result_11^1_2 && result_11^post_66==result_11^post_66 && head_SLAM_f_26^post_66==head_14^post_66 && head_27^post_66==head_SLAM_f_26^post_66 && 0<=len_132^0 && len_132^0<=0 && 0<=a_147^0-i_30^post_66 && a_147^0-i_30^post_66<=0 && head_14^post_66<=head_SLAM_f_26^post_66 && head_SLAM_f_26^post_66<=head_14^post_66 && head_14^post_66<=head_27^post_66 && head_27^post_66<=head_14^post_66 && head_SLAM_f_26^post_66<=head_27^post_66 && head_27^post_66<=head_SLAM_f_26^post_66 && i_30^post_66<=a_147^0 && a_147^0<=i_30^post_66 && __disjvr_0^0==__disjvr_0^post_66 && __disjvr_1^0==__disjvr_1^post_66 && __disjvr_10^0==__disjvr_10^post_66 && __disjvr_11^0==__disjvr_11^post_66 && __disjvr_12^0==__disjvr_12^post_66 && __disjvr_13^0==__disjvr_13^post_66 && __disjvr_14^0==__disjvr_14^post_66 && __disjvr_15^0==__disjvr_15^post_66 && __disjvr_16^0==__disjvr_16^post_66 && __disjvr_17^0==__disjvr_17^post_66 && __disjvr_18^0==__disjvr_18^post_66 && __disjvr_19^0==__disjvr_19^post_66 && __disjvr_2^0==__disjvr_2^post_66 && __disjvr_20^0==__disjvr_20^post_66 && __disjvr_21^0==__disjvr_21^post_66 && __disjvr_22^0==__disjvr_22^post_66 && __disjvr_23^0==__disjvr_23^post_66 && __disjvr_24^0==__disjvr_24^post_66 && __disjvr_25^0==__disjvr_25^post_66 && __disjvr_26^0==__disjvr_26^post_66 && __disjvr_27^0==__disjvr_27^post_66 && __disjvr_28^0==__disjvr_28^post_66 && __disjvr_29^0==__disjvr_29^post_66 && __disjvr_3^0==__disjvr_3^post_66 && __disjvr_30^0==__disjvr_30^post_66 && __disjvr_4^0==__disjvr_4^post_66 && __disjvr_5^0==__disjvr_5^post_66 && __disjvr_6^0==__disjvr_6^post_66 && __disjvr_7^0==__disjvr_7^post_66 && __disjvr_8^0==__disjvr_8^post_66 && __disjvr_9^0==__disjvr_9^post_66 && a_116^0==a_116^post_66 && a_147^0==a_147^post_66 && a_184^0==a_184^post_66 && a_215^0==a_215^post_66 && a_237^0==a_237^post_66 && a_260^0==a_260^post_66 && ct_17^0==ct_17^post_66 && f_170^0==f_170^post_66 && head_129^0==head_129^post_66 && head_175^0==head_175^post_66 && i_108^0==i_108^post_66 && i_94^0==i_94^post_66 && len_132^0==len_132^post_66 && len_183^0==len_183^post_66 && nondet_12^0==nondet_12^post_66 && r_124^0==r_124^post_66 && r_163^0==r_163^post_66 && r_39^0==r_39^post_66 && rcd_58^0==rcd_58^post_66 && rcd_88^0==rcd_88^post_66 && t_23^0==t_23^post_66 && temp0_15^0==temp0_15^post_66 && x_16^0==x_16^post_66 && x_20^0==x_20^post_66 && x_SLAM_f_18^0==x_SLAM_f_18^post_66 && y_19^0==y_19^post_66 ], cost: 1
     68: l38 -> l65 : __disjvr_0^0'=__disjvr_0^post_69, __disjvr_10^0'=__disjvr_10^post_69, __disjvr_11^0'=__disjvr_11^post_69, __disjvr_12^0'=__disjvr_12^post_69, __disjvr_13^0'=__disjvr_13^post_69, __disjvr_14^0'=__disjvr_14^post_69, __disjvr_15^0'=__disjvr_15^post_69, __disjvr_16^0'=__disjvr_16^post_69, __disjvr_17^0'=__disjvr_17^post_69, __disjvr_18^0'=__disjvr_18^post_69, __disjvr_19^0'=__disjvr_19^post_69, __disjvr_1^0'=__disjvr_1^post_69, __disjvr_20^0'=__disjvr_20^post_69, __disjvr_21^0'=__disjvr_21^post_69, __disjvr_22^0'=__disjvr_22^post_69, __disjvr_23^0'=__disjvr_23^post_69, __disjvr_24^0'=__disjvr_24^post_69, __disjvr_25^0'=__disjvr_25^post_69, __disjvr_26^0'=__disjvr_26^post_69, __disjvr_27^0'=__disjvr_27^post_69, __disjvr_28^0'=__disjvr_28^post_69, __disjvr_29^0'=__disjvr_29^post_69, __disjvr_2^0'=__disjvr_2^post_69, __disjvr_30^0'=__disjvr_30^post_69, __disjvr_3^0'=__disjvr_3^post_69, __disjvr_4^0'=__disjvr_4^post_69, __disjvr_5^0'=__disjvr_5^post_69, __disjvr_6^0'=__disjvr_6^post_69, __disjvr_7^0'=__disjvr_7^post_69, __disjvr_8^0'=__disjvr_8^post_69, __disjvr_9^0'=__disjvr_9^post_69, a_116^0'=a_116^post_69, a_147^0'=a_147^post_69, a_184^0'=a_184^post_69, a_215^0'=a_215^post_69, a_237^0'=a_237^post_69, a_260^0'=a_260^post_69, ct_17^0'=ct_17^post_69, f_170^0'=f_170^post_69, head_129^0'=head_129^post_69, head_14^0'=head_14^post_69, head_175^0'=head_175^post_69, head_27^0'=head_27^post_69, head_32^0'=head_32^post_69, head_SLAM_f_26^0'=head_SLAM_f_26^post_69, i_108^0'=i_108^post_69, i_167^0'=i_167^post_69, i_30^0'=i_30^post_69, i_94^0'=i_94^post_69, len_132^0'=len_132^post_69, len_183^0'=len_183^post_69, length_29^0'=length_29^post_69, nondet_12^0'=nondet_12^post_69, r_124^0'=r_124^post_69, r_163^0'=r_163^post_69, r_39^0'=r_39^post_69, rcd_58^0'=rcd_58^post_69, rcd_88^0'=rcd_88^post_69, result_11^0'=result_11^post_69, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_69, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_69, t_23^0'=t_23^post_69, temp0_15^0'=temp0_15^post_69, temp0_31^0'=temp0_31^post_69, temp_35^0'=temp_35^post_69, tmp_34^0'=tmp_34^post_69, x_16^0'=x_16^post_69, x_20^0'=x_20^post_69, x_SLAM_f_18^0'=x_SLAM_f_18^post_69, y_19^0'=y_19^post_69, [ 0<=i_30^0 && rcd_88^post_69==rcd_88^post_69 && i_94^post_69==i_94^post_69 && 1+i_30^0<=length_29^0 && tmp_34^post_69==temp_35^0 && temp_35^post_69==temp_35^post_69 && head_32^post_69==tmp_34^post_69 && i_30^post_69==1+i_30^0 && i_30^post_69<=1+i_94^post_69 && 1+i_94^post_69<=i_30^post_69 && i_94^post_69<=-1+i_30^post_69 && -1+i_30^post_69<=i_94^post_69 && 1+i_94^post_69<=length_29^0 && __disjvr_0^0==__disjvr_0^post_69 && __disjvr_1^0==__disjvr_1^post_69 && __disjvr_10^0==__disjvr_10^post_69 && __disjvr_11^0==__disjvr_11^post_69 && __disjvr_12^0==__disjvr_12^post_69 && __disjvr_13^0==__disjvr_13^post_69 && __disjvr_14^0==__disjvr_14^post_69 && __disjvr_15^0==__disjvr_15^post_69 && __disjvr_16^0==__disjvr_16^post_69 && __disjvr_17^0==__disjvr_17^post_69 && __disjvr_18^0==__disjvr_18^post_69 && __disjvr_19^0==__disjvr_19^post_69 && __disjvr_2^0==__disjvr_2^post_69 && __disjvr_20^0==__disjvr_20^post_69 && __disjvr_21^0==__disjvr_21^post_69 && __disjvr_22^0==__disjvr_22^post_69 && __disjvr_23^0==__disjvr_23^post_69 && __disjvr_24^0==__disjvr_24^post_69 && __disjvr_25^0==__disjvr_25^post_69 && __disjvr_26^0==__disjvr_26^post_69 && __disjvr_27^0==__disjvr_27^post_69 && __disjvr_28^0==__disjvr_28^post_69 && __disjvr_29^0==__disjvr_29^post_69 && __disjvr_3^0==__disjvr_3^post_69 && __disjvr_30^0==__disjvr_30^post_69 && __disjvr_4^0==__disjvr_4^post_69 && __disjvr_5^0==__disjvr_5^post_69 && __disjvr_6^0==__disjvr_6^post_69 && __disjvr_7^0==__disjvr_7^post_69 && __disjvr_8^0==__disjvr_8^post_69 && __disjvr_9^0==__disjvr_9^post_69 && a_116^0==a_116^post_69 && a_147^0==a_147^post_69 && a_184^0==a_184^post_69 && a_215^0==a_215^post_69 && a_237^0==a_237^post_69 && a_260^0==a_260^post_69 && ct_17^0==ct_17^post_69 && f_170^0==f_170^post_69 && head_129^0==head_129^post_69 && head_14^0==head_14^post_69 && head_175^0==head_175^post_69 && head_27^0==head_27^post_69 && head_SLAM_f_26^0==head_SLAM_f_26^post_69 && i_108^0==i_108^post_69 && i_167^0==i_167^post_69 && len_132^0==len_132^post_69 && len_183^0==len_183^post_69 && length_29^0==length_29^post_69 && nondet_12^0==nondet_12^post_69 && r_124^0==r_124^post_69 && r_163^0==r_163^post_69 && r_39^0==r_39^post_69 && rcd_58^0==rcd_58^post_69 && result_11^0==result_11^post_69 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_69 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_69 && t_23^0==t_23^post_69 && temp0_15^0==temp0_15^post_69 && temp0_31^0==temp0_31^post_69 && x_16^0==x_16^post_69 && x_20^0==x_20^post_69 && x_SLAM_f_18^0==x_SLAM_f_18^post_69 && y_19^0==y_19^post_69 ], cost: 1
     40: l39 -> l40 : __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_26^0'=__disjvr_26^post_41, __disjvr_27^0'=__disjvr_27^post_41, __disjvr_28^0'=__disjvr_28^post_41, __disjvr_29^0'=__disjvr_29^post_41, __disjvr_2^0'=__disjvr_2^post_41, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_41, a_147^0'=a_147^post_41, a_184^0'=a_184^post_41, a_215^0'=a_215^post_41, a_237^0'=a_237^post_41, a_260^0'=a_260^post_41, ct_17^0'=ct_17^post_41, f_170^0'=f_170^post_41, head_129^0'=head_129^post_41, head_14^0'=head_14^post_41, head_175^0'=head_175^post_41, head_27^0'=head_27^post_41, head_32^0'=head_32^post_41, head_SLAM_f_26^0'=head_SLAM_f_26^post_41, i_108^0'=i_108^post_41, i_167^0'=i_167^post_41, i_30^0'=i_30^post_41, i_94^0'=i_94^post_41, len_132^0'=len_132^post_41, len_183^0'=len_183^post_41, length_29^0'=length_29^post_41, nondet_12^0'=nondet_12^post_41, r_124^0'=r_124^post_41, r_163^0'=r_163^post_41, r_39^0'=r_39^post_41, rcd_58^0'=rcd_58^post_41, rcd_88^0'=rcd_88^post_41, result_11^0'=result_11^post_41, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_41, t_23^0'=t_23^post_41, temp0_15^0'=temp0_15^post_41, temp0_31^0'=temp0_31^post_41, temp_35^0'=temp_35^post_41, tmp_34^0'=tmp_34^post_41, x_16^0'=x_16^post_41, x_20^0'=x_20^post_41, x_SLAM_f_18^0'=x_SLAM_f_18^post_41, y_19^0'=y_19^post_41, [ nondet_12^1_1==nondet_12^1_1 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_41==nondet_12^1_1 && nondet_12^post_41==nondet_12^post_41 && length_29^post_41==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_41 && head_32^post_41==0 && i_30^post_41==0 && 0<=i_30^post_41 && i_30^post_41<=0 && 0<=head_32^post_41 && head_32^post_41<=0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_41<=length_29^post_41 && length_29^post_41<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_41 && __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_26^0==__disjvr_26^post_41 && __disjvr_27^0==__disjvr_27^post_41 && __disjvr_28^0==__disjvr_28^post_41 && __disjvr_29^0==__disjvr_29^post_41 && __disjvr_3^0==__disjvr_3^post_41 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_41 && a_147^0==a_147^post_41 && a_184^0==a_184^post_41 && a_215^0==a_215^post_41 && a_237^0==a_237^post_41 && a_260^0==a_260^post_41 && ct_17^0==ct_17^post_41 && f_170^0==f_170^post_41 && head_129^0==head_129^post_41 && head_14^0==head_14^post_41 && head_175^0==head_175^post_41 && head_27^0==head_27^post_41 && head_SLAM_f_26^0==head_SLAM_f_26^post_41 && i_108^0==i_108^post_41 && i_167^0==i_167^post_41 && i_94^0==i_94^post_41 && len_132^0==len_132^post_41 && len_183^0==len_183^post_41 && r_124^0==r_124^post_41 && r_163^0==r_163^post_41 && r_39^0==r_39^post_41 && rcd_58^0==rcd_58^post_41 && rcd_88^0==rcd_88^post_41 && result_11^0==result_11^post_41 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_41 && t_23^0==t_23^post_41 && temp0_15^0==temp0_15^post_41 && temp0_31^0==temp0_31^post_41 && temp_35^0==temp_35^post_41 && tmp_34^0==tmp_34^post_41 && x_16^0==x_16^post_41 && x_20^0==x_20^post_41 && x_SLAM_f_18^0==x_SLAM_f_18^post_41 && y_19^0==y_19^post_41 ], cost: 1
     70: l40 -> l1 : __disjvr_0^0'=__disjvr_0^post_71, __disjvr_10^0'=__disjvr_10^post_71, __disjvr_11^0'=__disjvr_11^post_71, __disjvr_12^0'=__disjvr_12^post_71, __disjvr_13^0'=__disjvr_13^post_71, __disjvr_14^0'=__disjvr_14^post_71, __disjvr_15^0'=__disjvr_15^post_71, __disjvr_16^0'=__disjvr_16^post_71, __disjvr_17^0'=__disjvr_17^post_71, __disjvr_18^0'=__disjvr_18^post_71, __disjvr_19^0'=__disjvr_19^post_71, __disjvr_1^0'=__disjvr_1^post_71, __disjvr_20^0'=__disjvr_20^post_71, __disjvr_21^0'=__disjvr_21^post_71, __disjvr_22^0'=__disjvr_22^post_71, __disjvr_23^0'=__disjvr_23^post_71, __disjvr_24^0'=__disjvr_24^post_71, __disjvr_25^0'=__disjvr_25^post_71, __disjvr_26^0'=__disjvr_26^post_71, __disjvr_27^0'=__disjvr_27^post_71, __disjvr_28^0'=__disjvr_28^post_71, __disjvr_29^0'=__disjvr_29^post_71, __disjvr_2^0'=__disjvr_2^post_71, __disjvr_30^0'=__disjvr_30^post_71, __disjvr_3^0'=__disjvr_3^post_71, __disjvr_4^0'=__disjvr_4^post_71, __disjvr_5^0'=__disjvr_5^post_71, __disjvr_6^0'=__disjvr_6^post_71, __disjvr_7^0'=__disjvr_7^post_71, __disjvr_8^0'=__disjvr_8^post_71, __disjvr_9^0'=__disjvr_9^post_71, a_116^0'=a_116^post_71, a_147^0'=a_147^post_71, a_184^0'=a_184^post_71, a_215^0'=a_215^post_71, a_237^0'=a_237^post_71, a_260^0'=a_260^post_71, ct_17^0'=ct_17^post_71, f_170^0'=f_170^post_71, head_129^0'=head_129^post_71, head_14^0'=head_14^post_71, head_175^0'=head_175^post_71, head_27^0'=head_27^post_71, head_32^0'=head_32^post_71, head_SLAM_f_26^0'=head_SLAM_f_26^post_71, i_108^0'=i_108^post_71, i_167^0'=i_167^post_71, i_30^0'=i_30^post_71, i_94^0'=i_94^post_71, len_132^0'=len_132^post_71, len_183^0'=len_183^post_71, length_29^0'=length_29^post_71, nondet_12^0'=nondet_12^post_71, r_124^0'=r_124^post_71, r_163^0'=r_163^post_71, r_39^0'=r_39^post_71, rcd_58^0'=rcd_58^post_71, rcd_88^0'=rcd_88^post_71, result_11^0'=result_11^post_71, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_71, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_71, t_23^0'=t_23^post_71, temp0_15^0'=temp0_15^post_71, temp0_31^0'=temp0_31^post_71, temp_35^0'=temp_35^post_71, tmp_34^0'=tmp_34^post_71, x_16^0'=x_16^post_71, x_20^0'=x_20^post_71, x_SLAM_f_18^0'=x_SLAM_f_18^post_71, y_19^0'=y_19^post_71, [ result_dot_nondet_sdv_special_RETURN_VALUE_13^1_2_1==result_dot_nondet_sdv_special_RETURN_VALUE_13^1_2_1 && length_29^0<=i_30^0 && temp0_31^1_3_1==head_32^0 && result_11^1_3_1==temp0_31^1_3_1 && length_29^post_71==length_29^post_71 && i_30^post_71==i_30^post_71 && temp0_31^post_71==temp0_31^post_71 && head_32^post_71==head_32^post_71 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_71==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_71 && tmp_34^post_71==tmp_34^post_71 && temp_35^post_71==temp_35^post_71 && head_14^post_71==result_11^1_3_1 && result_11^2_1==result_11^2_1 && head_SLAM_f_26^1_2_1==head_14^post_71 && head_27^1_1==head_SLAM_f_26^1_2_1 && 0<=head_14^post_71 && head_14^post_71<=0 && 0<=head_SLAM_f_26^1_2_1 && head_SLAM_f_26^1_2_1<=0 && 0<=head_27^1_1 && head_27^1_1<=0 && head_14^post_71<=head_SLAM_f_26^1_2_1 && head_SLAM_f_26^1_2_1<=head_14^post_71 && head_SLAM_f_26^1_2_1<=head_27^1_1 && head_27^1_1<=head_SLAM_f_26^1_2_1 && result_dot_nondet_sdv_special_RETURN_VALUE_13^1_2_1<=0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^2_1==result_dot_nondet_sdv_special_RETURN_VALUE_13^2_1 && 0<=head_27^1_1 && head_27^1_1<=0 && head_SLAM_f_26^post_71==head_SLAM_f_26^post_71 && head_27^post_71==head_27^post_71 && x_16^1_1==head_14^post_71 && ct_17^1_4==0 && x_SLAM_f_18^1_4_1==x_16^1_1 && y_19^1_4_1==ct_17^1_4 && x_20^1_4_1==x_SLAM_f_18^1_4_1 && 0<=head_14^post_71 && head_14^post_71<=0 && 0<=x_16^1_1 && x_16^1_1<=0 && 0<=ct_17^1_4 && ct_17^1_4<=0 && 0<=x_SLAM_f_18^1_4_1 && x_SLAM_f_18^1_4_1<=0 && 0<=y_19^1_4_1 && y_19^1_4_1<=0 && 0<=x_20^1_4_1 && x_20^1_4_1<=0 && head_14^post_71<=x_16^1_1 && x_16^1_1<=head_14^post_71 && x_16^1_1<=x_SLAM_f_18^1_4_1 && x_SLAM_f_18^1_4_1<=x_16^1_1 && ct_17^1_4<=y_19^1_4_1 && y_19^1_4_1<=ct_17^1_4 && x_SLAM_f_18^1_4_1<=x_20^1_4_1 && x_20^1_4_1<=x_SLAM_f_18^1_4_1 && result_dot_nondet_sdv_special_RETURN_VALUE_13^2_1<=0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_71==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_71 && y_19^1_4_1<=x_20^1_4_1 && x_20^1_4_1<=y_19^1_4_1 && x_SLAM_f_18^2_1==x_SLAM_f_18^2_1 && y_19^2_1==y_19^2_1 && x_20^2_1==x_20^2_1 && t_23^1_4_1==t_23^1_4_1 && ct_17^2_1==ct_17^2_1 && x_16^post_71==x_16^post_71 && ct_17^post_71==ct_17^post_71 && x_SLAM_f_18^post_71==x_SLAM_f_18^post_71 && y_19^post_71==y_19^post_71 && x_20^post_71==x_20^post_71 && t_23^post_71==t_23^post_71 && result_11^post_71==temp0_15^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_71<=0 && __disjvr_0^0==__disjvr_0^post_71 && __disjvr_1^0==__disjvr_1^post_71 && __disjvr_10^0==__disjvr_10^post_71 && __disjvr_11^0==__disjvr_11^post_71 && __disjvr_12^0==__disjvr_12^post_71 && __disjvr_13^0==__disjvr_13^post_71 && __disjvr_14^0==__disjvr_14^post_71 && __disjvr_15^0==__disjvr_15^post_71 && __disjvr_16^0==__disjvr_16^post_71 && __disjvr_17^0==__disjvr_17^post_71 && __disjvr_18^0==__disjvr_18^post_71 && __disjvr_19^0==__disjvr_19^post_71 && __disjvr_2^0==__disjvr_2^post_71 && __disjvr_20^0==__disjvr_20^post_71 && __disjvr_21^0==__disjvr_21^post_71 && __disjvr_22^0==__disjvr_22^post_71 && __disjvr_23^0==__disjvr_23^post_71 && __disjvr_24^0==__disjvr_24^post_71 && __disjvr_25^0==__disjvr_25^post_71 && __disjvr_26^0==__disjvr_26^post_71 && __disjvr_27^0==__disjvr_27^post_71 && __disjvr_28^0==__disjvr_28^post_71 && __disjvr_29^0==__disjvr_29^post_71 && __disjvr_3^0==__disjvr_3^post_71 && __disjvr_30^0==__disjvr_30^post_71 && __disjvr_4^0==__disjvr_4^post_71 && __disjvr_5^0==__disjvr_5^post_71 && __disjvr_6^0==__disjvr_6^post_71 && __disjvr_7^0==__disjvr_7^post_71 && __disjvr_8^0==__disjvr_8^post_71 && __disjvr_9^0==__disjvr_9^post_71 && a_116^0==a_116^post_71 && a_147^0==a_147^post_71 && a_184^0==a_184^post_71 && a_215^0==a_215^post_71 && a_237^0==a_237^post_71 && a_260^0==a_260^post_71 && f_170^0==f_170^post_71 && head_129^0==head_129^post_71 && head_175^0==head_175^post_71 && i_108^0==i_108^post_71 && i_167^0==i_167^post_71 && i_94^0==i_94^post_71 && len_132^0==len_132^post_71 && len_183^0==len_183^post_71 && nondet_12^0==nondet_12^post_71 && r_124^0==r_124^post_71 && r_163^0==r_163^post_71 && r_39^0==r_39^post_71 && rcd_58^0==rcd_58^post_71 && rcd_88^0==rcd_88^post_71 && temp0_15^0==temp0_15^post_71 ], cost: 1
     71: l40 -> l25 : __disjvr_0^0'=__disjvr_0^post_72, __disjvr_10^0'=__disjvr_10^post_72, __disjvr_11^0'=__disjvr_11^post_72, __disjvr_12^0'=__disjvr_12^post_72, __disjvr_13^0'=__disjvr_13^post_72, __disjvr_14^0'=__disjvr_14^post_72, __disjvr_15^0'=__disjvr_15^post_72, __disjvr_16^0'=__disjvr_16^post_72, __disjvr_17^0'=__disjvr_17^post_72, __disjvr_18^0'=__disjvr_18^post_72, __disjvr_19^0'=__disjvr_19^post_72, __disjvr_1^0'=__disjvr_1^post_72, __disjvr_20^0'=__disjvr_20^post_72, __disjvr_21^0'=__disjvr_21^post_72, __disjvr_22^0'=__disjvr_22^post_72, __disjvr_23^0'=__disjvr_23^post_72, __disjvr_24^0'=__disjvr_24^post_72, __disjvr_25^0'=__disjvr_25^post_72, __disjvr_26^0'=__disjvr_26^post_72, __disjvr_27^0'=__disjvr_27^post_72, __disjvr_28^0'=__disjvr_28^post_72, __disjvr_29^0'=__disjvr_29^post_72, __disjvr_2^0'=__disjvr_2^post_72, __disjvr_30^0'=__disjvr_30^post_72, __disjvr_3^0'=__disjvr_3^post_72, __disjvr_4^0'=__disjvr_4^post_72, __disjvr_5^0'=__disjvr_5^post_72, __disjvr_6^0'=__disjvr_6^post_72, __disjvr_7^0'=__disjvr_7^post_72, __disjvr_8^0'=__disjvr_8^post_72, __disjvr_9^0'=__disjvr_9^post_72, a_116^0'=a_116^post_72, a_147^0'=a_147^post_72, a_184^0'=a_184^post_72, a_215^0'=a_215^post_72, a_237^0'=a_237^post_72, a_260^0'=a_260^post_72, ct_17^0'=ct_17^post_72, f_170^0'=f_170^post_72, head_129^0'=head_129^post_72, head_14^0'=head_14^post_72, head_175^0'=head_175^post_72, head_27^0'=head_27^post_72, head_32^0'=head_32^post_72, head_SLAM_f_26^0'=head_SLAM_f_26^post_72, i_108^0'=i_108^post_72, i_167^0'=i_167^post_72, i_30^0'=i_30^post_72, i_94^0'=i_94^post_72, len_132^0'=len_132^post_72, len_183^0'=len_183^post_72, length_29^0'=length_29^post_72, nondet_12^0'=nondet_12^post_72, r_124^0'=r_124^post_72, r_163^0'=r_163^post_72, r_39^0'=r_39^post_72, rcd_58^0'=rcd_58^post_72, rcd_88^0'=rcd_88^post_72, result_11^0'=result_11^post_72, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_72, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_72, t_23^0'=t_23^post_72, temp0_15^0'=temp0_15^post_72, temp0_31^0'=temp0_31^post_72, temp_35^0'=temp_35^post_72, tmp_34^0'=tmp_34^post_72, x_16^0'=x_16^post_72, x_20^0'=x_20^post_72, x_SLAM_f_18^0'=x_SLAM_f_18^post_72, y_19^0'=y_19^post_72, [ result_dot_nondet_sdv_special_RETURN_VALUE_13^post_72==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_72 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_72==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_72 && 1+i_30^0<=length_29^0 && tmp_34^post_72==temp_35^0 && temp_35^post_72==temp_35^post_72 && head_32^post_72==tmp_34^post_72 && i_30^post_72==1+i_30^0 && 1<=i_30^post_72 && i_30^post_72<=1 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_72<=length_29^0 && length_29^0<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_72 && head_32^post_72<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_72 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_72<=head_32^post_72 && head_32^post_72<=tmp_34^post_72 && tmp_34^post_72<=head_32^post_72 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_72<=tmp_34^post_72 && tmp_34^post_72<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_72 && 1<=length_29^0 && __disjvr_0^0==__disjvr_0^post_72 && __disjvr_1^0==__disjvr_1^post_72 && __disjvr_10^0==__disjvr_10^post_72 && __disjvr_11^0==__disjvr_11^post_72 && __disjvr_12^0==__disjvr_12^post_72 && __disjvr_13^0==__disjvr_13^post_72 && __disjvr_14^0==__disjvr_14^post_72 && __disjvr_15^0==__disjvr_15^post_72 && __disjvr_16^0==__disjvr_16^post_72 && __disjvr_17^0==__disjvr_17^post_72 && __disjvr_18^0==__disjvr_18^post_72 && __disjvr_19^0==__disjvr_19^post_72 && __disjvr_2^0==__disjvr_2^post_72 && __disjvr_20^0==__disjvr_20^post_72 && __disjvr_21^0==__disjvr_21^post_72 && __disjvr_22^0==__disjvr_22^post_72 && __disjvr_23^0==__disjvr_23^post_72 && __disjvr_24^0==__disjvr_24^post_72 && __disjvr_25^0==__disjvr_25^post_72 && __disjvr_26^0==__disjvr_26^post_72 && __disjvr_27^0==__disjvr_27^post_72 && __disjvr_28^0==__disjvr_28^post_72 && __disjvr_29^0==__disjvr_29^post_72 && __disjvr_3^0==__disjvr_3^post_72 && __disjvr_30^0==__disjvr_30^post_72 && __disjvr_4^0==__disjvr_4^post_72 && __disjvr_5^0==__disjvr_5^post_72 && __disjvr_6^0==__disjvr_6^post_72 && __disjvr_7^0==__disjvr_7^post_72 && __disjvr_8^0==__disjvr_8^post_72 && __disjvr_9^0==__disjvr_9^post_72 && a_116^0==a_116^post_72 && a_147^0==a_147^post_72 && a_184^0==a_184^post_72 && a_215^0==a_215^post_72 && a_237^0==a_237^post_72 && a_260^0==a_260^post_72 && ct_17^0==ct_17^post_72 && f_170^0==f_170^post_72 && head_129^0==head_129^post_72 && head_14^0==head_14^post_72 && head_175^0==head_175^post_72 && head_27^0==head_27^post_72 && head_SLAM_f_26^0==head_SLAM_f_26^post_72 && i_108^0==i_108^post_72 && i_167^0==i_167^post_72 && i_94^0==i_94^post_72 && len_132^0==len_132^post_72 && len_183^0==len_183^post_72 && length_29^0==length_29^post_72 && nondet_12^0==nondet_12^post_72 && r_124^0==r_124^post_72 && r_163^0==r_163^post_72 && r_39^0==r_39^post_72 && rcd_58^0==rcd_58^post_72 && rcd_88^0==rcd_88^post_72 && result_11^0==result_11^post_72 && t_23^0==t_23^post_72 && temp0_15^0==temp0_15^post_72 && temp0_31^0==temp0_31^post_72 && x_16^0==x_16^post_72 && x_20^0==x_20^post_72 && x_SLAM_f_18^0==x_SLAM_f_18^post_72 && y_19^0==y_19^post_72 ], cost: 1
     41: l41 -> l42 : __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_26^0'=__disjvr_26^post_42, __disjvr_27^0'=__disjvr_27^post_42, __disjvr_28^0'=__disjvr_28^post_42, __disjvr_29^0'=__disjvr_29^post_42, __disjvr_2^0'=__disjvr_2^post_42, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_42, a_147^0'=a_147^post_42, a_184^0'=a_184^post_42, a_215^0'=a_215^post_42, a_237^0'=a_237^post_42, a_260^0'=a_260^post_42, ct_17^0'=ct_17^post_42, f_170^0'=f_170^post_42, head_129^0'=head_129^post_42, head_14^0'=head_14^post_42, head_175^0'=head_175^post_42, head_27^0'=head_27^post_42, head_32^0'=head_32^post_42, head_SLAM_f_26^0'=head_SLAM_f_26^post_42, i_108^0'=i_108^post_42, i_167^0'=i_167^post_42, i_30^0'=i_30^post_42, i_94^0'=i_94^post_42, len_132^0'=len_132^post_42, len_183^0'=len_183^post_42, length_29^0'=length_29^post_42, nondet_12^0'=nondet_12^post_42, r_124^0'=r_124^post_42, r_163^0'=r_163^post_42, r_39^0'=r_39^post_42, rcd_58^0'=rcd_58^post_42, rcd_88^0'=rcd_88^post_42, result_11^0'=result_11^post_42, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_42, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_42, t_23^0'=t_23^post_42, temp0_15^0'=temp0_15^post_42, temp0_31^0'=temp0_31^post_42, temp_35^0'=temp_35^post_42, tmp_34^0'=tmp_34^post_42, x_16^0'=x_16^post_42, x_20^0'=x_20^post_42, x_SLAM_f_18^0'=x_SLAM_f_18^post_42, y_19^0'=y_19^post_42, [ 0<=len_132^0 && 0<=a_147^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_42==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_42 && 0<=head_27^0 && head_27^0<=0 && head_SLAM_f_26^post_42==head_SLAM_f_26^post_42 && head_27^post_42==head_27^post_42 && x_16^post_42==head_14^0 && ct_17^post_42==0 && x_SLAM_f_18^post_42==x_16^post_42 && y_19^post_42==ct_17^post_42 && x_20^post_42==x_SLAM_f_18^post_42 && 0<=ct_17^post_42 && ct_17^post_42<=0 && 0<=y_19^post_42 && y_19^post_42<=0 && head_14^0<=x_16^post_42 && x_16^post_42<=head_14^0 && head_14^0<=x_SLAM_f_18^post_42 && x_SLAM_f_18^post_42<=head_14^0 && head_14^0<=x_20^post_42 && x_20^post_42<=head_14^0 && x_16^post_42<=x_SLAM_f_18^post_42 && x_SLAM_f_18^post_42<=x_16^post_42 && ct_17^post_42<=y_19^post_42 && y_19^post_42<=ct_17^post_42 && x_SLAM_f_18^post_42<=x_20^post_42 && x_20^post_42<=x_SLAM_f_18^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_26^0==__disjvr_26^post_42 && __disjvr_27^0==__disjvr_27^post_42 && __disjvr_28^0==__disjvr_28^post_42 && __disjvr_29^0==__disjvr_29^post_42 && __disjvr_3^0==__disjvr_3^post_42 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_42 && a_147^0==a_147^post_42 && a_184^0==a_184^post_42 && a_215^0==a_215^post_42 && a_237^0==a_237^post_42 && a_260^0==a_260^post_42 && f_170^0==f_170^post_42 && head_129^0==head_129^post_42 && head_14^0==head_14^post_42 && head_175^0==head_175^post_42 && head_32^0==head_32^post_42 && i_108^0==i_108^post_42 && i_167^0==i_167^post_42 && i_30^0==i_30^post_42 && i_94^0==i_94^post_42 && len_132^0==len_132^post_42 && len_183^0==len_183^post_42 && length_29^0==length_29^post_42 && nondet_12^0==nondet_12^post_42 && r_124^0==r_124^post_42 && r_163^0==r_163^post_42 && r_39^0==r_39^post_42 && rcd_58^0==rcd_58^post_42 && rcd_88^0==rcd_88^post_42 && result_11^0==result_11^post_42 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_42 && t_23^0==t_23^post_42 && temp0_15^0==temp0_15^post_42 && temp0_31^0==temp0_31^post_42 && temp_35^0==temp_35^post_42 && tmp_34^0==tmp_34^post_42 ], cost: 1
     44: l41 -> l45 : __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_26^0'=__disjvr_26^post_45, __disjvr_27^0'=__disjvr_27^post_45, __disjvr_28^0'=__disjvr_28^post_45, __disjvr_29^0'=__disjvr_29^post_45, __disjvr_2^0'=__disjvr_2^post_45, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_45, a_147^0'=a_147^post_45, a_184^0'=a_184^post_45, a_215^0'=a_215^post_45, a_237^0'=a_237^post_45, a_260^0'=a_260^post_45, ct_17^0'=ct_17^post_45, f_170^0'=f_170^post_45, head_129^0'=head_129^post_45, head_14^0'=head_14^post_45, head_175^0'=head_175^post_45, head_27^0'=head_27^post_45, head_32^0'=head_32^post_45, head_SLAM_f_26^0'=head_SLAM_f_26^post_45, i_108^0'=i_108^post_45, i_167^0'=i_167^post_45, i_30^0'=i_30^post_45, i_94^0'=i_94^post_45, len_132^0'=len_132^post_45, len_183^0'=len_183^post_45, length_29^0'=length_29^post_45, nondet_12^0'=nondet_12^post_45, r_124^0'=r_124^post_45, r_163^0'=r_163^post_45, r_39^0'=r_39^post_45, rcd_58^0'=rcd_58^post_45, rcd_88^0'=rcd_88^post_45, result_11^0'=result_11^post_45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_45, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_45, t_23^0'=t_23^post_45, temp0_15^0'=temp0_15^post_45, temp0_31^0'=temp0_31^post_45, temp_35^0'=temp_35^post_45, tmp_34^0'=tmp_34^post_45, x_16^0'=x_16^post_45, x_20^0'=x_20^post_45, x_SLAM_f_18^0'=x_SLAM_f_18^post_45, y_19^0'=y_19^post_45, [ 0<=len_132^0 && 0<=a_147^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_45==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_45 && head_14^post_45==head_14^post_45 && head_SLAM_f_26^post_45==head_SLAM_f_26^post_45 && r_39^post_45==r_39^post_45 && f_170^post_45==f_170^post_45 && head_175^post_45==head_175^post_45 && __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_26^0==__disjvr_26^post_45 && __disjvr_27^0==__disjvr_27^post_45 && __disjvr_28^0==__disjvr_28^post_45 && __disjvr_29^0==__disjvr_29^post_45 && __disjvr_3^0==__disjvr_3^post_45 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_45 && a_147^0==a_147^post_45 && a_184^0==a_184^post_45 && a_215^0==a_215^post_45 && a_237^0==a_237^post_45 && a_260^0==a_260^post_45 && ct_17^0==ct_17^post_45 && head_129^0==head_129^post_45 && head_27^0==head_27^post_45 && head_32^0==head_32^post_45 && i_108^0==i_108^post_45 && i_167^0==i_167^post_45 && i_30^0==i_30^post_45 && i_94^0==i_94^post_45 && len_132^0==len_132^post_45 && len_183^0==len_183^post_45 && length_29^0==length_29^post_45 && nondet_12^0==nondet_12^post_45 && r_124^0==r_124^post_45 && r_163^0==r_163^post_45 && rcd_58^0==rcd_58^post_45 && rcd_88^0==rcd_88^post_45 && result_11^0==result_11^post_45 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_45 && t_23^0==t_23^post_45 && temp0_15^0==temp0_15^post_45 && temp0_31^0==temp0_31^post_45 && temp_35^0==temp_35^post_45 && tmp_34^0==tmp_34^post_45 && x_16^0==x_16^post_45 && x_20^0==x_20^post_45 && x_SLAM_f_18^0==x_SLAM_f_18^post_45 && y_19^0==y_19^post_45 ], cost: 1
     42: l42 -> l43 : __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_26^0'=__disjvr_26^post_43, __disjvr_27^0'=__disjvr_27^post_43, __disjvr_28^0'=__disjvr_28^post_43, __disjvr_29^0'=__disjvr_29^post_43, __disjvr_2^0'=__disjvr_2^post_43, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_43, a_147^0'=a_147^post_43, a_184^0'=a_184^post_43, a_215^0'=a_215^post_43, a_237^0'=a_237^post_43, a_260^0'=a_260^post_43, ct_17^0'=ct_17^post_43, f_170^0'=f_170^post_43, head_129^0'=head_129^post_43, head_14^0'=head_14^post_43, head_175^0'=head_175^post_43, head_27^0'=head_27^post_43, head_32^0'=head_32^post_43, head_SLAM_f_26^0'=head_SLAM_f_26^post_43, i_108^0'=i_108^post_43, i_167^0'=i_167^post_43, i_30^0'=i_30^post_43, i_94^0'=i_94^post_43, len_132^0'=len_132^post_43, len_183^0'=len_183^post_43, length_29^0'=length_29^post_43, nondet_12^0'=nondet_12^post_43, r_124^0'=r_124^post_43, r_163^0'=r_163^post_43, r_39^0'=r_39^post_43, rcd_58^0'=rcd_58^post_43, rcd_88^0'=rcd_88^post_43, result_11^0'=result_11^post_43, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_43, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_43, t_23^0'=t_23^post_43, temp0_15^0'=temp0_15^post_43, temp0_31^0'=temp0_31^post_43, temp_35^0'=temp_35^post_43, tmp_34^0'=tmp_34^post_43, x_16^0'=x_16^post_43, x_20^0'=x_20^post_43, x_SLAM_f_18^0'=x_SLAM_f_18^post_43, y_19^0'=y_19^post_43, [ __disjvr_20^post_43==__disjvr_20^0 && __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_26^0==__disjvr_26^post_43 && __disjvr_27^0==__disjvr_27^post_43 && __disjvr_28^0==__disjvr_28^post_43 && __disjvr_29^0==__disjvr_29^post_43 && __disjvr_3^0==__disjvr_3^post_43 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_43 && a_147^0==a_147^post_43 && a_184^0==a_184^post_43 && a_215^0==a_215^post_43 && a_237^0==a_237^post_43 && a_260^0==a_260^post_43 && ct_17^0==ct_17^post_43 && f_170^0==f_170^post_43 && head_129^0==head_129^post_43 && head_14^0==head_14^post_43 && head_175^0==head_175^post_43 && head_27^0==head_27^post_43 && head_32^0==head_32^post_43 && head_SLAM_f_26^0==head_SLAM_f_26^post_43 && i_108^0==i_108^post_43 && i_167^0==i_167^post_43 && i_30^0==i_30^post_43 && i_94^0==i_94^post_43 && len_132^0==len_132^post_43 && len_183^0==len_183^post_43 && length_29^0==length_29^post_43 && nondet_12^0==nondet_12^post_43 && r_124^0==r_124^post_43 && r_163^0==r_163^post_43 && r_39^0==r_39^post_43 && rcd_58^0==rcd_58^post_43 && rcd_88^0==rcd_88^post_43 && result_11^0==result_11^post_43 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_43 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_43 && t_23^0==t_23^post_43 && temp0_15^0==temp0_15^post_43 && temp0_31^0==temp0_31^post_43 && temp_35^0==temp_35^post_43 && tmp_34^0==tmp_34^post_43 && x_16^0==x_16^post_43 && x_20^0==x_20^post_43 && x_SLAM_f_18^0==x_SLAM_f_18^post_43 && y_19^0==y_19^post_43 ], cost: 1
     43: l43 -> l18 : __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_26^0'=__disjvr_26^post_44, __disjvr_27^0'=__disjvr_27^post_44, __disjvr_28^0'=__disjvr_28^post_44, __disjvr_29^0'=__disjvr_29^post_44, __disjvr_2^0'=__disjvr_2^post_44, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_44, a_147^0'=a_147^post_44, a_184^0'=a_184^post_44, a_215^0'=a_215^post_44, a_237^0'=a_237^post_44, a_260^0'=a_260^post_44, ct_17^0'=ct_17^post_44, f_170^0'=f_170^post_44, head_129^0'=head_129^post_44, head_14^0'=head_14^post_44, head_175^0'=head_175^post_44, head_27^0'=head_27^post_44, head_32^0'=head_32^post_44, head_SLAM_f_26^0'=head_SLAM_f_26^post_44, i_108^0'=i_108^post_44, i_167^0'=i_167^post_44, i_30^0'=i_30^post_44, i_94^0'=i_94^post_44, len_132^0'=len_132^post_44, len_183^0'=len_183^post_44, length_29^0'=length_29^post_44, nondet_12^0'=nondet_12^post_44, r_124^0'=r_124^post_44, r_163^0'=r_163^post_44, r_39^0'=r_39^post_44, rcd_58^0'=rcd_58^post_44, rcd_88^0'=rcd_88^post_44, result_11^0'=result_11^post_44, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_44, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_44, t_23^0'=t_23^post_44, temp0_15^0'=temp0_15^post_44, temp0_31^0'=temp0_31^post_44, temp_35^0'=temp_35^post_44, tmp_34^0'=tmp_34^post_44, x_16^0'=x_16^post_44, x_20^0'=x_20^post_44, x_SLAM_f_18^0'=x_SLAM_f_18^post_44, y_19^0'=y_19^post_44, [ 1<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && __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_26^0==__disjvr_26^post_44 && __disjvr_27^0==__disjvr_27^post_44 && __disjvr_28^0==__disjvr_28^post_44 && __disjvr_29^0==__disjvr_29^post_44 && __disjvr_3^0==__disjvr_3^post_44 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_44 && a_147^0==a_147^post_44 && a_184^0==a_184^post_44 && a_215^0==a_215^post_44 && a_237^0==a_237^post_44 && a_260^0==a_260^post_44 && ct_17^0==ct_17^post_44 && f_170^0==f_170^post_44 && head_129^0==head_129^post_44 && head_14^0==head_14^post_44 && head_175^0==head_175^post_44 && head_27^0==head_27^post_44 && head_32^0==head_32^post_44 && head_SLAM_f_26^0==head_SLAM_f_26^post_44 && i_108^0==i_108^post_44 && i_167^0==i_167^post_44 && i_30^0==i_30^post_44 && i_94^0==i_94^post_44 && len_132^0==len_132^post_44 && len_183^0==len_183^post_44 && length_29^0==length_29^post_44 && nondet_12^0==nondet_12^post_44 && r_124^0==r_124^post_44 && r_163^0==r_163^post_44 && r_39^0==r_39^post_44 && rcd_58^0==rcd_58^post_44 && rcd_88^0==rcd_88^post_44 && result_11^0==result_11^post_44 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_44 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_44 && t_23^0==t_23^post_44 && temp0_15^0==temp0_15^post_44 && temp0_31^0==temp0_31^post_44 && temp_35^0==temp_35^post_44 && tmp_34^0==tmp_34^post_44 && x_16^0==x_16^post_44 && x_20^0==x_20^post_44 && x_SLAM_f_18^0==x_SLAM_f_18^post_44 && y_19^0==y_19^post_44 ], cost: 1
     45: l45 -> l46 : __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_26^0'=__disjvr_26^post_46, __disjvr_27^0'=__disjvr_27^post_46, __disjvr_28^0'=__disjvr_28^post_46, __disjvr_29^0'=__disjvr_29^post_46, __disjvr_2^0'=__disjvr_2^post_46, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_46, a_147^0'=a_147^post_46, a_184^0'=a_184^post_46, a_215^0'=a_215^post_46, a_237^0'=a_237^post_46, a_260^0'=a_260^post_46, ct_17^0'=ct_17^post_46, f_170^0'=f_170^post_46, head_129^0'=head_129^post_46, head_14^0'=head_14^post_46, head_175^0'=head_175^post_46, head_27^0'=head_27^post_46, head_32^0'=head_32^post_46, head_SLAM_f_26^0'=head_SLAM_f_26^post_46, i_108^0'=i_108^post_46, i_167^0'=i_167^post_46, i_30^0'=i_30^post_46, i_94^0'=i_94^post_46, len_132^0'=len_132^post_46, len_183^0'=len_183^post_46, length_29^0'=length_29^post_46, nondet_12^0'=nondet_12^post_46, r_124^0'=r_124^post_46, r_163^0'=r_163^post_46, r_39^0'=r_39^post_46, rcd_58^0'=rcd_58^post_46, rcd_88^0'=rcd_88^post_46, result_11^0'=result_11^post_46, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_46, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_46, t_23^0'=t_23^post_46, temp0_15^0'=temp0_15^post_46, temp0_31^0'=temp0_31^post_46, temp_35^0'=temp_35^post_46, tmp_34^0'=tmp_34^post_46, x_16^0'=x_16^post_46, x_20^0'=x_20^post_46, x_SLAM_f_18^0'=x_SLAM_f_18^post_46, y_19^0'=y_19^post_46, [ __disjvr_21^post_46==__disjvr_21^0 && __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_26^0==__disjvr_26^post_46 && __disjvr_27^0==__disjvr_27^post_46 && __disjvr_28^0==__disjvr_28^post_46 && __disjvr_29^0==__disjvr_29^post_46 && __disjvr_3^0==__disjvr_3^post_46 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_46 && a_147^0==a_147^post_46 && a_184^0==a_184^post_46 && a_215^0==a_215^post_46 && a_237^0==a_237^post_46 && a_260^0==a_260^post_46 && ct_17^0==ct_17^post_46 && f_170^0==f_170^post_46 && head_129^0==head_129^post_46 && head_14^0==head_14^post_46 && head_175^0==head_175^post_46 && head_27^0==head_27^post_46 && head_32^0==head_32^post_46 && head_SLAM_f_26^0==head_SLAM_f_26^post_46 && i_108^0==i_108^post_46 && i_167^0==i_167^post_46 && i_30^0==i_30^post_46 && i_94^0==i_94^post_46 && len_132^0==len_132^post_46 && len_183^0==len_183^post_46 && length_29^0==length_29^post_46 && nondet_12^0==nondet_12^post_46 && r_124^0==r_124^post_46 && r_163^0==r_163^post_46 && r_39^0==r_39^post_46 && rcd_58^0==rcd_58^post_46 && rcd_88^0==rcd_88^post_46 && result_11^0==result_11^post_46 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_46 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_46 && t_23^0==t_23^post_46 && temp0_15^0==temp0_15^post_46 && temp0_31^0==temp0_31^post_46 && temp_35^0==temp_35^post_46 && tmp_34^0==tmp_34^post_46 && x_16^0==x_16^post_46 && x_20^0==x_20^post_46 && x_SLAM_f_18^0==x_SLAM_f_18^post_46 && y_19^0==y_19^post_46 ], cost: 1
     46: l46 -> l47 : __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_26^0'=__disjvr_26^post_47, __disjvr_27^0'=__disjvr_27^post_47, __disjvr_28^0'=__disjvr_28^post_47, __disjvr_29^0'=__disjvr_29^post_47, __disjvr_2^0'=__disjvr_2^post_47, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_47, a_147^0'=a_147^post_47, a_184^0'=a_184^post_47, a_215^0'=a_215^post_47, a_237^0'=a_237^post_47, a_260^0'=a_260^post_47, ct_17^0'=ct_17^post_47, f_170^0'=f_170^post_47, head_129^0'=head_129^post_47, head_14^0'=head_14^post_47, head_175^0'=head_175^post_47, head_27^0'=head_27^post_47, head_32^0'=head_32^post_47, head_SLAM_f_26^0'=head_SLAM_f_26^post_47, i_108^0'=i_108^post_47, i_167^0'=i_167^post_47, i_30^0'=i_30^post_47, i_94^0'=i_94^post_47, len_132^0'=len_132^post_47, len_183^0'=len_183^post_47, length_29^0'=length_29^post_47, nondet_12^0'=nondet_12^post_47, r_124^0'=r_124^post_47, r_163^0'=r_163^post_47, r_39^0'=r_39^post_47, rcd_58^0'=rcd_58^post_47, rcd_88^0'=rcd_88^post_47, result_11^0'=result_11^post_47, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_47, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_47, t_23^0'=t_23^post_47, temp0_15^0'=temp0_15^post_47, temp0_31^0'=temp0_31^post_47, temp_35^0'=temp_35^post_47, tmp_34^0'=tmp_34^post_47, x_16^0'=x_16^post_47, x_20^0'=x_20^post_47, x_SLAM_f_18^0'=x_SLAM_f_18^post_47, y_19^0'=y_19^post_47, [ len_183^post_47==len_183^post_47 && a_184^post_47==a_184^post_47 && 1<=len_183^post_47-len_132^0 && len_183^post_47-len_132^0<=1 && head_14^0<=head_SLAM_f_26^0 && head_SLAM_f_26^0<=head_14^0 && head_27^0<=f_170^0 && f_170^0<=head_27^0 && a_184^post_47<=-1+a_147^0 && -1+a_147^0<=a_184^post_47 && __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_26^0==__disjvr_26^post_47 && __disjvr_27^0==__disjvr_27^post_47 && __disjvr_28^0==__disjvr_28^post_47 && __disjvr_29^0==__disjvr_29^post_47 && __disjvr_3^0==__disjvr_3^post_47 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_47 && a_147^0==a_147^post_47 && a_215^0==a_215^post_47 && a_237^0==a_237^post_47 && a_260^0==a_260^post_47 && ct_17^0==ct_17^post_47 && f_170^0==f_170^post_47 && head_129^0==head_129^post_47 && head_14^0==head_14^post_47 && head_175^0==head_175^post_47 && head_27^0==head_27^post_47 && head_32^0==head_32^post_47 && head_SLAM_f_26^0==head_SLAM_f_26^post_47 && i_108^0==i_108^post_47 && i_167^0==i_167^post_47 && i_30^0==i_30^post_47 && i_94^0==i_94^post_47 && len_132^0==len_132^post_47 && length_29^0==length_29^post_47 && nondet_12^0==nondet_12^post_47 && r_124^0==r_124^post_47 && r_163^0==r_163^post_47 && r_39^0==r_39^post_47 && rcd_58^0==rcd_58^post_47 && rcd_88^0==rcd_88^post_47 && result_11^0==result_11^post_47 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_47 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_47 && t_23^0==t_23^post_47 && temp0_15^0==temp0_15^post_47 && temp0_31^0==temp0_31^post_47 && temp_35^0==temp_35^post_47 && tmp_34^0==tmp_34^post_47 && x_16^0==x_16^post_47 && x_20^0==x_20^post_47 && x_SLAM_f_18^0==x_SLAM_f_18^post_47 && y_19^0==y_19^post_47 ], cost: 1
     47: l47 -> l48 : __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_26^0'=__disjvr_26^post_48, __disjvr_27^0'=__disjvr_27^post_48, __disjvr_28^0'=__disjvr_28^post_48, __disjvr_29^0'=__disjvr_29^post_48, __disjvr_2^0'=__disjvr_2^post_48, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_48, a_147^0'=a_147^post_48, a_184^0'=a_184^post_48, a_215^0'=a_215^post_48, a_237^0'=a_237^post_48, a_260^0'=a_260^post_48, ct_17^0'=ct_17^post_48, f_170^0'=f_170^post_48, head_129^0'=head_129^post_48, head_14^0'=head_14^post_48, head_175^0'=head_175^post_48, head_27^0'=head_27^post_48, head_32^0'=head_32^post_48, head_SLAM_f_26^0'=head_SLAM_f_26^post_48, i_108^0'=i_108^post_48, i_167^0'=i_167^post_48, i_30^0'=i_30^post_48, i_94^0'=i_94^post_48, len_132^0'=len_132^post_48, len_183^0'=len_183^post_48, length_29^0'=length_29^post_48, nondet_12^0'=nondet_12^post_48, r_124^0'=r_124^post_48, r_163^0'=r_163^post_48, r_39^0'=r_39^post_48, rcd_58^0'=rcd_58^post_48, rcd_88^0'=rcd_88^post_48, result_11^0'=result_11^post_48, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_48, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_48, t_23^0'=t_23^post_48, temp0_15^0'=temp0_15^post_48, temp0_31^0'=temp0_31^post_48, temp_35^0'=temp_35^post_48, tmp_34^0'=tmp_34^post_48, x_16^0'=x_16^post_48, x_20^0'=x_20^post_48, x_SLAM_f_18^0'=x_SLAM_f_18^post_48, y_19^0'=y_19^post_48, [ __disjvr_22^post_48==__disjvr_22^0 && __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_26^0==__disjvr_26^post_48 && __disjvr_27^0==__disjvr_27^post_48 && __disjvr_28^0==__disjvr_28^post_48 && __disjvr_29^0==__disjvr_29^post_48 && __disjvr_3^0==__disjvr_3^post_48 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_48 && a_147^0==a_147^post_48 && a_184^0==a_184^post_48 && a_215^0==a_215^post_48 && a_237^0==a_237^post_48 && a_260^0==a_260^post_48 && ct_17^0==ct_17^post_48 && f_170^0==f_170^post_48 && head_129^0==head_129^post_48 && head_14^0==head_14^post_48 && head_175^0==head_175^post_48 && head_27^0==head_27^post_48 && head_32^0==head_32^post_48 && head_SLAM_f_26^0==head_SLAM_f_26^post_48 && i_108^0==i_108^post_48 && i_167^0==i_167^post_48 && i_30^0==i_30^post_48 && i_94^0==i_94^post_48 && len_132^0==len_132^post_48 && len_183^0==len_183^post_48 && length_29^0==length_29^post_48 && nondet_12^0==nondet_12^post_48 && r_124^0==r_124^post_48 && r_163^0==r_163^post_48 && r_39^0==r_39^post_48 && rcd_58^0==rcd_58^post_48 && rcd_88^0==rcd_88^post_48 && result_11^0==result_11^post_48 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_48 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_48 && t_23^0==t_23^post_48 && temp0_15^0==temp0_15^post_48 && temp0_31^0==temp0_31^post_48 && temp_35^0==temp_35^post_48 && tmp_34^0==tmp_34^post_48 && x_16^0==x_16^post_48 && x_20^0==x_20^post_48 && x_SLAM_f_18^0==x_SLAM_f_18^post_48 && y_19^0==y_19^post_48 ], cost: 1
     48: l48 -> l49 : __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_26^0'=__disjvr_26^post_49, __disjvr_27^0'=__disjvr_27^post_49, __disjvr_28^0'=__disjvr_28^post_49, __disjvr_29^0'=__disjvr_29^post_49, __disjvr_2^0'=__disjvr_2^post_49, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_49, a_147^0'=a_147^post_49, a_184^0'=a_184^post_49, a_215^0'=a_215^post_49, a_237^0'=a_237^post_49, a_260^0'=a_260^post_49, ct_17^0'=ct_17^post_49, f_170^0'=f_170^post_49, head_129^0'=head_129^post_49, head_14^0'=head_14^post_49, head_175^0'=head_175^post_49, head_27^0'=head_27^post_49, head_32^0'=head_32^post_49, head_SLAM_f_26^0'=head_SLAM_f_26^post_49, i_108^0'=i_108^post_49, i_167^0'=i_167^post_49, i_30^0'=i_30^post_49, i_94^0'=i_94^post_49, len_132^0'=len_132^post_49, len_183^0'=len_183^post_49, length_29^0'=length_29^post_49, nondet_12^0'=nondet_12^post_49, r_124^0'=r_124^post_49, r_163^0'=r_163^post_49, r_39^0'=r_39^post_49, rcd_58^0'=rcd_58^post_49, rcd_88^0'=rcd_88^post_49, result_11^0'=result_11^post_49, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_49, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_49, t_23^0'=t_23^post_49, temp0_15^0'=temp0_15^post_49, temp0_31^0'=temp0_31^post_49, temp_35^0'=temp_35^post_49, tmp_34^0'=tmp_34^post_49, x_16^0'=x_16^post_49, x_20^0'=x_20^post_49, x_SLAM_f_18^0'=x_SLAM_f_18^post_49, y_19^0'=y_19^post_49, [ __disjvr_23^post_49==__disjvr_23^0 && __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_26^0==__disjvr_26^post_49 && __disjvr_27^0==__disjvr_27^post_49 && __disjvr_28^0==__disjvr_28^post_49 && __disjvr_29^0==__disjvr_29^post_49 && __disjvr_3^0==__disjvr_3^post_49 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_49 && a_147^0==a_147^post_49 && a_184^0==a_184^post_49 && a_215^0==a_215^post_49 && a_237^0==a_237^post_49 && a_260^0==a_260^post_49 && ct_17^0==ct_17^post_49 && f_170^0==f_170^post_49 && head_129^0==head_129^post_49 && head_14^0==head_14^post_49 && head_175^0==head_175^post_49 && head_27^0==head_27^post_49 && head_32^0==head_32^post_49 && head_SLAM_f_26^0==head_SLAM_f_26^post_49 && i_108^0==i_108^post_49 && i_167^0==i_167^post_49 && i_30^0==i_30^post_49 && i_94^0==i_94^post_49 && len_132^0==len_132^post_49 && len_183^0==len_183^post_49 && length_29^0==length_29^post_49 && nondet_12^0==nondet_12^post_49 && r_124^0==r_124^post_49 && r_163^0==r_163^post_49 && r_39^0==r_39^post_49 && rcd_58^0==rcd_58^post_49 && rcd_88^0==rcd_88^post_49 && result_11^0==result_11^post_49 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_49 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_49 && t_23^0==t_23^post_49 && temp0_15^0==temp0_15^post_49 && temp0_31^0==temp0_31^post_49 && temp_35^0==temp_35^post_49 && tmp_34^0==tmp_34^post_49 && x_16^0==x_16^post_49 && x_20^0==x_20^post_49 && x_SLAM_f_18^0==x_SLAM_f_18^post_49 && y_19^0==y_19^post_49 ], cost: 1
     49: l49 -> l44 : __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_26^0'=__disjvr_26^post_50, __disjvr_27^0'=__disjvr_27^post_50, __disjvr_28^0'=__disjvr_28^post_50, __disjvr_29^0'=__disjvr_29^post_50, __disjvr_2^0'=__disjvr_2^post_50, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_50, a_147^0'=a_147^post_50, a_184^0'=a_184^post_50, a_215^0'=a_215^post_50, a_237^0'=a_237^post_50, a_260^0'=a_260^post_50, ct_17^0'=ct_17^post_50, f_170^0'=f_170^post_50, head_129^0'=head_129^post_50, head_14^0'=head_14^post_50, head_175^0'=head_175^post_50, head_27^0'=head_27^post_50, head_32^0'=head_32^post_50, head_SLAM_f_26^0'=head_SLAM_f_26^post_50, i_108^0'=i_108^post_50, i_167^0'=i_167^post_50, i_30^0'=i_30^post_50, i_94^0'=i_94^post_50, len_132^0'=len_132^post_50, len_183^0'=len_183^post_50, length_29^0'=length_29^post_50, nondet_12^0'=nondet_12^post_50, r_124^0'=r_124^post_50, r_163^0'=r_163^post_50, r_39^0'=r_39^post_50, rcd_58^0'=rcd_58^post_50, rcd_88^0'=rcd_88^post_50, result_11^0'=result_11^post_50, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_50, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50, t_23^0'=t_23^post_50, temp0_15^0'=temp0_15^post_50, temp0_31^0'=temp0_31^post_50, temp_35^0'=temp_35^post_50, tmp_34^0'=tmp_34^post_50, x_16^0'=x_16^post_50, x_20^0'=x_20^post_50, x_SLAM_f_18^0'=x_SLAM_f_18^post_50, y_19^0'=y_19^post_50, [ 1<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && a_147^post_50==a_147^post_50 && a_147^post_50<=a_184^0 && a_184^0<=a_147^post_50 && len_132^post_50==len_132^post_50 && len_132^post_50<=len_183^0 && len_183^0<=len_132^post_50 && __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_26^0==__disjvr_26^post_50 && __disjvr_27^0==__disjvr_27^post_50 && __disjvr_28^0==__disjvr_28^post_50 && __disjvr_29^0==__disjvr_29^post_50 && __disjvr_3^0==__disjvr_3^post_50 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_50 && a_184^0==a_184^post_50 && a_215^0==a_215^post_50 && a_237^0==a_237^post_50 && a_260^0==a_260^post_50 && ct_17^0==ct_17^post_50 && f_170^0==f_170^post_50 && head_129^0==head_129^post_50 && head_14^0==head_14^post_50 && head_175^0==head_175^post_50 && head_27^0==head_27^post_50 && head_32^0==head_32^post_50 && head_SLAM_f_26^0==head_SLAM_f_26^post_50 && i_108^0==i_108^post_50 && i_167^0==i_167^post_50 && i_30^0==i_30^post_50 && i_94^0==i_94^post_50 && len_183^0==len_183^post_50 && length_29^0==length_29^post_50 && nondet_12^0==nondet_12^post_50 && r_124^0==r_124^post_50 && r_163^0==r_163^post_50 && r_39^0==r_39^post_50 && rcd_58^0==rcd_58^post_50 && rcd_88^0==rcd_88^post_50 && result_11^0==result_11^post_50 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_50 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50 && t_23^0==t_23^post_50 && temp0_15^0==temp0_15^post_50 && temp0_31^0==temp0_31^post_50 && temp_35^0==temp_35^post_50 && tmp_34^0==tmp_34^post_50 && x_16^0==x_16^post_50 && x_20^0==x_20^post_50 && x_SLAM_f_18^0==x_SLAM_f_18^post_50 && y_19^0==y_19^post_50 ], cost: 1
     50: l44 -> l41 : __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_26^0'=__disjvr_26^post_51, __disjvr_27^0'=__disjvr_27^post_51, __disjvr_28^0'=__disjvr_28^post_51, __disjvr_29^0'=__disjvr_29^post_51, __disjvr_2^0'=__disjvr_2^post_51, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_51, a_147^0'=a_147^post_51, a_184^0'=a_184^post_51, a_215^0'=a_215^post_51, a_237^0'=a_237^post_51, a_260^0'=a_260^post_51, ct_17^0'=ct_17^post_51, f_170^0'=f_170^post_51, head_129^0'=head_129^post_51, head_14^0'=head_14^post_51, head_175^0'=head_175^post_51, head_27^0'=head_27^post_51, head_32^0'=head_32^post_51, head_SLAM_f_26^0'=head_SLAM_f_26^post_51, i_108^0'=i_108^post_51, i_167^0'=i_167^post_51, i_30^0'=i_30^post_51, i_94^0'=i_94^post_51, len_132^0'=len_132^post_51, len_183^0'=len_183^post_51, length_29^0'=length_29^post_51, nondet_12^0'=nondet_12^post_51, r_124^0'=r_124^post_51, r_163^0'=r_163^post_51, r_39^0'=r_39^post_51, rcd_58^0'=rcd_58^post_51, rcd_88^0'=rcd_88^post_51, result_11^0'=result_11^post_51, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_51, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_51, t_23^0'=t_23^post_51, temp0_15^0'=temp0_15^post_51, temp0_31^0'=temp0_31^post_51, temp_35^0'=temp_35^post_51, tmp_34^0'=tmp_34^post_51, x_16^0'=x_16^post_51, x_20^0'=x_20^post_51, x_SLAM_f_18^0'=x_SLAM_f_18^post_51, y_19^0'=y_19^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_26^0==__disjvr_26^post_51 && __disjvr_27^0==__disjvr_27^post_51 && __disjvr_28^0==__disjvr_28^post_51 && __disjvr_29^0==__disjvr_29^post_51 && __disjvr_3^0==__disjvr_3^post_51 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_51 && a_147^0==a_147^post_51 && a_184^0==a_184^post_51 && a_215^0==a_215^post_51 && a_237^0==a_237^post_51 && a_260^0==a_260^post_51 && ct_17^0==ct_17^post_51 && f_170^0==f_170^post_51 && head_129^0==head_129^post_51 && head_14^0==head_14^post_51 && head_175^0==head_175^post_51 && head_27^0==head_27^post_51 && head_32^0==head_32^post_51 && head_SLAM_f_26^0==head_SLAM_f_26^post_51 && i_108^0==i_108^post_51 && i_167^0==i_167^post_51 && i_30^0==i_30^post_51 && i_94^0==i_94^post_51 && len_132^0==len_132^post_51 && len_183^0==len_183^post_51 && length_29^0==length_29^post_51 && nondet_12^0==nondet_12^post_51 && r_124^0==r_124^post_51 && r_163^0==r_163^post_51 && r_39^0==r_39^post_51 && rcd_58^0==rcd_58^post_51 && rcd_88^0==rcd_88^post_51 && result_11^0==result_11^post_51 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_51 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_51 && t_23^0==t_23^post_51 && temp0_15^0==temp0_15^post_51 && temp0_31^0==temp0_31^post_51 && temp_35^0==temp_35^post_51 && tmp_34^0==tmp_34^post_51 && x_16^0==x_16^post_51 && x_20^0==x_20^post_51 && x_SLAM_f_18^0==x_SLAM_f_18^post_51 && y_19^0==y_19^post_51 ], cost: 1
     51: l50 -> l51 : __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_26^0'=__disjvr_26^post_52, __disjvr_27^0'=__disjvr_27^post_52, __disjvr_28^0'=__disjvr_28^post_52, __disjvr_29^0'=__disjvr_29^post_52, __disjvr_2^0'=__disjvr_2^post_52, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_52, a_147^0'=a_147^post_52, a_184^0'=a_184^post_52, a_215^0'=a_215^post_52, a_237^0'=a_237^post_52, a_260^0'=a_260^post_52, ct_17^0'=ct_17^post_52, f_170^0'=f_170^post_52, head_129^0'=head_129^post_52, head_14^0'=head_14^post_52, head_175^0'=head_175^post_52, head_27^0'=head_27^post_52, head_32^0'=head_32^post_52, head_SLAM_f_26^0'=head_SLAM_f_26^post_52, i_108^0'=i_108^post_52, i_167^0'=i_167^post_52, i_30^0'=i_30^post_52, i_94^0'=i_94^post_52, len_132^0'=len_132^post_52, len_183^0'=len_183^post_52, length_29^0'=length_29^post_52, nondet_12^0'=nondet_12^post_52, r_124^0'=r_124^post_52, r_163^0'=r_163^post_52, r_39^0'=r_39^post_52, rcd_58^0'=rcd_58^post_52, rcd_88^0'=rcd_88^post_52, result_11^0'=result_11^post_52, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_52, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_52, t_23^0'=t_23^post_52, temp0_15^0'=temp0_15^post_52, temp0_31^0'=temp0_31^post_52, temp_35^0'=temp_35^post_52, tmp_34^0'=tmp_34^post_52, x_16^0'=x_16^post_52, x_20^0'=x_20^post_52, x_SLAM_f_18^0'=x_SLAM_f_18^post_52, y_19^0'=y_19^post_52, [ 0<=a_116^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_52==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_52 && 0<=head_27^0 && head_27^0<=0 && head_SLAM_f_26^post_52==head_SLAM_f_26^post_52 && head_27^post_52==head_27^post_52 && x_16^post_52==head_14^0 && ct_17^post_52==0 && x_SLAM_f_18^post_52==x_16^post_52 && y_19^post_52==ct_17^post_52 && x_20^post_52==x_SLAM_f_18^post_52 && 0<=ct_17^post_52 && ct_17^post_52<=0 && 0<=y_19^post_52 && y_19^post_52<=0 && 1<=len_132^0 && len_132^0<=1 && head_14^0<=x_16^post_52 && x_16^post_52<=head_14^0 && head_14^0<=x_SLAM_f_18^post_52 && x_SLAM_f_18^post_52<=head_14^0 && head_14^0<=x_20^post_52 && x_20^post_52<=head_14^0 && x_16^post_52<=x_SLAM_f_18^post_52 && x_SLAM_f_18^post_52<=x_16^post_52 && ct_17^post_52<=y_19^post_52 && y_19^post_52<=ct_17^post_52 && x_SLAM_f_18^post_52<=x_20^post_52 && x_20^post_52<=x_SLAM_f_18^post_52 && __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_26^0==__disjvr_26^post_52 && __disjvr_27^0==__disjvr_27^post_52 && __disjvr_28^0==__disjvr_28^post_52 && __disjvr_29^0==__disjvr_29^post_52 && __disjvr_3^0==__disjvr_3^post_52 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_52 && a_147^0==a_147^post_52 && a_184^0==a_184^post_52 && a_215^0==a_215^post_52 && a_237^0==a_237^post_52 && a_260^0==a_260^post_52 && f_170^0==f_170^post_52 && head_129^0==head_129^post_52 && head_14^0==head_14^post_52 && head_175^0==head_175^post_52 && head_32^0==head_32^post_52 && i_108^0==i_108^post_52 && i_167^0==i_167^post_52 && i_30^0==i_30^post_52 && i_94^0==i_94^post_52 && len_132^0==len_132^post_52 && len_183^0==len_183^post_52 && length_29^0==length_29^post_52 && nondet_12^0==nondet_12^post_52 && r_124^0==r_124^post_52 && r_163^0==r_163^post_52 && r_39^0==r_39^post_52 && rcd_58^0==rcd_58^post_52 && rcd_88^0==rcd_88^post_52 && result_11^0==result_11^post_52 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_52 && t_23^0==t_23^post_52 && temp0_15^0==temp0_15^post_52 && temp0_31^0==temp0_31^post_52 && temp_35^0==temp_35^post_52 && tmp_34^0==tmp_34^post_52 ], cost: 1
