WORST_CASE(Omega(1),?)

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

Initial linear ITS problem
   Start location: l31
      0: l0 -> l2 : a_130^0'=a_130^post_1, a_152^0'=a_152^post_1, a_175^0'=a_175^post_1, a_28^0'=a_28^post_1, ct_18^0'=ct_18^post_1, d_29^0'=d_29^post_1, i_111^0'=i_111^post_1, i_13^0'=i_13^post_1, len_14^0'=len_14^post_1, r_37^0'=r_37^post_1, rcd_100^0'=rcd_100^post_1, rcd_63^0'=rcd_63^post_1, result_11^0'=result_11^post_1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_1, t_24^0'=t_24^post_1, temp0_16^0'=temp0_16^post_1, temp0_31^0'=temp0_31^post_1, temp_33^0'=temp_33^post_1, tmp_27^0'=tmp_27^post_1, x_15^0'=x_15^post_1, x_17^0'=x_17^post_1, x_21^0'=x_21^post_1, x_32^0'=x_32^post_1, x_SLAM_f_19^0'=x_SLAM_f_19^post_1, y_20^0'=y_20^post_1, [ 0<=a_130^0 && i_13^post_1==i_13^post_1 && len_14^post_1==len_14^post_1 && x_15^post_1==x_15^post_1 && y_20^0<=x_21^0 && x_21^0<=y_20^0 && x_SLAM_f_19^1_1==x_SLAM_f_19^1_1 && y_20^1_1==y_20^1_1 && x_21^1_1==x_21^1_1 && t_24^1_1==t_24^1_1 && ct_18^1_1==ct_18^1_1 && x_17^post_1==x_17^post_1 && ct_18^post_1==ct_18^post_1 && x_SLAM_f_19^post_1==x_SLAM_f_19^post_1 && y_20^post_1==y_20^post_1 && x_21^post_1==x_21^post_1 && t_24^post_1==t_24^post_1 && result_11^post_1==temp0_16^0 && a_130^0==a_130^post_1 && a_152^0==a_152^post_1 && a_175^0==a_175^post_1 && a_28^0==a_28^post_1 && d_29^0==d_29^post_1 && i_111^0==i_111^post_1 && r_37^0==r_37^post_1 && rcd_100^0==rcd_100^post_1 && rcd_63^0==rcd_63^post_1 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_1 && temp0_16^0==temp0_16^post_1 && temp0_31^0==temp0_31^post_1 && temp_33^0==temp_33^post_1 && tmp_27^0==tmp_27^post_1 && x_32^0==x_32^post_1 ], cost: 1
      4: l0 -> l5 : a_130^0'=a_130^post_5, a_152^0'=a_152^post_5, a_175^0'=a_175^post_5, a_28^0'=a_28^post_5, ct_18^0'=ct_18^post_5, d_29^0'=d_29^post_5, i_111^0'=i_111^post_5, i_13^0'=i_13^post_5, len_14^0'=len_14^post_5, r_37^0'=r_37^post_5, rcd_100^0'=rcd_100^post_5, rcd_63^0'=rcd_63^post_5, result_11^0'=result_11^post_5, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_5, t_24^0'=t_24^post_5, temp0_16^0'=temp0_16^post_5, temp0_31^0'=temp0_31^post_5, temp_33^0'=temp_33^post_5, tmp_27^0'=tmp_27^post_5, x_15^0'=x_15^post_5, x_17^0'=x_17^post_5, x_21^0'=x_21^post_5, x_32^0'=x_32^post_5, x_SLAM_f_19^0'=x_SLAM_f_19^post_5, y_20^0'=y_20^post_5, [ 0<=a_130^0 && i_13^post_5==i_13^post_5 && len_14^post_5==len_14^post_5 && x_15^post_5==x_15^post_5 && x_17^post_5==x_17^post_5 && ct_18^post_5==ct_18^post_5 && x_SLAM_f_19^post_5==x_SLAM_f_19^post_5 && tmp_27^post_5==tmp_27^post_5 && a_130^0==a_130^post_5 && a_152^0==a_152^post_5 && a_175^0==a_175^post_5 && a_28^0==a_28^post_5 && d_29^0==d_29^post_5 && i_111^0==i_111^post_5 && r_37^0==r_37^post_5 && rcd_100^0==rcd_100^post_5 && rcd_63^0==rcd_63^post_5 && result_11^0==result_11^post_5 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_5 && t_24^0==t_24^post_5 && temp0_16^0==temp0_16^post_5 && temp0_31^0==temp0_31^post_5 && temp_33^0==temp_33^post_5 && x_21^0==x_21^post_5 && x_32^0==x_32^post_5 && y_20^0==y_20^post_5 ], cost: 1
      1: l2 -> l3 : a_130^0'=a_130^post_2, a_152^0'=a_152^post_2, a_175^0'=a_175^post_2, a_28^0'=a_28^post_2, ct_18^0'=ct_18^post_2, d_29^0'=d_29^post_2, i_111^0'=i_111^post_2, i_13^0'=i_13^post_2, len_14^0'=len_14^post_2, r_37^0'=r_37^post_2, rcd_100^0'=rcd_100^post_2, rcd_63^0'=rcd_63^post_2, result_11^0'=result_11^post_2, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_2, t_24^0'=t_24^post_2, temp0_16^0'=temp0_16^post_2, temp0_31^0'=temp0_31^post_2, temp_33^0'=temp_33^post_2, tmp_27^0'=tmp_27^post_2, x_15^0'=x_15^post_2, x_17^0'=x_17^post_2, x_21^0'=x_21^post_2, x_32^0'=x_32^post_2, x_SLAM_f_19^0'=x_SLAM_f_19^post_2, y_20^0'=y_20^post_2, [ 1<=x_15^0 && a_130^0==a_130^post_2 && a_152^0==a_152^post_2 && a_175^0==a_175^post_2 && a_28^0==a_28^post_2 && ct_18^0==ct_18^post_2 && d_29^0==d_29^post_2 && i_111^0==i_111^post_2 && i_13^0==i_13^post_2 && len_14^0==len_14^post_2 && r_37^0==r_37^post_2 && rcd_100^0==rcd_100^post_2 && rcd_63^0==rcd_63^post_2 && result_11^0==result_11^post_2 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_2 && t_24^0==t_24^post_2 && temp0_16^0==temp0_16^post_2 && temp0_31^0==temp0_31^post_2 && temp_33^0==temp_33^post_2 && tmp_27^0==tmp_27^post_2 && x_15^0==x_15^post_2 && x_17^0==x_17^post_2 && x_21^0==x_21^post_2 && x_32^0==x_32^post_2 && x_SLAM_f_19^0==x_SLAM_f_19^post_2 && y_20^0==y_20^post_2 ], cost: 1
      2: l2 -> l3 : a_130^0'=a_130^post_3, a_152^0'=a_152^post_3, a_175^0'=a_175^post_3, a_28^0'=a_28^post_3, ct_18^0'=ct_18^post_3, d_29^0'=d_29^post_3, i_111^0'=i_111^post_3, i_13^0'=i_13^post_3, len_14^0'=len_14^post_3, r_37^0'=r_37^post_3, rcd_100^0'=rcd_100^post_3, rcd_63^0'=rcd_63^post_3, result_11^0'=result_11^post_3, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_3, t_24^0'=t_24^post_3, temp0_16^0'=temp0_16^post_3, temp0_31^0'=temp0_31^post_3, temp_33^0'=temp_33^post_3, tmp_27^0'=tmp_27^post_3, x_15^0'=x_15^post_3, x_17^0'=x_17^post_3, x_21^0'=x_21^post_3, x_32^0'=x_32^post_3, x_SLAM_f_19^0'=x_SLAM_f_19^post_3, y_20^0'=y_20^post_3, [ 1+x_15^0<=0 && a_130^0==a_130^post_3 && a_152^0==a_152^post_3 && a_175^0==a_175^post_3 && a_28^0==a_28^post_3 && ct_18^0==ct_18^post_3 && d_29^0==d_29^post_3 && i_111^0==i_111^post_3 && i_13^0==i_13^post_3 && len_14^0==len_14^post_3 && r_37^0==r_37^post_3 && rcd_100^0==rcd_100^post_3 && rcd_63^0==rcd_63^post_3 && result_11^0==result_11^post_3 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_3 && t_24^0==t_24^post_3 && temp0_16^0==temp0_16^post_3 && temp0_31^0==temp0_31^post_3 && temp_33^0==temp_33^post_3 && tmp_27^0==tmp_27^post_3 && x_15^0==x_15^post_3 && x_17^0==x_17^post_3 && x_21^0==x_21^post_3 && x_32^0==x_32^post_3 && x_SLAM_f_19^0==x_SLAM_f_19^post_3 && y_20^0==y_20^post_3 ], cost: 1
      3: l3 -> l1 : a_130^0'=a_130^post_4, a_152^0'=a_152^post_4, a_175^0'=a_175^post_4, a_28^0'=a_28^post_4, ct_18^0'=ct_18^post_4, d_29^0'=d_29^post_4, i_111^0'=i_111^post_4, i_13^0'=i_13^post_4, len_14^0'=len_14^post_4, r_37^0'=r_37^post_4, rcd_100^0'=rcd_100^post_4, rcd_63^0'=rcd_63^post_4, result_11^0'=result_11^post_4, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_4, t_24^0'=t_24^post_4, temp0_16^0'=temp0_16^post_4, temp0_31^0'=temp0_31^post_4, temp_33^0'=temp_33^post_4, tmp_27^0'=tmp_27^post_4, x_15^0'=x_15^post_4, x_17^0'=x_17^post_4, x_21^0'=x_21^post_4, x_32^0'=x_32^post_4, x_SLAM_f_19^0'=x_SLAM_f_19^post_4, y_20^0'=y_20^post_4, [ 1<=len_14^0 && 2<=len_14^0 && len_14^0<=i_13^0 && a_130^0==a_130^post_4 && a_152^0==a_152^post_4 && a_175^0==a_175^post_4 && a_28^0==a_28^post_4 && ct_18^0==ct_18^post_4 && d_29^0==d_29^post_4 && i_111^0==i_111^post_4 && i_13^0==i_13^post_4 && len_14^0==len_14^post_4 && r_37^0==r_37^post_4 && rcd_100^0==rcd_100^post_4 && rcd_63^0==rcd_63^post_4 && result_11^0==result_11^post_4 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_4 && t_24^0==t_24^post_4 && temp0_16^0==temp0_16^post_4 && temp0_31^0==temp0_31^post_4 && temp_33^0==temp_33^post_4 && tmp_27^0==tmp_27^post_4 && x_15^0==x_15^post_4 && x_17^0==x_17^post_4 && x_21^0==x_21^post_4 && x_32^0==x_32^post_4 && x_SLAM_f_19^0==x_SLAM_f_19^post_4 && y_20^0==y_20^post_4 ], cost: 1
      5: l5 -> l6 : a_130^0'=a_130^post_6, a_152^0'=a_152^post_6, a_175^0'=a_175^post_6, a_28^0'=a_28^post_6, ct_18^0'=ct_18^post_6, d_29^0'=d_29^post_6, i_111^0'=i_111^post_6, i_13^0'=i_13^post_6, len_14^0'=len_14^post_6, r_37^0'=r_37^post_6, rcd_100^0'=rcd_100^post_6, rcd_63^0'=rcd_63^post_6, result_11^0'=result_11^post_6, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_6, t_24^0'=t_24^post_6, temp0_16^0'=temp0_16^post_6, temp0_31^0'=temp0_31^post_6, temp_33^0'=temp_33^post_6, tmp_27^0'=tmp_27^post_6, x_15^0'=x_15^post_6, x_17^0'=x_17^post_6, x_21^0'=x_21^post_6, x_32^0'=x_32^post_6, x_SLAM_f_19^0'=x_SLAM_f_19^post_6, y_20^0'=y_20^post_6, [ 1+y_20^0<=x_21^0 && a_130^0==a_130^post_6 && a_152^0==a_152^post_6 && a_175^0==a_175^post_6 && a_28^0==a_28^post_6 && ct_18^0==ct_18^post_6 && d_29^0==d_29^post_6 && i_111^0==i_111^post_6 && i_13^0==i_13^post_6 && len_14^0==len_14^post_6 && r_37^0==r_37^post_6 && rcd_100^0==rcd_100^post_6 && rcd_63^0==rcd_63^post_6 && result_11^0==result_11^post_6 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_6 && t_24^0==t_24^post_6 && temp0_16^0==temp0_16^post_6 && temp0_31^0==temp0_31^post_6 && temp_33^0==temp_33^post_6 && tmp_27^0==tmp_27^post_6 && x_15^0==x_15^post_6 && x_17^0==x_17^post_6 && x_21^0==x_21^post_6 && x_32^0==x_32^post_6 && x_SLAM_f_19^0==x_SLAM_f_19^post_6 && y_20^0==y_20^post_6 ], cost: 1
      6: l5 -> l6 : a_130^0'=a_130^post_7, a_152^0'=a_152^post_7, a_175^0'=a_175^post_7, a_28^0'=a_28^post_7, ct_18^0'=ct_18^post_7, d_29^0'=d_29^post_7, i_111^0'=i_111^post_7, i_13^0'=i_13^post_7, len_14^0'=len_14^post_7, r_37^0'=r_37^post_7, rcd_100^0'=rcd_100^post_7, rcd_63^0'=rcd_63^post_7, result_11^0'=result_11^post_7, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_7, t_24^0'=t_24^post_7, temp0_16^0'=temp0_16^post_7, temp0_31^0'=temp0_31^post_7, temp_33^0'=temp_33^post_7, tmp_27^0'=tmp_27^post_7, x_15^0'=x_15^post_7, x_17^0'=x_17^post_7, x_21^0'=x_21^post_7, x_32^0'=x_32^post_7, x_SLAM_f_19^0'=x_SLAM_f_19^post_7, y_20^0'=y_20^post_7, [ 1+x_21^0<=y_20^0 && a_130^0==a_130^post_7 && a_152^0==a_152^post_7 && a_175^0==a_175^post_7 && a_28^0==a_28^post_7 && ct_18^0==ct_18^post_7 && d_29^0==d_29^post_7 && i_111^0==i_111^post_7 && i_13^0==i_13^post_7 && len_14^0==len_14^post_7 && r_37^0==r_37^post_7 && rcd_100^0==rcd_100^post_7 && rcd_63^0==rcd_63^post_7 && result_11^0==result_11^post_7 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_7 && t_24^0==t_24^post_7 && temp0_16^0==temp0_16^post_7 && temp0_31^0==temp0_31^post_7 && temp_33^0==temp_33^post_7 && tmp_27^0==tmp_27^post_7 && x_15^0==x_15^post_7 && x_17^0==x_17^post_7 && x_21^0==x_21^post_7 && x_32^0==x_32^post_7 && x_SLAM_f_19^0==x_SLAM_f_19^post_7 && y_20^0==y_20^post_7 ], cost: 1
      7: l6 -> l7 : a_130^0'=a_130^post_8, a_152^0'=a_152^post_8, a_175^0'=a_175^post_8, a_28^0'=a_28^post_8, ct_18^0'=ct_18^post_8, d_29^0'=d_29^post_8, i_111^0'=i_111^post_8, i_13^0'=i_13^post_8, len_14^0'=len_14^post_8, r_37^0'=r_37^post_8, rcd_100^0'=rcd_100^post_8, rcd_63^0'=rcd_63^post_8, result_11^0'=result_11^post_8, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_8, t_24^0'=t_24^post_8, temp0_16^0'=temp0_16^post_8, temp0_31^0'=temp0_31^post_8, temp_33^0'=temp_33^post_8, tmp_27^0'=tmp_27^post_8, x_15^0'=x_15^post_8, x_17^0'=x_17^post_8, x_21^0'=x_21^post_8, x_32^0'=x_32^post_8, x_SLAM_f_19^0'=x_SLAM_f_19^post_8, y_20^0'=y_20^post_8, [ t_24^post_8==x_21^0 && 0<=ct_18^0 && ct_18^0<=0 && 0<=y_20^0 && y_20^0<=0 && x_15^0<=x_17^0 && x_17^0<=x_15^0 && x_15^0<=x_SLAM_f_19^0 && x_SLAM_f_19^0<=x_15^0 && x_15^0<=tmp_27^0 && tmp_27^0<=x_15^0 && x_17^0<=x_SLAM_f_19^0 && x_SLAM_f_19^0<=x_17^0 && ct_18^0<=y_20^0 && y_20^0<=ct_18^0 && a_130^0==a_130^post_8 && a_152^0==a_152^post_8 && a_175^0==a_175^post_8 && a_28^0==a_28^post_8 && ct_18^0==ct_18^post_8 && d_29^0==d_29^post_8 && i_111^0==i_111^post_8 && i_13^0==i_13^post_8 && len_14^0==len_14^post_8 && r_37^0==r_37^post_8 && rcd_100^0==rcd_100^post_8 && rcd_63^0==rcd_63^post_8 && result_11^0==result_11^post_8 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_8 && temp0_16^0==temp0_16^post_8 && temp0_31^0==temp0_31^post_8 && temp_33^0==temp_33^post_8 && tmp_27^0==tmp_27^post_8 && x_15^0==x_15^post_8 && x_17^0==x_17^post_8 && x_21^0==x_21^post_8 && x_32^0==x_32^post_8 && x_SLAM_f_19^0==x_SLAM_f_19^post_8 && y_20^0==y_20^post_8 ], cost: 1
      8: l7 -> l8 : a_130^0'=a_130^post_9, a_152^0'=a_152^post_9, a_175^0'=a_175^post_9, a_28^0'=a_28^post_9, ct_18^0'=ct_18^post_9, d_29^0'=d_29^post_9, i_111^0'=i_111^post_9, i_13^0'=i_13^post_9, len_14^0'=len_14^post_9, r_37^0'=r_37^post_9, rcd_100^0'=rcd_100^post_9, rcd_63^0'=rcd_63^post_9, result_11^0'=result_11^post_9, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_9, t_24^0'=t_24^post_9, temp0_16^0'=temp0_16^post_9, temp0_31^0'=temp0_31^post_9, temp_33^0'=temp_33^post_9, tmp_27^0'=tmp_27^post_9, x_15^0'=x_15^post_9, x_17^0'=x_17^post_9, x_21^0'=x_21^post_9, x_32^0'=x_32^post_9, x_SLAM_f_19^0'=x_SLAM_f_19^post_9, y_20^0'=y_20^post_9, [ 1+x_15^0<=y_20^0 && a_130^0==a_130^post_9 && a_152^0==a_152^post_9 && a_175^0==a_175^post_9 && a_28^0==a_28^post_9 && ct_18^0==ct_18^post_9 && d_29^0==d_29^post_9 && i_111^0==i_111^post_9 && i_13^0==i_13^post_9 && len_14^0==len_14^post_9 && r_37^0==r_37^post_9 && rcd_100^0==rcd_100^post_9 && rcd_63^0==rcd_63^post_9 && result_11^0==result_11^post_9 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_9 && t_24^0==t_24^post_9 && temp0_16^0==temp0_16^post_9 && temp0_31^0==temp0_31^post_9 && temp_33^0==temp_33^post_9 && tmp_27^0==tmp_27^post_9 && x_15^0==x_15^post_9 && x_17^0==x_17^post_9 && x_21^0==x_21^post_9 && x_32^0==x_32^post_9 && x_SLAM_f_19^0==x_SLAM_f_19^post_9 && y_20^0==y_20^post_9 ], cost: 1
      9: l7 -> l8 : a_130^0'=a_130^post_10, a_152^0'=a_152^post_10, a_175^0'=a_175^post_10, a_28^0'=a_28^post_10, ct_18^0'=ct_18^post_10, d_29^0'=d_29^post_10, i_111^0'=i_111^post_10, i_13^0'=i_13^post_10, len_14^0'=len_14^post_10, r_37^0'=r_37^post_10, rcd_100^0'=rcd_100^post_10, rcd_63^0'=rcd_63^post_10, result_11^0'=result_11^post_10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_10, t_24^0'=t_24^post_10, temp0_16^0'=temp0_16^post_10, temp0_31^0'=temp0_31^post_10, temp_33^0'=temp_33^post_10, tmp_27^0'=tmp_27^post_10, x_15^0'=x_15^post_10, x_17^0'=x_17^post_10, x_21^0'=x_21^post_10, x_32^0'=x_32^post_10, x_SLAM_f_19^0'=x_SLAM_f_19^post_10, y_20^0'=y_20^post_10, [ 1+y_20^0<=x_15^0 && a_130^0==a_130^post_10 && a_152^0==a_152^post_10 && a_175^0==a_175^post_10 && a_28^0==a_28^post_10 && ct_18^0==ct_18^post_10 && d_29^0==d_29^post_10 && i_111^0==i_111^post_10 && i_13^0==i_13^post_10 && len_14^0==len_14^post_10 && r_37^0==r_37^post_10 && rcd_100^0==rcd_100^post_10 && rcd_63^0==rcd_63^post_10 && result_11^0==result_11^post_10 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_10 && t_24^0==t_24^post_10 && temp0_16^0==temp0_16^post_10 && temp0_31^0==temp0_31^post_10 && temp_33^0==temp_33^post_10 && tmp_27^0==tmp_27^post_10 && x_15^0==x_15^post_10 && x_17^0==x_17^post_10 && x_21^0==x_21^post_10 && x_32^0==x_32^post_10 && x_SLAM_f_19^0==x_SLAM_f_19^post_10 && y_20^0==y_20^post_10 ], cost: 1
     10: l8 -> l9 : a_130^0'=a_130^post_11, a_152^0'=a_152^post_11, a_175^0'=a_175^post_11, a_28^0'=a_28^post_11, ct_18^0'=ct_18^post_11, d_29^0'=d_29^post_11, i_111^0'=i_111^post_11, i_13^0'=i_13^post_11, len_14^0'=len_14^post_11, r_37^0'=r_37^post_11, rcd_100^0'=rcd_100^post_11, rcd_63^0'=rcd_63^post_11, result_11^0'=result_11^post_11, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_11, t_24^0'=t_24^post_11, temp0_16^0'=temp0_16^post_11, temp0_31^0'=temp0_31^post_11, temp_33^0'=temp_33^post_11, tmp_27^0'=tmp_27^post_11, x_15^0'=x_15^post_11, x_17^0'=x_17^post_11, x_21^0'=x_21^post_11, x_32^0'=x_32^post_11, x_SLAM_f_19^0'=x_SLAM_f_19^post_11, y_20^0'=y_20^post_11, [ 1+y_20^0<=t_24^0 && a_130^0==a_130^post_11 && a_152^0==a_152^post_11 && a_175^0==a_175^post_11 && a_28^0==a_28^post_11 && ct_18^0==ct_18^post_11 && d_29^0==d_29^post_11 && i_111^0==i_111^post_11 && i_13^0==i_13^post_11 && len_14^0==len_14^post_11 && r_37^0==r_37^post_11 && rcd_100^0==rcd_100^post_11 && rcd_63^0==rcd_63^post_11 && result_11^0==result_11^post_11 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_11 && t_24^0==t_24^post_11 && temp0_16^0==temp0_16^post_11 && temp0_31^0==temp0_31^post_11 && temp_33^0==temp_33^post_11 && tmp_27^0==tmp_27^post_11 && x_15^0==x_15^post_11 && x_17^0==x_17^post_11 && x_21^0==x_21^post_11 && x_32^0==x_32^post_11 && x_SLAM_f_19^0==x_SLAM_f_19^post_11 && y_20^0==y_20^post_11 ], cost: 1
     11: l8 -> l9 : a_130^0'=a_130^post_12, a_152^0'=a_152^post_12, a_175^0'=a_175^post_12, a_28^0'=a_28^post_12, ct_18^0'=ct_18^post_12, d_29^0'=d_29^post_12, i_111^0'=i_111^post_12, i_13^0'=i_13^post_12, len_14^0'=len_14^post_12, r_37^0'=r_37^post_12, rcd_100^0'=rcd_100^post_12, rcd_63^0'=rcd_63^post_12, result_11^0'=result_11^post_12, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_12, t_24^0'=t_24^post_12, temp0_16^0'=temp0_16^post_12, temp0_31^0'=temp0_31^post_12, temp_33^0'=temp_33^post_12, tmp_27^0'=tmp_27^post_12, x_15^0'=x_15^post_12, x_17^0'=x_17^post_12, x_21^0'=x_21^post_12, x_32^0'=x_32^post_12, x_SLAM_f_19^0'=x_SLAM_f_19^post_12, y_20^0'=y_20^post_12, [ 1+t_24^0<=y_20^0 && a_130^0==a_130^post_12 && a_152^0==a_152^post_12 && a_175^0==a_175^post_12 && a_28^0==a_28^post_12 && ct_18^0==ct_18^post_12 && d_29^0==d_29^post_12 && i_111^0==i_111^post_12 && i_13^0==i_13^post_12 && len_14^0==len_14^post_12 && r_37^0==r_37^post_12 && rcd_100^0==rcd_100^post_12 && rcd_63^0==rcd_63^post_12 && result_11^0==result_11^post_12 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_12 && t_24^0==t_24^post_12 && temp0_16^0==temp0_16^post_12 && temp0_31^0==temp0_31^post_12 && temp_33^0==temp_33^post_12 && tmp_27^0==tmp_27^post_12 && x_15^0==x_15^post_12 && x_17^0==x_17^post_12 && x_21^0==x_21^post_12 && x_32^0==x_32^post_12 && x_SLAM_f_19^0==x_SLAM_f_19^post_12 && y_20^0==y_20^post_12 ], cost: 1
     12: l9 -> l4 : a_130^0'=a_130^post_13, a_152^0'=a_152^post_13, a_175^0'=a_175^post_13, a_28^0'=a_28^post_13, ct_18^0'=ct_18^post_13, d_29^0'=d_29^post_13, i_111^0'=i_111^post_13, i_13^0'=i_13^post_13, len_14^0'=len_14^post_13, r_37^0'=r_37^post_13, rcd_100^0'=rcd_100^post_13, rcd_63^0'=rcd_63^post_13, result_11^0'=result_11^post_13, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_13, t_24^0'=t_24^post_13, temp0_16^0'=temp0_16^post_13, temp0_31^0'=temp0_31^post_13, temp_33^0'=temp_33^post_13, tmp_27^0'=tmp_27^post_13, x_15^0'=x_15^post_13, x_17^0'=x_17^post_13, x_21^0'=x_21^post_13, x_32^0'=x_32^post_13, x_SLAM_f_19^0'=x_SLAM_f_19^post_13, y_20^0'=y_20^post_13, [ 1<=len_14^0 && 2<=len_14^0 && len_14^0<=i_13^0 && a_130^0==a_130^post_13 && a_152^0==a_152^post_13 && a_175^0==a_175^post_13 && a_28^0==a_28^post_13 && ct_18^0==ct_18^post_13 && d_29^0==d_29^post_13 && i_111^0==i_111^post_13 && i_13^0==i_13^post_13 && len_14^0==len_14^post_13 && r_37^0==r_37^post_13 && rcd_100^0==rcd_100^post_13 && rcd_63^0==rcd_63^post_13 && result_11^0==result_11^post_13 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_13 && t_24^0==t_24^post_13 && temp0_16^0==temp0_16^post_13 && temp0_31^0==temp0_31^post_13 && temp_33^0==temp_33^post_13 && tmp_27^0==tmp_27^post_13 && x_15^0==x_15^post_13 && x_17^0==x_17^post_13 && x_21^0==x_21^post_13 && x_32^0==x_32^post_13 && x_SLAM_f_19^0==x_SLAM_f_19^post_13 && y_20^0==y_20^post_13 ], cost: 1
     24: l4 -> l1 : a_130^0'=a_130^post_25, a_152^0'=a_152^post_25, a_175^0'=a_175^post_25, a_28^0'=a_28^post_25, ct_18^0'=ct_18^post_25, d_29^0'=d_29^post_25, i_111^0'=i_111^post_25, i_13^0'=i_13^post_25, len_14^0'=len_14^post_25, r_37^0'=r_37^post_25, rcd_100^0'=rcd_100^post_25, rcd_63^0'=rcd_63^post_25, result_11^0'=result_11^post_25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_25, t_24^0'=t_24^post_25, temp0_16^0'=temp0_16^post_25, temp0_31^0'=temp0_31^post_25, temp_33^0'=temp_33^post_25, tmp_27^0'=tmp_27^post_25, x_15^0'=x_15^post_25, x_17^0'=x_17^post_25, x_21^0'=x_21^post_25, x_32^0'=x_32^post_25, x_SLAM_f_19^0'=x_SLAM_f_19^post_25, y_20^0'=y_20^post_25, [ 0<=a_152^0 && len_14^post_25==len_14^post_25 && y_20^0<=x_21^0 && x_21^0<=y_20^0 && x_SLAM_f_19^1_4_1==x_SLAM_f_19^1_4_1 && y_20^1_3_1==y_20^1_3_1 && x_21^1_3_1==x_21^1_3_1 && t_24^1_3_1==t_24^1_3_1 && ct_18^1_4==ct_18^1_4 && x_17^post_25==x_17^post_25 && ct_18^post_25==ct_18^post_25 && x_SLAM_f_19^post_25==x_SLAM_f_19^post_25 && y_20^post_25==y_20^post_25 && x_21^post_25==x_21^post_25 && t_24^post_25==t_24^post_25 && result_11^post_25==temp0_16^0 && 1<=len_14^post_25 && 2<=len_14^post_25 && a_130^0==a_130^post_25 && a_152^0==a_152^post_25 && a_175^0==a_175^post_25 && a_28^0==a_28^post_25 && d_29^0==d_29^post_25 && i_111^0==i_111^post_25 && i_13^0==i_13^post_25 && r_37^0==r_37^post_25 && rcd_100^0==rcd_100^post_25 && rcd_63^0==rcd_63^post_25 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_25 && temp0_16^0==temp0_16^post_25 && temp0_31^0==temp0_31^post_25 && temp_33^0==temp_33^post_25 && tmp_27^0==tmp_27^post_25 && x_15^0==x_15^post_25 && x_32^0==x_32^post_25 ], cost: 1
     25: l4 -> l20 : a_130^0'=a_130^post_26, a_152^0'=a_152^post_26, a_175^0'=a_175^post_26, a_28^0'=a_28^post_26, ct_18^0'=ct_18^post_26, d_29^0'=d_29^post_26, i_111^0'=i_111^post_26, i_13^0'=i_13^post_26, len_14^0'=len_14^post_26, r_37^0'=r_37^post_26, rcd_100^0'=rcd_100^post_26, rcd_63^0'=rcd_63^post_26, result_11^0'=result_11^post_26, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_26, t_24^0'=t_24^post_26, temp0_16^0'=temp0_16^post_26, temp0_31^0'=temp0_31^post_26, temp_33^0'=temp_33^post_26, tmp_27^0'=tmp_27^post_26, x_15^0'=x_15^post_26, x_17^0'=x_17^post_26, x_21^0'=x_21^post_26, x_32^0'=x_32^post_26, x_SLAM_f_19^0'=x_SLAM_f_19^post_26, y_20^0'=y_20^post_26, [ 0<=a_152^0 && i_13^post_26==i_13^post_26 && len_14^post_26==len_14^post_26 && x_15^post_26==x_15^post_26 && x_17^post_26==x_17^post_26 && ct_18^post_26==ct_18^post_26 && x_SLAM_f_19^post_26==x_SLAM_f_19^post_26 && tmp_27^post_26==tmp_27^post_26 && r_37^post_26==r_37^post_26 && a_130^0==a_130^post_26 && a_152^0==a_152^post_26 && a_175^0==a_175^post_26 && a_28^0==a_28^post_26 && d_29^0==d_29^post_26 && i_111^0==i_111^post_26 && rcd_100^0==rcd_100^post_26 && rcd_63^0==rcd_63^post_26 && result_11^0==result_11^post_26 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_26 && t_24^0==t_24^post_26 && temp0_16^0==temp0_16^post_26 && temp0_31^0==temp0_31^post_26 && temp_33^0==temp_33^post_26 && x_21^0==x_21^post_26 && x_32^0==x_32^post_26 && y_20^0==y_20^post_26 ], cost: 1
     13: l10 -> l11 : a_130^0'=a_130^post_14, a_152^0'=a_152^post_14, a_175^0'=a_175^post_14, a_28^0'=a_28^post_14, ct_18^0'=ct_18^post_14, d_29^0'=d_29^post_14, i_111^0'=i_111^post_14, i_13^0'=i_13^post_14, len_14^0'=len_14^post_14, r_37^0'=r_37^post_14, rcd_100^0'=rcd_100^post_14, rcd_63^0'=rcd_63^post_14, result_11^0'=result_11^post_14, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_14, t_24^0'=t_24^post_14, temp0_16^0'=temp0_16^post_14, temp0_31^0'=temp0_31^post_14, temp_33^0'=temp_33^post_14, tmp_27^0'=tmp_27^post_14, x_15^0'=x_15^post_14, x_17^0'=x_17^post_14, x_21^0'=x_21^post_14, x_32^0'=x_32^post_14, x_SLAM_f_19^0'=x_SLAM_f_19^post_14, y_20^0'=y_20^post_14, [ x_15^post_14==0 && i_13^post_14==0 && 0<=i_13^post_14 && i_13^post_14<=0 && 0<=x_15^post_14 && x_15^post_14<=0 && a_130^0==a_130^post_14 && a_152^0==a_152^post_14 && a_175^0==a_175^post_14 && a_28^0==a_28^post_14 && ct_18^0==ct_18^post_14 && d_29^0==d_29^post_14 && i_111^0==i_111^post_14 && len_14^0==len_14^post_14 && r_37^0==r_37^post_14 && rcd_100^0==rcd_100^post_14 && rcd_63^0==rcd_63^post_14 && result_11^0==result_11^post_14 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_14 && t_24^0==t_24^post_14 && temp0_16^0==temp0_16^post_14 && temp0_31^0==temp0_31^post_14 && temp_33^0==temp_33^post_14 && tmp_27^0==tmp_27^post_14 && x_17^0==x_17^post_14 && x_21^0==x_21^post_14 && x_32^0==x_32^post_14 && x_SLAM_f_19^0==x_SLAM_f_19^post_14 && y_20^0==y_20^post_14 ], cost: 1
     46: l11 -> l1 : a_130^0'=a_130^post_47, a_152^0'=a_152^post_47, a_175^0'=a_175^post_47, a_28^0'=a_28^post_47, ct_18^0'=ct_18^post_47, d_29^0'=d_29^post_47, i_111^0'=i_111^post_47, i_13^0'=i_13^post_47, len_14^0'=len_14^post_47, r_37^0'=r_37^post_47, rcd_100^0'=rcd_100^post_47, rcd_63^0'=rcd_63^post_47, result_11^0'=result_11^post_47, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_47, t_24^0'=t_24^post_47, temp0_16^0'=temp0_16^post_47, temp0_31^0'=temp0_31^post_47, temp_33^0'=temp_33^post_47, tmp_27^0'=tmp_27^post_47, x_15^0'=x_15^post_47, x_17^0'=x_17^post_47, x_21^0'=x_21^post_47, x_32^0'=x_32^post_47, x_SLAM_f_19^0'=x_SLAM_f_19^post_47, y_20^0'=y_20^post_47, [ len_14^0<=i_13^0 && x_17^1_3_1==x_15^0 && ct_18^1_6==0 && x_SLAM_f_19^1_6_1==x_17^1_3_1 && y_20^1_4_1==ct_18^1_6 && x_21^1_4_1==x_SLAM_f_19^1_6_1 && 0<=i_13^0 && i_13^0<=0 && 0<=x_15^0 && x_15^0<=0 && 0<=x_17^1_3_1 && x_17^1_3_1<=0 && 0<=ct_18^1_6 && ct_18^1_6<=0 && 0<=x_SLAM_f_19^1_6_1 && x_SLAM_f_19^1_6_1<=0 && 0<=y_20^1_4_1 && y_20^1_4_1<=0 && 0<=x_21^1_4_1 && x_21^1_4_1<=0 && x_15^0<=x_17^1_3_1 && x_17^1_3_1<=x_15^0 && x_17^1_3_1<=x_SLAM_f_19^1_6_1 && x_SLAM_f_19^1_6_1<=x_17^1_3_1 && ct_18^1_6<=y_20^1_4_1 && y_20^1_4_1<=ct_18^1_6 && x_SLAM_f_19^1_6_1<=x_21^1_4_1 && x_21^1_4_1<=x_SLAM_f_19^1_6_1 && len_14^0<=i_13^0 && len_14^post_47==len_14^post_47 && y_20^1_4_1<=x_21^1_4_1 && x_21^1_4_1<=y_20^1_4_1 && x_SLAM_f_19^2_1==x_SLAM_f_19^2_1 && y_20^2_1==y_20^2_1 && x_21^2_1==x_21^2_1 && t_24^1_4_1==t_24^1_4_1 && ct_18^2_1==ct_18^2_1 && x_17^post_47==x_17^post_47 && ct_18^post_47==ct_18^post_47 && x_SLAM_f_19^post_47==x_SLAM_f_19^post_47 && y_20^post_47==y_20^post_47 && x_21^post_47==x_21^post_47 && t_24^post_47==t_24^post_47 && result_11^post_47==temp0_16^0 && len_14^post_47<=0 && a_130^0==a_130^post_47 && a_152^0==a_152^post_47 && a_175^0==a_175^post_47 && a_28^0==a_28^post_47 && d_29^0==d_29^post_47 && i_111^0==i_111^post_47 && i_13^0==i_13^post_47 && r_37^0==r_37^post_47 && rcd_100^0==rcd_100^post_47 && rcd_63^0==rcd_63^post_47 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_47 && temp0_16^0==temp0_16^post_47 && temp0_31^0==temp0_31^post_47 && temp_33^0==temp_33^post_47 && tmp_27^0==tmp_27^post_47 && x_15^0==x_15^post_47 && x_32^0==x_32^post_47 ], cost: 1
     47: l11 -> l12 : a_130^0'=a_130^post_48, a_152^0'=a_152^post_48, a_175^0'=a_175^post_48, a_28^0'=a_28^post_48, ct_18^0'=ct_18^post_48, d_29^0'=d_29^post_48, i_111^0'=i_111^post_48, i_13^0'=i_13^post_48, len_14^0'=len_14^post_48, r_37^0'=r_37^post_48, rcd_100^0'=rcd_100^post_48, rcd_63^0'=rcd_63^post_48, result_11^0'=result_11^post_48, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_48, t_24^0'=t_24^post_48, temp0_16^0'=temp0_16^post_48, temp0_31^0'=temp0_31^post_48, temp_33^0'=temp_33^post_48, tmp_27^0'=tmp_27^post_48, x_15^0'=x_15^post_48, x_17^0'=x_17^post_48, x_21^0'=x_21^post_48, x_32^0'=x_32^post_48, x_SLAM_f_19^0'=x_SLAM_f_19^post_48, y_20^0'=y_20^post_48, [ 1+i_13^0<=len_14^0 && a_28^1_3==i_13^0 && d_29^1_3_1==x_15^0 && x_32^1_3_1==temp_33^0 && temp_33^1_3_1==temp_33^1_3_1 && temp0_31^1_3_1==x_32^1_3_1 && result_11^1_3_1==temp0_31^1_3_1 && a_28^post_48==a_28^post_48 && d_29^post_48==d_29^post_48 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_48==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_48 && temp0_31^post_48==temp0_31^post_48 && x_32^post_48==x_32^post_48 && temp_33^post_48==temp_33^post_48 && tmp_27^post_48==result_11^1_3_1 && result_11^post_48==result_11^post_48 && x_15^post_48==tmp_27^post_48 && i_13^post_48==1+i_13^0 && 1<=i_13^post_48 && i_13^post_48<=1 && x_15^post_48<=tmp_27^post_48 && tmp_27^post_48<=x_15^post_48 && 1<=len_14^0 && a_130^0==a_130^post_48 && a_152^0==a_152^post_48 && a_175^0==a_175^post_48 && ct_18^0==ct_18^post_48 && i_111^0==i_111^post_48 && len_14^0==len_14^post_48 && r_37^0==r_37^post_48 && rcd_100^0==rcd_100^post_48 && rcd_63^0==rcd_63^post_48 && t_24^0==t_24^post_48 && temp0_16^0==temp0_16^post_48 && x_17^0==x_17^post_48 && x_21^0==x_21^post_48 && x_SLAM_f_19^0==x_SLAM_f_19^post_48 && y_20^0==y_20^post_48 ], cost: 1
     14: l12 -> l13 : a_130^0'=a_130^post_15, a_152^0'=a_152^post_15, a_175^0'=a_175^post_15, a_28^0'=a_28^post_15, ct_18^0'=ct_18^post_15, d_29^0'=d_29^post_15, i_111^0'=i_111^post_15, i_13^0'=i_13^post_15, len_14^0'=len_14^post_15, r_37^0'=r_37^post_15, rcd_100^0'=rcd_100^post_15, rcd_63^0'=rcd_63^post_15, result_11^0'=result_11^post_15, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_15, t_24^0'=t_24^post_15, temp0_16^0'=temp0_16^post_15, temp0_31^0'=temp0_31^post_15, temp_33^0'=temp_33^post_15, tmp_27^0'=tmp_27^post_15, x_15^0'=x_15^post_15, x_17^0'=x_17^post_15, x_21^0'=x_21^post_15, x_32^0'=x_32^post_15, x_SLAM_f_19^0'=x_SLAM_f_19^post_15, y_20^0'=y_20^post_15, [ tmp_27^1_1==tmp_27^1_1 && len_14^0<=i_13^0 && x_17^1_1==x_15^0 && ct_18^1_2==0 && x_SLAM_f_19^1_2_1==x_17^1_1 && y_20^post_15==ct_18^1_2 && x_21^post_15==x_SLAM_f_19^1_2_1 && 0<=ct_18^1_2 && ct_18^1_2<=0 && 0<=y_20^post_15 && y_20^post_15<=0 && 1<=i_13^0 && i_13^0<=1 && 1<=len_14^0 && len_14^0<=1 && x_15^0<=x_17^1_1 && x_17^1_1<=x_15^0 && x_15^0<=x_SLAM_f_19^1_2_1 && x_SLAM_f_19^1_2_1<=x_15^0 && x_15^0<=x_21^post_15 && x_21^post_15<=x_15^0 && x_15^0<=tmp_27^1_1 && tmp_27^1_1<=x_15^0 && x_17^1_1<=x_SLAM_f_19^1_2_1 && x_SLAM_f_19^1_2_1<=x_17^1_1 && ct_18^1_2<=y_20^post_15 && y_20^post_15<=ct_18^1_2 && x_SLAM_f_19^1_2_1<=x_21^post_15 && x_21^post_15<=x_SLAM_f_19^1_2_1 && 1<=len_14^0 && len_14^0<=i_13^0 && i_13^post_15==i_13^post_15 && len_14^post_15==len_14^post_15 && x_15^post_15==x_15^post_15 && x_17^post_15==x_17^post_15 && ct_18^post_15==ct_18^post_15 && x_SLAM_f_19^post_15==x_SLAM_f_19^post_15 && tmp_27^post_15==tmp_27^post_15 && a_130^0==a_130^post_15 && a_152^0==a_152^post_15 && a_175^0==a_175^post_15 && a_28^0==a_28^post_15 && d_29^0==d_29^post_15 && i_111^0==i_111^post_15 && r_37^0==r_37^post_15 && rcd_100^0==rcd_100^post_15 && rcd_63^0==rcd_63^post_15 && result_11^0==result_11^post_15 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_15 && t_24^0==t_24^post_15 && temp0_16^0==temp0_16^post_15 && temp0_31^0==temp0_31^post_15 && temp_33^0==temp_33^post_15 && x_32^0==x_32^post_15 ], cost: 1
     23: l12 -> l18 : a_130^0'=a_130^post_24, a_152^0'=a_152^post_24, a_175^0'=a_175^post_24, a_28^0'=a_28^post_24, ct_18^0'=ct_18^post_24, d_29^0'=d_29^post_24, i_111^0'=i_111^post_24, i_13^0'=i_13^post_24, len_14^0'=len_14^post_24, r_37^0'=r_37^post_24, rcd_100^0'=rcd_100^post_24, rcd_63^0'=rcd_63^post_24, result_11^0'=result_11^post_24, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_24, t_24^0'=t_24^post_24, temp0_16^0'=temp0_16^post_24, temp0_31^0'=temp0_31^post_24, temp_33^0'=temp_33^post_24, tmp_27^0'=tmp_27^post_24, x_15^0'=x_15^post_24, x_17^0'=x_17^post_24, x_21^0'=x_21^post_24, x_32^0'=x_32^post_24, x_SLAM_f_19^0'=x_SLAM_f_19^post_24, y_20^0'=y_20^post_24, [ rcd_63^post_24==rcd_63^post_24 && 1+i_13^0<=len_14^0 && a_28^1_1==i_13^0 && d_29^1_1==x_15^0 && x_32^1_1==temp_33^0 && temp_33^1_1==temp_33^1_1 && temp0_31^1_1==x_32^1_1 && result_11^1_1==temp0_31^1_1 && a_28^post_24==a_28^post_24 && d_29^post_24==d_29^post_24 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_24==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_24 && temp0_31^post_24==temp0_31^post_24 && x_32^post_24==x_32^post_24 && temp_33^post_24==temp_33^post_24 && tmp_27^post_24==result_11^1_1 && result_11^post_24==result_11^post_24 && x_15^post_24==tmp_27^post_24 && i_13^post_24==1+i_13^0 && 2<=i_13^post_24 && i_13^post_24<=2 && x_15^post_24<=tmp_27^post_24 && tmp_27^post_24<=x_15^post_24 && 1<=len_14^0 && 2<=len_14^0 && a_130^0==a_130^post_24 && a_152^0==a_152^post_24 && a_175^0==a_175^post_24 && ct_18^0==ct_18^post_24 && i_111^0==i_111^post_24 && len_14^0==len_14^post_24 && r_37^0==r_37^post_24 && rcd_100^0==rcd_100^post_24 && t_24^0==t_24^post_24 && temp0_16^0==temp0_16^post_24 && x_17^0==x_17^post_24 && x_21^0==x_21^post_24 && x_SLAM_f_19^0==x_SLAM_f_19^post_24 && y_20^0==y_20^post_24 ], cost: 1
     15: l13 -> l14 : a_130^0'=a_130^post_16, a_152^0'=a_152^post_16, a_175^0'=a_175^post_16, a_28^0'=a_28^post_16, ct_18^0'=ct_18^post_16, d_29^0'=d_29^post_16, i_111^0'=i_111^post_16, i_13^0'=i_13^post_16, len_14^0'=len_14^post_16, r_37^0'=r_37^post_16, rcd_100^0'=rcd_100^post_16, rcd_63^0'=rcd_63^post_16, result_11^0'=result_11^post_16, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_16, t_24^0'=t_24^post_16, temp0_16^0'=temp0_16^post_16, temp0_31^0'=temp0_31^post_16, temp_33^0'=temp_33^post_16, tmp_27^0'=tmp_27^post_16, x_15^0'=x_15^post_16, x_17^0'=x_17^post_16, x_21^0'=x_21^post_16, x_32^0'=x_32^post_16, x_SLAM_f_19^0'=x_SLAM_f_19^post_16, y_20^0'=y_20^post_16, [ 1+y_20^0<=x_21^0 && a_130^0==a_130^post_16 && a_152^0==a_152^post_16 && a_175^0==a_175^post_16 && a_28^0==a_28^post_16 && ct_18^0==ct_18^post_16 && d_29^0==d_29^post_16 && i_111^0==i_111^post_16 && i_13^0==i_13^post_16 && len_14^0==len_14^post_16 && r_37^0==r_37^post_16 && rcd_100^0==rcd_100^post_16 && rcd_63^0==rcd_63^post_16 && result_11^0==result_11^post_16 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_16 && t_24^0==t_24^post_16 && temp0_16^0==temp0_16^post_16 && temp0_31^0==temp0_31^post_16 && temp_33^0==temp_33^post_16 && tmp_27^0==tmp_27^post_16 && x_15^0==x_15^post_16 && x_17^0==x_17^post_16 && x_21^0==x_21^post_16 && x_32^0==x_32^post_16 && x_SLAM_f_19^0==x_SLAM_f_19^post_16 && y_20^0==y_20^post_16 ], cost: 1
     16: l13 -> l14 : a_130^0'=a_130^post_17, a_152^0'=a_152^post_17, a_175^0'=a_175^post_17, a_28^0'=a_28^post_17, ct_18^0'=ct_18^post_17, d_29^0'=d_29^post_17, i_111^0'=i_111^post_17, i_13^0'=i_13^post_17, len_14^0'=len_14^post_17, r_37^0'=r_37^post_17, rcd_100^0'=rcd_100^post_17, rcd_63^0'=rcd_63^post_17, result_11^0'=result_11^post_17, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_17, t_24^0'=t_24^post_17, temp0_16^0'=temp0_16^post_17, temp0_31^0'=temp0_31^post_17, temp_33^0'=temp_33^post_17, tmp_27^0'=tmp_27^post_17, x_15^0'=x_15^post_17, x_17^0'=x_17^post_17, x_21^0'=x_21^post_17, x_32^0'=x_32^post_17, x_SLAM_f_19^0'=x_SLAM_f_19^post_17, y_20^0'=y_20^post_17, [ 1+x_21^0<=y_20^0 && a_130^0==a_130^post_17 && a_152^0==a_152^post_17 && a_175^0==a_175^post_17 && a_28^0==a_28^post_17 && ct_18^0==ct_18^post_17 && d_29^0==d_29^post_17 && i_111^0==i_111^post_17 && i_13^0==i_13^post_17 && len_14^0==len_14^post_17 && r_37^0==r_37^post_17 && rcd_100^0==rcd_100^post_17 && rcd_63^0==rcd_63^post_17 && result_11^0==result_11^post_17 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_17 && t_24^0==t_24^post_17 && temp0_16^0==temp0_16^post_17 && temp0_31^0==temp0_31^post_17 && temp_33^0==temp_33^post_17 && tmp_27^0==tmp_27^post_17 && x_15^0==x_15^post_17 && x_17^0==x_17^post_17 && x_21^0==x_21^post_17 && x_32^0==x_32^post_17 && x_SLAM_f_19^0==x_SLAM_f_19^post_17 && y_20^0==y_20^post_17 ], cost: 1
     17: l14 -> l15 : a_130^0'=a_130^post_18, a_152^0'=a_152^post_18, a_175^0'=a_175^post_18, a_28^0'=a_28^post_18, ct_18^0'=ct_18^post_18, d_29^0'=d_29^post_18, i_111^0'=i_111^post_18, i_13^0'=i_13^post_18, len_14^0'=len_14^post_18, r_37^0'=r_37^post_18, rcd_100^0'=rcd_100^post_18, rcd_63^0'=rcd_63^post_18, result_11^0'=result_11^post_18, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_18, t_24^0'=t_24^post_18, temp0_16^0'=temp0_16^post_18, temp0_31^0'=temp0_31^post_18, temp_33^0'=temp_33^post_18, tmp_27^0'=tmp_27^post_18, x_15^0'=x_15^post_18, x_17^0'=x_17^post_18, x_21^0'=x_21^post_18, x_32^0'=x_32^post_18, x_SLAM_f_19^0'=x_SLAM_f_19^post_18, y_20^0'=y_20^post_18, [ t_24^post_18==x_21^0 && 0<=ct_18^0 && ct_18^0<=0 && 0<=y_20^0 && y_20^0<=0 && 0<=x_21^0 && x_21^0<=0 && 1<=i_13^0 && i_13^0<=1 && 1<=len_14^0 && len_14^0<=1 && x_15^0<=x_17^0 && x_17^0<=x_15^0 && x_15^0<=x_SLAM_f_19^0 && x_SLAM_f_19^0<=x_15^0 && x_15^0<=t_24^post_18 && t_24^post_18<=x_15^0 && x_15^0<=tmp_27^0 && tmp_27^0<=x_15^0 && x_17^0<=x_SLAM_f_19^0 && x_SLAM_f_19^0<=x_17^0 && ct_18^0<=y_20^0 && y_20^0<=ct_18^0 && a_130^0==a_130^post_18 && a_152^0==a_152^post_18 && a_175^0==a_175^post_18 && a_28^0==a_28^post_18 && ct_18^0==ct_18^post_18 && d_29^0==d_29^post_18 && i_111^0==i_111^post_18 && i_13^0==i_13^post_18 && len_14^0==len_14^post_18 && r_37^0==r_37^post_18 && rcd_100^0==rcd_100^post_18 && rcd_63^0==rcd_63^post_18 && result_11^0==result_11^post_18 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_18 && temp0_16^0==temp0_16^post_18 && temp0_31^0==temp0_31^post_18 && temp_33^0==temp_33^post_18 && tmp_27^0==tmp_27^post_18 && x_15^0==x_15^post_18 && x_17^0==x_17^post_18 && x_21^0==x_21^post_18 && x_32^0==x_32^post_18 && x_SLAM_f_19^0==x_SLAM_f_19^post_18 && y_20^0==y_20^post_18 ], cost: 1
     18: l15 -> l16 : a_130^0'=a_130^post_19, a_152^0'=a_152^post_19, a_175^0'=a_175^post_19, a_28^0'=a_28^post_19, ct_18^0'=ct_18^post_19, d_29^0'=d_29^post_19, i_111^0'=i_111^post_19, i_13^0'=i_13^post_19, len_14^0'=len_14^post_19, r_37^0'=r_37^post_19, rcd_100^0'=rcd_100^post_19, rcd_63^0'=rcd_63^post_19, result_11^0'=result_11^post_19, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_19, t_24^0'=t_24^post_19, temp0_16^0'=temp0_16^post_19, temp0_31^0'=temp0_31^post_19, temp_33^0'=temp_33^post_19, tmp_27^0'=tmp_27^post_19, x_15^0'=x_15^post_19, x_17^0'=x_17^post_19, x_21^0'=x_21^post_19, x_32^0'=x_32^post_19, x_SLAM_f_19^0'=x_SLAM_f_19^post_19, y_20^0'=y_20^post_19, [ 1+x_15^0<=y_20^0 && a_130^0==a_130^post_19 && a_152^0==a_152^post_19 && a_175^0==a_175^post_19 && a_28^0==a_28^post_19 && ct_18^0==ct_18^post_19 && d_29^0==d_29^post_19 && i_111^0==i_111^post_19 && i_13^0==i_13^post_19 && len_14^0==len_14^post_19 && r_37^0==r_37^post_19 && rcd_100^0==rcd_100^post_19 && rcd_63^0==rcd_63^post_19 && result_11^0==result_11^post_19 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_19 && t_24^0==t_24^post_19 && temp0_16^0==temp0_16^post_19 && temp0_31^0==temp0_31^post_19 && temp_33^0==temp_33^post_19 && tmp_27^0==tmp_27^post_19 && x_15^0==x_15^post_19 && x_17^0==x_17^post_19 && x_21^0==x_21^post_19 && x_32^0==x_32^post_19 && x_SLAM_f_19^0==x_SLAM_f_19^post_19 && y_20^0==y_20^post_19 ], cost: 1