     54: l50 -> l53 : __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_26^0'=__disjvr_26^post_55, __disjvr_27^0'=__disjvr_27^post_55, __disjvr_28^0'=__disjvr_28^post_55, __disjvr_29^0'=__disjvr_29^post_55, __disjvr_2^0'=__disjvr_2^post_55, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_55, a_147^0'=a_147^post_55, a_184^0'=a_184^post_55, a_215^0'=a_215^post_55, a_237^0'=a_237^post_55, a_260^0'=a_260^post_55, ct_17^0'=ct_17^post_55, f_170^0'=f_170^post_55, head_129^0'=head_129^post_55, head_14^0'=head_14^post_55, head_175^0'=head_175^post_55, head_27^0'=head_27^post_55, head_32^0'=head_32^post_55, head_SLAM_f_26^0'=head_SLAM_f_26^post_55, i_108^0'=i_108^post_55, i_167^0'=i_167^post_55, i_30^0'=i_30^post_55, i_94^0'=i_94^post_55, len_132^0'=len_132^post_55, len_183^0'=len_183^post_55, length_29^0'=length_29^post_55, nondet_12^0'=nondet_12^post_55, r_124^0'=r_124^post_55, r_163^0'=r_163^post_55, r_39^0'=r_39^post_55, rcd_58^0'=rcd_58^post_55, rcd_88^0'=rcd_88^post_55, result_11^0'=result_11^post_55, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_55, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_55, t_23^0'=t_23^post_55, temp0_15^0'=temp0_15^post_55, temp0_31^0'=temp0_31^post_55, temp_35^0'=temp_35^post_55, tmp_34^0'=tmp_34^post_55, x_16^0'=x_16^post_55, x_20^0'=x_20^post_55, x_SLAM_f_18^0'=x_SLAM_f_18^post_55, y_19^0'=y_19^post_55, [ 0<=a_116^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_55==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_55 && head_14^post_55==head_14^post_55 && head_SLAM_f_26^post_55==head_SLAM_f_26^post_55 && r_124^post_55==r_124^post_55 && head_129^post_55==head_129^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_26^0==__disjvr_26^post_55 && __disjvr_27^0==__disjvr_27^post_55 && __disjvr_28^0==__disjvr_28^post_55 && __disjvr_29^0==__disjvr_29^post_55 && __disjvr_3^0==__disjvr_3^post_55 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_55 && a_147^0==a_147^post_55 && a_184^0==a_184^post_55 && a_215^0==a_215^post_55 && a_237^0==a_237^post_55 && a_260^0==a_260^post_55 && ct_17^0==ct_17^post_55 && f_170^0==f_170^post_55 && head_175^0==head_175^post_55 && head_27^0==head_27^post_55 && head_32^0==head_32^post_55 && i_108^0==i_108^post_55 && i_167^0==i_167^post_55 && i_30^0==i_30^post_55 && i_94^0==i_94^post_55 && len_132^0==len_132^post_55 && len_183^0==len_183^post_55 && length_29^0==length_29^post_55 && nondet_12^0==nondet_12^post_55 && r_163^0==r_163^post_55 && r_39^0==r_39^post_55 && rcd_58^0==rcd_58^post_55 && rcd_88^0==rcd_88^post_55 && result_11^0==result_11^post_55 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_55 && t_23^0==t_23^post_55 && temp0_15^0==temp0_15^post_55 && temp0_31^0==temp0_31^post_55 && temp_35^0==temp_35^post_55 && tmp_34^0==tmp_34^post_55 && x_16^0==x_16^post_55 && x_20^0==x_20^post_55 && x_SLAM_f_18^0==x_SLAM_f_18^post_55 && y_19^0==y_19^post_55 ], cost: 1
     52: l51 -> l52 : __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_26^0'=__disjvr_26^post_53, __disjvr_27^0'=__disjvr_27^post_53, __disjvr_28^0'=__disjvr_28^post_53, __disjvr_29^0'=__disjvr_29^post_53, __disjvr_2^0'=__disjvr_2^post_53, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_53, a_147^0'=a_147^post_53, a_184^0'=a_184^post_53, a_215^0'=a_215^post_53, a_237^0'=a_237^post_53, a_260^0'=a_260^post_53, ct_17^0'=ct_17^post_53, f_170^0'=f_170^post_53, head_129^0'=head_129^post_53, head_14^0'=head_14^post_53, head_175^0'=head_175^post_53, head_27^0'=head_27^post_53, head_32^0'=head_32^post_53, head_SLAM_f_26^0'=head_SLAM_f_26^post_53, i_108^0'=i_108^post_53, i_167^0'=i_167^post_53, i_30^0'=i_30^post_53, i_94^0'=i_94^post_53, len_132^0'=len_132^post_53, len_183^0'=len_183^post_53, length_29^0'=length_29^post_53, nondet_12^0'=nondet_12^post_53, r_124^0'=r_124^post_53, r_163^0'=r_163^post_53, r_39^0'=r_39^post_53, rcd_58^0'=rcd_58^post_53, rcd_88^0'=rcd_88^post_53, result_11^0'=result_11^post_53, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_53, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_53, t_23^0'=t_23^post_53, temp0_15^0'=temp0_15^post_53, temp0_31^0'=temp0_31^post_53, temp_35^0'=temp_35^post_53, tmp_34^0'=tmp_34^post_53, x_16^0'=x_16^post_53, x_20^0'=x_20^post_53, x_SLAM_f_18^0'=x_SLAM_f_18^post_53, y_19^0'=y_19^post_53, [ __disjvr_24^post_53==__disjvr_24^0 && __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_26^0==__disjvr_26^post_53 && __disjvr_27^0==__disjvr_27^post_53 && __disjvr_28^0==__disjvr_28^post_53 && __disjvr_29^0==__disjvr_29^post_53 && __disjvr_3^0==__disjvr_3^post_53 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_53 && a_147^0==a_147^post_53 && a_184^0==a_184^post_53 && a_215^0==a_215^post_53 && a_237^0==a_237^post_53 && a_260^0==a_260^post_53 && ct_17^0==ct_17^post_53 && f_170^0==f_170^post_53 && head_129^0==head_129^post_53 && head_14^0==head_14^post_53 && head_175^0==head_175^post_53 && head_27^0==head_27^post_53 && head_32^0==head_32^post_53 && head_SLAM_f_26^0==head_SLAM_f_26^post_53 && i_108^0==i_108^post_53 && i_167^0==i_167^post_53 && i_30^0==i_30^post_53 && i_94^0==i_94^post_53 && len_132^0==len_132^post_53 && len_183^0==len_183^post_53 && length_29^0==length_29^post_53 && nondet_12^0==nondet_12^post_53 && r_124^0==r_124^post_53 && r_163^0==r_163^post_53 && r_39^0==r_39^post_53 && rcd_58^0==rcd_58^post_53 && rcd_88^0==rcd_88^post_53 && result_11^0==result_11^post_53 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_53 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_53 && t_23^0==t_23^post_53 && temp0_15^0==temp0_15^post_53 && temp0_31^0==temp0_31^post_53 && temp_35^0==temp_35^post_53 && tmp_34^0==tmp_34^post_53 && x_16^0==x_16^post_53 && x_20^0==x_20^post_53 && x_SLAM_f_18^0==x_SLAM_f_18^post_53 && y_19^0==y_19^post_53 ], cost: 1
     53: l52 -> l18 : __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_26^0'=__disjvr_26^post_54, __disjvr_27^0'=__disjvr_27^post_54, __disjvr_28^0'=__disjvr_28^post_54, __disjvr_29^0'=__disjvr_29^post_54, __disjvr_2^0'=__disjvr_2^post_54, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_54, a_147^0'=a_147^post_54, a_184^0'=a_184^post_54, a_215^0'=a_215^post_54, a_237^0'=a_237^post_54, a_260^0'=a_260^post_54, ct_17^0'=ct_17^post_54, f_170^0'=f_170^post_54, head_129^0'=head_129^post_54, head_14^0'=head_14^post_54, head_175^0'=head_175^post_54, head_27^0'=head_27^post_54, head_32^0'=head_32^post_54, head_SLAM_f_26^0'=head_SLAM_f_26^post_54, i_108^0'=i_108^post_54, i_167^0'=i_167^post_54, i_30^0'=i_30^post_54, i_94^0'=i_94^post_54, len_132^0'=len_132^post_54, len_183^0'=len_183^post_54, length_29^0'=length_29^post_54, nondet_12^0'=nondet_12^post_54, r_124^0'=r_124^post_54, r_163^0'=r_163^post_54, r_39^0'=r_39^post_54, rcd_58^0'=rcd_58^post_54, rcd_88^0'=rcd_88^post_54, result_11^0'=result_11^post_54, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_54, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_54, t_23^0'=t_23^post_54, temp0_15^0'=temp0_15^post_54, temp0_31^0'=temp0_31^post_54, temp_35^0'=temp_35^post_54, tmp_34^0'=tmp_34^post_54, x_16^0'=x_16^post_54, x_20^0'=x_20^post_54, x_SLAM_f_18^0'=x_SLAM_f_18^post_54, y_19^0'=y_19^post_54, [ 1<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && __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_26^0==__disjvr_26^post_54 && __disjvr_27^0==__disjvr_27^post_54 && __disjvr_28^0==__disjvr_28^post_54 && __disjvr_29^0==__disjvr_29^post_54 && __disjvr_3^0==__disjvr_3^post_54 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_54 && a_147^0==a_147^post_54 && a_184^0==a_184^post_54 && a_215^0==a_215^post_54 && a_237^0==a_237^post_54 && a_260^0==a_260^post_54 && ct_17^0==ct_17^post_54 && f_170^0==f_170^post_54 && head_129^0==head_129^post_54 && head_14^0==head_14^post_54 && head_175^0==head_175^post_54 && head_27^0==head_27^post_54 && head_32^0==head_32^post_54 && head_SLAM_f_26^0==head_SLAM_f_26^post_54 && i_108^0==i_108^post_54 && i_167^0==i_167^post_54 && i_30^0==i_30^post_54 && i_94^0==i_94^post_54 && len_132^0==len_132^post_54 && len_183^0==len_183^post_54 && length_29^0==length_29^post_54 && nondet_12^0==nondet_12^post_54 && r_124^0==r_124^post_54 && r_163^0==r_163^post_54 && r_39^0==r_39^post_54 && rcd_58^0==rcd_58^post_54 && rcd_88^0==rcd_88^post_54 && result_11^0==result_11^post_54 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_54 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_54 && t_23^0==t_23^post_54 && temp0_15^0==temp0_15^post_54 && temp0_31^0==temp0_31^post_54 && temp_35^0==temp_35^post_54 && tmp_34^0==tmp_34^post_54 && x_16^0==x_16^post_54 && x_20^0==x_20^post_54 && x_SLAM_f_18^0==x_SLAM_f_18^post_54 && y_19^0==y_19^post_54 ], cost: 1
     55: l53 -> l54 : __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_26^0'=__disjvr_26^post_56, __disjvr_27^0'=__disjvr_27^post_56, __disjvr_28^0'=__disjvr_28^post_56, __disjvr_29^0'=__disjvr_29^post_56, __disjvr_2^0'=__disjvr_2^post_56, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_56, a_147^0'=a_147^post_56, a_184^0'=a_184^post_56, a_215^0'=a_215^post_56, a_237^0'=a_237^post_56, a_260^0'=a_260^post_56, ct_17^0'=ct_17^post_56, f_170^0'=f_170^post_56, head_129^0'=head_129^post_56, head_14^0'=head_14^post_56, head_175^0'=head_175^post_56, head_27^0'=head_27^post_56, head_32^0'=head_32^post_56, head_SLAM_f_26^0'=head_SLAM_f_26^post_56, i_108^0'=i_108^post_56, i_167^0'=i_167^post_56, i_30^0'=i_30^post_56, i_94^0'=i_94^post_56, len_132^0'=len_132^post_56, len_183^0'=len_183^post_56, length_29^0'=length_29^post_56, nondet_12^0'=nondet_12^post_56, r_124^0'=r_124^post_56, r_163^0'=r_163^post_56, r_39^0'=r_39^post_56, rcd_58^0'=rcd_58^post_56, rcd_88^0'=rcd_88^post_56, result_11^0'=result_11^post_56, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_56, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_56, t_23^0'=t_23^post_56, temp0_15^0'=temp0_15^post_56, temp0_31^0'=temp0_31^post_56, temp_35^0'=temp_35^post_56, tmp_34^0'=tmp_34^post_56, x_16^0'=x_16^post_56, x_20^0'=x_20^post_56, x_SLAM_f_18^0'=x_SLAM_f_18^post_56, y_19^0'=y_19^post_56, [ __disjvr_25^post_56==__disjvr_25^0 && __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_26^0==__disjvr_26^post_56 && __disjvr_27^0==__disjvr_27^post_56 && __disjvr_28^0==__disjvr_28^post_56 && __disjvr_29^0==__disjvr_29^post_56 && __disjvr_3^0==__disjvr_3^post_56 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_56 && a_147^0==a_147^post_56 && a_184^0==a_184^post_56 && a_215^0==a_215^post_56 && a_237^0==a_237^post_56 && a_260^0==a_260^post_56 && ct_17^0==ct_17^post_56 && f_170^0==f_170^post_56 && head_129^0==head_129^post_56 && head_14^0==head_14^post_56 && head_175^0==head_175^post_56 && head_27^0==head_27^post_56 && head_32^0==head_32^post_56 && head_SLAM_f_26^0==head_SLAM_f_26^post_56 && i_108^0==i_108^post_56 && i_167^0==i_167^post_56 && i_30^0==i_30^post_56 && i_94^0==i_94^post_56 && len_132^0==len_132^post_56 && len_183^0==len_183^post_56 && length_29^0==length_29^post_56 && nondet_12^0==nondet_12^post_56 && r_124^0==r_124^post_56 && r_163^0==r_163^post_56 && r_39^0==r_39^post_56 && rcd_58^0==rcd_58^post_56 && rcd_88^0==rcd_88^post_56 && result_11^0==result_11^post_56 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_56 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_56 && t_23^0==t_23^post_56 && temp0_15^0==temp0_15^post_56 && temp0_31^0==temp0_31^post_56 && temp_35^0==temp_35^post_56 && tmp_34^0==tmp_34^post_56 && x_16^0==x_16^post_56 && x_20^0==x_20^post_56 && x_SLAM_f_18^0==x_SLAM_f_18^post_56 && y_19^0==y_19^post_56 ], cost: 1
     56: l54 -> l55 : __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_26^0'=__disjvr_26^post_57, __disjvr_27^0'=__disjvr_27^post_57, __disjvr_28^0'=__disjvr_28^post_57, __disjvr_29^0'=__disjvr_29^post_57, __disjvr_2^0'=__disjvr_2^post_57, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_57, a_147^0'=a_147^post_57, a_184^0'=a_184^post_57, a_215^0'=a_215^post_57, a_237^0'=a_237^post_57, a_260^0'=a_260^post_57, ct_17^0'=ct_17^post_57, f_170^0'=f_170^post_57, head_129^0'=head_129^post_57, head_14^0'=head_14^post_57, head_175^0'=head_175^post_57, head_27^0'=head_27^post_57, head_32^0'=head_32^post_57, head_SLAM_f_26^0'=head_SLAM_f_26^post_57, i_108^0'=i_108^post_57, i_167^0'=i_167^post_57, i_30^0'=i_30^post_57, i_94^0'=i_94^post_57, len_132^0'=len_132^post_57, len_183^0'=len_183^post_57, length_29^0'=length_29^post_57, nondet_12^0'=nondet_12^post_57, r_124^0'=r_124^post_57, r_163^0'=r_163^post_57, r_39^0'=r_39^post_57, rcd_58^0'=rcd_58^post_57, rcd_88^0'=rcd_88^post_57, result_11^0'=result_11^post_57, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_57, t_23^0'=t_23^post_57, temp0_15^0'=temp0_15^post_57, temp0_31^0'=temp0_31^post_57, temp_35^0'=temp_35^post_57, tmp_34^0'=tmp_34^post_57, x_16^0'=x_16^post_57, x_20^0'=x_20^post_57, x_SLAM_f_18^0'=x_SLAM_f_18^post_57, y_19^0'=y_19^post_57, [ head_14^0<=head_SLAM_f_26^0 && head_SLAM_f_26^0<=head_14^0 && __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_26^0==__disjvr_26^post_57 && __disjvr_27^0==__disjvr_27^post_57 && __disjvr_28^0==__disjvr_28^post_57 && __disjvr_29^0==__disjvr_29^post_57 && __disjvr_3^0==__disjvr_3^post_57 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_57 && a_147^0==a_147^post_57 && a_184^0==a_184^post_57 && a_215^0==a_215^post_57 && a_237^0==a_237^post_57 && a_260^0==a_260^post_57 && ct_17^0==ct_17^post_57 && f_170^0==f_170^post_57 && head_129^0==head_129^post_57 && head_14^0==head_14^post_57 && head_175^0==head_175^post_57 && head_27^0==head_27^post_57 && head_32^0==head_32^post_57 && head_SLAM_f_26^0==head_SLAM_f_26^post_57 && i_108^0==i_108^post_57 && i_167^0==i_167^post_57 && i_30^0==i_30^post_57 && i_94^0==i_94^post_57 && len_132^0==len_132^post_57 && len_183^0==len_183^post_57 && length_29^0==length_29^post_57 && nondet_12^0==nondet_12^post_57 && r_124^0==r_124^post_57 && r_163^0==r_163^post_57 && r_39^0==r_39^post_57 && rcd_58^0==rcd_58^post_57 && rcd_88^0==rcd_88^post_57 && result_11^0==result_11^post_57 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_57 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_57 && t_23^0==t_23^post_57 && temp0_15^0==temp0_15^post_57 && temp0_31^0==temp0_31^post_57 && temp_35^0==temp_35^post_57 && tmp_34^0==tmp_34^post_57 && x_16^0==x_16^post_57 && x_20^0==x_20^post_57 && x_SLAM_f_18^0==x_SLAM_f_18^post_57 && y_19^0==y_19^post_57 ], cost: 1
     57: l55 -> l56 : __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_26^0'=__disjvr_26^post_58, __disjvr_27^0'=__disjvr_27^post_58, __disjvr_28^0'=__disjvr_28^post_58, __disjvr_29^0'=__disjvr_29^post_58, __disjvr_2^0'=__disjvr_2^post_58, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_58, a_147^0'=a_147^post_58, a_184^0'=a_184^post_58, a_215^0'=a_215^post_58, a_237^0'=a_237^post_58, a_260^0'=a_260^post_58, ct_17^0'=ct_17^post_58, f_170^0'=f_170^post_58, head_129^0'=head_129^post_58, head_14^0'=head_14^post_58, head_175^0'=head_175^post_58, head_27^0'=head_27^post_58, head_32^0'=head_32^post_58, head_SLAM_f_26^0'=head_SLAM_f_26^post_58, i_108^0'=i_108^post_58, i_167^0'=i_167^post_58, i_30^0'=i_30^post_58, i_94^0'=i_94^post_58, len_132^0'=len_132^post_58, len_183^0'=len_183^post_58, length_29^0'=length_29^post_58, nondet_12^0'=nondet_12^post_58, r_124^0'=r_124^post_58, r_163^0'=r_163^post_58, r_39^0'=r_39^post_58, rcd_58^0'=rcd_58^post_58, rcd_88^0'=rcd_88^post_58, result_11^0'=result_11^post_58, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_58, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_58, t_23^0'=t_23^post_58, temp0_15^0'=temp0_15^post_58, temp0_31^0'=temp0_31^post_58, temp_35^0'=temp_35^post_58, tmp_34^0'=tmp_34^post_58, x_16^0'=x_16^post_58, x_20^0'=x_20^post_58, x_SLAM_f_18^0'=x_SLAM_f_18^post_58, y_19^0'=y_19^post_58, [ __disjvr_26^post_58==__disjvr_26^0 && __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_26^0==__disjvr_26^post_58 && __disjvr_27^0==__disjvr_27^post_58 && __disjvr_28^0==__disjvr_28^post_58 && __disjvr_29^0==__disjvr_29^post_58 && __disjvr_3^0==__disjvr_3^post_58 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_58 && a_147^0==a_147^post_58 && a_184^0==a_184^post_58 && a_215^0==a_215^post_58 && a_237^0==a_237^post_58 && a_260^0==a_260^post_58 && ct_17^0==ct_17^post_58 && f_170^0==f_170^post_58 && head_129^0==head_129^post_58 && head_14^0==head_14^post_58 && head_175^0==head_175^post_58 && head_27^0==head_27^post_58 && head_32^0==head_32^post_58 && head_SLAM_f_26^0==head_SLAM_f_26^post_58 && i_108^0==i_108^post_58 && i_167^0==i_167^post_58 && i_30^0==i_30^post_58 && i_94^0==i_94^post_58 && len_132^0==len_132^post_58 && len_183^0==len_183^post_58 && length_29^0==length_29^post_58 && nondet_12^0==nondet_12^post_58 && r_124^0==r_124^post_58 && r_163^0==r_163^post_58 && r_39^0==r_39^post_58 && rcd_58^0==rcd_58^post_58 && rcd_88^0==rcd_88^post_58 && result_11^0==result_11^post_58 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_58 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_58 && t_23^0==t_23^post_58 && temp0_15^0==temp0_15^post_58 && temp0_31^0==temp0_31^post_58 && temp_35^0==temp_35^post_58 && tmp_34^0==tmp_34^post_58 && x_16^0==x_16^post_58 && x_20^0==x_20^post_58 && x_SLAM_f_18^0==x_SLAM_f_18^post_58 && y_19^0==y_19^post_58 ], cost: 1
     58: l56 -> l57 : __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_26^0'=__disjvr_26^post_59, __disjvr_27^0'=__disjvr_27^post_59, __disjvr_28^0'=__disjvr_28^post_59, __disjvr_29^0'=__disjvr_29^post_59, __disjvr_2^0'=__disjvr_2^post_59, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_59, a_147^0'=a_147^post_59, a_184^0'=a_184^post_59, a_215^0'=a_215^post_59, a_237^0'=a_237^post_59, a_260^0'=a_260^post_59, ct_17^0'=ct_17^post_59, f_170^0'=f_170^post_59, head_129^0'=head_129^post_59, head_14^0'=head_14^post_59, head_175^0'=head_175^post_59, head_27^0'=head_27^post_59, head_32^0'=head_32^post_59, head_SLAM_f_26^0'=head_SLAM_f_26^post_59, i_108^0'=i_108^post_59, i_167^0'=i_167^post_59, i_30^0'=i_30^post_59, i_94^0'=i_94^post_59, len_132^0'=len_132^post_59, len_183^0'=len_183^post_59, length_29^0'=length_29^post_59, nondet_12^0'=nondet_12^post_59, r_124^0'=r_124^post_59, r_163^0'=r_163^post_59, r_39^0'=r_39^post_59, rcd_58^0'=rcd_58^post_59, rcd_88^0'=rcd_88^post_59, result_11^0'=result_11^post_59, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_59, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_59, t_23^0'=t_23^post_59, temp0_15^0'=temp0_15^post_59, temp0_31^0'=temp0_31^post_59, temp_35^0'=temp_35^post_59, tmp_34^0'=tmp_34^post_59, x_16^0'=x_16^post_59, x_20^0'=x_20^post_59, x_SLAM_f_18^0'=x_SLAM_f_18^post_59, y_19^0'=y_19^post_59, [ __disjvr_27^post_59==__disjvr_27^0 && __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_26^0==__disjvr_26^post_59 && __disjvr_27^0==__disjvr_27^post_59 && __disjvr_28^0==__disjvr_28^post_59 && __disjvr_29^0==__disjvr_29^post_59 && __disjvr_3^0==__disjvr_3^post_59 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_59 && a_147^0==a_147^post_59 && a_184^0==a_184^post_59 && a_215^0==a_215^post_59 && a_237^0==a_237^post_59 && a_260^0==a_260^post_59 && ct_17^0==ct_17^post_59 && f_170^0==f_170^post_59 && head_129^0==head_129^post_59 && head_14^0==head_14^post_59 && head_175^0==head_175^post_59 && head_27^0==head_27^post_59 && head_32^0==head_32^post_59 && head_SLAM_f_26^0==head_SLAM_f_26^post_59 && i_108^0==i_108^post_59 && i_167^0==i_167^post_59 && i_30^0==i_30^post_59 && i_94^0==i_94^post_59 && len_132^0==len_132^post_59 && len_183^0==len_183^post_59 && length_29^0==length_29^post_59 && nondet_12^0==nondet_12^post_59 && r_124^0==r_124^post_59 && r_163^0==r_163^post_59 && r_39^0==r_39^post_59 && rcd_58^0==rcd_58^post_59 && rcd_88^0==rcd_88^post_59 && result_11^0==result_11^post_59 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_59 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_59 && t_23^0==t_23^post_59 && temp0_15^0==temp0_15^post_59 && temp0_31^0==temp0_31^post_59 && temp_35^0==temp_35^post_59 && tmp_34^0==tmp_34^post_59 && x_16^0==x_16^post_59 && x_20^0==x_20^post_59 && x_SLAM_f_18^0==x_SLAM_f_18^post_59 && y_19^0==y_19^post_59 ], cost: 1
     59: l57 -> l41 : __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_26^0'=__disjvr_26^post_60, __disjvr_27^0'=__disjvr_27^post_60, __disjvr_28^0'=__disjvr_28^post_60, __disjvr_29^0'=__disjvr_29^post_60, __disjvr_2^0'=__disjvr_2^post_60, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_60, a_147^0'=a_147^post_60, a_184^0'=a_184^post_60, a_215^0'=a_215^post_60, a_237^0'=a_237^post_60, a_260^0'=a_260^post_60, ct_17^0'=ct_17^post_60, f_170^0'=f_170^post_60, head_129^0'=head_129^post_60, head_14^0'=head_14^post_60, head_175^0'=head_175^post_60, head_27^0'=head_27^post_60, head_32^0'=head_32^post_60, head_SLAM_f_26^0'=head_SLAM_f_26^post_60, i_108^0'=i_108^post_60, i_167^0'=i_167^post_60, i_30^0'=i_30^post_60, i_94^0'=i_94^post_60, len_132^0'=len_132^post_60, len_183^0'=len_183^post_60, length_29^0'=length_29^post_60, nondet_12^0'=nondet_12^post_60, r_124^0'=r_124^post_60, r_163^0'=r_163^post_60, r_39^0'=r_39^post_60, rcd_58^0'=rcd_58^post_60, rcd_88^0'=rcd_88^post_60, result_11^0'=result_11^post_60, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_60, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_60, t_23^0'=t_23^post_60, temp0_15^0'=temp0_15^post_60, temp0_31^0'=temp0_31^post_60, temp_35^0'=temp_35^post_60, tmp_34^0'=tmp_34^post_60, x_16^0'=x_16^post_60, x_20^0'=x_20^post_60, x_SLAM_f_18^0'=x_SLAM_f_18^post_60, y_19^0'=y_19^post_60, [ 1<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && __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_26^0==__disjvr_26^post_60 && __disjvr_27^0==__disjvr_27^post_60 && __disjvr_28^0==__disjvr_28^post_60 && __disjvr_29^0==__disjvr_29^post_60 && __disjvr_3^0==__disjvr_3^post_60 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_60 && a_147^0==a_147^post_60 && a_184^0==a_184^post_60 && a_215^0==a_215^post_60 && a_237^0==a_237^post_60 && a_260^0==a_260^post_60 && ct_17^0==ct_17^post_60 && f_170^0==f_170^post_60 && head_129^0==head_129^post_60 && head_14^0==head_14^post_60 && head_175^0==head_175^post_60 && head_27^0==head_27^post_60 && head_32^0==head_32^post_60 && head_SLAM_f_26^0==head_SLAM_f_26^post_60 && i_108^0==i_108^post_60 && i_167^0==i_167^post_60 && i_30^0==i_30^post_60 && i_94^0==i_94^post_60 && len_132^0==len_132^post_60 && len_183^0==len_183^post_60 && length_29^0==length_29^post_60 && nondet_12^0==nondet_12^post_60 && r_124^0==r_124^post_60 && r_163^0==r_163^post_60 && r_39^0==r_39^post_60 && rcd_58^0==rcd_58^post_60 && rcd_88^0==rcd_88^post_60 && result_11^0==result_11^post_60 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_60 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_60 && t_23^0==t_23^post_60 && temp0_15^0==temp0_15^post_60 && temp0_31^0==temp0_31^post_60 && temp_35^0==temp_35^post_60 && tmp_34^0==tmp_34^post_60 && x_16^0==x_16^post_60 && x_20^0==x_20^post_60 && x_SLAM_f_18^0==x_SLAM_f_18^post_60 && y_19^0==y_19^post_60 ], cost: 1
     60: l58 -> l59 : __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_26^0'=__disjvr_26^post_61, __disjvr_27^0'=__disjvr_27^post_61, __disjvr_28^0'=__disjvr_28^post_61, __disjvr_29^0'=__disjvr_29^post_61, __disjvr_2^0'=__disjvr_2^post_61, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_61, a_147^0'=a_147^post_61, a_184^0'=a_184^post_61, a_215^0'=a_215^post_61, a_237^0'=a_237^post_61, a_260^0'=a_260^post_61, ct_17^0'=ct_17^post_61, f_170^0'=f_170^post_61, head_129^0'=head_129^post_61, head_14^0'=head_14^post_61, head_175^0'=head_175^post_61, head_27^0'=head_27^post_61, head_32^0'=head_32^post_61, head_SLAM_f_26^0'=head_SLAM_f_26^post_61, i_108^0'=i_108^post_61, i_167^0'=i_167^post_61, i_30^0'=i_30^post_61, i_94^0'=i_94^post_61, len_132^0'=len_132^post_61, len_183^0'=len_183^post_61, length_29^0'=length_29^post_61, nondet_12^0'=nondet_12^post_61, r_124^0'=r_124^post_61, r_163^0'=r_163^post_61, r_39^0'=r_39^post_61, rcd_58^0'=rcd_58^post_61, rcd_88^0'=rcd_88^post_61, result_11^0'=result_11^post_61, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_61, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_61, t_23^0'=t_23^post_61, temp0_15^0'=temp0_15^post_61, temp0_31^0'=temp0_31^post_61, temp_35^0'=temp_35^post_61, tmp_34^0'=tmp_34^post_61, x_16^0'=x_16^post_61, x_20^0'=x_20^post_61, x_SLAM_f_18^0'=x_SLAM_f_18^post_61, y_19^0'=y_19^post_61, [ 0<=i_30^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_61==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_61 && head_14^post_61==head_14^post_61 && head_SLAM_f_26^post_61==head_SLAM_f_26^post_61 && r_39^post_61==r_39^post_61 && i_108^post_61==i_108^post_61 && r_163^post_61==r_163^post_61 && __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_26^0==__disjvr_26^post_61 && __disjvr_27^0==__disjvr_27^post_61 && __disjvr_28^0==__disjvr_28^post_61 && __disjvr_29^0==__disjvr_29^post_61 && __disjvr_3^0==__disjvr_3^post_61 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_61 && a_147^0==a_147^post_61 && a_184^0==a_184^post_61 && a_215^0==a_215^post_61 && a_237^0==a_237^post_61 && a_260^0==a_260^post_61 && ct_17^0==ct_17^post_61 && f_170^0==f_170^post_61 && head_129^0==head_129^post_61 && head_175^0==head_175^post_61 && head_27^0==head_27^post_61 && head_32^0==head_32^post_61 && i_167^0==i_167^post_61 && i_30^0==i_30^post_61 && i_94^0==i_94^post_61 && len_132^0==len_132^post_61 && len_183^0==len_183^post_61 && length_29^0==length_29^post_61 && nondet_12^0==nondet_12^post_61 && r_124^0==r_124^post_61 && rcd_58^0==rcd_58^post_61 && rcd_88^0==rcd_88^post_61 && result_11^0==result_11^post_61 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_61 && t_23^0==t_23^post_61 && temp0_15^0==temp0_15^post_61 && temp0_31^0==temp0_31^post_61 && temp_35^0==temp_35^post_61 && tmp_34^0==tmp_34^post_61 && x_16^0==x_16^post_61 && x_20^0==x_20^post_61 && x_SLAM_f_18^0==x_SLAM_f_18^post_61 && y_19^0==y_19^post_61 ], cost: 1
     61: l59 -> l60 : __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_26^0'=__disjvr_26^post_62, __disjvr_27^0'=__disjvr_27^post_62, __disjvr_28^0'=__disjvr_28^post_62, __disjvr_29^0'=__disjvr_29^post_62, __disjvr_2^0'=__disjvr_2^post_62, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_62, a_147^0'=a_147^post_62, a_184^0'=a_184^post_62, a_215^0'=a_215^post_62, a_237^0'=a_237^post_62, a_260^0'=a_260^post_62, ct_17^0'=ct_17^post_62, f_170^0'=f_170^post_62, head_129^0'=head_129^post_62, head_14^0'=head_14^post_62, head_175^0'=head_175^post_62, head_27^0'=head_27^post_62, head_32^0'=head_32^post_62, head_SLAM_f_26^0'=head_SLAM_f_26^post_62, i_108^0'=i_108^post_62, i_167^0'=i_167^post_62, i_30^0'=i_30^post_62, i_94^0'=i_94^post_62, len_132^0'=len_132^post_62, len_183^0'=len_183^post_62, length_29^0'=length_29^post_62, nondet_12^0'=nondet_12^post_62, r_124^0'=r_124^post_62, r_163^0'=r_163^post_62, r_39^0'=r_39^post_62, rcd_58^0'=rcd_58^post_62, rcd_88^0'=rcd_88^post_62, result_11^0'=result_11^post_62, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_62, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_62, t_23^0'=t_23^post_62, temp0_15^0'=temp0_15^post_62, temp0_31^0'=temp0_31^post_62, temp_35^0'=temp_35^post_62, tmp_34^0'=tmp_34^post_62, x_16^0'=x_16^post_62, x_20^0'=x_20^post_62, x_SLAM_f_18^0'=x_SLAM_f_18^post_62, y_19^0'=y_19^post_62, [ __disjvr_28^post_62==__disjvr_28^0 && __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_26^0==__disjvr_26^post_62 && __disjvr_27^0==__disjvr_27^post_62 && __disjvr_28^0==__disjvr_28^post_62 && __disjvr_29^0==__disjvr_29^post_62 && __disjvr_3^0==__disjvr_3^post_62 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_62 && a_147^0==a_147^post_62 && a_184^0==a_184^post_62 && a_215^0==a_215^post_62 && a_237^0==a_237^post_62 && a_260^0==a_260^post_62 && ct_17^0==ct_17^post_62 && f_170^0==f_170^post_62 && head_129^0==head_129^post_62 && head_14^0==head_14^post_62 && head_175^0==head_175^post_62 && head_27^0==head_27^post_62 && head_32^0==head_32^post_62 && head_SLAM_f_26^0==head_SLAM_f_26^post_62 && i_108^0==i_108^post_62 && i_167^0==i_167^post_62 && i_30^0==i_30^post_62 && i_94^0==i_94^post_62 && len_132^0==len_132^post_62 && len_183^0==len_183^post_62 && length_29^0==length_29^post_62 && nondet_12^0==nondet_12^post_62 && r_124^0==r_124^post_62 && r_163^0==r_163^post_62 && r_39^0==r_39^post_62 && rcd_58^0==rcd_58^post_62 && rcd_88^0==rcd_88^post_62 && result_11^0==result_11^post_62 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_62 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_62 && t_23^0==t_23^post_62 && temp0_15^0==temp0_15^post_62 && temp0_31^0==temp0_31^post_62 && temp_35^0==temp_35^post_62 && tmp_34^0==tmp_34^post_62 && x_16^0==x_16^post_62 && x_20^0==x_20^post_62 && x_SLAM_f_18^0==x_SLAM_f_18^post_62 && y_19^0==y_19^post_62 ], cost: 1
     62: l60 -> l61 : __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_26^0'=__disjvr_26^post_63, __disjvr_27^0'=__disjvr_27^post_63, __disjvr_28^0'=__disjvr_28^post_63, __disjvr_29^0'=__disjvr_29^post_63, __disjvr_2^0'=__disjvr_2^post_63, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_63, a_147^0'=a_147^post_63, a_184^0'=a_184^post_63, a_215^0'=a_215^post_63, a_237^0'=a_237^post_63, a_260^0'=a_260^post_63, ct_17^0'=ct_17^post_63, f_170^0'=f_170^post_63, head_129^0'=head_129^post_63, head_14^0'=head_14^post_63, head_175^0'=head_175^post_63, head_27^0'=head_27^post_63, head_32^0'=head_32^post_63, head_SLAM_f_26^0'=head_SLAM_f_26^post_63, i_108^0'=i_108^post_63, i_167^0'=i_167^post_63, i_30^0'=i_30^post_63, i_94^0'=i_94^post_63, len_132^0'=len_132^post_63, len_183^0'=len_183^post_63, length_29^0'=length_29^post_63, nondet_12^0'=nondet_12^post_63, r_124^0'=r_124^post_63, r_163^0'=r_163^post_63, r_39^0'=r_39^post_63, rcd_58^0'=rcd_58^post_63, rcd_88^0'=rcd_88^post_63, result_11^0'=result_11^post_63, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_63, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_63, t_23^0'=t_23^post_63, temp0_15^0'=temp0_15^post_63, temp0_31^0'=temp0_31^post_63, temp_35^0'=temp_35^post_63, tmp_34^0'=tmp_34^post_63, x_16^0'=x_16^post_63, x_20^0'=x_20^post_63, x_SLAM_f_18^0'=x_SLAM_f_18^post_63, y_19^0'=y_19^post_63, [ a_116^post_63==a_116^post_63 && 0<=a_147^0-a_116^post_63 && a_147^0-a_116^post_63<=0 && 1<=len_132^0 && len_132^0<=1 && head_14^0<=head_SLAM_f_26^0 && head_SLAM_f_26^0<=head_14^0 && a_116^post_63<=a_147^0 && a_147^0<=a_116^post_63 && __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_26^0==__disjvr_26^post_63 && __disjvr_27^0==__disjvr_27^post_63 && __disjvr_28^0==__disjvr_28^post_63 && __disjvr_29^0==__disjvr_29^post_63 && __disjvr_3^0==__disjvr_3^post_63 && __disjvr_30^0==__disjvr_30^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_147^0==a_147^post_63 && a_184^0==a_184^post_63 && a_215^0==a_215^post_63 && a_237^0==a_237^post_63 && a_260^0==a_260^post_63 && ct_17^0==ct_17^post_63 && f_170^0==f_170^post_63 && head_129^0==head_129^post_63 && head_14^0==head_14^post_63 && head_175^0==head_175^post_63 && head_27^0==head_27^post_63 && head_32^0==head_32^post_63 && head_SLAM_f_26^0==head_SLAM_f_26^post_63 && i_108^0==i_108^post_63 && i_167^0==i_167^post_63 && i_30^0==i_30^post_63 && i_94^0==i_94^post_63 && len_132^0==len_132^post_63 && len_183^0==len_183^post_63 && length_29^0==length_29^post_63 && nondet_12^0==nondet_12^post_63 && r_124^0==r_124^post_63 && r_163^0==r_163^post_63 && r_39^0==r_39^post_63 && rcd_58^0==rcd_58^post_63 && rcd_88^0==rcd_88^post_63 && result_11^0==result_11^post_63 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_63 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_63 && t_23^0==t_23^post_63 && temp0_15^0==temp0_15^post_63 && temp0_31^0==temp0_31^post_63 && temp_35^0==temp_35^post_63 && tmp_34^0==tmp_34^post_63 && x_16^0==x_16^post_63 && x_20^0==x_20^post_63 && x_SLAM_f_18^0==x_SLAM_f_18^post_63 && y_19^0==y_19^post_63 ], cost: 1
     63: l61 -> l62 : __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_26^0'=__disjvr_26^post_64, __disjvr_27^0'=__disjvr_27^post_64, __disjvr_28^0'=__disjvr_28^post_64, __disjvr_29^0'=__disjvr_29^post_64, __disjvr_2^0'=__disjvr_2^post_64, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_64, a_147^0'=a_147^post_64, a_184^0'=a_184^post_64, a_215^0'=a_215^post_64, a_237^0'=a_237^post_64, a_260^0'=a_260^post_64, ct_17^0'=ct_17^post_64, f_170^0'=f_170^post_64, head_129^0'=head_129^post_64, head_14^0'=head_14^post_64, head_175^0'=head_175^post_64, head_27^0'=head_27^post_64, head_32^0'=head_32^post_64, head_SLAM_f_26^0'=head_SLAM_f_26^post_64, i_108^0'=i_108^post_64, i_167^0'=i_167^post_64, i_30^0'=i_30^post_64, i_94^0'=i_94^post_64, len_132^0'=len_132^post_64, len_183^0'=len_183^post_64, length_29^0'=length_29^post_64, nondet_12^0'=nondet_12^post_64, r_124^0'=r_124^post_64, r_163^0'=r_163^post_64, r_39^0'=r_39^post_64, rcd_58^0'=rcd_58^post_64, rcd_88^0'=rcd_88^post_64, result_11^0'=result_11^post_64, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_64, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_64, t_23^0'=t_23^post_64, temp0_15^0'=temp0_15^post_64, temp0_31^0'=temp0_31^post_64, temp_35^0'=temp_35^post_64, tmp_34^0'=tmp_34^post_64, x_16^0'=x_16^post_64, x_20^0'=x_20^post_64, x_SLAM_f_18^0'=x_SLAM_f_18^post_64, y_19^0'=y_19^post_64, [ __disjvr_29^post_64==__disjvr_29^0 && __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_26^0==__disjvr_26^post_64 && __disjvr_27^0==__disjvr_27^post_64 && __disjvr_28^0==__disjvr_28^post_64 && __disjvr_29^0==__disjvr_29^post_64 && __disjvr_3^0==__disjvr_3^post_64 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_64 && a_147^0==a_147^post_64 && a_184^0==a_184^post_64 && a_215^0==a_215^post_64 && a_237^0==a_237^post_64 && a_260^0==a_260^post_64 && ct_17^0==ct_17^post_64 && f_170^0==f_170^post_64 && head_129^0==head_129^post_64 && head_14^0==head_14^post_64 && head_175^0==head_175^post_64 && head_27^0==head_27^post_64 && head_32^0==head_32^post_64 && head_SLAM_f_26^0==head_SLAM_f_26^post_64 && i_108^0==i_108^post_64 && i_167^0==i_167^post_64 && i_30^0==i_30^post_64 && i_94^0==i_94^post_64 && len_132^0==len_132^post_64 && len_183^0==len_183^post_64 && length_29^0==length_29^post_64 && nondet_12^0==nondet_12^post_64 && r_124^0==r_124^post_64 && r_163^0==r_163^post_64 && r_39^0==r_39^post_64 && rcd_58^0==rcd_58^post_64 && rcd_88^0==rcd_88^post_64 && result_11^0==result_11^post_64 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_64 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_64 && t_23^0==t_23^post_64 && temp0_15^0==temp0_15^post_64 && temp0_31^0==temp0_31^post_64 && temp_35^0==temp_35^post_64 && tmp_34^0==tmp_34^post_64 && x_16^0==x_16^post_64 && x_20^0==x_20^post_64 && x_SLAM_f_18^0==x_SLAM_f_18^post_64 && y_19^0==y_19^post_64 ], cost: 1
     64: l62 -> l41 : __disjvr_0^0'=__disjvr_0^post_65, __disjvr_10^0'=__disjvr_10^post_65, __disjvr_11^0'=__disjvr_11^post_65, __disjvr_12^0'=__disjvr_12^post_65, __disjvr_13^0'=__disjvr_13^post_65, __disjvr_14^0'=__disjvr_14^post_65, __disjvr_15^0'=__disjvr_15^post_65, __disjvr_16^0'=__disjvr_16^post_65, __disjvr_17^0'=__disjvr_17^post_65, __disjvr_18^0'=__disjvr_18^post_65, __disjvr_19^0'=__disjvr_19^post_65, __disjvr_1^0'=__disjvr_1^post_65, __disjvr_20^0'=__disjvr_20^post_65, __disjvr_21^0'=__disjvr_21^post_65, __disjvr_22^0'=__disjvr_22^post_65, __disjvr_23^0'=__disjvr_23^post_65, __disjvr_24^0'=__disjvr_24^post_65, __disjvr_25^0'=__disjvr_25^post_65, __disjvr_26^0'=__disjvr_26^post_65, __disjvr_27^0'=__disjvr_27^post_65, __disjvr_28^0'=__disjvr_28^post_65, __disjvr_29^0'=__disjvr_29^post_65, __disjvr_2^0'=__disjvr_2^post_65, __disjvr_30^0'=__disjvr_30^post_65, __disjvr_3^0'=__disjvr_3^post_65, __disjvr_4^0'=__disjvr_4^post_65, __disjvr_5^0'=__disjvr_5^post_65, __disjvr_6^0'=__disjvr_6^post_65, __disjvr_7^0'=__disjvr_7^post_65, __disjvr_8^0'=__disjvr_8^post_65, __disjvr_9^0'=__disjvr_9^post_65, a_116^0'=a_116^post_65, a_147^0'=a_147^post_65, a_184^0'=a_184^post_65, a_215^0'=a_215^post_65, a_237^0'=a_237^post_65, a_260^0'=a_260^post_65, ct_17^0'=ct_17^post_65, f_170^0'=f_170^post_65, head_129^0'=head_129^post_65, head_14^0'=head_14^post_65, head_175^0'=head_175^post_65, head_27^0'=head_27^post_65, head_32^0'=head_32^post_65, head_SLAM_f_26^0'=head_SLAM_f_26^post_65, i_108^0'=i_108^post_65, i_167^0'=i_167^post_65, i_30^0'=i_30^post_65, i_94^0'=i_94^post_65, len_132^0'=len_132^post_65, len_183^0'=len_183^post_65, length_29^0'=length_29^post_65, nondet_12^0'=nondet_12^post_65, r_124^0'=r_124^post_65, r_163^0'=r_163^post_65, r_39^0'=r_39^post_65, rcd_58^0'=rcd_58^post_65, rcd_88^0'=rcd_88^post_65, result_11^0'=result_11^post_65, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_65, t_23^0'=t_23^post_65, temp0_15^0'=temp0_15^post_65, temp0_31^0'=temp0_31^post_65, temp_35^0'=temp_35^post_65, tmp_34^0'=tmp_34^post_65, x_16^0'=x_16^post_65, x_20^0'=x_20^post_65, x_SLAM_f_18^0'=x_SLAM_f_18^post_65, y_19^0'=y_19^post_65, [ 1<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0<=i_108^0 && i_108^post_65==i_108^post_65 && -1+i_108^post_65<=a_116^0 && a_116^0<=-1+i_108^post_65 && __disjvr_0^0==__disjvr_0^post_65 && __disjvr_1^0==__disjvr_1^post_65 && __disjvr_10^0==__disjvr_10^post_65 && __disjvr_11^0==__disjvr_11^post_65 && __disjvr_12^0==__disjvr_12^post_65 && __disjvr_13^0==__disjvr_13^post_65 && __disjvr_14^0==__disjvr_14^post_65 && __disjvr_15^0==__disjvr_15^post_65 && __disjvr_16^0==__disjvr_16^post_65 && __disjvr_17^0==__disjvr_17^post_65 && __disjvr_18^0==__disjvr_18^post_65 && __disjvr_19^0==__disjvr_19^post_65 && __disjvr_2^0==__disjvr_2^post_65 && __disjvr_20^0==__disjvr_20^post_65 && __disjvr_21^0==__disjvr_21^post_65 && __disjvr_22^0==__disjvr_22^post_65 && __disjvr_23^0==__disjvr_23^post_65 && __disjvr_24^0==__disjvr_24^post_65 && __disjvr_25^0==__disjvr_25^post_65 && __disjvr_26^0==__disjvr_26^post_65 && __disjvr_27^0==__disjvr_27^post_65 && __disjvr_28^0==__disjvr_28^post_65 && __disjvr_29^0==__disjvr_29^post_65 && __disjvr_3^0==__disjvr_3^post_65 && __disjvr_30^0==__disjvr_30^post_65 && __disjvr_4^0==__disjvr_4^post_65 && __disjvr_5^0==__disjvr_5^post_65 && __disjvr_6^0==__disjvr_6^post_65 && __disjvr_7^0==__disjvr_7^post_65 && __disjvr_8^0==__disjvr_8^post_65 && __disjvr_9^0==__disjvr_9^post_65 && a_116^0==a_116^post_65 && a_147^0==a_147^post_65 && a_184^0==a_184^post_65 && a_215^0==a_215^post_65 && a_237^0==a_237^post_65 && a_260^0==a_260^post_65 && ct_17^0==ct_17^post_65 && f_170^0==f_170^post_65 && head_129^0==head_129^post_65 && head_14^0==head_14^post_65 && head_175^0==head_175^post_65 && head_27^0==head_27^post_65 && head_32^0==head_32^post_65 && head_SLAM_f_26^0==head_SLAM_f_26^post_65 && i_167^0==i_167^post_65 && i_30^0==i_30^post_65 && i_94^0==i_94^post_65 && len_132^0==len_132^post_65 && len_183^0==len_183^post_65 && length_29^0==length_29^post_65 && nondet_12^0==nondet_12^post_65 && r_124^0==r_124^post_65 && r_163^0==r_163^post_65 && r_39^0==r_39^post_65 && rcd_58^0==rcd_58^post_65 && rcd_88^0==rcd_88^post_65 && result_11^0==result_11^post_65 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_65 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_65 && t_23^0==t_23^post_65 && temp0_15^0==temp0_15^post_65 && temp0_31^0==temp0_31^post_65 && temp_35^0==temp_35^post_65 && tmp_34^0==tmp_34^post_65 && x_16^0==x_16^post_65 && x_20^0==x_20^post_65 && x_SLAM_f_18^0==x_SLAM_f_18^post_65 && y_19^0==y_19^post_65 ], cost: 1
     66: l63 -> l64 : __disjvr_0^0'=__disjvr_0^post_67, __disjvr_10^0'=__disjvr_10^post_67, __disjvr_11^0'=__disjvr_11^post_67, __disjvr_12^0'=__disjvr_12^post_67, __disjvr_13^0'=__disjvr_13^post_67, __disjvr_14^0'=__disjvr_14^post_67, __disjvr_15^0'=__disjvr_15^post_67, __disjvr_16^0'=__disjvr_16^post_67, __disjvr_17^0'=__disjvr_17^post_67, __disjvr_18^0'=__disjvr_18^post_67, __disjvr_19^0'=__disjvr_19^post_67, __disjvr_1^0'=__disjvr_1^post_67, __disjvr_20^0'=__disjvr_20^post_67, __disjvr_21^0'=__disjvr_21^post_67, __disjvr_22^0'=__disjvr_22^post_67, __disjvr_23^0'=__disjvr_23^post_67, __disjvr_24^0'=__disjvr_24^post_67, __disjvr_25^0'=__disjvr_25^post_67, __disjvr_26^0'=__disjvr_26^post_67, __disjvr_27^0'=__disjvr_27^post_67, __disjvr_28^0'=__disjvr_28^post_67, __disjvr_29^0'=__disjvr_29^post_67, __disjvr_2^0'=__disjvr_2^post_67, __disjvr_30^0'=__disjvr_30^post_67, __disjvr_3^0'=__disjvr_3^post_67, __disjvr_4^0'=__disjvr_4^post_67, __disjvr_5^0'=__disjvr_5^post_67, __disjvr_6^0'=__disjvr_6^post_67, __disjvr_7^0'=__disjvr_7^post_67, __disjvr_8^0'=__disjvr_8^post_67, __disjvr_9^0'=__disjvr_9^post_67, a_116^0'=a_116^post_67, a_147^0'=a_147^post_67, a_184^0'=a_184^post_67, a_215^0'=a_215^post_67, a_237^0'=a_237^post_67, a_260^0'=a_260^post_67, ct_17^0'=ct_17^post_67, f_170^0'=f_170^post_67, head_129^0'=head_129^post_67, head_14^0'=head_14^post_67, head_175^0'=head_175^post_67, head_27^0'=head_27^post_67, head_32^0'=head_32^post_67, head_SLAM_f_26^0'=head_SLAM_f_26^post_67, i_108^0'=i_108^post_67, i_167^0'=i_167^post_67, i_30^0'=i_30^post_67, i_94^0'=i_94^post_67, len_132^0'=len_132^post_67, len_183^0'=len_183^post_67, length_29^0'=length_29^post_67, nondet_12^0'=nondet_12^post_67, r_124^0'=r_124^post_67, r_163^0'=r_163^post_67, r_39^0'=r_39^post_67, rcd_58^0'=rcd_58^post_67, rcd_88^0'=rcd_88^post_67, result_11^0'=result_11^post_67, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_67, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_67, t_23^0'=t_23^post_67, temp0_15^0'=temp0_15^post_67, temp0_31^0'=temp0_31^post_67, temp_35^0'=temp_35^post_67, tmp_34^0'=tmp_34^post_67, x_16^0'=x_16^post_67, x_20^0'=x_20^post_67, x_SLAM_f_18^0'=x_SLAM_f_18^post_67, y_19^0'=y_19^post_67, [ __disjvr_30^post_67==__disjvr_30^0 && __disjvr_0^0==__disjvr_0^post_67 && __disjvr_1^0==__disjvr_1^post_67 && __disjvr_10^0==__disjvr_10^post_67 && __disjvr_11^0==__disjvr_11^post_67 && __disjvr_12^0==__disjvr_12^post_67 && __disjvr_13^0==__disjvr_13^post_67 && __disjvr_14^0==__disjvr_14^post_67 && __disjvr_15^0==__disjvr_15^post_67 && __disjvr_16^0==__disjvr_16^post_67 && __disjvr_17^0==__disjvr_17^post_67 && __disjvr_18^0==__disjvr_18^post_67 && __disjvr_19^0==__disjvr_19^post_67 && __disjvr_2^0==__disjvr_2^post_67 && __disjvr_20^0==__disjvr_20^post_67 && __disjvr_21^0==__disjvr_21^post_67 && __disjvr_22^0==__disjvr_22^post_67 && __disjvr_23^0==__disjvr_23^post_67 && __disjvr_24^0==__disjvr_24^post_67 && __disjvr_25^0==__disjvr_25^post_67 && __disjvr_26^0==__disjvr_26^post_67 && __disjvr_27^0==__disjvr_27^post_67 && __disjvr_28^0==__disjvr_28^post_67 && __disjvr_29^0==__disjvr_29^post_67 && __disjvr_3^0==__disjvr_3^post_67 && __disjvr_30^0==__disjvr_30^post_67 && __disjvr_4^0==__disjvr_4^post_67 && __disjvr_5^0==__disjvr_5^post_67 && __disjvr_6^0==__disjvr_6^post_67 && __disjvr_7^0==__disjvr_7^post_67 && __disjvr_8^0==__disjvr_8^post_67 && __disjvr_9^0==__disjvr_9^post_67 && a_116^0==a_116^post_67 && a_147^0==a_147^post_67 && a_184^0==a_184^post_67 && a_215^0==a_215^post_67 && a_237^0==a_237^post_67 && a_260^0==a_260^post_67 && ct_17^0==ct_17^post_67 && f_170^0==f_170^post_67 && head_129^0==head_129^post_67 && head_14^0==head_14^post_67 && head_175^0==head_175^post_67 && head_27^0==head_27^post_67 && head_32^0==head_32^post_67 && head_SLAM_f_26^0==head_SLAM_f_26^post_67 && i_108^0==i_108^post_67 && i_167^0==i_167^post_67 && i_30^0==i_30^post_67 && i_94^0==i_94^post_67 && len_132^0==len_132^post_67 && len_183^0==len_183^post_67 && length_29^0==length_29^post_67 && nondet_12^0==nondet_12^post_67 && r_124^0==r_124^post_67 && r_163^0==r_163^post_67 && r_39^0==r_39^post_67 && rcd_58^0==rcd_58^post_67 && rcd_88^0==rcd_88^post_67 && result_11^0==result_11^post_67 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_67 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_67 && t_23^0==t_23^post_67 && temp0_15^0==temp0_15^post_67 && temp0_31^0==temp0_31^post_67 && temp_35^0==temp_35^post_67 && tmp_34^0==tmp_34^post_67 && x_16^0==x_16^post_67 && x_20^0==x_20^post_67 && x_SLAM_f_18^0==x_SLAM_f_18^post_67 && y_19^0==y_19^post_67 ], cost: 1
     67: l64 -> l41 : __disjvr_0^0'=__disjvr_0^post_68, __disjvr_10^0'=__disjvr_10^post_68, __disjvr_11^0'=__disjvr_11^post_68, __disjvr_12^0'=__disjvr_12^post_68, __disjvr_13^0'=__disjvr_13^post_68, __disjvr_14^0'=__disjvr_14^post_68, __disjvr_15^0'=__disjvr_15^post_68, __disjvr_16^0'=__disjvr_16^post_68, __disjvr_17^0'=__disjvr_17^post_68, __disjvr_18^0'=__disjvr_18^post_68, __disjvr_19^0'=__disjvr_19^post_68, __disjvr_1^0'=__disjvr_1^post_68, __disjvr_20^0'=__disjvr_20^post_68, __disjvr_21^0'=__disjvr_21^post_68, __disjvr_22^0'=__disjvr_22^post_68, __disjvr_23^0'=__disjvr_23^post_68, __disjvr_24^0'=__disjvr_24^post_68, __disjvr_25^0'=__disjvr_25^post_68, __disjvr_26^0'=__disjvr_26^post_68, __disjvr_27^0'=__disjvr_27^post_68, __disjvr_28^0'=__disjvr_28^post_68, __disjvr_29^0'=__disjvr_29^post_68, __disjvr_2^0'=__disjvr_2^post_68, __disjvr_30^0'=__disjvr_30^post_68, __disjvr_3^0'=__disjvr_3^post_68, __disjvr_4^0'=__disjvr_4^post_68, __disjvr_5^0'=__disjvr_5^post_68, __disjvr_6^0'=__disjvr_6^post_68, __disjvr_7^0'=__disjvr_7^post_68, __disjvr_8^0'=__disjvr_8^post_68, __disjvr_9^0'=__disjvr_9^post_68, a_116^0'=a_116^post_68, a_147^0'=a_147^post_68, a_184^0'=a_184^post_68, a_215^0'=a_215^post_68, a_237^0'=a_237^post_68, a_260^0'=a_260^post_68, ct_17^0'=ct_17^post_68, f_170^0'=f_170^post_68, head_129^0'=head_129^post_68, head_14^0'=head_14^post_68, head_175^0'=head_175^post_68, head_27^0'=head_27^post_68, head_32^0'=head_32^post_68, head_SLAM_f_26^0'=head_SLAM_f_26^post_68, i_108^0'=i_108^post_68, i_167^0'=i_167^post_68, i_30^0'=i_30^post_68, i_94^0'=i_94^post_68, len_132^0'=len_132^post_68, len_183^0'=len_183^post_68, length_29^0'=length_29^post_68, nondet_12^0'=nondet_12^post_68, r_124^0'=r_124^post_68, r_163^0'=r_163^post_68, r_39^0'=r_39^post_68, rcd_58^0'=rcd_58^post_68, rcd_88^0'=rcd_88^post_68, result_11^0'=result_11^post_68, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_68, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_68, t_23^0'=t_23^post_68, temp0_15^0'=temp0_15^post_68, temp0_31^0'=temp0_31^post_68, temp_35^0'=temp_35^post_68, tmp_34^0'=tmp_34^post_68, x_16^0'=x_16^post_68, x_20^0'=x_20^post_68, x_SLAM_f_18^0'=x_SLAM_f_18^post_68, y_19^0'=y_19^post_68, [ 1<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0<=i_30^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0<=i_167^0 && __disjvr_0^0==__disjvr_0^post_68 && __disjvr_1^0==__disjvr_1^post_68 && __disjvr_10^0==__disjvr_10^post_68 && __disjvr_11^0==__disjvr_11^post_68 && __disjvr_12^0==__disjvr_12^post_68 && __disjvr_13^0==__disjvr_13^post_68 && __disjvr_14^0==__disjvr_14^post_68 && __disjvr_15^0==__disjvr_15^post_68 && __disjvr_16^0==__disjvr_16^post_68 && __disjvr_17^0==__disjvr_17^post_68 && __disjvr_18^0==__disjvr_18^post_68 && __disjvr_19^0==__disjvr_19^post_68 && __disjvr_2^0==__disjvr_2^post_68 && __disjvr_20^0==__disjvr_20^post_68 && __disjvr_21^0==__disjvr_21^post_68 && __disjvr_22^0==__disjvr_22^post_68 && __disjvr_23^0==__disjvr_23^post_68 && __disjvr_24^0==__disjvr_24^post_68 && __disjvr_25^0==__disjvr_25^post_68 && __disjvr_26^0==__disjvr_26^post_68 && __disjvr_27^0==__disjvr_27^post_68 && __disjvr_28^0==__disjvr_28^post_68 && __disjvr_29^0==__disjvr_29^post_68 && __disjvr_3^0==__disjvr_3^post_68 && __disjvr_30^0==__disjvr_30^post_68 && __disjvr_4^0==__disjvr_4^post_68 && __disjvr_5^0==__disjvr_5^post_68 && __disjvr_6^0==__disjvr_6^post_68 && __disjvr_7^0==__disjvr_7^post_68 && __disjvr_8^0==__disjvr_8^post_68 && __disjvr_9^0==__disjvr_9^post_68 && a_116^0==a_116^post_68 && a_147^0==a_147^post_68 && a_184^0==a_184^post_68 && a_215^0==a_215^post_68 && a_237^0==a_237^post_68 && a_260^0==a_260^post_68 && ct_17^0==ct_17^post_68 && f_170^0==f_170^post_68 && head_129^0==head_129^post_68 && head_14^0==head_14^post_68 && head_175^0==head_175^post_68 && head_27^0==head_27^post_68 && head_32^0==head_32^post_68 && head_SLAM_f_26^0==head_SLAM_f_26^post_68 && i_108^0==i_108^post_68 && i_167^0==i_167^post_68 && i_30^0==i_30^post_68 && i_94^0==i_94^post_68 && len_132^0==len_132^post_68 && len_183^0==len_183^post_68 && length_29^0==length_29^post_68 && nondet_12^0==nondet_12^post_68 && r_124^0==r_124^post_68 && r_163^0==r_163^post_68 && r_39^0==r_39^post_68 && rcd_58^0==rcd_58^post_68 && rcd_88^0==rcd_88^post_68 && result_11^0==result_11^post_68 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_68 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_68 && t_23^0==t_23^post_68 && temp0_15^0==temp0_15^post_68 && temp0_31^0==temp0_31^post_68 && temp_35^0==temp_35^post_68 && tmp_34^0==tmp_34^post_68 && x_16^0==x_16^post_68 && x_20^0==x_20^post_68 && x_SLAM_f_18^0==x_SLAM_f_18^post_68 && y_19^0==y_19^post_68 ], cost: 1
     69: l65 -> l38 : __disjvr_0^0'=__disjvr_0^post_70, __disjvr_10^0'=__disjvr_10^post_70, __disjvr_11^0'=__disjvr_11^post_70, __disjvr_12^0'=__disjvr_12^post_70, __disjvr_13^0'=__disjvr_13^post_70, __disjvr_14^0'=__disjvr_14^post_70, __disjvr_15^0'=__disjvr_15^post_70, __disjvr_16^0'=__disjvr_16^post_70, __disjvr_17^0'=__disjvr_17^post_70, __disjvr_18^0'=__disjvr_18^post_70, __disjvr_19^0'=__disjvr_19^post_70, __disjvr_1^0'=__disjvr_1^post_70, __disjvr_20^0'=__disjvr_20^post_70, __disjvr_21^0'=__disjvr_21^post_70, __disjvr_22^0'=__disjvr_22^post_70, __disjvr_23^0'=__disjvr_23^post_70, __disjvr_24^0'=__disjvr_24^post_70, __disjvr_25^0'=__disjvr_25^post_70, __disjvr_26^0'=__disjvr_26^post_70, __disjvr_27^0'=__disjvr_27^post_70, __disjvr_28^0'=__disjvr_28^post_70, __disjvr_29^0'=__disjvr_29^post_70, __disjvr_2^0'=__disjvr_2^post_70, __disjvr_30^0'=__disjvr_30^post_70, __disjvr_3^0'=__disjvr_3^post_70, __disjvr_4^0'=__disjvr_4^post_70, __disjvr_5^0'=__disjvr_5^post_70, __disjvr_6^0'=__disjvr_6^post_70, __disjvr_7^0'=__disjvr_7^post_70, __disjvr_8^0'=__disjvr_8^post_70, __disjvr_9^0'=__disjvr_9^post_70, a_116^0'=a_116^post_70, a_147^0'=a_147^post_70, a_184^0'=a_184^post_70, a_215^0'=a_215^post_70, a_237^0'=a_237^post_70, a_260^0'=a_260^post_70, ct_17^0'=ct_17^post_70, f_170^0'=f_170^post_70, head_129^0'=head_129^post_70, head_14^0'=head_14^post_70, head_175^0'=head_175^post_70, head_27^0'=head_27^post_70, head_32^0'=head_32^post_70, head_SLAM_f_26^0'=head_SLAM_f_26^post_70, i_108^0'=i_108^post_70, i_167^0'=i_167^post_70, i_30^0'=i_30^post_70, i_94^0'=i_94^post_70, len_132^0'=len_132^post_70, len_183^0'=len_183^post_70, length_29^0'=length_29^post_70, nondet_12^0'=nondet_12^post_70, r_124^0'=r_124^post_70, r_163^0'=r_163^post_70, r_39^0'=r_39^post_70, rcd_58^0'=rcd_58^post_70, rcd_88^0'=rcd_88^post_70, result_11^0'=result_11^post_70, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_70, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_70, t_23^0'=t_23^post_70, temp0_15^0'=temp0_15^post_70, temp0_31^0'=temp0_31^post_70, temp_35^0'=temp_35^post_70, tmp_34^0'=tmp_34^post_70, x_16^0'=x_16^post_70, x_20^0'=x_20^post_70, x_SLAM_f_18^0'=x_SLAM_f_18^post_70, y_19^0'=y_19^post_70, [ __disjvr_0^0==__disjvr_0^post_70 && __disjvr_1^0==__disjvr_1^post_70 && __disjvr_10^0==__disjvr_10^post_70 && __disjvr_11^0==__disjvr_11^post_70 && __disjvr_12^0==__disjvr_12^post_70 && __disjvr_13^0==__disjvr_13^post_70 && __disjvr_14^0==__disjvr_14^post_70 && __disjvr_15^0==__disjvr_15^post_70 && __disjvr_16^0==__disjvr_16^post_70 && __disjvr_17^0==__disjvr_17^post_70 && __disjvr_18^0==__disjvr_18^post_70 && __disjvr_19^0==__disjvr_19^post_70 && __disjvr_2^0==__disjvr_2^post_70 && __disjvr_20^0==__disjvr_20^post_70 && __disjvr_21^0==__disjvr_21^post_70 && __disjvr_22^0==__disjvr_22^post_70 && __disjvr_23^0==__disjvr_23^post_70 && __disjvr_24^0==__disjvr_24^post_70 && __disjvr_25^0==__disjvr_25^post_70 && __disjvr_26^0==__disjvr_26^post_70 && __disjvr_27^0==__disjvr_27^post_70 && __disjvr_28^0==__disjvr_28^post_70 && __disjvr_29^0==__disjvr_29^post_70 && __disjvr_3^0==__disjvr_3^post_70 && __disjvr_30^0==__disjvr_30^post_70 && __disjvr_4^0==__disjvr_4^post_70 && __disjvr_5^0==__disjvr_5^post_70 && __disjvr_6^0==__disjvr_6^post_70 && __disjvr_7^0==__disjvr_7^post_70 && __disjvr_8^0==__disjvr_8^post_70 && __disjvr_9^0==__disjvr_9^post_70 && a_116^0==a_116^post_70 && a_147^0==a_147^post_70 && a_184^0==a_184^post_70 && a_215^0==a_215^post_70 && a_237^0==a_237^post_70 && a_260^0==a_260^post_70 && ct_17^0==ct_17^post_70 && f_170^0==f_170^post_70 && head_129^0==head_129^post_70 && head_14^0==head_14^post_70 && head_175^0==head_175^post_70 && head_27^0==head_27^post_70 && head_32^0==head_32^post_70 && head_SLAM_f_26^0==head_SLAM_f_26^post_70 && i_108^0==i_108^post_70 && i_167^0==i_167^post_70 && i_30^0==i_30^post_70 && i_94^0==i_94^post_70 && len_132^0==len_132^post_70 && len_183^0==len_183^post_70 && length_29^0==length_29^post_70 && nondet_12^0==nondet_12^post_70 && r_124^0==r_124^post_70 && r_163^0==r_163^post_70 && r_39^0==r_39^post_70 && rcd_58^0==rcd_58^post_70 && rcd_88^0==rcd_88^post_70 && result_11^0==result_11^post_70 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_70 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_70 && t_23^0==t_23^post_70 && temp0_15^0==temp0_15^post_70 && temp0_31^0==temp0_31^post_70 && temp_35^0==temp_35^post_70 && tmp_34^0==tmp_34^post_70 && x_16^0==x_16^post_70 && x_20^0==x_20^post_70 && x_SLAM_f_18^0==x_SLAM_f_18^post_70 && y_19^0==y_19^post_70 ], cost: 1
     72: l66 -> l39 : __disjvr_0^0'=__disjvr_0^post_73, __disjvr_10^0'=__disjvr_10^post_73, __disjvr_11^0'=__disjvr_11^post_73, __disjvr_12^0'=__disjvr_12^post_73, __disjvr_13^0'=__disjvr_13^post_73, __disjvr_14^0'=__disjvr_14^post_73, __disjvr_15^0'=__disjvr_15^post_73, __disjvr_16^0'=__disjvr_16^post_73, __disjvr_17^0'=__disjvr_17^post_73, __disjvr_18^0'=__disjvr_18^post_73, __disjvr_19^0'=__disjvr_19^post_73, __disjvr_1^0'=__disjvr_1^post_73, __disjvr_20^0'=__disjvr_20^post_73, __disjvr_21^0'=__disjvr_21^post_73, __disjvr_22^0'=__disjvr_22^post_73, __disjvr_23^0'=__disjvr_23^post_73, __disjvr_24^0'=__disjvr_24^post_73, __disjvr_25^0'=__disjvr_25^post_73, __disjvr_26^0'=__disjvr_26^post_73, __disjvr_27^0'=__disjvr_27^post_73, __disjvr_28^0'=__disjvr_28^post_73, __disjvr_29^0'=__disjvr_29^post_73, __disjvr_2^0'=__disjvr_2^post_73, __disjvr_30^0'=__disjvr_30^post_73, __disjvr_3^0'=__disjvr_3^post_73, __disjvr_4^0'=__disjvr_4^post_73, __disjvr_5^0'=__disjvr_5^post_73, __disjvr_6^0'=__disjvr_6^post_73, __disjvr_7^0'=__disjvr_7^post_73, __disjvr_8^0'=__disjvr_8^post_73, __disjvr_9^0'=__disjvr_9^post_73, a_116^0'=a_116^post_73, a_147^0'=a_147^post_73, a_184^0'=a_184^post_73, a_215^0'=a_215^post_73, a_237^0'=a_237^post_73, a_260^0'=a_260^post_73, ct_17^0'=ct_17^post_73, f_170^0'=f_170^post_73, head_129^0'=head_129^post_73, head_14^0'=head_14^post_73, head_175^0'=head_175^post_73, head_27^0'=head_27^post_73, head_32^0'=head_32^post_73, head_SLAM_f_26^0'=head_SLAM_f_26^post_73, i_108^0'=i_108^post_73, i_167^0'=i_167^post_73, i_30^0'=i_30^post_73, i_94^0'=i_94^post_73, len_132^0'=len_132^post_73, len_183^0'=len_183^post_73, length_29^0'=length_29^post_73, nondet_12^0'=nondet_12^post_73, r_124^0'=r_124^post_73, r_163^0'=r_163^post_73, r_39^0'=r_39^post_73, rcd_58^0'=rcd_58^post_73, rcd_88^0'=rcd_88^post_73, result_11^0'=result_11^post_73, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_73, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_73, t_23^0'=t_23^post_73, temp0_15^0'=temp0_15^post_73, temp0_31^0'=temp0_31^post_73, temp_35^0'=temp_35^post_73, tmp_34^0'=tmp_34^post_73, x_16^0'=x_16^post_73, x_20^0'=x_20^post_73, x_SLAM_f_18^0'=x_SLAM_f_18^post_73, y_19^0'=y_19^post_73, [ __disjvr_0^0==__disjvr_0^post_73 && __disjvr_1^0==__disjvr_1^post_73 && __disjvr_10^0==__disjvr_10^post_73 && __disjvr_11^0==__disjvr_11^post_73 && __disjvr_12^0==__disjvr_12^post_73 && __disjvr_13^0==__disjvr_13^post_73 && __disjvr_14^0==__disjvr_14^post_73 && __disjvr_15^0==__disjvr_15^post_73 && __disjvr_16^0==__disjvr_16^post_73 && __disjvr_17^0==__disjvr_17^post_73 && __disjvr_18^0==__disjvr_18^post_73 && __disjvr_19^0==__disjvr_19^post_73 && __disjvr_2^0==__disjvr_2^post_73 && __disjvr_20^0==__disjvr_20^post_73 && __disjvr_21^0==__disjvr_21^post_73 && __disjvr_22^0==__disjvr_22^post_73 && __disjvr_23^0==__disjvr_23^post_73 && __disjvr_24^0==__disjvr_24^post_73 && __disjvr_25^0==__disjvr_25^post_73 && __disjvr_26^0==__disjvr_26^post_73 && __disjvr_27^0==__disjvr_27^post_73 && __disjvr_28^0==__disjvr_28^post_73 && __disjvr_29^0==__disjvr_29^post_73 && __disjvr_3^0==__disjvr_3^post_73 && __disjvr_30^0==__disjvr_30^post_73 && __disjvr_4^0==__disjvr_4^post_73 && __disjvr_5^0==__disjvr_5^post_73 && __disjvr_6^0==__disjvr_6^post_73 && __disjvr_7^0==__disjvr_7^post_73 && __disjvr_8^0==__disjvr_8^post_73 && __disjvr_9^0==__disjvr_9^post_73 && a_116^0==a_116^post_73 && a_147^0==a_147^post_73 && a_184^0==a_184^post_73 && a_215^0==a_215^post_73 && a_237^0==a_237^post_73 && a_260^0==a_260^post_73 && ct_17^0==ct_17^post_73 && f_170^0==f_170^post_73 && head_129^0==head_129^post_73 && head_14^0==head_14^post_73 && head_175^0==head_175^post_73 && head_27^0==head_27^post_73 && head_32^0==head_32^post_73 && head_SLAM_f_26^0==head_SLAM_f_26^post_73 && i_108^0==i_108^post_73 && i_167^0==i_167^post_73 && i_30^0==i_30^post_73 && i_94^0==i_94^post_73 && len_132^0==len_132^post_73 && len_183^0==len_183^post_73 && length_29^0==length_29^post_73 && nondet_12^0==nondet_12^post_73 && r_124^0==r_124^post_73 && r_163^0==r_163^post_73 && r_39^0==r_39^post_73 && rcd_58^0==rcd_58^post_73 && rcd_88^0==rcd_88^post_73 && result_11^0==result_11^post_73 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_73 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_73 && t_23^0==t_23^post_73 && temp0_15^0==temp0_15^post_73 && temp0_31^0==temp0_31^post_73 && temp_35^0==temp_35^post_73 && tmp_34^0==tmp_34^post_73 && x_16^0==x_16^post_73 && x_20^0==x_20^post_73 && x_SLAM_f_18^0==x_SLAM_f_18^post_73 && y_19^0==y_19^post_73 ], cost: 1