     19: l15 -> l16 : a_130^0'=a_130^post_20, a_152^0'=a_152^post_20, a_175^0'=a_175^post_20, a_28^0'=a_28^post_20, ct_18^0'=ct_18^post_20, d_29^0'=d_29^post_20, i_111^0'=i_111^post_20, i_13^0'=i_13^post_20, len_14^0'=len_14^post_20, r_37^0'=r_37^post_20, rcd_100^0'=rcd_100^post_20, rcd_63^0'=rcd_63^post_20, result_11^0'=result_11^post_20, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_20, t_24^0'=t_24^post_20, temp0_16^0'=temp0_16^post_20, temp0_31^0'=temp0_31^post_20, temp_33^0'=temp_33^post_20, tmp_27^0'=tmp_27^post_20, x_15^0'=x_15^post_20, x_17^0'=x_17^post_20, x_21^0'=x_21^post_20, x_32^0'=x_32^post_20, x_SLAM_f_19^0'=x_SLAM_f_19^post_20, y_20^0'=y_20^post_20, [ 1+y_20^0<=x_15^0 && a_130^0==a_130^post_20 && a_152^0==a_152^post_20 && a_175^0==a_175^post_20 && a_28^0==a_28^post_20 && ct_18^0==ct_18^post_20 && d_29^0==d_29^post_20 && i_111^0==i_111^post_20 && i_13^0==i_13^post_20 && len_14^0==len_14^post_20 && r_37^0==r_37^post_20 && rcd_100^0==rcd_100^post_20 && rcd_63^0==rcd_63^post_20 && result_11^0==result_11^post_20 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_20 && t_24^0==t_24^post_20 && temp0_16^0==temp0_16^post_20 && temp0_31^0==temp0_31^post_20 && temp_33^0==temp_33^post_20 && tmp_27^0==tmp_27^post_20 && x_15^0==x_15^post_20 && x_17^0==x_17^post_20 && x_21^0==x_21^post_20 && x_32^0==x_32^post_20 && x_SLAM_f_19^0==x_SLAM_f_19^post_20 && y_20^0==y_20^post_20 ], cost: 1
     20: l16 -> l17 : a_130^0'=a_130^post_21, a_152^0'=a_152^post_21, a_175^0'=a_175^post_21, a_28^0'=a_28^post_21, ct_18^0'=ct_18^post_21, d_29^0'=d_29^post_21, i_111^0'=i_111^post_21, i_13^0'=i_13^post_21, len_14^0'=len_14^post_21, r_37^0'=r_37^post_21, rcd_100^0'=rcd_100^post_21, rcd_63^0'=rcd_63^post_21, result_11^0'=result_11^post_21, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_21, t_24^0'=t_24^post_21, temp0_16^0'=temp0_16^post_21, temp0_31^0'=temp0_31^post_21, temp_33^0'=temp_33^post_21, tmp_27^0'=tmp_27^post_21, x_15^0'=x_15^post_21, x_17^0'=x_17^post_21, x_21^0'=x_21^post_21, x_32^0'=x_32^post_21, x_SLAM_f_19^0'=x_SLAM_f_19^post_21, y_20^0'=y_20^post_21, [ 1<=len_14^0 && len_14^0<=i_13^0 && x_15^post_21==x_15^post_21 && y_20^0<=x_21^0 && x_21^0<=y_20^0 && x_SLAM_f_19^1_3_1==x_SLAM_f_19^1_3_1 && y_20^1_2_1==y_20^1_2_1 && x_21^1_2_1==x_21^1_2_1 && t_24^1_2_1==t_24^1_2_1 && ct_18^1_3==ct_18^1_3 && x_17^post_21==x_17^post_21 && ct_18^post_21==ct_18^post_21 && x_SLAM_f_19^post_21==x_SLAM_f_19^post_21 && y_20^post_21==y_20^post_21 && x_21^post_21==x_21^post_21 && t_24^post_21==t_24^post_21 && result_11^post_21==temp0_16^0 && a_130^0==a_130^post_21 && a_152^0==a_152^post_21 && a_175^0==a_175^post_21 && a_28^0==a_28^post_21 && d_29^0==d_29^post_21 && i_111^0==i_111^post_21 && i_13^0==i_13^post_21 && len_14^0==len_14^post_21 && r_37^0==r_37^post_21 && rcd_100^0==rcd_100^post_21 && rcd_63^0==rcd_63^post_21 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_21 && temp0_16^0==temp0_16^post_21 && temp0_31^0==temp0_31^post_21 && temp_33^0==temp_33^post_21 && tmp_27^0==tmp_27^post_21 && x_32^0==x_32^post_21 ], cost: 1
     21: l17 -> l1 : a_130^0'=a_130^post_22, a_152^0'=a_152^post_22, a_175^0'=a_175^post_22, a_28^0'=a_28^post_22, ct_18^0'=ct_18^post_22, d_29^0'=d_29^post_22, i_111^0'=i_111^post_22, i_13^0'=i_13^post_22, len_14^0'=len_14^post_22, r_37^0'=r_37^post_22, rcd_100^0'=rcd_100^post_22, rcd_63^0'=rcd_63^post_22, result_11^0'=result_11^post_22, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_22, t_24^0'=t_24^post_22, temp0_16^0'=temp0_16^post_22, temp0_31^0'=temp0_31^post_22, temp_33^0'=temp_33^post_22, tmp_27^0'=tmp_27^post_22, x_15^0'=x_15^post_22, x_17^0'=x_17^post_22, x_21^0'=x_21^post_22, x_32^0'=x_32^post_22, x_SLAM_f_19^0'=x_SLAM_f_19^post_22, y_20^0'=y_20^post_22, [ 1<=x_15^0 && a_130^0==a_130^post_22 && a_152^0==a_152^post_22 && a_175^0==a_175^post_22 && a_28^0==a_28^post_22 && ct_18^0==ct_18^post_22 && d_29^0==d_29^post_22 && i_111^0==i_111^post_22 && i_13^0==i_13^post_22 && len_14^0==len_14^post_22 && r_37^0==r_37^post_22 && rcd_100^0==rcd_100^post_22 && rcd_63^0==rcd_63^post_22 && result_11^0==result_11^post_22 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_22 && t_24^0==t_24^post_22 && temp0_16^0==temp0_16^post_22 && temp0_31^0==temp0_31^post_22 && temp_33^0==temp_33^post_22 && tmp_27^0==tmp_27^post_22 && x_15^0==x_15^post_22 && x_17^0==x_17^post_22 && x_21^0==x_21^post_22 && x_32^0==x_32^post_22 && x_SLAM_f_19^0==x_SLAM_f_19^post_22 && y_20^0==y_20^post_22 ], cost: 1
     22: l17 -> l1 : a_130^0'=a_130^post_23, a_152^0'=a_152^post_23, a_175^0'=a_175^post_23, a_28^0'=a_28^post_23, ct_18^0'=ct_18^post_23, d_29^0'=d_29^post_23, i_111^0'=i_111^post_23, i_13^0'=i_13^post_23, len_14^0'=len_14^post_23, r_37^0'=r_37^post_23, rcd_100^0'=rcd_100^post_23, rcd_63^0'=rcd_63^post_23, result_11^0'=result_11^post_23, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_23, t_24^0'=t_24^post_23, temp0_16^0'=temp0_16^post_23, temp0_31^0'=temp0_31^post_23, temp_33^0'=temp_33^post_23, tmp_27^0'=tmp_27^post_23, x_15^0'=x_15^post_23, x_17^0'=x_17^post_23, x_21^0'=x_21^post_23, x_32^0'=x_32^post_23, x_SLAM_f_19^0'=x_SLAM_f_19^post_23, y_20^0'=y_20^post_23, [ 1+x_15^0<=0 && a_130^0==a_130^post_23 && a_152^0==a_152^post_23 && a_175^0==a_175^post_23 && a_28^0==a_28^post_23 && ct_18^0==ct_18^post_23 && d_29^0==d_29^post_23 && i_111^0==i_111^post_23 && i_13^0==i_13^post_23 && len_14^0==len_14^post_23 && r_37^0==r_37^post_23 && rcd_100^0==rcd_100^post_23 && rcd_63^0==rcd_63^post_23 && result_11^0==result_11^post_23 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_23 && t_24^0==t_24^post_23 && temp0_16^0==temp0_16^post_23 && temp0_31^0==temp0_31^post_23 && temp_33^0==temp_33^post_23 && tmp_27^0==tmp_27^post_23 && x_15^0==x_15^post_23 && x_17^0==x_17^post_23 && x_21^0==x_21^post_23 && x_32^0==x_32^post_23 && x_SLAM_f_19^0==x_SLAM_f_19^post_23 && y_20^0==y_20^post_23 ], cost: 1
     35: l18 -> l25 : a_130^0'=a_130^post_36, a_152^0'=a_152^post_36, a_175^0'=a_175^post_36, a_28^0'=a_28^post_36, ct_18^0'=ct_18^post_36, d_29^0'=d_29^post_36, i_111^0'=i_111^post_36, i_13^0'=i_13^post_36, len_14^0'=len_14^post_36, r_37^0'=r_37^post_36, rcd_100^0'=rcd_100^post_36, rcd_63^0'=rcd_63^post_36, result_11^0'=result_11^post_36, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_36, t_24^0'=t_24^post_36, temp0_16^0'=temp0_16^post_36, temp0_31^0'=temp0_31^post_36, temp_33^0'=temp_33^post_36, tmp_27^0'=tmp_27^post_36, x_15^0'=x_15^post_36, x_17^0'=x_17^post_36, x_21^0'=x_21^post_36, x_32^0'=x_32^post_36, x_SLAM_f_19^0'=x_SLAM_f_19^post_36, y_20^0'=y_20^post_36, [ 0<=i_13^0 && len_14^0<=i_13^0 && x_17^1_2_1==x_15^0 && ct_18^1_5==0 && x_SLAM_f_19^1_5_1==x_17^1_2_1 && y_20^post_36==ct_18^1_5 && x_21^post_36==x_SLAM_f_19^1_5_1 && 0<=i_13^0 && i_13^post_36==i_13^post_36 && len_14^post_36==len_14^post_36 && x_15^post_36==x_15^post_36 && x_17^post_36==x_17^post_36 && ct_18^post_36==ct_18^post_36 && x_SLAM_f_19^post_36==x_SLAM_f_19^post_36 && tmp_27^post_36==tmp_27^post_36 && a_130^0==a_130^post_36 && a_152^0==a_152^post_36 && a_175^0==a_175^post_36 && a_28^0==a_28^post_36 && d_29^0==d_29^post_36 && i_111^0==i_111^post_36 && r_37^0==r_37^post_36 && rcd_100^0==rcd_100^post_36 && rcd_63^0==rcd_63^post_36 && result_11^0==result_11^post_36 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_36 && t_24^0==t_24^post_36 && temp0_16^0==temp0_16^post_36 && temp0_31^0==temp0_31^post_36 && temp_33^0==temp_33^post_36 && x_32^0==x_32^post_36 ], cost: 1
     44: l18 -> l30 : a_130^0'=a_130^post_45, a_152^0'=a_152^post_45, a_175^0'=a_175^post_45, a_28^0'=a_28^post_45, ct_18^0'=ct_18^post_45, d_29^0'=d_29^post_45, i_111^0'=i_111^post_45, i_13^0'=i_13^post_45, len_14^0'=len_14^post_45, r_37^0'=r_37^post_45, rcd_100^0'=rcd_100^post_45, rcd_63^0'=rcd_63^post_45, result_11^0'=result_11^post_45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_45, t_24^0'=t_24^post_45, temp0_16^0'=temp0_16^post_45, temp0_31^0'=temp0_31^post_45, temp_33^0'=temp_33^post_45, tmp_27^0'=tmp_27^post_45, x_15^0'=x_15^post_45, x_17^0'=x_17^post_45, x_21^0'=x_21^post_45, x_32^0'=x_32^post_45, x_SLAM_f_19^0'=x_SLAM_f_19^post_45, y_20^0'=y_20^post_45, [ 0<=i_13^0 && rcd_100^post_45==rcd_100^post_45 && i_111^post_45==i_111^post_45 && 1+i_13^0<=len_14^0 && a_28^1_2==i_13^0 && d_29^1_2_1==x_15^0 && x_32^1_2_1==temp_33^0 && temp_33^1_2_1==temp_33^1_2_1 && temp0_31^1_2_1==x_32^1_2_1 && result_11^1_2_1==temp0_31^1_2_1 && a_28^post_45==a_28^post_45 && d_29^post_45==d_29^post_45 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_45==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_45 && temp0_31^post_45==temp0_31^post_45 && x_32^post_45==x_32^post_45 && temp_33^post_45==temp_33^post_45 && tmp_27^post_45==result_11^1_2_1 && result_11^post_45==result_11^post_45 && x_15^post_45==tmp_27^post_45 && i_13^post_45==1+i_13^0 && i_13^post_45<=1+i_111^post_45 && 1+i_111^post_45<=i_13^post_45 && i_111^post_45<=-1+i_13^post_45 && -1+i_13^post_45<=i_111^post_45 && 1+i_111^post_45<=len_14^0 && a_130^0==a_130^post_45 && a_152^0==a_152^post_45 && a_175^0==a_175^post_45 && ct_18^0==ct_18^post_45 && len_14^0==len_14^post_45 && r_37^0==r_37^post_45 && rcd_63^0==rcd_63^post_45 && t_24^0==t_24^post_45 && temp0_16^0==temp0_16^post_45 && x_17^0==x_17^post_45 && x_21^0==x_21^post_45 && x_SLAM_f_19^0==x_SLAM_f_19^post_45 && y_20^0==y_20^post_45 ], cost: 1
     26: l20 -> l21 : a_130^0'=a_130^post_27, a_152^0'=a_152^post_27, a_175^0'=a_175^post_27, a_28^0'=a_28^post_27, ct_18^0'=ct_18^post_27, d_29^0'=d_29^post_27, i_111^0'=i_111^post_27, i_13^0'=i_13^post_27, len_14^0'=len_14^post_27, r_37^0'=r_37^post_27, rcd_100^0'=rcd_100^post_27, rcd_63^0'=rcd_63^post_27, result_11^0'=result_11^post_27, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_27, t_24^0'=t_24^post_27, temp0_16^0'=temp0_16^post_27, temp0_31^0'=temp0_31^post_27, temp_33^0'=temp_33^post_27, tmp_27^0'=tmp_27^post_27, x_15^0'=x_15^post_27, x_17^0'=x_17^post_27, x_21^0'=x_21^post_27, x_32^0'=x_32^post_27, x_SLAM_f_19^0'=x_SLAM_f_19^post_27, y_20^0'=y_20^post_27, [ 1+y_20^0<=x_21^0 && a_130^0==a_130^post_27 && a_152^0==a_152^post_27 && a_175^0==a_175^post_27 && a_28^0==a_28^post_27 && ct_18^0==ct_18^post_27 && d_29^0==d_29^post_27 && i_111^0==i_111^post_27 && i_13^0==i_13^post_27 && len_14^0==len_14^post_27 && r_37^0==r_37^post_27 && rcd_100^0==rcd_100^post_27 && rcd_63^0==rcd_63^post_27 && result_11^0==result_11^post_27 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_27 && t_24^0==t_24^post_27 && temp0_16^0==temp0_16^post_27 && temp0_31^0==temp0_31^post_27 && temp_33^0==temp_33^post_27 && tmp_27^0==tmp_27^post_27 && x_15^0==x_15^post_27 && x_17^0==x_17^post_27 && x_21^0==x_21^post_27 && x_32^0==x_32^post_27 && x_SLAM_f_19^0==x_SLAM_f_19^post_27 && y_20^0==y_20^post_27 ], cost: 1
     27: l20 -> l21 : a_130^0'=a_130^post_28, a_152^0'=a_152^post_28, a_175^0'=a_175^post_28, a_28^0'=a_28^post_28, ct_18^0'=ct_18^post_28, d_29^0'=d_29^post_28, i_111^0'=i_111^post_28, i_13^0'=i_13^post_28, len_14^0'=len_14^post_28, r_37^0'=r_37^post_28, rcd_100^0'=rcd_100^post_28, rcd_63^0'=rcd_63^post_28, result_11^0'=result_11^post_28, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_28, t_24^0'=t_24^post_28, temp0_16^0'=temp0_16^post_28, temp0_31^0'=temp0_31^post_28, temp_33^0'=temp_33^post_28, tmp_27^0'=tmp_27^post_28, x_15^0'=x_15^post_28, x_17^0'=x_17^post_28, x_21^0'=x_21^post_28, x_32^0'=x_32^post_28, x_SLAM_f_19^0'=x_SLAM_f_19^post_28, y_20^0'=y_20^post_28, [ 1+x_21^0<=y_20^0 && a_130^0==a_130^post_28 && a_152^0==a_152^post_28 && a_175^0==a_175^post_28 && a_28^0==a_28^post_28 && ct_18^0==ct_18^post_28 && d_29^0==d_29^post_28 && i_111^0==i_111^post_28 && i_13^0==i_13^post_28 && len_14^0==len_14^post_28 && r_37^0==r_37^post_28 && rcd_100^0==rcd_100^post_28 && rcd_63^0==rcd_63^post_28 && result_11^0==result_11^post_28 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_28 && t_24^0==t_24^post_28 && temp0_16^0==temp0_16^post_28 && temp0_31^0==temp0_31^post_28 && temp_33^0==temp_33^post_28 && tmp_27^0==tmp_27^post_28 && x_15^0==x_15^post_28 && x_17^0==x_17^post_28 && x_21^0==x_21^post_28 && x_32^0==x_32^post_28 && x_SLAM_f_19^0==x_SLAM_f_19^post_28 && y_20^0==y_20^post_28 ], cost: 1
     28: l21 -> l22 : a_130^0'=a_130^post_29, a_152^0'=a_152^post_29, a_175^0'=a_175^post_29, a_28^0'=a_28^post_29, ct_18^0'=ct_18^post_29, d_29^0'=d_29^post_29, i_111^0'=i_111^post_29, i_13^0'=i_13^post_29, len_14^0'=len_14^post_29, r_37^0'=r_37^post_29, rcd_100^0'=rcd_100^post_29, rcd_63^0'=rcd_63^post_29, result_11^0'=result_11^post_29, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_29, t_24^0'=t_24^post_29, temp0_16^0'=temp0_16^post_29, temp0_31^0'=temp0_31^post_29, temp_33^0'=temp_33^post_29, tmp_27^0'=tmp_27^post_29, x_15^0'=x_15^post_29, x_17^0'=x_17^post_29, x_21^0'=x_21^post_29, x_32^0'=x_32^post_29, x_SLAM_f_19^0'=x_SLAM_f_19^post_29, y_20^0'=y_20^post_29, [ t_24^post_29==x_21^0 && a_175^post_29==a_175^post_29 && 0<=ct_18^0 && ct_18^0<=0 && 0<=y_20^0 && y_20^0<=0 && x_15^0<=x_17^0 && x_17^0<=x_15^0 && x_15^0<=x_SLAM_f_19^0 && x_SLAM_f_19^0<=x_15^0 && x_15^0<=tmp_27^0 && tmp_27^0<=x_15^0 && x_17^0<=x_SLAM_f_19^0 && x_SLAM_f_19^0<=x_17^0 && ct_18^0<=y_20^0 && y_20^0<=ct_18^0 && a_175^post_29<=-1+a_152^0 && -1+a_152^0<=a_175^post_29 && a_130^0==a_130^post_29 && a_152^0==a_152^post_29 && a_28^0==a_28^post_29 && ct_18^0==ct_18^post_29 && d_29^0==d_29^post_29 && i_111^0==i_111^post_29 && i_13^0==i_13^post_29 && len_14^0==len_14^post_29 && r_37^0==r_37^post_29 && rcd_100^0==rcd_100^post_29 && rcd_63^0==rcd_63^post_29 && result_11^0==result_11^post_29 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_29 && temp0_16^0==temp0_16^post_29 && temp0_31^0==temp0_31^post_29 && temp_33^0==temp_33^post_29 && tmp_27^0==tmp_27^post_29 && x_15^0==x_15^post_29 && x_17^0==x_17^post_29 && x_21^0==x_21^post_29 && x_32^0==x_32^post_29 && x_SLAM_f_19^0==x_SLAM_f_19^post_29 && y_20^0==y_20^post_29 ], cost: 1
     29: l22 -> l23 : a_130^0'=a_130^post_30, a_152^0'=a_152^post_30, a_175^0'=a_175^post_30, a_28^0'=a_28^post_30, ct_18^0'=ct_18^post_30, d_29^0'=d_29^post_30, i_111^0'=i_111^post_30, i_13^0'=i_13^post_30, len_14^0'=len_14^post_30, r_37^0'=r_37^post_30, rcd_100^0'=rcd_100^post_30, rcd_63^0'=rcd_63^post_30, result_11^0'=result_11^post_30, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_30, t_24^0'=t_24^post_30, temp0_16^0'=temp0_16^post_30, temp0_31^0'=temp0_31^post_30, temp_33^0'=temp_33^post_30, tmp_27^0'=tmp_27^post_30, x_15^0'=x_15^post_30, x_17^0'=x_17^post_30, x_21^0'=x_21^post_30, x_32^0'=x_32^post_30, x_SLAM_f_19^0'=x_SLAM_f_19^post_30, y_20^0'=y_20^post_30, [ 1+x_15^0<=y_20^0 && a_130^0==a_130^post_30 && a_152^0==a_152^post_30 && a_175^0==a_175^post_30 && a_28^0==a_28^post_30 && ct_18^0==ct_18^post_30 && d_29^0==d_29^post_30 && i_111^0==i_111^post_30 && i_13^0==i_13^post_30 && len_14^0==len_14^post_30 && r_37^0==r_37^post_30 && rcd_100^0==rcd_100^post_30 && rcd_63^0==rcd_63^post_30 && result_11^0==result_11^post_30 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_30 && t_24^0==t_24^post_30 && temp0_16^0==temp0_16^post_30 && temp0_31^0==temp0_31^post_30 && temp_33^0==temp_33^post_30 && tmp_27^0==tmp_27^post_30 && x_15^0==x_15^post_30 && x_17^0==x_17^post_30 && x_21^0==x_21^post_30 && x_32^0==x_32^post_30 && x_SLAM_f_19^0==x_SLAM_f_19^post_30 && y_20^0==y_20^post_30 ], cost: 1
     30: l22 -> l23 : a_130^0'=a_130^post_31, a_152^0'=a_152^post_31, a_175^0'=a_175^post_31, a_28^0'=a_28^post_31, ct_18^0'=ct_18^post_31, d_29^0'=d_29^post_31, i_111^0'=i_111^post_31, i_13^0'=i_13^post_31, len_14^0'=len_14^post_31, r_37^0'=r_37^post_31, rcd_100^0'=rcd_100^post_31, rcd_63^0'=rcd_63^post_31, result_11^0'=result_11^post_31, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_31, t_24^0'=t_24^post_31, temp0_16^0'=temp0_16^post_31, temp0_31^0'=temp0_31^post_31, temp_33^0'=temp_33^post_31, tmp_27^0'=tmp_27^post_31, x_15^0'=x_15^post_31, x_17^0'=x_17^post_31, x_21^0'=x_21^post_31, x_32^0'=x_32^post_31, x_SLAM_f_19^0'=x_SLAM_f_19^post_31, y_20^0'=y_20^post_31, [ 1+y_20^0<=x_15^0 && a_130^0==a_130^post_31 && a_152^0==a_152^post_31 && a_175^0==a_175^post_31 && a_28^0==a_28^post_31 && ct_18^0==ct_18^post_31 && d_29^0==d_29^post_31 && i_111^0==i_111^post_31 && i_13^0==i_13^post_31 && len_14^0==len_14^post_31 && r_37^0==r_37^post_31 && rcd_100^0==rcd_100^post_31 && rcd_63^0==rcd_63^post_31 && result_11^0==result_11^post_31 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_31 && t_24^0==t_24^post_31 && temp0_16^0==temp0_16^post_31 && temp0_31^0==temp0_31^post_31 && temp_33^0==temp_33^post_31 && tmp_27^0==tmp_27^post_31 && x_15^0==x_15^post_31 && x_17^0==x_17^post_31 && x_21^0==x_21^post_31 && x_32^0==x_32^post_31 && x_SLAM_f_19^0==x_SLAM_f_19^post_31 && y_20^0==y_20^post_31 ], cost: 1
     31: l23 -> l24 : a_130^0'=a_130^post_32, a_152^0'=a_152^post_32, a_175^0'=a_175^post_32, a_28^0'=a_28^post_32, ct_18^0'=ct_18^post_32, d_29^0'=d_29^post_32, i_111^0'=i_111^post_32, i_13^0'=i_13^post_32, len_14^0'=len_14^post_32, r_37^0'=r_37^post_32, rcd_100^0'=rcd_100^post_32, rcd_63^0'=rcd_63^post_32, result_11^0'=result_11^post_32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_32, t_24^0'=t_24^post_32, temp0_16^0'=temp0_16^post_32, temp0_31^0'=temp0_31^post_32, temp_33^0'=temp_33^post_32, tmp_27^0'=tmp_27^post_32, x_15^0'=x_15^post_32, x_17^0'=x_17^post_32, x_21^0'=x_21^post_32, x_32^0'=x_32^post_32, x_SLAM_f_19^0'=x_SLAM_f_19^post_32, y_20^0'=y_20^post_32, [ 1+y_20^0<=t_24^0 && a_130^0==a_130^post_32 && a_152^0==a_152^post_32 && a_175^0==a_175^post_32 && a_28^0==a_28^post_32 && ct_18^0==ct_18^post_32 && d_29^0==d_29^post_32 && i_111^0==i_111^post_32 && i_13^0==i_13^post_32 && len_14^0==len_14^post_32 && r_37^0==r_37^post_32 && rcd_100^0==rcd_100^post_32 && rcd_63^0==rcd_63^post_32 && result_11^0==result_11^post_32 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_32 && t_24^0==t_24^post_32 && temp0_16^0==temp0_16^post_32 && temp0_31^0==temp0_31^post_32 && temp_33^0==temp_33^post_32 && tmp_27^0==tmp_27^post_32 && x_15^0==x_15^post_32 && x_17^0==x_17^post_32 && x_21^0==x_21^post_32 && x_32^0==x_32^post_32 && x_SLAM_f_19^0==x_SLAM_f_19^post_32 && y_20^0==y_20^post_32 ], cost: 1
     32: l23 -> l24 : a_130^0'=a_130^post_33, a_152^0'=a_152^post_33, a_175^0'=a_175^post_33, a_28^0'=a_28^post_33, ct_18^0'=ct_18^post_33, d_29^0'=d_29^post_33, i_111^0'=i_111^post_33, i_13^0'=i_13^post_33, len_14^0'=len_14^post_33, r_37^0'=r_37^post_33, rcd_100^0'=rcd_100^post_33, rcd_63^0'=rcd_63^post_33, result_11^0'=result_11^post_33, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_33, t_24^0'=t_24^post_33, temp0_16^0'=temp0_16^post_33, temp0_31^0'=temp0_31^post_33, temp_33^0'=temp_33^post_33, tmp_27^0'=tmp_27^post_33, x_15^0'=x_15^post_33, x_17^0'=x_17^post_33, x_21^0'=x_21^post_33, x_32^0'=x_32^post_33, x_SLAM_f_19^0'=x_SLAM_f_19^post_33, y_20^0'=y_20^post_33, [ 1+t_24^0<=y_20^0 && a_130^0==a_130^post_33 && a_152^0==a_152^post_33 && a_175^0==a_175^post_33 && a_28^0==a_28^post_33 && ct_18^0==ct_18^post_33 && d_29^0==d_29^post_33 && i_111^0==i_111^post_33 && i_13^0==i_13^post_33 && len_14^0==len_14^post_33 && r_37^0==r_37^post_33 && rcd_100^0==rcd_100^post_33 && rcd_63^0==rcd_63^post_33 && result_11^0==result_11^post_33 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_33 && t_24^0==t_24^post_33 && temp0_16^0==temp0_16^post_33 && temp0_31^0==temp0_31^post_33 && temp_33^0==temp_33^post_33 && tmp_27^0==tmp_27^post_33 && x_15^0==x_15^post_33 && x_17^0==x_17^post_33 && x_21^0==x_21^post_33 && x_32^0==x_32^post_33 && x_SLAM_f_19^0==x_SLAM_f_19^post_33 && y_20^0==y_20^post_33 ], cost: 1
     33: l24 -> l19 : a_130^0'=a_130^post_34, a_152^0'=a_152^post_34, a_175^0'=a_175^post_34, a_28^0'=a_28^post_34, ct_18^0'=ct_18^post_34, d_29^0'=d_29^post_34, i_111^0'=i_111^post_34, i_13^0'=i_13^post_34, len_14^0'=len_14^post_34, r_37^0'=r_37^post_34, rcd_100^0'=rcd_100^post_34, rcd_63^0'=rcd_63^post_34, result_11^0'=result_11^post_34, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_34, t_24^0'=t_24^post_34, temp0_16^0'=temp0_16^post_34, temp0_31^0'=temp0_31^post_34, temp_33^0'=temp_33^post_34, tmp_27^0'=tmp_27^post_34, x_15^0'=x_15^post_34, x_17^0'=x_17^post_34, x_21^0'=x_21^post_34, x_32^0'=x_32^post_34, x_SLAM_f_19^0'=x_SLAM_f_19^post_34, y_20^0'=y_20^post_34, [ 1<=len_14^0 && 2<=len_14^0 && len_14^0<=i_13^0 && a_152^post_34==a_152^post_34 && a_152^post_34<=a_175^0 && a_175^0<=a_152^post_34 && a_130^0==a_130^post_34 && a_175^0==a_175^post_34 && a_28^0==a_28^post_34 && ct_18^0==ct_18^post_34 && d_29^0==d_29^post_34 && i_111^0==i_111^post_34 && i_13^0==i_13^post_34 && len_14^0==len_14^post_34 && r_37^0==r_37^post_34 && rcd_100^0==rcd_100^post_34 && rcd_63^0==rcd_63^post_34 && result_11^0==result_11^post_34 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_34 && t_24^0==t_24^post_34 && temp0_16^0==temp0_16^post_34 && temp0_31^0==temp0_31^post_34 && temp_33^0==temp_33^post_34 && tmp_27^0==tmp_27^post_34 && x_15^0==x_15^post_34 && x_17^0==x_17^post_34 && x_21^0==x_21^post_34 && x_32^0==x_32^post_34 && x_SLAM_f_19^0==x_SLAM_f_19^post_34 && y_20^0==y_20^post_34 ], cost: 1
     34: l19 -> l4 : a_130^0'=a_130^post_35, a_152^0'=a_152^post_35, a_175^0'=a_175^post_35, a_28^0'=a_28^post_35, ct_18^0'=ct_18^post_35, d_29^0'=d_29^post_35, i_111^0'=i_111^post_35, i_13^0'=i_13^post_35, len_14^0'=len_14^post_35, r_37^0'=r_37^post_35, rcd_100^0'=rcd_100^post_35, rcd_63^0'=rcd_63^post_35, result_11^0'=result_11^post_35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_35, t_24^0'=t_24^post_35, temp0_16^0'=temp0_16^post_35, temp0_31^0'=temp0_31^post_35, temp_33^0'=temp_33^post_35, tmp_27^0'=tmp_27^post_35, x_15^0'=x_15^post_35, x_17^0'=x_17^post_35, x_21^0'=x_21^post_35, x_32^0'=x_32^post_35, x_SLAM_f_19^0'=x_SLAM_f_19^post_35, y_20^0'=y_20^post_35, [ a_130^0==a_130^post_35 && a_152^0==a_152^post_35 && a_175^0==a_175^post_35 && a_28^0==a_28^post_35 && ct_18^0==ct_18^post_35 && d_29^0==d_29^post_35 && i_111^0==i_111^post_35 && i_13^0==i_13^post_35 && len_14^0==len_14^post_35 && r_37^0==r_37^post_35 && rcd_100^0==rcd_100^post_35 && rcd_63^0==rcd_63^post_35 && result_11^0==result_11^post_35 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_35 && t_24^0==t_24^post_35 && temp0_16^0==temp0_16^post_35 && temp0_31^0==temp0_31^post_35 && temp_33^0==temp_33^post_35 && tmp_27^0==tmp_27^post_35 && x_15^0==x_15^post_35 && x_17^0==x_17^post_35 && x_21^0==x_21^post_35 && x_32^0==x_32^post_35 && x_SLAM_f_19^0==x_SLAM_f_19^post_35 && y_20^0==y_20^post_35 ], cost: 1
     36: l25 -> l26 : a_130^0'=a_130^post_37, a_152^0'=a_152^post_37, a_175^0'=a_175^post_37, a_28^0'=a_28^post_37, ct_18^0'=ct_18^post_37, d_29^0'=d_29^post_37, i_111^0'=i_111^post_37, i_13^0'=i_13^post_37, len_14^0'=len_14^post_37, r_37^0'=r_37^post_37, rcd_100^0'=rcd_100^post_37, rcd_63^0'=rcd_63^post_37, result_11^0'=result_11^post_37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_37, t_24^0'=t_24^post_37, temp0_16^0'=temp0_16^post_37, temp0_31^0'=temp0_31^post_37, temp_33^0'=temp_33^post_37, tmp_27^0'=tmp_27^post_37, x_15^0'=x_15^post_37, x_17^0'=x_17^post_37, x_21^0'=x_21^post_37, x_32^0'=x_32^post_37, x_SLAM_f_19^0'=x_SLAM_f_19^post_37, y_20^0'=y_20^post_37, [ 1+y_20^0<=x_21^0 && a_130^0==a_130^post_37 && a_152^0==a_152^post_37 && a_175^0==a_175^post_37 && a_28^0==a_28^post_37 && ct_18^0==ct_18^post_37 && d_29^0==d_29^post_37 && i_111^0==i_111^post_37 && i_13^0==i_13^post_37 && len_14^0==len_14^post_37 && r_37^0==r_37^post_37 && rcd_100^0==rcd_100^post_37 && rcd_63^0==rcd_63^post_37 && result_11^0==result_11^post_37 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_37 && t_24^0==t_24^post_37 && temp0_16^0==temp0_16^post_37 && temp0_31^0==temp0_31^post_37 && temp_33^0==temp_33^post_37 && tmp_27^0==tmp_27^post_37 && x_15^0==x_15^post_37 && x_17^0==x_17^post_37 && x_21^0==x_21^post_37 && x_32^0==x_32^post_37 && x_SLAM_f_19^0==x_SLAM_f_19^post_37 && y_20^0==y_20^post_37 ], cost: 1
     37: l25 -> l26 : a_130^0'=a_130^post_38, a_152^0'=a_152^post_38, a_175^0'=a_175^post_38, a_28^0'=a_28^post_38, ct_18^0'=ct_18^post_38, d_29^0'=d_29^post_38, i_111^0'=i_111^post_38, i_13^0'=i_13^post_38, len_14^0'=len_14^post_38, r_37^0'=r_37^post_38, rcd_100^0'=rcd_100^post_38, rcd_63^0'=rcd_63^post_38, result_11^0'=result_11^post_38, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_38, t_24^0'=t_24^post_38, temp0_16^0'=temp0_16^post_38, temp0_31^0'=temp0_31^post_38, temp_33^0'=temp_33^post_38, tmp_27^0'=tmp_27^post_38, x_15^0'=x_15^post_38, x_17^0'=x_17^post_38, x_21^0'=x_21^post_38, x_32^0'=x_32^post_38, x_SLAM_f_19^0'=x_SLAM_f_19^post_38, y_20^0'=y_20^post_38, [ 1+x_21^0<=y_20^0 && a_130^0==a_130^post_38 && a_152^0==a_152^post_38 && a_175^0==a_175^post_38 && a_28^0==a_28^post_38 && ct_18^0==ct_18^post_38 && d_29^0==d_29^post_38 && i_111^0==i_111^post_38 && i_13^0==i_13^post_38 && len_14^0==len_14^post_38 && r_37^0==r_37^post_38 && rcd_100^0==rcd_100^post_38 && rcd_63^0==rcd_63^post_38 && result_11^0==result_11^post_38 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_38 && t_24^0==t_24^post_38 && temp0_16^0==temp0_16^post_38 && temp0_31^0==temp0_31^post_38 && temp_33^0==temp_33^post_38 && tmp_27^0==tmp_27^post_38 && x_15^0==x_15^post_38 && x_17^0==x_17^post_38 && x_21^0==x_21^post_38 && x_32^0==x_32^post_38 && x_SLAM_f_19^0==x_SLAM_f_19^post_38 && y_20^0==y_20^post_38 ], cost: 1
     38: l26 -> l27 : a_130^0'=a_130^post_39, a_152^0'=a_152^post_39, a_175^0'=a_175^post_39, a_28^0'=a_28^post_39, ct_18^0'=ct_18^post_39, d_29^0'=d_29^post_39, i_111^0'=i_111^post_39, i_13^0'=i_13^post_39, len_14^0'=len_14^post_39, r_37^0'=r_37^post_39, rcd_100^0'=rcd_100^post_39, rcd_63^0'=rcd_63^post_39, result_11^0'=result_11^post_39, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_39, t_24^0'=t_24^post_39, temp0_16^0'=temp0_16^post_39, temp0_31^0'=temp0_31^post_39, temp_33^0'=temp_33^post_39, tmp_27^0'=tmp_27^post_39, x_15^0'=x_15^post_39, x_17^0'=x_17^post_39, x_21^0'=x_21^post_39, x_32^0'=x_32^post_39, x_SLAM_f_19^0'=x_SLAM_f_19^post_39, y_20^0'=y_20^post_39, [ t_24^post_39==x_21^0 && a_130^post_39==a_130^post_39 && 0<=ct_18^0 && ct_18^0<=0 && 0<=y_20^0 && y_20^0<=0 && 0<=a_152^0-a_130^post_39 && a_152^0-a_130^post_39<=0 && x_15^0<=x_17^0 && x_17^0<=x_15^0 && x_15^0<=x_SLAM_f_19^0 && x_SLAM_f_19^0<=x_15^0 && x_15^0<=t_24^post_39 && t_24^post_39<=x_15^0 && x_15^0<=tmp_27^0 && tmp_27^0<=x_15^0 && x_17^0<=x_SLAM_f_19^0 && x_SLAM_f_19^0<=x_17^0 && ct_18^0<=y_20^0 && y_20^0<=ct_18^0 && a_130^post_39<=a_152^0 && a_152^0<=a_130^post_39 && a_152^0==a_152^post_39 && a_175^0==a_175^post_39 && a_28^0==a_28^post_39 && ct_18^0==ct_18^post_39 && d_29^0==d_29^post_39 && i_111^0==i_111^post_39 && i_13^0==i_13^post_39 && len_14^0==len_14^post_39 && r_37^0==r_37^post_39 && rcd_100^0==rcd_100^post_39 && rcd_63^0==rcd_63^post_39 && result_11^0==result_11^post_39 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_39 && temp0_16^0==temp0_16^post_39 && temp0_31^0==temp0_31^post_39 && temp_33^0==temp_33^post_39 && tmp_27^0==tmp_27^post_39 && x_15^0==x_15^post_39 && x_17^0==x_17^post_39 && x_21^0==x_21^post_39 && x_32^0==x_32^post_39 && x_SLAM_f_19^0==x_SLAM_f_19^post_39 && y_20^0==y_20^post_39 ], cost: 1
     39: l27 -> l28 : a_130^0'=a_130^post_40, a_152^0'=a_152^post_40, a_175^0'=a_175^post_40, a_28^0'=a_28^post_40, ct_18^0'=ct_18^post_40, d_29^0'=d_29^post_40, i_111^0'=i_111^post_40, i_13^0'=i_13^post_40, len_14^0'=len_14^post_40, r_37^0'=r_37^post_40, rcd_100^0'=rcd_100^post_40, rcd_63^0'=rcd_63^post_40, result_11^0'=result_11^post_40, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_40, t_24^0'=t_24^post_40, temp0_16^0'=temp0_16^post_40, temp0_31^0'=temp0_31^post_40, temp_33^0'=temp_33^post_40, tmp_27^0'=tmp_27^post_40, x_15^0'=x_15^post_40, x_17^0'=x_17^post_40, x_21^0'=x_21^post_40, x_32^0'=x_32^post_40, x_SLAM_f_19^0'=x_SLAM_f_19^post_40, y_20^0'=y_20^post_40, [ 1+x_15^0<=y_20^0 && a_130^0==a_130^post_40 && a_152^0==a_152^post_40 && a_175^0==a_175^post_40 && a_28^0==a_28^post_40 && ct_18^0==ct_18^post_40 && d_29^0==d_29^post_40 && i_111^0==i_111^post_40 && i_13^0==i_13^post_40 && len_14^0==len_14^post_40 && r_37^0==r_37^post_40 && rcd_100^0==rcd_100^post_40 && rcd_63^0==rcd_63^post_40 && result_11^0==result_11^post_40 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_40 && t_24^0==t_24^post_40 && temp0_16^0==temp0_16^post_40 && temp0_31^0==temp0_31^post_40 && temp_33^0==temp_33^post_40 && tmp_27^0==tmp_27^post_40 && x_15^0==x_15^post_40 && x_17^0==x_17^post_40 && x_21^0==x_21^post_40 && x_32^0==x_32^post_40 && x_SLAM_f_19^0==x_SLAM_f_19^post_40 && y_20^0==y_20^post_40 ], cost: 1
     40: l27 -> l28 : a_130^0'=a_130^post_41, a_152^0'=a_152^post_41, a_175^0'=a_175^post_41, a_28^0'=a_28^post_41, ct_18^0'=ct_18^post_41, d_29^0'=d_29^post_41, i_111^0'=i_111^post_41, i_13^0'=i_13^post_41, len_14^0'=len_14^post_41, r_37^0'=r_37^post_41, rcd_100^0'=rcd_100^post_41, rcd_63^0'=rcd_63^post_41, result_11^0'=result_11^post_41, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_41, t_24^0'=t_24^post_41, temp0_16^0'=temp0_16^post_41, temp0_31^0'=temp0_31^post_41, temp_33^0'=temp_33^post_41, tmp_27^0'=tmp_27^post_41, x_15^0'=x_15^post_41, x_17^0'=x_17^post_41, x_21^0'=x_21^post_41, x_32^0'=x_32^post_41, x_SLAM_f_19^0'=x_SLAM_f_19^post_41, y_20^0'=y_20^post_41, [ 1+y_20^0<=x_15^0 && a_130^0==a_130^post_41 && a_152^0==a_152^post_41 && a_175^0==a_175^post_41 && a_28^0==a_28^post_41 && ct_18^0==ct_18^post_41 && d_29^0==d_29^post_41 && i_111^0==i_111^post_41 && i_13^0==i_13^post_41 && len_14^0==len_14^post_41 && r_37^0==r_37^post_41 && rcd_100^0==rcd_100^post_41 && rcd_63^0==rcd_63^post_41 && result_11^0==result_11^post_41 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_41 && t_24^0==t_24^post_41 && temp0_16^0==temp0_16^post_41 && temp0_31^0==temp0_31^post_41 && temp_33^0==temp_33^post_41 && tmp_27^0==tmp_27^post_41 && x_15^0==x_15^post_41 && x_17^0==x_17^post_41 && x_21^0==x_21^post_41 && x_32^0==x_32^post_41 && x_SLAM_f_19^0==x_SLAM_f_19^post_41 && y_20^0==y_20^post_41 ], cost: 1
     41: l28 -> l29 : a_130^0'=a_130^post_42, a_152^0'=a_152^post_42, a_175^0'=a_175^post_42, a_28^0'=a_28^post_42, ct_18^0'=ct_18^post_42, d_29^0'=d_29^post_42, i_111^0'=i_111^post_42, i_13^0'=i_13^post_42, len_14^0'=len_14^post_42, r_37^0'=r_37^post_42, rcd_100^0'=rcd_100^post_42, rcd_63^0'=rcd_63^post_42, result_11^0'=result_11^post_42, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_42, t_24^0'=t_24^post_42, temp0_16^0'=temp0_16^post_42, temp0_31^0'=temp0_31^post_42, temp_33^0'=temp_33^post_42, tmp_27^0'=tmp_27^post_42, x_15^0'=x_15^post_42, x_17^0'=x_17^post_42, x_21^0'=x_21^post_42, x_32^0'=x_32^post_42, x_SLAM_f_19^0'=x_SLAM_f_19^post_42, y_20^0'=y_20^post_42, [ 1+y_20^0<=t_24^0 && a_130^0==a_130^post_42 && a_152^0==a_152^post_42 && a_175^0==a_175^post_42 && a_28^0==a_28^post_42 && ct_18^0==ct_18^post_42 && d_29^0==d_29^post_42 && i_111^0==i_111^post_42 && i_13^0==i_13^post_42 && len_14^0==len_14^post_42 && r_37^0==r_37^post_42 && rcd_100^0==rcd_100^post_42 && rcd_63^0==rcd_63^post_42 && result_11^0==result_11^post_42 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_42 && t_24^0==t_24^post_42 && temp0_16^0==temp0_16^post_42 && temp0_31^0==temp0_31^post_42 && temp_33^0==temp_33^post_42 && tmp_27^0==tmp_27^post_42 && x_15^0==x_15^post_42 && x_17^0==x_17^post_42 && x_21^0==x_21^post_42 && x_32^0==x_32^post_42 && x_SLAM_f_19^0==x_SLAM_f_19^post_42 && y_20^0==y_20^post_42 ], cost: 1
     42: l28 -> l29 : a_130^0'=a_130^post_43, a_152^0'=a_152^post_43, a_175^0'=a_175^post_43, a_28^0'=a_28^post_43, ct_18^0'=ct_18^post_43, d_29^0'=d_29^post_43, i_111^0'=i_111^post_43, i_13^0'=i_13^post_43, len_14^0'=len_14^post_43, r_37^0'=r_37^post_43, rcd_100^0'=rcd_100^post_43, rcd_63^0'=rcd_63^post_43, result_11^0'=result_11^post_43, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_43, t_24^0'=t_24^post_43, temp0_16^0'=temp0_16^post_43, temp0_31^0'=temp0_31^post_43, temp_33^0'=temp_33^post_43, tmp_27^0'=tmp_27^post_43, x_15^0'=x_15^post_43, x_17^0'=x_17^post_43, x_21^0'=x_21^post_43, x_32^0'=x_32^post_43, x_SLAM_f_19^0'=x_SLAM_f_19^post_43, y_20^0'=y_20^post_43, [ 1+t_24^0<=y_20^0 && a_130^0==a_130^post_43 && a_152^0==a_152^post_43 && a_175^0==a_175^post_43 && a_28^0==a_28^post_43 && ct_18^0==ct_18^post_43 && d_29^0==d_29^post_43 && i_111^0==i_111^post_43 && i_13^0==i_13^post_43 && len_14^0==len_14^post_43 && r_37^0==r_37^post_43 && rcd_100^0==rcd_100^post_43 && rcd_63^0==rcd_63^post_43 && result_11^0==result_11^post_43 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_43 && t_24^0==t_24^post_43 && temp0_16^0==temp0_16^post_43 && temp0_31^0==temp0_31^post_43 && temp_33^0==temp_33^post_43 && tmp_27^0==tmp_27^post_43 && x_15^0==x_15^post_43 && x_17^0==x_17^post_43 && x_21^0==x_21^post_43 && x_32^0==x_32^post_43 && x_SLAM_f_19^0==x_SLAM_f_19^post_43 && y_20^0==y_20^post_43 ], cost: 1
     43: l29 -> l4 : a_130^0'=a_130^post_44, a_152^0'=a_152^post_44, a_175^0'=a_175^post_44, a_28^0'=a_28^post_44, ct_18^0'=ct_18^post_44, d_29^0'=d_29^post_44, i_111^0'=i_111^post_44, i_13^0'=i_13^post_44, len_14^0'=len_14^post_44, r_37^0'=r_37^post_44, rcd_100^0'=rcd_100^post_44, rcd_63^0'=rcd_63^post_44, result_11^0'=result_11^post_44, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_44, t_24^0'=t_24^post_44, temp0_16^0'=temp0_16^post_44, temp0_31^0'=temp0_31^post_44, temp_33^0'=temp_33^post_44, tmp_27^0'=tmp_27^post_44, x_15^0'=x_15^post_44, x_17^0'=x_17^post_44, x_21^0'=x_21^post_44, x_32^0'=x_32^post_44, x_SLAM_f_19^0'=x_SLAM_f_19^post_44, y_20^0'=y_20^post_44, [ 1<=len_14^0 && 2<=len_14^0 && len_14^0<=i_13^0 && i_13^post_44==i_13^post_44 && -1+i_13^post_44<=a_130^0 && a_130^0<=-1+i_13^post_44 && a_130^0==a_130^post_44 && a_152^0==a_152^post_44 && a_175^0==a_175^post_44 && a_28^0==a_28^post_44 && ct_18^0==ct_18^post_44 && d_29^0==d_29^post_44 && i_111^0==i_111^post_44 && len_14^0==len_14^post_44 && r_37^0==r_37^post_44 && rcd_100^0==rcd_100^post_44 && rcd_63^0==rcd_63^post_44 && result_11^0==result_11^post_44 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_44 && t_24^0==t_24^post_44 && temp0_16^0==temp0_16^post_44 && temp0_31^0==temp0_31^post_44 && temp_33^0==temp_33^post_44 && tmp_27^0==tmp_27^post_44 && x_15^0==x_15^post_44 && x_17^0==x_17^post_44 && x_21^0==x_21^post_44 && x_32^0==x_32^post_44 && x_SLAM_f_19^0==x_SLAM_f_19^post_44 && y_20^0==y_20^post_44 ], cost: 1
     45: l30 -> l18 : a_130^0'=a_130^post_46, a_152^0'=a_152^post_46, a_175^0'=a_175^post_46, a_28^0'=a_28^post_46, ct_18^0'=ct_18^post_46, d_29^0'=d_29^post_46, i_111^0'=i_111^post_46, i_13^0'=i_13^post_46, len_14^0'=len_14^post_46, r_37^0'=r_37^post_46, rcd_100^0'=rcd_100^post_46, rcd_63^0'=rcd_63^post_46, result_11^0'=result_11^post_46, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_46, t_24^0'=t_24^post_46, temp0_16^0'=temp0_16^post_46, temp0_31^0'=temp0_31^post_46, temp_33^0'=temp_33^post_46, tmp_27^0'=tmp_27^post_46, x_15^0'=x_15^post_46, x_17^0'=x_17^post_46, x_21^0'=x_21^post_46, x_32^0'=x_32^post_46, x_SLAM_f_19^0'=x_SLAM_f_19^post_46, y_20^0'=y_20^post_46, [ a_130^0==a_130^post_46 && a_152^0==a_152^post_46 && a_175^0==a_175^post_46 && a_28^0==a_28^post_46 && ct_18^0==ct_18^post_46 && d_29^0==d_29^post_46 && i_111^0==i_111^post_46 && i_13^0==i_13^post_46 && len_14^0==len_14^post_46 && r_37^0==r_37^post_46 && rcd_100^0==rcd_100^post_46 && rcd_63^0==rcd_63^post_46 && result_11^0==result_11^post_46 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_46 && t_24^0==t_24^post_46 && temp0_16^0==temp0_16^post_46 && temp0_31^0==temp0_31^post_46 && temp_33^0==temp_33^post_46 && tmp_27^0==tmp_27^post_46 && x_15^0==x_15^post_46 && x_17^0==x_17^post_46 && x_21^0==x_21^post_46 && x_32^0==x_32^post_46 && x_SLAM_f_19^0==x_SLAM_f_19^post_46 && y_20^0==y_20^post_46 ], cost: 1
     48: l31 -> l10 : a_130^0'=a_130^post_49, a_152^0'=a_152^post_49, a_175^0'=a_175^post_49, a_28^0'=a_28^post_49, ct_18^0'=ct_18^post_49, d_29^0'=d_29^post_49, i_111^0'=i_111^post_49, i_13^0'=i_13^post_49, len_14^0'=len_14^post_49, r_37^0'=r_37^post_49, rcd_100^0'=rcd_100^post_49, rcd_63^0'=rcd_63^post_49, result_11^0'=result_11^post_49, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_49, t_24^0'=t_24^post_49, temp0_16^0'=temp0_16^post_49, temp0_31^0'=temp0_31^post_49, temp_33^0'=temp_33^post_49, tmp_27^0'=tmp_27^post_49, x_15^0'=x_15^post_49, x_17^0'=x_17^post_49, x_21^0'=x_21^post_49, x_32^0'=x_32^post_49, x_SLAM_f_19^0'=x_SLAM_f_19^post_49, y_20^0'=y_20^post_49, [ a_130^0==a_130^post_49 && a_152^0==a_152^post_49 && a_175^0==a_175^post_49 && a_28^0==a_28^post_49 && ct_18^0==ct_18^post_49 && d_29^0==d_29^post_49 && i_111^0==i_111^post_49 && i_13^0==i_13^post_49 && len_14^0==len_14^post_49 && r_37^0==r_37^post_49 && rcd_100^0==rcd_100^post_49 && rcd_63^0==rcd_63^post_49 && result_11^0==result_11^post_49 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_49 && t_24^0==t_24^post_49 && temp0_16^0==temp0_16^post_49 && temp0_31^0==temp0_31^post_49 && temp_33^0==temp_33^post_49 && tmp_27^0==tmp_27^post_49 && x_15^0==x_15^post_49 && x_17^0==x_17^post_49 && x_21^0==x_21^post_49 && x_32^0==x_32^post_49 && x_SLAM_f_19^0==x_SLAM_f_19^post_49 && y_20^0==y_20^post_49 ], cost: 1

Checking for constant complexity:
   The following rule is satisfiable with cost >= 1, yielding constant complexity:
     48: l31 -> l10 : a_130^0'=a_130^post_49, a_152^0'=a_152^post_49, a_175^0'=a_175^post_49, a_28^0'=a_28^post_49, ct_18^0'=ct_18^post_49, d_29^0'=d_29^post_49, i_111^0'=i_111^post_49, i_13^0'=i_13^post_49, len_14^0'=len_14^post_49, r_37^0'=r_37^post_49, rcd_100^0'=rcd_100^post_49, rcd_63^0'=rcd_63^post_49, result_11^0'=result_11^post_49, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_49, t_24^0'=t_24^post_49, temp0_16^0'=temp0_16^post_49, temp0_31^0'=temp0_31^post_49, temp_33^0'=temp_33^post_49, tmp_27^0'=tmp_27^post_49, x_15^0'=x_15^post_49, x_17^0'=x_17^post_49, x_21^0'=x_21^post_49, x_32^0'=x_32^post_49, x_SLAM_f_19^0'=x_SLAM_f_19^post_49, y_20^0'=y_20^post_49, [ a_130^0==a_130^post_49 && a_152^0==a_152^post_49 && a_175^0==a_175^post_49 && a_28^0==a_28^post_49 && ct_18^0==ct_18^post_49 && d_29^0==d_29^post_49 && i_111^0==i_111^post_49 && i_13^0==i_13^post_49 && len_14^0==len_14^post_49 && r_37^0==r_37^post_49 && rcd_100^0==rcd_100^post_49 && rcd_63^0==rcd_63^post_49 && result_11^0==result_11^post_49 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_49 && t_24^0==t_24^post_49 && temp0_16^0==temp0_16^post_49 && temp0_31^0==temp0_31^post_49 && temp_33^0==temp_33^post_49 && tmp_27^0==tmp_27^post_49 && x_15^0==x_15^post_49 && x_17^0==x_17^post_49 && x_21^0==x_21^post_49 && x_32^0==x_32^post_49 && x_SLAM_f_19^0==x_SLAM_f_19^post_49 && y_20^0==y_20^post_49 ], cost: 1