Checking for constant complexity:
   The following rule is satisfiable with cost >= 1, yielding constant complexity:
     72: l66 -> l39 : __disjvr_0^0'=__disjvr_0^post_73, __disjvr_10^0'=__disjvr_10^post_73, __disjvr_11^0'=__disjvr_11^post_73, __disjvr_12^0'=__disjvr_12^post_73, __disjvr_13^0'=__disjvr_13^post_73, __disjvr_14^0'=__disjvr_14^post_73, __disjvr_15^0'=__disjvr_15^post_73, __disjvr_16^0'=__disjvr_16^post_73, __disjvr_17^0'=__disjvr_17^post_73, __disjvr_18^0'=__disjvr_18^post_73, __disjvr_19^0'=__disjvr_19^post_73, __disjvr_1^0'=__disjvr_1^post_73, __disjvr_20^0'=__disjvr_20^post_73, __disjvr_21^0'=__disjvr_21^post_73, __disjvr_22^0'=__disjvr_22^post_73, __disjvr_23^0'=__disjvr_23^post_73, __disjvr_24^0'=__disjvr_24^post_73, __disjvr_25^0'=__disjvr_25^post_73, __disjvr_26^0'=__disjvr_26^post_73, __disjvr_27^0'=__disjvr_27^post_73, __disjvr_28^0'=__disjvr_28^post_73, __disjvr_29^0'=__disjvr_29^post_73, __disjvr_2^0'=__disjvr_2^post_73, __disjvr_30^0'=__disjvr_30^post_73, __disjvr_3^0'=__disjvr_3^post_73, __disjvr_4^0'=__disjvr_4^post_73, __disjvr_5^0'=__disjvr_5^post_73, __disjvr_6^0'=__disjvr_6^post_73, __disjvr_7^0'=__disjvr_7^post_73, __disjvr_8^0'=__disjvr_8^post_73, __disjvr_9^0'=__disjvr_9^post_73, a_116^0'=a_116^post_73, a_147^0'=a_147^post_73, a_184^0'=a_184^post_73, a_215^0'=a_215^post_73, a_237^0'=a_237^post_73, a_260^0'=a_260^post_73, ct_17^0'=ct_17^post_73, f_170^0'=f_170^post_73, head_129^0'=head_129^post_73, head_14^0'=head_14^post_73, head_175^0'=head_175^post_73, head_27^0'=head_27^post_73, head_32^0'=head_32^post_73, head_SLAM_f_26^0'=head_SLAM_f_26^post_73, i_108^0'=i_108^post_73, i_167^0'=i_167^post_73, i_30^0'=i_30^post_73, i_94^0'=i_94^post_73, len_132^0'=len_132^post_73, len_183^0'=len_183^post_73, length_29^0'=length_29^post_73, nondet_12^0'=nondet_12^post_73, r_124^0'=r_124^post_73, r_163^0'=r_163^post_73, r_39^0'=r_39^post_73, rcd_58^0'=rcd_58^post_73, rcd_88^0'=rcd_88^post_73, result_11^0'=result_11^post_73, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_73, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_73, t_23^0'=t_23^post_73, temp0_15^0'=temp0_15^post_73, temp0_31^0'=temp0_31^post_73, temp_35^0'=temp_35^post_73, tmp_34^0'=tmp_34^post_73, x_16^0'=x_16^post_73, x_20^0'=x_20^post_73, x_SLAM_f_18^0'=x_SLAM_f_18^post_73, y_19^0'=y_19^post_73, [ __disjvr_0^0==__disjvr_0^post_73 && __disjvr_1^0==__disjvr_1^post_73 && __disjvr_10^0==__disjvr_10^post_73 && __disjvr_11^0==__disjvr_11^post_73 && __disjvr_12^0==__disjvr_12^post_73 && __disjvr_13^0==__disjvr_13^post_73 && __disjvr_14^0==__disjvr_14^post_73 && __disjvr_15^0==__disjvr_15^post_73 && __disjvr_16^0==__disjvr_16^post_73 && __disjvr_17^0==__disjvr_17^post_73 && __disjvr_18^0==__disjvr_18^post_73 && __disjvr_19^0==__disjvr_19^post_73 && __disjvr_2^0==__disjvr_2^post_73 && __disjvr_20^0==__disjvr_20^post_73 && __disjvr_21^0==__disjvr_21^post_73 && __disjvr_22^0==__disjvr_22^post_73 && __disjvr_23^0==__disjvr_23^post_73 && __disjvr_24^0==__disjvr_24^post_73 && __disjvr_25^0==__disjvr_25^post_73 && __disjvr_26^0==__disjvr_26^post_73 && __disjvr_27^0==__disjvr_27^post_73 && __disjvr_28^0==__disjvr_28^post_73 && __disjvr_29^0==__disjvr_29^post_73 && __disjvr_3^0==__disjvr_3^post_73 && __disjvr_30^0==__disjvr_30^post_73 && __disjvr_4^0==__disjvr_4^post_73 && __disjvr_5^0==__disjvr_5^post_73 && __disjvr_6^0==__disjvr_6^post_73 && __disjvr_7^0==__disjvr_7^post_73 && __disjvr_8^0==__disjvr_8^post_73 && __disjvr_9^0==__disjvr_9^post_73 && a_116^0==a_116^post_73 && a_147^0==a_147^post_73 && a_184^0==a_184^post_73 && a_215^0==a_215^post_73 && a_237^0==a_237^post_73 && a_260^0==a_260^post_73 && ct_17^0==ct_17^post_73 && f_170^0==f_170^post_73 && head_129^0==head_129^post_73 && head_14^0==head_14^post_73 && head_175^0==head_175^post_73 && head_27^0==head_27^post_73 && head_32^0==head_32^post_73 && head_SLAM_f_26^0==head_SLAM_f_26^post_73 && i_108^0==i_108^post_73 && i_167^0==i_167^post_73 && i_30^0==i_30^post_73 && i_94^0==i_94^post_73 && len_132^0==len_132^post_73 && len_183^0==len_183^post_73 && length_29^0==length_29^post_73 && nondet_12^0==nondet_12^post_73 && r_124^0==r_124^post_73 && r_163^0==r_163^post_73 && r_39^0==r_39^post_73 && rcd_58^0==rcd_58^post_73 && rcd_88^0==rcd_88^post_73 && result_11^0==result_11^post_73 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_73 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_73 && t_23^0==t_23^post_73 && temp0_15^0==temp0_15^post_73 && temp0_31^0==temp0_31^post_73 && temp_35^0==temp_35^post_73 && tmp_34^0==tmp_34^post_73 && x_16^0==x_16^post_73 && x_20^0==x_20^post_73 && x_SLAM_f_18^0==x_SLAM_f_18^post_73 && y_19^0==y_19^post_73 ], cost: 1