Removed unreachable and leaf rules:
   Start location: l31
     25: l4 -> l20 : a_130^0'=a_130^post_26, a_152^0'=a_152^post_26, a_175^0'=a_175^post_26, a_28^0'=a_28^post_26, ct_18^0'=ct_18^post_26, d_29^0'=d_29^post_26, i_111^0'=i_111^post_26, i_13^0'=i_13^post_26, len_14^0'=len_14^post_26, r_37^0'=r_37^post_26, rcd_100^0'=rcd_100^post_26, rcd_63^0'=rcd_63^post_26, result_11^0'=result_11^post_26, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_26, t_24^0'=t_24^post_26, temp0_16^0'=temp0_16^post_26, temp0_31^0'=temp0_31^post_26, temp_33^0'=temp_33^post_26, tmp_27^0'=tmp_27^post_26, x_15^0'=x_15^post_26, x_17^0'=x_17^post_26, x_21^0'=x_21^post_26, x_32^0'=x_32^post_26, x_SLAM_f_19^0'=x_SLAM_f_19^post_26, y_20^0'=y_20^post_26, [ 0<=a_152^0 && i_13^post_26==i_13^post_26 && len_14^post_26==len_14^post_26 && x_15^post_26==x_15^post_26 && x_17^post_26==x_17^post_26 && ct_18^post_26==ct_18^post_26 && x_SLAM_f_19^post_26==x_SLAM_f_19^post_26 && tmp_27^post_26==tmp_27^post_26 && r_37^post_26==r_37^post_26 && a_130^0==a_130^post_26 && a_152^0==a_152^post_26 && a_175^0==a_175^post_26 && a_28^0==a_28^post_26 && d_29^0==d_29^post_26 && i_111^0==i_111^post_26 && rcd_100^0==rcd_100^post_26 && rcd_63^0==rcd_63^post_26 && result_11^0==result_11^post_26 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_26 && t_24^0==t_24^post_26 && temp0_16^0==temp0_16^post_26 && temp0_31^0==temp0_31^post_26 && temp_33^0==temp_33^post_26 && x_21^0==x_21^post_26 && x_32^0==x_32^post_26 && y_20^0==y_20^post_26 ], cost: 1
     13: l10 -> l11 : a_130^0'=a_130^post_14, a_152^0'=a_152^post_14, a_175^0'=a_175^post_14, a_28^0'=a_28^post_14, ct_18^0'=ct_18^post_14, d_29^0'=d_29^post_14, i_111^0'=i_111^post_14, i_13^0'=i_13^post_14, len_14^0'=len_14^post_14, r_37^0'=r_37^post_14, rcd_100^0'=rcd_100^post_14, rcd_63^0'=rcd_63^post_14, result_11^0'=result_11^post_14, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_14, t_24^0'=t_24^post_14, temp0_16^0'=temp0_16^post_14, temp0_31^0'=temp0_31^post_14, temp_33^0'=temp_33^post_14, tmp_27^0'=tmp_27^post_14, x_15^0'=x_15^post_14, x_17^0'=x_17^post_14, x_21^0'=x_21^post_14, x_32^0'=x_32^post_14, x_SLAM_f_19^0'=x_SLAM_f_19^post_14, y_20^0'=y_20^post_14, [ x_15^post_14==0 && i_13^post_14==0 && 0<=i_13^post_14 && i_13^post_14<=0 && 0<=x_15^post_14 && x_15^post_14<=0 && a_130^0==a_130^post_14 && a_152^0==a_152^post_14 && a_175^0==a_175^post_14 && a_28^0==a_28^post_14 && ct_18^0==ct_18^post_14 && d_29^0==d_29^post_14 && i_111^0==i_111^post_14 && len_14^0==len_14^post_14 && r_37^0==r_37^post_14 && rcd_100^0==rcd_100^post_14 && rcd_63^0==rcd_63^post_14 && result_11^0==result_11^post_14 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_14 && t_24^0==t_24^post_14 && temp0_16^0==temp0_16^post_14 && temp0_31^0==temp0_31^post_14 && temp_33^0==temp_33^post_14 && tmp_27^0==tmp_27^post_14 && x_17^0==x_17^post_14 && x_21^0==x_21^post_14 && x_32^0==x_32^post_14 && x_SLAM_f_19^0==x_SLAM_f_19^post_14 && y_20^0==y_20^post_14 ], cost: 1
     47: l11 -> l12 : a_130^0'=a_130^post_48, a_152^0'=a_152^post_48, a_175^0'=a_175^post_48, a_28^0'=a_28^post_48, ct_18^0'=ct_18^post_48, d_29^0'=d_29^post_48, i_111^0'=i_111^post_48, i_13^0'=i_13^post_48, len_14^0'=len_14^post_48, r_37^0'=r_37^post_48, rcd_100^0'=rcd_100^post_48, rcd_63^0'=rcd_63^post_48, result_11^0'=result_11^post_48, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_48, t_24^0'=t_24^post_48, temp0_16^0'=temp0_16^post_48, temp0_31^0'=temp0_31^post_48, temp_33^0'=temp_33^post_48, tmp_27^0'=tmp_27^post_48, x_15^0'=x_15^post_48, x_17^0'=x_17^post_48, x_21^0'=x_21^post_48, x_32^0'=x_32^post_48, x_SLAM_f_19^0'=x_SLAM_f_19^post_48, y_20^0'=y_20^post_48, [ 1+i_13^0<=len_14^0 && a_28^1_3==i_13^0 && d_29^1_3_1==x_15^0 && x_32^1_3_1==temp_33^0 && temp_33^1_3_1==temp_33^1_3_1 && temp0_31^1_3_1==x_32^1_3_1 && result_11^1_3_1==temp0_31^1_3_1 && a_28^post_48==a_28^post_48 && d_29^post_48==d_29^post_48 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_48==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_48 && temp0_31^post_48==temp0_31^post_48 && x_32^post_48==x_32^post_48 && temp_33^post_48==temp_33^post_48 && tmp_27^post_48==result_11^1_3_1 && result_11^post_48==result_11^post_48 && x_15^post_48==tmp_27^post_48 && i_13^post_48==1+i_13^0 && 1<=i_13^post_48 && i_13^post_48<=1 && x_15^post_48<=tmp_27^post_48 && tmp_27^post_48<=x_15^post_48 && 1<=len_14^0 && a_130^0==a_130^post_48 && a_152^0==a_152^post_48 && a_175^0==a_175^post_48 && ct_18^0==ct_18^post_48 && i_111^0==i_111^post_48 && len_14^0==len_14^post_48 && r_37^0==r_37^post_48 && rcd_100^0==rcd_100^post_48 && rcd_63^0==rcd_63^post_48 && t_24^0==t_24^post_48 && temp0_16^0==temp0_16^post_48 && x_17^0==x_17^post_48 && x_21^0==x_21^post_48 && x_SLAM_f_19^0==x_SLAM_f_19^post_48 && y_20^0==y_20^post_48 ], cost: 1
     23: l12 -> l18 : a_130^0'=a_130^post_24, a_152^0'=a_152^post_24, a_175^0'=a_175^post_24, a_28^0'=a_28^post_24, ct_18^0'=ct_18^post_24, d_29^0'=d_29^post_24, i_111^0'=i_111^post_24, i_13^0'=i_13^post_24, len_14^0'=len_14^post_24, r_37^0'=r_37^post_24, rcd_100^0'=rcd_100^post_24, rcd_63^0'=rcd_63^post_24, result_11^0'=result_11^post_24, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_24, t_24^0'=t_24^post_24, temp0_16^0'=temp0_16^post_24, temp0_31^0'=temp0_31^post_24, temp_33^0'=temp_33^post_24, tmp_27^0'=tmp_27^post_24, x_15^0'=x_15^post_24, x_17^0'=x_17^post_24, x_21^0'=x_21^post_24, x_32^0'=x_32^post_24, x_SLAM_f_19^0'=x_SLAM_f_19^post_24, y_20^0'=y_20^post_24, [ rcd_63^post_24==rcd_63^post_24 && 1+i_13^0<=len_14^0 && a_28^1_1==i_13^0 && d_29^1_1==x_15^0 && x_32^1_1==temp_33^0 && temp_33^1_1==temp_33^1_1 && temp0_31^1_1==x_32^1_1 && result_11^1_1==temp0_31^1_1 && a_28^post_24==a_28^post_24 && d_29^post_24==d_29^post_24 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_24==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_24 && temp0_31^post_24==temp0_31^post_24 && x_32^post_24==x_32^post_24 && temp_33^post_24==temp_33^post_24 && tmp_27^post_24==result_11^1_1 && result_11^post_24==result_11^post_24 && x_15^post_24==tmp_27^post_24 && i_13^post_24==1+i_13^0 && 2<=i_13^post_24 && i_13^post_24<=2 && x_15^post_24<=tmp_27^post_24 && tmp_27^post_24<=x_15^post_24 && 1<=len_14^0 && 2<=len_14^0 && a_130^0==a_130^post_24 && a_152^0==a_152^post_24 && a_175^0==a_175^post_24 && ct_18^0==ct_18^post_24 && i_111^0==i_111^post_24 && len_14^0==len_14^post_24 && r_37^0==r_37^post_24 && rcd_100^0==rcd_100^post_24 && t_24^0==t_24^post_24 && temp0_16^0==temp0_16^post_24 && x_17^0==x_17^post_24 && x_21^0==x_21^post_24 && x_SLAM_f_19^0==x_SLAM_f_19^post_24 && y_20^0==y_20^post_24 ], cost: 1
     35: l18 -> l25 : a_130^0'=a_130^post_36, a_152^0'=a_152^post_36, a_175^0'=a_175^post_36, a_28^0'=a_28^post_36, ct_18^0'=ct_18^post_36, d_29^0'=d_29^post_36, i_111^0'=i_111^post_36, i_13^0'=i_13^post_36, len_14^0'=len_14^post_36, r_37^0'=r_37^post_36, rcd_100^0'=rcd_100^post_36, rcd_63^0'=rcd_63^post_36, result_11^0'=result_11^post_36, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_36, t_24^0'=t_24^post_36, temp0_16^0'=temp0_16^post_36, temp0_31^0'=temp0_31^post_36, temp_33^0'=temp_33^post_36, tmp_27^0'=tmp_27^post_36, x_15^0'=x_15^post_36, x_17^0'=x_17^post_36, x_21^0'=x_21^post_36, x_32^0'=x_32^post_36, x_SLAM_f_19^0'=x_SLAM_f_19^post_36, y_20^0'=y_20^post_36, [ 0<=i_13^0 && len_14^0<=i_13^0 && x_17^1_2_1==x_15^0 && ct_18^1_5==0 && x_SLAM_f_19^1_5_1==x_17^1_2_1 && y_20^post_36==ct_18^1_5 && x_21^post_36==x_SLAM_f_19^1_5_1 && 0<=i_13^0 && i_13^post_36==i_13^post_36 && len_14^post_36==len_14^post_36 && x_15^post_36==x_15^post_36 && x_17^post_36==x_17^post_36 && ct_18^post_36==ct_18^post_36 && x_SLAM_f_19^post_36==x_SLAM_f_19^post_36 && tmp_27^post_36==tmp_27^post_36 && a_130^0==a_130^post_36 && a_152^0==a_152^post_36 && a_175^0==a_175^post_36 && a_28^0==a_28^post_36 && d_29^0==d_29^post_36 && i_111^0==i_111^post_36 && r_37^0==r_37^post_36 && rcd_100^0==rcd_100^post_36 && rcd_63^0==rcd_63^post_36 && result_11^0==result_11^post_36 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_36 && t_24^0==t_24^post_36 && temp0_16^0==temp0_16^post_36 && temp0_31^0==temp0_31^post_36 && temp_33^0==temp_33^post_36 && x_32^0==x_32^post_36 ], cost: 1
     44: l18 -> l30 : a_130^0'=a_130^post_45, a_152^0'=a_152^post_45, a_175^0'=a_175^post_45, a_28^0'=a_28^post_45, ct_18^0'=ct_18^post_45, d_29^0'=d_29^post_45, i_111^0'=i_111^post_45, i_13^0'=i_13^post_45, len_14^0'=len_14^post_45, r_37^0'=r_37^post_45, rcd_100^0'=rcd_100^post_45, rcd_63^0'=rcd_63^post_45, result_11^0'=result_11^post_45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_45, t_24^0'=t_24^post_45, temp0_16^0'=temp0_16^post_45, temp0_31^0'=temp0_31^post_45, temp_33^0'=temp_33^post_45, tmp_27^0'=tmp_27^post_45, x_15^0'=x_15^post_45, x_17^0'=x_17^post_45, x_21^0'=x_21^post_45, x_32^0'=x_32^post_45, x_SLAM_f_19^0'=x_SLAM_f_19^post_45, y_20^0'=y_20^post_45, [ 0<=i_13^0 && rcd_100^post_45==rcd_100^post_45 && i_111^post_45==i_111^post_45 && 1+i_13^0<=len_14^0 && a_28^1_2==i_13^0 && d_29^1_2_1==x_15^0 && x_32^1_2_1==temp_33^0 && temp_33^1_2_1==temp_33^1_2_1 && temp0_31^1_2_1==x_32^1_2_1 && result_11^1_2_1==temp0_31^1_2_1 && a_28^post_45==a_28^post_45 && d_29^post_45==d_29^post_45 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_45==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_45 && temp0_31^post_45==temp0_31^post_45 && x_32^post_45==x_32^post_45 && temp_33^post_45==temp_33^post_45 && tmp_27^post_45==result_11^1_2_1 && result_11^post_45==result_11^post_45 && x_15^post_45==tmp_27^post_45 && i_13^post_45==1+i_13^0 && i_13^post_45<=1+i_111^post_45 && 1+i_111^post_45<=i_13^post_45 && i_111^post_45<=-1+i_13^post_45 && -1+i_13^post_45<=i_111^post_45 && 1+i_111^post_45<=len_14^0 && a_130^0==a_130^post_45 && a_152^0==a_152^post_45 && a_175^0==a_175^post_45 && ct_18^0==ct_18^post_45 && len_14^0==len_14^post_45 && r_37^0==r_37^post_45 && rcd_63^0==rcd_63^post_45 && t_24^0==t_24^post_45 && temp0_16^0==temp0_16^post_45 && x_17^0==x_17^post_45 && x_21^0==x_21^post_45 && x_SLAM_f_19^0==x_SLAM_f_19^post_45 && y_20^0==y_20^post_45 ], cost: 1
     26: l20 -> l21 : a_130^0'=a_130^post_27, a_152^0'=a_152^post_27, a_175^0'=a_175^post_27, a_28^0'=a_28^post_27, ct_18^0'=ct_18^post_27, d_29^0'=d_29^post_27, i_111^0'=i_111^post_27, i_13^0'=i_13^post_27, len_14^0'=len_14^post_27, r_37^0'=r_37^post_27, rcd_100^0'=rcd_100^post_27, rcd_63^0'=rcd_63^post_27, result_11^0'=result_11^post_27, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_27, t_24^0'=t_24^post_27, temp0_16^0'=temp0_16^post_27, temp0_31^0'=temp0_31^post_27, temp_33^0'=temp_33^post_27, tmp_27^0'=tmp_27^post_27, x_15^0'=x_15^post_27, x_17^0'=x_17^post_27, x_21^0'=x_21^post_27, x_32^0'=x_32^post_27, x_SLAM_f_19^0'=x_SLAM_f_19^post_27, y_20^0'=y_20^post_27, [ 1+y_20^0<=x_21^0 && a_130^0==a_130^post_27 && a_152^0==a_152^post_27 && a_175^0==a_175^post_27 && a_28^0==a_28^post_27 && ct_18^0==ct_18^post_27 && d_29^0==d_29^post_27 && i_111^0==i_111^post_27 && i_13^0==i_13^post_27 && len_14^0==len_14^post_27 && r_37^0==r_37^post_27 && rcd_100^0==rcd_100^post_27 && rcd_63^0==rcd_63^post_27 && result_11^0==result_11^post_27 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_27 && t_24^0==t_24^post_27 && temp0_16^0==temp0_16^post_27 && temp0_31^0==temp0_31^post_27 && temp_33^0==temp_33^post_27 && tmp_27^0==tmp_27^post_27 && x_15^0==x_15^post_27 && x_17^0==x_17^post_27 && x_21^0==x_21^post_27 && x_32^0==x_32^post_27 && x_SLAM_f_19^0==x_SLAM_f_19^post_27 && y_20^0==y_20^post_27 ], cost: 1
     27: l20 -> l21 : a_130^0'=a_130^post_28, a_152^0'=a_152^post_28, a_175^0'=a_175^post_28, a_28^0'=a_28^post_28, ct_18^0'=ct_18^post_28, d_29^0'=d_29^post_28, i_111^0'=i_111^post_28, i_13^0'=i_13^post_28, len_14^0'=len_14^post_28, r_37^0'=r_37^post_28, rcd_100^0'=rcd_100^post_28, rcd_63^0'=rcd_63^post_28, result_11^0'=result_11^post_28, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_28, t_24^0'=t_24^post_28, temp0_16^0'=temp0_16^post_28, temp0_31^0'=temp0_31^post_28, temp_33^0'=temp_33^post_28, tmp_27^0'=tmp_27^post_28, x_15^0'=x_15^post_28, x_17^0'=x_17^post_28, x_21^0'=x_21^post_28, x_32^0'=x_32^post_28, x_SLAM_f_19^0'=x_SLAM_f_19^post_28, y_20^0'=y_20^post_28, [ 1+x_21^0<=y_20^0 && a_130^0==a_130^post_28 && a_152^0==a_152^post_28 && a_175^0==a_175^post_28 && a_28^0==a_28^post_28 && ct_18^0==ct_18^post_28 && d_29^0==d_29^post_28 && i_111^0==i_111^post_28 && i_13^0==i_13^post_28 && len_14^0==len_14^post_28 && r_37^0==r_37^post_28 && rcd_100^0==rcd_100^post_28 && rcd_63^0==rcd_63^post_28 && result_11^0==result_11^post_28 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_28 && t_24^0==t_24^post_28 && temp0_16^0==temp0_16^post_28 && temp0_31^0==temp0_31^post_28 && temp_33^0==temp_33^post_28 && tmp_27^0==tmp_27^post_28 && x_15^0==x_15^post_28 && x_17^0==x_17^post_28 && x_21^0==x_21^post_28 && x_32^0==x_32^post_28 && x_SLAM_f_19^0==x_SLAM_f_19^post_28 && y_20^0==y_20^post_28 ], cost: 1
     28: l21 -> l22 : a_130^0'=a_130^post_29, a_152^0'=a_152^post_29, a_175^0'=a_175^post_29, a_28^0'=a_28^post_29, ct_18^0'=ct_18^post_29, d_29^0'=d_29^post_29, i_111^0'=i_111^post_29, i_13^0'=i_13^post_29, len_14^0'=len_14^post_29, r_37^0'=r_37^post_29, rcd_100^0'=rcd_100^post_29, rcd_63^0'=rcd_63^post_29, result_11^0'=result_11^post_29, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_29, t_24^0'=t_24^post_29, temp0_16^0'=temp0_16^post_29, temp0_31^0'=temp0_31^post_29, temp_33^0'=temp_33^post_29, tmp_27^0'=tmp_27^post_29, x_15^0'=x_15^post_29, x_17^0'=x_17^post_29, x_21^0'=x_21^post_29, x_32^0'=x_32^post_29, x_SLAM_f_19^0'=x_SLAM_f_19^post_29, y_20^0'=y_20^post_29, [ t_24^post_29==x_21^0 && a_175^post_29==a_175^post_29 && 0<=ct_18^0 && ct_18^0<=0 && 0<=y_20^0 && y_20^0<=0 && x_15^0<=x_17^0 && x_17^0<=x_15^0 && x_15^0<=x_SLAM_f_19^0 && x_SLAM_f_19^0<=x_15^0 && x_15^0<=tmp_27^0 && tmp_27^0<=x_15^0 && x_17^0<=x_SLAM_f_19^0 && x_SLAM_f_19^0<=x_17^0 && ct_18^0<=y_20^0 && y_20^0<=ct_18^0 && a_175^post_29<=-1+a_152^0 && -1+a_152^0<=a_175^post_29 && a_130^0==a_130^post_29 && a_152^0==a_152^post_29 && a_28^0==a_28^post_29 && ct_18^0==ct_18^post_29 && d_29^0==d_29^post_29 && i_111^0==i_111^post_29 && i_13^0==i_13^post_29 && len_14^0==len_14^post_29 && r_37^0==r_37^post_29 && rcd_100^0==rcd_100^post_29 && rcd_63^0==rcd_63^post_29 && result_11^0==result_11^post_29 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_29 && temp0_16^0==temp0_16^post_29 && temp0_31^0==temp0_31^post_29 && temp_33^0==temp_33^post_29 && tmp_27^0==tmp_27^post_29 && x_15^0==x_15^post_29 && x_17^0==x_17^post_29 && x_21^0==x_21^post_29 && x_32^0==x_32^post_29 && x_SLAM_f_19^0==x_SLAM_f_19^post_29 && y_20^0==y_20^post_29 ], cost: 1
     29: l22 -> l23 : a_130^0'=a_130^post_30, a_152^0'=a_152^post_30, a_175^0'=a_175^post_30, a_28^0'=a_28^post_30, ct_18^0'=ct_18^post_30, d_29^0'=d_29^post_30, i_111^0'=i_111^post_30, i_13^0'=i_13^post_30, len_14^0'=len_14^post_30, r_37^0'=r_37^post_30, rcd_100^0'=rcd_100^post_30, rcd_63^0'=rcd_63^post_30, result_11^0'=result_11^post_30, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_30, t_24^0'=t_24^post_30, temp0_16^0'=temp0_16^post_30, temp0_31^0'=temp0_31^post_30, temp_33^0'=temp_33^post_30, tmp_27^0'=tmp_27^post_30, x_15^0'=x_15^post_30, x_17^0'=x_17^post_30, x_21^0'=x_21^post_30, x_32^0'=x_32^post_30, x_SLAM_f_19^0'=x_SLAM_f_19^post_30, y_20^0'=y_20^post_30, [ 1+x_15^0<=y_20^0 && a_130^0==a_130^post_30 && a_152^0==a_152^post_30 && a_175^0==a_175^post_30 && a_28^0==a_28^post_30 && ct_18^0==ct_18^post_30 && d_29^0==d_29^post_30 && i_111^0==i_111^post_30 && i_13^0==i_13^post_30 && len_14^0==len_14^post_30 && r_37^0==r_37^post_30 && rcd_100^0==rcd_100^post_30 && rcd_63^0==rcd_63^post_30 && result_11^0==result_11^post_30 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_30 && t_24^0==t_24^post_30 && temp0_16^0==temp0_16^post_30 && temp0_31^0==temp0_31^post_30 && temp_33^0==temp_33^post_30 && tmp_27^0==tmp_27^post_30 && x_15^0==x_15^post_30 && x_17^0==x_17^post_30 && x_21^0==x_21^post_30 && x_32^0==x_32^post_30 && x_SLAM_f_19^0==x_SLAM_f_19^post_30 && y_20^0==y_20^post_30 ], cost: 1
     30: l22 -> l23 : a_130^0'=a_130^post_31, a_152^0'=a_152^post_31, a_175^0'=a_175^post_31, a_28^0'=a_28^post_31, ct_18^0'=ct_18^post_31, d_29^0'=d_29^post_31, i_111^0'=i_111^post_31, i_13^0'=i_13^post_31, len_14^0'=len_14^post_31, r_37^0'=r_37^post_31, rcd_100^0'=rcd_100^post_31, rcd_63^0'=rcd_63^post_31, result_11^0'=result_11^post_31, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_31, t_24^0'=t_24^post_31, temp0_16^0'=temp0_16^post_31, temp0_31^0'=temp0_31^post_31, temp_33^0'=temp_33^post_31, tmp_27^0'=tmp_27^post_31, x_15^0'=x_15^post_31, x_17^0'=x_17^post_31, x_21^0'=x_21^post_31, x_32^0'=x_32^post_31, x_SLAM_f_19^0'=x_SLAM_f_19^post_31, y_20^0'=y_20^post_31, [ 1+y_20^0<=x_15^0 && a_130^0==a_130^post_31 && a_152^0==a_152^post_31 && a_175^0==a_175^post_31 && a_28^0==a_28^post_31 && ct_18^0==ct_18^post_31 && d_29^0==d_29^post_31 && i_111^0==i_111^post_31 && i_13^0==i_13^post_31 && len_14^0==len_14^post_31 && r_37^0==r_37^post_31 && rcd_100^0==rcd_100^post_31 && rcd_63^0==rcd_63^post_31 && result_11^0==result_11^post_31 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_31 && t_24^0==t_24^post_31 && temp0_16^0==temp0_16^post_31 && temp0_31^0==temp0_31^post_31 && temp_33^0==temp_33^post_31 && tmp_27^0==tmp_27^post_31 && x_15^0==x_15^post_31 && x_17^0==x_17^post_31 && x_21^0==x_21^post_31 && x_32^0==x_32^post_31 && x_SLAM_f_19^0==x_SLAM_f_19^post_31 && y_20^0==y_20^post_31 ], cost: 1
     31: l23 -> l24 : a_130^0'=a_130^post_32, a_152^0'=a_152^post_32, a_175^0'=a_175^post_32, a_28^0'=a_28^post_32, ct_18^0'=ct_18^post_32, d_29^0'=d_29^post_32, i_111^0'=i_111^post_32, i_13^0'=i_13^post_32, len_14^0'=len_14^post_32, r_37^0'=r_37^post_32, rcd_100^0'=rcd_100^post_32, rcd_63^0'=rcd_63^post_32, result_11^0'=result_11^post_32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_32, t_24^0'=t_24^post_32, temp0_16^0'=temp0_16^post_32, temp0_31^0'=temp0_31^post_32, temp_33^0'=temp_33^post_32, tmp_27^0'=tmp_27^post_32, x_15^0'=x_15^post_32, x_17^0'=x_17^post_32, x_21^0'=x_21^post_32, x_32^0'=x_32^post_32, x_SLAM_f_19^0'=x_SLAM_f_19^post_32, y_20^0'=y_20^post_32, [ 1+y_20^0<=t_24^0 && a_130^0==a_130^post_32 && a_152^0==a_152^post_32 && a_175^0==a_175^post_32 && a_28^0==a_28^post_32 && ct_18^0==ct_18^post_32 && d_29^0==d_29^post_32 && i_111^0==i_111^post_32 && i_13^0==i_13^post_32 && len_14^0==len_14^post_32 && r_37^0==r_37^post_32 && rcd_100^0==rcd_100^post_32 && rcd_63^0==rcd_63^post_32 && result_11^0==result_11^post_32 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_32 && t_24^0==t_24^post_32 && temp0_16^0==temp0_16^post_32 && temp0_31^0==temp0_31^post_32 && temp_33^0==temp_33^post_32 && tmp_27^0==tmp_27^post_32 && x_15^0==x_15^post_32 && x_17^0==x_17^post_32 && x_21^0==x_21^post_32 && x_32^0==x_32^post_32 && x_SLAM_f_19^0==x_SLAM_f_19^post_32 && y_20^0==y_20^post_32 ], cost: 1
     32: l23 -> l24 : a_130^0'=a_130^post_33, a_152^0'=a_152^post_33, a_175^0'=a_175^post_33, a_28^0'=a_28^post_33, ct_18^0'=ct_18^post_33, d_29^0'=d_29^post_33, i_111^0'=i_111^post_33, i_13^0'=i_13^post_33, len_14^0'=len_14^post_33, r_37^0'=r_37^post_33, rcd_100^0'=rcd_100^post_33, rcd_63^0'=rcd_63^post_33, result_11^0'=result_11^post_33, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_33, t_24^0'=t_24^post_33, temp0_16^0'=temp0_16^post_33, temp0_31^0'=temp0_31^post_33, temp_33^0'=temp_33^post_33, tmp_27^0'=tmp_27^post_33, x_15^0'=x_15^post_33, x_17^0'=x_17^post_33, x_21^0'=x_21^post_33, x_32^0'=x_32^post_33, x_SLAM_f_19^0'=x_SLAM_f_19^post_33, y_20^0'=y_20^post_33, [ 1+t_24^0<=y_20^0 && a_130^0==a_130^post_33 && a_152^0==a_152^post_33 && a_175^0==a_175^post_33 && a_28^0==a_28^post_33 && ct_18^0==ct_18^post_33 && d_29^0==d_29^post_33 && i_111^0==i_111^post_33 && i_13^0==i_13^post_33 && len_14^0==len_14^post_33 && r_37^0==r_37^post_33 && rcd_100^0==rcd_100^post_33 && rcd_63^0==rcd_63^post_33 && result_11^0==result_11^post_33 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_33 && t_24^0==t_24^post_33 && temp0_16^0==temp0_16^post_33 && temp0_31^0==temp0_31^post_33 && temp_33^0==temp_33^post_33 && tmp_27^0==tmp_27^post_33 && x_15^0==x_15^post_33 && x_17^0==x_17^post_33 && x_21^0==x_21^post_33 && x_32^0==x_32^post_33 && x_SLAM_f_19^0==x_SLAM_f_19^post_33 && y_20^0==y_20^post_33 ], cost: 1
     33: l24 -> l19 : a_130^0'=a_130^post_34, a_152^0'=a_152^post_34, a_175^0'=a_175^post_34, a_28^0'=a_28^post_34, ct_18^0'=ct_18^post_34, d_29^0'=d_29^post_34, i_111^0'=i_111^post_34, i_13^0'=i_13^post_34, len_14^0'=len_14^post_34, r_37^0'=r_37^post_34, rcd_100^0'=rcd_100^post_34, rcd_63^0'=rcd_63^post_34, result_11^0'=result_11^post_34, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_34, t_24^0'=t_24^post_34, temp0_16^0'=temp0_16^post_34, temp0_31^0'=temp0_31^post_34, temp_33^0'=temp_33^post_34, tmp_27^0'=tmp_27^post_34, x_15^0'=x_15^post_34, x_17^0'=x_17^post_34, x_21^0'=x_21^post_34, x_32^0'=x_32^post_34, x_SLAM_f_19^0'=x_SLAM_f_19^post_34, y_20^0'=y_20^post_34, [ 1<=len_14^0 && 2<=len_14^0 && len_14^0<=i_13^0 && a_152^post_34==a_152^post_34 && a_152^post_34<=a_175^0 && a_175^0<=a_152^post_34 && a_130^0==a_130^post_34 && a_175^0==a_175^post_34 && a_28^0==a_28^post_34 && ct_18^0==ct_18^post_34 && d_29^0==d_29^post_34 && i_111^0==i_111^post_34 && i_13^0==i_13^post_34 && len_14^0==len_14^post_34 && r_37^0==r_37^post_34 && rcd_100^0==rcd_100^post_34 && rcd_63^0==rcd_63^post_34 && result_11^0==result_11^post_34 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_34 && t_24^0==t_24^post_34 && temp0_16^0==temp0_16^post_34 && temp0_31^0==temp0_31^post_34 && temp_33^0==temp_33^post_34 && tmp_27^0==tmp_27^post_34 && x_15^0==x_15^post_34 && x_17^0==x_17^post_34 && x_21^0==x_21^post_34 && x_32^0==x_32^post_34 && x_SLAM_f_19^0==x_SLAM_f_19^post_34 && y_20^0==y_20^post_34 ], cost: 1
     34: l19 -> l4 : a_130^0'=a_130^post_35, a_152^0'=a_152^post_35, a_175^0'=a_175^post_35, a_28^0'=a_28^post_35, ct_18^0'=ct_18^post_35, d_29^0'=d_29^post_35, i_111^0'=i_111^post_35, i_13^0'=i_13^post_35, len_14^0'=len_14^post_35, r_37^0'=r_37^post_35, rcd_100^0'=rcd_100^post_35, rcd_63^0'=rcd_63^post_35, result_11^0'=result_11^post_35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_35, t_24^0'=t_24^post_35, temp0_16^0'=temp0_16^post_35, temp0_31^0'=temp0_31^post_35, temp_33^0'=temp_33^post_35, tmp_27^0'=tmp_27^post_35, x_15^0'=x_15^post_35, x_17^0'=x_17^post_35, x_21^0'=x_21^post_35, x_32^0'=x_32^post_35, x_SLAM_f_19^0'=x_SLAM_f_19^post_35, y_20^0'=y_20^post_35, [ a_130^0==a_130^post_35 && a_152^0==a_152^post_35 && a_175^0==a_175^post_35 && a_28^0==a_28^post_35 && ct_18^0==ct_18^post_35 && d_29^0==d_29^post_35 && i_111^0==i_111^post_35 && i_13^0==i_13^post_35 && len_14^0==len_14^post_35 && r_37^0==r_37^post_35 && rcd_100^0==rcd_100^post_35 && rcd_63^0==rcd_63^post_35 && result_11^0==result_11^post_35 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_35 && t_24^0==t_24^post_35 && temp0_16^0==temp0_16^post_35 && temp0_31^0==temp0_31^post_35 && temp_33^0==temp_33^post_35 && tmp_27^0==tmp_27^post_35 && x_15^0==x_15^post_35 && x_17^0==x_17^post_35 && x_21^0==x_21^post_35 && x_32^0==x_32^post_35 && x_SLAM_f_19^0==x_SLAM_f_19^post_35 && y_20^0==y_20^post_35 ], cost: 1
     36: l25 -> l26 : a_130^0'=a_130^post_37, a_152^0'=a_152^post_37, a_175^0'=a_175^post_37, a_28^0'=a_28^post_37, ct_18^0'=ct_18^post_37, d_29^0'=d_29^post_37, i_111^0'=i_111^post_37, i_13^0'=i_13^post_37, len_14^0'=len_14^post_37, r_37^0'=r_37^post_37, rcd_100^0'=rcd_100^post_37, rcd_63^0'=rcd_63^post_37, result_11^0'=result_11^post_37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_37, t_24^0'=t_24^post_37, temp0_16^0'=temp0_16^post_37, temp0_31^0'=temp0_31^post_37, temp_33^0'=temp_33^post_37, tmp_27^0'=tmp_27^post_37, x_15^0'=x_15^post_37, x_17^0'=x_17^post_37, x_21^0'=x_21^post_37, x_32^0'=x_32^post_37, x_SLAM_f_19^0'=x_SLAM_f_19^post_37, y_20^0'=y_20^post_37, [ 1+y_20^0<=x_21^0 && a_130^0==a_130^post_37 && a_152^0==a_152^post_37 && a_175^0==a_175^post_37 && a_28^0==a_28^post_37 && ct_18^0==ct_18^post_37 && d_29^0==d_29^post_37 && i_111^0==i_111^post_37 && i_13^0==i_13^post_37 && len_14^0==len_14^post_37 && r_37^0==r_37^post_37 && rcd_100^0==rcd_100^post_37 && rcd_63^0==rcd_63^post_37 && result_11^0==result_11^post_37 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_37 && t_24^0==t_24^post_37 && temp0_16^0==temp0_16^post_37 && temp0_31^0==temp0_31^post_37 && temp_33^0==temp_33^post_37 && tmp_27^0==tmp_27^post_37 && x_15^0==x_15^post_37 && x_17^0==x_17^post_37 && x_21^0==x_21^post_37 && x_32^0==x_32^post_37 && x_SLAM_f_19^0==x_SLAM_f_19^post_37 && y_20^0==y_20^post_37 ], cost: 1
     37: l25 -> l26 : a_130^0'=a_130^post_38, a_152^0'=a_152^post_38, a_175^0'=a_175^post_38, a_28^0'=a_28^post_38, ct_18^0'=ct_18^post_38, d_29^0'=d_29^post_38, i_111^0'=i_111^post_38, i_13^0'=i_13^post_38, len_14^0'=len_14^post_38, r_37^0'=r_37^post_38, rcd_100^0'=rcd_100^post_38, rcd_63^0'=rcd_63^post_38, result_11^0'=result_11^post_38, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_38, t_24^0'=t_24^post_38, temp0_16^0'=temp0_16^post_38, temp0_31^0'=temp0_31^post_38, temp_33^0'=temp_33^post_38, tmp_27^0'=tmp_27^post_38, x_15^0'=x_15^post_38, x_17^0'=x_17^post_38, x_21^0'=x_21^post_38, x_32^0'=x_32^post_38, x_SLAM_f_19^0'=x_SLAM_f_19^post_38, y_20^0'=y_20^post_38, [ 1+x_21^0<=y_20^0 && a_130^0==a_130^post_38 && a_152^0==a_152^post_38 && a_175^0==a_175^post_38 && a_28^0==a_28^post_38 && ct_18^0==ct_18^post_38 && d_29^0==d_29^post_38 && i_111^0==i_111^post_38 && i_13^0==i_13^post_38 && len_14^0==len_14^post_38 && r_37^0==r_37^post_38 && rcd_100^0==rcd_100^post_38 && rcd_63^0==rcd_63^post_38 && result_11^0==result_11^post_38 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_38 && t_24^0==t_24^post_38 && temp0_16^0==temp0_16^post_38 && temp0_31^0==temp0_31^post_38 && temp_33^0==temp_33^post_38 && tmp_27^0==tmp_27^post_38 && x_15^0==x_15^post_38 && x_17^0==x_17^post_38 && x_21^0==x_21^post_38 && x_32^0==x_32^post_38 && x_SLAM_f_19^0==x_SLAM_f_19^post_38 && y_20^0==y_20^post_38 ], cost: 1
     38: l26 -> l27 : a_130^0'=a_130^post_39, a_152^0'=a_152^post_39, a_175^0'=a_175^post_39, a_28^0'=a_28^post_39, ct_18^0'=ct_18^post_39, d_29^0'=d_29^post_39, i_111^0'=i_111^post_39, i_13^0'=i_13^post_39, len_14^0'=len_14^post_39, r_37^0'=r_37^post_39, rcd_100^0'=rcd_100^post_39, rcd_63^0'=rcd_63^post_39, result_11^0'=result_11^post_39, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_39, t_24^0'=t_24^post_39, temp0_16^0'=temp0_16^post_39, temp0_31^0'=temp0_31^post_39, temp_33^0'=temp_33^post_39, tmp_27^0'=tmp_27^post_39, x_15^0'=x_15^post_39, x_17^0'=x_17^post_39, x_21^0'=x_21^post_39, x_32^0'=x_32^post_39, x_SLAM_f_19^0'=x_SLAM_f_19^post_39, y_20^0'=y_20^post_39, [ t_24^post_39==x_21^0 && a_130^post_39==a_130^post_39 && 0<=ct_18^0 && ct_18^0<=0 && 0<=y_20^0 && y_20^0<=0 && 0<=a_152^0-a_130^post_39 && a_152^0-a_130^post_39<=0 && x_15^0<=x_17^0 && x_17^0<=x_15^0 && x_15^0<=x_SLAM_f_19^0 && x_SLAM_f_19^0<=x_15^0 && x_15^0<=t_24^post_39 && t_24^post_39<=x_15^0 && x_15^0<=tmp_27^0 && tmp_27^0<=x_15^0 && x_17^0<=x_SLAM_f_19^0 && x_SLAM_f_19^0<=x_17^0 && ct_18^0<=y_20^0 && y_20^0<=ct_18^0 && a_130^post_39<=a_152^0 && a_152^0<=a_130^post_39 && a_152^0==a_152^post_39 && a_175^0==a_175^post_39 && a_28^0==a_28^post_39 && ct_18^0==ct_18^post_39 && d_29^0==d_29^post_39 && i_111^0==i_111^post_39 && i_13^0==i_13^post_39 && len_14^0==len_14^post_39 && r_37^0==r_37^post_39 && rcd_100^0==rcd_100^post_39 && rcd_63^0==rcd_63^post_39 && result_11^0==result_11^post_39 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_39 && temp0_16^0==temp0_16^post_39 && temp0_31^0==temp0_31^post_39 && temp_33^0==temp_33^post_39 && tmp_27^0==tmp_27^post_39 && x_15^0==x_15^post_39 && x_17^0==x_17^post_39 && x_21^0==x_21^post_39 && x_32^0==x_32^post_39 && x_SLAM_f_19^0==x_SLAM_f_19^post_39 && y_20^0==y_20^post_39 ], cost: 1
     39: l27 -> l28 : a_130^0'=a_130^post_40, a_152^0'=a_152^post_40, a_175^0'=a_175^post_40, a_28^0'=a_28^post_40, ct_18^0'=ct_18^post_40, d_29^0'=d_29^post_40, i_111^0'=i_111^post_40, i_13^0'=i_13^post_40, len_14^0'=len_14^post_40, r_37^0'=r_37^post_40, rcd_100^0'=rcd_100^post_40, rcd_63^0'=rcd_63^post_40, result_11^0'=result_11^post_40, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_40, t_24^0'=t_24^post_40, temp0_16^0'=temp0_16^post_40, temp0_31^0'=temp0_31^post_40, temp_33^0'=temp_33^post_40, tmp_27^0'=tmp_27^post_40, x_15^0'=x_15^post_40, x_17^0'=x_17^post_40, x_21^0'=x_21^post_40, x_32^0'=x_32^post_40, x_SLAM_f_19^0'=x_SLAM_f_19^post_40, y_20^0'=y_20^post_40, [ 1+x_15^0<=y_20^0 && a_130^0==a_130^post_40 && a_152^0==a_152^post_40 && a_175^0==a_175^post_40 && a_28^0==a_28^post_40 && ct_18^0==ct_18^post_40 && d_29^0==d_29^post_40 && i_111^0==i_111^post_40 && i_13^0==i_13^post_40 && len_14^0==len_14^post_40 && r_37^0==r_37^post_40 && rcd_100^0==rcd_100^post_40 && rcd_63^0==rcd_63^post_40 && result_11^0==result_11^post_40 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_40 && t_24^0==t_24^post_40 && temp0_16^0==temp0_16^post_40 && temp0_31^0==temp0_31^post_40 && temp_33^0==temp_33^post_40 && tmp_27^0==tmp_27^post_40 && x_15^0==x_15^post_40 && x_17^0==x_17^post_40 && x_21^0==x_21^post_40 && x_32^0==x_32^post_40 && x_SLAM_f_19^0==x_SLAM_f_19^post_40 && y_20^0==y_20^post_40 ], cost: 1
     40: l27 -> l28 : a_130^0'=a_130^post_41, a_152^0'=a_152^post_41, a_175^0'=a_175^post_41, a_28^0'=a_28^post_41, ct_18^0'=ct_18^post_41, d_29^0'=d_29^post_41, i_111^0'=i_111^post_41, i_13^0'=i_13^post_41, len_14^0'=len_14^post_41, r_37^0'=r_37^post_41, rcd_100^0'=rcd_100^post_41, rcd_63^0'=rcd_63^post_41, result_11^0'=result_11^post_41, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_41, t_24^0'=t_24^post_41, temp0_16^0'=temp0_16^post_41, temp0_31^0'=temp0_31^post_41, temp_33^0'=temp_33^post_41, tmp_27^0'=tmp_27^post_41, x_15^0'=x_15^post_41, x_17^0'=x_17^post_41, x_21^0'=x_21^post_41, x_32^0'=x_32^post_41, x_SLAM_f_19^0'=x_SLAM_f_19^post_41, y_20^0'=y_20^post_41, [ 1+y_20^0<=x_15^0 && a_130^0==a_130^post_41 && a_152^0==a_152^post_41 && a_175^0==a_175^post_41 && a_28^0==a_28^post_41 && ct_18^0==ct_18^post_41 && d_29^0==d_29^post_41 && i_111^0==i_111^post_41 && i_13^0==i_13^post_41 && len_14^0==len_14^post_41 && r_37^0==r_37^post_41 && rcd_100^0==rcd_100^post_41 && rcd_63^0==rcd_63^post_41 && result_11^0==result_11^post_41 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_41 && t_24^0==t_24^post_41 && temp0_16^0==temp0_16^post_41 && temp0_31^0==temp0_31^post_41 && temp_33^0==temp_33^post_41 && tmp_27^0==tmp_27^post_41 && x_15^0==x_15^post_41 && x_17^0==x_17^post_41 && x_21^0==x_21^post_41 && x_32^0==x_32^post_41 && x_SLAM_f_19^0==x_SLAM_f_19^post_41 && y_20^0==y_20^post_41 ], cost: 1
     41: l28 -> l29 : a_130^0'=a_130^post_42, a_152^0'=a_152^post_42, a_175^0'=a_175^post_42, a_28^0'=a_28^post_42, ct_18^0'=ct_18^post_42, d_29^0'=d_29^post_42, i_111^0'=i_111^post_42, i_13^0'=i_13^post_42, len_14^0'=len_14^post_42, r_37^0'=r_37^post_42, rcd_100^0'=rcd_100^post_42, rcd_63^0'=rcd_63^post_42, result_11^0'=result_11^post_42, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_42, t_24^0'=t_24^post_42, temp0_16^0'=temp0_16^post_42, temp0_31^0'=temp0_31^post_42, temp_33^0'=temp_33^post_42, tmp_27^0'=tmp_27^post_42, x_15^0'=x_15^post_42, x_17^0'=x_17^post_42, x_21^0'=x_21^post_42, x_32^0'=x_32^post_42, x_SLAM_f_19^0'=x_SLAM_f_19^post_42, y_20^0'=y_20^post_42, [ 1+y_20^0<=t_24^0 && a_130^0==a_130^post_42 && a_152^0==a_152^post_42 && a_175^0==a_175^post_42 && a_28^0==a_28^post_42 && ct_18^0==ct_18^post_42 && d_29^0==d_29^post_42 && i_111^0==i_111^post_42 && i_13^0==i_13^post_42 && len_14^0==len_14^post_42 && r_37^0==r_37^post_42 && rcd_100^0==rcd_100^post_42 && rcd_63^0==rcd_63^post_42 && result_11^0==result_11^post_42 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_42 && t_24^0==t_24^post_42 && temp0_16^0==temp0_16^post_42 && temp0_31^0==temp0_31^post_42 && temp_33^0==temp_33^post_42 && tmp_27^0==tmp_27^post_42 && x_15^0==x_15^post_42 && x_17^0==x_17^post_42 && x_21^0==x_21^post_42 && x_32^0==x_32^post_42 && x_SLAM_f_19^0==x_SLAM_f_19^post_42 && y_20^0==y_20^post_42 ], cost: 1
     42: l28 -> l29 : a_130^0'=a_130^post_43, a_152^0'=a_152^post_43, a_175^0'=a_175^post_43, a_28^0'=a_28^post_43, ct_18^0'=ct_18^post_43, d_29^0'=d_29^post_43, i_111^0'=i_111^post_43, i_13^0'=i_13^post_43, len_14^0'=len_14^post_43, r_37^0'=r_37^post_43, rcd_100^0'=rcd_100^post_43, rcd_63^0'=rcd_63^post_43, result_11^0'=result_11^post_43, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_43, t_24^0'=t_24^post_43, temp0_16^0'=temp0_16^post_43, temp0_31^0'=temp0_31^post_43, temp_33^0'=temp_33^post_43, tmp_27^0'=tmp_27^post_43, x_15^0'=x_15^post_43, x_17^0'=x_17^post_43, x_21^0'=x_21^post_43, x_32^0'=x_32^post_43, x_SLAM_f_19^0'=x_SLAM_f_19^post_43, y_20^0'=y_20^post_43, [ 1+t_24^0<=y_20^0 && a_130^0==a_130^post_43 && a_152^0==a_152^post_43 && a_175^0==a_175^post_43 && a_28^0==a_28^post_43 && ct_18^0==ct_18^post_43 && d_29^0==d_29^post_43 && i_111^0==i_111^post_43 && i_13^0==i_13^post_43 && len_14^0==len_14^post_43 && r_37^0==r_37^post_43 && rcd_100^0==rcd_100^post_43 && rcd_63^0==rcd_63^post_43 && result_11^0==result_11^post_43 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_43 && t_24^0==t_24^post_43 && temp0_16^0==temp0_16^post_43 && temp0_31^0==temp0_31^post_43 && temp_33^0==temp_33^post_43 && tmp_27^0==tmp_27^post_43 && x_15^0==x_15^post_43 && x_17^0==x_17^post_43 && x_21^0==x_21^post_43 && x_32^0==x_32^post_43 && x_SLAM_f_19^0==x_SLAM_f_19^post_43 && y_20^0==y_20^post_43 ], cost: 1
     43: l29 -> l4 : a_130^0'=a_130^post_44, a_152^0'=a_152^post_44, a_175^0'=a_175^post_44, a_28^0'=a_28^post_44, ct_18^0'=ct_18^post_44, d_29^0'=d_29^post_44, i_111^0'=i_111^post_44, i_13^0'=i_13^post_44, len_14^0'=len_14^post_44, r_37^0'=r_37^post_44, rcd_100^0'=rcd_100^post_44, rcd_63^0'=rcd_63^post_44, result_11^0'=result_11^post_44, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_44, t_24^0'=t_24^post_44, temp0_16^0'=temp0_16^post_44, temp0_31^0'=temp0_31^post_44, temp_33^0'=temp_33^post_44, tmp_27^0'=tmp_27^post_44, x_15^0'=x_15^post_44, x_17^0'=x_17^post_44, x_21^0'=x_21^post_44, x_32^0'=x_32^post_44, x_SLAM_f_19^0'=x_SLAM_f_19^post_44, y_20^0'=y_20^post_44, [ 1<=len_14^0 && 2<=len_14^0 && len_14^0<=i_13^0 && i_13^post_44==i_13^post_44 && -1+i_13^post_44<=a_130^0 && a_130^0<=-1+i_13^post_44 && a_130^0==a_130^post_44 && a_152^0==a_152^post_44 && a_175^0==a_175^post_44 && a_28^0==a_28^post_44 && ct_18^0==ct_18^post_44 && d_29^0==d_29^post_44 && i_111^0==i_111^post_44 && len_14^0==len_14^post_44 && r_37^0==r_37^post_44 && rcd_100^0==rcd_100^post_44 && rcd_63^0==rcd_63^post_44 && result_11^0==result_11^post_44 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_44 && t_24^0==t_24^post_44 && temp0_16^0==temp0_16^post_44 && temp0_31^0==temp0_31^post_44 && temp_33^0==temp_33^post_44 && tmp_27^0==tmp_27^post_44 && x_15^0==x_15^post_44 && x_17^0==x_17^post_44 && x_21^0==x_21^post_44 && x_32^0==x_32^post_44 && x_SLAM_f_19^0==x_SLAM_f_19^post_44 && y_20^0==y_20^post_44 ], cost: 1
     45: l30 -> l18 : a_130^0'=a_130^post_46, a_152^0'=a_152^post_46, a_175^0'=a_175^post_46, a_28^0'=a_28^post_46, ct_18^0'=ct_18^post_46, d_29^0'=d_29^post_46, i_111^0'=i_111^post_46, i_13^0'=i_13^post_46, len_14^0'=len_14^post_46, r_37^0'=r_37^post_46, rcd_100^0'=rcd_100^post_46, rcd_63^0'=rcd_63^post_46, result_11^0'=result_11^post_46, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_46, t_24^0'=t_24^post_46, temp0_16^0'=temp0_16^post_46, temp0_31^0'=temp0_31^post_46, temp_33^0'=temp_33^post_46, tmp_27^0'=tmp_27^post_46, x_15^0'=x_15^post_46, x_17^0'=x_17^post_46, x_21^0'=x_21^post_46, x_32^0'=x_32^post_46, x_SLAM_f_19^0'=x_SLAM_f_19^post_46, y_20^0'=y_20^post_46, [ a_130^0==a_130^post_46 && a_152^0==a_152^post_46 && a_175^0==a_175^post_46 && a_28^0==a_28^post_46 && ct_18^0==ct_18^post_46 && d_29^0==d_29^post_46 && i_111^0==i_111^post_46 && i_13^0==i_13^post_46 && len_14^0==len_14^post_46 && r_37^0==r_37^post_46 && rcd_100^0==rcd_100^post_46 && rcd_63^0==rcd_63^post_46 && result_11^0==result_11^post_46 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_46 && t_24^0==t_24^post_46 && temp0_16^0==temp0_16^post_46 && temp0_31^0==temp0_31^post_46 && temp_33^0==temp_33^post_46 && tmp_27^0==tmp_27^post_46 && x_15^0==x_15^post_46 && x_17^0==x_17^post_46 && x_21^0==x_21^post_46 && x_32^0==x_32^post_46 && x_SLAM_f_19^0==x_SLAM_f_19^post_46 && y_20^0==y_20^post_46 ], cost: 1
     48: l31 -> l10 : a_130^0'=a_130^post_49, a_152^0'=a_152^post_49, a_175^0'=a_175^post_49, a_28^0'=a_28^post_49, ct_18^0'=ct_18^post_49, d_29^0'=d_29^post_49, i_111^0'=i_111^post_49, i_13^0'=i_13^post_49, len_14^0'=len_14^post_49, r_37^0'=r_37^post_49, rcd_100^0'=rcd_100^post_49, rcd_63^0'=rcd_63^post_49, result_11^0'=result_11^post_49, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_49, t_24^0'=t_24^post_49, temp0_16^0'=temp0_16^post_49, temp0_31^0'=temp0_31^post_49, temp_33^0'=temp_33^post_49, tmp_27^0'=tmp_27^post_49, x_15^0'=x_15^post_49, x_17^0'=x_17^post_49, x_21^0'=x_21^post_49, x_32^0'=x_32^post_49, x_SLAM_f_19^0'=x_SLAM_f_19^post_49, y_20^0'=y_20^post_49, [ a_130^0==a_130^post_49 && a_152^0==a_152^post_49 && a_175^0==a_175^post_49 && a_28^0==a_28^post_49 && ct_18^0==ct_18^post_49 && d_29^0==d_29^post_49 && i_111^0==i_111^post_49 && i_13^0==i_13^post_49 && len_14^0==len_14^post_49 && r_37^0==r_37^post_49 && rcd_100^0==rcd_100^post_49 && rcd_63^0==rcd_63^post_49 && result_11^0==result_11^post_49 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_49 && t_24^0==t_24^post_49 && temp0_16^0==temp0_16^post_49 && temp0_31^0==temp0_31^post_49 && temp_33^0==temp_33^post_49 && tmp_27^0==tmp_27^post_49 && x_15^0==x_15^post_49 && x_17^0==x_17^post_49 && x_21^0==x_21^post_49 && x_32^0==x_32^post_49 && x_SLAM_f_19^0==x_SLAM_f_19^post_49 && y_20^0==y_20^post_49 ], cost: 1

Removed unreachable and leaf rules:
   Start location: l31
     25: l4 -> l20 : a_130^0'=a_130^post_26, a_152^0'=a_152^post_26, a_175^0'=a_175^post_26, a_28^0'=a_28^post_26, ct_18^0'=ct_18^post_26, d_29^0'=d_29^post_26, i_111^0'=i_111^post_26, i_13^0'=i_13^post_26, len_14^0'=len_14^post_26, r_37^0'=r_37^post_26, rcd_100^0'=rcd_100^post_26, rcd_63^0'=rcd_63^post_26, result_11^0'=result_11^post_26, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_26, t_24^0'=t_24^post_26, temp0_16^0'=temp0_16^post_26, temp0_31^0'=temp0_31^post_26, temp_33^0'=temp_33^post_26, tmp_27^0'=tmp_27^post_26, x_15^0'=x_15^post_26, x_17^0'=x_17^post_26, x_21^0'=x_21^post_26, x_32^0'=x_32^post_26, x_SLAM_f_19^0'=x_SLAM_f_19^post_26, y_20^0'=y_20^post_26, [ 0<=a_152^0 && i_13^post_26==i_13^post_26 && len_14^post_26==len_14^post_26 && x_15^post_26==x_15^post_26 && x_17^post_26==x_17^post_26 && ct_18^post_26==ct_18^post_26 && x_SLAM_f_19^post_26==x_SLAM_f_19^post_26 && tmp_27^post_26==tmp_27^post_26 && r_37^post_26==r_37^post_26 && a_130^0==a_130^post_26 && a_152^0==a_152^post_26 && a_175^0==a_175^post_26 && a_28^0==a_28^post_26 && d_29^0==d_29^post_26 && i_111^0==i_111^post_26 && rcd_100^0==rcd_100^post_26 && rcd_63^0==rcd_63^post_26 && result_11^0==result_11^post_26 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_26 && t_24^0==t_24^post_26 && temp0_16^0==temp0_16^post_26 && temp0_31^0==temp0_31^post_26 && temp_33^0==temp_33^post_26 && x_21^0==x_21^post_26 && x_32^0==x_32^post_26 && y_20^0==y_20^post_26 ], cost: 1
     13: l10 -> l11 : a_130^0'=a_130^post_14, a_152^0'=a_152^post_14, a_175^0'=a_175^post_14, a_28^0'=a_28^post_14, ct_18^0'=ct_18^post_14, d_29^0'=d_29^post_14, i_111^0'=i_111^post_14, i_13^0'=i_13^post_14, len_14^0'=len_14^post_14, r_37^0'=r_37^post_14, rcd_100^0'=rcd_100^post_14, rcd_63^0'=rcd_63^post_14, result_11^0'=result_11^post_14, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_14, t_24^0'=t_24^post_14, temp0_16^0'=temp0_16^post_14, temp0_31^0'=temp0_31^post_14, temp_33^0'=temp_33^post_14, tmp_27^0'=tmp_27^post_14, x_15^0'=x_15^post_14, x_17^0'=x_17^post_14, x_21^0'=x_21^post_14, x_32^0'=x_32^post_14, x_SLAM_f_19^0'=x_SLAM_f_19^post_14, y_20^0'=y_20^post_14, [ x_15^post_14==0 && i_13^post_14==0 && 0<=i_13^post_14 && i_13^post_14<=0 && 0<=x_15^post_14 && x_15^post_14<=0 && a_130^0==a_130^post_14 && a_152^0==a_152^post_14 && a_175^0==a_175^post_14 && a_28^0==a_28^post_14 && ct_18^0==ct_18^post_14 && d_29^0==d_29^post_14 && i_111^0==i_111^post_14 && len_14^0==len_14^post_14 && r_37^0==r_37^post_14 && rcd_100^0==rcd_100^post_14 && rcd_63^0==rcd_63^post_14 && result_11^0==result_11^post_14 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_14 && t_24^0==t_24^post_14 && temp0_16^0==temp0_16^post_14 && temp0_31^0==temp0_31^post_14 && temp_33^0==temp_33^post_14 && tmp_27^0==tmp_27^post_14 && x_17^0==x_17^post_14 && x_21^0==x_21^post_14 && x_32^0==x_32^post_14 && x_SLAM_f_19^0==x_SLAM_f_19^post_14 && y_20^0==y_20^post_14 ], cost: 1
     47: l11 -> l12 : a_130^0'=a_130^post_48, a_152^0'=a_152^post_48, a_175^0'=a_175^post_48, a_28^0'=a_28^post_48, ct_18^0'=ct_18^post_48, d_29^0'=d_29^post_48, i_111^0'=i_111^post_48, i_13^0'=i_13^post_48, len_14^0'=len_14^post_48, r_37^0'=r_37^post_48, rcd_100^0'=rcd_100^post_48, rcd_63^0'=rcd_63^post_48, result_11^0'=result_11^post_48, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_48, t_24^0'=t_24^post_48, temp0_16^0'=temp0_16^post_48, temp0_31^0'=temp0_31^post_48, temp_33^0'=temp_33^post_48, tmp_27^0'=tmp_27^post_48, x_15^0'=x_15^post_48, x_17^0'=x_17^post_48, x_21^0'=x_21^post_48, x_32^0'=x_32^post_48, x_SLAM_f_19^0'=x_SLAM_f_19^post_48, y_20^0'=y_20^post_48, [ 1+i_13^0<=len_14^0 && a_28^1_3==i_13^0 && d_29^1_3_1==x_15^0 && x_32^1_3_1==temp_33^0 && temp_33^1_3_1==temp_33^1_3_1 && temp0_31^1_3_1==x_32^1_3_1 && result_11^1_3_1==temp0_31^1_3_1 && a_28^post_48==a_28^post_48 && d_29^post_48==d_29^post_48 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_48==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_48 && temp0_31^post_48==temp0_31^post_48 && x_32^post_48==x_32^post_48 && temp_33^post_48==temp_33^post_48 && tmp_27^post_48==result_11^1_3_1 && result_11^post_48==result_11^post_48 && x_15^post_48==tmp_27^post_48 && i_13^post_48==1+i_13^0 && 1<=i_13^post_48 && i_13^post_48<=1 && x_15^post_48<=tmp_27^post_48 && tmp_27^post_48<=x_15^post_48 && 1<=len_14^0 && a_130^0==a_130^post_48 && a_152^0==a_152^post_48 && a_175^0==a_175^post_48 && ct_18^0==ct_18^post_48 && i_111^0==i_111^post_48 && len_14^0==len_14^post_48 && r_37^0==r_37^post_48 && rcd_100^0==rcd_100^post_48 && rcd_63^0==rcd_63^post_48 && t_24^0==t_24^post_48 && temp0_16^0==temp0_16^post_48 && x_17^0==x_17^post_48 && x_21^0==x_21^post_48 && x_SLAM_f_19^0==x_SLAM_f_19^post_48 && y_20^0==y_20^post_48 ], cost: 1
     23: l12 -> l18 : a_130^0'=a_130^post_24, a_152^0'=a_152^post_24, a_175^0'=a_175^post_24, a_28^0'=a_28^post_24, ct_18^0'=ct_18^post_24, d_29^0'=d_29^post_24, i_111^0'=i_111^post_24, i_13^0'=i_13^post_24, len_14^0'=len_14^post_24, r_37^0'=r_37^post_24, rcd_100^0'=rcd_100^post_24, rcd_63^0'=rcd_63^post_24, result_11^0'=result_11^post_24, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_24, t_24^0'=t_24^post_24, temp0_16^0'=temp0_16^post_24, temp0_31^0'=temp0_31^post_24, temp_33^0'=temp_33^post_24, tmp_27^0'=tmp_27^post_24, x_15^0'=x_15^post_24, x_17^0'=x_17^post_24, x_21^0'=x_21^post_24, x_32^0'=x_32^post_24, x_SLAM_f_19^0'=x_SLAM_f_19^post_24, y_20^0'=y_20^post_24, [ rcd_63^post_24==rcd_63^post_24 && 1+i_13^0<=len_14^0 && a_28^1_1==i_13^0 && d_29^1_1==x_15^0 && x_32^1_1==temp_33^0 && temp_33^1_1==temp_33^1_1 && temp0_31^1_1==x_32^1_1 && result_11^1_1==temp0_31^1_1 && a_28^post_24==a_28^post_24 && d_29^post_24==d_29^post_24 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_24==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_24 && temp0_31^post_24==temp0_31^post_24 && x_32^post_24==x_32^post_24 && temp_33^post_24==temp_33^post_24 && tmp_27^post_24==result_11^1_1 && result_11^post_24==result_11^post_24 && x_15^post_24==tmp_27^post_24 && i_13^post_24==1+i_13^0 && 2<=i_13^post_24 && i_13^post_24<=2 && x_15^post_24<=tmp_27^post_24 && tmp_27^post_24<=x_15^post_24 && 1<=len_14^0 && 2<=len_14^0 && a_130^0==a_130^post_24 && a_152^0==a_152^post_24 && a_175^0==a_175^post_24 && ct_18^0==ct_18^post_24 && i_111^0==i_111^post_24 && len_14^0==len_14^post_24 && r_37^0==r_37^post_24 && rcd_100^0==rcd_100^post_24 && t_24^0==t_24^post_24 && temp0_16^0==temp0_16^post_24 && x_17^0==x_17^post_24 && x_21^0==x_21^post_24 && x_SLAM_f_19^0==x_SLAM_f_19^post_24 && y_20^0==y_20^post_24 ], cost: 1
     35: l18 -> l25 : a_130^0'=a_130^post_36, a_152^0'=a_152^post_36, a_175^0'=a_175^post_36, a_28^0'=a_28^post_36, ct_18^0'=ct_18^post_36, d_29^0'=d_29^post_36, i_111^0'=i_111^post_36, i_13^0'=i_13^post_36, len_14^0'=len_14^post_36, r_37^0'=r_37^post_36, rcd_100^0'=rcd_100^post_36, rcd_63^0'=rcd_63^post_36, result_11^0'=result_11^post_36, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_36, t_24^0'=t_24^post_36, temp0_16^0'=temp0_16^post_36, temp0_31^0'=temp0_31^post_36, temp_33^0'=temp_33^post_36, tmp_27^0'=tmp_27^post_36, x_15^0'=x_15^post_36, x_17^0'=x_17^post_36, x_21^0'=x_21^post_36, x_32^0'=x_32^post_36, x_SLAM_f_19^0'=x_SLAM_f_19^post_36, y_20^0'=y_20^post_36, [ 0<=i_13^0 && len_14^0<=i_13^0 && x_17^1_2_1==x_15^0 && ct_18^1_5==0 && x_SLAM_f_19^1_5_1==x_17^1_2_1 && y_20^post_36==ct_18^1_5 && x_21^post_36==x_SLAM_f_19^1_5_1 && 0<=i_13^0 && i_13^post_36==i_13^post_36 && len_14^post_36==len_14^post_36 && x_15^post_36==x_15^post_36 && x_17^post_36==x_17^post_36 && ct_18^post_36==ct_18^post_36 && x_SLAM_f_19^post_36==x_SLAM_f_19^post_36 && tmp_27^post_36==tmp_27^post_36 && a_130^0==a_130^post_36 && a_152^0==a_152^post_36 && a_175^0==a_175^post_36 && a_28^0==a_28^post_36 && d_29^0==d_29^post_36 && i_111^0==i_111^post_36 && r_37^0==r_37^post_36 && rcd_100^0==rcd_100^post_36 && rcd_63^0==rcd_63^post_36 && result_11^0==result_11^post_36 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_36 && t_24^0==t_24^post_36 && temp0_16^0==temp0_16^post_36 && temp0_31^0==temp0_31^post_36 && temp_33^0==temp_33^post_36 && x_32^0==x_32^post_36 ], cost: 1
     44: l18 -> l30 : a_130^0'=a_130^post_45, a_152^0'=a_152^post_45, a_175^0'=a_175^post_45, a_28^0'=a_28^post_45, ct_18^0'=ct_18^post_45, d_29^0'=d_29^post_45, i_111^0'=i_111^post_45, i_13^0'=i_13^post_45, len_14^0'=len_14^post_45, r_37^0'=r_37^post_45, rcd_100^0'=rcd_100^post_45, rcd_63^0'=rcd_63^post_45, result_11^0'=result_11^post_45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_45, t_24^0'=t_24^post_45, temp0_16^0'=temp0_16^post_45, temp0_31^0'=temp0_31^post_45, temp_33^0'=temp_33^post_45, tmp_27^0'=tmp_27^post_45, x_15^0'=x_15^post_45, x_17^0'=x_17^post_45, x_21^0'=x_21^post_45, x_32^0'=x_32^post_45, x_SLAM_f_19^0'=x_SLAM_f_19^post_45, y_20^0'=y_20^post_45, [ 0<=i_13^0 && rcd_100^post_45==rcd_100^post_45 && i_111^post_45==i_111^post_45 && 1+i_13^0<=len_14^0 && a_28^1_2==i_13^0 && d_29^1_2_1==x_15^0 && x_32^1_2_1==temp_33^0 && temp_33^1_2_1==temp_33^1_2_1 && temp0_31^1_2_1==x_32^1_2_1 && result_11^1_2_1==temp0_31^1_2_1 && a_28^post_45==a_28^post_45 && d_29^post_45==d_29^post_45 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_45==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_45 && temp0_31^post_45==temp0_31^post_45 && x_32^post_45==x_32^post_45 && temp_33^post_45==temp_33^post_45 && tmp_27^post_45==result_11^1_2_1 && result_11^post_45==result_11^post_45 && x_15^post_45==tmp_27^post_45 && i_13^post_45==1+i_13^0 && i_13^post_45<=1+i_111^post_45 && 1+i_111^post_45<=i_13^post_45 && i_111^post_45<=-1+i_13^post_45 && -1+i_13^post_45<=i_111^post_45 && 1+i_111^post_45<=len_14^0 && a_130^0==a_130^post_45 && a_152^0==a_152^post_45 && a_175^0==a_175^post_45 && ct_18^0==ct_18^post_45 && len_14^0==len_14^post_45 && r_37^0==r_37^post_45 && rcd_63^0==rcd_63^post_45 && t_24^0==t_24^post_45 && temp0_16^0==temp0_16^post_45 && x_17^0==x_17^post_45 && x_21^0==x_21^post_45 && x_SLAM_f_19^0==x_SLAM_f_19^post_45 && y_20^0==y_20^post_45 ], cost: 1
     26: l20 -> l21 : a_130^0'=a_130^post_27, a_152^0'=a_152^post_27, a_175^0'=a_175^post_27, a_28^0'=a_28^post_27, ct_18^0'=ct_18^post_27, d_29^0'=d_29^post_27, i_111^0'=i_111^post_27, i_13^0'=i_13^post_27, len_14^0'=len_14^post_27, r_37^0'=r_37^post_27, rcd_100^0'=rcd_100^post_27, rcd_63^0'=rcd_63^post_27, result_11^0'=result_11^post_27, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_27, t_24^0'=t_24^post_27, temp0_16^0'=temp0_16^post_27, temp0_31^0'=temp0_31^post_27, temp_33^0'=temp_33^post_27, tmp_27^0'=tmp_27^post_27, x_15^0'=x_15^post_27, x_17^0'=x_17^post_27, x_21^0'=x_21^post_27, x_32^0'=x_32^post_27, x_SLAM_f_19^0'=x_SLAM_f_19^post_27, y_20^0'=y_20^post_27, [ 1+y_20^0<=x_21^0 && a_130^0==a_130^post_27 && a_152^0==a_152^post_27 && a_175^0==a_175^post_27 && a_28^0==a_28^post_27 && ct_18^0==ct_18^post_27 && d_29^0==d_29^post_27 && i_111^0==i_111^post_27 && i_13^0==i_13^post_27 && len_14^0==len_14^post_27 && r_37^0==r_37^post_27 && rcd_100^0==rcd_100^post_27 && rcd_63^0==rcd_63^post_27 && result_11^0==result_11^post_27 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_27 && t_24^0==t_24^post_27 && temp0_16^0==temp0_16^post_27 && temp0_31^0==temp0_31^post_27 && temp_33^0==temp_33^post_27 && tmp_27^0==tmp_27^post_27 && x_15^0==x_15^post_27 && x_17^0==x_17^post_27 && x_21^0==x_21^post_27 && x_32^0==x_32^post_27 && x_SLAM_f_19^0==x_SLAM_f_19^post_27 && y_20^0==y_20^post_27 ], cost: 1
     27: l20 -> l21 : a_130^0'=a_130^post_28, a_152^0'=a_152^post_28, a_175^0'=a_175^post_28, a_28^0'=a_28^post_28, ct_18^0'=ct_18^post_28, d_29^0'=d_29^post_28, i_111^0'=i_111^post_28, i_13^0'=i_13^post_28, len_14^0'=len_14^post_28, r_37^0'=r_37^post_28, rcd_100^0'=rcd_100^post_28, rcd_63^0'=rcd_63^post_28, result_11^0'=result_11^post_28, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_28, t_24^0'=t_24^post_28, temp0_16^0'=temp0_16^post_28, temp0_31^0'=temp0_31^post_28, temp_33^0'=temp_33^post_28, tmp_27^0'=tmp_27^post_28, x_15^0'=x_15^post_28, x_17^0'=x_17^post_28, x_21^0'=x_21^post_28, x_32^0'=x_32^post_28, x_SLAM_f_19^0'=x_SLAM_f_19^post_28, y_20^0'=y_20^post_28, [ 1+x_21^0<=y_20^0 && a_130^0==a_130^post_28 && a_152^0==a_152^post_28 && a_175^0==a_175^post_28 && a_28^0==a_28^post_28 && ct_18^0==ct_18^post_28 && d_29^0==d_29^post_28 && i_111^0==i_111^post_28 && i_13^0==i_13^post_28 && len_14^0==len_14^post_28 && r_37^0==r_37^post_28 && rcd_100^0==rcd_100^post_28 && rcd_63^0==rcd_63^post_28 && result_11^0==result_11^post_28 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_28 && t_24^0==t_24^post_28 && temp0_16^0==temp0_16^post_28 && temp0_31^0==temp0_31^post_28 && temp_33^0==temp_33^post_28 && tmp_27^0==tmp_27^post_28 && x_15^0==x_15^post_28 && x_17^0==x_17^post_28 && x_21^0==x_21^post_28 && x_32^0==x_32^post_28 && x_SLAM_f_19^0==x_SLAM_f_19^post_28 && y_20^0==y_20^post_28 ], cost: 1
     28: l21 -> l22 : a_130^0'=a_130^post_29, a_152^0'=a_152^post_29, a_175^0'=a_175^post_29, a_28^0'=a_28^post_29, ct_18^0'=ct_18^post_29, d_29^0'=d_29^post_29, i_111^0'=i_111^post_29, i_13^0'=i_13^post_29, len_14^0'=len_14^post_29, r_37^0'=r_37^post_29, rcd_100^0'=rcd_100^post_29, rcd_63^0'=rcd_63^post_29, result_11^0'=result_11^post_29, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_29, t_24^0'=t_24^post_29, temp0_16^0'=temp0_16^post_29, temp0_31^0'=temp0_31^post_29, temp_33^0'=temp_33^post_29, tmp_27^0'=tmp_27^post_29, x_15^0'=x_15^post_29, x_17^0'=x_17^post_29, x_21^0'=x_21^post_29, x_32^0'=x_32^post_29, x_SLAM_f_19^0'=x_SLAM_f_19^post_29, y_20^0'=y_20^post_29, [ t_24^post_29==x_21^0 && a_175^post_29==a_175^post_29 && 0<=ct_18^0 && ct_18^0<=0 && 0<=y_20^0 && y_20^0<=0 && x_15^0<=x_17^0 && x_17^0<=x_15^0 && x_15^0<=x_SLAM_f_19^0 && x_SLAM_f_19^0<=x_15^0 && x_15^0<=tmp_27^0 && tmp_27^0<=x_15^0 && x_17^0<=x_SLAM_f_19^0 && x_SLAM_f_19^0<=x_17^0 && ct_18^0<=y_20^0 && y_20^0<=ct_18^0 && a_175^post_29<=-1+a_152^0 && -1+a_152^0<=a_175^post_29 && a_130^0==a_130^post_29 && a_152^0==a_152^post_29 && a_28^0==a_28^post_29 && ct_18^0==ct_18^post_29 && d_29^0==d_29^post_29 && i_111^0==i_111^post_29 && i_13^0==i_13^post_29 && len_14^0==len_14^post_29 && r_37^0==r_37^post_29 && rcd_100^0==rcd_100^post_29 && rcd_63^0==rcd_63^post_29 && result_11^0==result_11^post_29 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_29 && temp0_16^0==temp0_16^post_29 && temp0_31^0==temp0_31^post_29 && temp_33^0==temp_33^post_29 && tmp_27^0==tmp_27^post_29 && x_15^0==x_15^post_29 && x_17^0==x_17^post_29 && x_21^0==x_21^post_29 && x_32^0==x_32^post_29 && x_SLAM_f_19^0==x_SLAM_f_19^post_29 && y_20^0==y_20^post_29 ], cost: 1
     29: l22 -> l23 : a_130^0'=a_130^post_30, a_152^0'=a_152^post_30, a_175^0'=a_175^post_30, a_28^0'=a_28^post_30, ct_18^0'=ct_18^post_30, d_29^0'=d_29^post_30, i_111^0'=i_111^post_30, i_13^0'=i_13^post_30, len_14^0'=len_14^post_30, r_37^0'=r_37^post_30, rcd_100^0'=rcd_100^post_30, rcd_63^0'=rcd_63^post_30, result_11^0'=result_11^post_30, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_30, t_24^0'=t_24^post_30, temp0_16^0'=temp0_16^post_30, temp0_31^0'=temp0_31^post_30, temp_33^0'=temp_33^post_30, tmp_27^0'=tmp_27^post_30, x_15^0'=x_15^post_30, x_17^0'=x_17^post_30, x_21^0'=x_21^post_30, x_32^0'=x_32^post_30, x_SLAM_f_19^0'=x_SLAM_f_19^post_30, y_20^0'=y_20^post_30, [ 1+x_15^0<=y_20^0 && a_130^0==a_130^post_30 && a_152^0==a_152^post_30 && a_175^0==a_175^post_30 && a_28^0==a_28^post_30 && ct_18^0==ct_18^post_30 && d_29^0==d_29^post_30 && i_111^0==i_111^post_30 && i_13^0==i_13^post_30 && len_14^0==len_14^post_30 && r_37^0==r_37^post_30 && rcd_100^0==rcd_100^post_30 && rcd_63^0==rcd_63^post_30 && result_11^0==result_11^post_30 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_30 && t_24^0==t_24^post_30 && temp0_16^0==temp0_16^post_30 && temp0_31^0==temp0_31^post_30 && temp_33^0==temp_33^post_30 && tmp_27^0==tmp_27^post_30 && x_15^0==x_15^post_30 && x_17^0==x_17^post_30 && x_21^0==x_21^post_30 && x_32^0==x_32^post_30 && x_SLAM_f_19^0==x_SLAM_f_19^post_30 && y_20^0==y_20^post_30 ], cost: 1
     30: l22 -> l23 : a_130^0'=a_130^post_31, a_152^0'=a_152^post_31, a_175^0'=a_175^post_31, a_28^0'=a_28^post_31, ct_18^0'=ct_18^post_31, d_29^0'=d_29^post_31, i_111^0'=i_111^post_31, i_13^0'=i_13^post_31, len_14^0'=len_14^post_31, r_37^0'=r_37^post_31, rcd_100^0'=rcd_100^post_31, rcd_63^0'=rcd_63^post_31, result_11^0'=result_11^post_31, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_31, t_24^0'=t_24^post_31, temp0_16^0'=temp0_16^post_31, temp0_31^0'=temp0_31^post_31, temp_33^0'=temp_33^post_31, tmp_27^0'=tmp_27^post_31, x_15^0'=x_15^post_31, x_17^0'=x_17^post_31, x_21^0'=x_21^post_31, x_32^0'=x_32^post_31, x_SLAM_f_19^0'=x_SLAM_f_19^post_31, y_20^0'=y_20^post_31, [ 1+y_20^0<=x_15^0 && a_130^0==a_130^post_31 && a_152^0==a_152^post_31 && a_175^0==a_175^post_31 && a_28^0==a_28^post_31 && ct_18^0==ct_18^post_31 && d_29^0==d_29^post_31 && i_111^0==i_111^post_31 && i_13^0==i_13^post_31 && len_14^0==len_14^post_31 && r_37^0==r_37^post_31 && rcd_100^0==rcd_100^post_31 && rcd_63^0==rcd_63^post_31 && result_11^0==result_11^post_31 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_31 && t_24^0==t_24^post_31 && temp0_16^0==temp0_16^post_31 && temp0_31^0==temp0_31^post_31 && temp_33^0==temp_33^post_31 && tmp_27^0==tmp_27^post_31 && x_15^0==x_15^post_31 && x_17^0==x_17^post_31 && x_21^0==x_21^post_31 && x_32^0==x_32^post_31 && x_SLAM_f_19^0==x_SLAM_f_19^post_31 && y_20^0==y_20^post_31 ], cost: 1
     31: l23 -> l24 : a_130^0'=a_130^post_32, a_152^0'=a_152^post_32, a_175^0'=a_175^post_32, a_28^0'=a_28^post_32, ct_18^0'=ct_18^post_32, d_29^0'=d_29^post_32, i_111^0'=i_111^post_32, i_13^0'=i_13^post_32, len_14^0'=len_14^post_32, r_37^0'=r_37^post_32, rcd_100^0'=rcd_100^post_32, rcd_63^0'=rcd_63^post_32, result_11^0'=result_11^post_32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_32, t_24^0'=t_24^post_32, temp0_16^0'=temp0_16^post_32, temp0_31^0'=temp0_31^post_32, temp_33^0'=temp_33^post_32, tmp_27^0'=tmp_27^post_32, x_15^0'=x_15^post_32, x_17^0'=x_17^post_32, x_21^0'=x_21^post_32, x_32^0'=x_32^post_32, x_SLAM_f_19^0'=x_SLAM_f_19^post_32, y_20^0'=y_20^post_32, [ 1+y_20^0<=t_24^0 && a_130^0==a_130^post_32 && a_152^0==a_152^post_32 && a_175^0==a_175^post_32 && a_28^0==a_28^post_32 && ct_18^0==ct_18^post_32 && d_29^0==d_29^post_32 && i_111^0==i_111^post_32 && i_13^0==i_13^post_32 && len_14^0==len_14^post_32 && r_37^0==r_37^post_32 && rcd_100^0==rcd_100^post_32 && rcd_63^0==rcd_63^post_32 && result_11^0==result_11^post_32 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_32 && t_24^0==t_24^post_32 && temp0_16^0==temp0_16^post_32 && temp0_31^0==temp0_31^post_32 && temp_33^0==temp_33^post_32 && tmp_27^0==tmp_27^post_32 && x_15^0==x_15^post_32 && x_17^0==x_17^post_32 && x_21^0==x_21^post_32 && x_32^0==x_32^post_32 && x_SLAM_f_19^0==x_SLAM_f_19^post_32 && y_20^0==y_20^post_32 ], cost: 1
     32: l23 -> l24 : a_130^0'=a_130^post_33, a_152^0'=a_152^post_33, a_175^0'=a_175^post_33, a_28^0'=a_28^post_33, ct_18^0'=ct_18^post_33, d_29^0'=d_29^post_33, i_111^0'=i_111^post_33, i_13^0'=i_13^post_33, len_14^0'=len_14^post_33, r_37^0'=r_37^post_33, rcd_100^0'=rcd_100^post_33, rcd_63^0'=rcd_63^post_33, result_11^0'=result_11^post_33, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_33, t_24^0'=t_24^post_33, temp0_16^0'=temp0_16^post_33, temp0_31^0'=temp0_31^post_33, temp_33^0'=temp_33^post_33, tmp_27^0'=tmp_27^post_33, x_15^0'=x_15^post_33, x_17^0'=x_17^post_33, x_21^0'=x_21^post_33, x_32^0'=x_32^post_33, x_SLAM_f_19^0'=x_SLAM_f_19^post_33, y_20^0'=y_20^post_33, [ 1+t_24^0<=y_20^0 && a_130^0==a_130^post_33 && a_152^0==a_152^post_33 && a_175^0==a_175^post_33 && a_28^0==a_28^post_33 && ct_18^0==ct_18^post_33 && d_29^0==d_29^post_33 && i_111^0==i_111^post_33 && i_13^0==i_13^post_33 && len_14^0==len_14^post_33 && r_37^0==r_37^post_33 && rcd_100^0==rcd_100^post_33 && rcd_63^0==rcd_63^post_33 && result_11^0==result_11^post_33 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_33 && t_24^0==t_24^post_33 && temp0_16^0==temp0_16^post_33 && temp0_31^0==temp0_31^post_33 && temp_33^0==temp_33^post_33 && tmp_27^0==tmp_27^post_33 && x_15^0==x_15^post_33 && x_17^0==x_17^post_33 && x_21^0==x_21^post_33 && x_32^0==x_32^post_33 && x_SLAM_f_19^0==x_SLAM_f_19^post_33 && y_20^0==y_20^post_33 ], cost: 1
     33: l24 -> l19 : a_130^0'=a_130^post_34, a_152^0'=a_152^post_34, a_175^0'=a_175^post_34, a_28^0'=a_28^post_34, ct_18^0'=ct_18^post_34, d_29^0'=d_29^post_34, i_111^0'=i_111^post_34, i_13^0'=i_13^post_34, len_14^0'=len_14^post_34, r_37^0'=r_37^post_34, rcd_100^0'=rcd_100^post_34, rcd_63^0'=rcd_63^post_34, result_11^0'=result_11^post_34, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_34, t_24^0'=t_24^post_34, temp0_16^0'=temp0_16^post_34, temp0_31^0'=temp0_31^post_34, temp_33^0'=temp_33^post_34, tmp_27^0'=tmp_27^post_34, x_15^0'=x_15^post_34, x_17^0'=x_17^post_34, x_21^0'=x_21^post_34, x_32^0'=x_32^post_34, x_SLAM_f_19^0'=x_SLAM_f_19^post_34, y_20^0'=y_20^post_34, [ 1<=len_14^0 && 2<=len_14^0 && len_14^0<=i_13^0 && a_152^post_34==a_152^post_34 && a_152^post_34<=a_175^0 && a_175^0<=a_152^post_34 && a_130^0==a_130^post_34 && a_175^0==a_175^post_34 && a_28^0==a_28^post_34 && ct_18^0==ct_18^post_34 && d_29^0==d_29^post_34 && i_111^0==i_111^post_34 && i_13^0==i_13^post_34 && len_14^0==len_14^post_34 && r_37^0==r_37^post_34 && rcd_100^0==rcd_100^post_34 && rcd_63^0==rcd_63^post_34 && result_11^0==result_11^post_34 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_34 && t_24^0==t_24^post_34 && temp0_16^0==temp0_16^post_34 && temp0_31^0==temp0_31^post_34 && temp_33^0==temp_33^post_34 && tmp_27^0==tmp_27^post_34 && x_15^0==x_15^post_34 && x_17^0==x_17^post_34 && x_21^0==x_21^post_34 && x_32^0==x_32^post_34 && x_SLAM_f_19^0==x_SLAM_f_19^post_34 && y_20^0==y_20^post_34 ], cost: 1
     34: l19 -> l4 : a_130^0'=a_130^post_35, a_152^0'=a_152^post_35, a_175^0'=a_175^post_35, a_28^0'=a_28^post_35, ct_18^0'=ct_18^post_35, d_29^0'=d_29^post_35, i_111^0'=i_111^post_35, i_13^0'=i_13^post_35, len_14^0'=len_14^post_35, r_37^0'=r_37^post_35, rcd_100^0'=rcd_100^post_35, rcd_63^0'=rcd_63^post_35, result_11^0'=result_11^post_35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_35, t_24^0'=t_24^post_35, temp0_16^0'=temp0_16^post_35, temp0_31^0'=temp0_31^post_35, temp_33^0'=temp_33^post_35, tmp_27^0'=tmp_27^post_35, x_15^0'=x_15^post_35, x_17^0'=x_17^post_35, x_21^0'=x_21^post_35, x_32^0'=x_32^post_35, x_SLAM_f_19^0'=x_SLAM_f_19^post_35, y_20^0'=y_20^post_35, [ a_130^0==a_130^post_35 && a_152^0==a_152^post_35 && a_175^0==a_175^post_35 && a_28^0==a_28^post_35 && ct_18^0==ct_18^post_35 && d_29^0==d_29^post_35 && i_111^0==i_111^post_35 && i_13^0==i_13^post_35 && len_14^0==len_14^post_35 && r_37^0==r_37^post_35 && rcd_100^0==rcd_100^post_35 && rcd_63^0==rcd_63^post_35 && result_11^0==result_11^post_35 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_35 && t_24^0==t_24^post_35 && temp0_16^0==temp0_16^post_35 && temp0_31^0==temp0_31^post_35 && temp_33^0==temp_33^post_35 && tmp_27^0==tmp_27^post_35 && x_15^0==x_15^post_35 && x_17^0==x_17^post_35 && x_21^0==x_21^post_35 && x_32^0==x_32^post_35 && x_SLAM_f_19^0==x_SLAM_f_19^post_35 && y_20^0==y_20^post_35 ], cost: 1
     36: l25 -> l26 : a_130^0'=a_130^post_37, a_152^0'=a_152^post_37, a_175^0'=a_175^post_37, a_28^0'=a_28^post_37, ct_18^0'=ct_18^post_37, d_29^0'=d_29^post_37, i_111^0'=i_111^post_37, i_13^0'=i_13^post_37, len_14^0'=len_14^post_37, r_37^0'=r_37^post_37, rcd_100^0'=rcd_100^post_37, rcd_63^0'=rcd_63^post_37, result_11^0'=result_11^post_37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_37, t_24^0'=t_24^post_37, temp0_16^0'=temp0_16^post_37, temp0_31^0'=temp0_31^post_37, temp_33^0'=temp_33^post_37, tmp_27^0'=tmp_27^post_37, x_15^0'=x_15^post_37, x_17^0'=x_17^post_37, x_21^0'=x_21^post_37, x_32^0'=x_32^post_37, x_SLAM_f_19^0'=x_SLAM_f_19^post_37, y_20^0'=y_20^post_37, [ 1+y_20^0<=x_21^0 && a_130^0==a_130^post_37 && a_152^0==a_152^post_37 && a_175^0==a_175^post_37 && a_28^0==a_28^post_37 && ct_18^0==ct_18^post_37 && d_29^0==d_29^post_37 && i_111^0==i_111^post_37 && i_13^0==i_13^post_37 && len_14^0==len_14^post_37 && r_37^0==r_37^post_37 && rcd_100^0==rcd_100^post_37 && rcd_63^0==rcd_63^post_37 && result_11^0==result_11^post_37 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_37 && t_24^0==t_24^post_37 && temp0_16^0==temp0_16^post_37 && temp0_31^0==temp0_31^post_37 && temp_33^0==temp_33^post_37 && tmp_27^0==tmp_27^post_37 && x_15^0==x_15^post_37 && x_17^0==x_17^post_37 && x_21^0==x_21^post_37 && x_32^0==x_32^post_37 && x_SLAM_f_19^0==x_SLAM_f_19^post_37 && y_20^0==y_20^post_37 ], cost: 1
     37: l25 -> l26 : a_130^0'=a_130^post_38, a_152^0'=a_152^post_38, a_175^0'=a_175^post_38, a_28^0'=a_28^post_38, ct_18^0'=ct_18^post_38, d_29^0'=d_29^post_38, i_111^0'=i_111^post_38, i_13^0'=i_13^post_38, len_14^0'=len_14^post_38, r_37^0'=r_37^post_38, rcd_100^0'=rcd_100^post_38, rcd_63^0'=rcd_63^post_38, result_11^0'=result_11^post_38, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_38, t_24^0'=t_24^post_38, temp0_16^0'=temp0_16^post_38, temp0_31^0'=temp0_31^post_38, temp_33^0'=temp_33^post_38, tmp_27^0'=tmp_27^post_38, x_15^0'=x_15^post_38, x_17^0'=x_17^post_38, x_21^0'=x_21^post_38, x_32^0'=x_32^post_38, x_SLAM_f_19^0'=x_SLAM_f_19^post_38, y_20^0'=y_20^post_38, [ 1+x_21^0<=y_20^0 && a_130^0==a_130^post_38 && a_152^0==a_152^post_38 && a_175^0==a_175^post_38 && a_28^0==a_28^post_38 && ct_18^0==ct_18^post_38 && d_29^0==d_29^post_38 && i_111^0==i_111^post_38 && i_13^0==i_13^post_38 && len_14^0==len_14^post_38 && r_37^0==r_37^post_38 && rcd_100^0==rcd_100^post_38 && rcd_63^0==rcd_63^post_38 && result_11^0==result_11^post_38 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_38 && t_24^0==t_24^post_38 && temp0_16^0==temp0_16^post_38 && temp0_31^0==temp0_31^post_38 && temp_33^0==temp_33^post_38 && tmp_27^0==tmp_27^post_38 && x_15^0==x_15^post_38 && x_17^0==x_17^post_38 && x_21^0==x_21^post_38 && x_32^0==x_32^post_38 && x_SLAM_f_19^0==x_SLAM_f_19^post_38 && y_20^0==y_20^post_38 ], cost: 1
     38: l26 -> l27 : a_130^0'=a_130^post_39, a_152^0'=a_152^post_39, a_175^0'=a_175^post_39, a_28^0'=a_28^post_39, ct_18^0'=ct_18^post_39, d_29^0'=d_29^post_39, i_111^0'=i_111^post_39, i_13^0'=i_13^post_39, len_14^0'=len_14^post_39, r_37^0'=r_37^post_39, rcd_100^0'=rcd_100^post_39, rcd_63^0'=rcd_63^post_39, result_11^0'=result_11^post_39, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_39, t_24^0'=t_24^post_39, temp0_16^0'=temp0_16^post_39, temp0_31^0'=temp0_31^post_39, temp_33^0'=temp_33^post_39, tmp_27^0'=tmp_27^post_39, x_15^0'=x_15^post_39, x_17^0'=x_17^post_39, x_21^0'=x_21^post_39, x_32^0'=x_32^post_39, x_SLAM_f_19^0'=x_SLAM_f_19^post_39, y_20^0'=y_20^post_39, [ t_24^post_39==x_21^0 && a_130^post_39==a_130^post_39 && 0<=ct_18^0 && ct_18^0<=0 && 0<=y_20^0 && y_20^0<=0 && 0<=a_152^0-a_130^post_39 && a_152^0-a_130^post_39<=0 && x_15^0<=x_17^0 && x_17^0<=x_15^0 && x_15^0<=x_SLAM_f_19^0 && x_SLAM_f_19^0<=x_15^0 && x_15^0<=t_24^post_39 && t_24^post_39<=x_15^0 && x_15^0<=tmp_27^0 && tmp_27^0<=x_15^0 && x_17^0<=x_SLAM_f_19^0 && x_SLAM_f_19^0<=x_17^0 && ct_18^0<=y_20^0 && y_20^0<=ct_18^0 && a_130^post_39<=a_152^0 && a_152^0<=a_130^post_39 && a_152^0==a_152^post_39 && a_175^0==a_175^post_39 && a_28^0==a_28^post_39 && ct_18^0==ct_18^post_39 && d_29^0==d_29^post_39 && i_111^0==i_111^post_39 && i_13^0==i_13^post_39 && len_14^0==len_14^post_39 && r_37^0==r_37^post_39 && rcd_100^0==rcd_100^post_39 && rcd_63^0==rcd_63^post_39 && result_11^0==result_11^post_39 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_39 && temp0_16^0==temp0_16^post_39 && temp0_31^0==temp0_31^post_39 && temp_33^0==temp_33^post_39 && tmp_27^0==tmp_27^post_39 && x_15^0==x_15^post_39 && x_17^0==x_17^post_39 && x_21^0==x_21^post_39 && x_32^0==x_32^post_39 && x_SLAM_f_19^0==x_SLAM_f_19^post_39 && y_20^0==y_20^post_39 ], cost: 1
     39: l27 -> l28 : a_130^0'=a_130^post_40, a_152^0'=a_152^post_40, a_175^0'=a_175^post_40, a_28^0'=a_28^post_40, ct_18^0'=ct_18^post_40, d_29^0'=d_29^post_40, i_111^0'=i_111^post_40, i_13^0'=i_13^post_40, len_14^0'=len_14^post_40, r_37^0'=r_37^post_40, rcd_100^0'=rcd_100^post_40, rcd_63^0'=rcd_63^post_40, result_11^0'=result_11^post_40, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_40, t_24^0'=t_24^post_40, temp0_16^0'=temp0_16^post_40, temp0_31^0'=temp0_31^post_40, temp_33^0'=temp_33^post_40, tmp_27^0'=tmp_27^post_40, x_15^0'=x_15^post_40, x_17^0'=x_17^post_40, x_21^0'=x_21^post_40, x_32^0'=x_32^post_40, x_SLAM_f_19^0'=x_SLAM_f_19^post_40, y_20^0'=y_20^post_40, [ 1+x_15^0<=y_20^0 && a_130^0==a_130^post_40 && a_152^0==a_152^post_40 && a_175^0==a_175^post_40 && a_28^0==a_28^post_40 && ct_18^0==ct_18^post_40 && d_29^0==d_29^post_40 && i_111^0==i_111^post_40 && i_13^0==i_13^post_40 && len_14^0==len_14^post_40 && r_37^0==r_37^post_40 && rcd_100^0==rcd_100^post_40 && rcd_63^0==rcd_63^post_40 && result_11^0==result_11^post_40 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_40 && t_24^0==t_24^post_40 && temp0_16^0==temp0_16^post_40 && temp0_31^0==temp0_31^post_40 && temp_33^0==temp_33^post_40 && tmp_27^0==tmp_27^post_40 && x_15^0==x_15^post_40 && x_17^0==x_17^post_40 && x_21^0==x_21^post_40 && x_32^0==x_32^post_40 && x_SLAM_f_19^0==x_SLAM_f_19^post_40 && y_20^0==y_20^post_40 ], cost: 1
     40: l27 -> l28 : a_130^0'=a_130^post_41, a_152^0'=a_152^post_41, a_175^0'=a_175^post_41, a_28^0'=a_28^post_41, ct_18^0'=ct_18^post_41, d_29^0'=d_29^post_41, i_111^0'=i_111^post_41, i_13^0'=i_13^post_41, len_14^0'=len_14^post_41, r_37^0'=r_37^post_41, rcd_100^0'=rcd_100^post_41, rcd_63^0'=rcd_63^post_41, result_11^0'=result_11^post_41, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_41, t_24^0'=t_24^post_41, temp0_16^0'=temp0_16^post_41, temp0_31^0'=temp0_31^post_41, temp_33^0'=temp_33^post_41, tmp_27^0'=tmp_27^post_41, x_15^0'=x_15^post_41, x_17^0'=x_17^post_41, x_21^0'=x_21^post_41, x_32^0'=x_32^post_41, x_SLAM_f_19^0'=x_SLAM_f_19^post_41, y_20^0'=y_20^post_41, [ 1+y_20^0<=x_15^0 && a_130^0==a_130^post_41 && a_152^0==a_152^post_41 && a_175^0==a_175^post_41 && a_28^0==a_28^post_41 && ct_18^0==ct_18^post_41 && d_29^0==d_29^post_41 && i_111^0==i_111^post_41 && i_13^0==i_13^post_41 && len_14^0==len_14^post_41 && r_37^0==r_37^post_41 && rcd_100^0==rcd_100^post_41 && rcd_63^0==rcd_63^post_41 && result_11^0==result_11^post_41 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_41 && t_24^0==t_24^post_41 && temp0_16^0==temp0_16^post_41 && temp0_31^0==temp0_31^post_41 && temp_33^0==temp_33^post_41 && tmp_27^0==tmp_27^post_41 && x_15^0==x_15^post_41 && x_17^0==x_17^post_41 && x_21^0==x_21^post_41 && x_32^0==x_32^post_41 && x_SLAM_f_19^0==x_SLAM_f_19^post_41 && y_20^0==y_20^post_41 ], cost: 1
     41: l28 -> l29 : a_130^0'=a_130^post_42, a_152^0'=a_152^post_42, a_175^0'=a_175^post_42, a_28^0'=a_28^post_42, ct_18^0'=ct_18^post_42, d_29^0'=d_29^post_42, i_111^0'=i_111^post_42, i_13^0'=i_13^post_42, len_14^0'=len_14^post_42, r_37^0'=r_37^post_42, rcd_100^0'=rcd_100^post_42, rcd_63^0'=rcd_63^post_42, result_11^0'=result_11^post_42, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_42, t_24^0'=t_24^post_42, temp0_16^0'=temp0_16^post_42, temp0_31^0'=temp0_31^post_42, temp_33^0'=temp_33^post_42, tmp_27^0'=tmp_27^post_42, x_15^0'=x_15^post_42, x_17^0'=x_17^post_42, x_21^0'=x_21^post_42, x_32^0'=x_32^post_42, x_SLAM_f_19^0'=x_SLAM_f_19^post_42, y_20^0'=y_20^post_42, [ 1+y_20^0<=t_24^0 && a_130^0==a_130^post_42 && a_152^0==a_152^post_42 && a_175^0==a_175^post_42 && a_28^0==a_28^post_42 && ct_18^0==ct_18^post_42 && d_29^0==d_29^post_42 && i_111^0==i_111^post_42 && i_13^0==i_13^post_42 && len_14^0==len_14^post_42 && r_37^0==r_37^post_42 && rcd_100^0==rcd_100^post_42 && rcd_63^0==rcd_63^post_42 && result_11^0==result_11^post_42 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_42 && t_24^0==t_24^post_42 && temp0_16^0==temp0_16^post_42 && temp0_31^0==temp0_31^post_42 && temp_33^0==temp_33^post_42 && tmp_27^0==tmp_27^post_42 && x_15^0==x_15^post_42 && x_17^0==x_17^post_42 && x_21^0==x_21^post_42 && x_32^0==x_32^post_42 && x_SLAM_f_19^0==x_SLAM_f_19^post_42 && y_20^0==y_20^post_42 ], cost: 1
     42: l28 -> l29 : a_130^0'=a_130^post_43, a_152^0'=a_152^post_43, a_175^0'=a_175^post_43, a_28^0'=a_28^post_43, ct_18^0'=ct_18^post_43, d_29^0'=d_29^post_43, i_111^0'=i_111^post_43, i_13^0'=i_13^post_43, len_14^0'=len_14^post_43, r_37^0'=r_37^post_43, rcd_100^0'=rcd_100^post_43, rcd_63^0'=rcd_63^post_43, result_11^0'=result_11^post_43, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_43, t_24^0'=t_24^post_43, temp0_16^0'=temp0_16^post_43, temp0_31^0'=temp0_31^post_43, temp_33^0'=temp_33^post_43, tmp_27^0'=tmp_27^post_43, x_15^0'=x_15^post_43, x_17^0'=x_17^post_43, x_21^0'=x_21^post_43, x_32^0'=x_32^post_43, x_SLAM_f_19^0'=x_SLAM_f_19^post_43, y_20^0'=y_20^post_43, [ 1+t_24^0<=y_20^0 && a_130^0==a_130^post_43 && a_152^0==a_152^post_43 && a_175^0==a_175^post_43 && a_28^0==a_28^post_43 && ct_18^0==ct_18^post_43 && d_29^0==d_29^post_43 && i_111^0==i_111^post_43 && i_13^0==i_13^post_43 && len_14^0==len_14^post_43 && r_37^0==r_37^post_43 && rcd_100^0==rcd_100^post_43 && rcd_63^0==rcd_63^post_43 && result_11^0==result_11^post_43 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_43 && t_24^0==t_24^post_43 && temp0_16^0==temp0_16^post_43 && temp0_31^0==temp0_31^post_43 && temp_33^0==temp_33^post_43 && tmp_27^0==tmp_27^post_43 && x_15^0==x_15^post_43 && x_17^0==x_17^post_43 && x_21^0==x_21^post_43 && x_32^0==x_32^post_43 && x_SLAM_f_19^0==x_SLAM_f_19^post_43 && y_20^0==y_20^post_43 ], cost: 1
     43: l29 -> l4 : a_130^0'=a_130^post_44, a_152^0'=a_152^post_44, a_175^0'=a_175^post_44, a_28^0'=a_28^post_44, ct_18^0'=ct_18^post_44, d_29^0'=d_29^post_44, i_111^0'=i_111^post_44, i_13^0'=i_13^post_44, len_14^0'=len_14^post_44, r_37^0'=r_37^post_44, rcd_100^0'=rcd_100^post_44, rcd_63^0'=rcd_63^post_44, result_11^0'=result_11^post_44, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_44, t_24^0'=t_24^post_44, temp0_16^0'=temp0_16^post_44, temp0_31^0'=temp0_31^post_44, temp_33^0'=temp_33^post_44, tmp_27^0'=tmp_27^post_44, x_15^0'=x_15^post_44, x_17^0'=x_17^post_44, x_21^0'=x_21^post_44, x_32^0'=x_32^post_44, x_SLAM_f_19^0'=x_SLAM_f_19^post_44, y_20^0'=y_20^post_44, [ 1<=len_14^0 && 2<=len_14^0 && len_14^0<=i_13^0 && i_13^post_44==i_13^post_44 && -1+i_13^post_44<=a_130^0 && a_130^0<=-1+i_13^post_44 && a_130^0==a_130^post_44 && a_152^0==a_152^post_44 && a_175^0==a_175^post_44 && a_28^0==a_28^post_44 && ct_18^0==ct_18^post_44 && d_29^0==d_29^post_44 && i_111^0==i_111^post_44 && len_14^0==len_14^post_44 && r_37^0==r_37^post_44 && rcd_100^0==rcd_100^post_44 && rcd_63^0==rcd_63^post_44 && result_11^0==result_11^post_44 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_44 && t_24^0==t_24^post_44 && temp0_16^0==temp0_16^post_44 && temp0_31^0==temp0_31^post_44 && temp_33^0==temp_33^post_44 && tmp_27^0==tmp_27^post_44 && x_15^0==x_15^post_44 && x_17^0==x_17^post_44 && x_21^0==x_21^post_44 && x_32^0==x_32^post_44 && x_SLAM_f_19^0==x_SLAM_f_19^post_44 && y_20^0==y_20^post_44 ], cost: 1
     45: l30 -> l18 : a_130^0'=a_130^post_46, a_152^0'=a_152^post_46, a_175^0'=a_175^post_46, a_28^0'=a_28^post_46, ct_18^0'=ct_18^post_46, d_29^0'=d_29^post_46, i_111^0'=i_111^post_46, i_13^0'=i_13^post_46, len_14^0'=len_14^post_46, r_37^0'=r_37^post_46, rcd_100^0'=rcd_100^post_46, rcd_63^0'=rcd_63^post_46, result_11^0'=result_11^post_46, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_46, t_24^0'=t_24^post_46, temp0_16^0'=temp0_16^post_46, temp0_31^0'=temp0_31^post_46, temp_33^0'=temp_33^post_46, tmp_27^0'=tmp_27^post_46, x_15^0'=x_15^post_46, x_17^0'=x_17^post_46, x_21^0'=x_21^post_46, x_32^0'=x_32^post_46, x_SLAM_f_19^0'=x_SLAM_f_19^post_46, y_20^0'=y_20^post_46, [ a_130^0==a_130^post_46 && a_152^0==a_152^post_46 && a_175^0==a_175^post_46 && a_28^0==a_28^post_46 && ct_18^0==ct_18^post_46 && d_29^0==d_29^post_46 && i_111^0==i_111^post_46 && i_13^0==i_13^post_46 && len_14^0==len_14^post_46 && r_37^0==r_37^post_46 && rcd_100^0==rcd_100^post_46 && rcd_63^0==rcd_63^post_46 && result_11^0==result_11^post_46 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_46 && t_24^0==t_24^post_46 && temp0_16^0==temp0_16^post_46 && temp0_31^0==temp0_31^post_46 && temp_33^0==temp_33^post_46 && tmp_27^0==tmp_27^post_46 && x_15^0==x_15^post_46 && x_17^0==x_17^post_46 && x_21^0==x_21^post_46 && x_32^0==x_32^post_46 && x_SLAM_f_19^0==x_SLAM_f_19^post_46 && y_20^0==y_20^post_46 ], cost: 1
     48: l31 -> l10 : a_130^0'=a_130^post_49, a_152^0'=a_152^post_49, a_175^0'=a_175^post_49, a_28^0'=a_28^post_49, ct_18^0'=ct_18^post_49, d_29^0'=d_29^post_49, i_111^0'=i_111^post_49, i_13^0'=i_13^post_49, len_14^0'=len_14^post_49, r_37^0'=r_37^post_49, rcd_100^0'=rcd_100^post_49, rcd_63^0'=rcd_63^post_49, result_11^0'=result_11^post_49, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_49, t_24^0'=t_24^post_49, temp0_16^0'=temp0_16^post_49, temp0_31^0'=temp0_31^post_49, temp_33^0'=temp_33^post_49, tmp_27^0'=tmp_27^post_49, x_15^0'=x_15^post_49, x_17^0'=x_17^post_49, x_21^0'=x_21^post_49, x_32^0'=x_32^post_49, x_SLAM_f_19^0'=x_SLAM_f_19^post_49, y_20^0'=y_20^post_49, [ a_130^0==a_130^post_49 && a_152^0==a_152^post_49 && a_175^0==a_175^post_49 && a_28^0==a_28^post_49 && ct_18^0==ct_18^post_49 && d_29^0==d_29^post_49 && i_111^0==i_111^post_49 && i_13^0==i_13^post_49 && len_14^0==len_14^post_49 && r_37^0==r_37^post_49 && rcd_100^0==rcd_100^post_49 && rcd_63^0==rcd_63^post_49 && result_11^0==result_11^post_49 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_49 && t_24^0==t_24^post_49 && temp0_16^0==temp0_16^post_49 && temp0_31^0==temp0_31^post_49 && temp_33^0==temp_33^post_49 && tmp_27^0==tmp_27^post_49 && x_15^0==x_15^post_49 && x_17^0==x_17^post_49 && x_21^0==x_21^post_49 && x_32^0==x_32^post_49 && x_SLAM_f_19^0==x_SLAM_f_19^post_49 && y_20^0==y_20^post_49 ], cost: 1