Removed unreachable and leaf rules:
   Start location: l66
      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_26^0'=__disjvr_26^post_2, __disjvr_27^0'=__disjvr_27^post_2, __disjvr_28^0'=__disjvr_28^post_2, __disjvr_29^0'=__disjvr_29^post_2, __disjvr_2^0'=__disjvr_2^post_2, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_2, a_147^0'=a_147^post_2, a_184^0'=a_184^post_2, a_215^0'=a_215^post_2, a_237^0'=a_237^post_2, a_260^0'=a_260^post_2, ct_17^0'=ct_17^post_2, f_170^0'=f_170^post_2, head_129^0'=head_129^post_2, head_14^0'=head_14^post_2, head_175^0'=head_175^post_2, head_27^0'=head_27^post_2, head_32^0'=head_32^post_2, head_SLAM_f_26^0'=head_SLAM_f_26^post_2, i_108^0'=i_108^post_2, i_167^0'=i_167^post_2, i_30^0'=i_30^post_2, i_94^0'=i_94^post_2, len_132^0'=len_132^post_2, len_183^0'=len_183^post_2, length_29^0'=length_29^post_2, nondet_12^0'=nondet_12^post_2, r_124^0'=r_124^post_2, r_163^0'=r_163^post_2, r_39^0'=r_39^post_2, rcd_58^0'=rcd_58^post_2, rcd_88^0'=rcd_88^post_2, result_11^0'=result_11^post_2, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_2, t_23^0'=t_23^post_2, temp0_15^0'=temp0_15^post_2, temp0_31^0'=temp0_31^post_2, temp_35^0'=temp_35^post_2, tmp_34^0'=tmp_34^post_2, x_16^0'=x_16^post_2, x_20^0'=x_20^post_2, x_SLAM_f_18^0'=x_SLAM_f_18^post_2, y_19^0'=y_19^post_2, [ 0<=a_237^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_2==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_2 && head_14^post_2==head_14^post_2 && x_16^post_2==x_16^post_2 && ct_17^post_2==ct_17^post_2 && x_SLAM_f_18^post_2==x_SLAM_f_18^post_2 && r_39^post_2==r_39^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_26^0==__disjvr_26^post_2 && __disjvr_27^0==__disjvr_27^post_2 && __disjvr_28^0==__disjvr_28^post_2 && __disjvr_29^0==__disjvr_29^post_2 && __disjvr_3^0==__disjvr_3^post_2 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_2 && a_147^0==a_147^post_2 && a_184^0==a_184^post_2 && a_215^0==a_215^post_2 && a_237^0==a_237^post_2 && a_260^0==a_260^post_2 && f_170^0==f_170^post_2 && head_129^0==head_129^post_2 && head_175^0==head_175^post_2 && head_27^0==head_27^post_2 && head_32^0==head_32^post_2 && head_SLAM_f_26^0==head_SLAM_f_26^post_2 && i_108^0==i_108^post_2 && i_167^0==i_167^post_2 && i_30^0==i_30^post_2 && i_94^0==i_94^post_2 && len_132^0==len_132^post_2 && len_183^0==len_183^post_2 && length_29^0==length_29^post_2 && nondet_12^0==nondet_12^post_2 && r_124^0==r_124^post_2 && r_163^0==r_163^post_2 && rcd_58^0==rcd_58^post_2 && rcd_88^0==rcd_88^post_2 && result_11^0==result_11^post_2 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_2 && t_23^0==t_23^post_2 && temp0_15^0==temp0_15^post_2 && temp0_31^0==temp0_31^post_2 && temp_35^0==temp_35^post_2 && tmp_34^0==tmp_34^post_2 && x_20^0==x_20^post_2 && y_19^0==y_19^post_2 ], cost: 1
      2: l3 -> l4 : __disjvr_0^0'=__disjvr_0^post_3, __disjvr_10^0'=__disjvr_10^post_3, __disjvr_11^0'=__disjvr_11^post_3, __disjvr_12^0'=__disjvr_12^post_3, __disjvr_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_26^0'=__disjvr_26^post_3, __disjvr_27^0'=__disjvr_27^post_3, __disjvr_28^0'=__disjvr_28^post_3, __disjvr_29^0'=__disjvr_29^post_3, __disjvr_2^0'=__disjvr_2^post_3, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_3, a_147^0'=a_147^post_3, a_184^0'=a_184^post_3, a_215^0'=a_215^post_3, a_237^0'=a_237^post_3, a_260^0'=a_260^post_3, ct_17^0'=ct_17^post_3, f_170^0'=f_170^post_3, head_129^0'=head_129^post_3, head_14^0'=head_14^post_3, head_175^0'=head_175^post_3, head_27^0'=head_27^post_3, head_32^0'=head_32^post_3, head_SLAM_f_26^0'=head_SLAM_f_26^post_3, i_108^0'=i_108^post_3, i_167^0'=i_167^post_3, i_30^0'=i_30^post_3, i_94^0'=i_94^post_3, len_132^0'=len_132^post_3, len_183^0'=len_183^post_3, length_29^0'=length_29^post_3, nondet_12^0'=nondet_12^post_3, r_124^0'=r_124^post_3, r_163^0'=r_163^post_3, r_39^0'=r_39^post_3, rcd_58^0'=rcd_58^post_3, rcd_88^0'=rcd_88^post_3, result_11^0'=result_11^post_3, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_3, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_3, t_23^0'=t_23^post_3, temp0_15^0'=temp0_15^post_3, temp0_31^0'=temp0_31^post_3, temp_35^0'=temp_35^post_3, tmp_34^0'=tmp_34^post_3, x_16^0'=x_16^post_3, x_20^0'=x_20^post_3, x_SLAM_f_18^0'=x_SLAM_f_18^post_3, y_19^0'=y_19^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_26^0==__disjvr_26^post_3 && __disjvr_27^0==__disjvr_27^post_3 && __disjvr_28^0==__disjvr_28^post_3 && __disjvr_29^0==__disjvr_29^post_3 && __disjvr_3^0==__disjvr_3^post_3 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_3 && a_147^0==a_147^post_3 && a_184^0==a_184^post_3 && a_215^0==a_215^post_3 && a_237^0==a_237^post_3 && a_260^0==a_260^post_3 && ct_17^0==ct_17^post_3 && f_170^0==f_170^post_3 && head_129^0==head_129^post_3 && head_14^0==head_14^post_3 && head_175^0==head_175^post_3 && head_27^0==head_27^post_3 && head_32^0==head_32^post_3 && head_SLAM_f_26^0==head_SLAM_f_26^post_3 && i_108^0==i_108^post_3 && i_167^0==i_167^post_3 && i_30^0==i_30^post_3 && i_94^0==i_94^post_3 && len_132^0==len_132^post_3 && len_183^0==len_183^post_3 && length_29^0==length_29^post_3 && nondet_12^0==nondet_12^post_3 && r_124^0==r_124^post_3 && r_163^0==r_163^post_3 && r_39^0==r_39^post_3 && rcd_58^0==rcd_58^post_3 && rcd_88^0==rcd_88^post_3 && result_11^0==result_11^post_3 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_3 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_3 && t_23^0==t_23^post_3 && temp0_15^0==temp0_15^post_3 && temp0_31^0==temp0_31^post_3 && temp_35^0==temp_35^post_3 && tmp_34^0==tmp_34^post_3 && x_16^0==x_16^post_3 && x_20^0==x_20^post_3 && x_SLAM_f_18^0==x_SLAM_f_18^post_3 && y_19^0==y_19^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_26^0'=__disjvr_26^post_4, __disjvr_27^0'=__disjvr_27^post_4, __disjvr_28^0'=__disjvr_28^post_4, __disjvr_29^0'=__disjvr_29^post_4, __disjvr_2^0'=__disjvr_2^post_4, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_4, a_147^0'=a_147^post_4, a_184^0'=a_184^post_4, a_215^0'=a_215^post_4, a_237^0'=a_237^post_4, a_260^0'=a_260^post_4, ct_17^0'=ct_17^post_4, f_170^0'=f_170^post_4, head_129^0'=head_129^post_4, head_14^0'=head_14^post_4, head_175^0'=head_175^post_4, head_27^0'=head_27^post_4, head_32^0'=head_32^post_4, head_SLAM_f_26^0'=head_SLAM_f_26^post_4, i_108^0'=i_108^post_4, i_167^0'=i_167^post_4, i_30^0'=i_30^post_4, i_94^0'=i_94^post_4, len_132^0'=len_132^post_4, len_183^0'=len_183^post_4, length_29^0'=length_29^post_4, nondet_12^0'=nondet_12^post_4, r_124^0'=r_124^post_4, r_163^0'=r_163^post_4, r_39^0'=r_39^post_4, rcd_58^0'=rcd_58^post_4, rcd_88^0'=rcd_88^post_4, result_11^0'=result_11^post_4, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_4, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_4, t_23^0'=t_23^post_4, temp0_15^0'=temp0_15^post_4, temp0_31^0'=temp0_31^post_4, temp_35^0'=temp_35^post_4, tmp_34^0'=tmp_34^post_4, x_16^0'=x_16^post_4, x_20^0'=x_20^post_4, x_SLAM_f_18^0'=x_SLAM_f_18^post_4, y_19^0'=y_19^post_4, [ t_23^post_4==x_20^0 && a_260^post_4==a_260^post_4 && 0<=ct_17^0 && ct_17^0<=0 && 0<=y_19^0 && y_19^0<=0 && head_14^0<=x_16^0 && x_16^0<=head_14^0 && head_14^0<=x_SLAM_f_18^0 && x_SLAM_f_18^0<=head_14^0 && x_16^0<=x_SLAM_f_18^0 && x_SLAM_f_18^0<=x_16^0 && ct_17^0<=y_19^0 && y_19^0<=ct_17^0 && a_260^post_4<=-1+a_237^0 && -1+a_237^0<=a_260^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_26^0==__disjvr_26^post_4 && __disjvr_27^0==__disjvr_27^post_4 && __disjvr_28^0==__disjvr_28^post_4 && __disjvr_29^0==__disjvr_29^post_4 && __disjvr_3^0==__disjvr_3^post_4 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_4 && a_147^0==a_147^post_4 && a_184^0==a_184^post_4 && a_215^0==a_215^post_4 && a_237^0==a_237^post_4 && ct_17^0==ct_17^post_4 && f_170^0==f_170^post_4 && head_129^0==head_129^post_4 && head_14^0==head_14^post_4 && head_175^0==head_175^post_4 && head_27^0==head_27^post_4 && head_32^0==head_32^post_4 && head_SLAM_f_26^0==head_SLAM_f_26^post_4 && i_108^0==i_108^post_4 && i_167^0==i_167^post_4 && i_30^0==i_30^post_4 && i_94^0==i_94^post_4 && len_132^0==len_132^post_4 && len_183^0==len_183^post_4 && length_29^0==length_29^post_4 && nondet_12^0==nondet_12^post_4 && r_124^0==r_124^post_4 && r_163^0==r_163^post_4 && r_39^0==r_39^post_4 && rcd_58^0==rcd_58^post_4 && rcd_88^0==rcd_88^post_4 && result_11^0==result_11^post_4 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_4 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_4 && temp0_15^0==temp0_15^post_4 && temp0_31^0==temp0_31^post_4 && temp_35^0==temp_35^post_4 && tmp_34^0==tmp_34^post_4 && x_16^0==x_16^post_4 && x_20^0==x_20^post_4 && x_SLAM_f_18^0==x_SLAM_f_18^post_4 && y_19^0==y_19^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_26^0'=__disjvr_26^post_5, __disjvr_27^0'=__disjvr_27^post_5, __disjvr_28^0'=__disjvr_28^post_5, __disjvr_29^0'=__disjvr_29^post_5, __disjvr_2^0'=__disjvr_2^post_5, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_5, a_147^0'=a_147^post_5, a_184^0'=a_184^post_5, a_215^0'=a_215^post_5, a_237^0'=a_237^post_5, a_260^0'=a_260^post_5, ct_17^0'=ct_17^post_5, f_170^0'=f_170^post_5, head_129^0'=head_129^post_5, head_14^0'=head_14^post_5, head_175^0'=head_175^post_5, head_27^0'=head_27^post_5, head_32^0'=head_32^post_5, head_SLAM_f_26^0'=head_SLAM_f_26^post_5, i_108^0'=i_108^post_5, i_167^0'=i_167^post_5, i_30^0'=i_30^post_5, i_94^0'=i_94^post_5, len_132^0'=len_132^post_5, len_183^0'=len_183^post_5, length_29^0'=length_29^post_5, nondet_12^0'=nondet_12^post_5, r_124^0'=r_124^post_5, r_163^0'=r_163^post_5, r_39^0'=r_39^post_5, rcd_58^0'=rcd_58^post_5, rcd_88^0'=rcd_88^post_5, result_11^0'=result_11^post_5, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_5, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_5, t_23^0'=t_23^post_5, temp0_15^0'=temp0_15^post_5, temp0_31^0'=temp0_31^post_5, temp_35^0'=temp_35^post_5, tmp_34^0'=tmp_34^post_5, x_16^0'=x_16^post_5, x_20^0'=x_20^post_5, x_SLAM_f_18^0'=x_SLAM_f_18^post_5, y_19^0'=y_19^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_26^0==__disjvr_26^post_5 && __disjvr_27^0==__disjvr_27^post_5 && __disjvr_28^0==__disjvr_28^post_5 && __disjvr_29^0==__disjvr_29^post_5 && __disjvr_3^0==__disjvr_3^post_5 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_5 && a_147^0==a_147^post_5 && a_184^0==a_184^post_5 && a_215^0==a_215^post_5 && a_237^0==a_237^post_5 && a_260^0==a_260^post_5 && ct_17^0==ct_17^post_5 && f_170^0==f_170^post_5 && head_129^0==head_129^post_5 && head_14^0==head_14^post_5 && head_175^0==head_175^post_5 && head_27^0==head_27^post_5 && head_32^0==head_32^post_5 && head_SLAM_f_26^0==head_SLAM_f_26^post_5 && i_108^0==i_108^post_5 && i_167^0==i_167^post_5 && i_30^0==i_30^post_5 && i_94^0==i_94^post_5 && len_132^0==len_132^post_5 && len_183^0==len_183^post_5 && length_29^0==length_29^post_5 && nondet_12^0==nondet_12^post_5 && r_124^0==r_124^post_5 && r_163^0==r_163^post_5 && r_39^0==r_39^post_5 && rcd_58^0==rcd_58^post_5 && rcd_88^0==rcd_88^post_5 && result_11^0==result_11^post_5 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_5 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_5 && t_23^0==t_23^post_5 && temp0_15^0==temp0_15^post_5 && temp0_31^0==temp0_31^post_5 && temp_35^0==temp_35^post_5 && tmp_34^0==tmp_34^post_5 && x_16^0==x_16^post_5 && x_20^0==x_20^post_5 && x_SLAM_f_18^0==x_SLAM_f_18^post_5 && y_19^0==y_19^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_26^0'=__disjvr_26^post_6, __disjvr_27^0'=__disjvr_27^post_6, __disjvr_28^0'=__disjvr_28^post_6, __disjvr_29^0'=__disjvr_29^post_6, __disjvr_2^0'=__disjvr_2^post_6, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_6, a_147^0'=a_147^post_6, a_184^0'=a_184^post_6, a_215^0'=a_215^post_6, a_237^0'=a_237^post_6, a_260^0'=a_260^post_6, ct_17^0'=ct_17^post_6, f_170^0'=f_170^post_6, head_129^0'=head_129^post_6, head_14^0'=head_14^post_6, head_175^0'=head_175^post_6, head_27^0'=head_27^post_6, head_32^0'=head_32^post_6, head_SLAM_f_26^0'=head_SLAM_f_26^post_6, i_108^0'=i_108^post_6, i_167^0'=i_167^post_6, i_30^0'=i_30^post_6, i_94^0'=i_94^post_6, len_132^0'=len_132^post_6, len_183^0'=len_183^post_6, length_29^0'=length_29^post_6, nondet_12^0'=nondet_12^post_6, r_124^0'=r_124^post_6, r_163^0'=r_163^post_6, r_39^0'=r_39^post_6, rcd_58^0'=rcd_58^post_6, rcd_88^0'=rcd_88^post_6, result_11^0'=result_11^post_6, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_6, t_23^0'=t_23^post_6, temp0_15^0'=temp0_15^post_6, temp0_31^0'=temp0_31^post_6, temp_35^0'=temp_35^post_6, tmp_34^0'=tmp_34^post_6, x_16^0'=x_16^post_6, x_20^0'=x_20^post_6, x_SLAM_f_18^0'=x_SLAM_f_18^post_6, y_19^0'=y_19^post_6, [ __disjvr_2^post_6==__disjvr_2^0 && __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_26^0==__disjvr_26^post_6 && __disjvr_27^0==__disjvr_27^post_6 && __disjvr_28^0==__disjvr_28^post_6 && __disjvr_29^0==__disjvr_29^post_6 && __disjvr_3^0==__disjvr_3^post_6 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_6 && a_147^0==a_147^post_6 && a_184^0==a_184^post_6 && a_215^0==a_215^post_6 && a_237^0==a_237^post_6 && a_260^0==a_260^post_6 && ct_17^0==ct_17^post_6 && f_170^0==f_170^post_6 && head_129^0==head_129^post_6 && head_14^0==head_14^post_6 && head_175^0==head_175^post_6 && head_27^0==head_27^post_6 && head_32^0==head_32^post_6 && head_SLAM_f_26^0==head_SLAM_f_26^post_6 && i_108^0==i_108^post_6 && i_167^0==i_167^post_6 && i_30^0==i_30^post_6 && i_94^0==i_94^post_6 && len_132^0==len_132^post_6 && len_183^0==len_183^post_6 && length_29^0==length_29^post_6 && nondet_12^0==nondet_12^post_6 && r_124^0==r_124^post_6 && r_163^0==r_163^post_6 && r_39^0==r_39^post_6 && rcd_58^0==rcd_58^post_6 && rcd_88^0==rcd_88^post_6 && result_11^0==result_11^post_6 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_6 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_6 && t_23^0==t_23^post_6 && temp0_15^0==temp0_15^post_6 && temp0_31^0==temp0_31^post_6 && temp_35^0==temp_35^post_6 && tmp_34^0==tmp_34^post_6 && x_16^0==x_16^post_6 && x_20^0==x_20^post_6 && x_SLAM_f_18^0==x_SLAM_f_18^post_6 && y_19^0==y_19^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_26^0'=__disjvr_26^post_7, __disjvr_27^0'=__disjvr_27^post_7, __disjvr_28^0'=__disjvr_28^post_7, __disjvr_29^0'=__disjvr_29^post_7, __disjvr_2^0'=__disjvr_2^post_7, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_7, a_147^0'=a_147^post_7, a_184^0'=a_184^post_7, a_215^0'=a_215^post_7, a_237^0'=a_237^post_7, a_260^0'=a_260^post_7, ct_17^0'=ct_17^post_7, f_170^0'=f_170^post_7, head_129^0'=head_129^post_7, head_14^0'=head_14^post_7, head_175^0'=head_175^post_7, head_27^0'=head_27^post_7, head_32^0'=head_32^post_7, head_SLAM_f_26^0'=head_SLAM_f_26^post_7, i_108^0'=i_108^post_7, i_167^0'=i_167^post_7, i_30^0'=i_30^post_7, i_94^0'=i_94^post_7, len_132^0'=len_132^post_7, len_183^0'=len_183^post_7, length_29^0'=length_29^post_7, nondet_12^0'=nondet_12^post_7, r_124^0'=r_124^post_7, r_163^0'=r_163^post_7, r_39^0'=r_39^post_7, rcd_58^0'=rcd_58^post_7, rcd_88^0'=rcd_88^post_7, result_11^0'=result_11^post_7, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_7, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7, t_23^0'=t_23^post_7, temp0_15^0'=temp0_15^post_7, temp0_31^0'=temp0_31^post_7, temp_35^0'=temp_35^post_7, tmp_34^0'=tmp_34^post_7, x_16^0'=x_16^post_7, x_20^0'=x_20^post_7, x_SLAM_f_18^0'=x_SLAM_f_18^post_7, y_19^0'=y_19^post_7, [ __disjvr_3^post_7==__disjvr_3^0 && __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_26^0==__disjvr_26^post_7 && __disjvr_27^0==__disjvr_27^post_7 && __disjvr_28^0==__disjvr_28^post_7 && __disjvr_29^0==__disjvr_29^post_7 && __disjvr_3^0==__disjvr_3^post_7 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_7 && a_147^0==a_147^post_7 && a_184^0==a_184^post_7 && a_215^0==a_215^post_7 && a_237^0==a_237^post_7 && a_260^0==a_260^post_7 && ct_17^0==ct_17^post_7 && f_170^0==f_170^post_7 && head_129^0==head_129^post_7 && head_14^0==head_14^post_7 && head_175^0==head_175^post_7 && head_27^0==head_27^post_7 && head_32^0==head_32^post_7 && head_SLAM_f_26^0==head_SLAM_f_26^post_7 && i_108^0==i_108^post_7 && i_167^0==i_167^post_7 && i_30^0==i_30^post_7 && i_94^0==i_94^post_7 && len_132^0==len_132^post_7 && len_183^0==len_183^post_7 && length_29^0==length_29^post_7 && nondet_12^0==nondet_12^post_7 && r_124^0==r_124^post_7 && r_163^0==r_163^post_7 && r_39^0==r_39^post_7 && rcd_58^0==rcd_58^post_7 && rcd_88^0==rcd_88^post_7 && result_11^0==result_11^post_7 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_7 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7 && t_23^0==t_23^post_7 && temp0_15^0==temp0_15^post_7 && temp0_31^0==temp0_31^post_7 && temp_35^0==temp_35^post_7 && tmp_34^0==tmp_34^post_7 && x_16^0==x_16^post_7 && x_20^0==x_20^post_7 && x_SLAM_f_18^0==x_SLAM_f_18^post_7 && y_19^0==y_19^post_7 ], cost: 1
      7: l8 -> l2 : __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_26^0'=__disjvr_26^post_8, __disjvr_27^0'=__disjvr_27^post_8, __disjvr_28^0'=__disjvr_28^post_8, __disjvr_29^0'=__disjvr_29^post_8, __disjvr_2^0'=__disjvr_2^post_8, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_8, a_147^0'=a_147^post_8, a_184^0'=a_184^post_8, a_215^0'=a_215^post_8, a_237^0'=a_237^post_8, a_260^0'=a_260^post_8, ct_17^0'=ct_17^post_8, f_170^0'=f_170^post_8, head_129^0'=head_129^post_8, head_14^0'=head_14^post_8, head_175^0'=head_175^post_8, head_27^0'=head_27^post_8, head_32^0'=head_32^post_8, head_SLAM_f_26^0'=head_SLAM_f_26^post_8, i_108^0'=i_108^post_8, i_167^0'=i_167^post_8, i_30^0'=i_30^post_8, i_94^0'=i_94^post_8, len_132^0'=len_132^post_8, len_183^0'=len_183^post_8, length_29^0'=length_29^post_8, nondet_12^0'=nondet_12^post_8, r_124^0'=r_124^post_8, r_163^0'=r_163^post_8, r_39^0'=r_39^post_8, rcd_58^0'=rcd_58^post_8, rcd_88^0'=rcd_88^post_8, result_11^0'=result_11^post_8, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_8, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_8, t_23^0'=t_23^post_8, temp0_15^0'=temp0_15^post_8, temp0_31^0'=temp0_31^post_8, temp_35^0'=temp_35^post_8, tmp_34^0'=tmp_34^post_8, x_16^0'=x_16^post_8, x_20^0'=x_20^post_8, x_SLAM_f_18^0'=x_SLAM_f_18^post_8, y_19^0'=y_19^post_8, [ 1<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && a_237^post_8==a_237^post_8 && a_237^post_8<=a_260^0 && a_260^0<=a_237^post_8 && __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_26^0==__disjvr_26^post_8 && __disjvr_27^0==__disjvr_27^post_8 && __disjvr_28^0==__disjvr_28^post_8 && __disjvr_29^0==__disjvr_29^post_8 && __disjvr_3^0==__disjvr_3^post_8 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_8 && a_147^0==a_147^post_8 && a_184^0==a_184^post_8 && a_215^0==a_215^post_8 && a_260^0==a_260^post_8 && ct_17^0==ct_17^post_8 && f_170^0==f_170^post_8 && head_129^0==head_129^post_8 && head_14^0==head_14^post_8 && head_175^0==head_175^post_8 && head_27^0==head_27^post_8 && head_32^0==head_32^post_8 && head_SLAM_f_26^0==head_SLAM_f_26^post_8 && i_108^0==i_108^post_8 && i_167^0==i_167^post_8 && i_30^0==i_30^post_8 && i_94^0==i_94^post_8 && len_132^0==len_132^post_8 && len_183^0==len_183^post_8 && length_29^0==length_29^post_8 && nondet_12^0==nondet_12^post_8 && r_124^0==r_124^post_8 && r_163^0==r_163^post_8 && r_39^0==r_39^post_8 && rcd_58^0==rcd_58^post_8 && rcd_88^0==rcd_88^post_8 && result_11^0==result_11^post_8 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_8 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_8 && t_23^0==t_23^post_8 && temp0_15^0==temp0_15^post_8 && temp0_31^0==temp0_31^post_8 && temp_35^0==temp_35^post_8 && tmp_34^0==tmp_34^post_8 && x_16^0==x_16^post_8 && x_20^0==x_20^post_8 && x_SLAM_f_18^0==x_SLAM_f_18^post_8 && y_19^0==y_19^post_8 ], cost: 1
      8: l2 -> l0 : __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_26^0'=__disjvr_26^post_9, __disjvr_27^0'=__disjvr_27^post_9, __disjvr_28^0'=__disjvr_28^post_9, __disjvr_29^0'=__disjvr_29^post_9, __disjvr_2^0'=__disjvr_2^post_9, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_9, a_147^0'=a_147^post_9, a_184^0'=a_184^post_9, a_215^0'=a_215^post_9, a_237^0'=a_237^post_9, a_260^0'=a_260^post_9, ct_17^0'=ct_17^post_9, f_170^0'=f_170^post_9, head_129^0'=head_129^post_9, head_14^0'=head_14^post_9, head_175^0'=head_175^post_9, head_27^0'=head_27^post_9, head_32^0'=head_32^post_9, head_SLAM_f_26^0'=head_SLAM_f_26^post_9, i_108^0'=i_108^post_9, i_167^0'=i_167^post_9, i_30^0'=i_30^post_9, i_94^0'=i_94^post_9, len_132^0'=len_132^post_9, len_183^0'=len_183^post_9, length_29^0'=length_29^post_9, nondet_12^0'=nondet_12^post_9, r_124^0'=r_124^post_9, r_163^0'=r_163^post_9, r_39^0'=r_39^post_9, rcd_58^0'=rcd_58^post_9, rcd_88^0'=rcd_88^post_9, result_11^0'=result_11^post_9, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_9, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_9, t_23^0'=t_23^post_9, temp0_15^0'=temp0_15^post_9, temp0_31^0'=temp0_31^post_9, temp_35^0'=temp_35^post_9, tmp_34^0'=tmp_34^post_9, x_16^0'=x_16^post_9, x_20^0'=x_20^post_9, x_SLAM_f_18^0'=x_SLAM_f_18^post_9, y_19^0'=y_19^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_26^0==__disjvr_26^post_9 && __disjvr_27^0==__disjvr_27^post_9 && __disjvr_28^0==__disjvr_28^post_9 && __disjvr_29^0==__disjvr_29^post_9 && __disjvr_3^0==__disjvr_3^post_9 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_9 && a_147^0==a_147^post_9 && a_184^0==a_184^post_9 && a_215^0==a_215^post_9 && a_237^0==a_237^post_9 && a_260^0==a_260^post_9 && ct_17^0==ct_17^post_9 && f_170^0==f_170^post_9 && head_129^0==head_129^post_9 && head_14^0==head_14^post_9 && head_175^0==head_175^post_9 && head_27^0==head_27^post_9 && head_32^0==head_32^post_9 && head_SLAM_f_26^0==head_SLAM_f_26^post_9 && i_108^0==i_108^post_9 && i_167^0==i_167^post_9 && i_30^0==i_30^post_9 && i_94^0==i_94^post_9 && len_132^0==len_132^post_9 && len_183^0==len_183^post_9 && length_29^0==length_29^post_9 && nondet_12^0==nondet_12^post_9 && r_124^0==r_124^post_9 && r_163^0==r_163^post_9 && r_39^0==r_39^post_9 && rcd_58^0==rcd_58^post_9 && rcd_88^0==rcd_88^post_9 && result_11^0==result_11^post_9 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_9 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_9 && t_23^0==t_23^post_9 && temp0_15^0==temp0_15^post_9 && temp0_31^0==temp0_31^post_9 && temp_35^0==temp_35^post_9 && tmp_34^0==tmp_34^post_9 && x_16^0==x_16^post_9 && x_20^0==x_20^post_9 && x_SLAM_f_18^0==x_SLAM_f_18^post_9 && y_19^0==y_19^post_9 ], cost: 1
     19: l18 -> l19 : __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_26^0'=__disjvr_26^post_20, __disjvr_27^0'=__disjvr_27^post_20, __disjvr_28^0'=__disjvr_28^post_20, __disjvr_29^0'=__disjvr_29^post_20, __disjvr_2^0'=__disjvr_2^post_20, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_20, a_147^0'=a_147^post_20, a_184^0'=a_184^post_20, a_215^0'=a_215^post_20, a_237^0'=a_237^post_20, a_260^0'=a_260^post_20, ct_17^0'=ct_17^post_20, f_170^0'=f_170^post_20, head_129^0'=head_129^post_20, head_14^0'=head_14^post_20, head_175^0'=head_175^post_20, head_27^0'=head_27^post_20, head_32^0'=head_32^post_20, head_SLAM_f_26^0'=head_SLAM_f_26^post_20, i_108^0'=i_108^post_20, i_167^0'=i_167^post_20, i_30^0'=i_30^post_20, i_94^0'=i_94^post_20, len_132^0'=len_132^post_20, len_183^0'=len_183^post_20, length_29^0'=length_29^post_20, nondet_12^0'=nondet_12^post_20, r_124^0'=r_124^post_20, r_163^0'=r_163^post_20, r_39^0'=r_39^post_20, rcd_58^0'=rcd_58^post_20, rcd_88^0'=rcd_88^post_20, result_11^0'=result_11^post_20, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_20, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_20, t_23^0'=t_23^post_20, temp0_15^0'=temp0_15^post_20, temp0_31^0'=temp0_31^post_20, temp_35^0'=temp_35^post_20, tmp_34^0'=tmp_34^post_20, x_16^0'=x_16^post_20, x_20^0'=x_20^post_20, x_SLAM_f_18^0'=x_SLAM_f_18^post_20, y_19^0'=y_19^post_20, [ 0<=len_132^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_20==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_20 && head_14^post_20==head_14^post_20 && x_16^post_20==x_16^post_20 && ct_17^post_20==ct_17^post_20 && x_SLAM_f_18^post_20==x_SLAM_f_18^post_20 && __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_26^0==__disjvr_26^post_20 && __disjvr_27^0==__disjvr_27^post_20 && __disjvr_28^0==__disjvr_28^post_20 && __disjvr_29^0==__disjvr_29^post_20 && __disjvr_3^0==__disjvr_3^post_20 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_20 && a_147^0==a_147^post_20 && a_184^0==a_184^post_20 && a_215^0==a_215^post_20 && a_237^0==a_237^post_20 && a_260^0==a_260^post_20 && f_170^0==f_170^post_20 && head_129^0==head_129^post_20 && head_175^0==head_175^post_20 && head_27^0==head_27^post_20 && head_32^0==head_32^post_20 && head_SLAM_f_26^0==head_SLAM_f_26^post_20 && i_108^0==i_108^post_20 && i_167^0==i_167^post_20 && i_30^0==i_30^post_20 && i_94^0==i_94^post_20 && len_132^0==len_132^post_20 && len_183^0==len_183^post_20 && length_29^0==length_29^post_20 && nondet_12^0==nondet_12^post_20 && r_124^0==r_124^post_20 && r_163^0==r_163^post_20 && r_39^0==r_39^post_20 && rcd_58^0==rcd_58^post_20 && rcd_88^0==rcd_88^post_20 && result_11^0==result_11^post_20 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_20 && t_23^0==t_23^post_20 && temp0_15^0==temp0_15^post_20 && temp0_31^0==temp0_31^post_20 && temp_35^0==temp_35^post_20 && tmp_34^0==tmp_34^post_20 && x_20^0==x_20^post_20 && y_19^0==y_19^post_20 ], cost: 1
     20: l19 -> l20 : __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_26^0'=__disjvr_26^post_21, __disjvr_27^0'=__disjvr_27^post_21, __disjvr_28^0'=__disjvr_28^post_21, __disjvr_29^0'=__disjvr_29^post_21, __disjvr_2^0'=__disjvr_2^post_21, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_21, a_147^0'=a_147^post_21, a_184^0'=a_184^post_21, a_215^0'=a_215^post_21, a_237^0'=a_237^post_21, a_260^0'=a_260^post_21, ct_17^0'=ct_17^post_21, f_170^0'=f_170^post_21, head_129^0'=head_129^post_21, head_14^0'=head_14^post_21, head_175^0'=head_175^post_21, head_27^0'=head_27^post_21, head_32^0'=head_32^post_21, head_SLAM_f_26^0'=head_SLAM_f_26^post_21, i_108^0'=i_108^post_21, i_167^0'=i_167^post_21, i_30^0'=i_30^post_21, i_94^0'=i_94^post_21, len_132^0'=len_132^post_21, len_183^0'=len_183^post_21, length_29^0'=length_29^post_21, nondet_12^0'=nondet_12^post_21, r_124^0'=r_124^post_21, r_163^0'=r_163^post_21, r_39^0'=r_39^post_21, rcd_58^0'=rcd_58^post_21, rcd_88^0'=rcd_88^post_21, result_11^0'=result_11^post_21, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_21, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_21, t_23^0'=t_23^post_21, temp0_15^0'=temp0_15^post_21, temp0_31^0'=temp0_31^post_21, temp_35^0'=temp_35^post_21, tmp_34^0'=tmp_34^post_21, x_16^0'=x_16^post_21, x_20^0'=x_20^post_21, x_SLAM_f_18^0'=x_SLAM_f_18^post_21, y_19^0'=y_19^post_21, [ __disjvr_9^post_21==__disjvr_9^0 && __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_26^0==__disjvr_26^post_21 && __disjvr_27^0==__disjvr_27^post_21 && __disjvr_28^0==__disjvr_28^post_21 && __disjvr_29^0==__disjvr_29^post_21 && __disjvr_3^0==__disjvr_3^post_21 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_21 && a_147^0==a_147^post_21 && a_184^0==a_184^post_21 && a_215^0==a_215^post_21 && a_237^0==a_237^post_21 && a_260^0==a_260^post_21 && ct_17^0==ct_17^post_21 && f_170^0==f_170^post_21 && head_129^0==head_129^post_21 && head_14^0==head_14^post_21 && head_175^0==head_175^post_21 && head_27^0==head_27^post_21 && head_32^0==head_32^post_21 && head_SLAM_f_26^0==head_SLAM_f_26^post_21 && i_108^0==i_108^post_21 && i_167^0==i_167^post_21 && i_30^0==i_30^post_21 && i_94^0==i_94^post_21 && len_132^0==len_132^post_21 && len_183^0==len_183^post_21 && length_29^0==length_29^post_21 && nondet_12^0==nondet_12^post_21 && r_124^0==r_124^post_21 && r_163^0==r_163^post_21 && r_39^0==r_39^post_21 && rcd_58^0==rcd_58^post_21 && rcd_88^0==rcd_88^post_21 && result_11^0==result_11^post_21 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_21 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_21 && t_23^0==t_23^post_21 && temp0_15^0==temp0_15^post_21 && temp0_31^0==temp0_31^post_21 && temp_35^0==temp_35^post_21 && tmp_34^0==tmp_34^post_21 && x_16^0==x_16^post_21 && x_20^0==x_20^post_21 && x_SLAM_f_18^0==x_SLAM_f_18^post_21 && y_19^0==y_19^post_21 ], cost: 1
     21: l20 -> l21 : __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_26^0'=__disjvr_26^post_22, __disjvr_27^0'=__disjvr_27^post_22, __disjvr_28^0'=__disjvr_28^post_22, __disjvr_29^0'=__disjvr_29^post_22, __disjvr_2^0'=__disjvr_2^post_22, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_22, a_147^0'=a_147^post_22, a_184^0'=a_184^post_22, a_215^0'=a_215^post_22, a_237^0'=a_237^post_22, a_260^0'=a_260^post_22, ct_17^0'=ct_17^post_22, f_170^0'=f_170^post_22, head_129^0'=head_129^post_22, head_14^0'=head_14^post_22, head_175^0'=head_175^post_22, head_27^0'=head_27^post_22, head_32^0'=head_32^post_22, head_SLAM_f_26^0'=head_SLAM_f_26^post_22, i_108^0'=i_108^post_22, i_167^0'=i_167^post_22, i_30^0'=i_30^post_22, i_94^0'=i_94^post_22, len_132^0'=len_132^post_22, len_183^0'=len_183^post_22, length_29^0'=length_29^post_22, nondet_12^0'=nondet_12^post_22, r_124^0'=r_124^post_22, r_163^0'=r_163^post_22, r_39^0'=r_39^post_22, rcd_58^0'=rcd_58^post_22, rcd_88^0'=rcd_88^post_22, result_11^0'=result_11^post_22, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_22, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_22, t_23^0'=t_23^post_22, temp0_15^0'=temp0_15^post_22, temp0_31^0'=temp0_31^post_22, temp_35^0'=temp_35^post_22, tmp_34^0'=tmp_34^post_22, x_16^0'=x_16^post_22, x_20^0'=x_20^post_22, x_SLAM_f_18^0'=x_SLAM_f_18^post_22, y_19^0'=y_19^post_22, [ t_23^post_22==x_20^0 && a_215^post_22==a_215^post_22 && 0<=ct_17^0 && ct_17^0<=0 && 0<=y_19^0 && y_19^0<=0 && 0<=-a_215^post_22+a_237^0 && -a_215^post_22+a_237^0<=0 && head_14^0<=x_16^0 && x_16^0<=head_14^0 && head_14^0<=x_SLAM_f_18^0 && x_SLAM_f_18^0<=head_14^0 && head_14^0<=t_23^post_22 && t_23^post_22<=head_14^0 && x_16^0<=x_SLAM_f_18^0 && x_SLAM_f_18^0<=x_16^0 && ct_17^0<=y_19^0 && y_19^0<=ct_17^0 && a_215^post_22<=a_237^0 && a_237^0<=a_215^post_22 && __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_26^0==__disjvr_26^post_22 && __disjvr_27^0==__disjvr_27^post_22 && __disjvr_28^0==__disjvr_28^post_22 && __disjvr_29^0==__disjvr_29^post_22 && __disjvr_3^0==__disjvr_3^post_22 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_22 && a_147^0==a_147^post_22 && a_184^0==a_184^post_22 && a_237^0==a_237^post_22 && a_260^0==a_260^post_22 && ct_17^0==ct_17^post_22 && f_170^0==f_170^post_22 && head_129^0==head_129^post_22 && head_14^0==head_14^post_22 && head_175^0==head_175^post_22 && head_27^0==head_27^post_22 && head_32^0==head_32^post_22 && head_SLAM_f_26^0==head_SLAM_f_26^post_22 && i_108^0==i_108^post_22 && i_167^0==i_167^post_22 && i_30^0==i_30^post_22 && i_94^0==i_94^post_22 && len_132^0==len_132^post_22 && len_183^0==len_183^post_22 && length_29^0==length_29^post_22 && nondet_12^0==nondet_12^post_22 && r_124^0==r_124^post_22 && r_163^0==r_163^post_22 && r_39^0==r_39^post_22 && rcd_58^0==rcd_58^post_22 && rcd_88^0==rcd_88^post_22 && result_11^0==result_11^post_22 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_22 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_22 && temp0_15^0==temp0_15^post_22 && temp0_31^0==temp0_31^post_22 && temp_35^0==temp_35^post_22 && tmp_34^0==tmp_34^post_22 && x_16^0==x_16^post_22 && x_20^0==x_20^post_22 && x_SLAM_f_18^0==x_SLAM_f_18^post_22 && y_19^0==y_19^post_22 ], cost: 1
     22: l21 -> l22 : __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_26^0'=__disjvr_26^post_23, __disjvr_27^0'=__disjvr_27^post_23, __disjvr_28^0'=__disjvr_28^post_23, __disjvr_29^0'=__disjvr_29^post_23, __disjvr_2^0'=__disjvr_2^post_23, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_23, a_147^0'=a_147^post_23, a_184^0'=a_184^post_23, a_215^0'=a_215^post_23, a_237^0'=a_237^post_23, a_260^0'=a_260^post_23, ct_17^0'=ct_17^post_23, f_170^0'=f_170^post_23, head_129^0'=head_129^post_23, head_14^0'=head_14^post_23, head_175^0'=head_175^post_23, head_27^0'=head_27^post_23, head_32^0'=head_32^post_23, head_SLAM_f_26^0'=head_SLAM_f_26^post_23, i_108^0'=i_108^post_23, i_167^0'=i_167^post_23, i_30^0'=i_30^post_23, i_94^0'=i_94^post_23, len_132^0'=len_132^post_23, len_183^0'=len_183^post_23, length_29^0'=length_29^post_23, nondet_12^0'=nondet_12^post_23, r_124^0'=r_124^post_23, r_163^0'=r_163^post_23, r_39^0'=r_39^post_23, rcd_58^0'=rcd_58^post_23, rcd_88^0'=rcd_88^post_23, result_11^0'=result_11^post_23, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_23, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_23, t_23^0'=t_23^post_23, temp0_15^0'=temp0_15^post_23, temp0_31^0'=temp0_31^post_23, temp_35^0'=temp_35^post_23, tmp_34^0'=tmp_34^post_23, x_16^0'=x_16^post_23, x_20^0'=x_20^post_23, x_SLAM_f_18^0'=x_SLAM_f_18^post_23, y_19^0'=y_19^post_23, [ __disjvr_10^post_23==__disjvr_10^0 && __disjvr_0^0==__disjvr_0^post_23 && __disjvr_1^0==__disjvr_1^post_23 && __disjvr_10^0==__disjvr_10^post_23 && __disjvr_11^0==__disjvr_11^post_23 && __disjvr_12^0==__disjvr_12^post_23 && __disjvr_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_26^0==__disjvr_26^post_23 && __disjvr_27^0==__disjvr_27^post_23 && __disjvr_28^0==__disjvr_28^post_23 && __disjvr_29^0==__disjvr_29^post_23 && __disjvr_3^0==__disjvr_3^post_23 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_23 && a_147^0==a_147^post_23 && a_184^0==a_184^post_23 && a_215^0==a_215^post_23 && a_237^0==a_237^post_23 && a_260^0==a_260^post_23 && ct_17^0==ct_17^post_23 && f_170^0==f_170^post_23 && head_129^0==head_129^post_23 && head_14^0==head_14^post_23 && head_175^0==head_175^post_23 && head_27^0==head_27^post_23 && head_32^0==head_32^post_23 && head_SLAM_f_26^0==head_SLAM_f_26^post_23 && i_108^0==i_108^post_23 && i_167^0==i_167^post_23 && i_30^0==i_30^post_23 && i_94^0==i_94^post_23 && len_132^0==len_132^post_23 && len_183^0==len_183^post_23 && length_29^0==length_29^post_23 && nondet_12^0==nondet_12^post_23 && r_124^0==r_124^post_23 && r_163^0==r_163^post_23 && r_39^0==r_39^post_23 && rcd_58^0==rcd_58^post_23 && rcd_88^0==rcd_88^post_23 && result_11^0==result_11^post_23 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_23 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_23 && t_23^0==t_23^post_23 && temp0_15^0==temp0_15^post_23 && temp0_31^0==temp0_31^post_23 && temp_35^0==temp_35^post_23 && tmp_34^0==tmp_34^post_23 && x_16^0==x_16^post_23 && x_20^0==x_20^post_23 && x_SLAM_f_18^0==x_SLAM_f_18^post_23 && y_19^0==y_19^post_23 ], cost: 1
     23: l22 -> 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_26^0'=__disjvr_26^post_24, __disjvr_27^0'=__disjvr_27^post_24, __disjvr_28^0'=__disjvr_28^post_24, __disjvr_29^0'=__disjvr_29^post_24, __disjvr_2^0'=__disjvr_2^post_24, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_24, a_147^0'=a_147^post_24, a_184^0'=a_184^post_24, a_215^0'=a_215^post_24, a_237^0'=a_237^post_24, a_260^0'=a_260^post_24, ct_17^0'=ct_17^post_24, f_170^0'=f_170^post_24, head_129^0'=head_129^post_24, head_14^0'=head_14^post_24, head_175^0'=head_175^post_24, head_27^0'=head_27^post_24, head_32^0'=head_32^post_24, head_SLAM_f_26^0'=head_SLAM_f_26^post_24, i_108^0'=i_108^post_24, i_167^0'=i_167^post_24, i_30^0'=i_30^post_24, i_94^0'=i_94^post_24, len_132^0'=len_132^post_24, len_183^0'=len_183^post_24, length_29^0'=length_29^post_24, nondet_12^0'=nondet_12^post_24, r_124^0'=r_124^post_24, r_163^0'=r_163^post_24, r_39^0'=r_39^post_24, rcd_58^0'=rcd_58^post_24, rcd_88^0'=rcd_88^post_24, result_11^0'=result_11^post_24, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_24, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_24, t_23^0'=t_23^post_24, temp0_15^0'=temp0_15^post_24, temp0_31^0'=temp0_31^post_24, temp_35^0'=temp_35^post_24, tmp_34^0'=tmp_34^post_24, x_16^0'=x_16^post_24, x_20^0'=x_20^post_24, x_SLAM_f_18^0'=x_SLAM_f_18^post_24, y_19^0'=y_19^post_24, [ __disjvr_11^post_24==__disjvr_11^0 && __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_26^0==__disjvr_26^post_24 && __disjvr_27^0==__disjvr_27^post_24 && __disjvr_28^0==__disjvr_28^post_24 && __disjvr_29^0==__disjvr_29^post_24 && __disjvr_3^0==__disjvr_3^post_24 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_24 && a_147^0==a_147^post_24 && a_184^0==a_184^post_24 && a_215^0==a_215^post_24 && a_237^0==a_237^post_24 && a_260^0==a_260^post_24 && ct_17^0==ct_17^post_24 && f_170^0==f_170^post_24 && head_129^0==head_129^post_24 && head_14^0==head_14^post_24 && head_175^0==head_175^post_24 && head_27^0==head_27^post_24 && head_32^0==head_32^post_24 && head_SLAM_f_26^0==head_SLAM_f_26^post_24 && i_108^0==i_108^post_24 && i_167^0==i_167^post_24 && i_30^0==i_30^post_24 && i_94^0==i_94^post_24 && len_132^0==len_132^post_24 && len_183^0==len_183^post_24 && length_29^0==length_29^post_24 && nondet_12^0==nondet_12^post_24 && r_124^0==r_124^post_24 && r_163^0==r_163^post_24 && r_39^0==r_39^post_24 && rcd_58^0==rcd_58^post_24 && rcd_88^0==rcd_88^post_24 && result_11^0==result_11^post_24 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_24 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_24 && t_23^0==t_23^post_24 && temp0_15^0==temp0_15^post_24 && temp0_31^0==temp0_31^post_24 && temp_35^0==temp_35^post_24 && tmp_34^0==tmp_34^post_24 && x_16^0==x_16^post_24 && x_20^0==x_20^post_24 && x_SLAM_f_18^0==x_SLAM_f_18^post_24 && y_19^0==y_19^post_24 ], cost: 1
     24: l23 -> l24 : __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_26^0'=__disjvr_26^post_25, __disjvr_27^0'=__disjvr_27^post_25, __disjvr_28^0'=__disjvr_28^post_25, __disjvr_29^0'=__disjvr_29^post_25, __disjvr_2^0'=__disjvr_2^post_25, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_25, a_147^0'=a_147^post_25, a_184^0'=a_184^post_25, a_215^0'=a_215^post_25, a_237^0'=a_237^post_25, a_260^0'=a_260^post_25, ct_17^0'=ct_17^post_25, f_170^0'=f_170^post_25, head_129^0'=head_129^post_25, head_14^0'=head_14^post_25, head_175^0'=head_175^post_25, head_27^0'=head_27^post_25, head_32^0'=head_32^post_25, head_SLAM_f_26^0'=head_SLAM_f_26^post_25, i_108^0'=i_108^post_25, i_167^0'=i_167^post_25, i_30^0'=i_30^post_25, i_94^0'=i_94^post_25, len_132^0'=len_132^post_25, len_183^0'=len_183^post_25, length_29^0'=length_29^post_25, nondet_12^0'=nondet_12^post_25, r_124^0'=r_124^post_25, r_163^0'=r_163^post_25, r_39^0'=r_39^post_25, rcd_58^0'=rcd_58^post_25, rcd_88^0'=rcd_88^post_25, result_11^0'=result_11^post_25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_25, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_25, t_23^0'=t_23^post_25, temp0_15^0'=temp0_15^post_25, temp0_31^0'=temp0_31^post_25, temp_35^0'=temp_35^post_25, tmp_34^0'=tmp_34^post_25, x_16^0'=x_16^post_25, x_20^0'=x_20^post_25, x_SLAM_f_18^0'=x_SLAM_f_18^post_25, y_19^0'=y_19^post_25, [ __disjvr_12^post_25==__disjvr_12^0 && __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_26^0==__disjvr_26^post_25 && __disjvr_27^0==__disjvr_27^post_25 && __disjvr_28^0==__disjvr_28^post_25 && __disjvr_29^0==__disjvr_29^post_25 && __disjvr_3^0==__disjvr_3^post_25 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_25 && a_147^0==a_147^post_25 && a_184^0==a_184^post_25 && a_215^0==a_215^post_25 && a_237^0==a_237^post_25 && a_260^0==a_260^post_25 && ct_17^0==ct_17^post_25 && f_170^0==f_170^post_25 && head_129^0==head_129^post_25 && head_14^0==head_14^post_25 && head_175^0==head_175^post_25 && head_27^0==head_27^post_25 && head_32^0==head_32^post_25 && head_SLAM_f_26^0==head_SLAM_f_26^post_25 && i_108^0==i_108^post_25 && i_167^0==i_167^post_25 && i_30^0==i_30^post_25 && i_94^0==i_94^post_25 && len_132^0==len_132^post_25 && len_183^0==len_183^post_25 && length_29^0==length_29^post_25 && nondet_12^0==nondet_12^post_25 && r_124^0==r_124^post_25 && r_163^0==r_163^post_25 && r_39^0==r_39^post_25 && rcd_58^0==rcd_58^post_25 && rcd_88^0==rcd_88^post_25 && result_11^0==result_11^post_25 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_25 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_25 && t_23^0==t_23^post_25 && temp0_15^0==temp0_15^post_25 && temp0_31^0==temp0_31^post_25 && temp_35^0==temp_35^post_25 && tmp_34^0==tmp_34^post_25 && x_16^0==x_16^post_25 && x_20^0==x_20^post_25 && x_SLAM_f_18^0==x_SLAM_f_18^post_25 && y_19^0==y_19^post_25 ], cost: 1
     25: l24 -> l0 : __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_26^0'=__disjvr_26^post_26, __disjvr_27^0'=__disjvr_27^post_26, __disjvr_28^0'=__disjvr_28^post_26, __disjvr_29^0'=__disjvr_29^post_26, __disjvr_2^0'=__disjvr_2^post_26, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_26, a_147^0'=a_147^post_26, a_184^0'=a_184^post_26, a_215^0'=a_215^post_26, a_237^0'=a_237^post_26, a_260^0'=a_260^post_26, ct_17^0'=ct_17^post_26, f_170^0'=f_170^post_26, head_129^0'=head_129^post_26, head_14^0'=head_14^post_26, head_175^0'=head_175^post_26, head_27^0'=head_27^post_26, head_32^0'=head_32^post_26, head_SLAM_f_26^0'=head_SLAM_f_26^post_26, i_108^0'=i_108^post_26, i_167^0'=i_167^post_26, i_30^0'=i_30^post_26, i_94^0'=i_94^post_26, len_132^0'=len_132^post_26, len_183^0'=len_183^post_26, length_29^0'=length_29^post_26, nondet_12^0'=nondet_12^post_26, r_124^0'=r_124^post_26, r_163^0'=r_163^post_26, r_39^0'=r_39^post_26, rcd_58^0'=rcd_58^post_26, rcd_88^0'=rcd_88^post_26, result_11^0'=result_11^post_26, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_26, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_26, t_23^0'=t_23^post_26, temp0_15^0'=temp0_15^post_26, temp0_31^0'=temp0_31^post_26, temp_35^0'=temp_35^post_26, tmp_34^0'=tmp_34^post_26, x_16^0'=x_16^post_26, x_20^0'=x_20^post_26, x_SLAM_f_18^0'=x_SLAM_f_18^post_26, y_19^0'=y_19^post_26, [ 1<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && len_132^post_26==len_132^post_26 && -1+len_132^post_26<=a_215^0 && a_215^0<=-1+len_132^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_26^0==__disjvr_26^post_26 && __disjvr_27^0==__disjvr_27^post_26 && __disjvr_28^0==__disjvr_28^post_26 && __disjvr_29^0==__disjvr_29^post_26 && __disjvr_3^0==__disjvr_3^post_26 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_26 && a_147^0==a_147^post_26 && a_184^0==a_184^post_26 && a_215^0==a_215^post_26 && a_237^0==a_237^post_26 && a_260^0==a_260^post_26 && ct_17^0==ct_17^post_26 && f_170^0==f_170^post_26 && head_129^0==head_129^post_26 && head_14^0==head_14^post_26 && head_175^0==head_175^post_26 && head_27^0==head_27^post_26 && head_32^0==head_32^post_26 && head_SLAM_f_26^0==head_SLAM_f_26^post_26 && i_108^0==i_108^post_26 && i_167^0==i_167^post_26 && i_30^0==i_30^post_26 && i_94^0==i_94^post_26 && len_183^0==len_183^post_26 && length_29^0==length_29^post_26 && nondet_12^0==nondet_12^post_26 && r_124^0==r_124^post_26 && r_163^0==r_163^post_26 && r_39^0==r_39^post_26 && rcd_58^0==rcd_58^post_26 && rcd_88^0==rcd_88^post_26 && result_11^0==result_11^post_26 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_26 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_26 && t_23^0==t_23^post_26 && temp0_15^0==temp0_15^post_26 && temp0_31^0==temp0_31^post_26 && temp_35^0==temp_35^post_26 && tmp_34^0==tmp_34^post_26 && x_16^0==x_16^post_26 && x_20^0==x_20^post_26 && x_SLAM_f_18^0==x_SLAM_f_18^post_26 && y_19^0==y_19^post_26 ], cost: 1
     39: l25 -> l38 : __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_26^0'=__disjvr_26^post_40, __disjvr_27^0'=__disjvr_27^post_40, __disjvr_28^0'=__disjvr_28^post_40, __disjvr_29^0'=__disjvr_29^post_40, __disjvr_2^0'=__disjvr_2^post_40, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_40, a_147^0'=a_147^post_40, a_184^0'=a_184^post_40, a_215^0'=a_215^post_40, a_237^0'=a_237^post_40, a_260^0'=a_260^post_40, ct_17^0'=ct_17^post_40, f_170^0'=f_170^post_40, head_129^0'=head_129^post_40, head_14^0'=head_14^post_40, head_175^0'=head_175^post_40, head_27^0'=head_27^post_40, head_32^0'=head_32^post_40, head_SLAM_f_26^0'=head_SLAM_f_26^post_40, i_108^0'=i_108^post_40, i_167^0'=i_167^post_40, i_30^0'=i_30^post_40, i_94^0'=i_94^post_40, len_132^0'=len_132^post_40, len_183^0'=len_183^post_40, length_29^0'=length_29^post_40, nondet_12^0'=nondet_12^post_40, r_124^0'=r_124^post_40, r_163^0'=r_163^post_40, r_39^0'=r_39^post_40, rcd_58^0'=rcd_58^post_40, rcd_88^0'=rcd_88^post_40, result_11^0'=result_11^post_40, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_40, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_40, t_23^0'=t_23^post_40, temp0_15^0'=temp0_15^post_40, temp0_31^0'=temp0_31^post_40, temp_35^0'=temp_35^post_40, tmp_34^0'=tmp_34^post_40, x_16^0'=x_16^post_40, x_20^0'=x_20^post_40, x_SLAM_f_18^0'=x_SLAM_f_18^post_40, y_19^0'=y_19^post_40, [ result_dot_nondet_sdv_special_RETURN_VALUE_13^post_40==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_40 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_40==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_40 && rcd_58^post_40==rcd_58^post_40 && 1+i_30^0<=length_29^0 && tmp_34^post_40==temp_35^0 && temp_35^post_40==temp_35^post_40 && head_32^post_40==tmp_34^post_40 && i_30^post_40==1+i_30^0 && 2<=i_30^post_40 && i_30^post_40<=2 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_40<=length_29^0 && length_29^0<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_40 && head_32^post_40<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_40 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_40<=head_32^post_40 && head_32^post_40<=tmp_34^post_40 && tmp_34^post_40<=head_32^post_40 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_40<=tmp_34^post_40 && tmp_34^post_40<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_40 && 1<=length_29^0 && 2<=length_29^0 && __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_26^0==__disjvr_26^post_40 && __disjvr_27^0==__disjvr_27^post_40 && __disjvr_28^0==__disjvr_28^post_40 && __disjvr_29^0==__disjvr_29^post_40 && __disjvr_3^0==__disjvr_3^post_40 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_40 && a_147^0==a_147^post_40 && a_184^0==a_184^post_40 && a_215^0==a_215^post_40 && a_237^0==a_237^post_40 && a_260^0==a_260^post_40 && ct_17^0==ct_17^post_40 && f_170^0==f_170^post_40 && head_129^0==head_129^post_40 && head_14^0==head_14^post_40 && head_175^0==head_175^post_40 && head_27^0==head_27^post_40 && head_SLAM_f_26^0==head_SLAM_f_26^post_40 && i_108^0==i_108^post_40 && i_167^0==i_167^post_40 && i_94^0==i_94^post_40 && len_132^0==len_132^post_40 && len_183^0==len_183^post_40 && length_29^0==length_29^post_40 && nondet_12^0==nondet_12^post_40 && r_124^0==r_124^post_40 && r_163^0==r_163^post_40 && r_39^0==r_39^post_40 && rcd_88^0==rcd_88^post_40 && result_11^0==result_11^post_40 && t_23^0==t_23^post_40 && temp0_15^0==temp0_15^post_40 && temp0_31^0==temp0_31^post_40 && x_16^0==x_16^post_40 && x_20^0==x_20^post_40 && x_SLAM_f_18^0==x_SLAM_f_18^post_40 && y_19^0==y_19^post_40 ], cost: 1
     65: l38 -> l63 : __disjvr_0^0'=__disjvr_0^post_66, __disjvr_10^0'=__disjvr_10^post_66, __disjvr_11^0'=__disjvr_11^post_66, __disjvr_12^0'=__disjvr_12^post_66, __disjvr_13^0'=__disjvr_13^post_66, __disjvr_14^0'=__disjvr_14^post_66, __disjvr_15^0'=__disjvr_15^post_66, __disjvr_16^0'=__disjvr_16^post_66, __disjvr_17^0'=__disjvr_17^post_66, __disjvr_18^0'=__disjvr_18^post_66, __disjvr_19^0'=__disjvr_19^post_66, __disjvr_1^0'=__disjvr_1^post_66, __disjvr_20^0'=__disjvr_20^post_66, __disjvr_21^0'=__disjvr_21^post_66, __disjvr_22^0'=__disjvr_22^post_66, __disjvr_23^0'=__disjvr_23^post_66, __disjvr_24^0'=__disjvr_24^post_66, __disjvr_25^0'=__disjvr_25^post_66, __disjvr_26^0'=__disjvr_26^post_66, __disjvr_27^0'=__disjvr_27^post_66, __disjvr_28^0'=__disjvr_28^post_66, __disjvr_29^0'=__disjvr_29^post_66, __disjvr_2^0'=__disjvr_2^post_66, __disjvr_30^0'=__disjvr_30^post_66, __disjvr_3^0'=__disjvr_3^post_66, __disjvr_4^0'=__disjvr_4^post_66, __disjvr_5^0'=__disjvr_5^post_66, __disjvr_6^0'=__disjvr_6^post_66, __disjvr_7^0'=__disjvr_7^post_66, __disjvr_8^0'=__disjvr_8^post_66, __disjvr_9^0'=__disjvr_9^post_66, a_116^0'=a_116^post_66, a_147^0'=a_147^post_66, a_184^0'=a_184^post_66, a_215^0'=a_215^post_66, a_237^0'=a_237^post_66, a_260^0'=a_260^post_66, ct_17^0'=ct_17^post_66, f_170^0'=f_170^post_66, head_129^0'=head_129^post_66, head_14^0'=head_14^post_66, head_175^0'=head_175^post_66, head_27^0'=head_27^post_66, head_32^0'=head_32^post_66, head_SLAM_f_26^0'=head_SLAM_f_26^post_66, i_108^0'=i_108^post_66, i_167^0'=i_167^post_66, i_30^0'=i_30^post_66, i_94^0'=i_94^post_66, len_132^0'=len_132^post_66, len_183^0'=len_183^post_66, length_29^0'=length_29^post_66, nondet_12^0'=nondet_12^post_66, r_124^0'=r_124^post_66, r_163^0'=r_163^post_66, r_39^0'=r_39^post_66, rcd_58^0'=rcd_58^post_66, rcd_88^0'=rcd_88^post_66, result_11^0'=result_11^post_66, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_66, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66, t_23^0'=t_23^post_66, temp0_15^0'=temp0_15^post_66, temp0_31^0'=temp0_31^post_66, temp_35^0'=temp_35^post_66, tmp_34^0'=tmp_34^post_66, x_16^0'=x_16^post_66, x_20^0'=x_20^post_66, x_SLAM_f_18^0'=x_SLAM_f_18^post_66, y_19^0'=y_19^post_66, [ 0<=i_30^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66 && i_167^post_66==i_167^post_66 && length_29^0<=i_30^0 && temp0_31^1_2_1==head_32^0 && result_11^1_2==temp0_31^1_2_1 && length_29^post_66==length_29^post_66 && i_30^post_66==i_30^post_66 && temp0_31^post_66==temp0_31^post_66 && head_32^post_66==head_32^post_66 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_66==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_66 && tmp_34^post_66==tmp_34^post_66 && temp_35^post_66==temp_35^post_66 && head_14^post_66==result_11^1_2 && result_11^post_66==result_11^post_66 && head_SLAM_f_26^post_66==head_14^post_66 && head_27^post_66==head_SLAM_f_26^post_66 && 0<=len_132^0 && len_132^0<=0 && 0<=a_147^0-i_30^post_66 && a_147^0-i_30^post_66<=0 && head_14^post_66<=head_SLAM_f_26^post_66 && head_SLAM_f_26^post_66<=head_14^post_66 && head_14^post_66<=head_27^post_66 && head_27^post_66<=head_14^post_66 && head_SLAM_f_26^post_66<=head_27^post_66 && head_27^post_66<=head_SLAM_f_26^post_66 && i_30^post_66<=a_147^0 && a_147^0<=i_30^post_66 && __disjvr_0^0==__disjvr_0^post_66 && __disjvr_1^0==__disjvr_1^post_66 && __disjvr_10^0==__disjvr_10^post_66 && __disjvr_11^0==__disjvr_11^post_66 && __disjvr_12^0==__disjvr_12^post_66 && __disjvr_13^0==__disjvr_13^post_66 && __disjvr_14^0==__disjvr_14^post_66 && __disjvr_15^0==__disjvr_15^post_66 && __disjvr_16^0==__disjvr_16^post_66 && __disjvr_17^0==__disjvr_17^post_66 && __disjvr_18^0==__disjvr_18^post_66 && __disjvr_19^0==__disjvr_19^post_66 && __disjvr_2^0==__disjvr_2^post_66 && __disjvr_20^0==__disjvr_20^post_66 && __disjvr_21^0==__disjvr_21^post_66 && __disjvr_22^0==__disjvr_22^post_66 && __disjvr_23^0==__disjvr_23^post_66 && __disjvr_24^0==__disjvr_24^post_66 && __disjvr_25^0==__disjvr_25^post_66 && __disjvr_26^0==__disjvr_26^post_66 && __disjvr_27^0==__disjvr_27^post_66 && __disjvr_28^0==__disjvr_28^post_66 && __disjvr_29^0==__disjvr_29^post_66 && __disjvr_3^0==__disjvr_3^post_66 && __disjvr_30^0==__disjvr_30^post_66 && __disjvr_4^0==__disjvr_4^post_66 && __disjvr_5^0==__disjvr_5^post_66 && __disjvr_6^0==__disjvr_6^post_66 && __disjvr_7^0==__disjvr_7^post_66 && __disjvr_8^0==__disjvr_8^post_66 && __disjvr_9^0==__disjvr_9^post_66 && a_116^0==a_116^post_66 && a_147^0==a_147^post_66 && a_184^0==a_184^post_66 && a_215^0==a_215^post_66 && a_237^0==a_237^post_66 && a_260^0==a_260^post_66 && ct_17^0==ct_17^post_66 && f_170^0==f_170^post_66 && head_129^0==head_129^post_66 && head_175^0==head_175^post_66 && i_108^0==i_108^post_66 && i_94^0==i_94^post_66 && len_132^0==len_132^post_66 && len_183^0==len_183^post_66 && nondet_12^0==nondet_12^post_66 && r_124^0==r_124^post_66 && r_163^0==r_163^post_66 && r_39^0==r_39^post_66 && rcd_58^0==rcd_58^post_66 && rcd_88^0==rcd_88^post_66 && t_23^0==t_23^post_66 && temp0_15^0==temp0_15^post_66 && x_16^0==x_16^post_66 && x_20^0==x_20^post_66 && x_SLAM_f_18^0==x_SLAM_f_18^post_66 && y_19^0==y_19^post_66 ], cost: 1
     68: l38 -> l65 : __disjvr_0^0'=__disjvr_0^post_69, __disjvr_10^0'=__disjvr_10^post_69, __disjvr_11^0'=__disjvr_11^post_69, __disjvr_12^0'=__disjvr_12^post_69, __disjvr_13^0'=__disjvr_13^post_69, __disjvr_14^0'=__disjvr_14^post_69, __disjvr_15^0'=__disjvr_15^post_69, __disjvr_16^0'=__disjvr_16^post_69, __disjvr_17^0'=__disjvr_17^post_69, __disjvr_18^0'=__disjvr_18^post_69, __disjvr_19^0'=__disjvr_19^post_69, __disjvr_1^0'=__disjvr_1^post_69, __disjvr_20^0'=__disjvr_20^post_69, __disjvr_21^0'=__disjvr_21^post_69, __disjvr_22^0'=__disjvr_22^post_69, __disjvr_23^0'=__disjvr_23^post_69, __disjvr_24^0'=__disjvr_24^post_69, __disjvr_25^0'=__disjvr_25^post_69, __disjvr_26^0'=__disjvr_26^post_69, __disjvr_27^0'=__disjvr_27^post_69, __disjvr_28^0'=__disjvr_28^post_69, __disjvr_29^0'=__disjvr_29^post_69, __disjvr_2^0'=__disjvr_2^post_69, __disjvr_30^0'=__disjvr_30^post_69, __disjvr_3^0'=__disjvr_3^post_69, __disjvr_4^0'=__disjvr_4^post_69, __disjvr_5^0'=__disjvr_5^post_69, __disjvr_6^0'=__disjvr_6^post_69, __disjvr_7^0'=__disjvr_7^post_69, __disjvr_8^0'=__disjvr_8^post_69, __disjvr_9^0'=__disjvr_9^post_69, a_116^0'=a_116^post_69, a_147^0'=a_147^post_69, a_184^0'=a_184^post_69, a_215^0'=a_215^post_69, a_237^0'=a_237^post_69, a_260^0'=a_260^post_69, ct_17^0'=ct_17^post_69, f_170^0'=f_170^post_69, head_129^0'=head_129^post_69, head_14^0'=head_14^post_69, head_175^0'=head_175^post_69, head_27^0'=head_27^post_69, head_32^0'=head_32^post_69, head_SLAM_f_26^0'=head_SLAM_f_26^post_69, i_108^0'=i_108^post_69, i_167^0'=i_167^post_69, i_30^0'=i_30^post_69, i_94^0'=i_94^post_69, len_132^0'=len_132^post_69, len_183^0'=len_183^post_69, length_29^0'=length_29^post_69, nondet_12^0'=nondet_12^post_69, r_124^0'=r_124^post_69, r_163^0'=r_163^post_69, r_39^0'=r_39^post_69, rcd_58^0'=rcd_58^post_69, rcd_88^0'=rcd_88^post_69, result_11^0'=result_11^post_69, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_69, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_69, t_23^0'=t_23^post_69, temp0_15^0'=temp0_15^post_69, temp0_31^0'=temp0_31^post_69, temp_35^0'=temp_35^post_69, tmp_34^0'=tmp_34^post_69, x_16^0'=x_16^post_69, x_20^0'=x_20^post_69, x_SLAM_f_18^0'=x_SLAM_f_18^post_69, y_19^0'=y_19^post_69, [ 0<=i_30^0 && rcd_88^post_69==rcd_88^post_69 && i_94^post_69==i_94^post_69 && 1+i_30^0<=length_29^0 && tmp_34^post_69==temp_35^0 && temp_35^post_69==temp_35^post_69 && head_32^post_69==tmp_34^post_69 && i_30^post_69==1+i_30^0 && i_30^post_69<=1+i_94^post_69 && 1+i_94^post_69<=i_30^post_69 && i_94^post_69<=-1+i_30^post_69 && -1+i_30^post_69<=i_94^post_69 && 1+i_94^post_69<=length_29^0 && __disjvr_0^0==__disjvr_0^post_69 && __disjvr_1^0==__disjvr_1^post_69 && __disjvr_10^0==__disjvr_10^post_69 && __disjvr_11^0==__disjvr_11^post_69 && __disjvr_12^0==__disjvr_12^post_69 && __disjvr_13^0==__disjvr_13^post_69 && __disjvr_14^0==__disjvr_14^post_69 && __disjvr_15^0==__disjvr_15^post_69 && __disjvr_16^0==__disjvr_16^post_69 && __disjvr_17^0==__disjvr_17^post_69 && __disjvr_18^0==__disjvr_18^post_69 && __disjvr_19^0==__disjvr_19^post_69 && __disjvr_2^0==__disjvr_2^post_69 && __disjvr_20^0==__disjvr_20^post_69 && __disjvr_21^0==__disjvr_21^post_69 && __disjvr_22^0==__disjvr_22^post_69 && __disjvr_23^0==__disjvr_23^post_69 && __disjvr_24^0==__disjvr_24^post_69 && __disjvr_25^0==__disjvr_25^post_69 && __disjvr_26^0==__disjvr_26^post_69 && __disjvr_27^0==__disjvr_27^post_69 && __disjvr_28^0==__disjvr_28^post_69 && __disjvr_29^0==__disjvr_29^post_69 && __disjvr_3^0==__disjvr_3^post_69 && __disjvr_30^0==__disjvr_30^post_69 && __disjvr_4^0==__disjvr_4^post_69 && __disjvr_5^0==__disjvr_5^post_69 && __disjvr_6^0==__disjvr_6^post_69 && __disjvr_7^0==__disjvr_7^post_69 && __disjvr_8^0==__disjvr_8^post_69 && __disjvr_9^0==__disjvr_9^post_69 && a_116^0==a_116^post_69 && a_147^0==a_147^post_69 && a_184^0==a_184^post_69 && a_215^0==a_215^post_69 && a_237^0==a_237^post_69 && a_260^0==a_260^post_69 && ct_17^0==ct_17^post_69 && f_170^0==f_170^post_69 && head_129^0==head_129^post_69 && head_14^0==head_14^post_69 && head_175^0==head_175^post_69 && head_27^0==head_27^post_69 && head_SLAM_f_26^0==head_SLAM_f_26^post_69 && i_108^0==i_108^post_69 && i_167^0==i_167^post_69 && len_132^0==len_132^post_69 && len_183^0==len_183^post_69 && length_29^0==length_29^post_69 && nondet_12^0==nondet_12^post_69 && r_124^0==r_124^post_69 && r_163^0==r_163^post_69 && r_39^0==r_39^post_69 && rcd_58^0==rcd_58^post_69 && result_11^0==result_11^post_69 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_69 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_69 && t_23^0==t_23^post_69 && temp0_15^0==temp0_15^post_69 && temp0_31^0==temp0_31^post_69 && x_16^0==x_16^post_69 && x_20^0==x_20^post_69 && x_SLAM_f_18^0==x_SLAM_f_18^post_69 && y_19^0==y_19^post_69 ], cost: 1
     40: l39 -> l40 : __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_26^0'=__disjvr_26^post_41, __disjvr_27^0'=__disjvr_27^post_41, __disjvr_28^0'=__disjvr_28^post_41, __disjvr_29^0'=__disjvr_29^post_41, __disjvr_2^0'=__disjvr_2^post_41, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_41, a_147^0'=a_147^post_41, a_184^0'=a_184^post_41, a_215^0'=a_215^post_41, a_237^0'=a_237^post_41, a_260^0'=a_260^post_41, ct_17^0'=ct_17^post_41, f_170^0'=f_170^post_41, head_129^0'=head_129^post_41, head_14^0'=head_14^post_41, head_175^0'=head_175^post_41, head_27^0'=head_27^post_41, head_32^0'=head_32^post_41, head_SLAM_f_26^0'=head_SLAM_f_26^post_41, i_108^0'=i_108^post_41, i_167^0'=i_167^post_41, i_30^0'=i_30^post_41, i_94^0'=i_94^post_41, len_132^0'=len_132^post_41, len_183^0'=len_183^post_41, length_29^0'=length_29^post_41, nondet_12^0'=nondet_12^post_41, r_124^0'=r_124^post_41, r_163^0'=r_163^post_41, r_39^0'=r_39^post_41, rcd_58^0'=rcd_58^post_41, rcd_88^0'=rcd_88^post_41, result_11^0'=result_11^post_41, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_41, t_23^0'=t_23^post_41, temp0_15^0'=temp0_15^post_41, temp0_31^0'=temp0_31^post_41, temp_35^0'=temp_35^post_41, tmp_34^0'=tmp_34^post_41, x_16^0'=x_16^post_41, x_20^0'=x_20^post_41, x_SLAM_f_18^0'=x_SLAM_f_18^post_41, y_19^0'=y_19^post_41, [ nondet_12^1_1==nondet_12^1_1 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_41==nondet_12^1_1 && nondet_12^post_41==nondet_12^post_41 && length_29^post_41==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_41 && head_32^post_41==0 && i_30^post_41==0 && 0<=i_30^post_41 && i_30^post_41<=0 && 0<=head_32^post_41 && head_32^post_41<=0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_41<=length_29^post_41 && length_29^post_41<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_41 && __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_26^0==__disjvr_26^post_41 && __disjvr_27^0==__disjvr_27^post_41 && __disjvr_28^0==__disjvr_28^post_41 && __disjvr_29^0==__disjvr_29^post_41 && __disjvr_3^0==__disjvr_3^post_41 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_41 && a_147^0==a_147^post_41 && a_184^0==a_184^post_41 && a_215^0==a_215^post_41 && a_237^0==a_237^post_41 && a_260^0==a_260^post_41 && ct_17^0==ct_17^post_41 && f_170^0==f_170^post_41 && head_129^0==head_129^post_41 && head_14^0==head_14^post_41 && head_175^0==head_175^post_41 && head_27^0==head_27^post_41 && head_SLAM_f_26^0==head_SLAM_f_26^post_41 && i_108^0==i_108^post_41 && i_167^0==i_167^post_41 && i_94^0==i_94^post_41 && len_132^0==len_132^post_41 && len_183^0==len_183^post_41 && r_124^0==r_124^post_41 && r_163^0==r_163^post_41 && r_39^0==r_39^post_41 && rcd_58^0==rcd_58^post_41 && rcd_88^0==rcd_88^post_41 && result_11^0==result_11^post_41 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_41 && t_23^0==t_23^post_41 && temp0_15^0==temp0_15^post_41 && temp0_31^0==temp0_31^post_41 && temp_35^0==temp_35^post_41 && tmp_34^0==tmp_34^post_41 && x_16^0==x_16^post_41 && x_20^0==x_20^post_41 && x_SLAM_f_18^0==x_SLAM_f_18^post_41 && y_19^0==y_19^post_41 ], cost: 1
     71: l40 -> l25 : __disjvr_0^0'=__disjvr_0^post_72, __disjvr_10^0'=__disjvr_10^post_72, __disjvr_11^0'=__disjvr_11^post_72, __disjvr_12^0'=__disjvr_12^post_72, __disjvr_13^0'=__disjvr_13^post_72, __disjvr_14^0'=__disjvr_14^post_72, __disjvr_15^0'=__disjvr_15^post_72, __disjvr_16^0'=__disjvr_16^post_72, __disjvr_17^0'=__disjvr_17^post_72, __disjvr_18^0'=__disjvr_18^post_72, __disjvr_19^0'=__disjvr_19^post_72, __disjvr_1^0'=__disjvr_1^post_72, __disjvr_20^0'=__disjvr_20^post_72, __disjvr_21^0'=__disjvr_21^post_72, __disjvr_22^0'=__disjvr_22^post_72, __disjvr_23^0'=__disjvr_23^post_72, __disjvr_24^0'=__disjvr_24^post_72, __disjvr_25^0'=__disjvr_25^post_72, __disjvr_26^0'=__disjvr_26^post_72, __disjvr_27^0'=__disjvr_27^post_72, __disjvr_28^0'=__disjvr_28^post_72, __disjvr_29^0'=__disjvr_29^post_72, __disjvr_2^0'=__disjvr_2^post_72, __disjvr_30^0'=__disjvr_30^post_72, __disjvr_3^0'=__disjvr_3^post_72, __disjvr_4^0'=__disjvr_4^post_72, __disjvr_5^0'=__disjvr_5^post_72, __disjvr_6^0'=__disjvr_6^post_72, __disjvr_7^0'=__disjvr_7^post_72, __disjvr_8^0'=__disjvr_8^post_72, __disjvr_9^0'=__disjvr_9^post_72, a_116^0'=a_116^post_72, a_147^0'=a_147^post_72, a_184^0'=a_184^post_72, a_215^0'=a_215^post_72, a_237^0'=a_237^post_72, a_260^0'=a_260^post_72, ct_17^0'=ct_17^post_72, f_170^0'=f_170^post_72, head_129^0'=head_129^post_72, head_14^0'=head_14^post_72, head_175^0'=head_175^post_72, head_27^0'=head_27^post_72, head_32^0'=head_32^post_72, head_SLAM_f_26^0'=head_SLAM_f_26^post_72, i_108^0'=i_108^post_72, i_167^0'=i_167^post_72, i_30^0'=i_30^post_72, i_94^0'=i_94^post_72, len_132^0'=len_132^post_72, len_183^0'=len_183^post_72, length_29^0'=length_29^post_72, nondet_12^0'=nondet_12^post_72, r_124^0'=r_124^post_72, r_163^0'=r_163^post_72, r_39^0'=r_39^post_72, rcd_58^0'=rcd_58^post_72, rcd_88^0'=rcd_88^post_72, result_11^0'=result_11^post_72, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_72, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_72, t_23^0'=t_23^post_72, temp0_15^0'=temp0_15^post_72, temp0_31^0'=temp0_31^post_72, temp_35^0'=temp_35^post_72, tmp_34^0'=tmp_34^post_72, x_16^0'=x_16^post_72, x_20^0'=x_20^post_72, x_SLAM_f_18^0'=x_SLAM_f_18^post_72, y_19^0'=y_19^post_72, [ result_dot_nondet_sdv_special_RETURN_VALUE_13^post_72==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_72 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_72==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_72 && 1+i_30^0<=length_29^0 && tmp_34^post_72==temp_35^0 && temp_35^post_72==temp_35^post_72 && head_32^post_72==tmp_34^post_72 && i_30^post_72==1+i_30^0 && 1<=i_30^post_72 && i_30^post_72<=1 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_72<=length_29^0 && length_29^0<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_72 && head_32^post_72<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_72 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_72<=head_32^post_72 && head_32^post_72<=tmp_34^post_72 && tmp_34^post_72<=head_32^post_72 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_72<=tmp_34^post_72 && tmp_34^post_72<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_72 && 1<=length_29^0 && __disjvr_0^0==__disjvr_0^post_72 && __disjvr_1^0==__disjvr_1^post_72 && __disjvr_10^0==__disjvr_10^post_72 && __disjvr_11^0==__disjvr_11^post_72 && __disjvr_12^0==__disjvr_12^post_72 && __disjvr_13^0==__disjvr_13^post_72 && __disjvr_14^0==__disjvr_14^post_72 && __disjvr_15^0==__disjvr_15^post_72 && __disjvr_16^0==__disjvr_16^post_72 && __disjvr_17^0==__disjvr_17^post_72 && __disjvr_18^0==__disjvr_18^post_72 && __disjvr_19^0==__disjvr_19^post_72 && __disjvr_2^0==__disjvr_2^post_72 && __disjvr_20^0==__disjvr_20^post_72 && __disjvr_21^0==__disjvr_21^post_72 && __disjvr_22^0==__disjvr_22^post_72 && __disjvr_23^0==__disjvr_23^post_72 && __disjvr_24^0==__disjvr_24^post_72 && __disjvr_25^0==__disjvr_25^post_72 && __disjvr_26^0==__disjvr_26^post_72 && __disjvr_27^0==__disjvr_27^post_72 && __disjvr_28^0==__disjvr_28^post_72 && __disjvr_29^0==__disjvr_29^post_72 && __disjvr_3^0==__disjvr_3^post_72 && __disjvr_30^0==__disjvr_30^post_72 && __disjvr_4^0==__disjvr_4^post_72 && __disjvr_5^0==__disjvr_5^post_72 && __disjvr_6^0==__disjvr_6^post_72 && __disjvr_7^0==__disjvr_7^post_72 && __disjvr_8^0==__disjvr_8^post_72 && __disjvr_9^0==__disjvr_9^post_72 && a_116^0==a_116^post_72 && a_147^0==a_147^post_72 && a_184^0==a_184^post_72 && a_215^0==a_215^post_72 && a_237^0==a_237^post_72 && a_260^0==a_260^post_72 && ct_17^0==ct_17^post_72 && f_170^0==f_170^post_72 && head_129^0==head_129^post_72 && head_14^0==head_14^post_72 && head_175^0==head_175^post_72 && head_27^0==head_27^post_72 && head_SLAM_f_26^0==head_SLAM_f_26^post_72 && i_108^0==i_108^post_72 && i_167^0==i_167^post_72 && i_94^0==i_94^post_72 && len_132^0==len_132^post_72 && len_183^0==len_183^post_72 && length_29^0==length_29^post_72 && nondet_12^0==nondet_12^post_72 && r_124^0==r_124^post_72 && r_163^0==r_163^post_72 && r_39^0==r_39^post_72 && rcd_58^0==rcd_58^post_72 && rcd_88^0==rcd_88^post_72 && result_11^0==result_11^post_72 && t_23^0==t_23^post_72 && temp0_15^0==temp0_15^post_72 && temp0_31^0==temp0_31^post_72 && x_16^0==x_16^post_72 && x_20^0==x_20^post_72 && x_SLAM_f_18^0==x_SLAM_f_18^post_72 && y_19^0==y_19^post_72 ], cost: 1
     41: l41 -> l42 : __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_26^0'=__disjvr_26^post_42, __disjvr_27^0'=__disjvr_27^post_42, __disjvr_28^0'=__disjvr_28^post_42, __disjvr_29^0'=__disjvr_29^post_42, __disjvr_2^0'=__disjvr_2^post_42, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_42, a_147^0'=a_147^post_42, a_184^0'=a_184^post_42, a_215^0'=a_215^post_42, a_237^0'=a_237^post_42, a_260^0'=a_260^post_42, ct_17^0'=ct_17^post_42, f_170^0'=f_170^post_42, head_129^0'=head_129^post_42, head_14^0'=head_14^post_42, head_175^0'=head_175^post_42, head_27^0'=head_27^post_42, head_32^0'=head_32^post_42, head_SLAM_f_26^0'=head_SLAM_f_26^post_42, i_108^0'=i_108^post_42, i_167^0'=i_167^post_42, i_30^0'=i_30^post_42, i_94^0'=i_94^post_42, len_132^0'=len_132^post_42, len_183^0'=len_183^post_42, length_29^0'=length_29^post_42, nondet_12^0'=nondet_12^post_42, r_124^0'=r_124^post_42, r_163^0'=r_163^post_42, r_39^0'=r_39^post_42, rcd_58^0'=rcd_58^post_42, rcd_88^0'=rcd_88^post_42, result_11^0'=result_11^post_42, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_42, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_42, t_23^0'=t_23^post_42, temp0_15^0'=temp0_15^post_42, temp0_31^0'=temp0_31^post_42, temp_35^0'=temp_35^post_42, tmp_34^0'=tmp_34^post_42, x_16^0'=x_16^post_42, x_20^0'=x_20^post_42, x_SLAM_f_18^0'=x_SLAM_f_18^post_42, y_19^0'=y_19^post_42, [ 0<=len_132^0 && 0<=a_147^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_42==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_42 && 0<=head_27^0 && head_27^0<=0 && head_SLAM_f_26^post_42==head_SLAM_f_26^post_42 && head_27^post_42==head_27^post_42 && x_16^post_42==head_14^0 && ct_17^post_42==0 && x_SLAM_f_18^post_42==x_16^post_42 && y_19^post_42==ct_17^post_42 && x_20^post_42==x_SLAM_f_18^post_42 && 0<=ct_17^post_42 && ct_17^post_42<=0 && 0<=y_19^post_42 && y_19^post_42<=0 && head_14^0<=x_16^post_42 && x_16^post_42<=head_14^0 && head_14^0<=x_SLAM_f_18^post_42 && x_SLAM_f_18^post_42<=head_14^0 && head_14^0<=x_20^post_42 && x_20^post_42<=head_14^0 && x_16^post_42<=x_SLAM_f_18^post_42 && x_SLAM_f_18^post_42<=x_16^post_42 && ct_17^post_42<=y_19^post_42 && y_19^post_42<=ct_17^post_42 && x_SLAM_f_18^post_42<=x_20^post_42 && x_20^post_42<=x_SLAM_f_18^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_26^0==__disjvr_26^post_42 && __disjvr_27^0==__disjvr_27^post_42 && __disjvr_28^0==__disjvr_28^post_42 && __disjvr_29^0==__disjvr_29^post_42 && __disjvr_3^0==__disjvr_3^post_42 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_42 && a_147^0==a_147^post_42 && a_184^0==a_184^post_42 && a_215^0==a_215^post_42 && a_237^0==a_237^post_42 && a_260^0==a_260^post_42 && f_170^0==f_170^post_42 && head_129^0==head_129^post_42 && head_14^0==head_14^post_42 && head_175^0==head_175^post_42 && head_32^0==head_32^post_42 && i_108^0==i_108^post_42 && i_167^0==i_167^post_42 && i_30^0==i_30^post_42 && i_94^0==i_94^post_42 && len_132^0==len_132^post_42 && len_183^0==len_183^post_42 && length_29^0==length_29^post_42 && nondet_12^0==nondet_12^post_42 && r_124^0==r_124^post_42 && r_163^0==r_163^post_42 && r_39^0==r_39^post_42 && rcd_58^0==rcd_58^post_42 && rcd_88^0==rcd_88^post_42 && result_11^0==result_11^post_42 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_42 && t_23^0==t_23^post_42 && temp0_15^0==temp0_15^post_42 && temp0_31^0==temp0_31^post_42 && temp_35^0==temp_35^post_42 && tmp_34^0==tmp_34^post_42 ], cost: 1
     44: l41 -> l45 : __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_26^0'=__disjvr_26^post_45, __disjvr_27^0'=__disjvr_27^post_45, __disjvr_28^0'=__disjvr_28^post_45, __disjvr_29^0'=__disjvr_29^post_45, __disjvr_2^0'=__disjvr_2^post_45, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_45, a_147^0'=a_147^post_45, a_184^0'=a_184^post_45, a_215^0'=a_215^post_45, a_237^0'=a_237^post_45, a_260^0'=a_260^post_45, ct_17^0'=ct_17^post_45, f_170^0'=f_170^post_45, head_129^0'=head_129^post_45, head_14^0'=head_14^post_45, head_175^0'=head_175^post_45, head_27^0'=head_27^post_45, head_32^0'=head_32^post_45, head_SLAM_f_26^0'=head_SLAM_f_26^post_45, i_108^0'=i_108^post_45, i_167^0'=i_167^post_45, i_30^0'=i_30^post_45, i_94^0'=i_94^post_45, len_132^0'=len_132^post_45, len_183^0'=len_183^post_45, length_29^0'=length_29^post_45, nondet_12^0'=nondet_12^post_45, r_124^0'=r_124^post_45, r_163^0'=r_163^post_45, r_39^0'=r_39^post_45, rcd_58^0'=rcd_58^post_45, rcd_88^0'=rcd_88^post_45, result_11^0'=result_11^post_45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_45, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_45, t_23^0'=t_23^post_45, temp0_15^0'=temp0_15^post_45, temp0_31^0'=temp0_31^post_45, temp_35^0'=temp_35^post_45, tmp_34^0'=tmp_34^post_45, x_16^0'=x_16^post_45, x_20^0'=x_20^post_45, x_SLAM_f_18^0'=x_SLAM_f_18^post_45, y_19^0'=y_19^post_45, [ 0<=len_132^0 && 0<=a_147^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_45==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_45 && head_14^post_45==head_14^post_45 && head_SLAM_f_26^post_45==head_SLAM_f_26^post_45 && r_39^post_45==r_39^post_45 && f_170^post_45==f_170^post_45 && head_175^post_45==head_175^post_45 && __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_26^0==__disjvr_26^post_45 && __disjvr_27^0==__disjvr_27^post_45 && __disjvr_28^0==__disjvr_28^post_45 && __disjvr_29^0==__disjvr_29^post_45 && __disjvr_3^0==__disjvr_3^post_45 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_45 && a_147^0==a_147^post_45 && a_184^0==a_184^post_45 && a_215^0==a_215^post_45 && a_237^0==a_237^post_45 && a_260^0==a_260^post_45 && ct_17^0==ct_17^post_45 && head_129^0==head_129^post_45 && head_27^0==head_27^post_45 && head_32^0==head_32^post_45 && i_108^0==i_108^post_45 && i_167^0==i_167^post_45 && i_30^0==i_30^post_45 && i_94^0==i_94^post_45 && len_132^0==len_132^post_45 && len_183^0==len_183^post_45 && length_29^0==length_29^post_45 && nondet_12^0==nondet_12^post_45 && r_124^0==r_124^post_45 && r_163^0==r_163^post_45 && rcd_58^0==rcd_58^post_45 && rcd_88^0==rcd_88^post_45 && result_11^0==result_11^post_45 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_45 && t_23^0==t_23^post_45 && temp0_15^0==temp0_15^post_45 && temp0_31^0==temp0_31^post_45 && temp_35^0==temp_35^post_45 && tmp_34^0==tmp_34^post_45 && x_16^0==x_16^post_45 && x_20^0==x_20^post_45 && x_SLAM_f_18^0==x_SLAM_f_18^post_45 && y_19^0==y_19^post_45 ], cost: 1
     42: l42 -> l43 : __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_26^0'=__disjvr_26^post_43, __disjvr_27^0'=__disjvr_27^post_43, __disjvr_28^0'=__disjvr_28^post_43, __disjvr_29^0'=__disjvr_29^post_43, __disjvr_2^0'=__disjvr_2^post_43, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_43, a_147^0'=a_147^post_43, a_184^0'=a_184^post_43, a_215^0'=a_215^post_43, a_237^0'=a_237^post_43, a_260^0'=a_260^post_43, ct_17^0'=ct_17^post_43, f_170^0'=f_170^post_43, head_129^0'=head_129^post_43, head_14^0'=head_14^post_43, head_175^0'=head_175^post_43, head_27^0'=head_27^post_43, head_32^0'=head_32^post_43, head_SLAM_f_26^0'=head_SLAM_f_26^post_43, i_108^0'=i_108^post_43, i_167^0'=i_167^post_43, i_30^0'=i_30^post_43, i_94^0'=i_94^post_43, len_132^0'=len_132^post_43, len_183^0'=len_183^post_43, length_29^0'=length_29^post_43, nondet_12^0'=nondet_12^post_43, r_124^0'=r_124^post_43, r_163^0'=r_163^post_43, r_39^0'=r_39^post_43, rcd_58^0'=rcd_58^post_43, rcd_88^0'=rcd_88^post_43, result_11^0'=result_11^post_43, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_43, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_43, t_23^0'=t_23^post_43, temp0_15^0'=temp0_15^post_43, temp0_31^0'=temp0_31^post_43, temp_35^0'=temp_35^post_43, tmp_34^0'=tmp_34^post_43, x_16^0'=x_16^post_43, x_20^0'=x_20^post_43, x_SLAM_f_18^0'=x_SLAM_f_18^post_43, y_19^0'=y_19^post_43, [ __disjvr_20^post_43==__disjvr_20^0 && __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_26^0==__disjvr_26^post_43 && __disjvr_27^0==__disjvr_27^post_43 && __disjvr_28^0==__disjvr_28^post_43 && __disjvr_29^0==__disjvr_29^post_43 && __disjvr_3^0==__disjvr_3^post_43 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_43 && a_147^0==a_147^post_43 && a_184^0==a_184^post_43 && a_215^0==a_215^post_43 && a_237^0==a_237^post_43 && a_260^0==a_260^post_43 && ct_17^0==ct_17^post_43 && f_170^0==f_170^post_43 && head_129^0==head_129^post_43 && head_14^0==head_14^post_43 && head_175^0==head_175^post_43 && head_27^0==head_27^post_43 && head_32^0==head_32^post_43 && head_SLAM_f_26^0==head_SLAM_f_26^post_43 && i_108^0==i_108^post_43 && i_167^0==i_167^post_43 && i_30^0==i_30^post_43 && i_94^0==i_94^post_43 && len_132^0==len_132^post_43 && len_183^0==len_183^post_43 && length_29^0==length_29^post_43 && nondet_12^0==nondet_12^post_43 && r_124^0==r_124^post_43 && r_163^0==r_163^post_43 && r_39^0==r_39^post_43 && rcd_58^0==rcd_58^post_43 && rcd_88^0==rcd_88^post_43 && result_11^0==result_11^post_43 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_43 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_43 && t_23^0==t_23^post_43 && temp0_15^0==temp0_15^post_43 && temp0_31^0==temp0_31^post_43 && temp_35^0==temp_35^post_43 && tmp_34^0==tmp_34^post_43 && x_16^0==x_16^post_43 && x_20^0==x_20^post_43 && x_SLAM_f_18^0==x_SLAM_f_18^post_43 && y_19^0==y_19^post_43 ], cost: 1
     43: l43 -> l18 : __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_26^0'=__disjvr_26^post_44, __disjvr_27^0'=__disjvr_27^post_44, __disjvr_28^0'=__disjvr_28^post_44, __disjvr_29^0'=__disjvr_29^post_44, __disjvr_2^0'=__disjvr_2^post_44, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_44, a_147^0'=a_147^post_44, a_184^0'=a_184^post_44, a_215^0'=a_215^post_44, a_237^0'=a_237^post_44, a_260^0'=a_260^post_44, ct_17^0'=ct_17^post_44, f_170^0'=f_170^post_44, head_129^0'=head_129^post_44, head_14^0'=head_14^post_44, head_175^0'=head_175^post_44, head_27^0'=head_27^post_44, head_32^0'=head_32^post_44, head_SLAM_f_26^0'=head_SLAM_f_26^post_44, i_108^0'=i_108^post_44, i_167^0'=i_167^post_44, i_30^0'=i_30^post_44, i_94^0'=i_94^post_44, len_132^0'=len_132^post_44, len_183^0'=len_183^post_44, length_29^0'=length_29^post_44, nondet_12^0'=nondet_12^post_44, r_124^0'=r_124^post_44, r_163^0'=r_163^post_44, r_39^0'=r_39^post_44, rcd_58^0'=rcd_58^post_44, rcd_88^0'=rcd_88^post_44, result_11^0'=result_11^post_44, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_44, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_44, t_23^0'=t_23^post_44, temp0_15^0'=temp0_15^post_44, temp0_31^0'=temp0_31^post_44, temp_35^0'=temp_35^post_44, tmp_34^0'=tmp_34^post_44, x_16^0'=x_16^post_44, x_20^0'=x_20^post_44, x_SLAM_f_18^0'=x_SLAM_f_18^post_44, y_19^0'=y_19^post_44, [ 1<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && __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_26^0==__disjvr_26^post_44 && __disjvr_27^0==__disjvr_27^post_44 && __disjvr_28^0==__disjvr_28^post_44 && __disjvr_29^0==__disjvr_29^post_44 && __disjvr_3^0==__disjvr_3^post_44 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_44 && a_147^0==a_147^post_44 && a_184^0==a_184^post_44 && a_215^0==a_215^post_44 && a_237^0==a_237^post_44 && a_260^0==a_260^post_44 && ct_17^0==ct_17^post_44 && f_170^0==f_170^post_44 && head_129^0==head_129^post_44 && head_14^0==head_14^post_44 && head_175^0==head_175^post_44 && head_27^0==head_27^post_44 && head_32^0==head_32^post_44 && head_SLAM_f_26^0==head_SLAM_f_26^post_44 && i_108^0==i_108^post_44 && i_167^0==i_167^post_44 && i_30^0==i_30^post_44 && i_94^0==i_94^post_44 && len_132^0==len_132^post_44 && len_183^0==len_183^post_44 && length_29^0==length_29^post_44 && nondet_12^0==nondet_12^post_44 && r_124^0==r_124^post_44 && r_163^0==r_163^post_44 && r_39^0==r_39^post_44 && rcd_58^0==rcd_58^post_44 && rcd_88^0==rcd_88^post_44 && result_11^0==result_11^post_44 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_44 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_44 && t_23^0==t_23^post_44 && temp0_15^0==temp0_15^post_44 && temp0_31^0==temp0_31^post_44 && temp_35^0==temp_35^post_44 && tmp_34^0==tmp_34^post_44 && x_16^0==x_16^post_44 && x_20^0==x_20^post_44 && x_SLAM_f_18^0==x_SLAM_f_18^post_44 && y_19^0==y_19^post_44 ], cost: 1
     45: l45 -> l46 : __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_26^0'=__disjvr_26^post_46, __disjvr_27^0'=__disjvr_27^post_46, __disjvr_28^0'=__disjvr_28^post_46, __disjvr_29^0'=__disjvr_29^post_46, __disjvr_2^0'=__disjvr_2^post_46, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_46, a_147^0'=a_147^post_46, a_184^0'=a_184^post_46, a_215^0'=a_215^post_46, a_237^0'=a_237^post_46, a_260^0'=a_260^post_46, ct_17^0'=ct_17^post_46, f_170^0'=f_170^post_46, head_129^0'=head_129^post_46, head_14^0'=head_14^post_46, head_175^0'=head_175^post_46, head_27^0'=head_27^post_46, head_32^0'=head_32^post_46, head_SLAM_f_26^0'=head_SLAM_f_26^post_46, i_108^0'=i_108^post_46, i_167^0'=i_167^post_46, i_30^0'=i_30^post_46, i_94^0'=i_94^post_46, len_132^0'=len_132^post_46, len_183^0'=len_183^post_46, length_29^0'=length_29^post_46, nondet_12^0'=nondet_12^post_46, r_124^0'=r_124^post_46, r_163^0'=r_163^post_46, r_39^0'=r_39^post_46, rcd_58^0'=rcd_58^post_46, rcd_88^0'=rcd_88^post_46, result_11^0'=result_11^post_46, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_46, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_46, t_23^0'=t_23^post_46, temp0_15^0'=temp0_15^post_46, temp0_31^0'=temp0_31^post_46, temp_35^0'=temp_35^post_46, tmp_34^0'=tmp_34^post_46, x_16^0'=x_16^post_46, x_20^0'=x_20^post_46, x_SLAM_f_18^0'=x_SLAM_f_18^post_46, y_19^0'=y_19^post_46, [ __disjvr_21^post_46==__disjvr_21^0 && __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_26^0==__disjvr_26^post_46 && __disjvr_27^0==__disjvr_27^post_46 && __disjvr_28^0==__disjvr_28^post_46 && __disjvr_29^0==__disjvr_29^post_46 && __disjvr_3^0==__disjvr_3^post_46 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_46 && a_147^0==a_147^post_46 && a_184^0==a_184^post_46 && a_215^0==a_215^post_46 && a_237^0==a_237^post_46 && a_260^0==a_260^post_46 && ct_17^0==ct_17^post_46 && f_170^0==f_170^post_46 && head_129^0==head_129^post_46 && head_14^0==head_14^post_46 && head_175^0==head_175^post_46 && head_27^0==head_27^post_46 && head_32^0==head_32^post_46 && head_SLAM_f_26^0==head_SLAM_f_26^post_46 && i_108^0==i_108^post_46 && i_167^0==i_167^post_46 && i_30^0==i_30^post_46 && i_94^0==i_94^post_46 && len_132^0==len_132^post_46 && len_183^0==len_183^post_46 && length_29^0==length_29^post_46 && nondet_12^0==nondet_12^post_46 && r_124^0==r_124^post_46 && r_163^0==r_163^post_46 && r_39^0==r_39^post_46 && rcd_58^0==rcd_58^post_46 && rcd_88^0==rcd_88^post_46 && result_11^0==result_11^post_46 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_46 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_46 && t_23^0==t_23^post_46 && temp0_15^0==temp0_15^post_46 && temp0_31^0==temp0_31^post_46 && temp_35^0==temp_35^post_46 && tmp_34^0==tmp_34^post_46 && x_16^0==x_16^post_46 && x_20^0==x_20^post_46 && x_SLAM_f_18^0==x_SLAM_f_18^post_46 && y_19^0==y_19^post_46 ], cost: 1
     46: l46 -> l47 : __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_26^0'=__disjvr_26^post_47, __disjvr_27^0'=__disjvr_27^post_47, __disjvr_28^0'=__disjvr_28^post_47, __disjvr_29^0'=__disjvr_29^post_47, __disjvr_2^0'=__disjvr_2^post_47, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_47, a_147^0'=a_147^post_47, a_184^0'=a_184^post_47, a_215^0'=a_215^post_47, a_237^0'=a_237^post_47, a_260^0'=a_260^post_47, ct_17^0'=ct_17^post_47, f_170^0'=f_170^post_47, head_129^0'=head_129^post_47, head_14^0'=head_14^post_47, head_175^0'=head_175^post_47, head_27^0'=head_27^post_47, head_32^0'=head_32^post_47, head_SLAM_f_26^0'=head_SLAM_f_26^post_47, i_108^0'=i_108^post_47, i_167^0'=i_167^post_47, i_30^0'=i_30^post_47, i_94^0'=i_94^post_47, len_132^0'=len_132^post_47, len_183^0'=len_183^post_47, length_29^0'=length_29^post_47, nondet_12^0'=nondet_12^post_47, r_124^0'=r_124^post_47, r_163^0'=r_163^post_47, r_39^0'=r_39^post_47, rcd_58^0'=rcd_58^post_47, rcd_88^0'=rcd_88^post_47, result_11^0'=result_11^post_47, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_47, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_47, t_23^0'=t_23^post_47, temp0_15^0'=temp0_15^post_47, temp0_31^0'=temp0_31^post_47, temp_35^0'=temp_35^post_47, tmp_34^0'=tmp_34^post_47, x_16^0'=x_16^post_47, x_20^0'=x_20^post_47, x_SLAM_f_18^0'=x_SLAM_f_18^post_47, y_19^0'=y_19^post_47, [ len_183^post_47==len_183^post_47 && a_184^post_47==a_184^post_47 && 1<=len_183^post_47-len_132^0 && len_183^post_47-len_132^0<=1 && head_14^0<=head_SLAM_f_26^0 && head_SLAM_f_26^0<=head_14^0 && head_27^0<=f_170^0 && f_170^0<=head_27^0 && a_184^post_47<=-1+a_147^0 && -1+a_147^0<=a_184^post_47 && __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_26^0==__disjvr_26^post_47 && __disjvr_27^0==__disjvr_27^post_47 && __disjvr_28^0==__disjvr_28^post_47 && __disjvr_29^0==__disjvr_29^post_47 && __disjvr_3^0==__disjvr_3^post_47 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_47 && a_147^0==a_147^post_47 && a_215^0==a_215^post_47 && a_237^0==a_237^post_47 && a_260^0==a_260^post_47 && ct_17^0==ct_17^post_47 && f_170^0==f_170^post_47 && head_129^0==head_129^post_47 && head_14^0==head_14^post_47 && head_175^0==head_175^post_47 && head_27^0==head_27^post_47 && head_32^0==head_32^post_47 && head_SLAM_f_26^0==head_SLAM_f_26^post_47 && i_108^0==i_108^post_47 && i_167^0==i_167^post_47 && i_30^0==i_30^post_47 && i_94^0==i_94^post_47 && len_132^0==len_132^post_47 && length_29^0==length_29^post_47 && nondet_12^0==nondet_12^post_47 && r_124^0==r_124^post_47 && r_163^0==r_163^post_47 && r_39^0==r_39^post_47 && rcd_58^0==rcd_58^post_47 && rcd_88^0==rcd_88^post_47 && result_11^0==result_11^post_47 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_47 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_47 && t_23^0==t_23^post_47 && temp0_15^0==temp0_15^post_47 && temp0_31^0==temp0_31^post_47 && temp_35^0==temp_35^post_47 && tmp_34^0==tmp_34^post_47 && x_16^0==x_16^post_47 && x_20^0==x_20^post_47 && x_SLAM_f_18^0==x_SLAM_f_18^post_47 && y_19^0==y_19^post_47 ], cost: 1
     47: l47 -> l48 : __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_26^0'=__disjvr_26^post_48, __disjvr_27^0'=__disjvr_27^post_48, __disjvr_28^0'=__disjvr_28^post_48, __disjvr_29^0'=__disjvr_29^post_48, __disjvr_2^0'=__disjvr_2^post_48, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_48, a_147^0'=a_147^post_48, a_184^0'=a_184^post_48, a_215^0'=a_215^post_48, a_237^0'=a_237^post_48, a_260^0'=a_260^post_48, ct_17^0'=ct_17^post_48, f_170^0'=f_170^post_48, head_129^0'=head_129^post_48, head_14^0'=head_14^post_48, head_175^0'=head_175^post_48, head_27^0'=head_27^post_48, head_32^0'=head_32^post_48, head_SLAM_f_26^0'=head_SLAM_f_26^post_48, i_108^0'=i_108^post_48, i_167^0'=i_167^post_48, i_30^0'=i_30^post_48, i_94^0'=i_94^post_48, len_132^0'=len_132^post_48, len_183^0'=len_183^post_48, length_29^0'=length_29^post_48, nondet_12^0'=nondet_12^post_48, r_124^0'=r_124^post_48, r_163^0'=r_163^post_48, r_39^0'=r_39^post_48, rcd_58^0'=rcd_58^post_48, rcd_88^0'=rcd_88^post_48, result_11^0'=result_11^post_48, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_48, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_48, t_23^0'=t_23^post_48, temp0_15^0'=temp0_15^post_48, temp0_31^0'=temp0_31^post_48, temp_35^0'=temp_35^post_48, tmp_34^0'=tmp_34^post_48, x_16^0'=x_16^post_48, x_20^0'=x_20^post_48, x_SLAM_f_18^0'=x_SLAM_f_18^post_48, y_19^0'=y_19^post_48, [ __disjvr_22^post_48==__disjvr_22^0 && __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_26^0==__disjvr_26^post_48 && __disjvr_27^0==__disjvr_27^post_48 && __disjvr_28^0==__disjvr_28^post_48 && __disjvr_29^0==__disjvr_29^post_48 && __disjvr_3^0==__disjvr_3^post_48 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_48 && a_147^0==a_147^post_48 && a_184^0==a_184^post_48 && a_215^0==a_215^post_48 && a_237^0==a_237^post_48 && a_260^0==a_260^post_48 && ct_17^0==ct_17^post_48 && f_170^0==f_170^post_48 && head_129^0==head_129^post_48 && head_14^0==head_14^post_48 && head_175^0==head_175^post_48 && head_27^0==head_27^post_48 && head_32^0==head_32^post_48 && head_SLAM_f_26^0==head_SLAM_f_26^post_48 && i_108^0==i_108^post_48 && i_167^0==i_167^post_48 && i_30^0==i_30^post_48 && i_94^0==i_94^post_48 && len_132^0==len_132^post_48 && len_183^0==len_183^post_48 && length_29^0==length_29^post_48 && nondet_12^0==nondet_12^post_48 && r_124^0==r_124^post_48 && r_163^0==r_163^post_48 && r_39^0==r_39^post_48 && rcd_58^0==rcd_58^post_48 && rcd_88^0==rcd_88^post_48 && result_11^0==result_11^post_48 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_48 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_48 && t_23^0==t_23^post_48 && temp0_15^0==temp0_15^post_48 && temp0_31^0==temp0_31^post_48 && temp_35^0==temp_35^post_48 && tmp_34^0==tmp_34^post_48 && x_16^0==x_16^post_48 && x_20^0==x_20^post_48 && x_SLAM_f_18^0==x_SLAM_f_18^post_48 && y_19^0==y_19^post_48 ], cost: 1
     48: l48 -> l49 : __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_26^0'=__disjvr_26^post_49, __disjvr_27^0'=__disjvr_27^post_49, __disjvr_28^0'=__disjvr_28^post_49, __disjvr_29^0'=__disjvr_29^post_49, __disjvr_2^0'=__disjvr_2^post_49, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_49, a_147^0'=a_147^post_49, a_184^0'=a_184^post_49, a_215^0'=a_215^post_49, a_237^0'=a_237^post_49, a_260^0'=a_260^post_49, ct_17^0'=ct_17^post_49, f_170^0'=f_170^post_49, head_129^0'=head_129^post_49, head_14^0'=head_14^post_49, head_175^0'=head_175^post_49, head_27^0'=head_27^post_49, head_32^0'=head_32^post_49, head_SLAM_f_26^0'=head_SLAM_f_26^post_49, i_108^0'=i_108^post_49, i_167^0'=i_167^post_49, i_30^0'=i_30^post_49, i_94^0'=i_94^post_49, len_132^0'=len_132^post_49, len_183^0'=len_183^post_49, length_29^0'=length_29^post_49, nondet_12^0'=nondet_12^post_49, r_124^0'=r_124^post_49, r_163^0'=r_163^post_49, r_39^0'=r_39^post_49, rcd_58^0'=rcd_58^post_49, rcd_88^0'=rcd_88^post_49, result_11^0'=result_11^post_49, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_49, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_49, t_23^0'=t_23^post_49, temp0_15^0'=temp0_15^post_49, temp0_31^0'=temp0_31^post_49, temp_35^0'=temp_35^post_49, tmp_34^0'=tmp_34^post_49, x_16^0'=x_16^post_49, x_20^0'=x_20^post_49, x_SLAM_f_18^0'=x_SLAM_f_18^post_49, y_19^0'=y_19^post_49, [ __disjvr_23^post_49==__disjvr_23^0 && __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_26^0==__disjvr_26^post_49 && __disjvr_27^0==__disjvr_27^post_49 && __disjvr_28^0==__disjvr_28^post_49 && __disjvr_29^0==__disjvr_29^post_49 && __disjvr_3^0==__disjvr_3^post_49 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_49 && a_147^0==a_147^post_49 && a_184^0==a_184^post_49 && a_215^0==a_215^post_49 && a_237^0==a_237^post_49 && a_260^0==a_260^post_49 && ct_17^0==ct_17^post_49 && f_170^0==f_170^post_49 && head_129^0==head_129^post_49 && head_14^0==head_14^post_49 && head_175^0==head_175^post_49 && head_27^0==head_27^post_49 && head_32^0==head_32^post_49 && head_SLAM_f_26^0==head_SLAM_f_26^post_49 && i_108^0==i_108^post_49 && i_167^0==i_167^post_49 && i_30^0==i_30^post_49 && i_94^0==i_94^post_49 && len_132^0==len_132^post_49 && len_183^0==len_183^post_49 && length_29^0==length_29^post_49 && nondet_12^0==nondet_12^post_49 && r_124^0==r_124^post_49 && r_163^0==r_163^post_49 && r_39^0==r_39^post_49 && rcd_58^0==rcd_58^post_49 && rcd_88^0==rcd_88^post_49 && result_11^0==result_11^post_49 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_49 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_49 && t_23^0==t_23^post_49 && temp0_15^0==temp0_15^post_49 && temp0_31^0==temp0_31^post_49 && temp_35^0==temp_35^post_49 && tmp_34^0==tmp_34^post_49 && x_16^0==x_16^post_49 && x_20^0==x_20^post_49 && x_SLAM_f_18^0==x_SLAM_f_18^post_49 && y_19^0==y_19^post_49 ], cost: 1
     49: l49 -> l44 : __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_26^0'=__disjvr_26^post_50, __disjvr_27^0'=__disjvr_27^post_50, __disjvr_28^0'=__disjvr_28^post_50, __disjvr_29^0'=__disjvr_29^post_50, __disjvr_2^0'=__disjvr_2^post_50, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_50, a_147^0'=a_147^post_50, a_184^0'=a_184^post_50, a_215^0'=a_215^post_50, a_237^0'=a_237^post_50, a_260^0'=a_260^post_50, ct_17^0'=ct_17^post_50, f_170^0'=f_170^post_50, head_129^0'=head_129^post_50, head_14^0'=head_14^post_50, head_175^0'=head_175^post_50, head_27^0'=head_27^post_50, head_32^0'=head_32^post_50, head_SLAM_f_26^0'=head_SLAM_f_26^post_50, i_108^0'=i_108^post_50, i_167^0'=i_167^post_50, i_30^0'=i_30^post_50, i_94^0'=i_94^post_50, len_132^0'=len_132^post_50, len_183^0'=len_183^post_50, length_29^0'=length_29^post_50, nondet_12^0'=nondet_12^post_50, r_124^0'=r_124^post_50, r_163^0'=r_163^post_50, r_39^0'=r_39^post_50, rcd_58^0'=rcd_58^post_50, rcd_88^0'=rcd_88^post_50, result_11^0'=result_11^post_50, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_50, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50, t_23^0'=t_23^post_50, temp0_15^0'=temp0_15^post_50, temp0_31^0'=temp0_31^post_50, temp_35^0'=temp_35^post_50, tmp_34^0'=tmp_34^post_50, x_16^0'=x_16^post_50, x_20^0'=x_20^post_50, x_SLAM_f_18^0'=x_SLAM_f_18^post_50, y_19^0'=y_19^post_50, [ 1<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && a_147^post_50==a_147^post_50 && a_147^post_50<=a_184^0 && a_184^0<=a_147^post_50 && len_132^post_50==len_132^post_50 && len_132^post_50<=len_183^0 && len_183^0<=len_132^post_50 && __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_26^0==__disjvr_26^post_50 && __disjvr_27^0==__disjvr_27^post_50 && __disjvr_28^0==__disjvr_28^post_50 && __disjvr_29^0==__disjvr_29^post_50 && __disjvr_3^0==__disjvr_3^post_50 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_50 && a_184^0==a_184^post_50 && a_215^0==a_215^post_50 && a_237^0==a_237^post_50 && a_260^0==a_260^post_50 && ct_17^0==ct_17^post_50 && f_170^0==f_170^post_50 && head_129^0==head_129^post_50 && head_14^0==head_14^post_50 && head_175^0==head_175^post_50 && head_27^0==head_27^post_50 && head_32^0==head_32^post_50 && head_SLAM_f_26^0==head_SLAM_f_26^post_50 && i_108^0==i_108^post_50 && i_167^0==i_167^post_50 && i_30^0==i_30^post_50 && i_94^0==i_94^post_50 && len_183^0==len_183^post_50 && length_29^0==length_29^post_50 && nondet_12^0==nondet_12^post_50 && r_124^0==r_124^post_50 && r_163^0==r_163^post_50 && r_39^0==r_39^post_50 && rcd_58^0==rcd_58^post_50 && rcd_88^0==rcd_88^post_50 && result_11^0==result_11^post_50 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_50 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50 && t_23^0==t_23^post_50 && temp0_15^0==temp0_15^post_50 && temp0_31^0==temp0_31^post_50 && temp_35^0==temp_35^post_50 && tmp_34^0==tmp_34^post_50 && x_16^0==x_16^post_50 && x_20^0==x_20^post_50 && x_SLAM_f_18^0==x_SLAM_f_18^post_50 && y_19^0==y_19^post_50 ], cost: 1
     50: l44 -> l41 : __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_26^0'=__disjvr_26^post_51, __disjvr_27^0'=__disjvr_27^post_51, __disjvr_28^0'=__disjvr_28^post_51, __disjvr_29^0'=__disjvr_29^post_51, __disjvr_2^0'=__disjvr_2^post_51, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_51, a_147^0'=a_147^post_51, a_184^0'=a_184^post_51, a_215^0'=a_215^post_51, a_237^0'=a_237^post_51, a_260^0'=a_260^post_51, ct_17^0'=ct_17^post_51, f_170^0'=f_170^post_51, head_129^0'=head_129^post_51, head_14^0'=head_14^post_51, head_175^0'=head_175^post_51, head_27^0'=head_27^post_51, head_32^0'=head_32^post_51, head_SLAM_f_26^0'=head_SLAM_f_26^post_51, i_108^0'=i_108^post_51, i_167^0'=i_167^post_51, i_30^0'=i_30^post_51, i_94^0'=i_94^post_51, len_132^0'=len_132^post_51, len_183^0'=len_183^post_51, length_29^0'=length_29^post_51, nondet_12^0'=nondet_12^post_51, r_124^0'=r_124^post_51, r_163^0'=r_163^post_51, r_39^0'=r_39^post_51, rcd_58^0'=rcd_58^post_51, rcd_88^0'=rcd_88^post_51, result_11^0'=result_11^post_51, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_51, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_51, t_23^0'=t_23^post_51, temp0_15^0'=temp0_15^post_51, temp0_31^0'=temp0_31^post_51, temp_35^0'=temp_35^post_51, tmp_34^0'=tmp_34^post_51, x_16^0'=x_16^post_51, x_20^0'=x_20^post_51, x_SLAM_f_18^0'=x_SLAM_f_18^post_51, y_19^0'=y_19^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_26^0==__disjvr_26^post_51 && __disjvr_27^0==__disjvr_27^post_51 && __disjvr_28^0==__disjvr_28^post_51 && __disjvr_29^0==__disjvr_29^post_51 && __disjvr_3^0==__disjvr_3^post_51 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_51 && a_147^0==a_147^post_51 && a_184^0==a_184^post_51 && a_215^0==a_215^post_51 && a_237^0==a_237^post_51 && a_260^0==a_260^post_51 && ct_17^0==ct_17^post_51 && f_170^0==f_170^post_51 && head_129^0==head_129^post_51 && head_14^0==head_14^post_51 && head_175^0==head_175^post_51 && head_27^0==head_27^post_51 && head_32^0==head_32^post_51 && head_SLAM_f_26^0==head_SLAM_f_26^post_51 && i_108^0==i_108^post_51 && i_167^0==i_167^post_51 && i_30^0==i_30^post_51 && i_94^0==i_94^post_51 && len_132^0==len_132^post_51 && len_183^0==len_183^post_51 && length_29^0==length_29^post_51 && nondet_12^0==nondet_12^post_51 && r_124^0==r_124^post_51 && r_163^0==r_163^post_51 && r_39^0==r_39^post_51 && rcd_58^0==rcd_58^post_51 && rcd_88^0==rcd_88^post_51 && result_11^0==result_11^post_51 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_51 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_51 && t_23^0==t_23^post_51 && temp0_15^0==temp0_15^post_51 && temp0_31^0==temp0_31^post_51 && temp_35^0==temp_35^post_51 && tmp_34^0==tmp_34^post_51 && x_16^0==x_16^post_51 && x_20^0==x_20^post_51 && x_SLAM_f_18^0==x_SLAM_f_18^post_51 && y_19^0==y_19^post_51 ], cost: 1
     66: l63 -> l64 : __disjvr_0^0'=__disjvr_0^post_67, __disjvr_10^0'=__disjvr_10^post_67, __disjvr_11^0'=__disjvr_11^post_67, __disjvr_12^0'=__disjvr_12^post_67, __disjvr_13^0'=__disjvr_13^post_67, __disjvr_14^0'=__disjvr_14^post_67, __disjvr_15^0'=__disjvr_15^post_67, __disjvr_16^0'=__disjvr_16^post_67, __disjvr_17^0'=__disjvr_17^post_67, __disjvr_18^0'=__disjvr_18^post_67, __disjvr_19^0'=__disjvr_19^post_67, __disjvr_1^0'=__disjvr_1^post_67, __disjvr_20^0'=__disjvr_20^post_67, __disjvr_21^0'=__disjvr_21^post_67, __disjvr_22^0'=__disjvr_22^post_67, __disjvr_23^0'=__disjvr_23^post_67, __disjvr_24^0'=__disjvr_24^post_67, __disjvr_25^0'=__disjvr_25^post_67, __disjvr_26^0'=__disjvr_26^post_67, __disjvr_27^0'=__disjvr_27^post_67, __disjvr_28^0'=__disjvr_28^post_67, __disjvr_29^0'=__disjvr_29^post_67, __disjvr_2^0'=__disjvr_2^post_67, __disjvr_30^0'=__disjvr_30^post_67, __disjvr_3^0'=__disjvr_3^post_67, __disjvr_4^0'=__disjvr_4^post_67, __disjvr_5^0'=__disjvr_5^post_67, __disjvr_6^0'=__disjvr_6^post_67, __disjvr_7^0'=__disjvr_7^post_67, __disjvr_8^0'=__disjvr_8^post_67, __disjvr_9^0'=__disjvr_9^post_67, a_116^0'=a_116^post_67, a_147^0'=a_147^post_67, a_184^0'=a_184^post_67, a_215^0'=a_215^post_67, a_237^0'=a_237^post_67, a_260^0'=a_260^post_67, ct_17^0'=ct_17^post_67, f_170^0'=f_170^post_67, head_129^0'=head_129^post_67, head_14^0'=head_14^post_67, head_175^0'=head_175^post_67, head_27^0'=head_27^post_67, head_32^0'=head_32^post_67, head_SLAM_f_26^0'=head_SLAM_f_26^post_67, i_108^0'=i_108^post_67, i_167^0'=i_167^post_67, i_30^0'=i_30^post_67, i_94^0'=i_94^post_67, len_132^0'=len_132^post_67, len_183^0'=len_183^post_67, length_29^0'=length_29^post_67, nondet_12^0'=nondet_12^post_67, r_124^0'=r_124^post_67, r_163^0'=r_163^post_67, r_39^0'=r_39^post_67, rcd_58^0'=rcd_58^post_67, rcd_88^0'=rcd_88^post_67, result_11^0'=result_11^post_67, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_67, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_67, t_23^0'=t_23^post_67, temp0_15^0'=temp0_15^post_67, temp0_31^0'=temp0_31^post_67, temp_35^0'=temp_35^post_67, tmp_34^0'=tmp_34^post_67, x_16^0'=x_16^post_67, x_20^0'=x_20^post_67, x_SLAM_f_18^0'=x_SLAM_f_18^post_67, y_19^0'=y_19^post_67, [ __disjvr_30^post_67==__disjvr_30^0 && __disjvr_0^0==__disjvr_0^post_67 && __disjvr_1^0==__disjvr_1^post_67 && __disjvr_10^0==__disjvr_10^post_67 && __disjvr_11^0==__disjvr_11^post_67 && __disjvr_12^0==__disjvr_12^post_67 && __disjvr_13^0==__disjvr_13^post_67 && __disjvr_14^0==__disjvr_14^post_67 && __disjvr_15^0==__disjvr_15^post_67 && __disjvr_16^0==__disjvr_16^post_67 && __disjvr_17^0==__disjvr_17^post_67 && __disjvr_18^0==__disjvr_18^post_67 && __disjvr_19^0==__disjvr_19^post_67 && __disjvr_2^0==__disjvr_2^post_67 && __disjvr_20^0==__disjvr_20^post_67 && __disjvr_21^0==__disjvr_21^post_67 && __disjvr_22^0==__disjvr_22^post_67 && __disjvr_23^0==__disjvr_23^post_67 && __disjvr_24^0==__disjvr_24^post_67 && __disjvr_25^0==__disjvr_25^post_67 && __disjvr_26^0==__disjvr_26^post_67 && __disjvr_27^0==__disjvr_27^post_67 && __disjvr_28^0==__disjvr_28^post_67 && __disjvr_29^0==__disjvr_29^post_67 && __disjvr_3^0==__disjvr_3^post_67 && __disjvr_30^0==__disjvr_30^post_67 && __disjvr_4^0==__disjvr_4^post_67 && __disjvr_5^0==__disjvr_5^post_67 && __disjvr_6^0==__disjvr_6^post_67 && __disjvr_7^0==__disjvr_7^post_67 && __disjvr_8^0==__disjvr_8^post_67 && __disjvr_9^0==__disjvr_9^post_67 && a_116^0==a_116^post_67 && a_147^0==a_147^post_67 && a_184^0==a_184^post_67 && a_215^0==a_215^post_67 && a_237^0==a_237^post_67 && a_260^0==a_260^post_67 && ct_17^0==ct_17^post_67 && f_170^0==f_170^post_67 && head_129^0==head_129^post_67 && head_14^0==head_14^post_67 && head_175^0==head_175^post_67 && head_27^0==head_27^post_67 && head_32^0==head_32^post_67 && head_SLAM_f_26^0==head_SLAM_f_26^post_67 && i_108^0==i_108^post_67 && i_167^0==i_167^post_67 && i_30^0==i_30^post_67 && i_94^0==i_94^post_67 && len_132^0==len_132^post_67 && len_183^0==len_183^post_67 && length_29^0==length_29^post_67 && nondet_12^0==nondet_12^post_67 && r_124^0==r_124^post_67 && r_163^0==r_163^post_67 && r_39^0==r_39^post_67 && rcd_58^0==rcd_58^post_67 && rcd_88^0==rcd_88^post_67 && result_11^0==result_11^post_67 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_67 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_67 && t_23^0==t_23^post_67 && temp0_15^0==temp0_15^post_67 && temp0_31^0==temp0_31^post_67 && temp_35^0==temp_35^post_67 && tmp_34^0==tmp_34^post_67 && x_16^0==x_16^post_67 && x_20^0==x_20^post_67 && x_SLAM_f_18^0==x_SLAM_f_18^post_67 && y_19^0==y_19^post_67 ], cost: 1
     67: l64 -> l41 : __disjvr_0^0'=__disjvr_0^post_68, __disjvr_10^0'=__disjvr_10^post_68, __disjvr_11^0'=__disjvr_11^post_68, __disjvr_12^0'=__disjvr_12^post_68, __disjvr_13^0'=__disjvr_13^post_68, __disjvr_14^0'=__disjvr_14^post_68, __disjvr_15^0'=__disjvr_15^post_68, __disjvr_16^0'=__disjvr_16^post_68, __disjvr_17^0'=__disjvr_17^post_68, __disjvr_18^0'=__disjvr_18^post_68, __disjvr_19^0'=__disjvr_19^post_68, __disjvr_1^0'=__disjvr_1^post_68, __disjvr_20^0'=__disjvr_20^post_68, __disjvr_21^0'=__disjvr_21^post_68, __disjvr_22^0'=__disjvr_22^post_68, __disjvr_23^0'=__disjvr_23^post_68, __disjvr_24^0'=__disjvr_24^post_68, __disjvr_25^0'=__disjvr_25^post_68, __disjvr_26^0'=__disjvr_26^post_68, __disjvr_27^0'=__disjvr_27^post_68, __disjvr_28^0'=__disjvr_28^post_68, __disjvr_29^0'=__disjvr_29^post_68, __disjvr_2^0'=__disjvr_2^post_68, __disjvr_30^0'=__disjvr_30^post_68, __disjvr_3^0'=__disjvr_3^post_68, __disjvr_4^0'=__disjvr_4^post_68, __disjvr_5^0'=__disjvr_5^post_68, __disjvr_6^0'=__disjvr_6^post_68, __disjvr_7^0'=__disjvr_7^post_68, __disjvr_8^0'=__disjvr_8^post_68, __disjvr_9^0'=__disjvr_9^post_68, a_116^0'=a_116^post_68, a_147^0'=a_147^post_68, a_184^0'=a_184^post_68, a_215^0'=a_215^post_68, a_237^0'=a_237^post_68, a_260^0'=a_260^post_68, ct_17^0'=ct_17^post_68, f_170^0'=f_170^post_68, head_129^0'=head_129^post_68, head_14^0'=head_14^post_68, head_175^0'=head_175^post_68, head_27^0'=head_27^post_68, head_32^0'=head_32^post_68, head_SLAM_f_26^0'=head_SLAM_f_26^post_68, i_108^0'=i_108^post_68, i_167^0'=i_167^post_68, i_30^0'=i_30^post_68, i_94^0'=i_94^post_68, len_132^0'=len_132^post_68, len_183^0'=len_183^post_68, length_29^0'=length_29^post_68, nondet_12^0'=nondet_12^post_68, r_124^0'=r_124^post_68, r_163^0'=r_163^post_68, r_39^0'=r_39^post_68, rcd_58^0'=rcd_58^post_68, rcd_88^0'=rcd_88^post_68, result_11^0'=result_11^post_68, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_68, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_68, t_23^0'=t_23^post_68, temp0_15^0'=temp0_15^post_68, temp0_31^0'=temp0_31^post_68, temp_35^0'=temp_35^post_68, tmp_34^0'=tmp_34^post_68, x_16^0'=x_16^post_68, x_20^0'=x_20^post_68, x_SLAM_f_18^0'=x_SLAM_f_18^post_68, y_19^0'=y_19^post_68, [ 1<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0<=i_30^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0<=i_167^0 && __disjvr_0^0==__disjvr_0^post_68 && __disjvr_1^0==__disjvr_1^post_68 && __disjvr_10^0==__disjvr_10^post_68 && __disjvr_11^0==__disjvr_11^post_68 && __disjvr_12^0==__disjvr_12^post_68 && __disjvr_13^0==__disjvr_13^post_68 && __disjvr_14^0==__disjvr_14^post_68 && __disjvr_15^0==__disjvr_15^post_68 && __disjvr_16^0==__disjvr_16^post_68 && __disjvr_17^0==__disjvr_17^post_68 && __disjvr_18^0==__disjvr_18^post_68 && __disjvr_19^0==__disjvr_19^post_68 && __disjvr_2^0==__disjvr_2^post_68 && __disjvr_20^0==__disjvr_20^post_68 && __disjvr_21^0==__disjvr_21^post_68 && __disjvr_22^0==__disjvr_22^post_68 && __disjvr_23^0==__disjvr_23^post_68 && __disjvr_24^0==__disjvr_24^post_68 && __disjvr_25^0==__disjvr_25^post_68 && __disjvr_26^0==__disjvr_26^post_68 && __disjvr_27^0==__disjvr_27^post_68 && __disjvr_28^0==__disjvr_28^post_68 && __disjvr_29^0==__disjvr_29^post_68 && __disjvr_3^0==__disjvr_3^post_68 && __disjvr_30^0==__disjvr_30^post_68 && __disjvr_4^0==__disjvr_4^post_68 && __disjvr_5^0==__disjvr_5^post_68 && __disjvr_6^0==__disjvr_6^post_68 && __disjvr_7^0==__disjvr_7^post_68 && __disjvr_8^0==__disjvr_8^post_68 && __disjvr_9^0==__disjvr_9^post_68 && a_116^0==a_116^post_68 && a_147^0==a_147^post_68 && a_184^0==a_184^post_68 && a_215^0==a_215^post_68 && a_237^0==a_237^post_68 && a_260^0==a_260^post_68 && ct_17^0==ct_17^post_68 && f_170^0==f_170^post_68 && head_129^0==head_129^post_68 && head_14^0==head_14^post_68 && head_175^0==head_175^post_68 && head_27^0==head_27^post_68 && head_32^0==head_32^post_68 && head_SLAM_f_26^0==head_SLAM_f_26^post_68 && i_108^0==i_108^post_68 && i_167^0==i_167^post_68 && i_30^0==i_30^post_68 && i_94^0==i_94^post_68 && len_132^0==len_132^post_68 && len_183^0==len_183^post_68 && length_29^0==length_29^post_68 && nondet_12^0==nondet_12^post_68 && r_124^0==r_124^post_68 && r_163^0==r_163^post_68 && r_39^0==r_39^post_68 && rcd_58^0==rcd_58^post_68 && rcd_88^0==rcd_88^post_68 && result_11^0==result_11^post_68 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_68 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_68 && t_23^0==t_23^post_68 && temp0_15^0==temp0_15^post_68 && temp0_31^0==temp0_31^post_68 && temp_35^0==temp_35^post_68 && tmp_34^0==tmp_34^post_68 && x_16^0==x_16^post_68 && x_20^0==x_20^post_68 && x_SLAM_f_18^0==x_SLAM_f_18^post_68 && y_19^0==y_19^post_68 ], cost: 1
     69: l65 -> l38 : __disjvr_0^0'=__disjvr_0^post_70, __disjvr_10^0'=__disjvr_10^post_70, __disjvr_11^0'=__disjvr_11^post_70, __disjvr_12^0'=__disjvr_12^post_70, __disjvr_13^0'=__disjvr_13^post_70, __disjvr_14^0'=__disjvr_14^post_70, __disjvr_15^0'=__disjvr_15^post_70, __disjvr_16^0'=__disjvr_16^post_70, __disjvr_17^0'=__disjvr_17^post_70, __disjvr_18^0'=__disjvr_18^post_70, __disjvr_19^0'=__disjvr_19^post_70, __disjvr_1^0'=__disjvr_1^post_70, __disjvr_20^0'=__disjvr_20^post_70, __disjvr_21^0'=__disjvr_21^post_70, __disjvr_22^0'=__disjvr_22^post_70, __disjvr_23^0'=__disjvr_23^post_70, __disjvr_24^0'=__disjvr_24^post_70, __disjvr_25^0'=__disjvr_25^post_70, __disjvr_26^0'=__disjvr_26^post_70, __disjvr_27^0'=__disjvr_27^post_70, __disjvr_28^0'=__disjvr_28^post_70, __disjvr_29^0'=__disjvr_29^post_70, __disjvr_2^0'=__disjvr_2^post_70, __disjvr_30^0'=__disjvr_30^post_70, __disjvr_3^0'=__disjvr_3^post_70, __disjvr_4^0'=__disjvr_4^post_70, __disjvr_5^0'=__disjvr_5^post_70, __disjvr_6^0'=__disjvr_6^post_70, __disjvr_7^0'=__disjvr_7^post_70, __disjvr_8^0'=__disjvr_8^post_70, __disjvr_9^0'=__disjvr_9^post_70, a_116^0'=a_116^post_70, a_147^0'=a_147^post_70, a_184^0'=a_184^post_70, a_215^0'=a_215^post_70, a_237^0'=a_237^post_70, a_260^0'=a_260^post_70, ct_17^0'=ct_17^post_70, f_170^0'=f_170^post_70, head_129^0'=head_129^post_70, head_14^0'=head_14^post_70, head_175^0'=head_175^post_70, head_27^0'=head_27^post_70, head_32^0'=head_32^post_70, head_SLAM_f_26^0'=head_SLAM_f_26^post_70, i_108^0'=i_108^post_70, i_167^0'=i_167^post_70, i_30^0'=i_30^post_70, i_94^0'=i_94^post_70, len_132^0'=len_132^post_70, len_183^0'=len_183^post_70, length_29^0'=length_29^post_70, nondet_12^0'=nondet_12^post_70, r_124^0'=r_124^post_70, r_163^0'=r_163^post_70, r_39^0'=r_39^post_70, rcd_58^0'=rcd_58^post_70, rcd_88^0'=rcd_88^post_70, result_11^0'=result_11^post_70, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_70, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_70, t_23^0'=t_23^post_70, temp0_15^0'=temp0_15^post_70, temp0_31^0'=temp0_31^post_70, temp_35^0'=temp_35^post_70, tmp_34^0'=tmp_34^post_70, x_16^0'=x_16^post_70, x_20^0'=x_20^post_70, x_SLAM_f_18^0'=x_SLAM_f_18^post_70, y_19^0'=y_19^post_70, [ __disjvr_0^0==__disjvr_0^post_70 && __disjvr_1^0==__disjvr_1^post_70 && __disjvr_10^0==__disjvr_10^post_70 && __disjvr_11^0==__disjvr_11^post_70 && __disjvr_12^0==__disjvr_12^post_70 && __disjvr_13^0==__disjvr_13^post_70 && __disjvr_14^0==__disjvr_14^post_70 && __disjvr_15^0==__disjvr_15^post_70 && __disjvr_16^0==__disjvr_16^post_70 && __disjvr_17^0==__disjvr_17^post_70 && __disjvr_18^0==__disjvr_18^post_70 && __disjvr_19^0==__disjvr_19^post_70 && __disjvr_2^0==__disjvr_2^post_70 && __disjvr_20^0==__disjvr_20^post_70 && __disjvr_21^0==__disjvr_21^post_70 && __disjvr_22^0==__disjvr_22^post_70 && __disjvr_23^0==__disjvr_23^post_70 && __disjvr_24^0==__disjvr_24^post_70 && __disjvr_25^0==__disjvr_25^post_70 && __disjvr_26^0==__disjvr_26^post_70 && __disjvr_27^0==__disjvr_27^post_70 && __disjvr_28^0==__disjvr_28^post_70 && __disjvr_29^0==__disjvr_29^post_70 && __disjvr_3^0==__disjvr_3^post_70 && __disjvr_30^0==__disjvr_30^post_70 && __disjvr_4^0==__disjvr_4^post_70 && __disjvr_5^0==__disjvr_5^post_70 && __disjvr_6^0==__disjvr_6^post_70 && __disjvr_7^0==__disjvr_7^post_70 && __disjvr_8^0==__disjvr_8^post_70 && __disjvr_9^0==__disjvr_9^post_70 && a_116^0==a_116^post_70 && a_147^0==a_147^post_70 && a_184^0==a_184^post_70 && a_215^0==a_215^post_70 && a_237^0==a_237^post_70 && a_260^0==a_260^post_70 && ct_17^0==ct_17^post_70 && f_170^0==f_170^post_70 && head_129^0==head_129^post_70 && head_14^0==head_14^post_70 && head_175^0==head_175^post_70 && head_27^0==head_27^post_70 && head_32^0==head_32^post_70 && head_SLAM_f_26^0==head_SLAM_f_26^post_70 && i_108^0==i_108^post_70 && i_167^0==i_167^post_70 && i_30^0==i_30^post_70 && i_94^0==i_94^post_70 && len_132^0==len_132^post_70 && len_183^0==len_183^post_70 && length_29^0==length_29^post_70 && nondet_12^0==nondet_12^post_70 && r_124^0==r_124^post_70 && r_163^0==r_163^post_70 && r_39^0==r_39^post_70 && rcd_58^0==rcd_58^post_70 && rcd_88^0==rcd_88^post_70 && result_11^0==result_11^post_70 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_70 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_70 && t_23^0==t_23^post_70 && temp0_15^0==temp0_15^post_70 && temp0_31^0==temp0_31^post_70 && temp_35^0==temp_35^post_70 && tmp_34^0==tmp_34^post_70 && x_16^0==x_16^post_70 && x_20^0==x_20^post_70 && x_SLAM_f_18^0==x_SLAM_f_18^post_70 && y_19^0==y_19^post_70 ], cost: 1
     72: l66 -> l39 : __disjvr_0^0'=__disjvr_0^post_73, __disjvr_10^0'=__disjvr_10^post_73, __disjvr_11^0'=__disjvr_11^post_73, __disjvr_12^0'=__disjvr_12^post_73, __disjvr_13^0'=__disjvr_13^post_73, __disjvr_14^0'=__disjvr_14^post_73, __disjvr_15^0'=__disjvr_15^post_73, __disjvr_16^0'=__disjvr_16^post_73, __disjvr_17^0'=__disjvr_17^post_73, __disjvr_18^0'=__disjvr_18^post_73, __disjvr_19^0'=__disjvr_19^post_73, __disjvr_1^0'=__disjvr_1^post_73, __disjvr_20^0'=__disjvr_20^post_73, __disjvr_21^0'=__disjvr_21^post_73, __disjvr_22^0'=__disjvr_22^post_73, __disjvr_23^0'=__disjvr_23^post_73, __disjvr_24^0'=__disjvr_24^post_73, __disjvr_25^0'=__disjvr_25^post_73, __disjvr_26^0'=__disjvr_26^post_73, __disjvr_27^0'=__disjvr_27^post_73, __disjvr_28^0'=__disjvr_28^post_73, __disjvr_29^0'=__disjvr_29^post_73, __disjvr_2^0'=__disjvr_2^post_73, __disjvr_30^0'=__disjvr_30^post_73, __disjvr_3^0'=__disjvr_3^post_73, __disjvr_4^0'=__disjvr_4^post_73, __disjvr_5^0'=__disjvr_5^post_73, __disjvr_6^0'=__disjvr_6^post_73, __disjvr_7^0'=__disjvr_7^post_73, __disjvr_8^0'=__disjvr_8^post_73, __disjvr_9^0'=__disjvr_9^post_73, a_116^0'=a_116^post_73, a_147^0'=a_147^post_73, a_184^0'=a_184^post_73, a_215^0'=a_215^post_73, a_237^0'=a_237^post_73, a_260^0'=a_260^post_73, ct_17^0'=ct_17^post_73, f_170^0'=f_170^post_73, head_129^0'=head_129^post_73, head_14^0'=head_14^post_73, head_175^0'=head_175^post_73, head_27^0'=head_27^post_73, head_32^0'=head_32^post_73, head_SLAM_f_26^0'=head_SLAM_f_26^post_73, i_108^0'=i_108^post_73, i_167^0'=i_167^post_73, i_30^0'=i_30^post_73, i_94^0'=i_94^post_73, len_132^0'=len_132^post_73, len_183^0'=len_183^post_73, length_29^0'=length_29^post_73, nondet_12^0'=nondet_12^post_73, r_124^0'=r_124^post_73, r_163^0'=r_163^post_73, r_39^0'=r_39^post_73, rcd_58^0'=rcd_58^post_73, rcd_88^0'=rcd_88^post_73, result_11^0'=result_11^post_73, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_73, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_73, t_23^0'=t_23^post_73, temp0_15^0'=temp0_15^post_73, temp0_31^0'=temp0_31^post_73, temp_35^0'=temp_35^post_73, tmp_34^0'=tmp_34^post_73, x_16^0'=x_16^post_73, x_20^0'=x_20^post_73, x_SLAM_f_18^0'=x_SLAM_f_18^post_73, y_19^0'=y_19^post_73, [ __disjvr_0^0==__disjvr_0^post_73 && __disjvr_1^0==__disjvr_1^post_73 && __disjvr_10^0==__disjvr_10^post_73 && __disjvr_11^0==__disjvr_11^post_73 && __disjvr_12^0==__disjvr_12^post_73 && __disjvr_13^0==__disjvr_13^post_73 && __disjvr_14^0==__disjvr_14^post_73 && __disjvr_15^0==__disjvr_15^post_73 && __disjvr_16^0==__disjvr_16^post_73 && __disjvr_17^0==__disjvr_17^post_73 && __disjvr_18^0==__disjvr_18^post_73 && __disjvr_19^0==__disjvr_19^post_73 && __disjvr_2^0==__disjvr_2^post_73 && __disjvr_20^0==__disjvr_20^post_73 && __disjvr_21^0==__disjvr_21^post_73 && __disjvr_22^0==__disjvr_22^post_73 && __disjvr_23^0==__disjvr_23^post_73 && __disjvr_24^0==__disjvr_24^post_73 && __disjvr_25^0==__disjvr_25^post_73 && __disjvr_26^0==__disjvr_26^post_73 && __disjvr_27^0==__disjvr_27^post_73 && __disjvr_28^0==__disjvr_28^post_73 && __disjvr_29^0==__disjvr_29^post_73 && __disjvr_3^0==__disjvr_3^post_73 && __disjvr_30^0==__disjvr_30^post_73 && __disjvr_4^0==__disjvr_4^post_73 && __disjvr_5^0==__disjvr_5^post_73 && __disjvr_6^0==__disjvr_6^post_73 && __disjvr_7^0==__disjvr_7^post_73 && __disjvr_8^0==__disjvr_8^post_73 && __disjvr_9^0==__disjvr_9^post_73 && a_116^0==a_116^post_73 && a_147^0==a_147^post_73 && a_184^0==a_184^post_73 && a_215^0==a_215^post_73 && a_237^0==a_237^post_73 && a_260^0==a_260^post_73 && ct_17^0==ct_17^post_73 && f_170^0==f_170^post_73 && head_129^0==head_129^post_73 && head_14^0==head_14^post_73 && head_175^0==head_175^post_73 && head_27^0==head_27^post_73 && head_32^0==head_32^post_73 && head_SLAM_f_26^0==head_SLAM_f_26^post_73 && i_108^0==i_108^post_73 && i_167^0==i_167^post_73 && i_30^0==i_30^post_73 && i_94^0==i_94^post_73 && len_132^0==len_132^post_73 && len_183^0==len_183^post_73 && length_29^0==length_29^post_73 && nondet_12^0==nondet_12^post_73 && r_124^0==r_124^post_73 && r_163^0==r_163^post_73 && r_39^0==r_39^post_73 && rcd_58^0==rcd_58^post_73 && rcd_88^0==rcd_88^post_73 && result_11^0==result_11^post_73 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_73 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_73 && t_23^0==t_23^post_73 && temp0_15^0==temp0_15^post_73 && temp0_31^0==temp0_31^post_73 && temp_35^0==temp_35^post_73 && tmp_34^0==tmp_34^post_73 && x_16^0==x_16^post_73 && x_20^0==x_20^post_73 && x_SLAM_f_18^0==x_SLAM_f_18^post_73 && y_19^0==y_19^post_73 ], cost: 1