Simplified all rules, resulting in:
   Start location: l31
     25: l4 -> l20 : ct_18^0'=ct_18^post_26, i_13^0'=i_13^post_26, len_14^0'=len_14^post_26, r_37^0'=r_37^post_26, tmp_27^0'=tmp_27^post_26, x_15^0'=x_15^post_26, x_17^0'=x_17^post_26, x_SLAM_f_19^0'=x_SLAM_f_19^post_26, [ 0<=a_152^0 ], cost: 1
     13: l10 -> l11 : i_13^0'=0, x_15^0'=0, [], cost: 1
     47: l11 -> l12 : a_28^0'=a_28^post_48, d_29^0'=d_29^post_48, i_13^0'=1+i_13^0, result_11^0'=result_11^post_48, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_48, temp0_31^0'=temp0_31^post_48, temp_33^0'=temp_33^post_48, tmp_27^0'=temp_33^0, x_15^0'=temp_33^0, x_32^0'=x_32^post_48, [ 1+i_13^0<=len_14^0 && -i_13^0==0 ], cost: 1
     23: l12 -> l18 : a_28^0'=a_28^post_24, d_29^0'=d_29^post_24, i_13^0'=1+i_13^0, rcd_63^0'=rcd_63^post_24, result_11^0'=result_11^post_24, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_24, temp0_31^0'=temp0_31^post_24, temp_33^0'=temp_33^post_24, tmp_27^0'=temp_33^0, x_15^0'=temp_33^0, x_32^0'=x_32^post_24, [ 1+i_13^0<=len_14^0 && 1-i_13^0==0 ], cost: 1
     35: l18 -> l25 : ct_18^0'=ct_18^post_36, i_13^0'=i_13^post_36, len_14^0'=len_14^post_36, tmp_27^0'=tmp_27^post_36, x_15^0'=x_15^post_36, x_17^0'=x_17^post_36, x_21^0'=x_15^0, x_SLAM_f_19^0'=x_SLAM_f_19^post_36, y_20^0'=0, [ 0<=i_13^0 && len_14^0<=i_13^0 ], cost: 1
     44: l18 -> l30 : a_28^0'=a_28^post_45, d_29^0'=d_29^post_45, i_111^0'=i_13^0, i_13^0'=1+i_13^0, rcd_100^0'=rcd_100^post_45, result_11^0'=result_11^post_45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_45, temp0_31^0'=temp0_31^post_45, temp_33^0'=temp_33^post_45, tmp_27^0'=temp_33^0, x_15^0'=temp_33^0, x_32^0'=x_32^post_45, [ 0<=i_13^0 && 1+i_13^0<=len_14^0 ], cost: 1
     26: l20 -> l21 : [ 1+y_20^0<=x_21^0 ], cost: 1
     27: l20 -> l21 : [ 1+x_21^0<=y_20^0 ], cost: 1
     28: l21 -> l22 : a_175^0'=-1+a_152^0, t_24^0'=x_21^0, [ -ct_18^0==0 && -y_20^0==0 && -x_17^0+x_15^0==0 && -x_SLAM_f_19^0+x_15^0==0 && -tmp_27^0+x_15^0==0 ], cost: 1
     29: l22 -> l23 : [ 1+x_15^0<=y_20^0 ], cost: 1
     30: l22 -> l23 : [ 1+y_20^0<=x_15^0 ], cost: 1
     31: l23 -> l24 : [ 1+y_20^0<=t_24^0 ], cost: 1
     32: l23 -> l24 : [ 1+t_24^0<=y_20^0 ], cost: 1
     33: l24 -> l19 : a_152^0'=a_175^0, [ 2<=len_14^0 && len_14^0<=i_13^0 ], cost: 1
     34: l19 -> l4 : [], cost: 1
     36: l25 -> l26 : [ 1+y_20^0<=x_21^0 ], cost: 1
     37: l25 -> l26 : [ 1+x_21^0<=y_20^0 ], cost: 1
     38: l26 -> l27 : a_130^0'=a_152^0, t_24^0'=x_21^0, [ -ct_18^0==0 && -y_20^0==0 && -x_17^0+x_15^0==0 && -x_SLAM_f_19^0+x_15^0==0 && -x_21^0+x_15^0==0 && -tmp_27^0+x_15^0==0 ], cost: 1
     39: l27 -> l28 : [ 1+x_15^0<=y_20^0 ], cost: 1
     40: l27 -> l28 : [ 1+y_20^0<=x_15^0 ], cost: 1
     41: l28 -> l29 : [ 1+y_20^0<=t_24^0 ], cost: 1
     42: l28 -> l29 : [ 1+t_24^0<=y_20^0 ], cost: 1
     43: l29 -> l4 : i_13^0'=1+a_130^0, [ 2<=len_14^0 && len_14^0<=i_13^0 ], cost: 1
     45: l30 -> l18 : [], cost: 1
     48: l31 -> l10 : [], cost: 1

### Simplification by acceleration and chaining ###

Eliminated locations (on linear paths):
   Start location: l31
     25: l4 -> l20 : ct_18^0'=ct_18^post_26, i_13^0'=i_13^post_26, len_14^0'=len_14^post_26, r_37^0'=r_37^post_26, tmp_27^0'=tmp_27^post_26, x_15^0'=x_15^post_26, x_17^0'=x_17^post_26, x_SLAM_f_19^0'=x_SLAM_f_19^post_26, [ 0<=a_152^0 ], cost: 1
     35: l18 -> l25 : ct_18^0'=ct_18^post_36, i_13^0'=i_13^post_36, len_14^0'=len_14^post_36, tmp_27^0'=tmp_27^post_36, x_15^0'=x_15^post_36, x_17^0'=x_17^post_36, x_21^0'=x_15^0, x_SLAM_f_19^0'=x_SLAM_f_19^post_36, y_20^0'=0, [ 0<=i_13^0 && len_14^0<=i_13^0 ], cost: 1
     52: l18 -> l18 : a_28^0'=a_28^post_45, d_29^0'=d_29^post_45, i_111^0'=i_13^0, i_13^0'=1+i_13^0, rcd_100^0'=rcd_100^post_45, result_11^0'=result_11^post_45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_45, temp0_31^0'=temp0_31^post_45, temp_33^0'=temp_33^post_45, tmp_27^0'=temp_33^0, x_15^0'=temp_33^0, x_32^0'=x_32^post_45, [ 0<=i_13^0 && 1+i_13^0<=len_14^0 ], cost: 2
     26: l20 -> l21 : [ 1+y_20^0<=x_21^0 ], cost: 1
     27: l20 -> l21 : [ 1+x_21^0<=y_20^0 ], cost: 1
     28: l21 -> l22 : a_175^0'=-1+a_152^0, t_24^0'=x_21^0, [ -ct_18^0==0 && -y_20^0==0 && -x_17^0+x_15^0==0 && -x_SLAM_f_19^0+x_15^0==0 && -tmp_27^0+x_15^0==0 ], cost: 1
     29: l22 -> l23 : [ 1+x_15^0<=y_20^0 ], cost: 1
     30: l22 -> l23 : [ 1+y_20^0<=x_15^0 ], cost: 1
     31: l23 -> l24 : [ 1+y_20^0<=t_24^0 ], cost: 1
     32: l23 -> l24 : [ 1+t_24^0<=y_20^0 ], cost: 1
     53: l24 -> l4 : a_152^0'=a_175^0, [ 2<=len_14^0 && len_14^0<=i_13^0 ], cost: 2
     36: l25 -> l26 : [ 1+y_20^0<=x_21^0 ], cost: 1
     37: l25 -> l26 : [ 1+x_21^0<=y_20^0 ], cost: 1
     38: l26 -> l27 : a_130^0'=a_152^0, t_24^0'=x_21^0, [ -ct_18^0==0 && -y_20^0==0 && -x_17^0+x_15^0==0 && -x_SLAM_f_19^0+x_15^0==0 && -x_21^0+x_15^0==0 && -tmp_27^0+x_15^0==0 ], cost: 1
     39: l27 -> l28 : [ 1+x_15^0<=y_20^0 ], cost: 1
     40: l27 -> l28 : [ 1+y_20^0<=x_15^0 ], cost: 1
     41: l28 -> l29 : [ 1+y_20^0<=t_24^0 ], cost: 1
     42: l28 -> l29 : [ 1+t_24^0<=y_20^0 ], cost: 1
     43: l29 -> l4 : i_13^0'=1+a_130^0, [ 2<=len_14^0 && len_14^0<=i_13^0 ], cost: 1
     51: l31 -> l18 : a_28^0'=a_28^post_24, d_29^0'=d_29^post_24, i_13^0'=2, rcd_63^0'=rcd_63^post_24, result_11^0'=result_11^post_24, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_24, temp0_31^0'=temp0_31^post_24, temp_33^0'=temp_33^post_24, tmp_27^0'=temp_33^post_48, x_15^0'=temp_33^post_48, x_32^0'=x_32^post_24, [ 2<=len_14^0 ], cost: 4

Accelerating simple loops of location 18.
   Accelerating the following rules:
     52: l18 -> l18 : a_28^0'=a_28^post_45, d_29^0'=d_29^post_45, i_111^0'=i_13^0, i_13^0'=1+i_13^0, rcd_100^0'=rcd_100^post_45, result_11^0'=result_11^post_45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_45, temp0_31^0'=temp0_31^post_45, temp_33^0'=temp_33^post_45, tmp_27^0'=temp_33^0, x_15^0'=temp_33^0, x_32^0'=x_32^post_45, [ 0<=i_13^0 && 1+i_13^0<=len_14^0 ], cost: 2

   Accelerated rule 52 with backward acceleration, yielding the new rule 54.
[accelerate] Nesting with 1 inner and 1 outer candidates
   Removing the simple loops: 52.

Accelerated all simple loops using metering functions (where possible):
   Start location: l31
     25: l4 -> l20 : ct_18^0'=ct_18^post_26, i_13^0'=i_13^post_26, len_14^0'=len_14^post_26, r_37^0'=r_37^post_26, tmp_27^0'=tmp_27^post_26, x_15^0'=x_15^post_26, x_17^0'=x_17^post_26, x_SLAM_f_19^0'=x_SLAM_f_19^post_26, [ 0<=a_152^0 ], cost: 1
     35: l18 -> l25 : ct_18^0'=ct_18^post_36, i_13^0'=i_13^post_36, len_14^0'=len_14^post_36, tmp_27^0'=tmp_27^post_36, x_15^0'=x_15^post_36, x_17^0'=x_17^post_36, x_21^0'=x_15^0, x_SLAM_f_19^0'=x_SLAM_f_19^post_36, y_20^0'=0, [ 0<=i_13^0 && len_14^0<=i_13^0 ], cost: 1
     54: l18 -> l18 : a_28^0'=a_28^post_45, d_29^0'=d_29^post_45, i_111^0'=-1+len_14^0, i_13^0'=len_14^0, rcd_100^0'=rcd_100^post_45, result_11^0'=result_11^post_45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_45, temp0_31^0'=temp0_31^post_45, temp_33^0'=temp_33^post_45, tmp_27^0'=temp_33^post_45, x_15^0'=temp_33^post_45, x_32^0'=x_32^post_45, [ 0<=i_13^0 && -i_13^0+len_14^0>=1 ], cost: -2*i_13^0+2*len_14^0
     26: l20 -> l21 : [ 1+y_20^0<=x_21^0 ], cost: 1
     27: l20 -> l21 : [ 1+x_21^0<=y_20^0 ], cost: 1
     28: l21 -> l22 : a_175^0'=-1+a_152^0, t_24^0'=x_21^0, [ -ct_18^0==0 && -y_20^0==0 && -x_17^0+x_15^0==0 && -x_SLAM_f_19^0+x_15^0==0 && -tmp_27^0+x_15^0==0 ], cost: 1
     29: l22 -> l23 : [ 1+x_15^0<=y_20^0 ], cost: 1
     30: l22 -> l23 : [ 1+y_20^0<=x_15^0 ], cost: 1
     31: l23 -> l24 : [ 1+y_20^0<=t_24^0 ], cost: 1
     32: l23 -> l24 : [ 1+t_24^0<=y_20^0 ], cost: 1
     53: l24 -> l4 : a_152^0'=a_175^0, [ 2<=len_14^0 && len_14^0<=i_13^0 ], cost: 2
     36: l25 -> l26 : [ 1+y_20^0<=x_21^0 ], cost: 1
     37: l25 -> l26 : [ 1+x_21^0<=y_20^0 ], cost: 1
     38: l26 -> l27 : a_130^0'=a_152^0, t_24^0'=x_21^0, [ -ct_18^0==0 && -y_20^0==0 && -x_17^0+x_15^0==0 && -x_SLAM_f_19^0+x_15^0==0 && -x_21^0+x_15^0==0 && -tmp_27^0+x_15^0==0 ], cost: 1
     39: l27 -> l28 : [ 1+x_15^0<=y_20^0 ], cost: 1
     40: l27 -> l28 : [ 1+y_20^0<=x_15^0 ], cost: 1
     41: l28 -> l29 : [ 1+y_20^0<=t_24^0 ], cost: 1
     42: l28 -> l29 : [ 1+t_24^0<=y_20^0 ], cost: 1
     43: l29 -> l4 : i_13^0'=1+a_130^0, [ 2<=len_14^0 && len_14^0<=i_13^0 ], cost: 1
     51: l31 -> l18 : a_28^0'=a_28^post_24, d_29^0'=d_29^post_24, i_13^0'=2, rcd_63^0'=rcd_63^post_24, result_11^0'=result_11^post_24, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_24, temp0_31^0'=temp0_31^post_24, temp_33^0'=temp_33^post_24, tmp_27^0'=temp_33^post_48, x_15^0'=temp_33^post_48, x_32^0'=x_32^post_24, [ 2<=len_14^0 ], cost: 4

Chained accelerated rules (with incoming rules):
   Start location: l31
     25: l4 -> l20 : ct_18^0'=ct_18^post_26, i_13^0'=i_13^post_26, len_14^0'=len_14^post_26, r_37^0'=r_37^post_26, tmp_27^0'=tmp_27^post_26, x_15^0'=x_15^post_26, x_17^0'=x_17^post_26, x_SLAM_f_19^0'=x_SLAM_f_19^post_26, [ 0<=a_152^0 ], cost: 1
     35: l18 -> l25 : ct_18^0'=ct_18^post_36, i_13^0'=i_13^post_36, len_14^0'=len_14^post_36, tmp_27^0'=tmp_27^post_36, x_15^0'=x_15^post_36, x_17^0'=x_17^post_36, x_21^0'=x_15^0, x_SLAM_f_19^0'=x_SLAM_f_19^post_36, y_20^0'=0, [ 0<=i_13^0 && len_14^0<=i_13^0 ], cost: 1
     26: l20 -> l21 : [ 1+y_20^0<=x_21^0 ], cost: 1
     27: l20 -> l21 : [ 1+x_21^0<=y_20^0 ], cost: 1
     28: l21 -> l22 : a_175^0'=-1+a_152^0, t_24^0'=x_21^0, [ -ct_18^0==0 && -y_20^0==0 && -x_17^0+x_15^0==0 && -x_SLAM_f_19^0+x_15^0==0 && -tmp_27^0+x_15^0==0 ], cost: 1
     29: l22 -> l23 : [ 1+x_15^0<=y_20^0 ], cost: 1
     30: l22 -> l23 : [ 1+y_20^0<=x_15^0 ], cost: 1
     31: l23 -> l24 : [ 1+y_20^0<=t_24^0 ], cost: 1
     32: l23 -> l24 : [ 1+t_24^0<=y_20^0 ], cost: 1
     53: l24 -> l4 : a_152^0'=a_175^0, [ 2<=len_14^0 && len_14^0<=i_13^0 ], cost: 2
     36: l25 -> l26 : [ 1+y_20^0<=x_21^0 ], cost: 1
     37: l25 -> l26 : [ 1+x_21^0<=y_20^0 ], cost: 1
     38: l26 -> l27 : a_130^0'=a_152^0, t_24^0'=x_21^0, [ -ct_18^0==0 && -y_20^0==0 && -x_17^0+x_15^0==0 && -x_SLAM_f_19^0+x_15^0==0 && -x_21^0+x_15^0==0 && -tmp_27^0+x_15^0==0 ], cost: 1
     39: l27 -> l28 : [ 1+x_15^0<=y_20^0 ], cost: 1
     40: l27 -> l28 : [ 1+y_20^0<=x_15^0 ], cost: 1
     41: l28 -> l29 : [ 1+y_20^0<=t_24^0 ], cost: 1
     42: l28 -> l29 : [ 1+t_24^0<=y_20^0 ], cost: 1
     43: l29 -> l4 : i_13^0'=1+a_130^0, [ 2<=len_14^0 && len_14^0<=i_13^0 ], cost: 1
     51: l31 -> l18 : a_28^0'=a_28^post_24, d_29^0'=d_29^post_24, i_13^0'=2, rcd_63^0'=rcd_63^post_24, result_11^0'=result_11^post_24, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_24, temp0_31^0'=temp0_31^post_24, temp_33^0'=temp_33^post_24, tmp_27^0'=temp_33^post_48, x_15^0'=temp_33^post_48, x_32^0'=x_32^post_24, [ 2<=len_14^0 ], cost: 4
     55: l31 -> l18 : a_28^0'=a_28^post_45, d_29^0'=d_29^post_45, i_111^0'=-1+len_14^0, i_13^0'=len_14^0, rcd_100^0'=rcd_100^post_45, rcd_63^0'=rcd_63^post_24, result_11^0'=result_11^post_45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_45, temp0_31^0'=temp0_31^post_45, temp_33^0'=temp_33^post_45, tmp_27^0'=temp_33^post_45, x_15^0'=temp_33^post_45, x_32^0'=x_32^post_45, [ -2+len_14^0>=1 ], cost: 2*len_14^0

Eliminated locations (on tree-shaped paths):
   Start location: l31
     64: l4 -> l21 : ct_18^0'=ct_18^post_26, i_13^0'=i_13^post_26, len_14^0'=len_14^post_26, r_37^0'=r_37^post_26, tmp_27^0'=tmp_27^post_26, x_15^0'=x_15^post_26, x_17^0'=x_17^post_26, x_SLAM_f_19^0'=x_SLAM_f_19^post_26, [ 0<=a_152^0 && 1+y_20^0<=x_21^0 ], cost: 2
     65: l4 -> l21 : ct_18^0'=ct_18^post_26, i_13^0'=i_13^post_26, len_14^0'=len_14^post_26, r_37^0'=r_37^post_26, tmp_27^0'=tmp_27^post_26, x_15^0'=x_15^post_26, x_17^0'=x_17^post_26, x_SLAM_f_19^0'=x_SLAM_f_19^post_26, [ 0<=a_152^0 && 1+x_21^0<=y_20^0 ], cost: 2
     66: l21 -> l23 : a_175^0'=-1+a_152^0, t_24^0'=x_21^0, [ -ct_18^0==0 && -y_20^0==0 && -x_17^0+x_15^0==0 && -x_SLAM_f_19^0+x_15^0==0 && -tmp_27^0+x_15^0==0 && 1+x_15^0<=y_20^0 ], cost: 2
     67: l21 -> l23 : a_175^0'=-1+a_152^0, t_24^0'=x_21^0, [ -ct_18^0==0 && -y_20^0==0 && -x_17^0+x_15^0==0 && -x_SLAM_f_19^0+x_15^0==0 && -tmp_27^0+x_15^0==0 && 1+y_20^0<=x_15^0 ], cost: 2
     68: l23 -> l4 : a_152^0'=a_175^0, [ 1+y_20^0<=t_24^0 && 2<=len_14^0 && len_14^0<=i_13^0 ], cost: 3
     69: l23 -> l4 : a_152^0'=a_175^0, [ 1+t_24^0<=y_20^0 && 2<=len_14^0 && len_14^0<=i_13^0 ], cost: 3
     58: l25 -> l27 : a_130^0'=a_152^0, t_24^0'=x_21^0, [ 1+y_20^0<=x_21^0 && -ct_18^0==0 && -y_20^0==0 && -x_17^0+x_15^0==0 && -x_SLAM_f_19^0+x_15^0==0 && -x_21^0+x_15^0==0 && -tmp_27^0+x_15^0==0 ], cost: 2
     59: l25 -> l27 : a_130^0'=a_152^0, t_24^0'=x_21^0, [ 1+x_21^0<=y_20^0 && -ct_18^0==0 && -y_20^0==0 && -x_17^0+x_15^0==0 && -x_SLAM_f_19^0+x_15^0==0 && -x_21^0+x_15^0==0 && -tmp_27^0+x_15^0==0 ], cost: 2
     60: l27 -> l29 : [ 1+x_15^0<=y_20^0 && 1+y_20^0<=t_24^0 ], cost: 2
     61: l27 -> l29 : [ 1+x_15^0<=y_20^0 && 1+t_24^0<=y_20^0 ], cost: 2
     62: l27 -> l29 : [ 1+y_20^0<=x_15^0 && 1+y_20^0<=t_24^0 ], cost: 2
     63: l27 -> l29 : [ 1+y_20^0<=x_15^0 && 1+t_24^0<=y_20^0 ], cost: 2
     43: l29 -> l4 : i_13^0'=1+a_130^0, [ 2<=len_14^0 && len_14^0<=i_13^0 ], cost: 1
     56: l31 -> l25 : a_28^0'=a_28^post_24, ct_18^0'=ct_18^post_36, d_29^0'=d_29^post_24, i_13^0'=i_13^post_36, len_14^0'=len_14^post_36, rcd_63^0'=rcd_63^post_24, result_11^0'=result_11^post_24, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_24, temp0_31^0'=temp0_31^post_24, temp_33^0'=temp_33^post_24, tmp_27^0'=tmp_27^post_36, x_15^0'=x_15^post_36, x_17^0'=x_17^post_36, x_21^0'=temp_33^post_48, x_32^0'=x_32^post_24, x_SLAM_f_19^0'=x_SLAM_f_19^post_36, y_20^0'=0, [ 2<=len_14^0 && len_14^0<=2 ], cost: 5
     57: l31 -> l25 : a_28^0'=a_28^post_45, ct_18^0'=ct_18^post_36, d_29^0'=d_29^post_45, i_111^0'=-1+len_14^0, i_13^0'=i_13^post_36, len_14^0'=len_14^post_36, rcd_100^0'=rcd_100^post_45, rcd_63^0'=rcd_63^post_24, result_11^0'=result_11^post_45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_45, temp0_31^0'=temp0_31^post_45, temp_33^0'=temp_33^post_45, tmp_27^0'=tmp_27^post_36, x_15^0'=x_15^post_36, x_17^0'=x_17^post_36, x_21^0'=temp_33^post_45, x_32^0'=x_32^post_45, x_SLAM_f_19^0'=x_SLAM_f_19^post_36, y_20^0'=0, [ -2+len_14^0>=1 ], cost: 1+2*len_14^0

Eliminated locations (on tree-shaped paths):
   Start location: l31
     78: l4 -> l23 : a_175^0'=-1+a_152^0, ct_18^0'=ct_18^post_26, i_13^0'=i_13^post_26, len_14^0'=len_14^post_26, r_37^0'=r_37^post_26, t_24^0'=x_21^0, tmp_27^0'=tmp_27^post_26, x_15^0'=x_15^post_26, x_17^0'=x_17^post_26, x_SLAM_f_19^0'=x_SLAM_f_19^post_26, [ 0<=a_152^0 && 1+y_20^0<=x_21^0 && -ct_18^post_26==0 && -y_20^0==0 && x_15^post_26-x_17^post_26==0 && x_15^post_26-x_SLAM_f_19^post_26==0 && x_15^post_26-tmp_27^post_26==0 && 1+x_15^post_26<=y_20^0 ], cost: 4
     79: l4 -> l23 : a_175^0'=-1+a_152^0, ct_18^0'=ct_18^post_26, i_13^0'=i_13^post_26, len_14^0'=len_14^post_26, r_37^0'=r_37^post_26, t_24^0'=x_21^0, tmp_27^0'=tmp_27^post_26, x_15^0'=x_15^post_26, x_17^0'=x_17^post_26, x_SLAM_f_19^0'=x_SLAM_f_19^post_26, [ 0<=a_152^0 && 1+y_20^0<=x_21^0 && -ct_18^post_26==0 && -y_20^0==0 && x_15^post_26-x_17^post_26==0 && x_15^post_26-x_SLAM_f_19^post_26==0 && x_15^post_26-tmp_27^post_26==0 && 1+y_20^0<=x_15^post_26 ], cost: 4
     80: l4 -> l23 : a_175^0'=-1+a_152^0, ct_18^0'=ct_18^post_26, i_13^0'=i_13^post_26, len_14^0'=len_14^post_26, r_37^0'=r_37^post_26, t_24^0'=x_21^0, tmp_27^0'=tmp_27^post_26, x_15^0'=x_15^post_26, x_17^0'=x_17^post_26, x_SLAM_f_19^0'=x_SLAM_f_19^post_26, [ 0<=a_152^0 && 1+x_21^0<=y_20^0 && -ct_18^post_26==0 && -y_20^0==0 && x_15^post_26-x_17^post_26==0 && x_15^post_26-x_SLAM_f_19^post_26==0 && x_15^post_26-tmp_27^post_26==0 && 1+x_15^post_26<=y_20^0 ], cost: 4
     81: l4 -> l23 : a_175^0'=-1+a_152^0, ct_18^0'=ct_18^post_26, i_13^0'=i_13^post_26, len_14^0'=len_14^post_26, r_37^0'=r_37^post_26, t_24^0'=x_21^0, tmp_27^0'=tmp_27^post_26, x_15^0'=x_15^post_26, x_17^0'=x_17^post_26, x_SLAM_f_19^0'=x_SLAM_f_19^post_26, [ 0<=a_152^0 && 1+x_21^0<=y_20^0 && -ct_18^post_26==0 && -y_20^0==0 && x_15^post_26-x_17^post_26==0 && x_15^post_26-x_SLAM_f_19^post_26==0 && x_15^post_26-tmp_27^post_26==0 && 1+y_20^0<=x_15^post_26 ], cost: 4
     68: l23 -> l4 : a_152^0'=a_175^0, [ 1+y_20^0<=t_24^0 && 2<=len_14^0 && len_14^0<=i_13^0 ], cost: 3
     69: l23 -> l4 : a_152^0'=a_175^0, [ 1+t_24^0<=y_20^0 && 2<=len_14^0 && len_14^0<=i_13^0 ], cost: 3
     74: l27 -> l4 : i_13^0'=1+a_130^0, [ 1+x_15^0<=y_20^0 && 1+y_20^0<=t_24^0 && 2<=len_14^0 && len_14^0<=i_13^0 ], cost: 3
     75: l27 -> l4 : i_13^0'=1+a_130^0, [ 1+x_15^0<=y_20^0 && 1+t_24^0<=y_20^0 && 2<=len_14^0 && len_14^0<=i_13^0 ], cost: 3
     76: l27 -> l4 : i_13^0'=1+a_130^0, [ 1+y_20^0<=x_15^0 && 1+y_20^0<=t_24^0 && 2<=len_14^0 && len_14^0<=i_13^0 ], cost: 3
     77: l27 -> l4 : i_13^0'=1+a_130^0, [ 1+y_20^0<=x_15^0 && 1+t_24^0<=y_20^0 && 2<=len_14^0 && len_14^0<=i_13^0 ], cost: 3
     70: l31 -> l27 : a_130^0'=a_152^0, a_28^0'=a_28^post_24, ct_18^0'=ct_18^post_36, d_29^0'=d_29^post_24, i_13^0'=i_13^post_36, len_14^0'=len_14^post_36, rcd_63^0'=rcd_63^post_24, result_11^0'=result_11^post_24, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_24, t_24^0'=temp_33^post_48, temp0_31^0'=temp0_31^post_24, temp_33^0'=temp_33^post_24, tmp_27^0'=tmp_27^post_36, x_15^0'=x_15^post_36, x_17^0'=x_17^post_36, x_21^0'=temp_33^post_48, x_32^0'=x_32^post_24, x_SLAM_f_19^0'=x_SLAM_f_19^post_36, y_20^0'=0, [ 2<=len_14^0 && len_14^0<=2 && 1<=temp_33^post_48 && -ct_18^post_36==0 && -x_17^post_36+x_15^post_36==0 && x_15^post_36-x_SLAM_f_19^post_36==0 && x_15^post_36-temp_33^post_48==0 && -tmp_27^post_36+x_15^post_36==0 ], cost: 7
     71: l31 -> l27 : a_130^0'=a_152^0, a_28^0'=a_28^post_24, ct_18^0'=ct_18^post_36, d_29^0'=d_29^post_24, i_13^0'=i_13^post_36, len_14^0'=len_14^post_36, rcd_63^0'=rcd_63^post_24, result_11^0'=result_11^post_24, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_24, t_24^0'=temp_33^post_48, temp0_31^0'=temp0_31^post_24, temp_33^0'=temp_33^post_24, tmp_27^0'=tmp_27^post_36, x_15^0'=x_15^post_36, x_17^0'=x_17^post_36, x_21^0'=temp_33^post_48, x_32^0'=x_32^post_24, x_SLAM_f_19^0'=x_SLAM_f_19^post_36, y_20^0'=0, [ 2<=len_14^0 && len_14^0<=2 && 1+temp_33^post_48<=0 && -ct_18^post_36==0 && -x_17^post_36+x_15^post_36==0 && x_15^post_36-x_SLAM_f_19^post_36==0 && x_15^post_36-temp_33^post_48==0 && -tmp_27^post_36+x_15^post_36==0 ], cost: 7
     72: l31 -> l27 : a_130^0'=a_152^0, a_28^0'=a_28^post_45, ct_18^0'=ct_18^post_36, d_29^0'=d_29^post_45, i_111^0'=-1+len_14^0, i_13^0'=i_13^post_36, len_14^0'=len_14^post_36, rcd_100^0'=rcd_100^post_45, rcd_63^0'=rcd_63^post_24, result_11^0'=result_11^post_45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_45, t_24^0'=temp_33^post_45, temp0_31^0'=temp0_31^post_45, temp_33^0'=temp_33^post_45, tmp_27^0'=tmp_27^post_36, x_15^0'=x_15^post_36, x_17^0'=x_17^post_36, x_21^0'=temp_33^post_45, x_32^0'=x_32^post_45, x_SLAM_f_19^0'=x_SLAM_f_19^post_36, y_20^0'=0, [ -2+len_14^0>=1 && 1<=temp_33^post_45 && -ct_18^post_36==0 && -x_17^post_36+x_15^post_36==0 && x_15^post_36-x_SLAM_f_19^post_36==0 && -temp_33^post_45+x_15^post_36==0 && -tmp_27^post_36+x_15^post_36==0 ], cost: 3+2*len_14^0
     73: l31 -> l27 : a_130^0'=a_152^0, a_28^0'=a_28^post_45, ct_18^0'=ct_18^post_36, d_29^0'=d_29^post_45, i_111^0'=-1+len_14^0, i_13^0'=i_13^post_36, len_14^0'=len_14^post_36, rcd_100^0'=rcd_100^post_45, rcd_63^0'=rcd_63^post_24, result_11^0'=result_11^post_45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_45, t_24^0'=temp_33^post_45, temp0_31^0'=temp0_31^post_45, temp_33^0'=temp_33^post_45, tmp_27^0'=tmp_27^post_36, x_15^0'=x_15^post_36, x_17^0'=x_17^post_36, x_21^0'=temp_33^post_45, x_32^0'=x_32^post_45, x_SLAM_f_19^0'=x_SLAM_f_19^post_36, y_20^0'=0, [ -2+len_14^0>=1 && 1+temp_33^post_45<=0 && -ct_18^post_36==0 && -x_17^post_36+x_15^post_36==0 && x_15^post_36-x_SLAM_f_19^post_36==0 && -temp_33^post_45+x_15^post_36==0 && -tmp_27^post_36+x_15^post_36==0 ], cost: 3+2*len_14^0

Eliminated locations (on tree-shaped paths):
   Start location: l31
     88: l4 -> l4 : a_152^0'=-1+a_152^0, a_175^0'=-1+a_152^0, ct_18^0'=ct_18^post_26, i_13^0'=i_13^post_26, len_14^0'=len_14^post_26, r_37^0'=r_37^post_26, t_24^0'=x_21^0, tmp_27^0'=tmp_27^post_26, x_15^0'=x_15^post_26, x_17^0'=x_17^post_26, x_SLAM_f_19^0'=x_SLAM_f_19^post_26, [ 0<=a_152^0 && 1+y_20^0<=x_21^0 && -ct_18^post_26==0 && -y_20^0==0 && x_15^post_26-x_17^post_26==0 && x_15^post_26-x_SLAM_f_19^post_26==0 && x_15^post_26-tmp_27^post_26==0 && 1+x_15^post_26<=y_20^0 && 2<=len_14^post_26 && len_14^post_26<=i_13^post_26 ], cost: 7
     89: l4 -> l4 : a_152^0'=-1+a_152^0, a_175^0'=-1+a_152^0, ct_18^0'=ct_18^post_26, i_13^0'=i_13^post_26, len_14^0'=len_14^post_26, r_37^0'=r_37^post_26, t_24^0'=x_21^0, tmp_27^0'=tmp_27^post_26, x_15^0'=x_15^post_26, x_17^0'=x_17^post_26, x_SLAM_f_19^0'=x_SLAM_f_19^post_26, [ 0<=a_152^0 && 1+y_20^0<=x_21^0 && -ct_18^post_26==0 && -y_20^0==0 && x_15^post_26-x_17^post_26==0 && x_15^post_26-x_SLAM_f_19^post_26==0 && x_15^post_26-tmp_27^post_26==0 && 1+y_20^0<=x_15^post_26 && 2<=len_14^post_26 && len_14^post_26<=i_13^post_26 ], cost: 7
     90: l4 -> l4 : a_152^0'=-1+a_152^0, a_175^0'=-1+a_152^0, ct_18^0'=ct_18^post_26, i_13^0'=i_13^post_26, len_14^0'=len_14^post_26, r_37^0'=r_37^post_26, t_24^0'=x_21^0, tmp_27^0'=tmp_27^post_26, x_15^0'=x_15^post_26, x_17^0'=x_17^post_26, x_SLAM_f_19^0'=x_SLAM_f_19^post_26, [ 0<=a_152^0 && 1+x_21^0<=y_20^0 && -ct_18^post_26==0 && -y_20^0==0 && x_15^post_26-x_17^post_26==0 && x_15^post_26-x_SLAM_f_19^post_26==0 && x_15^post_26-tmp_27^post_26==0 && 1+x_15^post_26<=y_20^0 && 2<=len_14^post_26 && len_14^post_26<=i_13^post_26 ], cost: 7
     91: l4 -> l4 : a_152^0'=-1+a_152^0, a_175^0'=-1+a_152^0, ct_18^0'=ct_18^post_26, i_13^0'=i_13^post_26, len_14^0'=len_14^post_26, r_37^0'=r_37^post_26, t_24^0'=x_21^0, tmp_27^0'=tmp_27^post_26, x_15^0'=x_15^post_26, x_17^0'=x_17^post_26, x_SLAM_f_19^0'=x_SLAM_f_19^post_26, [ 0<=a_152^0 && 1+x_21^0<=y_20^0 && -ct_18^post_26==0 && -y_20^0==0 && x_15^post_26-x_17^post_26==0 && x_15^post_26-x_SLAM_f_19^post_26==0 && x_15^post_26-tmp_27^post_26==0 && 1+y_20^0<=x_15^post_26 && 2<=len_14^post_26 && len_14^post_26<=i_13^post_26 ], cost: 7
     82: l31 -> l4 : a_130^0'=a_152^0, a_28^0'=a_28^post_24, ct_18^0'=ct_18^post_36, d_29^0'=d_29^post_24, i_13^0'=1+a_152^0, len_14^0'=len_14^post_36, rcd_63^0'=rcd_63^post_24, result_11^0'=result_11^post_24, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_24, t_24^0'=temp_33^post_48, temp0_31^0'=temp0_31^post_24, temp_33^0'=temp_33^post_24, tmp_27^0'=tmp_27^post_36, x_15^0'=x_15^post_36, x_17^0'=x_17^post_36, x_21^0'=temp_33^post_48, x_32^0'=x_32^post_24, x_SLAM_f_19^0'=x_SLAM_f_19^post_36, y_20^0'=0, [ 2<=len_14^0 && len_14^0<=2 && 1<=temp_33^post_48 && -ct_18^post_36==0 && -x_17^post_36+x_15^post_36==0 && x_15^post_36-x_SLAM_f_19^post_36==0 && x_15^post_36-temp_33^post_48==0 && -tmp_27^post_36+x_15^post_36==0 && 1<=x_15^post_36 && 2<=len_14^post_36 && len_14^post_36<=i_13^post_36 ], cost: 10
     83: l31 -> l4 : a_130^0'=a_152^0, a_28^0'=a_28^post_24, ct_18^0'=ct_18^post_36, d_29^0'=d_29^post_24, i_13^0'=1+a_152^0, len_14^0'=len_14^post_36, rcd_63^0'=rcd_63^post_24, result_11^0'=result_11^post_24, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_24, t_24^0'=temp_33^post_48, temp0_31^0'=temp0_31^post_24, temp_33^0'=temp_33^post_24, tmp_27^0'=tmp_27^post_36, x_15^0'=x_15^post_36, x_17^0'=x_17^post_36, x_21^0'=temp_33^post_48, x_32^0'=x_32^post_24, x_SLAM_f_19^0'=x_SLAM_f_19^post_36, y_20^0'=0, [ 2<=len_14^0 && len_14^0<=2 && 1+temp_33^post_48<=0 && -ct_18^post_36==0 && -x_17^post_36+x_15^post_36==0 && x_15^post_36-x_SLAM_f_19^post_36==0 && x_15^post_36-temp_33^post_48==0 && -tmp_27^post_36+x_15^post_36==0 && 1+x_15^post_36<=0 && 2<=len_14^post_36 && len_14^post_36<=i_13^post_36 ], cost: 10
     84: l31 -> l4 : a_130^0'=a_152^0, a_28^0'=a_28^post_45, ct_18^0'=ct_18^post_36, d_29^0'=d_29^post_45, i_111^0'=-1+len_14^0, i_13^0'=1+a_152^0, len_14^0'=len_14^post_36, rcd_100^0'=rcd_100^post_45, rcd_63^0'=rcd_63^post_24, result_11^0'=result_11^post_45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_45, t_24^0'=temp_33^post_45, temp0_31^0'=temp0_31^post_45, temp_33^0'=temp_33^post_45, tmp_27^0'=tmp_27^post_36, x_15^0'=x_15^post_36, x_17^0'=x_17^post_36, x_21^0'=temp_33^post_45, x_32^0'=x_32^post_45, x_SLAM_f_19^0'=x_SLAM_f_19^post_36, y_20^0'=0, [ -2+len_14^0>=1 && 1<=temp_33^post_45 && -ct_18^post_36==0 && -x_17^post_36+x_15^post_36==0 && x_15^post_36-x_SLAM_f_19^post_36==0 && -temp_33^post_45+x_15^post_36==0 && -tmp_27^post_36+x_15^post_36==0 && 1<=x_15^post_36 && 2<=len_14^post_36 && len_14^post_36<=i_13^post_36 ], cost: 6+2*len_14^0
     85: l31 -> l4 : a_130^0'=a_152^0, a_28^0'=a_28^post_45, ct_18^0'=ct_18^post_36, d_29^0'=d_29^post_45, i_111^0'=-1+len_14^0, i_13^0'=1+a_152^0, len_14^0'=len_14^post_36, rcd_100^0'=rcd_100^post_45, rcd_63^0'=rcd_63^post_24, result_11^0'=result_11^post_45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_45, t_24^0'=temp_33^post_45, temp0_31^0'=temp0_31^post_45, temp_33^0'=temp_33^post_45, tmp_27^0'=tmp_27^post_36, x_15^0'=x_15^post_36, x_17^0'=x_17^post_36, x_21^0'=temp_33^post_45, x_32^0'=x_32^post_45, x_SLAM_f_19^0'=x_SLAM_f_19^post_36, y_20^0'=0, [ -2+len_14^0>=1 && 1+temp_33^post_45<=0 && -ct_18^post_36==0 && -x_17^post_36+x_15^post_36==0 && x_15^post_36-x_SLAM_f_19^post_36==0 && -temp_33^post_45+x_15^post_36==0 && -tmp_27^post_36+x_15^post_36==0 && 1+x_15^post_36<=0 && 2<=len_14^post_36 && len_14^post_36<=i_13^post_36 ], cost: 6+2*len_14^0
     86: l31 -> [33] : [ -2+len_14^0>=1 && 1<=temp_33^post_45 && -ct_18^post_36==0 && -x_17^post_36+x_15^post_36==0 && x_15^post_36-x_SLAM_f_19^post_36==0 && -temp_33^post_45+x_15^post_36==0 && -tmp_27^post_36+x_15^post_36==0 ], cost: 3+2*len_14^0
     87: l31 -> [33] : [ -2+len_14^0>=1 && 1+temp_33^post_45<=0 && -ct_18^post_36==0 && -x_17^post_36+x_15^post_36==0 && x_15^post_36-x_SLAM_f_19^post_36==0 && -temp_33^post_45+x_15^post_36==0 && -tmp_27^post_36+x_15^post_36==0 ], cost: 3+2*len_14^0

Accelerating simple loops of location 9.
   Simplified some of the simple loops (and removed duplicate rules).
   Accelerating the following rules:
     88: l4 -> l4 : a_152^0'=-1+a_152^0, a_175^0'=-1+a_152^0, ct_18^0'=0, i_13^0'=i_13^post_26, len_14^0'=len_14^post_26, r_37^0'=r_37^post_26, t_24^0'=x_21^0, tmp_27^0'=x_SLAM_f_19^post_26, x_15^0'=x_SLAM_f_19^post_26, x_17^0'=x_SLAM_f_19^post_26, x_SLAM_f_19^0'=x_SLAM_f_19^post_26, [ 0<=a_152^0 && 1+y_20^0<=x_21^0 && -y_20^0==0 && 1+x_SLAM_f_19^post_26<=y_20^0 && 2<=len_14^post_26 && len_14^post_26<=i_13^post_26 ], cost: 7
     89: l4 -> l4 : a_152^0'=-1+a_152^0, a_175^0'=-1+a_152^0, ct_18^0'=0, i_13^0'=i_13^post_26, len_14^0'=len_14^post_26, r_37^0'=r_37^post_26, t_24^0'=x_21^0, tmp_27^0'=x_SLAM_f_19^post_26, x_15^0'=x_SLAM_f_19^post_26, x_17^0'=x_SLAM_f_19^post_26, x_SLAM_f_19^0'=x_SLAM_f_19^post_26, [ 0<=a_152^0 && 1+y_20^0<=x_21^0 && -y_20^0==0 && 1+y_20^0<=x_SLAM_f_19^post_26 && 2<=len_14^post_26 && len_14^post_26<=i_13^post_26 ], cost: 7
     90: l4 -> l4 : a_152^0'=-1+a_152^0, a_175^0'=-1+a_152^0, ct_18^0'=0, i_13^0'=i_13^post_26, len_14^0'=len_14^post_26, r_37^0'=r_37^post_26, t_24^0'=x_21^0, tmp_27^0'=x_SLAM_f_19^post_26, x_15^0'=x_SLAM_f_19^post_26, x_17^0'=x_SLAM_f_19^post_26, x_SLAM_f_19^0'=x_SLAM_f_19^post_26, [ 0<=a_152^0 && 1+x_21^0<=y_20^0 && -y_20^0==0 && 1+x_SLAM_f_19^post_26<=y_20^0 && 2<=len_14^post_26 && len_14^post_26<=i_13^post_26 ], cost: 7
     91: l4 -> l4 : a_152^0'=-1+a_152^0, a_175^0'=-1+a_152^0, ct_18^0'=0, i_13^0'=i_13^post_26, len_14^0'=len_14^post_26, r_37^0'=r_37^post_26, t_24^0'=x_21^0, tmp_27^0'=x_SLAM_f_19^post_26, x_15^0'=x_SLAM_f_19^post_26, x_17^0'=x_SLAM_f_19^post_26, x_SLAM_f_19^0'=x_SLAM_f_19^post_26, [ 0<=a_152^0 && 1+x_21^0<=y_20^0 && -y_20^0==0 && 1+y_20^0<=x_SLAM_f_19^post_26 && 2<=len_14^post_26 && len_14^post_26<=i_13^post_26 ], cost: 7

   Accelerated rule 88 with backward acceleration, yielding the new rule 92.
   Accelerated rule 89 with backward acceleration, yielding the new rule 93.
   Accelerated rule 90 with backward acceleration, yielding the new rule 94.
   Accelerated rule 91 with backward acceleration, yielding the new rule 95.
[accelerate] Nesting with 4 inner and 4 outer candidates
   Removing the simple loops: 88 89 90 91.