Removed unreachable and leaf rules:
   Start location: l66
      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_26^0'=__disjvr_26^post_2, __disjvr_27^0'=__disjvr_27^post_2, __disjvr_28^0'=__disjvr_28^post_2, __disjvr_29^0'=__disjvr_29^post_2, __disjvr_2^0'=__disjvr_2^post_2, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_2, a_147^0'=a_147^post_2, a_184^0'=a_184^post_2, a_215^0'=a_215^post_2, a_237^0'=a_237^post_2, a_260^0'=a_260^post_2, ct_17^0'=ct_17^post_2, f_170^0'=f_170^post_2, head_129^0'=head_129^post_2, head_14^0'=head_14^post_2, head_175^0'=head_175^post_2, head_27^0'=head_27^post_2, head_32^0'=head_32^post_2, head_SLAM_f_26^0'=head_SLAM_f_26^post_2, i_108^0'=i_108^post_2, i_167^0'=i_167^post_2, i_30^0'=i_30^post_2, i_94^0'=i_94^post_2, len_132^0'=len_132^post_2, len_183^0'=len_183^post_2, length_29^0'=length_29^post_2, nondet_12^0'=nondet_12^post_2, r_124^0'=r_124^post_2, r_163^0'=r_163^post_2, r_39^0'=r_39^post_2, rcd_58^0'=rcd_58^post_2, rcd_88^0'=rcd_88^post_2, result_11^0'=result_11^post_2, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_2, t_23^0'=t_23^post_2, temp0_15^0'=temp0_15^post_2, temp0_31^0'=temp0_31^post_2, temp_35^0'=temp_35^post_2, tmp_34^0'=tmp_34^post_2, x_16^0'=x_16^post_2, x_20^0'=x_20^post_2, x_SLAM_f_18^0'=x_SLAM_f_18^post_2, y_19^0'=y_19^post_2, [ 0<=a_237^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_2==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_2 && head_14^post_2==head_14^post_2 && x_16^post_2==x_16^post_2 && ct_17^post_2==ct_17^post_2 && x_SLAM_f_18^post_2==x_SLAM_f_18^post_2 && r_39^post_2==r_39^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_26^0==__disjvr_26^post_2 && __disjvr_27^0==__disjvr_27^post_2 && __disjvr_28^0==__disjvr_28^post_2 && __disjvr_29^0==__disjvr_29^post_2 && __disjvr_3^0==__disjvr_3^post_2 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_2 && a_147^0==a_147^post_2 && a_184^0==a_184^post_2 && a_215^0==a_215^post_2 && a_237^0==a_237^post_2 && a_260^0==a_260^post_2 && f_170^0==f_170^post_2 && head_129^0==head_129^post_2 && head_175^0==head_175^post_2 && head_27^0==head_27^post_2 && head_32^0==head_32^post_2 && head_SLAM_f_26^0==head_SLAM_f_26^post_2 && i_108^0==i_108^post_2 && i_167^0==i_167^post_2 && i_30^0==i_30^post_2 && i_94^0==i_94^post_2 && len_132^0==len_132^post_2 && len_183^0==len_183^post_2 && length_29^0==length_29^post_2 && nondet_12^0==nondet_12^post_2 && r_124^0==r_124^post_2 && r_163^0==r_163^post_2 && rcd_58^0==rcd_58^post_2 && rcd_88^0==rcd_88^post_2 && result_11^0==result_11^post_2 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_2 && t_23^0==t_23^post_2 && temp0_15^0==temp0_15^post_2 && temp0_31^0==temp0_31^post_2 && temp_35^0==temp_35^post_2 && tmp_34^0==tmp_34^post_2 && x_20^0==x_20^post_2 && y_19^0==y_19^post_2 ], cost: 1
      2: l3 -> l4 : __disjvr_0^0'=__disjvr_0^post_3, __disjvr_10^0'=__disjvr_10^post_3, __disjvr_11^0'=__disjvr_11^post_3, __disjvr_12^0'=__disjvr_12^post_3, __disjvr_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_26^0'=__disjvr_26^post_3, __disjvr_27^0'=__disjvr_27^post_3, __disjvr_28^0'=__disjvr_28^post_3, __disjvr_29^0'=__disjvr_29^post_3, __disjvr_2^0'=__disjvr_2^post_3, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_3, a_147^0'=a_147^post_3, a_184^0'=a_184^post_3, a_215^0'=a_215^post_3, a_237^0'=a_237^post_3, a_260^0'=a_260^post_3, ct_17^0'=ct_17^post_3, f_170^0'=f_170^post_3, head_129^0'=head_129^post_3, head_14^0'=head_14^post_3, head_175^0'=head_175^post_3, head_27^0'=head_27^post_3, head_32^0'=head_32^post_3, head_SLAM_f_26^0'=head_SLAM_f_26^post_3, i_108^0'=i_108^post_3, i_167^0'=i_167^post_3, i_30^0'=i_30^post_3, i_94^0'=i_94^post_3, len_132^0'=len_132^post_3, len_183^0'=len_183^post_3, length_29^0'=length_29^post_3, nondet_12^0'=nondet_12^post_3, r_124^0'=r_124^post_3, r_163^0'=r_163^post_3, r_39^0'=r_39^post_3, rcd_58^0'=rcd_58^post_3, rcd_88^0'=rcd_88^post_3, result_11^0'=result_11^post_3, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_3, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_3, t_23^0'=t_23^post_3, temp0_15^0'=temp0_15^post_3, temp0_31^0'=temp0_31^post_3, temp_35^0'=temp_35^post_3, tmp_34^0'=tmp_34^post_3, x_16^0'=x_16^post_3, x_20^0'=x_20^post_3, x_SLAM_f_18^0'=x_SLAM_f_18^post_3, y_19^0'=y_19^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_26^0==__disjvr_26^post_3 && __disjvr_27^0==__disjvr_27^post_3 && __disjvr_28^0==__disjvr_28^post_3 && __disjvr_29^0==__disjvr_29^post_3 && __disjvr_3^0==__disjvr_3^post_3 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_3 && a_147^0==a_147^post_3 && a_184^0==a_184^post_3 && a_215^0==a_215^post_3 && a_237^0==a_237^post_3 && a_260^0==a_260^post_3 && ct_17^0==ct_17^post_3 && f_170^0==f_170^post_3 && head_129^0==head_129^post_3 && head_14^0==head_14^post_3 && head_175^0==head_175^post_3 && head_27^0==head_27^post_3 && head_32^0==head_32^post_3 && head_SLAM_f_26^0==head_SLAM_f_26^post_3 && i_108^0==i_108^post_3 && i_167^0==i_167^post_3 && i_30^0==i_30^post_3 && i_94^0==i_94^post_3 && len_132^0==len_132^post_3 && len_183^0==len_183^post_3 && length_29^0==length_29^post_3 && nondet_12^0==nondet_12^post_3 && r_124^0==r_124^post_3 && r_163^0==r_163^post_3 && r_39^0==r_39^post_3 && rcd_58^0==rcd_58^post_3 && rcd_88^0==rcd_88^post_3 && result_11^0==result_11^post_3 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_3 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_3 && t_23^0==t_23^post_3 && temp0_15^0==temp0_15^post_3 && temp0_31^0==temp0_31^post_3 && temp_35^0==temp_35^post_3 && tmp_34^0==tmp_34^post_3 && x_16^0==x_16^post_3 && x_20^0==x_20^post_3 && x_SLAM_f_18^0==x_SLAM_f_18^post_3 && y_19^0==y_19^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_26^0'=__disjvr_26^post_4, __disjvr_27^0'=__disjvr_27^post_4, __disjvr_28^0'=__disjvr_28^post_4, __disjvr_29^0'=__disjvr_29^post_4, __disjvr_2^0'=__disjvr_2^post_4, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_4, a_147^0'=a_147^post_4, a_184^0'=a_184^post_4, a_215^0'=a_215^post_4, a_237^0'=a_237^post_4, a_260^0'=a_260^post_4, ct_17^0'=ct_17^post_4, f_170^0'=f_170^post_4, head_129^0'=head_129^post_4, head_14^0'=head_14^post_4, head_175^0'=head_175^post_4, head_27^0'=head_27^post_4, head_32^0'=head_32^post_4, head_SLAM_f_26^0'=head_SLAM_f_26^post_4, i_108^0'=i_108^post_4, i_167^0'=i_167^post_4, i_30^0'=i_30^post_4, i_94^0'=i_94^post_4, len_132^0'=len_132^post_4, len_183^0'=len_183^post_4, length_29^0'=length_29^post_4, nondet_12^0'=nondet_12^post_4, r_124^0'=r_124^post_4, r_163^0'=r_163^post_4, r_39^0'=r_39^post_4, rcd_58^0'=rcd_58^post_4, rcd_88^0'=rcd_88^post_4, result_11^0'=result_11^post_4, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_4, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_4, t_23^0'=t_23^post_4, temp0_15^0'=temp0_15^post_4, temp0_31^0'=temp0_31^post_4, temp_35^0'=temp_35^post_4, tmp_34^0'=tmp_34^post_4, x_16^0'=x_16^post_4, x_20^0'=x_20^post_4, x_SLAM_f_18^0'=x_SLAM_f_18^post_4, y_19^0'=y_19^post_4, [ t_23^post_4==x_20^0 && a_260^post_4==a_260^post_4 && 0<=ct_17^0 && ct_17^0<=0 && 0<=y_19^0 && y_19^0<=0 && head_14^0<=x_16^0 && x_16^0<=head_14^0 && head_14^0<=x_SLAM_f_18^0 && x_SLAM_f_18^0<=head_14^0 && x_16^0<=x_SLAM_f_18^0 && x_SLAM_f_18^0<=x_16^0 && ct_17^0<=y_19^0 && y_19^0<=ct_17^0 && a_260^post_4<=-1+a_237^0 && -1+a_237^0<=a_260^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_26^0==__disjvr_26^post_4 && __disjvr_27^0==__disjvr_27^post_4 && __disjvr_28^0==__disjvr_28^post_4 && __disjvr_29^0==__disjvr_29^post_4 && __disjvr_3^0==__disjvr_3^post_4 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_4 && a_147^0==a_147^post_4 && a_184^0==a_184^post_4 && a_215^0==a_215^post_4 && a_237^0==a_237^post_4 && ct_17^0==ct_17^post_4 && f_170^0==f_170^post_4 && head_129^0==head_129^post_4 && head_14^0==head_14^post_4 && head_175^0==head_175^post_4 && head_27^0==head_27^post_4 && head_32^0==head_32^post_4 && head_SLAM_f_26^0==head_SLAM_f_26^post_4 && i_108^0==i_108^post_4 && i_167^0==i_167^post_4 && i_30^0==i_30^post_4 && i_94^0==i_94^post_4 && len_132^0==len_132^post_4 && len_183^0==len_183^post_4 && length_29^0==length_29^post_4 && nondet_12^0==nondet_12^post_4 && r_124^0==r_124^post_4 && r_163^0==r_163^post_4 && r_39^0==r_39^post_4 && rcd_58^0==rcd_58^post_4 && rcd_88^0==rcd_88^post_4 && result_11^0==result_11^post_4 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_4 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_4 && temp0_15^0==temp0_15^post_4 && temp0_31^0==temp0_31^post_4 && temp_35^0==temp_35^post_4 && tmp_34^0==tmp_34^post_4 && x_16^0==x_16^post_4 && x_20^0==x_20^post_4 && x_SLAM_f_18^0==x_SLAM_f_18^post_4 && y_19^0==y_19^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_26^0'=__disjvr_26^post_5, __disjvr_27^0'=__disjvr_27^post_5, __disjvr_28^0'=__disjvr_28^post_5, __disjvr_29^0'=__disjvr_29^post_5, __disjvr_2^0'=__disjvr_2^post_5, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_5, a_147^0'=a_147^post_5, a_184^0'=a_184^post_5, a_215^0'=a_215^post_5, a_237^0'=a_237^post_5, a_260^0'=a_260^post_5, ct_17^0'=ct_17^post_5, f_170^0'=f_170^post_5, head_129^0'=head_129^post_5, head_14^0'=head_14^post_5, head_175^0'=head_175^post_5, head_27^0'=head_27^post_5, head_32^0'=head_32^post_5, head_SLAM_f_26^0'=head_SLAM_f_26^post_5, i_108^0'=i_108^post_5, i_167^0'=i_167^post_5, i_30^0'=i_30^post_5, i_94^0'=i_94^post_5, len_132^0'=len_132^post_5, len_183^0'=len_183^post_5, length_29^0'=length_29^post_5, nondet_12^0'=nondet_12^post_5, r_124^0'=r_124^post_5, r_163^0'=r_163^post_5, r_39^0'=r_39^post_5, rcd_58^0'=rcd_58^post_5, rcd_88^0'=rcd_88^post_5, result_11^0'=result_11^post_5, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_5, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_5, t_23^0'=t_23^post_5, temp0_15^0'=temp0_15^post_5, temp0_31^0'=temp0_31^post_5, temp_35^0'=temp_35^post_5, tmp_34^0'=tmp_34^post_5, x_16^0'=x_16^post_5, x_20^0'=x_20^post_5, x_SLAM_f_18^0'=x_SLAM_f_18^post_5, y_19^0'=y_19^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_26^0==__disjvr_26^post_5 && __disjvr_27^0==__disjvr_27^post_5 && __disjvr_28^0==__disjvr_28^post_5 && __disjvr_29^0==__disjvr_29^post_5 && __disjvr_3^0==__disjvr_3^post_5 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_5 && a_147^0==a_147^post_5 && a_184^0==a_184^post_5 && a_215^0==a_215^post_5 && a_237^0==a_237^post_5 && a_260^0==a_260^post_5 && ct_17^0==ct_17^post_5 && f_170^0==f_170^post_5 && head_129^0==head_129^post_5 && head_14^0==head_14^post_5 && head_175^0==head_175^post_5 && head_27^0==head_27^post_5 && head_32^0==head_32^post_5 && head_SLAM_f_26^0==head_SLAM_f_26^post_5 && i_108^0==i_108^post_5 && i_167^0==i_167^post_5 && i_30^0==i_30^post_5 && i_94^0==i_94^post_5 && len_132^0==len_132^post_5 && len_183^0==len_183^post_5 && length_29^0==length_29^post_5 && nondet_12^0==nondet_12^post_5 && r_124^0==r_124^post_5 && r_163^0==r_163^post_5 && r_39^0==r_39^post_5 && rcd_58^0==rcd_58^post_5 && rcd_88^0==rcd_88^post_5 && result_11^0==result_11^post_5 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_5 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_5 && t_23^0==t_23^post_5 && temp0_15^0==temp0_15^post_5 && temp0_31^0==temp0_31^post_5 && temp_35^0==temp_35^post_5 && tmp_34^0==tmp_34^post_5 && x_16^0==x_16^post_5 && x_20^0==x_20^post_5 && x_SLAM_f_18^0==x_SLAM_f_18^post_5 && y_19^0==y_19^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_26^0'=__disjvr_26^post_6, __disjvr_27^0'=__disjvr_27^post_6, __disjvr_28^0'=__disjvr_28^post_6, __disjvr_29^0'=__disjvr_29^post_6, __disjvr_2^0'=__disjvr_2^post_6, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_6, a_147^0'=a_147^post_6, a_184^0'=a_184^post_6, a_215^0'=a_215^post_6, a_237^0'=a_237^post_6, a_260^0'=a_260^post_6, ct_17^0'=ct_17^post_6, f_170^0'=f_170^post_6, head_129^0'=head_129^post_6, head_14^0'=head_14^post_6, head_175^0'=head_175^post_6, head_27^0'=head_27^post_6, head_32^0'=head_32^post_6, head_SLAM_f_26^0'=head_SLAM_f_26^post_6, i_108^0'=i_108^post_6, i_167^0'=i_167^post_6, i_30^0'=i_30^post_6, i_94^0'=i_94^post_6, len_132^0'=len_132^post_6, len_183^0'=len_183^post_6, length_29^0'=length_29^post_6, nondet_12^0'=nondet_12^post_6, r_124^0'=r_124^post_6, r_163^0'=r_163^post_6, r_39^0'=r_39^post_6, rcd_58^0'=rcd_58^post_6, rcd_88^0'=rcd_88^post_6, result_11^0'=result_11^post_6, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_6, t_23^0'=t_23^post_6, temp0_15^0'=temp0_15^post_6, temp0_31^0'=temp0_31^post_6, temp_35^0'=temp_35^post_6, tmp_34^0'=tmp_34^post_6, x_16^0'=x_16^post_6, x_20^0'=x_20^post_6, x_SLAM_f_18^0'=x_SLAM_f_18^post_6, y_19^0'=y_19^post_6, [ __disjvr_2^post_6==__disjvr_2^0 && __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_26^0==__disjvr_26^post_6 && __disjvr_27^0==__disjvr_27^post_6 && __disjvr_28^0==__disjvr_28^post_6 && __disjvr_29^0==__disjvr_29^post_6 && __disjvr_3^0==__disjvr_3^post_6 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_6 && a_147^0==a_147^post_6 && a_184^0==a_184^post_6 && a_215^0==a_215^post_6 && a_237^0==a_237^post_6 && a_260^0==a_260^post_6 && ct_17^0==ct_17^post_6 && f_170^0==f_170^post_6 && head_129^0==head_129^post_6 && head_14^0==head_14^post_6 && head_175^0==head_175^post_6 && head_27^0==head_27^post_6 && head_32^0==head_32^post_6 && head_SLAM_f_26^0==head_SLAM_f_26^post_6 && i_108^0==i_108^post_6 && i_167^0==i_167^post_6 && i_30^0==i_30^post_6 && i_94^0==i_94^post_6 && len_132^0==len_132^post_6 && len_183^0==len_183^post_6 && length_29^0==length_29^post_6 && nondet_12^0==nondet_12^post_6 && r_124^0==r_124^post_6 && r_163^0==r_163^post_6 && r_39^0==r_39^post_6 && rcd_58^0==rcd_58^post_6 && rcd_88^0==rcd_88^post_6 && result_11^0==result_11^post_6 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_6 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_6 && t_23^0==t_23^post_6 && temp0_15^0==temp0_15^post_6 && temp0_31^0==temp0_31^post_6 && temp_35^0==temp_35^post_6 && tmp_34^0==tmp_34^post_6 && x_16^0==x_16^post_6 && x_20^0==x_20^post_6 && x_SLAM_f_18^0==x_SLAM_f_18^post_6 && y_19^0==y_19^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_26^0'=__disjvr_26^post_7, __disjvr_27^0'=__disjvr_27^post_7, __disjvr_28^0'=__disjvr_28^post_7, __disjvr_29^0'=__disjvr_29^post_7, __disjvr_2^0'=__disjvr_2^post_7, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_7, a_147^0'=a_147^post_7, a_184^0'=a_184^post_7, a_215^0'=a_215^post_7, a_237^0'=a_237^post_7, a_260^0'=a_260^post_7, ct_17^0'=ct_17^post_7, f_170^0'=f_170^post_7, head_129^0'=head_129^post_7, head_14^0'=head_14^post_7, head_175^0'=head_175^post_7, head_27^0'=head_27^post_7, head_32^0'=head_32^post_7, head_SLAM_f_26^0'=head_SLAM_f_26^post_7, i_108^0'=i_108^post_7, i_167^0'=i_167^post_7, i_30^0'=i_30^post_7, i_94^0'=i_94^post_7, len_132^0'=len_132^post_7, len_183^0'=len_183^post_7, length_29^0'=length_29^post_7, nondet_12^0'=nondet_12^post_7, r_124^0'=r_124^post_7, r_163^0'=r_163^post_7, r_39^0'=r_39^post_7, rcd_58^0'=rcd_58^post_7, rcd_88^0'=rcd_88^post_7, result_11^0'=result_11^post_7, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_7, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7, t_23^0'=t_23^post_7, temp0_15^0'=temp0_15^post_7, temp0_31^0'=temp0_31^post_7, temp_35^0'=temp_35^post_7, tmp_34^0'=tmp_34^post_7, x_16^0'=x_16^post_7, x_20^0'=x_20^post_7, x_SLAM_f_18^0'=x_SLAM_f_18^post_7, y_19^0'=y_19^post_7, [ __disjvr_3^post_7==__disjvr_3^0 && __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_26^0==__disjvr_26^post_7 && __disjvr_27^0==__disjvr_27^post_7 && __disjvr_28^0==__disjvr_28^post_7 && __disjvr_29^0==__disjvr_29^post_7 && __disjvr_3^0==__disjvr_3^post_7 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_7 && a_147^0==a_147^post_7 && a_184^0==a_184^post_7 && a_215^0==a_215^post_7 && a_237^0==a_237^post_7 && a_260^0==a_260^post_7 && ct_17^0==ct_17^post_7 && f_170^0==f_170^post_7 && head_129^0==head_129^post_7 && head_14^0==head_14^post_7 && head_175^0==head_175^post_7 && head_27^0==head_27^post_7 && head_32^0==head_32^post_7 && head_SLAM_f_26^0==head_SLAM_f_26^post_7 && i_108^0==i_108^post_7 && i_167^0==i_167^post_7 && i_30^0==i_30^post_7 && i_94^0==i_94^post_7 && len_132^0==len_132^post_7 && len_183^0==len_183^post_7 && length_29^0==length_29^post_7 && nondet_12^0==nondet_12^post_7 && r_124^0==r_124^post_7 && r_163^0==r_163^post_7 && r_39^0==r_39^post_7 && rcd_58^0==rcd_58^post_7 && rcd_88^0==rcd_88^post_7 && result_11^0==result_11^post_7 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_7 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7 && t_23^0==t_23^post_7 && temp0_15^0==temp0_15^post_7 && temp0_31^0==temp0_31^post_7 && temp_35^0==temp_35^post_7 && tmp_34^0==tmp_34^post_7 && x_16^0==x_16^post_7 && x_20^0==x_20^post_7 && x_SLAM_f_18^0==x_SLAM_f_18^post_7 && y_19^0==y_19^post_7 ], cost: 1
      7: l8 -> l2 : __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_26^0'=__disjvr_26^post_8, __disjvr_27^0'=__disjvr_27^post_8, __disjvr_28^0'=__disjvr_28^post_8, __disjvr_29^0'=__disjvr_29^post_8, __disjvr_2^0'=__disjvr_2^post_8, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_8, a_147^0'=a_147^post_8, a_184^0'=a_184^post_8, a_215^0'=a_215^post_8, a_237^0'=a_237^post_8, a_260^0'=a_260^post_8, ct_17^0'=ct_17^post_8, f_170^0'=f_170^post_8, head_129^0'=head_129^post_8, head_14^0'=head_14^post_8, head_175^0'=head_175^post_8, head_27^0'=head_27^post_8, head_32^0'=head_32^post_8, head_SLAM_f_26^0'=head_SLAM_f_26^post_8, i_108^0'=i_108^post_8, i_167^0'=i_167^post_8, i_30^0'=i_30^post_8, i_94^0'=i_94^post_8, len_132^0'=len_132^post_8, len_183^0'=len_183^post_8, length_29^0'=length_29^post_8, nondet_12^0'=nondet_12^post_8, r_124^0'=r_124^post_8, r_163^0'=r_163^post_8, r_39^0'=r_39^post_8, rcd_58^0'=rcd_58^post_8, rcd_88^0'=rcd_88^post_8, result_11^0'=result_11^post_8, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_8, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_8, t_23^0'=t_23^post_8, temp0_15^0'=temp0_15^post_8, temp0_31^0'=temp0_31^post_8, temp_35^0'=temp_35^post_8, tmp_34^0'=tmp_34^post_8, x_16^0'=x_16^post_8, x_20^0'=x_20^post_8, x_SLAM_f_18^0'=x_SLAM_f_18^post_8, y_19^0'=y_19^post_8, [ 1<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && a_237^post_8==a_237^post_8 && a_237^post_8<=a_260^0 && a_260^0<=a_237^post_8 && __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_26^0==__disjvr_26^post_8 && __disjvr_27^0==__disjvr_27^post_8 && __disjvr_28^0==__disjvr_28^post_8 && __disjvr_29^0==__disjvr_29^post_8 && __disjvr_3^0==__disjvr_3^post_8 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_8 && a_147^0==a_147^post_8 && a_184^0==a_184^post_8 && a_215^0==a_215^post_8 && a_260^0==a_260^post_8 && ct_17^0==ct_17^post_8 && f_170^0==f_170^post_8 && head_129^0==head_129^post_8 && head_14^0==head_14^post_8 && head_175^0==head_175^post_8 && head_27^0==head_27^post_8 && head_32^0==head_32^post_8 && head_SLAM_f_26^0==head_SLAM_f_26^post_8 && i_108^0==i_108^post_8 && i_167^0==i_167^post_8 && i_30^0==i_30^post_8 && i_94^0==i_94^post_8 && len_132^0==len_132^post_8 && len_183^0==len_183^post_8 && length_29^0==length_29^post_8 && nondet_12^0==nondet_12^post_8 && r_124^0==r_124^post_8 && r_163^0==r_163^post_8 && r_39^0==r_39^post_8 && rcd_58^0==rcd_58^post_8 && rcd_88^0==rcd_88^post_8 && result_11^0==result_11^post_8 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_8 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_8 && t_23^0==t_23^post_8 && temp0_15^0==temp0_15^post_8 && temp0_31^0==temp0_31^post_8 && temp_35^0==temp_35^post_8 && tmp_34^0==tmp_34^post_8 && x_16^0==x_16^post_8 && x_20^0==x_20^post_8 && x_SLAM_f_18^0==x_SLAM_f_18^post_8 && y_19^0==y_19^post_8 ], cost: 1
      8: l2 -> l0 : __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_26^0'=__disjvr_26^post_9, __disjvr_27^0'=__disjvr_27^post_9, __disjvr_28^0'=__disjvr_28^post_9, __disjvr_29^0'=__disjvr_29^post_9, __disjvr_2^0'=__disjvr_2^post_9, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_9, a_147^0'=a_147^post_9, a_184^0'=a_184^post_9, a_215^0'=a_215^post_9, a_237^0'=a_237^post_9, a_260^0'=a_260^post_9, ct_17^0'=ct_17^post_9, f_170^0'=f_170^post_9, head_129^0'=head_129^post_9, head_14^0'=head_14^post_9, head_175^0'=head_175^post_9, head_27^0'=head_27^post_9, head_32^0'=head_32^post_9, head_SLAM_f_26^0'=head_SLAM_f_26^post_9, i_108^0'=i_108^post_9, i_167^0'=i_167^post_9, i_30^0'=i_30^post_9, i_94^0'=i_94^post_9, len_132^0'=len_132^post_9, len_183^0'=len_183^post_9, length_29^0'=length_29^post_9, nondet_12^0'=nondet_12^post_9, r_124^0'=r_124^post_9, r_163^0'=r_163^post_9, r_39^0'=r_39^post_9, rcd_58^0'=rcd_58^post_9, rcd_88^0'=rcd_88^post_9, result_11^0'=result_11^post_9, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_9, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_9, t_23^0'=t_23^post_9, temp0_15^0'=temp0_15^post_9, temp0_31^0'=temp0_31^post_9, temp_35^0'=temp_35^post_9, tmp_34^0'=tmp_34^post_9, x_16^0'=x_16^post_9, x_20^0'=x_20^post_9, x_SLAM_f_18^0'=x_SLAM_f_18^post_9, y_19^0'=y_19^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_26^0==__disjvr_26^post_9 && __disjvr_27^0==__disjvr_27^post_9 && __disjvr_28^0==__disjvr_28^post_9 && __disjvr_29^0==__disjvr_29^post_9 && __disjvr_3^0==__disjvr_3^post_9 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_9 && a_147^0==a_147^post_9 && a_184^0==a_184^post_9 && a_215^0==a_215^post_9 && a_237^0==a_237^post_9 && a_260^0==a_260^post_9 && ct_17^0==ct_17^post_9 && f_170^0==f_170^post_9 && head_129^0==head_129^post_9 && head_14^0==head_14^post_9 && head_175^0==head_175^post_9 && head_27^0==head_27^post_9 && head_32^0==head_32^post_9 && head_SLAM_f_26^0==head_SLAM_f_26^post_9 && i_108^0==i_108^post_9 && i_167^0==i_167^post_9 && i_30^0==i_30^post_9 && i_94^0==i_94^post_9 && len_132^0==len_132^post_9 && len_183^0==len_183^post_9 && length_29^0==length_29^post_9 && nondet_12^0==nondet_12^post_9 && r_124^0==r_124^post_9 && r_163^0==r_163^post_9 && r_39^0==r_39^post_9 && rcd_58^0==rcd_58^post_9 && rcd_88^0==rcd_88^post_9 && result_11^0==result_11^post_9 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_9 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_9 && t_23^0==t_23^post_9 && temp0_15^0==temp0_15^post_9 && temp0_31^0==temp0_31^post_9 && temp_35^0==temp_35^post_9 && tmp_34^0==tmp_34^post_9 && x_16^0==x_16^post_9 && x_20^0==x_20^post_9 && x_SLAM_f_18^0==x_SLAM_f_18^post_9 && y_19^0==y_19^post_9 ], cost: 1
     19: l18 -> l19 : __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_26^0'=__disjvr_26^post_20, __disjvr_27^0'=__disjvr_27^post_20, __disjvr_28^0'=__disjvr_28^post_20, __disjvr_29^0'=__disjvr_29^post_20, __disjvr_2^0'=__disjvr_2^post_20, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_20, a_147^0'=a_147^post_20, a_184^0'=a_184^post_20, a_215^0'=a_215^post_20, a_237^0'=a_237^post_20, a_260^0'=a_260^post_20, ct_17^0'=ct_17^post_20, f_170^0'=f_170^post_20, head_129^0'=head_129^post_20, head_14^0'=head_14^post_20, head_175^0'=head_175^post_20, head_27^0'=head_27^post_20, head_32^0'=head_32^post_20, head_SLAM_f_26^0'=head_SLAM_f_26^post_20, i_108^0'=i_108^post_20, i_167^0'=i_167^post_20, i_30^0'=i_30^post_20, i_94^0'=i_94^post_20, len_132^0'=len_132^post_20, len_183^0'=len_183^post_20, length_29^0'=length_29^post_20, nondet_12^0'=nondet_12^post_20, r_124^0'=r_124^post_20, r_163^0'=r_163^post_20, r_39^0'=r_39^post_20, rcd_58^0'=rcd_58^post_20, rcd_88^0'=rcd_88^post_20, result_11^0'=result_11^post_20, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_20, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_20, t_23^0'=t_23^post_20, temp0_15^0'=temp0_15^post_20, temp0_31^0'=temp0_31^post_20, temp_35^0'=temp_35^post_20, tmp_34^0'=tmp_34^post_20, x_16^0'=x_16^post_20, x_20^0'=x_20^post_20, x_SLAM_f_18^0'=x_SLAM_f_18^post_20, y_19^0'=y_19^post_20, [ 0<=len_132^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_20==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_20 && head_14^post_20==head_14^post_20 && x_16^post_20==x_16^post_20 && ct_17^post_20==ct_17^post_20 && x_SLAM_f_18^post_20==x_SLAM_f_18^post_20 && __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_26^0==__disjvr_26^post_20 && __disjvr_27^0==__disjvr_27^post_20 && __disjvr_28^0==__disjvr_28^post_20 && __disjvr_29^0==__disjvr_29^post_20 && __disjvr_3^0==__disjvr_3^post_20 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_20 && a_147^0==a_147^post_20 && a_184^0==a_184^post_20 && a_215^0==a_215^post_20 && a_237^0==a_237^post_20 && a_260^0==a_260^post_20 && f_170^0==f_170^post_20 && head_129^0==head_129^post_20 && head_175^0==head_175^post_20 && head_27^0==head_27^post_20 && head_32^0==head_32^post_20 && head_SLAM_f_26^0==head_SLAM_f_26^post_20 && i_108^0==i_108^post_20 && i_167^0==i_167^post_20 && i_30^0==i_30^post_20 && i_94^0==i_94^post_20 && len_132^0==len_132^post_20 && len_183^0==len_183^post_20 && length_29^0==length_29^post_20 && nondet_12^0==nondet_12^post_20 && r_124^0==r_124^post_20 && r_163^0==r_163^post_20 && r_39^0==r_39^post_20 && rcd_58^0==rcd_58^post_20 && rcd_88^0==rcd_88^post_20 && result_11^0==result_11^post_20 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_20 && t_23^0==t_23^post_20 && temp0_15^0==temp0_15^post_20 && temp0_31^0==temp0_31^post_20 && temp_35^0==temp_35^post_20 && tmp_34^0==tmp_34^post_20 && x_20^0==x_20^post_20 && y_19^0==y_19^post_20 ], cost: 1
     20: l19 -> l20 : __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_26^0'=__disjvr_26^post_21, __disjvr_27^0'=__disjvr_27^post_21, __disjvr_28^0'=__disjvr_28^post_21, __disjvr_29^0'=__disjvr_29^post_21, __disjvr_2^0'=__disjvr_2^post_21, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_21, a_147^0'=a_147^post_21, a_184^0'=a_184^post_21, a_215^0'=a_215^post_21, a_237^0'=a_237^post_21, a_260^0'=a_260^post_21, ct_17^0'=ct_17^post_21, f_170^0'=f_170^post_21, head_129^0'=head_129^post_21, head_14^0'=head_14^post_21, head_175^0'=head_175^post_21, head_27^0'=head_27^post_21, head_32^0'=head_32^post_21, head_SLAM_f_26^0'=head_SLAM_f_26^post_21, i_108^0'=i_108^post_21, i_167^0'=i_167^post_21, i_30^0'=i_30^post_21, i_94^0'=i_94^post_21, len_132^0'=len_132^post_21, len_183^0'=len_183^post_21, length_29^0'=length_29^post_21, nondet_12^0'=nondet_12^post_21, r_124^0'=r_124^post_21, r_163^0'=r_163^post_21, r_39^0'=r_39^post_21, rcd_58^0'=rcd_58^post_21, rcd_88^0'=rcd_88^post_21, result_11^0'=result_11^post_21, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_21, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_21, t_23^0'=t_23^post_21, temp0_15^0'=temp0_15^post_21, temp0_31^0'=temp0_31^post_21, temp_35^0'=temp_35^post_21, tmp_34^0'=tmp_34^post_21, x_16^0'=x_16^post_21, x_20^0'=x_20^post_21, x_SLAM_f_18^0'=x_SLAM_f_18^post_21, y_19^0'=y_19^post_21, [ __disjvr_9^post_21==__disjvr_9^0 && __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_26^0==__disjvr_26^post_21 && __disjvr_27^0==__disjvr_27^post_21 && __disjvr_28^0==__disjvr_28^post_21 && __disjvr_29^0==__disjvr_29^post_21 && __disjvr_3^0==__disjvr_3^post_21 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_21 && a_147^0==a_147^post_21 && a_184^0==a_184^post_21 && a_215^0==a_215^post_21 && a_237^0==a_237^post_21 && a_260^0==a_260^post_21 && ct_17^0==ct_17^post_21 && f_170^0==f_170^post_21 && head_129^0==head_129^post_21 && head_14^0==head_14^post_21 && head_175^0==head_175^post_21 && head_27^0==head_27^post_21 && head_32^0==head_32^post_21 && head_SLAM_f_26^0==head_SLAM_f_26^post_21 && i_108^0==i_108^post_21 && i_167^0==i_167^post_21 && i_30^0==i_30^post_21 && i_94^0==i_94^post_21 && len_132^0==len_132^post_21 && len_183^0==len_183^post_21 && length_29^0==length_29^post_21 && nondet_12^0==nondet_12^post_21 && r_124^0==r_124^post_21 && r_163^0==r_163^post_21 && r_39^0==r_39^post_21 && rcd_58^0==rcd_58^post_21 && rcd_88^0==rcd_88^post_21 && result_11^0==result_11^post_21 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_21 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_21 && t_23^0==t_23^post_21 && temp0_15^0==temp0_15^post_21 && temp0_31^0==temp0_31^post_21 && temp_35^0==temp_35^post_21 && tmp_34^0==tmp_34^post_21 && x_16^0==x_16^post_21 && x_20^0==x_20^post_21 && x_SLAM_f_18^0==x_SLAM_f_18^post_21 && y_19^0==y_19^post_21 ], cost: 1
     21: l20 -> l21 : __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_26^0'=__disjvr_26^post_22, __disjvr_27^0'=__disjvr_27^post_22, __disjvr_28^0'=__disjvr_28^post_22, __disjvr_29^0'=__disjvr_29^post_22, __disjvr_2^0'=__disjvr_2^post_22, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_22, a_147^0'=a_147^post_22, a_184^0'=a_184^post_22, a_215^0'=a_215^post_22, a_237^0'=a_237^post_22, a_260^0'=a_260^post_22, ct_17^0'=ct_17^post_22, f_170^0'=f_170^post_22, head_129^0'=head_129^post_22, head_14^0'=head_14^post_22, head_175^0'=head_175^post_22, head_27^0'=head_27^post_22, head_32^0'=head_32^post_22, head_SLAM_f_26^0'=head_SLAM_f_26^post_22, i_108^0'=i_108^post_22, i_167^0'=i_167^post_22, i_30^0'=i_30^post_22, i_94^0'=i_94^post_22, len_132^0'=len_132^post_22, len_183^0'=len_183^post_22, length_29^0'=length_29^post_22, nondet_12^0'=nondet_12^post_22, r_124^0'=r_124^post_22, r_163^0'=r_163^post_22, r_39^0'=r_39^post_22, rcd_58^0'=rcd_58^post_22, rcd_88^0'=rcd_88^post_22, result_11^0'=result_11^post_22, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_22, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_22, t_23^0'=t_23^post_22, temp0_15^0'=temp0_15^post_22, temp0_31^0'=temp0_31^post_22, temp_35^0'=temp_35^post_22, tmp_34^0'=tmp_34^post_22, x_16^0'=x_16^post_22, x_20^0'=x_20^post_22, x_SLAM_f_18^0'=x_SLAM_f_18^post_22, y_19^0'=y_19^post_22, [ t_23^post_22==x_20^0 && a_215^post_22==a_215^post_22 && 0<=ct_17^0 && ct_17^0<=0 && 0<=y_19^0 && y_19^0<=0 && 0<=-a_215^post_22+a_237^0 && -a_215^post_22+a_237^0<=0 && head_14^0<=x_16^0 && x_16^0<=head_14^0 && head_14^0<=x_SLAM_f_18^0 && x_SLAM_f_18^0<=head_14^0 && head_14^0<=t_23^post_22 && t_23^post_22<=head_14^0 && x_16^0<=x_SLAM_f_18^0 && x_SLAM_f_18^0<=x_16^0 && ct_17^0<=y_19^0 && y_19^0<=ct_17^0 && a_215^post_22<=a_237^0 && a_237^0<=a_215^post_22 && __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_26^0==__disjvr_26^post_22 && __disjvr_27^0==__disjvr_27^post_22 && __disjvr_28^0==__disjvr_28^post_22 && __disjvr_29^0==__disjvr_29^post_22 && __disjvr_3^0==__disjvr_3^post_22 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_22 && a_147^0==a_147^post_22 && a_184^0==a_184^post_22 && a_237^0==a_237^post_22 && a_260^0==a_260^post_22 && ct_17^0==ct_17^post_22 && f_170^0==f_170^post_22 && head_129^0==head_129^post_22 && head_14^0==head_14^post_22 && head_175^0==head_175^post_22 && head_27^0==head_27^post_22 && head_32^0==head_32^post_22 && head_SLAM_f_26^0==head_SLAM_f_26^post_22 && i_108^0==i_108^post_22 && i_167^0==i_167^post_22 && i_30^0==i_30^post_22 && i_94^0==i_94^post_22 && len_132^0==len_132^post_22 && len_183^0==len_183^post_22 && length_29^0==length_29^post_22 && nondet_12^0==nondet_12^post_22 && r_124^0==r_124^post_22 && r_163^0==r_163^post_22 && r_39^0==r_39^post_22 && rcd_58^0==rcd_58^post_22 && rcd_88^0==rcd_88^post_22 && result_11^0==result_11^post_22 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_22 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_22 && temp0_15^0==temp0_15^post_22 && temp0_31^0==temp0_31^post_22 && temp_35^0==temp_35^post_22 && tmp_34^0==tmp_34^post_22 && x_16^0==x_16^post_22 && x_20^0==x_20^post_22 && x_SLAM_f_18^0==x_SLAM_f_18^post_22 && y_19^0==y_19^post_22 ], cost: 1
     22: l21 -> l22 : __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_26^0'=__disjvr_26^post_23, __disjvr_27^0'=__disjvr_27^post_23, __disjvr_28^0'=__disjvr_28^post_23, __disjvr_29^0'=__disjvr_29^post_23, __disjvr_2^0'=__disjvr_2^post_23, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_23, a_147^0'=a_147^post_23, a_184^0'=a_184^post_23, a_215^0'=a_215^post_23, a_237^0'=a_237^post_23, a_260^0'=a_260^post_23, ct_17^0'=ct_17^post_23, f_170^0'=f_170^post_23, head_129^0'=head_129^post_23, head_14^0'=head_14^post_23, head_175^0'=head_175^post_23, head_27^0'=head_27^post_23, head_32^0'=head_32^post_23, head_SLAM_f_26^0'=head_SLAM_f_26^post_23, i_108^0'=i_108^post_23, i_167^0'=i_167^post_23, i_30^0'=i_30^post_23, i_94^0'=i_94^post_23, len_132^0'=len_132^post_23, len_183^0'=len_183^post_23, length_29^0'=length_29^post_23, nondet_12^0'=nondet_12^post_23, r_124^0'=r_124^post_23, r_163^0'=r_163^post_23, r_39^0'=r_39^post_23, rcd_58^0'=rcd_58^post_23, rcd_88^0'=rcd_88^post_23, result_11^0'=result_11^post_23, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_23, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_23, t_23^0'=t_23^post_23, temp0_15^0'=temp0_15^post_23, temp0_31^0'=temp0_31^post_23, temp_35^0'=temp_35^post_23, tmp_34^0'=tmp_34^post_23, x_16^0'=x_16^post_23, x_20^0'=x_20^post_23, x_SLAM_f_18^0'=x_SLAM_f_18^post_23, y_19^0'=y_19^post_23, [ __disjvr_10^post_23==__disjvr_10^0 && __disjvr_0^0==__disjvr_0^post_23 && __disjvr_1^0==__disjvr_1^post_23 && __disjvr_10^0==__disjvr_10^post_23 && __disjvr_11^0==__disjvr_11^post_23 && __disjvr_12^0==__disjvr_12^post_23 && __disjvr_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_26^0==__disjvr_26^post_23 && __disjvr_27^0==__disjvr_27^post_23 && __disjvr_28^0==__disjvr_28^post_23 && __disjvr_29^0==__disjvr_29^post_23 && __disjvr_3^0==__disjvr_3^post_23 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_23 && a_147^0==a_147^post_23 && a_184^0==a_184^post_23 && a_215^0==a_215^post_23 && a_237^0==a_237^post_23 && a_260^0==a_260^post_23 && ct_17^0==ct_17^post_23 && f_170^0==f_170^post_23 && head_129^0==head_129^post_23 && head_14^0==head_14^post_23 && head_175^0==head_175^post_23 && head_27^0==head_27^post_23 && head_32^0==head_32^post_23 && head_SLAM_f_26^0==head_SLAM_f_26^post_23 && i_108^0==i_108^post_23 && i_167^0==i_167^post_23 && i_30^0==i_30^post_23 && i_94^0==i_94^post_23 && len_132^0==len_132^post_23 && len_183^0==len_183^post_23 && length_29^0==length_29^post_23 && nondet_12^0==nondet_12^post_23 && r_124^0==r_124^post_23 && r_163^0==r_163^post_23 && r_39^0==r_39^post_23 && rcd_58^0==rcd_58^post_23 && rcd_88^0==rcd_88^post_23 && result_11^0==result_11^post_23 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_23 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_23 && t_23^0==t_23^post_23 && temp0_15^0==temp0_15^post_23 && temp0_31^0==temp0_31^post_23 && temp_35^0==temp_35^post_23 && tmp_34^0==tmp_34^post_23 && x_16^0==x_16^post_23 && x_20^0==x_20^post_23 && x_SLAM_f_18^0==x_SLAM_f_18^post_23 && y_19^0==y_19^post_23 ], cost: 1
     23: l22 -> 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_26^0'=__disjvr_26^post_24, __disjvr_27^0'=__disjvr_27^post_24, __disjvr_28^0'=__disjvr_28^post_24, __disjvr_29^0'=__disjvr_29^post_24, __disjvr_2^0'=__disjvr_2^post_24, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_24, a_147^0'=a_147^post_24, a_184^0'=a_184^post_24, a_215^0'=a_215^post_24, a_237^0'=a_237^post_24, a_260^0'=a_260^post_24, ct_17^0'=ct_17^post_24, f_170^0'=f_170^post_24, head_129^0'=head_129^post_24, head_14^0'=head_14^post_24, head_175^0'=head_175^post_24, head_27^0'=head_27^post_24, head_32^0'=head_32^post_24, head_SLAM_f_26^0'=head_SLAM_f_26^post_24, i_108^0'=i_108^post_24, i_167^0'=i_167^post_24, i_30^0'=i_30^post_24, i_94^0'=i_94^post_24, len_132^0'=len_132^post_24, len_183^0'=len_183^post_24, length_29^0'=length_29^post_24, nondet_12^0'=nondet_12^post_24, r_124^0'=r_124^post_24, r_163^0'=r_163^post_24, r_39^0'=r_39^post_24, rcd_58^0'=rcd_58^post_24, rcd_88^0'=rcd_88^post_24, result_11^0'=result_11^post_24, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_24, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_24, t_23^0'=t_23^post_24, temp0_15^0'=temp0_15^post_24, temp0_31^0'=temp0_31^post_24, temp_35^0'=temp_35^post_24, tmp_34^0'=tmp_34^post_24, x_16^0'=x_16^post_24, x_20^0'=x_20^post_24, x_SLAM_f_18^0'=x_SLAM_f_18^post_24, y_19^0'=y_19^post_24, [ __disjvr_11^post_24==__disjvr_11^0 && __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_26^0==__disjvr_26^post_24 && __disjvr_27^0==__disjvr_27^post_24 && __disjvr_28^0==__disjvr_28^post_24 && __disjvr_29^0==__disjvr_29^post_24 && __disjvr_3^0==__disjvr_3^post_24 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_24 && a_147^0==a_147^post_24 && a_184^0==a_184^post_24 && a_215^0==a_215^post_24 && a_237^0==a_237^post_24 && a_260^0==a_260^post_24 && ct_17^0==ct_17^post_24 && f_170^0==f_170^post_24 && head_129^0==head_129^post_24 && head_14^0==head_14^post_24 && head_175^0==head_175^post_24 && head_27^0==head_27^post_24 && head_32^0==head_32^post_24 && head_SLAM_f_26^0==head_SLAM_f_26^post_24 && i_108^0==i_108^post_24 && i_167^0==i_167^post_24 && i_30^0==i_30^post_24 && i_94^0==i_94^post_24 && len_132^0==len_132^post_24 && len_183^0==len_183^post_24 && length_29^0==length_29^post_24 && nondet_12^0==nondet_12^post_24 && r_124^0==r_124^post_24 && r_163^0==r_163^post_24 && r_39^0==r_39^post_24 && rcd_58^0==rcd_58^post_24 && rcd_88^0==rcd_88^post_24 && result_11^0==result_11^post_24 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_24 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_24 && t_23^0==t_23^post_24 && temp0_15^0==temp0_15^post_24 && temp0_31^0==temp0_31^post_24 && temp_35^0==temp_35^post_24 && tmp_34^0==tmp_34^post_24 && x_16^0==x_16^post_24 && x_20^0==x_20^post_24 && x_SLAM_f_18^0==x_SLAM_f_18^post_24 && y_19^0==y_19^post_24 ], cost: 1
     24: l23 -> l24 : __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_26^0'=__disjvr_26^post_25, __disjvr_27^0'=__disjvr_27^post_25, __disjvr_28^0'=__disjvr_28^post_25, __disjvr_29^0'=__disjvr_29^post_25, __disjvr_2^0'=__disjvr_2^post_25, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_25, a_147^0'=a_147^post_25, a_184^0'=a_184^post_25, a_215^0'=a_215^post_25, a_237^0'=a_237^post_25, a_260^0'=a_260^post_25, ct_17^0'=ct_17^post_25, f_170^0'=f_170^post_25, head_129^0'=head_129^post_25, head_14^0'=head_14^post_25, head_175^0'=head_175^post_25, head_27^0'=head_27^post_25, head_32^0'=head_32^post_25, head_SLAM_f_26^0'=head_SLAM_f_26^post_25, i_108^0'=i_108^post_25, i_167^0'=i_167^post_25, i_30^0'=i_30^post_25, i_94^0'=i_94^post_25, len_132^0'=len_132^post_25, len_183^0'=len_183^post_25, length_29^0'=length_29^post_25, nondet_12^0'=nondet_12^post_25, r_124^0'=r_124^post_25, r_163^0'=r_163^post_25, r_39^0'=r_39^post_25, rcd_58^0'=rcd_58^post_25, rcd_88^0'=rcd_88^post_25, result_11^0'=result_11^post_25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_25, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_25, t_23^0'=t_23^post_25, temp0_15^0'=temp0_15^post_25, temp0_31^0'=temp0_31^post_25, temp_35^0'=temp_35^post_25, tmp_34^0'=tmp_34^post_25, x_16^0'=x_16^post_25, x_20^0'=x_20^post_25, x_SLAM_f_18^0'=x_SLAM_f_18^post_25, y_19^0'=y_19^post_25, [ __disjvr_12^post_25==__disjvr_12^0 && __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_26^0==__disjvr_26^post_25 && __disjvr_27^0==__disjvr_27^post_25 && __disjvr_28^0==__disjvr_28^post_25 && __disjvr_29^0==__disjvr_29^post_25 && __disjvr_3^0==__disjvr_3^post_25 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_25 && a_147^0==a_147^post_25 && a_184^0==a_184^post_25 && a_215^0==a_215^post_25 && a_237^0==a_237^post_25 && a_260^0==a_260^post_25 && ct_17^0==ct_17^post_25 && f_170^0==f_170^post_25 && head_129^0==head_129^post_25 && head_14^0==head_14^post_25 && head_175^0==head_175^post_25 && head_27^0==head_27^post_25 && head_32^0==head_32^post_25 && head_SLAM_f_26^0==head_SLAM_f_26^post_25 && i_108^0==i_108^post_25 && i_167^0==i_167^post_25 && i_30^0==i_30^post_25 && i_94^0==i_94^post_25 && len_132^0==len_132^post_25 && len_183^0==len_183^post_25 && length_29^0==length_29^post_25 && nondet_12^0==nondet_12^post_25 && r_124^0==r_124^post_25 && r_163^0==r_163^post_25 && r_39^0==r_39^post_25 && rcd_58^0==rcd_58^post_25 && rcd_88^0==rcd_88^post_25 && result_11^0==result_11^post_25 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_25 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_25 && t_23^0==t_23^post_25 && temp0_15^0==temp0_15^post_25 && temp0_31^0==temp0_31^post_25 && temp_35^0==temp_35^post_25 && tmp_34^0==tmp_34^post_25 && x_16^0==x_16^post_25 && x_20^0==x_20^post_25 && x_SLAM_f_18^0==x_SLAM_f_18^post_25 && y_19^0==y_19^post_25 ], cost: 1
     25: l24 -> l0 : __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_26^0'=__disjvr_26^post_26, __disjvr_27^0'=__disjvr_27^post_26, __disjvr_28^0'=__disjvr_28^post_26, __disjvr_29^0'=__disjvr_29^post_26, __disjvr_2^0'=__disjvr_2^post_26, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_26, a_147^0'=a_147^post_26, a_184^0'=a_184^post_26, a_215^0'=a_215^post_26, a_237^0'=a_237^post_26, a_260^0'=a_260^post_26, ct_17^0'=ct_17^post_26, f_170^0'=f_170^post_26, head_129^0'=head_129^post_26, head_14^0'=head_14^post_26, head_175^0'=head_175^post_26, head_27^0'=head_27^post_26, head_32^0'=head_32^post_26, head_SLAM_f_26^0'=head_SLAM_f_26^post_26, i_108^0'=i_108^post_26, i_167^0'=i_167^post_26, i_30^0'=i_30^post_26, i_94^0'=i_94^post_26, len_132^0'=len_132^post_26, len_183^0'=len_183^post_26, length_29^0'=length_29^post_26, nondet_12^0'=nondet_12^post_26, r_124^0'=r_124^post_26, r_163^0'=r_163^post_26, r_39^0'=r_39^post_26, rcd_58^0'=rcd_58^post_26, rcd_88^0'=rcd_88^post_26, result_11^0'=result_11^post_26, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_26, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_26, t_23^0'=t_23^post_26, temp0_15^0'=temp0_15^post_26, temp0_31^0'=temp0_31^post_26, temp_35^0'=temp_35^post_26, tmp_34^0'=tmp_34^post_26, x_16^0'=x_16^post_26, x_20^0'=x_20^post_26, x_SLAM_f_18^0'=x_SLAM_f_18^post_26, y_19^0'=y_19^post_26, [ 1<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && len_132^post_26==len_132^post_26 && -1+len_132^post_26<=a_215^0 && a_215^0<=-1+len_132^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_26^0==__disjvr_26^post_26 && __disjvr_27^0==__disjvr_27^post_26 && __disjvr_28^0==__disjvr_28^post_26 && __disjvr_29^0==__disjvr_29^post_26 && __disjvr_3^0==__disjvr_3^post_26 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_26 && a_147^0==a_147^post_26 && a_184^0==a_184^post_26 && a_215^0==a_215^post_26 && a_237^0==a_237^post_26 && a_260^0==a_260^post_26 && ct_17^0==ct_17^post_26 && f_170^0==f_170^post_26 && head_129^0==head_129^post_26 && head_14^0==head_14^post_26 && head_175^0==head_175^post_26 && head_27^0==head_27^post_26 && head_32^0==head_32^post_26 && head_SLAM_f_26^0==head_SLAM_f_26^post_26 && i_108^0==i_108^post_26 && i_167^0==i_167^post_26 && i_30^0==i_30^post_26 && i_94^0==i_94^post_26 && len_183^0==len_183^post_26 && length_29^0==length_29^post_26 && nondet_12^0==nondet_12^post_26 && r_124^0==r_124^post_26 && r_163^0==r_163^post_26 && r_39^0==r_39^post_26 && rcd_58^0==rcd_58^post_26 && rcd_88^0==rcd_88^post_26 && result_11^0==result_11^post_26 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_26 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_26 && t_23^0==t_23^post_26 && temp0_15^0==temp0_15^post_26 && temp0_31^0==temp0_31^post_26 && temp_35^0==temp_35^post_26 && tmp_34^0==tmp_34^post_26 && x_16^0==x_16^post_26 && x_20^0==x_20^post_26 && x_SLAM_f_18^0==x_SLAM_f_18^post_26 && y_19^0==y_19^post_26 ], cost: 1
     39: l25 -> l38 : __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_26^0'=__disjvr_26^post_40, __disjvr_27^0'=__disjvr_27^post_40, __disjvr_28^0'=__disjvr_28^post_40, __disjvr_29^0'=__disjvr_29^post_40, __disjvr_2^0'=__disjvr_2^post_40, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_40, a_147^0'=a_147^post_40, a_184^0'=a_184^post_40, a_215^0'=a_215^post_40, a_237^0'=a_237^post_40, a_260^0'=a_260^post_40, ct_17^0'=ct_17^post_40, f_170^0'=f_170^post_40, head_129^0'=head_129^post_40, head_14^0'=head_14^post_40, head_175^0'=head_175^post_40, head_27^0'=head_27^post_40, head_32^0'=head_32^post_40, head_SLAM_f_26^0'=head_SLAM_f_26^post_40, i_108^0'=i_108^post_40, i_167^0'=i_167^post_40, i_30^0'=i_30^post_40, i_94^0'=i_94^post_40, len_132^0'=len_132^post_40, len_183^0'=len_183^post_40, length_29^0'=length_29^post_40, nondet_12^0'=nondet_12^post_40, r_124^0'=r_124^post_40, r_163^0'=r_163^post_40, r_39^0'=r_39^post_40, rcd_58^0'=rcd_58^post_40, rcd_88^0'=rcd_88^post_40, result_11^0'=result_11^post_40, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_40, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_40, t_23^0'=t_23^post_40, temp0_15^0'=temp0_15^post_40, temp0_31^0'=temp0_31^post_40, temp_35^0'=temp_35^post_40, tmp_34^0'=tmp_34^post_40, x_16^0'=x_16^post_40, x_20^0'=x_20^post_40, x_SLAM_f_18^0'=x_SLAM_f_18^post_40, y_19^0'=y_19^post_40, [ result_dot_nondet_sdv_special_RETURN_VALUE_13^post_40==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_40 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_40==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_40 && rcd_58^post_40==rcd_58^post_40 && 1+i_30^0<=length_29^0 && tmp_34^post_40==temp_35^0 && temp_35^post_40==temp_35^post_40 && head_32^post_40==tmp_34^post_40 && i_30^post_40==1+i_30^0 && 2<=i_30^post_40 && i_30^post_40<=2 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_40<=length_29^0 && length_29^0<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_40 && head_32^post_40<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_40 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_40<=head_32^post_40 && head_32^post_40<=tmp_34^post_40 && tmp_34^post_40<=head_32^post_40 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_40<=tmp_34^post_40 && tmp_34^post_40<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_40 && 1<=length_29^0 && 2<=length_29^0 && __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_26^0==__disjvr_26^post_40 && __disjvr_27^0==__disjvr_27^post_40 && __disjvr_28^0==__disjvr_28^post_40 && __disjvr_29^0==__disjvr_29^post_40 && __disjvr_3^0==__disjvr_3^post_40 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_40 && a_147^0==a_147^post_40 && a_184^0==a_184^post_40 && a_215^0==a_215^post_40 && a_237^0==a_237^post_40 && a_260^0==a_260^post_40 && ct_17^0==ct_17^post_40 && f_170^0==f_170^post_40 && head_129^0==head_129^post_40 && head_14^0==head_14^post_40 && head_175^0==head_175^post_40 && head_27^0==head_27^post_40 && head_SLAM_f_26^0==head_SLAM_f_26^post_40 && i_108^0==i_108^post_40 && i_167^0==i_167^post_40 && i_94^0==i_94^post_40 && len_132^0==len_132^post_40 && len_183^0==len_183^post_40 && length_29^0==length_29^post_40 && nondet_12^0==nondet_12^post_40 && r_124^0==r_124^post_40 && r_163^0==r_163^post_40 && r_39^0==r_39^post_40 && rcd_88^0==rcd_88^post_40 && result_11^0==result_11^post_40 && t_23^0==t_23^post_40 && temp0_15^0==temp0_15^post_40 && temp0_31^0==temp0_31^post_40 && x_16^0==x_16^post_40 && x_20^0==x_20^post_40 && x_SLAM_f_18^0==x_SLAM_f_18^post_40 && y_19^0==y_19^post_40 ], cost: 1
     65: l38 -> l63 : __disjvr_0^0'=__disjvr_0^post_66, __disjvr_10^0'=__disjvr_10^post_66, __disjvr_11^0'=__disjvr_11^post_66, __disjvr_12^0'=__disjvr_12^post_66, __disjvr_13^0'=__disjvr_13^post_66, __disjvr_14^0'=__disjvr_14^post_66, __disjvr_15^0'=__disjvr_15^post_66, __disjvr_16^0'=__disjvr_16^post_66, __disjvr_17^0'=__disjvr_17^post_66, __disjvr_18^0'=__disjvr_18^post_66, __disjvr_19^0'=__disjvr_19^post_66, __disjvr_1^0'=__disjvr_1^post_66, __disjvr_20^0'=__disjvr_20^post_66, __disjvr_21^0'=__disjvr_21^post_66, __disjvr_22^0'=__disjvr_22^post_66, __disjvr_23^0'=__disjvr_23^post_66, __disjvr_24^0'=__disjvr_24^post_66, __disjvr_25^0'=__disjvr_25^post_66, __disjvr_26^0'=__disjvr_26^post_66, __disjvr_27^0'=__disjvr_27^post_66, __disjvr_28^0'=__disjvr_28^post_66, __disjvr_29^0'=__disjvr_29^post_66, __disjvr_2^0'=__disjvr_2^post_66, __disjvr_30^0'=__disjvr_30^post_66, __disjvr_3^0'=__disjvr_3^post_66, __disjvr_4^0'=__disjvr_4^post_66, __disjvr_5^0'=__disjvr_5^post_66, __disjvr_6^0'=__disjvr_6^post_66, __disjvr_7^0'=__disjvr_7^post_66, __disjvr_8^0'=__disjvr_8^post_66, __disjvr_9^0'=__disjvr_9^post_66, a_116^0'=a_116^post_66, a_147^0'=a_147^post_66, a_184^0'=a_184^post_66, a_215^0'=a_215^post_66, a_237^0'=a_237^post_66, a_260^0'=a_260^post_66, ct_17^0'=ct_17^post_66, f_170^0'=f_170^post_66, head_129^0'=head_129^post_66, head_14^0'=head_14^post_66, head_175^0'=head_175^post_66, head_27^0'=head_27^post_66, head_32^0'=head_32^post_66, head_SLAM_f_26^0'=head_SLAM_f_26^post_66, i_108^0'=i_108^post_66, i_167^0'=i_167^post_66, i_30^0'=i_30^post_66, i_94^0'=i_94^post_66, len_132^0'=len_132^post_66, len_183^0'=len_183^post_66, length_29^0'=length_29^post_66, nondet_12^0'=nondet_12^post_66, r_124^0'=r_124^post_66, r_163^0'=r_163^post_66, r_39^0'=r_39^post_66, rcd_58^0'=rcd_58^post_66, rcd_88^0'=rcd_88^post_66, result_11^0'=result_11^post_66, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_66, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66, t_23^0'=t_23^post_66, temp0_15^0'=temp0_15^post_66, temp0_31^0'=temp0_31^post_66, temp_35^0'=temp_35^post_66, tmp_34^0'=tmp_34^post_66, x_16^0'=x_16^post_66, x_20^0'=x_20^post_66, x_SLAM_f_18^0'=x_SLAM_f_18^post_66, y_19^0'=y_19^post_66, [ 0<=i_30^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66 && i_167^post_66==i_167^post_66 && length_29^0<=i_30^0 && temp0_31^1_2_1==head_32^0 && result_11^1_2==temp0_31^1_2_1 && length_29^post_66==length_29^post_66 && i_30^post_66==i_30^post_66 && temp0_31^post_66==temp0_31^post_66 && head_32^post_66==head_32^post_66 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_66==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_66 && tmp_34^post_66==tmp_34^post_66 && temp_35^post_66==temp_35^post_66 && head_14^post_66==result_11^1_2 && result_11^post_66==result_11^post_66 && head_SLAM_f_26^post_66==head_14^post_66 && head_27^post_66==head_SLAM_f_26^post_66 && 0<=len_132^0 && len_132^0<=0 && 0<=a_147^0-i_30^post_66 && a_147^0-i_30^post_66<=0 && head_14^post_66<=head_SLAM_f_26^post_66 && head_SLAM_f_26^post_66<=head_14^post_66 && head_14^post_66<=head_27^post_66 && head_27^post_66<=head_14^post_66 && head_SLAM_f_26^post_66<=head_27^post_66 && head_27^post_66<=head_SLAM_f_26^post_66 && i_30^post_66<=a_147^0 && a_147^0<=i_30^post_66 && __disjvr_0^0==__disjvr_0^post_66 && __disjvr_1^0==__disjvr_1^post_66 && __disjvr_10^0==__disjvr_10^post_66 && __disjvr_11^0==__disjvr_11^post_66 && __disjvr_12^0==__disjvr_12^post_66 && __disjvr_13^0==__disjvr_13^post_66 && __disjvr_14^0==__disjvr_14^post_66 && __disjvr_15^0==__disjvr_15^post_66 && __disjvr_16^0==__disjvr_16^post_66 && __disjvr_17^0==__disjvr_17^post_66 && __disjvr_18^0==__disjvr_18^post_66 && __disjvr_19^0==__disjvr_19^post_66 && __disjvr_2^0==__disjvr_2^post_66 && __disjvr_20^0==__disjvr_20^post_66 && __disjvr_21^0==__disjvr_21^post_66 && __disjvr_22^0==__disjvr_22^post_66 && __disjvr_23^0==__disjvr_23^post_66 && __disjvr_24^0==__disjvr_24^post_66 && __disjvr_25^0==__disjvr_25^post_66 && __disjvr_26^0==__disjvr_26^post_66 && __disjvr_27^0==__disjvr_27^post_66 && __disjvr_28^0==__disjvr_28^post_66 && __disjvr_29^0==__disjvr_29^post_66 && __disjvr_3^0==__disjvr_3^post_66 && __disjvr_30^0==__disjvr_30^post_66 && __disjvr_4^0==__disjvr_4^post_66 && __disjvr_5^0==__disjvr_5^post_66 && __disjvr_6^0==__disjvr_6^post_66 && __disjvr_7^0==__disjvr_7^post_66 && __disjvr_8^0==__disjvr_8^post_66 && __disjvr_9^0==__disjvr_9^post_66 && a_116^0==a_116^post_66 && a_147^0==a_147^post_66 && a_184^0==a_184^post_66 && a_215^0==a_215^post_66 && a_237^0==a_237^post_66 && a_260^0==a_260^post_66 && ct_17^0==ct_17^post_66 && f_170^0==f_170^post_66 && head_129^0==head_129^post_66 && head_175^0==head_175^post_66 && i_108^0==i_108^post_66 && i_94^0==i_94^post_66 && len_132^0==len_132^post_66 && len_183^0==len_183^post_66 && nondet_12^0==nondet_12^post_66 && r_124^0==r_124^post_66 && r_163^0==r_163^post_66 && r_39^0==r_39^post_66 && rcd_58^0==rcd_58^post_66 && rcd_88^0==rcd_88^post_66 && t_23^0==t_23^post_66 && temp0_15^0==temp0_15^post_66 && x_16^0==x_16^post_66 && x_20^0==x_20^post_66 && x_SLAM_f_18^0==x_SLAM_f_18^post_66 && y_19^0==y_19^post_66 ], cost: 1
     68: l38 -> l65 : __disjvr_0^0'=__disjvr_0^post_69, __disjvr_10^0'=__disjvr_10^post_69, __disjvr_11^0'=__disjvr_11^post_69, __disjvr_12^0'=__disjvr_12^post_69, __disjvr_13^0'=__disjvr_13^post_69, __disjvr_14^0'=__disjvr_14^post_69, __disjvr_15^0'=__disjvr_15^post_69, __disjvr_16^0'=__disjvr_16^post_69, __disjvr_17^0'=__disjvr_17^post_69, __disjvr_18^0'=__disjvr_18^post_69, __disjvr_19^0'=__disjvr_19^post_69, __disjvr_1^0'=__disjvr_1^post_69, __disjvr_20^0'=__disjvr_20^post_69, __disjvr_21^0'=__disjvr_21^post_69, __disjvr_22^0'=__disjvr_22^post_69, __disjvr_23^0'=__disjvr_23^post_69, __disjvr_24^0'=__disjvr_24^post_69, __disjvr_25^0'=__disjvr_25^post_69, __disjvr_26^0'=__disjvr_26^post_69, __disjvr_27^0'=__disjvr_27^post_69, __disjvr_28^0'=__disjvr_28^post_69, __disjvr_29^0'=__disjvr_29^post_69, __disjvr_2^0'=__disjvr_2^post_69, __disjvr_30^0'=__disjvr_30^post_69, __disjvr_3^0'=__disjvr_3^post_69, __disjvr_4^0'=__disjvr_4^post_69, __disjvr_5^0'=__disjvr_5^post_69, __disjvr_6^0'=__disjvr_6^post_69, __disjvr_7^0'=__disjvr_7^post_69, __disjvr_8^0'=__disjvr_8^post_69, __disjvr_9^0'=__disjvr_9^post_69, a_116^0'=a_116^post_69, a_147^0'=a_147^post_69, a_184^0'=a_184^post_69, a_215^0'=a_215^post_69, a_237^0'=a_237^post_69, a_260^0'=a_260^post_69, ct_17^0'=ct_17^post_69, f_170^0'=f_170^post_69, head_129^0'=head_129^post_69, head_14^0'=head_14^post_69, head_175^0'=head_175^post_69, head_27^0'=head_27^post_69, head_32^0'=head_32^post_69, head_SLAM_f_26^0'=head_SLAM_f_26^post_69, i_108^0'=i_108^post_69, i_167^0'=i_167^post_69, i_30^0'=i_30^post_69, i_94^0'=i_94^post_69, len_132^0'=len_132^post_69, len_183^0'=len_183^post_69, length_29^0'=length_29^post_69, nondet_12^0'=nondet_12^post_69, r_124^0'=r_124^post_69, r_163^0'=r_163^post_69, r_39^0'=r_39^post_69, rcd_58^0'=rcd_58^post_69, rcd_88^0'=rcd_88^post_69, result_11^0'=result_11^post_69, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_69, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_69, t_23^0'=t_23^post_69, temp0_15^0'=temp0_15^post_69, temp0_31^0'=temp0_31^post_69, temp_35^0'=temp_35^post_69, tmp_34^0'=tmp_34^post_69, x_16^0'=x_16^post_69, x_20^0'=x_20^post_69, x_SLAM_f_18^0'=x_SLAM_f_18^post_69, y_19^0'=y_19^post_69, [ 0<=i_30^0 && rcd_88^post_69==rcd_88^post_69 && i_94^post_69==i_94^post_69 && 1+i_30^0<=length_29^0 && tmp_34^post_69==temp_35^0 && temp_35^post_69==temp_35^post_69 && head_32^post_69==tmp_34^post_69 && i_30^post_69==1+i_30^0 && i_30^post_69<=1+i_94^post_69 && 1+i_94^post_69<=i_30^post_69 && i_94^post_69<=-1+i_30^post_69 && -1+i_30^post_69<=i_94^post_69 && 1+i_94^post_69<=length_29^0 && __disjvr_0^0==__disjvr_0^post_69 && __disjvr_1^0==__disjvr_1^post_69 && __disjvr_10^0==__disjvr_10^post_69 && __disjvr_11^0==__disjvr_11^post_69 && __disjvr_12^0==__disjvr_12^post_69 && __disjvr_13^0==__disjvr_13^post_69 && __disjvr_14^0==__disjvr_14^post_69 && __disjvr_15^0==__disjvr_15^post_69 && __disjvr_16^0==__disjvr_16^post_69 && __disjvr_17^0==__disjvr_17^post_69 && __disjvr_18^0==__disjvr_18^post_69 && __disjvr_19^0==__disjvr_19^post_69 && __disjvr_2^0==__disjvr_2^post_69 && __disjvr_20^0==__disjvr_20^post_69 && __disjvr_21^0==__disjvr_21^post_69 && __disjvr_22^0==__disjvr_22^post_69 && __disjvr_23^0==__disjvr_23^post_69 && __disjvr_24^0==__disjvr_24^post_69 && __disjvr_25^0==__disjvr_25^post_69 && __disjvr_26^0==__disjvr_26^post_69 && __disjvr_27^0==__disjvr_27^post_69 && __disjvr_28^0==__disjvr_28^post_69 && __disjvr_29^0==__disjvr_29^post_69 && __disjvr_3^0==__disjvr_3^post_69 && __disjvr_30^0==__disjvr_30^post_69 && __disjvr_4^0==__disjvr_4^post_69 && __disjvr_5^0==__disjvr_5^post_69 && __disjvr_6^0==__disjvr_6^post_69 && __disjvr_7^0==__disjvr_7^post_69 && __disjvr_8^0==__disjvr_8^post_69 && __disjvr_9^0==__disjvr_9^post_69 && a_116^0==a_116^post_69 && a_147^0==a_147^post_69 && a_184^0==a_184^post_69 && a_215^0==a_215^post_69 && a_237^0==a_237^post_69 && a_260^0==a_260^post_69 && ct_17^0==ct_17^post_69 && f_170^0==f_170^post_69 && head_129^0==head_129^post_69 && head_14^0==head_14^post_69 && head_175^0==head_175^post_69 && head_27^0==head_27^post_69 && head_SLAM_f_26^0==head_SLAM_f_26^post_69 && i_108^0==i_108^post_69 && i_167^0==i_167^post_69 && len_132^0==len_132^post_69 && len_183^0==len_183^post_69 && length_29^0==length_29^post_69 && nondet_12^0==nondet_12^post_69 && r_124^0==r_124^post_69 && r_163^0==r_163^post_69 && r_39^0==r_39^post_69 && rcd_58^0==rcd_58^post_69 && result_11^0==result_11^post_69 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_69 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_69 && t_23^0==t_23^post_69 && temp0_15^0==temp0_15^post_69 && temp0_31^0==temp0_31^post_69 && x_16^0==x_16^post_69 && x_20^0==x_20^post_69 && x_SLAM_f_18^0==x_SLAM_f_18^post_69 && y_19^0==y_19^post_69 ], cost: 1
     40: l39 -> l40 : __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_26^0'=__disjvr_26^post_41, __disjvr_27^0'=__disjvr_27^post_41, __disjvr_28^0'=__disjvr_28^post_41, __disjvr_29^0'=__disjvr_29^post_41, __disjvr_2^0'=__disjvr_2^post_41, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_41, a_147^0'=a_147^post_41, a_184^0'=a_184^post_41, a_215^0'=a_215^post_41, a_237^0'=a_237^post_41, a_260^0'=a_260^post_41, ct_17^0'=ct_17^post_41, f_170^0'=f_170^post_41, head_129^0'=head_129^post_41, head_14^0'=head_14^post_41, head_175^0'=head_175^post_41, head_27^0'=head_27^post_41, head_32^0'=head_32^post_41, head_SLAM_f_26^0'=head_SLAM_f_26^post_41, i_108^0'=i_108^post_41, i_167^0'=i_167^post_41, i_30^0'=i_30^post_41, i_94^0'=i_94^post_41, len_132^0'=len_132^post_41, len_183^0'=len_183^post_41, length_29^0'=length_29^post_41, nondet_12^0'=nondet_12^post_41, r_124^0'=r_124^post_41, r_163^0'=r_163^post_41, r_39^0'=r_39^post_41, rcd_58^0'=rcd_58^post_41, rcd_88^0'=rcd_88^post_41, result_11^0'=result_11^post_41, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_41, t_23^0'=t_23^post_41, temp0_15^0'=temp0_15^post_41, temp0_31^0'=temp0_31^post_41, temp_35^0'=temp_35^post_41, tmp_34^0'=tmp_34^post_41, x_16^0'=x_16^post_41, x_20^0'=x_20^post_41, x_SLAM_f_18^0'=x_SLAM_f_18^post_41, y_19^0'=y_19^post_41, [ nondet_12^1_1==nondet_12^1_1 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_41==nondet_12^1_1 && nondet_12^post_41==nondet_12^post_41 && length_29^post_41==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_41 && head_32^post_41==0 && i_30^post_41==0 && 0<=i_30^post_41 && i_30^post_41<=0 && 0<=head_32^post_41 && head_32^post_41<=0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_41<=length_29^post_41 && length_29^post_41<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_41 && __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_26^0==__disjvr_26^post_41 && __disjvr_27^0==__disjvr_27^post_41 && __disjvr_28^0==__disjvr_28^post_41 && __disjvr_29^0==__disjvr_29^post_41 && __disjvr_3^0==__disjvr_3^post_41 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_41 && a_147^0==a_147^post_41 && a_184^0==a_184^post_41 && a_215^0==a_215^post_41 && a_237^0==a_237^post_41 && a_260^0==a_260^post_41 && ct_17^0==ct_17^post_41 && f_170^0==f_170^post_41 && head_129^0==head_129^post_41 && head_14^0==head_14^post_41 && head_175^0==head_175^post_41 && head_27^0==head_27^post_41 && head_SLAM_f_26^0==head_SLAM_f_26^post_41 && i_108^0==i_108^post_41 && i_167^0==i_167^post_41 && i_94^0==i_94^post_41 && len_132^0==len_132^post_41 && len_183^0==len_183^post_41 && r_124^0==r_124^post_41 && r_163^0==r_163^post_41 && r_39^0==r_39^post_41 && rcd_58^0==rcd_58^post_41 && rcd_88^0==rcd_88^post_41 && result_11^0==result_11^post_41 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_41 && t_23^0==t_23^post_41 && temp0_15^0==temp0_15^post_41 && temp0_31^0==temp0_31^post_41 && temp_35^0==temp_35^post_41 && tmp_34^0==tmp_34^post_41 && x_16^0==x_16^post_41 && x_20^0==x_20^post_41 && x_SLAM_f_18^0==x_SLAM_f_18^post_41 && y_19^0==y_19^post_41 ], cost: 1
     71: l40 -> l25 : __disjvr_0^0'=__disjvr_0^post_72, __disjvr_10^0'=__disjvr_10^post_72, __disjvr_11^0'=__disjvr_11^post_72, __disjvr_12^0'=__disjvr_12^post_72, __disjvr_13^0'=__disjvr_13^post_72, __disjvr_14^0'=__disjvr_14^post_72, __disjvr_15^0'=__disjvr_15^post_72, __disjvr_16^0'=__disjvr_16^post_72, __disjvr_17^0'=__disjvr_17^post_72, __disjvr_18^0'=__disjvr_18^post_72, __disjvr_19^0'=__disjvr_19^post_72, __disjvr_1^0'=__disjvr_1^post_72, __disjvr_20^0'=__disjvr_20^post_72, __disjvr_21^0'=__disjvr_21^post_72, __disjvr_22^0'=__disjvr_22^post_72, __disjvr_23^0'=__disjvr_23^post_72, __disjvr_24^0'=__disjvr_24^post_72, __disjvr_25^0'=__disjvr_25^post_72, __disjvr_26^0'=__disjvr_26^post_72, __disjvr_27^0'=__disjvr_27^post_72, __disjvr_28^0'=__disjvr_28^post_72, __disjvr_29^0'=__disjvr_29^post_72, __disjvr_2^0'=__disjvr_2^post_72, __disjvr_30^0'=__disjvr_30^post_72, __disjvr_3^0'=__disjvr_3^post_72, __disjvr_4^0'=__disjvr_4^post_72, __disjvr_5^0'=__disjvr_5^post_72, __disjvr_6^0'=__disjvr_6^post_72, __disjvr_7^0'=__disjvr_7^post_72, __disjvr_8^0'=__disjvr_8^post_72, __disjvr_9^0'=__disjvr_9^post_72, a_116^0'=a_116^post_72, a_147^0'=a_147^post_72, a_184^0'=a_184^post_72, a_215^0'=a_215^post_72, a_237^0'=a_237^post_72, a_260^0'=a_260^post_72, ct_17^0'=ct_17^post_72, f_170^0'=f_170^post_72, head_129^0'=head_129^post_72, head_14^0'=head_14^post_72, head_175^0'=head_175^post_72, head_27^0'=head_27^post_72, head_32^0'=head_32^post_72, head_SLAM_f_26^0'=head_SLAM_f_26^post_72, i_108^0'=i_108^post_72, i_167^0'=i_167^post_72, i_30^0'=i_30^post_72, i_94^0'=i_94^post_72, len_132^0'=len_132^post_72, len_183^0'=len_183^post_72, length_29^0'=length_29^post_72, nondet_12^0'=nondet_12^post_72, r_124^0'=r_124^post_72, r_163^0'=r_163^post_72, r_39^0'=r_39^post_72, rcd_58^0'=rcd_58^post_72, rcd_88^0'=rcd_88^post_72, result_11^0'=result_11^post_72, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_72, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_72, t_23^0'=t_23^post_72, temp0_15^0'=temp0_15^post_72, temp0_31^0'=temp0_31^post_72, temp_35^0'=temp_35^post_72, tmp_34^0'=tmp_34^post_72, x_16^0'=x_16^post_72, x_20^0'=x_20^post_72, x_SLAM_f_18^0'=x_SLAM_f_18^post_72, y_19^0'=y_19^post_72, [ result_dot_nondet_sdv_special_RETURN_VALUE_13^post_72==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_72 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_72==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_72 && 1+i_30^0<=length_29^0 && tmp_34^post_72==temp_35^0 && temp_35^post_72==temp_35^post_72 && head_32^post_72==tmp_34^post_72 && i_30^post_72==1+i_30^0 && 1<=i_30^post_72 && i_30^post_72<=1 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_72<=length_29^0 && length_29^0<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_72 && head_32^post_72<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_72 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_72<=head_32^post_72 && head_32^post_72<=tmp_34^post_72 && tmp_34^post_72<=head_32^post_72 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_72<=tmp_34^post_72 && tmp_34^post_72<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_72 && 1<=length_29^0 && __disjvr_0^0==__disjvr_0^post_72 && __disjvr_1^0==__disjvr_1^post_72 && __disjvr_10^0==__disjvr_10^post_72 && __disjvr_11^0==__disjvr_11^post_72 && __disjvr_12^0==__disjvr_12^post_72 && __disjvr_13^0==__disjvr_13^post_72 && __disjvr_14^0==__disjvr_14^post_72 && __disjvr_15^0==__disjvr_15^post_72 && __disjvr_16^0==__disjvr_16^post_72 && __disjvr_17^0==__disjvr_17^post_72 && __disjvr_18^0==__disjvr_18^post_72 && __disjvr_19^0==__disjvr_19^post_72 && __disjvr_2^0==__disjvr_2^post_72 && __disjvr_20^0==__disjvr_20^post_72 && __disjvr_21^0==__disjvr_21^post_72 && __disjvr_22^0==__disjvr_22^post_72 && __disjvr_23^0==__disjvr_23^post_72 && __disjvr_24^0==__disjvr_24^post_72 && __disjvr_25^0==__disjvr_25^post_72 && __disjvr_26^0==__disjvr_26^post_72 && __disjvr_27^0==__disjvr_27^post_72 && __disjvr_28^0==__disjvr_28^post_72 && __disjvr_29^0==__disjvr_29^post_72 && __disjvr_3^0==__disjvr_3^post_72 && __disjvr_30^0==__disjvr_30^post_72 && __disjvr_4^0==__disjvr_4^post_72 && __disjvr_5^0==__disjvr_5^post_72 && __disjvr_6^0==__disjvr_6^post_72 && __disjvr_7^0==__disjvr_7^post_72 && __disjvr_8^0==__disjvr_8^post_72 && __disjvr_9^0==__disjvr_9^post_72 && a_116^0==a_116^post_72 && a_147^0==a_147^post_72 && a_184^0==a_184^post_72 && a_215^0==a_215^post_72 && a_237^0==a_237^post_72 && a_260^0==a_260^post_72 && ct_17^0==ct_17^post_72 && f_170^0==f_170^post_72 && head_129^0==head_129^post_72 && head_14^0==head_14^post_72 && head_175^0==head_175^post_72 && head_27^0==head_27^post_72 && head_SLAM_f_26^0==head_SLAM_f_26^post_72 && i_108^0==i_108^post_72 && i_167^0==i_167^post_72 && i_94^0==i_94^post_72 && len_132^0==len_132^post_72 && len_183^0==len_183^post_72 && length_29^0==length_29^post_72 && nondet_12^0==nondet_12^post_72 && r_124^0==r_124^post_72 && r_163^0==r_163^post_72 && r_39^0==r_39^post_72 && rcd_58^0==rcd_58^post_72 && rcd_88^0==rcd_88^post_72 && result_11^0==result_11^post_72 && t_23^0==t_23^post_72 && temp0_15^0==temp0_15^post_72 && temp0_31^0==temp0_31^post_72 && x_16^0==x_16^post_72 && x_20^0==x_20^post_72 && x_SLAM_f_18^0==x_SLAM_f_18^post_72 && y_19^0==y_19^post_72 ], cost: 1
     41: l41 -> l42 : __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_26^0'=__disjvr_26^post_42, __disjvr_27^0'=__disjvr_27^post_42, __disjvr_28^0'=__disjvr_28^post_42, __disjvr_29^0'=__disjvr_29^post_42, __disjvr_2^0'=__disjvr_2^post_42, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_42, a_147^0'=a_147^post_42, a_184^0'=a_184^post_42, a_215^0'=a_215^post_42, a_237^0'=a_237^post_42, a_260^0'=a_260^post_42, ct_17^0'=ct_17^post_42, f_170^0'=f_170^post_42, head_129^0'=head_129^post_42, head_14^0'=head_14^post_42, head_175^0'=head_175^post_42, head_27^0'=head_27^post_42, head_32^0'=head_32^post_42, head_SLAM_f_26^0'=head_SLAM_f_26^post_42, i_108^0'=i_108^post_42, i_167^0'=i_167^post_42, i_30^0'=i_30^post_42, i_94^0'=i_94^post_42, len_132^0'=len_132^post_42, len_183^0'=len_183^post_42, length_29^0'=length_29^post_42, nondet_12^0'=nondet_12^post_42, r_124^0'=r_124^post_42, r_163^0'=r_163^post_42, r_39^0'=r_39^post_42, rcd_58^0'=rcd_58^post_42, rcd_88^0'=rcd_88^post_42, result_11^0'=result_11^post_42, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_42, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_42, t_23^0'=t_23^post_42, temp0_15^0'=temp0_15^post_42, temp0_31^0'=temp0_31^post_42, temp_35^0'=temp_35^post_42, tmp_34^0'=tmp_34^post_42, x_16^0'=x_16^post_42, x_20^0'=x_20^post_42, x_SLAM_f_18^0'=x_SLAM_f_18^post_42, y_19^0'=y_19^post_42, [ 0<=len_132^0 && 0<=a_147^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_42==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_42 && 0<=head_27^0 && head_27^0<=0 && head_SLAM_f_26^post_42==head_SLAM_f_26^post_42 && head_27^post_42==head_27^post_42 && x_16^post_42==head_14^0 && ct_17^post_42==0 && x_SLAM_f_18^post_42==x_16^post_42 && y_19^post_42==ct_17^post_42 && x_20^post_42==x_SLAM_f_18^post_42 && 0<=ct_17^post_42 && ct_17^post_42<=0 && 0<=y_19^post_42 && y_19^post_42<=0 && head_14^0<=x_16^post_42 && x_16^post_42<=head_14^0 && head_14^0<=x_SLAM_f_18^post_42 && x_SLAM_f_18^post_42<=head_14^0 && head_14^0<=x_20^post_42 && x_20^post_42<=head_14^0 && x_16^post_42<=x_SLAM_f_18^post_42 && x_SLAM_f_18^post_42<=x_16^post_42 && ct_17^post_42<=y_19^post_42 && y_19^post_42<=ct_17^post_42 && x_SLAM_f_18^post_42<=x_20^post_42 && x_20^post_42<=x_SLAM_f_18^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_26^0==__disjvr_26^post_42 && __disjvr_27^0==__disjvr_27^post_42 && __disjvr_28^0==__disjvr_28^post_42 && __disjvr_29^0==__disjvr_29^post_42 && __disjvr_3^0==__disjvr_3^post_42 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_42 && a_147^0==a_147^post_42 && a_184^0==a_184^post_42 && a_215^0==a_215^post_42 && a_237^0==a_237^post_42 && a_260^0==a_260^post_42 && f_170^0==f_170^post_42 && head_129^0==head_129^post_42 && head_14^0==head_14^post_42 && head_175^0==head_175^post_42 && head_32^0==head_32^post_42 && i_108^0==i_108^post_42 && i_167^0==i_167^post_42 && i_30^0==i_30^post_42 && i_94^0==i_94^post_42 && len_132^0==len_132^post_42 && len_183^0==len_183^post_42 && length_29^0==length_29^post_42 && nondet_12^0==nondet_12^post_42 && r_124^0==r_124^post_42 && r_163^0==r_163^post_42 && r_39^0==r_39^post_42 && rcd_58^0==rcd_58^post_42 && rcd_88^0==rcd_88^post_42 && result_11^0==result_11^post_42 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_42 && t_23^0==t_23^post_42 && temp0_15^0==temp0_15^post_42 && temp0_31^0==temp0_31^post_42 && temp_35^0==temp_35^post_42 && tmp_34^0==tmp_34^post_42 ], cost: 1
     44: l41 -> l45 : __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_26^0'=__disjvr_26^post_45, __disjvr_27^0'=__disjvr_27^post_45, __disjvr_28^0'=__disjvr_28^post_45, __disjvr_29^0'=__disjvr_29^post_45, __disjvr_2^0'=__disjvr_2^post_45, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_45, a_147^0'=a_147^post_45, a_184^0'=a_184^post_45, a_215^0'=a_215^post_45, a_237^0'=a_237^post_45, a_260^0'=a_260^post_45, ct_17^0'=ct_17^post_45, f_170^0'=f_170^post_45, head_129^0'=head_129^post_45, head_14^0'=head_14^post_45, head_175^0'=head_175^post_45, head_27^0'=head_27^post_45, head_32^0'=head_32^post_45, head_SLAM_f_26^0'=head_SLAM_f_26^post_45, i_108^0'=i_108^post_45, i_167^0'=i_167^post_45, i_30^0'=i_30^post_45, i_94^0'=i_94^post_45, len_132^0'=len_132^post_45, len_183^0'=len_183^post_45, length_29^0'=length_29^post_45, nondet_12^0'=nondet_12^post_45, r_124^0'=r_124^post_45, r_163^0'=r_163^post_45, r_39^0'=r_39^post_45, rcd_58^0'=rcd_58^post_45, rcd_88^0'=rcd_88^post_45, result_11^0'=result_11^post_45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_45, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_45, t_23^0'=t_23^post_45, temp0_15^0'=temp0_15^post_45, temp0_31^0'=temp0_31^post_45, temp_35^0'=temp_35^post_45, tmp_34^0'=tmp_34^post_45, x_16^0'=x_16^post_45, x_20^0'=x_20^post_45, x_SLAM_f_18^0'=x_SLAM_f_18^post_45, y_19^0'=y_19^post_45, [ 0<=len_132^0 && 0<=a_147^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_45==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_45 && head_14^post_45==head_14^post_45 && head_SLAM_f_26^post_45==head_SLAM_f_26^post_45 && r_39^post_45==r_39^post_45 && f_170^post_45==f_170^post_45 && head_175^post_45==head_175^post_45 && __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_26^0==__disjvr_26^post_45 && __disjvr_27^0==__disjvr_27^post_45 && __disjvr_28^0==__disjvr_28^post_45 && __disjvr_29^0==__disjvr_29^post_45 && __disjvr_3^0==__disjvr_3^post_45 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_45 && a_147^0==a_147^post_45 && a_184^0==a_184^post_45 && a_215^0==a_215^post_45 && a_237^0==a_237^post_45 && a_260^0==a_260^post_45 && ct_17^0==ct_17^post_45 && head_129^0==head_129^post_45 && head_27^0==head_27^post_45 && head_32^0==head_32^post_45 && i_108^0==i_108^post_45 && i_167^0==i_167^post_45 && i_30^0==i_30^post_45 && i_94^0==i_94^post_45 && len_132^0==len_132^post_45 && len_183^0==len_183^post_45 && length_29^0==length_29^post_45 && nondet_12^0==nondet_12^post_45 && r_124^0==r_124^post_45 && r_163^0==r_163^post_45 && rcd_58^0==rcd_58^post_45 && rcd_88^0==rcd_88^post_45 && result_11^0==result_11^post_45 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_45 && t_23^0==t_23^post_45 && temp0_15^0==temp0_15^post_45 && temp0_31^0==temp0_31^post_45 && temp_35^0==temp_35^post_45 && tmp_34^0==tmp_34^post_45 && x_16^0==x_16^post_45 && x_20^0==x_20^post_45 && x_SLAM_f_18^0==x_SLAM_f_18^post_45 && y_19^0==y_19^post_45 ], cost: 1
     42: l42 -> l43 : __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_26^0'=__disjvr_26^post_43, __disjvr_27^0'=__disjvr_27^post_43, __disjvr_28^0'=__disjvr_28^post_43, __disjvr_29^0'=__disjvr_29^post_43, __disjvr_2^0'=__disjvr_2^post_43, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_43, a_147^0'=a_147^post_43, a_184^0'=a_184^post_43, a_215^0'=a_215^post_43, a_237^0'=a_237^post_43, a_260^0'=a_260^post_43, ct_17^0'=ct_17^post_43, f_170^0'=f_170^post_43, head_129^0'=head_129^post_43, head_14^0'=head_14^post_43, head_175^0'=head_175^post_43, head_27^0'=head_27^post_43, head_32^0'=head_32^post_43, head_SLAM_f_26^0'=head_SLAM_f_26^post_43, i_108^0'=i_108^post_43, i_167^0'=i_167^post_43, i_30^0'=i_30^post_43, i_94^0'=i_94^post_43, len_132^0'=len_132^post_43, len_183^0'=len_183^post_43, length_29^0'=length_29^post_43, nondet_12^0'=nondet_12^post_43, r_124^0'=r_124^post_43, r_163^0'=r_163^post_43, r_39^0'=r_39^post_43, rcd_58^0'=rcd_58^post_43, rcd_88^0'=rcd_88^post_43, result_11^0'=result_11^post_43, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_43, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_43, t_23^0'=t_23^post_43, temp0_15^0'=temp0_15^post_43, temp0_31^0'=temp0_31^post_43, temp_35^0'=temp_35^post_43, tmp_34^0'=tmp_34^post_43, x_16^0'=x_16^post_43, x_20^0'=x_20^post_43, x_SLAM_f_18^0'=x_SLAM_f_18^post_43, y_19^0'=y_19^post_43, [ __disjvr_20^post_43==__disjvr_20^0 && __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_26^0==__disjvr_26^post_43 && __disjvr_27^0==__disjvr_27^post_43 && __disjvr_28^0==__disjvr_28^post_43 && __disjvr_29^0==__disjvr_29^post_43 && __disjvr_3^0==__disjvr_3^post_43 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_43 && a_147^0==a_147^post_43 && a_184^0==a_184^post_43 && a_215^0==a_215^post_43 && a_237^0==a_237^post_43 && a_260^0==a_260^post_43 && ct_17^0==ct_17^post_43 && f_170^0==f_170^post_43 && head_129^0==head_129^post_43 && head_14^0==head_14^post_43 && head_175^0==head_175^post_43 && head_27^0==head_27^post_43 && head_32^0==head_32^post_43 && head_SLAM_f_26^0==head_SLAM_f_26^post_43 && i_108^0==i_108^post_43 && i_167^0==i_167^post_43 && i_30^0==i_30^post_43 && i_94^0==i_94^post_43 && len_132^0==len_132^post_43 && len_183^0==len_183^post_43 && length_29^0==length_29^post_43 && nondet_12^0==nondet_12^post_43 && r_124^0==r_124^post_43 && r_163^0==r_163^post_43 && r_39^0==r_39^post_43 && rcd_58^0==rcd_58^post_43 && rcd_88^0==rcd_88^post_43 && result_11^0==result_11^post_43 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_43 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_43 && t_23^0==t_23^post_43 && temp0_15^0==temp0_15^post_43 && temp0_31^0==temp0_31^post_43 && temp_35^0==temp_35^post_43 && tmp_34^0==tmp_34^post_43 && x_16^0==x_16^post_43 && x_20^0==x_20^post_43 && x_SLAM_f_18^0==x_SLAM_f_18^post_43 && y_19^0==y_19^post_43 ], cost: 1
     43: l43 -> l18 : __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_26^0'=__disjvr_26^post_44, __disjvr_27^0'=__disjvr_27^post_44, __disjvr_28^0'=__disjvr_28^post_44, __disjvr_29^0'=__disjvr_29^post_44, __disjvr_2^0'=__disjvr_2^post_44, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_44, a_147^0'=a_147^post_44, a_184^0'=a_184^post_44, a_215^0'=a_215^post_44, a_237^0'=a_237^post_44, a_260^0'=a_260^post_44, ct_17^0'=ct_17^post_44, f_170^0'=f_170^post_44, head_129^0'=head_129^post_44, head_14^0'=head_14^post_44, head_175^0'=head_175^post_44, head_27^0'=head_27^post_44, head_32^0'=head_32^post_44, head_SLAM_f_26^0'=head_SLAM_f_26^post_44, i_108^0'=i_108^post_44, i_167^0'=i_167^post_44, i_30^0'=i_30^post_44, i_94^0'=i_94^post_44, len_132^0'=len_132^post_44, len_183^0'=len_183^post_44, length_29^0'=length_29^post_44, nondet_12^0'=nondet_12^post_44, r_124^0'=r_124^post_44, r_163^0'=r_163^post_44, r_39^0'=r_39^post_44, rcd_58^0'=rcd_58^post_44, rcd_88^0'=rcd_88^post_44, result_11^0'=result_11^post_44, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_44, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_44, t_23^0'=t_23^post_44, temp0_15^0'=temp0_15^post_44, temp0_31^0'=temp0_31^post_44, temp_35^0'=temp_35^post_44, tmp_34^0'=tmp_34^post_44, x_16^0'=x_16^post_44, x_20^0'=x_20^post_44, x_SLAM_f_18^0'=x_SLAM_f_18^post_44, y_19^0'=y_19^post_44, [ 1<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && __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_26^0==__disjvr_26^post_44 && __disjvr_27^0==__disjvr_27^post_44 && __disjvr_28^0==__disjvr_28^post_44 && __disjvr_29^0==__disjvr_29^post_44 && __disjvr_3^0==__disjvr_3^post_44 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_44 && a_147^0==a_147^post_44 && a_184^0==a_184^post_44 && a_215^0==a_215^post_44 && a_237^0==a_237^post_44 && a_260^0==a_260^post_44 && ct_17^0==ct_17^post_44 && f_170^0==f_170^post_44 && head_129^0==head_129^post_44 && head_14^0==head_14^post_44 && head_175^0==head_175^post_44 && head_27^0==head_27^post_44 && head_32^0==head_32^post_44 && head_SLAM_f_26^0==head_SLAM_f_26^post_44 && i_108^0==i_108^post_44 && i_167^0==i_167^post_44 && i_30^0==i_30^post_44 && i_94^0==i_94^post_44 && len_132^0==len_132^post_44 && len_183^0==len_183^post_44 && length_29^0==length_29^post_44 && nondet_12^0==nondet_12^post_44 && r_124^0==r_124^post_44 && r_163^0==r_163^post_44 && r_39^0==r_39^post_44 && rcd_58^0==rcd_58^post_44 && rcd_88^0==rcd_88^post_44 && result_11^0==result_11^post_44 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_44 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_44 && t_23^0==t_23^post_44 && temp0_15^0==temp0_15^post_44 && temp0_31^0==temp0_31^post_44 && temp_35^0==temp_35^post_44 && tmp_34^0==tmp_34^post_44 && x_16^0==x_16^post_44 && x_20^0==x_20^post_44 && x_SLAM_f_18^0==x_SLAM_f_18^post_44 && y_19^0==y_19^post_44 ], cost: 1
     45: l45 -> l46 : __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_26^0'=__disjvr_26^post_46, __disjvr_27^0'=__disjvr_27^post_46, __disjvr_28^0'=__disjvr_28^post_46, __disjvr_29^0'=__disjvr_29^post_46, __disjvr_2^0'=__disjvr_2^post_46, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_46, a_147^0'=a_147^post_46, a_184^0'=a_184^post_46, a_215^0'=a_215^post_46, a_237^0'=a_237^post_46, a_260^0'=a_260^post_46, ct_17^0'=ct_17^post_46, f_170^0'=f_170^post_46, head_129^0'=head_129^post_46, head_14^0'=head_14^post_46, head_175^0'=head_175^post_46, head_27^0'=head_27^post_46, head_32^0'=head_32^post_46, head_SLAM_f_26^0'=head_SLAM_f_26^post_46, i_108^0'=i_108^post_46, i_167^0'=i_167^post_46, i_30^0'=i_30^post_46, i_94^0'=i_94^post_46, len_132^0'=len_132^post_46, len_183^0'=len_183^post_46, length_29^0'=length_29^post_46, nondet_12^0'=nondet_12^post_46, r_124^0'=r_124^post_46, r_163^0'=r_163^post_46, r_39^0'=r_39^post_46, rcd_58^0'=rcd_58^post_46, rcd_88^0'=rcd_88^post_46, result_11^0'=result_11^post_46, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_46, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_46, t_23^0'=t_23^post_46, temp0_15^0'=temp0_15^post_46, temp0_31^0'=temp0_31^post_46, temp_35^0'=temp_35^post_46, tmp_34^0'=tmp_34^post_46, x_16^0'=x_16^post_46, x_20^0'=x_20^post_46, x_SLAM_f_18^0'=x_SLAM_f_18^post_46, y_19^0'=y_19^post_46, [ __disjvr_21^post_46==__disjvr_21^0 && __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_26^0==__disjvr_26^post_46 && __disjvr_27^0==__disjvr_27^post_46 && __disjvr_28^0==__disjvr_28^post_46 && __disjvr_29^0==__disjvr_29^post_46 && __disjvr_3^0==__disjvr_3^post_46 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_46 && a_147^0==a_147^post_46 && a_184^0==a_184^post_46 && a_215^0==a_215^post_46 && a_237^0==a_237^post_46 && a_260^0==a_260^post_46 && ct_17^0==ct_17^post_46 && f_170^0==f_170^post_46 && head_129^0==head_129^post_46 && head_14^0==head_14^post_46 && head_175^0==head_175^post_46 && head_27^0==head_27^post_46 && head_32^0==head_32^post_46 && head_SLAM_f_26^0==head_SLAM_f_26^post_46 && i_108^0==i_108^post_46 && i_167^0==i_167^post_46 && i_30^0==i_30^post_46 && i_94^0==i_94^post_46 && len_132^0==len_132^post_46 && len_183^0==len_183^post_46 && length_29^0==length_29^post_46 && nondet_12^0==nondet_12^post_46 && r_124^0==r_124^post_46 && r_163^0==r_163^post_46 && r_39^0==r_39^post_46 && rcd_58^0==rcd_58^post_46 && rcd_88^0==rcd_88^post_46 && result_11^0==result_11^post_46 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_46 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_46 && t_23^0==t_23^post_46 && temp0_15^0==temp0_15^post_46 && temp0_31^0==temp0_31^post_46 && temp_35^0==temp_35^post_46 && tmp_34^0==tmp_34^post_46 && x_16^0==x_16^post_46 && x_20^0==x_20^post_46 && x_SLAM_f_18^0==x_SLAM_f_18^post_46 && y_19^0==y_19^post_46 ], cost: 1
     46: l46 -> l47 : __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_26^0'=__disjvr_26^post_47, __disjvr_27^0'=__disjvr_27^post_47, __disjvr_28^0'=__disjvr_28^post_47, __disjvr_29^0'=__disjvr_29^post_47, __disjvr_2^0'=__disjvr_2^post_47, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_47, a_147^0'=a_147^post_47, a_184^0'=a_184^post_47, a_215^0'=a_215^post_47, a_237^0'=a_237^post_47, a_260^0'=a_260^post_47, ct_17^0'=ct_17^post_47, f_170^0'=f_170^post_47, head_129^0'=head_129^post_47, head_14^0'=head_14^post_47, head_175^0'=head_175^post_47, head_27^0'=head_27^post_47, head_32^0'=head_32^post_47, head_SLAM_f_26^0'=head_SLAM_f_26^post_47, i_108^0'=i_108^post_47, i_167^0'=i_167^post_47, i_30^0'=i_30^post_47, i_94^0'=i_94^post_47, len_132^0'=len_132^post_47, len_183^0'=len_183^post_47, length_29^0'=length_29^post_47, nondet_12^0'=nondet_12^post_47, r_124^0'=r_124^post_47, r_163^0'=r_163^post_47, r_39^0'=r_39^post_47, rcd_58^0'=rcd_58^post_47, rcd_88^0'=rcd_88^post_47, result_11^0'=result_11^post_47, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_47, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_47, t_23^0'=t_23^post_47, temp0_15^0'=temp0_15^post_47, temp0_31^0'=temp0_31^post_47, temp_35^0'=temp_35^post_47, tmp_34^0'=tmp_34^post_47, x_16^0'=x_16^post_47, x_20^0'=x_20^post_47, x_SLAM_f_18^0'=x_SLAM_f_18^post_47, y_19^0'=y_19^post_47, [ len_183^post_47==len_183^post_47 && a_184^post_47==a_184^post_47 && 1<=len_183^post_47-len_132^0 && len_183^post_47-len_132^0<=1 && head_14^0<=head_SLAM_f_26^0 && head_SLAM_f_26^0<=head_14^0 && head_27^0<=f_170^0 && f_170^0<=head_27^0 && a_184^post_47<=-1+a_147^0 && -1+a_147^0<=a_184^post_47 && __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_26^0==__disjvr_26^post_47 && __disjvr_27^0==__disjvr_27^post_47 && __disjvr_28^0==__disjvr_28^post_47 && __disjvr_29^0==__disjvr_29^post_47 && __disjvr_3^0==__disjvr_3^post_47 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_47 && a_147^0==a_147^post_47 && a_215^0==a_215^post_47 && a_237^0==a_237^post_47 && a_260^0==a_260^post_47 && ct_17^0==ct_17^post_47 && f_170^0==f_170^post_47 && head_129^0==head_129^post_47 && head_14^0==head_14^post_47 && head_175^0==head_175^post_47 && head_27^0==head_27^post_47 && head_32^0==head_32^post_47 && head_SLAM_f_26^0==head_SLAM_f_26^post_47 && i_108^0==i_108^post_47 && i_167^0==i_167^post_47 && i_30^0==i_30^post_47 && i_94^0==i_94^post_47 && len_132^0==len_132^post_47 && length_29^0==length_29^post_47 && nondet_12^0==nondet_12^post_47 && r_124^0==r_124^post_47 && r_163^0==r_163^post_47 && r_39^0==r_39^post_47 && rcd_58^0==rcd_58^post_47 && rcd_88^0==rcd_88^post_47 && result_11^0==result_11^post_47 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_47 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_47 && t_23^0==t_23^post_47 && temp0_15^0==temp0_15^post_47 && temp0_31^0==temp0_31^post_47 && temp_35^0==temp_35^post_47 && tmp_34^0==tmp_34^post_47 && x_16^0==x_16^post_47 && x_20^0==x_20^post_47 && x_SLAM_f_18^0==x_SLAM_f_18^post_47 && y_19^0==y_19^post_47 ], cost: 1
     47: l47 -> l48 : __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_26^0'=__disjvr_26^post_48, __disjvr_27^0'=__disjvr_27^post_48, __disjvr_28^0'=__disjvr_28^post_48, __disjvr_29^0'=__disjvr_29^post_48, __disjvr_2^0'=__disjvr_2^post_48, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_48, a_147^0'=a_147^post_48, a_184^0'=a_184^post_48, a_215^0'=a_215^post_48, a_237^0'=a_237^post_48, a_260^0'=a_260^post_48, ct_17^0'=ct_17^post_48, f_170^0'=f_170^post_48, head_129^0'=head_129^post_48, head_14^0'=head_14^post_48, head_175^0'=head_175^post_48, head_27^0'=head_27^post_48, head_32^0'=head_32^post_48, head_SLAM_f_26^0'=head_SLAM_f_26^post_48, i_108^0'=i_108^post_48, i_167^0'=i_167^post_48, i_30^0'=i_30^post_48, i_94^0'=i_94^post_48, len_132^0'=len_132^post_48, len_183^0'=len_183^post_48, length_29^0'=length_29^post_48, nondet_12^0'=nondet_12^post_48, r_124^0'=r_124^post_48, r_163^0'=r_163^post_48, r_39^0'=r_39^post_48, rcd_58^0'=rcd_58^post_48, rcd_88^0'=rcd_88^post_48, result_11^0'=result_11^post_48, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_48, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_48, t_23^0'=t_23^post_48, temp0_15^0'=temp0_15^post_48, temp0_31^0'=temp0_31^post_48, temp_35^0'=temp_35^post_48, tmp_34^0'=tmp_34^post_48, x_16^0'=x_16^post_48, x_20^0'=x_20^post_48, x_SLAM_f_18^0'=x_SLAM_f_18^post_48, y_19^0'=y_19^post_48, [ __disjvr_22^post_48==__disjvr_22^0 && __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_26^0==__disjvr_26^post_48 && __disjvr_27^0==__disjvr_27^post_48 && __disjvr_28^0==__disjvr_28^post_48 && __disjvr_29^0==__disjvr_29^post_48 && __disjvr_3^0==__disjvr_3^post_48 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_48 && a_147^0==a_147^post_48 && a_184^0==a_184^post_48 && a_215^0==a_215^post_48 && a_237^0==a_237^post_48 && a_260^0==a_260^post_48 && ct_17^0==ct_17^post_48 && f_170^0==f_170^post_48 && head_129^0==head_129^post_48 && head_14^0==head_14^post_48 && head_175^0==head_175^post_48 && head_27^0==head_27^post_48 && head_32^0==head_32^post_48 && head_SLAM_f_26^0==head_SLAM_f_26^post_48 && i_108^0==i_108^post_48 && i_167^0==i_167^post_48 && i_30^0==i_30^post_48 && i_94^0==i_94^post_48 && len_132^0==len_132^post_48 && len_183^0==len_183^post_48 && length_29^0==length_29^post_48 && nondet_12^0==nondet_12^post_48 && r_124^0==r_124^post_48 && r_163^0==r_163^post_48 && r_39^0==r_39^post_48 && rcd_58^0==rcd_58^post_48 && rcd_88^0==rcd_88^post_48 && result_11^0==result_11^post_48 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_48 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_48 && t_23^0==t_23^post_48 && temp0_15^0==temp0_15^post_48 && temp0_31^0==temp0_31^post_48 && temp_35^0==temp_35^post_48 && tmp_34^0==tmp_34^post_48 && x_16^0==x_16^post_48 && x_20^0==x_20^post_48 && x_SLAM_f_18^0==x_SLAM_f_18^post_48 && y_19^0==y_19^post_48 ], cost: 1
     48: l48 -> l49 : __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_26^0'=__disjvr_26^post_49, __disjvr_27^0'=__disjvr_27^post_49, __disjvr_28^0'=__disjvr_28^post_49, __disjvr_29^0'=__disjvr_29^post_49, __disjvr_2^0'=__disjvr_2^post_49, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_49, a_147^0'=a_147^post_49, a_184^0'=a_184^post_49, a_215^0'=a_215^post_49, a_237^0'=a_237^post_49, a_260^0'=a_260^post_49, ct_17^0'=ct_17^post_49, f_170^0'=f_170^post_49, head_129^0'=head_129^post_49, head_14^0'=head_14^post_49, head_175^0'=head_175^post_49, head_27^0'=head_27^post_49, head_32^0'=head_32^post_49, head_SLAM_f_26^0'=head_SLAM_f_26^post_49, i_108^0'=i_108^post_49, i_167^0'=i_167^post_49, i_30^0'=i_30^post_49, i_94^0'=i_94^post_49, len_132^0'=len_132^post_49, len_183^0'=len_183^post_49, length_29^0'=length_29^post_49, nondet_12^0'=nondet_12^post_49, r_124^0'=r_124^post_49, r_163^0'=r_163^post_49, r_39^0'=r_39^post_49, rcd_58^0'=rcd_58^post_49, rcd_88^0'=rcd_88^post_49, result_11^0'=result_11^post_49, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_49, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_49, t_23^0'=t_23^post_49, temp0_15^0'=temp0_15^post_49, temp0_31^0'=temp0_31^post_49, temp_35^0'=temp_35^post_49, tmp_34^0'=tmp_34^post_49, x_16^0'=x_16^post_49, x_20^0'=x_20^post_49, x_SLAM_f_18^0'=x_SLAM_f_18^post_49, y_19^0'=y_19^post_49, [ __disjvr_23^post_49==__disjvr_23^0 && __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_26^0==__disjvr_26^post_49 && __disjvr_27^0==__disjvr_27^post_49 && __disjvr_28^0==__disjvr_28^post_49 && __disjvr_29^0==__disjvr_29^post_49 && __disjvr_3^0==__disjvr_3^post_49 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_49 && a_147^0==a_147^post_49 && a_184^0==a_184^post_49 && a_215^0==a_215^post_49 && a_237^0==a_237^post_49 && a_260^0==a_260^post_49 && ct_17^0==ct_17^post_49 && f_170^0==f_170^post_49 && head_129^0==head_129^post_49 && head_14^0==head_14^post_49 && head_175^0==head_175^post_49 && head_27^0==head_27^post_49 && head_32^0==head_32^post_49 && head_SLAM_f_26^0==head_SLAM_f_26^post_49 && i_108^0==i_108^post_49 && i_167^0==i_167^post_49 && i_30^0==i_30^post_49 && i_94^0==i_94^post_49 && len_132^0==len_132^post_49 && len_183^0==len_183^post_49 && length_29^0==length_29^post_49 && nondet_12^0==nondet_12^post_49 && r_124^0==r_124^post_49 && r_163^0==r_163^post_49 && r_39^0==r_39^post_49 && rcd_58^0==rcd_58^post_49 && rcd_88^0==rcd_88^post_49 && result_11^0==result_11^post_49 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_49 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_49 && t_23^0==t_23^post_49 && temp0_15^0==temp0_15^post_49 && temp0_31^0==temp0_31^post_49 && temp_35^0==temp_35^post_49 && tmp_34^0==tmp_34^post_49 && x_16^0==x_16^post_49 && x_20^0==x_20^post_49 && x_SLAM_f_18^0==x_SLAM_f_18^post_49 && y_19^0==y_19^post_49 ], cost: 1
     49: l49 -> l44 : __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_26^0'=__disjvr_26^post_50, __disjvr_27^0'=__disjvr_27^post_50, __disjvr_28^0'=__disjvr_28^post_50, __disjvr_29^0'=__disjvr_29^post_50, __disjvr_2^0'=__disjvr_2^post_50, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_50, a_147^0'=a_147^post_50, a_184^0'=a_184^post_50, a_215^0'=a_215^post_50, a_237^0'=a_237^post_50, a_260^0'=a_260^post_50, ct_17^0'=ct_17^post_50, f_170^0'=f_170^post_50, head_129^0'=head_129^post_50, head_14^0'=head_14^post_50, head_175^0'=head_175^post_50, head_27^0'=head_27^post_50, head_32^0'=head_32^post_50, head_SLAM_f_26^0'=head_SLAM_f_26^post_50, i_108^0'=i_108^post_50, i_167^0'=i_167^post_50, i_30^0'=i_30^post_50, i_94^0'=i_94^post_50, len_132^0'=len_132^post_50, len_183^0'=len_183^post_50, length_29^0'=length_29^post_50, nondet_12^0'=nondet_12^post_50, r_124^0'=r_124^post_50, r_163^0'=r_163^post_50, r_39^0'=r_39^post_50, rcd_58^0'=rcd_58^post_50, rcd_88^0'=rcd_88^post_50, result_11^0'=result_11^post_50, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_50, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50, t_23^0'=t_23^post_50, temp0_15^0'=temp0_15^post_50, temp0_31^0'=temp0_31^post_50, temp_35^0'=temp_35^post_50, tmp_34^0'=tmp_34^post_50, x_16^0'=x_16^post_50, x_20^0'=x_20^post_50, x_SLAM_f_18^0'=x_SLAM_f_18^post_50, y_19^0'=y_19^post_50, [ 1<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && a_147^post_50==a_147^post_50 && a_147^post_50<=a_184^0 && a_184^0<=a_147^post_50 && len_132^post_50==len_132^post_50 && len_132^post_50<=len_183^0 && len_183^0<=len_132^post_50 && __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_26^0==__disjvr_26^post_50 && __disjvr_27^0==__disjvr_27^post_50 && __disjvr_28^0==__disjvr_28^post_50 && __disjvr_29^0==__disjvr_29^post_50 && __disjvr_3^0==__disjvr_3^post_50 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_50 && a_184^0==a_184^post_50 && a_215^0==a_215^post_50 && a_237^0==a_237^post_50 && a_260^0==a_260^post_50 && ct_17^0==ct_17^post_50 && f_170^0==f_170^post_50 && head_129^0==head_129^post_50 && head_14^0==head_14^post_50 && head_175^0==head_175^post_50 && head_27^0==head_27^post_50 && head_32^0==head_32^post_50 && head_SLAM_f_26^0==head_SLAM_f_26^post_50 && i_108^0==i_108^post_50 && i_167^0==i_167^post_50 && i_30^0==i_30^post_50 && i_94^0==i_94^post_50 && len_183^0==len_183^post_50 && length_29^0==length_29^post_50 && nondet_12^0==nondet_12^post_50 && r_124^0==r_124^post_50 && r_163^0==r_163^post_50 && r_39^0==r_39^post_50 && rcd_58^0==rcd_58^post_50 && rcd_88^0==rcd_88^post_50 && result_11^0==result_11^post_50 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_50 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50 && t_23^0==t_23^post_50 && temp0_15^0==temp0_15^post_50 && temp0_31^0==temp0_31^post_50 && temp_35^0==temp_35^post_50 && tmp_34^0==tmp_34^post_50 && x_16^0==x_16^post_50 && x_20^0==x_20^post_50 && x_SLAM_f_18^0==x_SLAM_f_18^post_50 && y_19^0==y_19^post_50 ], cost: 1
     50: l44 -> l41 : __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_26^0'=__disjvr_26^post_51, __disjvr_27^0'=__disjvr_27^post_51, __disjvr_28^0'=__disjvr_28^post_51, __disjvr_29^0'=__disjvr_29^post_51, __disjvr_2^0'=__disjvr_2^post_51, __disjvr_30^0'=__disjvr_30^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_116^0'=a_116^post_51, a_147^0'=a_147^post_51, a_184^0'=a_184^post_51, a_215^0'=a_215^post_51, a_237^0'=a_237^post_51, a_260^0'=a_260^post_51, ct_17^0'=ct_17^post_51, f_170^0'=f_170^post_51, head_129^0'=head_129^post_51, head_14^0'=head_14^post_51, head_175^0'=head_175^post_51, head_27^0'=head_27^post_51, head_32^0'=head_32^post_51, head_SLAM_f_26^0'=head_SLAM_f_26^post_51, i_108^0'=i_108^post_51, i_167^0'=i_167^post_51, i_30^0'=i_30^post_51, i_94^0'=i_94^post_51, len_132^0'=len_132^post_51, len_183^0'=len_183^post_51, length_29^0'=length_29^post_51, nondet_12^0'=nondet_12^post_51, r_124^0'=r_124^post_51, r_163^0'=r_163^post_51, r_39^0'=r_39^post_51, rcd_58^0'=rcd_58^post_51, rcd_88^0'=rcd_88^post_51, result_11^0'=result_11^post_51, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_51, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_51, t_23^0'=t_23^post_51, temp0_15^0'=temp0_15^post_51, temp0_31^0'=temp0_31^post_51, temp_35^0'=temp_35^post_51, tmp_34^0'=tmp_34^post_51, x_16^0'=x_16^post_51, x_20^0'=x_20^post_51, x_SLAM_f_18^0'=x_SLAM_f_18^post_51, y_19^0'=y_19^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_26^0==__disjvr_26^post_51 && __disjvr_27^0==__disjvr_27^post_51 && __disjvr_28^0==__disjvr_28^post_51 && __disjvr_29^0==__disjvr_29^post_51 && __disjvr_3^0==__disjvr_3^post_51 && __disjvr_30^0==__disjvr_30^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_116^0==a_116^post_51 && a_147^0==a_147^post_51 && a_184^0==a_184^post_51 && a_215^0==a_215^post_51 && a_237^0==a_237^post_51 && a_260^0==a_260^post_51 && ct_17^0==ct_17^post_51 && f_170^0==f_170^post_51 && head_129^0==head_129^post_51 && head_14^0==head_14^post_51 && head_175^0==head_175^post_51 && head_27^0==head_27^post_51 && head_32^0==head_32^post_51 && head_SLAM_f_26^0==head_SLAM_f_26^post_51 && i_108^0==i_108^post_51 && i_167^0==i_167^post_51 && i_30^0==i_30^post_51 && i_94^0==i_94^post_51 && len_132^0==len_132^post_51 && len_183^0==len_183^post_51 && length_29^0==length_29^post_51 && nondet_12^0==nondet_12^post_51 && r_124^0==r_124^post_51 && r_163^0==r_163^post_51 && r_39^0==r_39^post_51 && rcd_58^0==rcd_58^post_51 && rcd_88^0==rcd_88^post_51 && result_11^0==result_11^post_51 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_51 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_51 && t_23^0==t_23^post_51 && temp0_15^0==temp0_15^post_51 && temp0_31^0==temp0_31^post_51 && temp_35^0==temp_35^post_51 && tmp_34^0==tmp_34^post_51 && x_16^0==x_16^post_51 && x_20^0==x_20^post_51 && x_SLAM_f_18^0==x_SLAM_f_18^post_51 && y_19^0==y_19^post_51 ], cost: 1
     66: l63 -> l64 : __disjvr_0^0'=__disjvr_0^post_67, __disjvr_10^0'=__disjvr_10^post_67, __disjvr_11^0'=__disjvr_11^post_67, __disjvr_12^0'=__disjvr_12^post_67, __disjvr_13^0'=__disjvr_13^post_67, __disjvr_14^0'=__disjvr_14^post_67, __disjvr_15^0'=__disjvr_15^post_67, __disjvr_16^0'=__disjvr_16^post_67, __disjvr_17^0'=__disjvr_17^post_67, __disjvr_18^0'=__disjvr_18^post_67, __disjvr_19^0'=__disjvr_19^post_67, __disjvr_1^0'=__disjvr_1^post_67, __disjvr_20^0'=__disjvr_20^post_67, __disjvr_21^0'=__disjvr_21^post_67, __disjvr_22^0'=__disjvr_22^post_67, __disjvr_23^0'=__disjvr_23^post_67, __disjvr_24^0'=__disjvr_24^post_67, __disjvr_25^0'=__disjvr_25^post_67, __disjvr_26^0'=__disjvr_26^post_67, __disjvr_27^0'=__disjvr_27^post_67, __disjvr_28^0'=__disjvr_28^post_67, __disjvr_29^0'=__disjvr_29^post_67, __disjvr_2^0'=__disjvr_2^post_67, __disjvr_30^0'=__disjvr_30^post_67, __disjvr_3^0'=__disjvr_3^post_67, __disjvr_4^0'=__disjvr_4^post_67, __disjvr_5^0'=__disjvr_5^post_67, __disjvr_6^0'=__disjvr_6^post_67, __disjvr_7^0'=__disjvr_7^post_67, __disjvr_8^0'=__disjvr_8^post_67, __disjvr_9^0'=__disjvr_9^post_67, a_116^0'=a_116^post_67, a_147^0'=a_147^post_67, a_184^0'=a_184^post_67, a_215^0'=a_215^post_67, a_237^0'=a_237^post_67, a_260^0'=a_260^post_67, ct_17^0'=ct_17^post_67, f_170^0'=f_170^post_67, head_129^0'=head_129^post_67, head_14^0'=head_14^post_67, head_175^0'=head_175^post_67, head_27^0'=head_27^post_67, head_32^0'=head_32^post_67, head_SLAM_f_26^0'=head_SLAM_f_26^post_67, i_108^0'=i_108^post_67, i_167^0'=i_167^post_67, i_30^0'=i_30^post_67, i_94^0'=i_94^post_67, len_132^0'=len_132^post_67, len_183^0'=len_183^post_67, length_29^0'=length_29^post_67, nondet_12^0'=nondet_12^post_67, r_124^0'=r_124^post_67, r_163^0'=r_163^post_67, r_39^0'=r_39^post_67, rcd_58^0'=rcd_58^post_67, rcd_88^0'=rcd_88^post_67, result_11^0'=result_11^post_67, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_67, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_67, t_23^0'=t_23^post_67, temp0_15^0'=temp0_15^post_67, temp0_31^0'=temp0_31^post_67, temp_35^0'=temp_35^post_67, tmp_34^0'=tmp_34^post_67, x_16^0'=x_16^post_67, x_20^0'=x_20^post_67, x_SLAM_f_18^0'=x_SLAM_f_18^post_67, y_19^0'=y_19^post_67, [ __disjvr_30^post_67==__disjvr_30^0 && __disjvr_0^0==__disjvr_0^post_67 && __disjvr_1^0==__disjvr_1^post_67 && __disjvr_10^0==__disjvr_10^post_67 && __disjvr_11^0==__disjvr_11^post_67 && __disjvr_12^0==__disjvr_12^post_67 && __disjvr_13^0==__disjvr_13^post_67 && __disjvr_14^0==__disjvr_14^post_67 && __disjvr_15^0==__disjvr_15^post_67 && __disjvr_16^0==__disjvr_16^post_67 && __disjvr_17^0==__disjvr_17^post_67 && __disjvr_18^0==__disjvr_18^post_67 && __disjvr_19^0==__disjvr_19^post_67 && __disjvr_2^0==__disjvr_2^post_67 && __disjvr_20^0==__disjvr_20^post_67 && __disjvr_21^0==__disjvr_21^post_67 && __disjvr_22^0==__disjvr_22^post_67 && __disjvr_23^0==__disjvr_23^post_67 && __disjvr_24^0==__disjvr_24^post_67 && __disjvr_25^0==__disjvr_25^post_67 && __disjvr_26^0==__disjvr_26^post_67 && __disjvr_27^0==__disjvr_27^post_67 && __disjvr_28^0==__disjvr_28^post_67 && __disjvr_29^0==__disjvr_29^post_67 && __disjvr_3^0==__disjvr_3^post_67 && __disjvr_30^0==__disjvr_30^post_67 && __disjvr_4^0==__disjvr_4^post_67 && __disjvr_5^0==__disjvr_5^post_67 && __disjvr_6^0==__disjvr_6^post_67 && __disjvr_7^0==__disjvr_7^post_67 && __disjvr_8^0==__disjvr_8^post_67 && __disjvr_9^0==__disjvr_9^post_67 && a_116^0==a_116^post_67 && a_147^0==a_147^post_67 && a_184^0==a_184^post_67 && a_215^0==a_215^post_67 && a_237^0==a_237^post_67 && a_260^0==a_260^post_67 && ct_17^0==ct_17^post_67 && f_170^0==f_170^post_67 && head_129^0==head_129^post_67 && head_14^0==head_14^post_67 && head_175^0==head_175^post_67 && head_27^0==head_27^post_67 && head_32^0==head_32^post_67 && head_SLAM_f_26^0==head_SLAM_f_26^post_67 && i_108^0==i_108^post_67 && i_167^0==i_167^post_67 && i_30^0==i_30^post_67 && i_94^0==i_94^post_67 && len_132^0==len_132^post_67 && len_183^0==len_183^post_67 && length_29^0==length_29^post_67 && nondet_12^0==nondet_12^post_67 && r_124^0==r_124^post_67 && r_163^0==r_163^post_67 && r_39^0==r_39^post_67 && rcd_58^0==rcd_58^post_67 && rcd_88^0==rcd_88^post_67 && result_11^0==result_11^post_67 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_67 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_67 && t_23^0==t_23^post_67 && temp0_15^0==temp0_15^post_67 && temp0_31^0==temp0_31^post_67 && temp_35^0==temp_35^post_67 && tmp_34^0==tmp_34^post_67 && x_16^0==x_16^post_67 && x_20^0==x_20^post_67 && x_SLAM_f_18^0==x_SLAM_f_18^post_67 && y_19^0==y_19^post_67 ], cost: 1
     67: l64 -> l41 : __disjvr_0^0'=__disjvr_0^post_68, __disjvr_10^0'=__disjvr_10^post_68, __disjvr_11^0'=__disjvr_11^post_68, __disjvr_12^0'=__disjvr_12^post_68, __disjvr_13^0'=__disjvr_13^post_68, __disjvr_14^0'=__disjvr_14^post_68, __disjvr_15^0'=__disjvr_15^post_68, __disjvr_16^0'=__disjvr_16^post_68, __disjvr_17^0'=__disjvr_17^post_68, __disjvr_18^0'=__disjvr_18^post_68, __disjvr_19^0'=__disjvr_19^post_68, __disjvr_1^0'=__disjvr_1^post_68, __disjvr_20^0'=__disjvr_20^post_68, __disjvr_21^0'=__disjvr_21^post_68, __disjvr_22^0'=__disjvr_22^post_68, __disjvr_23^0'=__disjvr_23^post_68, __disjvr_24^0'=__disjvr_24^post_68, __disjvr_25^0'=__disjvr_25^post_68, __disjvr_26^0'=__disjvr_26^post_68, __disjvr_27^0'=__disjvr_27^post_68, __disjvr_28^0'=__disjvr_28^post_68, __disjvr_29^0'=__disjvr_29^post_68, __disjvr_2^0'=__disjvr_2^post_68, __disjvr_30^0'=__disjvr_30^post_68, __disjvr_3^0'=__disjvr_3^post_68, __disjvr_4^0'=__disjvr_4^post_68, __disjvr_5^0'=__disjvr_5^post_68, __disjvr_6^0'=__disjvr_6^post_68, __disjvr_7^0'=__disjvr_7^post_68, __disjvr_8^0'=__disjvr_8^post_68, __disjvr_9^0'=__disjvr_9^post_68, a_116^0'=a_116^post_68, a_147^0'=a_147^post_68, a_184^0'=a_184^post_68, a_215^0'=a_215^post_68, a_237^0'=a_237^post_68, a_260^0'=a_260^post_68, ct_17^0'=ct_17^post_68, f_170^0'=f_170^post_68, head_129^0'=head_129^post_68, head_14^0'=head_14^post_68, head_175^0'=head_175^post_68, head_27^0'=head_27^post_68, head_32^0'=head_32^post_68, head_SLAM_f_26^0'=head_SLAM_f_26^post_68, i_108^0'=i_108^post_68, i_167^0'=i_167^post_68, i_30^0'=i_30^post_68, i_94^0'=i_94^post_68, len_132^0'=len_132^post_68, len_183^0'=len_183^post_68, length_29^0'=length_29^post_68, nondet_12^0'=nondet_12^post_68, r_124^0'=r_124^post_68, r_163^0'=r_163^post_68, r_39^0'=r_39^post_68, rcd_58^0'=rcd_58^post_68, rcd_88^0'=rcd_88^post_68, result_11^0'=result_11^post_68, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_68, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_68, t_23^0'=t_23^post_68, temp0_15^0'=temp0_15^post_68, temp0_31^0'=temp0_31^post_68, temp_35^0'=temp_35^post_68, tmp_34^0'=tmp_34^post_68, x_16^0'=x_16^post_68, x_20^0'=x_20^post_68, x_SLAM_f_18^0'=x_SLAM_f_18^post_68, y_19^0'=y_19^post_68, [ 1<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0<=i_30^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0<=i_167^0 && __disjvr_0^0==__disjvr_0^post_68 && __disjvr_1^0==__disjvr_1^post_68 && __disjvr_10^0==__disjvr_10^post_68 && __disjvr_11^0==__disjvr_11^post_68 && __disjvr_12^0==__disjvr_12^post_68 && __disjvr_13^0==__disjvr_13^post_68 && __disjvr_14^0==__disjvr_14^post_68 && __disjvr_15^0==__disjvr_15^post_68 && __disjvr_16^0==__disjvr_16^post_68 && __disjvr_17^0==__disjvr_17^post_68 && __disjvr_18^0==__disjvr_18^post_68 && __disjvr_19^0==__disjvr_19^post_68 && __disjvr_2^0==__disjvr_2^post_68 && __disjvr_20^0==__disjvr_20^post_68 && __disjvr_21^0==__disjvr_21^post_68 && __disjvr_22^0==__disjvr_22^post_68 && __disjvr_23^0==__disjvr_23^post_68 && __disjvr_24^0==__disjvr_24^post_68 && __disjvr_25^0==__disjvr_25^post_68 && __disjvr_26^0==__disjvr_26^post_68 && __disjvr_27^0==__disjvr_27^post_68 && __disjvr_28^0==__disjvr_28^post_68 && __disjvr_29^0==__disjvr_29^post_68 && __disjvr_3^0==__disjvr_3^post_68 && __disjvr_30^0==__disjvr_30^post_68 && __disjvr_4^0==__disjvr_4^post_68 && __disjvr_5^0==__disjvr_5^post_68 && __disjvr_6^0==__disjvr_6^post_68 && __disjvr_7^0==__disjvr_7^post_68 && __disjvr_8^0==__disjvr_8^post_68 && __disjvr_9^0==__disjvr_9^post_68 && a_116^0==a_116^post_68 && a_147^0==a_147^post_68 && a_184^0==a_184^post_68 && a_215^0==a_215^post_68 && a_237^0==a_237^post_68 && a_260^0==a_260^post_68 && ct_17^0==ct_17^post_68 && f_170^0==f_170^post_68 && head_129^0==head_129^post_68 && head_14^0==head_14^post_68 && head_175^0==head_175^post_68 && head_27^0==head_27^post_68 && head_32^0==head_32^post_68 && head_SLAM_f_26^0==head_SLAM_f_26^post_68 && i_108^0==i_108^post_68 && i_167^0==i_167^post_68 && i_30^0==i_30^post_68 && i_94^0==i_94^post_68 && len_132^0==len_132^post_68 && len_183^0==len_183^post_68 && length_29^0==length_29^post_68 && nondet_12^0==nondet_12^post_68 && r_124^0==r_124^post_68 && r_163^0==r_163^post_68 && r_39^0==r_39^post_68 && rcd_58^0==rcd_58^post_68 && rcd_88^0==rcd_88^post_68 && result_11^0==result_11^post_68 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_68 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_68 && t_23^0==t_23^post_68 && temp0_15^0==temp0_15^post_68 && temp0_31^0==temp0_31^post_68 && temp_35^0==temp_35^post_68 && tmp_34^0==tmp_34^post_68 && x_16^0==x_16^post_68 && x_20^0==x_20^post_68 && x_SLAM_f_18^0==x_SLAM_f_18^post_68 && y_19^0==y_19^post_68 ], cost: 1
     69: l65 -> l38 : __disjvr_0^0'=__disjvr_0^post_70, __disjvr_10^0'=__disjvr_10^post_70, __disjvr_11^0'=__disjvr_11^post_70, __disjvr_12^0'=__disjvr_12^post_70, __disjvr_13^0'=__disjvr_13^post_70, __disjvr_14^0'=__disjvr_14^post_70, __disjvr_15^0'=__disjvr_15^post_70, __disjvr_16^0'=__disjvr_16^post_70, __disjvr_17^0'=__disjvr_17^post_70, __disjvr_18^0'=__disjvr_18^post_70, __disjvr_19^0'=__disjvr_19^post_70, __disjvr_1^0'=__disjvr_1^post_70, __disjvr_20^0'=__disjvr_20^post_70, __disjvr_21^0'=__disjvr_21^post_70, __disjvr_22^0'=__disjvr_22^post_70, __disjvr_23^0'=__disjvr_23^post_70, __disjvr_24^0'=__disjvr_24^post_70, __disjvr_25^0'=__disjvr_25^post_70, __disjvr_26^0'=__disjvr_26^post_70, __disjvr_27^0'=__disjvr_27^post_70, __disjvr_28^0'=__disjvr_28^post_70, __disjvr_29^0'=__disjvr_29^post_70, __disjvr_2^0'=__disjvr_2^post_70, __disjvr_30^0'=__disjvr_30^post_70, __disjvr_3^0'=__disjvr_3^post_70, __disjvr_4^0'=__disjvr_4^post_70, __disjvr_5^0'=__disjvr_5^post_70, __disjvr_6^0'=__disjvr_6^post_70, __disjvr_7^0'=__disjvr_7^post_70, __disjvr_8^0'=__disjvr_8^post_70, __disjvr_9^0'=__disjvr_9^post_70, a_116^0'=a_116^post_70, a_147^0'=a_147^post_70, a_184^0'=a_184^post_70, a_215^0'=a_215^post_70, a_237^0'=a_237^post_70, a_260^0'=a_260^post_70, ct_17^0'=ct_17^post_70, f_170^0'=f_170^post_70, head_129^0'=head_129^post_70, head_14^0'=head_14^post_70, head_175^0'=head_175^post_70, head_27^0'=head_27^post_70, head_32^0'=head_32^post_70, head_SLAM_f_26^0'=head_SLAM_f_26^post_70, i_108^0'=i_108^post_70, i_167^0'=i_167^post_70, i_30^0'=i_30^post_70, i_94^0'=i_94^post_70, len_132^0'=len_132^post_70, len_183^0'=len_183^post_70, length_29^0'=length_29^post_70, nondet_12^0'=nondet_12^post_70, r_124^0'=r_124^post_70, r_163^0'=r_163^post_70, r_39^0'=r_39^post_70, rcd_58^0'=rcd_58^post_70, rcd_88^0'=rcd_88^post_70, result_11^0'=result_11^post_70, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_70, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_70, t_23^0'=t_23^post_70, temp0_15^0'=temp0_15^post_70, temp0_31^0'=temp0_31^post_70, temp_35^0'=temp_35^post_70, tmp_34^0'=tmp_34^post_70, x_16^0'=x_16^post_70, x_20^0'=x_20^post_70, x_SLAM_f_18^0'=x_SLAM_f_18^post_70, y_19^0'=y_19^post_70, [ __disjvr_0^0==__disjvr_0^post_70 && __disjvr_1^0==__disjvr_1^post_70 && __disjvr_10^0==__disjvr_10^post_70 && __disjvr_11^0==__disjvr_11^post_70 && __disjvr_12^0==__disjvr_12^post_70 && __disjvr_13^0==__disjvr_13^post_70 && __disjvr_14^0==__disjvr_14^post_70 && __disjvr_15^0==__disjvr_15^post_70 && __disjvr_16^0==__disjvr_16^post_70 && __disjvr_17^0==__disjvr_17^post_70 && __disjvr_18^0==__disjvr_18^post_70 && __disjvr_19^0==__disjvr_19^post_70 && __disjvr_2^0==__disjvr_2^post_70 && __disjvr_20^0==__disjvr_20^post_70 && __disjvr_21^0==__disjvr_21^post_70 && __disjvr_22^0==__disjvr_22^post_70 && __disjvr_23^0==__disjvr_23^post_70 && __disjvr_24^0==__disjvr_24^post_70 && __disjvr_25^0==__disjvr_25^post_70 && __disjvr_26^0==__disjvr_26^post_70 && __disjvr_27^0==__disjvr_27^post_70 && __disjvr_28^0==__disjvr_28^post_70 && __disjvr_29^0==__disjvr_29^post_70 && __disjvr_3^0==__disjvr_3^post_70 && __disjvr_30^0==__disjvr_30^post_70 && __disjvr_4^0==__disjvr_4^post_70 && __disjvr_5^0==__disjvr_5^post_70 && __disjvr_6^0==__disjvr_6^post_70 && __disjvr_7^0==__disjvr_7^post_70 && __disjvr_8^0==__disjvr_8^post_70 && __disjvr_9^0==__disjvr_9^post_70 && a_116^0==a_116^post_70 && a_147^0==a_147^post_70 && a_184^0==a_184^post_70 && a_215^0==a_215^post_70 && a_237^0==a_237^post_70 && a_260^0==a_260^post_70 && ct_17^0==ct_17^post_70 && f_170^0==f_170^post_70 && head_129^0==head_129^post_70 && head_14^0==head_14^post_70 && head_175^0==head_175^post_70 && head_27^0==head_27^post_70 && head_32^0==head_32^post_70 && head_SLAM_f_26^0==head_SLAM_f_26^post_70 && i_108^0==i_108^post_70 && i_167^0==i_167^post_70 && i_30^0==i_30^post_70 && i_94^0==i_94^post_70 && len_132^0==len_132^post_70 && len_183^0==len_183^post_70 && length_29^0==length_29^post_70 && nondet_12^0==nondet_12^post_70 && r_124^0==r_124^post_70 && r_163^0==r_163^post_70 && r_39^0==r_39^post_70 && rcd_58^0==rcd_58^post_70 && rcd_88^0==rcd_88^post_70 && result_11^0==result_11^post_70 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_70 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_70 && t_23^0==t_23^post_70 && temp0_15^0==temp0_15^post_70 && temp0_31^0==temp0_31^post_70 && temp_35^0==temp_35^post_70 && tmp_34^0==tmp_34^post_70 && x_16^0==x_16^post_70 && x_20^0==x_20^post_70 && x_SLAM_f_18^0==x_SLAM_f_18^post_70 && y_19^0==y_19^post_70 ], cost: 1
     72: l66 -> l39 : __disjvr_0^0'=__disjvr_0^post_73, __disjvr_10^0'=__disjvr_10^post_73, __disjvr_11^0'=__disjvr_11^post_73, __disjvr_12^0'=__disjvr_12^post_73, __disjvr_13^0'=__disjvr_13^post_73, __disjvr_14^0'=__disjvr_14^post_73, __disjvr_15^0'=__disjvr_15^post_73, __disjvr_16^0'=__disjvr_16^post_73, __disjvr_17^0'=__disjvr_17^post_73, __disjvr_18^0'=__disjvr_18^post_73, __disjvr_19^0'=__disjvr_19^post_73, __disjvr_1^0'=__disjvr_1^post_73, __disjvr_20^0'=__disjvr_20^post_73, __disjvr_21^0'=__disjvr_21^post_73, __disjvr_22^0'=__disjvr_22^post_73, __disjvr_23^0'=__disjvr_23^post_73, __disjvr_24^0'=__disjvr_24^post_73, __disjvr_25^0'=__disjvr_25^post_73, __disjvr_26^0'=__disjvr_26^post_73, __disjvr_27^0'=__disjvr_27^post_73, __disjvr_28^0'=__disjvr_28^post_73, __disjvr_29^0'=__disjvr_29^post_73, __disjvr_2^0'=__disjvr_2^post_73, __disjvr_30^0'=__disjvr_30^post_73, __disjvr_3^0'=__disjvr_3^post_73, __disjvr_4^0'=__disjvr_4^post_73, __disjvr_5^0'=__disjvr_5^post_73, __disjvr_6^0'=__disjvr_6^post_73, __disjvr_7^0'=__disjvr_7^post_73, __disjvr_8^0'=__disjvr_8^post_73, __disjvr_9^0'=__disjvr_9^post_73, a_116^0'=a_116^post_73, a_147^0'=a_147^post_73, a_184^0'=a_184^post_73, a_215^0'=a_215^post_73, a_237^0'=a_237^post_73, a_260^0'=a_260^post_73, ct_17^0'=ct_17^post_73, f_170^0'=f_170^post_73, head_129^0'=head_129^post_73, head_14^0'=head_14^post_73, head_175^0'=head_175^post_73, head_27^0'=head_27^post_73, head_32^0'=head_32^post_73, head_SLAM_f_26^0'=head_SLAM_f_26^post_73, i_108^0'=i_108^post_73, i_167^0'=i_167^post_73, i_30^0'=i_30^post_73, i_94^0'=i_94^post_73, len_132^0'=len_132^post_73, len_183^0'=len_183^post_73, length_29^0'=length_29^post_73, nondet_12^0'=nondet_12^post_73, r_124^0'=r_124^post_73, r_163^0'=r_163^post_73, r_39^0'=r_39^post_73, rcd_58^0'=rcd_58^post_73, rcd_88^0'=rcd_88^post_73, result_11^0'=result_11^post_73, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_73, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_73, t_23^0'=t_23^post_73, temp0_15^0'=temp0_15^post_73, temp0_31^0'=temp0_31^post_73, temp_35^0'=temp_35^post_73, tmp_34^0'=tmp_34^post_73, x_16^0'=x_16^post_73, x_20^0'=x_20^post_73, x_SLAM_f_18^0'=x_SLAM_f_18^post_73, y_19^0'=y_19^post_73, [ __disjvr_0^0==__disjvr_0^post_73 && __disjvr_1^0==__disjvr_1^post_73 && __disjvr_10^0==__disjvr_10^post_73 && __disjvr_11^0==__disjvr_11^post_73 && __disjvr_12^0==__disjvr_12^post_73 && __disjvr_13^0==__disjvr_13^post_73 && __disjvr_14^0==__disjvr_14^post_73 && __disjvr_15^0==__disjvr_15^post_73 && __disjvr_16^0==__disjvr_16^post_73 && __disjvr_17^0==__disjvr_17^post_73 && __disjvr_18^0==__disjvr_18^post_73 && __disjvr_19^0==__disjvr_19^post_73 && __disjvr_2^0==__disjvr_2^post_73 && __disjvr_20^0==__disjvr_20^post_73 && __disjvr_21^0==__disjvr_21^post_73 && __disjvr_22^0==__disjvr_22^post_73 && __disjvr_23^0==__disjvr_23^post_73 && __disjvr_24^0==__disjvr_24^post_73 && __disjvr_25^0==__disjvr_25^post_73 && __disjvr_26^0==__disjvr_26^post_73 && __disjvr_27^0==__disjvr_27^post_73 && __disjvr_28^0==__disjvr_28^post_73 && __disjvr_29^0==__disjvr_29^post_73 && __disjvr_3^0==__disjvr_3^post_73 && __disjvr_30^0==__disjvr_30^post_73 && __disjvr_4^0==__disjvr_4^post_73 && __disjvr_5^0==__disjvr_5^post_73 && __disjvr_6^0==__disjvr_6^post_73 && __disjvr_7^0==__disjvr_7^post_73 && __disjvr_8^0==__disjvr_8^post_73 && __disjvr_9^0==__disjvr_9^post_73 && a_116^0==a_116^post_73 && a_147^0==a_147^post_73 && a_184^0==a_184^post_73 && a_215^0==a_215^post_73 && a_237^0==a_237^post_73 && a_260^0==a_260^post_73 && ct_17^0==ct_17^post_73 && f_170^0==f_170^post_73 && head_129^0==head_129^post_73 && head_14^0==head_14^post_73 && head_175^0==head_175^post_73 && head_27^0==head_27^post_73 && head_32^0==head_32^post_73 && head_SLAM_f_26^0==head_SLAM_f_26^post_73 && i_108^0==i_108^post_73 && i_167^0==i_167^post_73 && i_30^0==i_30^post_73 && i_94^0==i_94^post_73 && len_132^0==len_132^post_73 && len_183^0==len_183^post_73 && length_29^0==length_29^post_73 && nondet_12^0==nondet_12^post_73 && r_124^0==r_124^post_73 && r_163^0==r_163^post_73 && r_39^0==r_39^post_73 && rcd_58^0==rcd_58^post_73 && rcd_88^0==rcd_88^post_73 && result_11^0==result_11^post_73 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_73 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_73 && t_23^0==t_23^post_73 && temp0_15^0==temp0_15^post_73 && temp0_31^0==temp0_31^post_73 && temp_35^0==temp_35^post_73 && tmp_34^0==tmp_34^post_73 && x_16^0==x_16^post_73 && x_20^0==x_20^post_73 && x_SLAM_f_18^0==x_SLAM_f_18^post_73 && y_19^0==y_19^post_73 ], cost: 1

Simplified all rules, resulting in:
   Start location: l66
      1: l0 -> l3 : ct_17^0'=ct_17^post_2, head_14^0'=head_14^post_2, r_39^0'=r_39^post_2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_2, x_16^0'=x_16^post_2, x_SLAM_f_18^0'=x_SLAM_f_18^post_2, [ 0<=a_237^0 ], cost: 1
      2: l3 -> l4 : [], cost: 1
      3: l4 -> l5 : a_260^0'=-1+a_237^0, t_23^0'=x_20^0, [ -ct_17^0==0 && -y_19^0==0 && head_14^0-x_16^0==0 && -x_SLAM_f_18^0+head_14^0==0 ], cost: 1
      4: l5 -> l6 : [], cost: 1
      5: l6 -> l7 : [], cost: 1
      6: l7 -> l8 : [], cost: 1
      7: l8 -> l2 : a_237^0'=a_260^0, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 ], cost: 1
      8: l2 -> l0 : [], cost: 1
     19: l18 -> l19 : ct_17^0'=ct_17^post_20, head_14^0'=head_14^post_20, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_20, x_16^0'=x_16^post_20, x_SLAM_f_18^0'=x_SLAM_f_18^post_20, [ 0<=len_132^0 ], cost: 1
     20: l19 -> l20 : [], cost: 1
     21: l20 -> l21 : a_215^0'=a_237^0, t_23^0'=x_20^0, [ -ct_17^0==0 && -y_19^0==0 && head_14^0-x_16^0==0 && -x_SLAM_f_18^0+head_14^0==0 && -x_20^0+head_14^0==0 ], cost: 1
     22: l21 -> l22 : [], cost: 1
     23: l22 -> l23 : [], cost: 1
     24: l23 -> l24 : [], cost: 1
     25: l24 -> l0 : len_132^0'=1+a_215^0, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 ], cost: 1
     39: l25 -> l38 : head_32^0'=temp_35^0, i_30^0'=1+i_30^0, rcd_58^0'=rcd_58^post_40, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=length_29^0, temp_35^0'=temp_35^post_40, tmp_34^0'=temp_35^0, [ 1+i_30^0<=length_29^0 && 1-i_30^0==0 ], cost: 1
     65: l38 -> l63 : head_14^0'=head_32^0, head_27^0'=head_32^0, head_32^0'=head_32^post_66, head_SLAM_f_26^0'=head_32^0, i_167^0'=i_167^post_66, i_30^0'=a_147^0, length_29^0'=length_29^post_66, result_11^0'=result_11^post_66, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_66, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66, temp0_31^0'=temp0_31^post_66, temp_35^0'=temp_35^post_66, tmp_34^0'=tmp_34^post_66, [ 0<=i_30^0 && length_29^0<=i_30^0 && -len_132^0==0 ], cost: 1
     68: l38 -> l65 : head_32^0'=temp_35^0, i_30^0'=1+i_30^0, i_94^0'=i_30^0, rcd_88^0'=rcd_88^post_69, temp_35^0'=temp_35^post_69, tmp_34^0'=temp_35^0, [ 0<=i_30^0 && 1+i_30^0<=length_29^0 ], cost: 1
     40: l39 -> l40 : head_32^0'=0, i_30^0'=0, length_29^0'=nondet_12^1_1, nondet_12^0'=nondet_12^post_41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^1_1, [], cost: 1
     71: l40 -> l25 : head_32^0'=temp_35^0, i_30^0'=1+i_30^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=length_29^0, temp_35^0'=temp_35^post_72, tmp_34^0'=temp_35^0, [ 1+i_30^0<=length_29^0 && -i_30^0==0 ], cost: 1
     41: l41 -> l42 : ct_17^0'=0, head_27^0'=head_27^post_42, head_SLAM_f_26^0'=head_SLAM_f_26^post_42, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_42, x_16^0'=head_14^0, x_20^0'=head_14^0, x_SLAM_f_18^0'=head_14^0, y_19^0'=0, [ 0<=len_132^0 && 0<=a_147^0 && -head_27^0==0 ], cost: 1
     44: l41 -> l45 : f_170^0'=f_170^post_45, head_14^0'=head_14^post_45, head_175^0'=head_175^post_45, head_SLAM_f_26^0'=head_SLAM_f_26^post_45, r_39^0'=r_39^post_45, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_45, [ 0<=len_132^0 && 0<=a_147^0 ], cost: 1
     42: l42 -> l43 : [], cost: 1
     43: l43 -> l18 : [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 ], cost: 1
     45: l45 -> l46 : [], cost: 1
     46: l46 -> l47 : a_184^0'=-1+a_147^0, len_183^0'=1+len_132^0, [ head_14^0-head_SLAM_f_26^0==0 && head_27^0-f_170^0==0 ], cost: 1
     47: l47 -> l48 : [], cost: 1
     48: l48 -> l49 : [], cost: 1
     49: l49 -> l44 : a_147^0'=a_184^0, len_132^0'=len_183^0, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 ], cost: 1
     50: l44 -> l41 : [], cost: 1
     66: l63 -> l64 : [], cost: 1
     67: l64 -> l41 : [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0<=i_30^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0<=i_167^0 ], cost: 1
     69: l65 -> l38 : [], cost: 1
     72: l66 -> l39 : [], cost: 1

### Simplification by acceleration and chaining ###

Eliminated locations (on linear paths):
   Start location: l66
    100: l0 -> l0 : a_237^0'=-1+a_237^0, a_260^0'=-1+a_237^0, ct_17^0'=ct_17^post_2, head_14^0'=head_14^post_2, r_39^0'=r_39^post_2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_2, t_23^0'=x_20^0, x_16^0'=x_16^post_2, x_SLAM_f_18^0'=x_SLAM_f_18^post_2, [ 0<=a_237^0 && -ct_17^post_2==0 && -y_19^0==0 && head_14^post_2-x_16^post_2==0 && -x_SLAM_f_18^post_2+head_14^post_2==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_2 ], cost: 8
     77: l38 -> l38 : head_32^0'=temp_35^0, i_30^0'=1+i_30^0, i_94^0'=i_30^0, rcd_88^0'=rcd_88^post_69, temp_35^0'=temp_35^post_69, tmp_34^0'=temp_35^0, [ 0<=i_30^0 && 1+i_30^0<=length_29^0 ], cost: 2
     78: l38 -> l41 : head_14^0'=head_32^0, head_27^0'=head_32^0, head_32^0'=head_32^post_66, head_SLAM_f_26^0'=head_32^0, i_167^0'=i_167^post_66, i_30^0'=a_147^0, length_29^0'=length_29^post_66, result_11^0'=result_11^post_66, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_66, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66, temp0_31^0'=temp0_31^post_66, temp_35^0'=temp_35^post_66, tmp_34^0'=tmp_34^post_66, [ 0<=i_30^0 && length_29^0<=i_30^0 && -len_132^0==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66<=a_147^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66<=i_167^post_66 ], cost: 3
     90: l41 -> l41 : a_147^0'=-1+a_147^0, a_184^0'=-1+a_147^0, f_170^0'=f_170^post_45, head_14^0'=head_14^post_45, head_175^0'=head_175^post_45, head_SLAM_f_26^0'=head_SLAM_f_26^post_45, len_132^0'=1+len_132^0, len_183^0'=1+len_132^0, r_39^0'=r_39^post_45, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_45, [ 0<=len_132^0 && 0<=a_147^0 && head_14^post_45-head_SLAM_f_26^post_45==0 && head_27^0-f_170^post_45==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_45 ], cost: 7
     93: l41 -> l0 : a_215^0'=a_237^0, ct_17^0'=ct_17^post_20, head_14^0'=head_14^post_20, head_27^0'=head_27^post_42, head_SLAM_f_26^0'=head_SLAM_f_26^post_42, len_132^0'=1+a_237^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_20, t_23^0'=head_14^0, x_16^0'=x_16^post_20, x_20^0'=head_14^0, x_SLAM_f_18^0'=x_SLAM_f_18^post_20, y_19^0'=0, [ 0<=len_132^0 && 0<=a_147^0 && -head_27^0==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_42 && -ct_17^post_20==0 && head_14^post_20-x_16^post_20==0 && head_14^post_20-x_SLAM_f_18^post_20==0 && head_14^post_20-head_14^0==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_20 ], cost: 10
     75: l66 -> l38 : head_32^0'=temp_35^post_72, i_30^0'=2, length_29^0'=nondet_12^1_1, nondet_12^0'=nondet_12^post_41, rcd_58^0'=rcd_58^post_40, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post_72, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^1_1, temp_35^0'=temp_35^post_40, tmp_34^0'=temp_35^post_72, [ 2<=nondet_12^1_1 ], cost: 4

Accelerating simple loops of location 0.
   Simplified some of the simple loops (and removed duplicate rules).
   Accelerating the following rules:
    100: l0 -> l0 : a_237^0'=-1+a_237^0, a_260^0'=-1+a_237^0, ct_17^0'=0, head_14^0'=x_16^post_2, r_39^0'=r_39^post_2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_2, t_23^0'=x_20^0, x_16^0'=x_16^post_2, x_SLAM_f_18^0'=x_16^post_2, [ 0<=a_237^0 && -y_19^0==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_2 ], cost: 8

   Accelerated rule 100 with backward acceleration, yielding the new rule 101.
[accelerate] Nesting with 1 inner and 1 outer candidates
   Removing the simple loops: 100.

Accelerating simple loops of location 38.
   Accelerating the following rules:
     77: l38 -> l38 : head_32^0'=temp_35^0, i_30^0'=1+i_30^0, i_94^0'=i_30^0, rcd_88^0'=rcd_88^post_69, temp_35^0'=temp_35^post_69, tmp_34^0'=temp_35^0, [ 0<=i_30^0 && 1+i_30^0<=length_29^0 ], cost: 2

   Accelerated rule 77 with backward acceleration, yielding the new rule 102.
[accelerate] Nesting with 1 inner and 1 outer candidates
   Removing the simple loops: 77.

Accelerating simple loops of location 41.
   Simplified some of the simple loops (and removed duplicate rules).
   Accelerating the following rules:
     90: l41 -> l41 : a_147^0'=-1+a_147^0, a_184^0'=-1+a_147^0, f_170^0'=head_27^0, head_14^0'=head_SLAM_f_26^post_45, head_175^0'=head_175^post_45, head_SLAM_f_26^0'=head_SLAM_f_26^post_45, len_132^0'=1+len_132^0, len_183^0'=1+len_132^0, r_39^0'=r_39^post_45, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_45, [ 0<=len_132^0 && 0<=a_147^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_45 ], cost: 7

   Accelerated rule 90 with backward acceleration, yielding the new rule 103.
[accelerate] Nesting with 1 inner and 1 outer candidates
   Removing the simple loops: 90.

Accelerated all simple loops using metering functions (where possible):
   Start location: l66
    101: l0 -> l0 : a_237^0'=-1, a_260^0'=-1, ct_17^0'=0, head_14^0'=x_16^post_2, r_39^0'=r_39^post_2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_2, t_23^0'=x_20^0, x_16^0'=x_16^post_2, x_SLAM_f_18^0'=x_16^post_2, [ -y_19^0==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_2 && 1+a_237^0>=1 ], cost: 8+8*a_237^0
     78: l38 -> l41 : head_14^0'=head_32^0, head_27^0'=head_32^0, head_32^0'=head_32^post_66, head_SLAM_f_26^0'=head_32^0, i_167^0'=i_167^post_66, i_30^0'=a_147^0, length_29^0'=length_29^post_66, result_11^0'=result_11^post_66, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_66, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66, temp0_31^0'=temp0_31^post_66, temp_35^0'=temp_35^post_66, tmp_34^0'=tmp_34^post_66, [ 0<=i_30^0 && length_29^0<=i_30^0 && -len_132^0==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66<=a_147^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66<=i_167^post_66 ], cost: 3
    102: l38 -> l38 : head_32^0'=temp_35^post_69, i_30^0'=length_29^0, i_94^0'=-1+length_29^0, rcd_88^0'=rcd_88^post_69, temp_35^0'=temp_35^post_69, tmp_34^0'=temp_35^post_69, [ 0<=i_30^0 && -i_30^0+length_29^0>=1 ], cost: -2*i_30^0+2*length_29^0
     93: l41 -> l0 : a_215^0'=a_237^0, ct_17^0'=ct_17^post_20, head_14^0'=head_14^post_20, head_27^0'=head_27^post_42, head_SLAM_f_26^0'=head_SLAM_f_26^post_42, len_132^0'=1+a_237^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_20, t_23^0'=head_14^0, x_16^0'=x_16^post_20, x_20^0'=head_14^0, x_SLAM_f_18^0'=x_SLAM_f_18^post_20, y_19^0'=0, [ 0<=len_132^0 && 0<=a_147^0 && -head_27^0==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_42 && -ct_17^post_20==0 && head_14^post_20-x_16^post_20==0 && head_14^post_20-x_SLAM_f_18^post_20==0 && head_14^post_20-head_14^0==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_20 ], cost: 10
    103: l41 -> l41 : a_147^0'=-1, a_184^0'=-1, f_170^0'=head_27^0, head_14^0'=head_SLAM_f_26^post_45, head_175^0'=head_175^post_45, head_SLAM_f_26^0'=head_SLAM_f_26^post_45, len_132^0'=1+a_147^0+len_132^0, len_183^0'=1+a_147^0+len_132^0, r_39^0'=r_39^post_45, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_45, [ 0<=len_132^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_45 && 1+a_147^0>=1 ], cost: 7+7*a_147^0
     75: l66 -> l38 : head_32^0'=temp_35^post_72, i_30^0'=2, length_29^0'=nondet_12^1_1, nondet_12^0'=nondet_12^post_41, rcd_58^0'=rcd_58^post_40, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post_72, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^1_1, temp_35^0'=temp_35^post_40, tmp_34^0'=temp_35^post_72, [ 2<=nondet_12^1_1 ], cost: 4

Chained accelerated rules (with incoming rules):
   Start location: l66
     78: l38 -> l41 : head_14^0'=head_32^0, head_27^0'=head_32^0, head_32^0'=head_32^post_66, head_SLAM_f_26^0'=head_32^0, i_167^0'=i_167^post_66, i_30^0'=a_147^0, length_29^0'=length_29^post_66, result_11^0'=result_11^post_66, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_66, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66, temp0_31^0'=temp0_31^post_66, temp_35^0'=temp_35^post_66, tmp_34^0'=tmp_34^post_66, [ 0<=i_30^0 && length_29^0<=i_30^0 && -len_132^0==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66<=a_147^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66<=i_167^post_66 ], cost: 3
    106: l38 -> l41 : a_147^0'=-1, a_184^0'=-1, f_170^0'=head_32^0, head_14^0'=head_SLAM_f_26^post_45, head_175^0'=head_175^post_45, head_27^0'=head_32^0, head_32^0'=head_32^post_66, head_SLAM_f_26^0'=head_SLAM_f_26^post_45, i_167^0'=i_167^post_66, i_30^0'=a_147^0, len_132^0'=1+a_147^0+len_132^0, len_183^0'=1+a_147^0+len_132^0, length_29^0'=length_29^post_66, r_39^0'=r_39^post_45, result_11^0'=result_11^post_66, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_66, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_45, temp0_31^0'=temp0_31^post_66, temp_35^0'=temp_35^post_66, tmp_34^0'=tmp_34^post_66, [ 0<=i_30^0 && length_29^0<=i_30^0 && -len_132^0==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_45 && 2<=a_147^0 && 2<=i_167^post_66 ], cost: 10+7*a_147^0
     93: l41 -> l0 : a_215^0'=a_237^0, ct_17^0'=ct_17^post_20, head_14^0'=head_14^post_20, head_27^0'=head_27^post_42, head_SLAM_f_26^0'=head_SLAM_f_26^post_42, len_132^0'=1+a_237^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_20, t_23^0'=head_14^0, x_16^0'=x_16^post_20, x_20^0'=head_14^0, x_SLAM_f_18^0'=x_SLAM_f_18^post_20, y_19^0'=0, [ 0<=len_132^0 && 0<=a_147^0 && -head_27^0==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_42 && -ct_17^post_20==0 && head_14^post_20-x_16^post_20==0 && head_14^post_20-x_SLAM_f_18^post_20==0 && head_14^post_20-head_14^0==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_20 ], cost: 10
    104: l41 -> l0 : a_215^0'=a_237^0, a_237^0'=-1, a_260^0'=-1, ct_17^0'=0, head_14^0'=x_16^post_2, head_27^0'=head_27^post_42, head_SLAM_f_26^0'=head_SLAM_f_26^post_42, len_132^0'=1+a_237^0, r_39^0'=r_39^post_2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_2, t_23^0'=head_14^0, x_16^0'=x_16^post_2, x_20^0'=head_14^0, x_SLAM_f_18^0'=x_16^post_2, y_19^0'=0, [ 0<=len_132^0 && 0<=a_147^0 && -head_27^0==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_2 && 1+a_237^0>=1 ], cost: 18+8*a_237^0
     75: l66 -> l38 : head_32^0'=temp_35^post_72, i_30^0'=2, length_29^0'=nondet_12^1_1, nondet_12^0'=nondet_12^post_41, rcd_58^0'=rcd_58^post_40, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post_72, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^1_1, temp_35^0'=temp_35^post_40, tmp_34^0'=temp_35^post_72, [ 2<=nondet_12^1_1 ], cost: 4
    105: l66 -> l38 : head_32^0'=temp_35^post_69, i_30^0'=nondet_12^1_1, i_94^0'=-1+nondet_12^1_1, length_29^0'=nondet_12^1_1, nondet_12^0'=nondet_12^post_41, rcd_58^0'=rcd_58^post_40, rcd_88^0'=rcd_88^post_69, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post_72, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^1_1, temp_35^0'=temp_35^post_69, tmp_34^0'=temp_35^post_69, [ -2+nondet_12^1_1>=1 ], cost: 2*nondet_12^1_1

Removed unreachable locations (and leaf rules with constant cost):
   Start location: l66
     78: l38 -> l41 : head_14^0'=head_32^0, head_27^0'=head_32^0, head_32^0'=head_32^post_66, head_SLAM_f_26^0'=head_32^0, i_167^0'=i_167^post_66, i_30^0'=a_147^0, length_29^0'=length_29^post_66, result_11^0'=result_11^post_66, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_66, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66, temp0_31^0'=temp0_31^post_66, temp_35^0'=temp_35^post_66, tmp_34^0'=tmp_34^post_66, [ 0<=i_30^0 && length_29^0<=i_30^0 && -len_132^0==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66<=a_147^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66<=i_167^post_66 ], cost: 3
    106: l38 -> l41 : a_147^0'=-1, a_184^0'=-1, f_170^0'=head_32^0, head_14^0'=head_SLAM_f_26^post_45, head_175^0'=head_175^post_45, head_27^0'=head_32^0, head_32^0'=head_32^post_66, head_SLAM_f_26^0'=head_SLAM_f_26^post_45, i_167^0'=i_167^post_66, i_30^0'=a_147^0, len_132^0'=1+a_147^0+len_132^0, len_183^0'=1+a_147^0+len_132^0, length_29^0'=length_29^post_66, r_39^0'=r_39^post_45, result_11^0'=result_11^post_66, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_66, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_45, temp0_31^0'=temp0_31^post_66, temp_35^0'=temp_35^post_66, tmp_34^0'=tmp_34^post_66, [ 0<=i_30^0 && length_29^0<=i_30^0 && -len_132^0==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_45 && 2<=a_147^0 && 2<=i_167^post_66 ], cost: 10+7*a_147^0
    104: l41 -> l0 : a_215^0'=a_237^0, a_237^0'=-1, a_260^0'=-1, ct_17^0'=0, head_14^0'=x_16^post_2, head_27^0'=head_27^post_42, head_SLAM_f_26^0'=head_SLAM_f_26^post_42, len_132^0'=1+a_237^0, r_39^0'=r_39^post_2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_2, t_23^0'=head_14^0, x_16^0'=x_16^post_2, x_20^0'=head_14^0, x_SLAM_f_18^0'=x_16^post_2, y_19^0'=0, [ 0<=len_132^0 && 0<=a_147^0 && -head_27^0==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_2 && 1+a_237^0>=1 ], cost: 18+8*a_237^0
     75: l66 -> l38 : head_32^0'=temp_35^post_72, i_30^0'=2, length_29^0'=nondet_12^1_1, nondet_12^0'=nondet_12^post_41, rcd_58^0'=rcd_58^post_40, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post_72, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^1_1, temp_35^0'=temp_35^post_40, tmp_34^0'=temp_35^post_72, [ 2<=nondet_12^1_1 ], cost: 4
    105: l66 -> l38 : head_32^0'=temp_35^post_69, i_30^0'=nondet_12^1_1, i_94^0'=-1+nondet_12^1_1, length_29^0'=nondet_12^1_1, nondet_12^0'=nondet_12^post_41, rcd_58^0'=rcd_58^post_40, rcd_88^0'=rcd_88^post_69, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post_72, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^1_1, temp_35^0'=temp_35^post_69, tmp_34^0'=temp_35^post_69, [ -2+nondet_12^1_1>=1 ], cost: 2*nondet_12^1_1

Eliminated locations (on tree-shaped paths):
   Start location: l66
    104: l41 -> l0 : a_215^0'=a_237^0, a_237^0'=-1, a_260^0'=-1, ct_17^0'=0, head_14^0'=x_16^post_2, head_27^0'=head_27^post_42, head_SLAM_f_26^0'=head_SLAM_f_26^post_42, len_132^0'=1+a_237^0, r_39^0'=r_39^post_2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_2, t_23^0'=head_14^0, x_16^0'=x_16^post_2, x_20^0'=head_14^0, x_SLAM_f_18^0'=x_16^post_2, y_19^0'=0, [ 0<=len_132^0 && 0<=a_147^0 && -head_27^0==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_2 && 1+a_237^0>=1 ], cost: 18+8*a_237^0
    107: l66 -> l41 : head_14^0'=temp_35^post_72, head_27^0'=temp_35^post_72, head_32^0'=head_32^post_66, head_SLAM_f_26^0'=temp_35^post_72, i_167^0'=i_167^post_66, i_30^0'=a_147^0, length_29^0'=length_29^post_66, nondet_12^0'=nondet_12^post_41, rcd_58^0'=rcd_58^post_40, result_11^0'=result_11^post_66, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_66, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66, temp0_31^0'=temp0_31^post_66, temp_35^0'=temp_35^post_66, tmp_34^0'=tmp_34^post_66, [ 2<=nondet_12^1_1 && nondet_12^1_1<=2 && -len_132^0==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66<=a_147^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66<=i_167^post_66 ], cost: 7
    108: l66 -> l41 : a_147^0'=-1, a_184^0'=-1, f_170^0'=temp_35^post_72, head_14^0'=head_SLAM_f_26^post_45, head_175^0'=head_175^post_45, head_27^0'=temp_35^post_72, head_32^0'=head_32^post_66, head_SLAM_f_26^0'=head_SLAM_f_26^post_45, i_167^0'=i_167^post_66, i_30^0'=a_147^0, len_132^0'=1+a_147^0+len_132^0, len_183^0'=1+a_147^0+len_132^0, length_29^0'=length_29^post_66, nondet_12^0'=nondet_12^post_41, r_39^0'=r_39^post_45, rcd_58^0'=rcd_58^post_40, result_11^0'=result_11^post_66, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_66, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_45, temp0_31^0'=temp0_31^post_66, temp_35^0'=temp_35^post_66, tmp_34^0'=tmp_34^post_66, [ 2<=nondet_12^1_1 && nondet_12^1_1<=2 && -len_132^0==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_45 && 2<=a_147^0 && 2<=i_167^post_66 ], cost: 14+7*a_147^0
    109: l66 -> l41 : head_14^0'=temp_35^post_69, head_27^0'=temp_35^post_69, head_32^0'=head_32^post_66, head_SLAM_f_26^0'=temp_35^post_69, i_167^0'=i_167^post_66, i_30^0'=a_147^0, i_94^0'=-1+nondet_12^1_1, length_29^0'=length_29^post_66, nondet_12^0'=nondet_12^post_41, rcd_58^0'=rcd_58^post_40, rcd_88^0'=rcd_88^post_69, result_11^0'=result_11^post_66, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_66, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66, temp0_31^0'=temp0_31^post_66, temp_35^0'=temp_35^post_66, tmp_34^0'=tmp_34^post_66, [ -2+nondet_12^1_1>=1 && -len_132^0==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66<=a_147^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66<=i_167^post_66 ], cost: 3+2*nondet_12^1_1
    110: l66 -> l41 : a_147^0'=-1, a_184^0'=-1, f_170^0'=temp_35^post_69, head_14^0'=head_SLAM_f_26^post_45, head_175^0'=head_175^post_45, head_27^0'=temp_35^post_69, head_32^0'=head_32^post_66, head_SLAM_f_26^0'=head_SLAM_f_26^post_45, i_167^0'=i_167^post_66, i_30^0'=a_147^0, i_94^0'=-1+nondet_12^1_1, len_132^0'=1+a_147^0+len_132^0, len_183^0'=1+a_147^0+len_132^0, length_29^0'=length_29^post_66, nondet_12^0'=nondet_12^post_41, r_39^0'=r_39^post_45, rcd_58^0'=rcd_58^post_40, rcd_88^0'=rcd_88^post_69, result_11^0'=result_11^post_66, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_66, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_45, temp0_31^0'=temp0_31^post_66, temp_35^0'=temp_35^post_66, tmp_34^0'=tmp_34^post_66, [ -2+nondet_12^1_1>=1 && -len_132^0==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_45 && 2<=a_147^0 && 2<=i_167^post_66 ], cost: 10+7*a_147^0+2*nondet_12^1_1

Eliminated locations (on tree-shaped paths):
   Start location: l66
    111: l66 -> l0 : a_215^0'=a_237^0, a_237^0'=-1, a_260^0'=-1, ct_17^0'=0, head_14^0'=x_16^post_2, head_27^0'=head_27^post_42, head_32^0'=head_32^post_66, head_SLAM_f_26^0'=head_SLAM_f_26^post_42, i_167^0'=i_167^post_66, i_30^0'=a_147^0, len_132^0'=1+a_237^0, length_29^0'=length_29^post_66, nondet_12^0'=nondet_12^post_41, r_39^0'=r_39^post_2, rcd_58^0'=rcd_58^post_40, result_11^0'=result_11^post_66, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_66, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_2, t_23^0'=temp_35^post_72, temp0_31^0'=temp0_31^post_66, temp_35^0'=temp_35^post_66, tmp_34^0'=tmp_34^post_66, x_16^0'=x_16^post_2, x_20^0'=temp_35^post_72, x_SLAM_f_18^0'=x_16^post_2, y_19^0'=0, [ 2<=nondet_12^1_1 && nondet_12^1_1<=2 && -len_132^0==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66<=a_147^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66<=i_167^post_66 && 0<=a_147^0 && -temp_35^post_72==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_2 && 1+a_237^0>=1 ], cost: 25+8*a_237^0
    112: l66 -> l0 : a_215^0'=a_237^0, a_237^0'=-1, a_260^0'=-1, ct_17^0'=0, head_14^0'=x_16^post_2, head_27^0'=head_27^post_42, head_32^0'=head_32^post_66, head_SLAM_f_26^0'=head_SLAM_f_26^post_42, i_167^0'=i_167^post_66, i_30^0'=a_147^0, i_94^0'=-1+nondet_12^1_1, len_132^0'=1+a_237^0, length_29^0'=length_29^post_66, nondet_12^0'=nondet_12^post_41, r_39^0'=r_39^post_2, rcd_58^0'=rcd_58^post_40, rcd_88^0'=rcd_88^post_69, result_11^0'=result_11^post_66, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_66, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_2, t_23^0'=temp_35^post_69, temp0_31^0'=temp0_31^post_66, temp_35^0'=temp_35^post_66, tmp_34^0'=tmp_34^post_66, x_16^0'=x_16^post_2, x_20^0'=temp_35^post_69, x_SLAM_f_18^0'=x_16^post_2, y_19^0'=0, [ -2+nondet_12^1_1>=1 && -len_132^0==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66<=a_147^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66<=i_167^post_66 && 0<=a_147^0 && -temp_35^post_69==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_2 && 1+a_237^0>=1 ], cost: 21+2*nondet_12^1_1+8*a_237^0
    113: l66 -> [70] : [ 2<=nondet_12^1_1 && nondet_12^1_1<=2 && -len_132^0==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_45 && 2<=a_147^0 && 2<=i_167^post_66 ], cost: 14+7*a_147^0
    114: l66 -> [70] : [ -2+nondet_12^1_1>=1 && -len_132^0==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_45 && 2<=a_147^0 && 2<=i_167^post_66 ], cost: 10+7*a_147^0+2*nondet_12^1_1

### Computing asymptotic complexity ###

Fully simplified ITS problem
   Start location: l66
    111: l66 -> l0 : a_215^0'=a_237^0, a_237^0'=-1, a_260^0'=-1, ct_17^0'=0, head_14^0'=x_16^post_2, head_27^0'=head_27^post_42, head_32^0'=head_32^post_66, head_SLAM_f_26^0'=head_SLAM_f_26^post_42, i_167^0'=i_167^post_66, i_30^0'=a_147^0, len_132^0'=1+a_237^0, length_29^0'=length_29^post_66, nondet_12^0'=nondet_12^post_41, r_39^0'=r_39^post_2, rcd_58^0'=rcd_58^post_40, result_11^0'=result_11^post_66, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_66, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_2, t_23^0'=temp_35^post_72, temp0_31^0'=temp0_31^post_66, temp_35^0'=temp_35^post_66, tmp_34^0'=tmp_34^post_66, x_16^0'=x_16^post_2, x_20^0'=temp_35^post_72, x_SLAM_f_18^0'=x_16^post_2, y_19^0'=0, [ 2<=nondet_12^1_1 && nondet_12^1_1<=2 && -len_132^0==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66<=a_147^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66<=i_167^post_66 && 0<=a_147^0 && -temp_35^post_72==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_2 && 1+a_237^0>=1 ], cost: 25+8*a_237^0
    112: l66 -> l0 : a_215^0'=a_237^0, a_237^0'=-1, a_260^0'=-1, ct_17^0'=0, head_14^0'=x_16^post_2, head_27^0'=head_27^post_42, head_32^0'=head_32^post_66, head_SLAM_f_26^0'=head_SLAM_f_26^post_42, i_167^0'=i_167^post_66, i_30^0'=a_147^0, i_94^0'=-1+nondet_12^1_1, len_132^0'=1+a_237^0, length_29^0'=length_29^post_66, nondet_12^0'=nondet_12^post_41, r_39^0'=r_39^post_2, rcd_58^0'=rcd_58^post_40, rcd_88^0'=rcd_88^post_69, result_11^0'=result_11^post_66, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_66, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_2, t_23^0'=temp_35^post_69, temp0_31^0'=temp0_31^post_66, temp_35^0'=temp_35^post_66, tmp_34^0'=tmp_34^post_66, x_16^0'=x_16^post_2, x_20^0'=temp_35^post_69, x_SLAM_f_18^0'=x_16^post_2, y_19^0'=0, [ -2+nondet_12^1_1>=1 && -len_132^0==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66<=a_147^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66<=i_167^post_66 && 0<=a_147^0 && -temp_35^post_69==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_2 && 1+a_237^0>=1 ], cost: 21+2*nondet_12^1_1+8*a_237^0
    113: l66 -> [70] : [ 2<=nondet_12^1_1 && nondet_12^1_1<=2 && -len_132^0==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_45 && 2<=a_147^0 && 2<=i_167^post_66 ], cost: 14+7*a_147^0
    114: l66 -> [70] : [ -2+nondet_12^1_1>=1 && -len_132^0==0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_45 && 2<=a_147^0 && 2<=i_167^post_66 ], cost: 10+7*a_147^0+2*nondet_12^1_1

Computing asymptotic complexity for rule 114
   Resulting cost 0 has complexity: Unknown

Computing asymptotic complexity for rule 112
   Resulting cost 0 has complexity: Unknown

Computing asymptotic complexity for rule 113
   Resulting cost 0 has complexity: Unknown

Computing asymptotic complexity for rule 111
   Resulting cost 0 has complexity: Unknown

Obtained the following overall complexity (w.r.t. the length of the input n):
   Complexity:  Constant
   Cpx degree:  0
   Solved cost: 1
   Rule cost:   1
   Rule guard:  [ __disjvr_0^0==__disjvr_0^post_73 && __disjvr_1^0==__disjvr_1^post_73 && __disjvr_10^0==__disjvr_10^post_73 && __disjvr_11^0==__disjvr_11^post_73 && __disjvr_12^0==__disjvr_12^post_73 && __disjvr_13^0==__disjvr_13^post_73 && __disjvr_14^0==__disjvr_14^post_73 && __disjvr_15^0==__disjvr_15^post_73 && __disjvr_16^0==__disjvr_16^post_73 && __disjvr_17^0==__disjvr_17^post_73 && __disjvr_18^0==__disjvr_18^post_73 && __disjvr_19^0==__disjvr_19^post_73 && __disjvr_2^0==__disjvr_2^post_73 && __disjvr_20^0==__disjvr_20^post_73 && __disjvr_21^0==__disjvr_21^post_73 && __disjvr_22^0==__disjvr_22^post_73 && __disjvr_23^0==__disjvr_23^post_73 && __disjvr_24^0==__disjvr_24^post_73 && __disjvr_25^0==__disjvr_25^post_73 && __disjvr_26^0==__disjvr_26^post_73 && __disjvr_27^0==__disjvr_27^post_73 && __disjvr_28^0==__disjvr_28^post_73 && __disjvr_29^0==__disjvr_29^post_73 && __disjvr_3^0==__disjvr_3^post_73 && __disjvr_30^0==__disjvr_30^post_73 && __disjvr_4^0==__disjvr_4^post_73 && __disjvr_5^0==__disjvr_5^post_73 && __disjvr_6^0==__disjvr_6^post_73 && __disjvr_7^0==__disjvr_7^post_73 && __disjvr_8^0==__disjvr_8^post_73 && __disjvr_9^0==__disjvr_9^post_73 && a_116^0==a_116^post_73 && a_147^0==a_147^post_73 && a_184^0==a_184^post_73 && a_215^0==a_215^post_73 && a_237^0==a_237^post_73 && a_260^0==a_260^post_73 && ct_17^0==ct_17^post_73 && f_170^0==f_170^post_73 && head_129^0==head_129^post_73 && head_14^0==head_14^post_73 && head_175^0==head_175^post_73 && head_27^0==head_27^post_73 && head_32^0==head_32^post_73 && head_SLAM_f_26^0==head_SLAM_f_26^post_73 && i_108^0==i_108^post_73 && i_167^0==i_167^post_73 && i_30^0==i_30^post_73 && i_94^0==i_94^post_73 && len_132^0==len_132^post_73 && len_183^0==len_183^post_73 && length_29^0==length_29^post_73 && nondet_12^0==nondet_12^post_73 && r_124^0==r_124^post_73 && r_163^0==r_163^post_73 && r_39^0==r_39^post_73 && rcd_58^0==rcd_58^post_73 && rcd_88^0==rcd_88^post_73 && result_11^0==result_11^post_73 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_73 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_73 && t_23^0==t_23^post_73 && temp0_15^0==temp0_15^post_73 && temp0_31^0==temp0_31^post_73 && temp_35^0==temp_35^post_73 && tmp_34^0==tmp_34^post_73 && x_16^0==x_16^post_73 && x_20^0==x_20^post_73 && x_SLAM_f_18^0==x_SLAM_f_18^post_73 && y_19^0==y_19^post_73 ]

WORST_CASE(Omega(1),?)