Accelerated all simple loops using metering functions (where possible):
   Start location: l31
     92: l4 -> l4 : a_152^0'=-1, a_175^0'=-1, ct_18^0'=0, i_13^0'=i_13^post_26, len_14^0'=len_14^post_26, r_37^0'=r_37^post_26, t_24^0'=x_21^0, tmp_27^0'=x_SLAM_f_19^post_26, x_15^0'=x_SLAM_f_19^post_26, x_17^0'=x_SLAM_f_19^post_26, x_SLAM_f_19^0'=x_SLAM_f_19^post_26, [ 1+y_20^0<=x_21^0 && -y_20^0==0 && 1+x_SLAM_f_19^post_26<=y_20^0 && 2<=len_14^post_26 && len_14^post_26<=i_13^post_26 && 1+a_152^0>=1 ], cost: 7+7*a_152^0
     93: l4 -> l4 : a_152^0'=-1, a_175^0'=-1, ct_18^0'=0, i_13^0'=i_13^post_26, len_14^0'=len_14^post_26, r_37^0'=r_37^post_26, t_24^0'=x_21^0, tmp_27^0'=x_SLAM_f_19^post_26, x_15^0'=x_SLAM_f_19^post_26, x_17^0'=x_SLAM_f_19^post_26, x_SLAM_f_19^0'=x_SLAM_f_19^post_26, [ 1+y_20^0<=x_21^0 && -y_20^0==0 && 1+y_20^0<=x_SLAM_f_19^post_26 && 2<=len_14^post_26 && len_14^post_26<=i_13^post_26 && 1+a_152^0>=1 ], cost: 7+7*a_152^0
     94: l4 -> l4 : a_152^0'=-1, a_175^0'=-1, ct_18^0'=0, i_13^0'=i_13^post_26, len_14^0'=len_14^post_26, r_37^0'=r_37^post_26, t_24^0'=x_21^0, tmp_27^0'=x_SLAM_f_19^post_26, x_15^0'=x_SLAM_f_19^post_26, x_17^0'=x_SLAM_f_19^post_26, x_SLAM_f_19^0'=x_SLAM_f_19^post_26, [ 1+x_21^0<=y_20^0 && -y_20^0==0 && 1+x_SLAM_f_19^post_26<=y_20^0 && 2<=len_14^post_26 && len_14^post_26<=i_13^post_26 && 1+a_152^0>=1 ], cost: 7+7*a_152^0
     95: l4 -> l4 : a_152^0'=-1, a_175^0'=-1, ct_18^0'=0, i_13^0'=i_13^post_26, len_14^0'=len_14^post_26, r_37^0'=r_37^post_26, t_24^0'=x_21^0, tmp_27^0'=x_SLAM_f_19^post_26, x_15^0'=x_SLAM_f_19^post_26, x_17^0'=x_SLAM_f_19^post_26, x_SLAM_f_19^0'=x_SLAM_f_19^post_26, [ 1+x_21^0<=y_20^0 && -y_20^0==0 && 1+y_20^0<=x_SLAM_f_19^post_26 && 2<=len_14^post_26 && len_14^post_26<=i_13^post_26 && 1+a_152^0>=1 ], cost: 7+7*a_152^0
     82: l31 -> l4 : a_130^0'=a_152^0, a_28^0'=a_28^post_24, ct_18^0'=ct_18^post_36, d_29^0'=d_29^post_24, i_13^0'=1+a_152^0, len_14^0'=len_14^post_36, rcd_63^0'=rcd_63^post_24, result_11^0'=result_11^post_24, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_24, t_24^0'=temp_33^post_48, temp0_31^0'=temp0_31^post_24, temp_33^0'=temp_33^post_24, tmp_27^0'=tmp_27^post_36, x_15^0'=x_15^post_36, x_17^0'=x_17^post_36, x_21^0'=temp_33^post_48, x_32^0'=x_32^post_24, x_SLAM_f_19^0'=x_SLAM_f_19^post_36, y_20^0'=0, [ 2<=len_14^0 && len_14^0<=2 && 1<=temp_33^post_48 && -ct_18^post_36==0 && -x_17^post_36+x_15^post_36==0 && x_15^post_36-x_SLAM_f_19^post_36==0 && x_15^post_36-temp_33^post_48==0 && -tmp_27^post_36+x_15^post_36==0 && 1<=x_15^post_36 && 2<=len_14^post_36 && len_14^post_36<=i_13^post_36 ], cost: 10
     83: l31 -> l4 : a_130^0'=a_152^0, a_28^0'=a_28^post_24, ct_18^0'=ct_18^post_36, d_29^0'=d_29^post_24, i_13^0'=1+a_152^0, len_14^0'=len_14^post_36, rcd_63^0'=rcd_63^post_24, result_11^0'=result_11^post_24, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_24, t_24^0'=temp_33^post_48, temp0_31^0'=temp0_31^post_24, temp_33^0'=temp_33^post_24, tmp_27^0'=tmp_27^post_36, x_15^0'=x_15^post_36, x_17^0'=x_17^post_36, x_21^0'=temp_33^post_48, x_32^0'=x_32^post_24, x_SLAM_f_19^0'=x_SLAM_f_19^post_36, y_20^0'=0, [ 2<=len_14^0 && len_14^0<=2 && 1+temp_33^post_48<=0 && -ct_18^post_36==0 && -x_17^post_36+x_15^post_36==0 && x_15^post_36-x_SLAM_f_19^post_36==0 && x_15^post_36-temp_33^post_48==0 && -tmp_27^post_36+x_15^post_36==0 && 1+x_15^post_36<=0 && 2<=len_14^post_36 && len_14^post_36<=i_13^post_36 ], cost: 10
     84: l31 -> l4 : a_130^0'=a_152^0, a_28^0'=a_28^post_45, ct_18^0'=ct_18^post_36, d_29^0'=d_29^post_45, i_111^0'=-1+len_14^0, i_13^0'=1+a_152^0, len_14^0'=len_14^post_36, rcd_100^0'=rcd_100^post_45, rcd_63^0'=rcd_63^post_24, result_11^0'=result_11^post_45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_45, t_24^0'=temp_33^post_45, temp0_31^0'=temp0_31^post_45, temp_33^0'=temp_33^post_45, tmp_27^0'=tmp_27^post_36, x_15^0'=x_15^post_36, x_17^0'=x_17^post_36, x_21^0'=temp_33^post_45, x_32^0'=x_32^post_45, x_SLAM_f_19^0'=x_SLAM_f_19^post_36, y_20^0'=0, [ -2+len_14^0>=1 && 1<=temp_33^post_45 && -ct_18^post_36==0 && -x_17^post_36+x_15^post_36==0 && x_15^post_36-x_SLAM_f_19^post_36==0 && -temp_33^post_45+x_15^post_36==0 && -tmp_27^post_36+x_15^post_36==0 && 1<=x_15^post_36 && 2<=len_14^post_36 && len_14^post_36<=i_13^post_36 ], cost: 6+2*len_14^0
     85: l31 -> l4 : a_130^0'=a_152^0, a_28^0'=a_28^post_45, ct_18^0'=ct_18^post_36, d_29^0'=d_29^post_45, i_111^0'=-1+len_14^0, i_13^0'=1+a_152^0, len_14^0'=len_14^post_36, rcd_100^0'=rcd_100^post_45, rcd_63^0'=rcd_63^post_24, result_11^0'=result_11^post_45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_45, t_24^0'=temp_33^post_45, temp0_31^0'=temp0_31^post_45, temp_33^0'=temp_33^post_45, tmp_27^0'=tmp_27^post_36, x_15^0'=x_15^post_36, x_17^0'=x_17^post_36, x_21^0'=temp_33^post_45, x_32^0'=x_32^post_45, x_SLAM_f_19^0'=x_SLAM_f_19^post_36, y_20^0'=0, [ -2+len_14^0>=1 && 1+temp_33^post_45<=0 && -ct_18^post_36==0 && -x_17^post_36+x_15^post_36==0 && x_15^post_36-x_SLAM_f_19^post_36==0 && -temp_33^post_45+x_15^post_36==0 && -tmp_27^post_36+x_15^post_36==0 && 1+x_15^post_36<=0 && 2<=len_14^post_36 && len_14^post_36<=i_13^post_36 ], cost: 6+2*len_14^0
     86: l31 -> [33] : [ -2+len_14^0>=1 && 1<=temp_33^post_45 && -ct_18^post_36==0 && -x_17^post_36+x_15^post_36==0 && x_15^post_36-x_SLAM_f_19^post_36==0 && -temp_33^post_45+x_15^post_36==0 && -tmp_27^post_36+x_15^post_36==0 ], cost: 3+2*len_14^0
     87: l31 -> [33] : [ -2+len_14^0>=1 && 1+temp_33^post_45<=0 && -ct_18^post_36==0 && -x_17^post_36+x_15^post_36==0 && x_15^post_36-x_SLAM_f_19^post_36==0 && -temp_33^post_45+x_15^post_36==0 && -tmp_27^post_36+x_15^post_36==0 ], cost: 3+2*len_14^0

Chained accelerated rules (with incoming rules):
   Start location: l31
     82: l31 -> l4 : a_130^0'=a_152^0, a_28^0'=a_28^post_24, ct_18^0'=ct_18^post_36, d_29^0'=d_29^post_24, i_13^0'=1+a_152^0, len_14^0'=len_14^post_36, rcd_63^0'=rcd_63^post_24, result_11^0'=result_11^post_24, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_24, t_24^0'=temp_33^post_48, temp0_31^0'=temp0_31^post_24, temp_33^0'=temp_33^post_24, tmp_27^0'=tmp_27^post_36, x_15^0'=x_15^post_36, x_17^0'=x_17^post_36, x_21^0'=temp_33^post_48, x_32^0'=x_32^post_24, x_SLAM_f_19^0'=x_SLAM_f_19^post_36, y_20^0'=0, [ 2<=len_14^0 && len_14^0<=2 && 1<=temp_33^post_48 && -ct_18^post_36==0 && -x_17^post_36+x_15^post_36==0 && x_15^post_36-x_SLAM_f_19^post_36==0 && x_15^post_36-temp_33^post_48==0 && -tmp_27^post_36+x_15^post_36==0 && 1<=x_15^post_36 && 2<=len_14^post_36 && len_14^post_36<=i_13^post_36 ], cost: 10
     83: l31 -> l4 : a_130^0'=a_152^0, a_28^0'=a_28^post_24, ct_18^0'=ct_18^post_36, d_29^0'=d_29^post_24, i_13^0'=1+a_152^0, len_14^0'=len_14^post_36, rcd_63^0'=rcd_63^post_24, result_11^0'=result_11^post_24, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_24, t_24^0'=temp_33^post_48, temp0_31^0'=temp0_31^post_24, temp_33^0'=temp_33^post_24, tmp_27^0'=tmp_27^post_36, x_15^0'=x_15^post_36, x_17^0'=x_17^post_36, x_21^0'=temp_33^post_48, x_32^0'=x_32^post_24, x_SLAM_f_19^0'=x_SLAM_f_19^post_36, y_20^0'=0, [ 2<=len_14^0 && len_14^0<=2 && 1+temp_33^post_48<=0 && -ct_18^post_36==0 && -x_17^post_36+x_15^post_36==0 && x_15^post_36-x_SLAM_f_19^post_36==0 && x_15^post_36-temp_33^post_48==0 && -tmp_27^post_36+x_15^post_36==0 && 1+x_15^post_36<=0 && 2<=len_14^post_36 && len_14^post_36<=i_13^post_36 ], cost: 10
     84: l31 -> l4 : a_130^0'=a_152^0, a_28^0'=a_28^post_45, ct_18^0'=ct_18^post_36, d_29^0'=d_29^post_45, i_111^0'=-1+len_14^0, i_13^0'=1+a_152^0, len_14^0'=len_14^post_36, rcd_100^0'=rcd_100^post_45, rcd_63^0'=rcd_63^post_24, result_11^0'=result_11^post_45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_45, t_24^0'=temp_33^post_45, temp0_31^0'=temp0_31^post_45, temp_33^0'=temp_33^post_45, tmp_27^0'=tmp_27^post_36, x_15^0'=x_15^post_36, x_17^0'=x_17^post_36, x_21^0'=temp_33^post_45, x_32^0'=x_32^post_45, x_SLAM_f_19^0'=x_SLAM_f_19^post_36, y_20^0'=0, [ -2+len_14^0>=1 && 1<=temp_33^post_45 && -ct_18^post_36==0 && -x_17^post_36+x_15^post_36==0 && x_15^post_36-x_SLAM_f_19^post_36==0 && -temp_33^post_45+x_15^post_36==0 && -tmp_27^post_36+x_15^post_36==0 && 1<=x_15^post_36 && 2<=len_14^post_36 && len_14^post_36<=i_13^post_36 ], cost: 6+2*len_14^0
     85: l31 -> l4 : a_130^0'=a_152^0, a_28^0'=a_28^post_45, ct_18^0'=ct_18^post_36, d_29^0'=d_29^post_45, i_111^0'=-1+len_14^0, i_13^0'=1+a_152^0, len_14^0'=len_14^post_36, rcd_100^0'=rcd_100^post_45, rcd_63^0'=rcd_63^post_24, result_11^0'=result_11^post_45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_45, t_24^0'=temp_33^post_45, temp0_31^0'=temp0_31^post_45, temp_33^0'=temp_33^post_45, tmp_27^0'=tmp_27^post_36, x_15^0'=x_15^post_36, x_17^0'=x_17^post_36, x_21^0'=temp_33^post_45, x_32^0'=x_32^post_45, x_SLAM_f_19^0'=x_SLAM_f_19^post_36, y_20^0'=0, [ -2+len_14^0>=1 && 1+temp_33^post_45<=0 && -ct_18^post_36==0 && -x_17^post_36+x_15^post_36==0 && x_15^post_36-x_SLAM_f_19^post_36==0 && -temp_33^post_45+x_15^post_36==0 && -tmp_27^post_36+x_15^post_36==0 && 1+x_15^post_36<=0 && 2<=len_14^post_36 && len_14^post_36<=i_13^post_36 ], cost: 6+2*len_14^0
     86: l31 -> [33] : [ -2+len_14^0>=1 && 1<=temp_33^post_45 && -ct_18^post_36==0 && -x_17^post_36+x_15^post_36==0 && x_15^post_36-x_SLAM_f_19^post_36==0 && -temp_33^post_45+x_15^post_36==0 && -tmp_27^post_36+x_15^post_36==0 ], cost: 3+2*len_14^0
     87: l31 -> [33] : [ -2+len_14^0>=1 && 1+temp_33^post_45<=0 && -ct_18^post_36==0 && -x_17^post_36+x_15^post_36==0 && x_15^post_36-x_SLAM_f_19^post_36==0 && -temp_33^post_45+x_15^post_36==0 && -tmp_27^post_36+x_15^post_36==0 ], cost: 3+2*len_14^0
     96: l31 -> l4 : a_130^0'=a_152^0, a_152^0'=-1, a_175^0'=-1, a_28^0'=a_28^post_24, ct_18^0'=0, d_29^0'=d_29^post_24, i_13^0'=i_13^post_26, len_14^0'=len_14^post_26, r_37^0'=r_37^post_26, rcd_63^0'=rcd_63^post_24, result_11^0'=result_11^post_24, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_24, t_24^0'=x_SLAM_f_19^post_36, temp0_31^0'=temp0_31^post_24, temp_33^0'=temp_33^post_24, tmp_27^0'=x_SLAM_f_19^post_26, x_15^0'=x_SLAM_f_19^post_26, x_17^0'=x_SLAM_f_19^post_26, x_21^0'=x_SLAM_f_19^post_36, x_32^0'=x_32^post_24, x_SLAM_f_19^0'=x_SLAM_f_19^post_26, y_20^0'=0, [ 2-len_14^0==0 && 1<=x_SLAM_f_19^post_36 && 1+x_SLAM_f_19^post_26<=0 && 2<=len_14^post_26 && len_14^post_26<=i_13^post_26 && 1+a_152^0>=1 ], cost: 17+7*a_152^0
     97: l31 -> l4 : a_130^0'=a_152^0, a_152^0'=-1, a_175^0'=-1, a_28^0'=a_28^post_45, ct_18^0'=0, d_29^0'=d_29^post_45, i_111^0'=-1+len_14^0, i_13^0'=i_13^post_26, len_14^0'=len_14^post_26, r_37^0'=r_37^post_26, rcd_100^0'=rcd_100^post_45, rcd_63^0'=rcd_63^post_24, result_11^0'=result_11^post_45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_45, t_24^0'=x_SLAM_f_19^post_36, temp0_31^0'=temp0_31^post_45, temp_33^0'=x_SLAM_f_19^post_36, tmp_27^0'=x_SLAM_f_19^post_26, x_15^0'=x_SLAM_f_19^post_26, x_17^0'=x_SLAM_f_19^post_26, x_21^0'=x_SLAM_f_19^post_36, x_32^0'=x_32^post_45, x_SLAM_f_19^0'=x_SLAM_f_19^post_26, y_20^0'=0, [ -2+len_14^0>=1 && 1<=x_SLAM_f_19^post_36 && 1+x_SLAM_f_19^post_26<=0 && 2<=len_14^post_26 && len_14^post_26<=i_13^post_26 && 1+a_152^0>=1 ], cost: 13+7*a_152^0+2*len_14^0
     98: l31 -> l4 : a_130^0'=a_152^0, a_152^0'=-1, a_175^0'=-1, a_28^0'=a_28^post_24, ct_18^0'=0, d_29^0'=d_29^post_24, i_13^0'=i_13^post_26, len_14^0'=len_14^post_26, r_37^0'=r_37^post_26, rcd_63^0'=rcd_63^post_24, result_11^0'=result_11^post_24, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_24, t_24^0'=x_SLAM_f_19^post_36, temp0_31^0'=temp0_31^post_24, temp_33^0'=temp_33^post_24, tmp_27^0'=x_SLAM_f_19^post_26, x_15^0'=x_SLAM_f_19^post_26, x_17^0'=x_SLAM_f_19^post_26, x_21^0'=x_SLAM_f_19^post_36, x_32^0'=x_32^post_24, x_SLAM_f_19^0'=x_SLAM_f_19^post_26, y_20^0'=0, [ 2-len_14^0==0 && 1<=x_SLAM_f_19^post_36 && 1<=x_SLAM_f_19^post_26 && 2<=len_14^post_26 && len_14^post_26<=i_13^post_26 && 1+a_152^0>=1 ], cost: 17+7*a_152^0
     99: l31 -> l4 : a_130^0'=a_152^0, a_152^0'=-1, a_175^0'=-1, a_28^0'=a_28^post_45, ct_18^0'=0, d_29^0'=d_29^post_45, i_111^0'=-1+len_14^0, i_13^0'=i_13^post_26, len_14^0'=len_14^post_26, r_37^0'=r_37^post_26, rcd_100^0'=rcd_100^post_45, rcd_63^0'=rcd_63^post_24, result_11^0'=result_11^post_45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_45, t_24^0'=x_SLAM_f_19^post_36, temp0_31^0'=temp0_31^post_45, temp_33^0'=x_SLAM_f_19^post_36, tmp_27^0'=x_SLAM_f_19^post_26, x_15^0'=x_SLAM_f_19^post_26, x_17^0'=x_SLAM_f_19^post_26, x_21^0'=x_SLAM_f_19^post_36, x_32^0'=x_32^post_45, x_SLAM_f_19^0'=x_SLAM_f_19^post_26, y_20^0'=0, [ -2+len_14^0>=1 && 1<=x_SLAM_f_19^post_36 && 1<=x_SLAM_f_19^post_26 && 2<=len_14^post_26 && len_14^post_26<=i_13^post_26 && 1+a_152^0>=1 ], cost: 13+7*a_152^0+2*len_14^0
    100: l31 -> l4 : a_130^0'=a_152^0, a_152^0'=-1, a_175^0'=-1, a_28^0'=a_28^post_24, ct_18^0'=0, d_29^0'=d_29^post_24, i_13^0'=i_13^post_26, len_14^0'=len_14^post_26, r_37^0'=r_37^post_26, rcd_63^0'=rcd_63^post_24, result_11^0'=result_11^post_24, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_24, t_24^0'=x_SLAM_f_19^post_36, temp0_31^0'=temp0_31^post_24, temp_33^0'=temp_33^post_24, tmp_27^0'=x_SLAM_f_19^post_26, x_15^0'=x_SLAM_f_19^post_26, x_17^0'=x_SLAM_f_19^post_26, x_21^0'=x_SLAM_f_19^post_36, x_32^0'=x_32^post_24, x_SLAM_f_19^0'=x_SLAM_f_19^post_26, y_20^0'=0, [ 2-len_14^0==0 && 1+x_SLAM_f_19^post_36<=0 && 1+x_SLAM_f_19^post_26<=0 && 2<=len_14^post_26 && len_14^post_26<=i_13^post_26 && 1+a_152^0>=1 ], cost: 17+7*a_152^0
    101: l31 -> l4 : a_130^0'=a_152^0, a_152^0'=-1, a_175^0'=-1, a_28^0'=a_28^post_45, ct_18^0'=0, d_29^0'=d_29^post_45, i_111^0'=-1+len_14^0, i_13^0'=i_13^post_26, len_14^0'=len_14^post_26, r_37^0'=r_37^post_26, rcd_100^0'=rcd_100^post_45, rcd_63^0'=rcd_63^post_24, result_11^0'=result_11^post_45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_45, t_24^0'=x_SLAM_f_19^post_36, temp0_31^0'=temp0_31^post_45, temp_33^0'=x_SLAM_f_19^post_36, tmp_27^0'=x_SLAM_f_19^post_26, x_15^0'=x_SLAM_f_19^post_26, x_17^0'=x_SLAM_f_19^post_26, x_21^0'=x_SLAM_f_19^post_36, x_32^0'=x_32^post_45, x_SLAM_f_19^0'=x_SLAM_f_19^post_26, y_20^0'=0, [ -2+len_14^0>=1 && 1+x_SLAM_f_19^post_36<=0 && 1+x_SLAM_f_19^post_26<=0 && 2<=len_14^post_26 && len_14^post_26<=i_13^post_26 && 1+a_152^0>=1 ], cost: 13+7*a_152^0+2*len_14^0
    102: l31 -> l4 : a_130^0'=a_152^0, a_152^0'=-1, a_175^0'=-1, a_28^0'=a_28^post_24, ct_18^0'=0, d_29^0'=d_29^post_24, i_13^0'=i_13^post_26, len_14^0'=len_14^post_26, r_37^0'=r_37^post_26, rcd_63^0'=rcd_63^post_24, result_11^0'=result_11^post_24, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_24, t_24^0'=x_SLAM_f_19^post_36, temp0_31^0'=temp0_31^post_24, temp_33^0'=temp_33^post_24, tmp_27^0'=x_SLAM_f_19^post_26, x_15^0'=x_SLAM_f_19^post_26, x_17^0'=x_SLAM_f_19^post_26, x_21^0'=x_SLAM_f_19^post_36, x_32^0'=x_32^post_24, x_SLAM_f_19^0'=x_SLAM_f_19^post_26, y_20^0'=0, [ 2-len_14^0==0 && 1+x_SLAM_f_19^post_36<=0 && 1<=x_SLAM_f_19^post_26 && 2<=len_14^post_26 && len_14^post_26<=i_13^post_26 && 1+a_152^0>=1 ], cost: 17+7*a_152^0
    103: l31 -> l4 : a_130^0'=a_152^0, a_152^0'=-1, a_175^0'=-1, a_28^0'=a_28^post_45, ct_18^0'=0, d_29^0'=d_29^post_45, i_111^0'=-1+len_14^0, i_13^0'=i_13^post_26, len_14^0'=len_14^post_26, r_37^0'=r_37^post_26, rcd_100^0'=rcd_100^post_45, rcd_63^0'=rcd_63^post_24, result_11^0'=result_11^post_45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_45, t_24^0'=x_SLAM_f_19^post_36, temp0_31^0'=temp0_31^post_45, temp_33^0'=x_SLAM_f_19^post_36, tmp_27^0'=x_SLAM_f_19^post_26, x_15^0'=x_SLAM_f_19^post_26, x_17^0'=x_SLAM_f_19^post_26, x_21^0'=x_SLAM_f_19^post_36, x_32^0'=x_32^post_45, x_SLAM_f_19^0'=x_SLAM_f_19^post_26, y_20^0'=0, [ -2+len_14^0>=1 && 1+x_SLAM_f_19^post_36<=0 && 1<=x_SLAM_f_19^post_26 && 2<=len_14^post_26 && len_14^post_26<=i_13^post_26 && 1+a_152^0>=1 ], cost: 13+7*a_152^0+2*len_14^0

Removed unreachable locations (and leaf rules with constant cost):
   Start location: l31
     84: l31 -> l4 : a_130^0'=a_152^0, a_28^0'=a_28^post_45, ct_18^0'=ct_18^post_36, d_29^0'=d_29^post_45, i_111^0'=-1+len_14^0, i_13^0'=1+a_152^0, len_14^0'=len_14^post_36, rcd_100^0'=rcd_100^post_45, rcd_63^0'=rcd_63^post_24, result_11^0'=result_11^post_45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_45, t_24^0'=temp_33^post_45, temp0_31^0'=temp0_31^post_45, temp_33^0'=temp_33^post_45, tmp_27^0'=tmp_27^post_36, x_15^0'=x_15^post_36, x_17^0'=x_17^post_36, x_21^0'=temp_33^post_45, x_32^0'=x_32^post_45, x_SLAM_f_19^0'=x_SLAM_f_19^post_36, y_20^0'=0, [ -2+len_14^0>=1 && 1<=temp_33^post_45 && -ct_18^post_36==0 && -x_17^post_36+x_15^post_36==0 && x_15^post_36-x_SLAM_f_19^post_36==0 && -temp_33^post_45+x_15^post_36==0 && -tmp_27^post_36+x_15^post_36==0 && 1<=x_15^post_36 && 2<=len_14^post_36 && len_14^post_36<=i_13^post_36 ], cost: 6+2*len_14^0
     85: l31 -> l4 : a_130^0'=a_152^0, a_28^0'=a_28^post_45, ct_18^0'=ct_18^post_36, d_29^0'=d_29^post_45, i_111^0'=-1+len_14^0, i_13^0'=1+a_152^0, len_14^0'=len_14^post_36, rcd_100^0'=rcd_100^post_45, rcd_63^0'=rcd_63^post_24, result_11^0'=result_11^post_45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_45, t_24^0'=temp_33^post_45, temp0_31^0'=temp0_31^post_45, temp_33^0'=temp_33^post_45, tmp_27^0'=tmp_27^post_36, x_15^0'=x_15^post_36, x_17^0'=x_17^post_36, x_21^0'=temp_33^post_45, x_32^0'=x_32^post_45, x_SLAM_f_19^0'=x_SLAM_f_19^post_36, y_20^0'=0, [ -2+len_14^0>=1 && 1+temp_33^post_45<=0 && -ct_18^post_36==0 && -x_17^post_36+x_15^post_36==0 && x_15^post_36-x_SLAM_f_19^post_36==0 && -temp_33^post_45+x_15^post_36==0 && -tmp_27^post_36+x_15^post_36==0 && 1+x_15^post_36<=0 && 2<=len_14^post_36 && len_14^post_36<=i_13^post_36 ], cost: 6+2*len_14^0
     86: l31 -> [33] : [ -2+len_14^0>=1 && 1<=temp_33^post_45 && -ct_18^post_36==0 && -x_17^post_36+x_15^post_36==0 && x_15^post_36-x_SLAM_f_19^post_36==0 && -temp_33^post_45+x_15^post_36==0 && -tmp_27^post_36+x_15^post_36==0 ], cost: 3+2*len_14^0
     87: l31 -> [33] : [ -2+len_14^0>=1 && 1+temp_33^post_45<=0 && -ct_18^post_36==0 && -x_17^post_36+x_15^post_36==0 && x_15^post_36-x_SLAM_f_19^post_36==0 && -temp_33^post_45+x_15^post_36==0 && -tmp_27^post_36+x_15^post_36==0 ], cost: 3+2*len_14^0
     96: l31 -> l4 : a_130^0'=a_152^0, a_152^0'=-1, a_175^0'=-1, a_28^0'=a_28^post_24, ct_18^0'=0, d_29^0'=d_29^post_24, i_13^0'=i_13^post_26, len_14^0'=len_14^post_26, r_37^0'=r_37^post_26, rcd_63^0'=rcd_63^post_24, result_11^0'=result_11^post_24, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_24, t_24^0'=x_SLAM_f_19^post_36, temp0_31^0'=temp0_31^post_24, temp_33^0'=temp_33^post_24, tmp_27^0'=x_SLAM_f_19^post_26, x_15^0'=x_SLAM_f_19^post_26, x_17^0'=x_SLAM_f_19^post_26, x_21^0'=x_SLAM_f_19^post_36, x_32^0'=x_32^post_24, x_SLAM_f_19^0'=x_SLAM_f_19^post_26, y_20^0'=0, [ 2-len_14^0==0 && 1<=x_SLAM_f_19^post_36 && 1+x_SLAM_f_19^post_26<=0 && 2<=len_14^post_26 && len_14^post_26<=i_13^post_26 && 1+a_152^0>=1 ], cost: 17+7*a_152^0
     97: l31 -> l4 : a_130^0'=a_152^0, a_152^0'=-1, a_175^0'=-1, a_28^0'=a_28^post_45, ct_18^0'=0, d_29^0'=d_29^post_45, i_111^0'=-1+len_14^0, i_13^0'=i_13^post_26, len_14^0'=len_14^post_26, r_37^0'=r_37^post_26, rcd_100^0'=rcd_100^post_45, rcd_63^0'=rcd_63^post_24, result_11^0'=result_11^post_45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_45, t_24^0'=x_SLAM_f_19^post_36, temp0_31^0'=temp0_31^post_45, temp_33^0'=x_SLAM_f_19^post_36, tmp_27^0'=x_SLAM_f_19^post_26, x_15^0'=x_SLAM_f_19^post_26, x_17^0'=x_SLAM_f_19^post_26, x_21^0'=x_SLAM_f_19^post_36, x_32^0'=x_32^post_45, x_SLAM_f_19^0'=x_SLAM_f_19^post_26, y_20^0'=0, [ -2+len_14^0>=1 && 1<=x_SLAM_f_19^post_36 && 1+x_SLAM_f_19^post_26<=0 && 2<=len_14^post_26 && len_14^post_26<=i_13^post_26 && 1+a_152^0>=1 ], cost: 13+7*a_152^0+2*len_14^0
     98: l31 -> l4 : a_130^0'=a_152^0, a_152^0'=-1, a_175^0'=-1, a_28^0'=a_28^post_24, ct_18^0'=0, d_29^0'=d_29^post_24, i_13^0'=i_13^post_26, len_14^0'=len_14^post_26, r_37^0'=r_37^post_26, rcd_63^0'=rcd_63^post_24, result_11^0'=result_11^post_24, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_24, t_24^0'=x_SLAM_f_19^post_36, temp0_31^0'=temp0_31^post_24, temp_33^0'=temp_33^post_24, tmp_27^0'=x_SLAM_f_19^post_26, x_15^0'=x_SLAM_f_19^post_26, x_17^0'=x_SLAM_f_19^post_26, x_21^0'=x_SLAM_f_19^post_36, x_32^0'=x_32^post_24, x_SLAM_f_19^0'=x_SLAM_f_19^post_26, y_20^0'=0, [ 2-len_14^0==0 && 1<=x_SLAM_f_19^post_36 && 1<=x_SLAM_f_19^post_26 && 2<=len_14^post_26 && len_14^post_26<=i_13^post_26 && 1+a_152^0>=1 ], cost: 17+7*a_152^0
     99: l31 -> l4 : a_130^0'=a_152^0, a_152^0'=-1, a_175^0'=-1, a_28^0'=a_28^post_45, ct_18^0'=0, d_29^0'=d_29^post_45, i_111^0'=-1+len_14^0, i_13^0'=i_13^post_26, len_14^0'=len_14^post_26, r_37^0'=r_37^post_26, rcd_100^0'=rcd_100^post_45, rcd_63^0'=rcd_63^post_24, result_11^0'=result_11^post_45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_45, t_24^0'=x_SLAM_f_19^post_36, temp0_31^0'=temp0_31^post_45, temp_33^0'=x_SLAM_f_19^post_36, tmp_27^0'=x_SLAM_f_19^post_26, x_15^0'=x_SLAM_f_19^post_26, x_17^0'=x_SLAM_f_19^post_26, x_21^0'=x_SLAM_f_19^post_36, x_32^0'=x_32^post_45, x_SLAM_f_19^0'=x_SLAM_f_19^post_26, y_20^0'=0, [ -2+len_14^0>=1 && 1<=x_SLAM_f_19^post_36 && 1<=x_SLAM_f_19^post_26 && 2<=len_14^post_26 && len_14^post_26<=i_13^post_26 && 1+a_152^0>=1 ], cost: 13+7*a_152^0+2*len_14^0
    100: l31 -> l4 : a_130^0'=a_152^0, a_152^0'=-1, a_175^0'=-1, a_28^0'=a_28^post_24, ct_18^0'=0, d_29^0'=d_29^post_24, i_13^0'=i_13^post_26, len_14^0'=len_14^post_26, r_37^0'=r_37^post_26, rcd_63^0'=rcd_63^post_24, result_11^0'=result_11^post_24, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_24, t_24^0'=x_SLAM_f_19^post_36, temp0_31^0'=temp0_31^post_24, temp_33^0'=temp_33^post_24, tmp_27^0'=x_SLAM_f_19^post_26, x_15^0'=x_SLAM_f_19^post_26, x_17^0'=x_SLAM_f_19^post_26, x_21^0'=x_SLAM_f_19^post_36, x_32^0'=x_32^post_24, x_SLAM_f_19^0'=x_SLAM_f_19^post_26, y_20^0'=0, [ 2-len_14^0==0 && 1+x_SLAM_f_19^post_36<=0 && 1+x_SLAM_f_19^post_26<=0 && 2<=len_14^post_26 && len_14^post_26<=i_13^post_26 && 1+a_152^0>=1 ], cost: 17+7*a_152^0
    101: l31 -> l4 : a_130^0'=a_152^0, a_152^0'=-1, a_175^0'=-1, a_28^0'=a_28^post_45, ct_18^0'=0, d_29^0'=d_29^post_45, i_111^0'=-1+len_14^0, i_13^0'=i_13^post_26, len_14^0'=len_14^post_26, r_37^0'=r_37^post_26, rcd_100^0'=rcd_100^post_45, rcd_63^0'=rcd_63^post_24, result_11^0'=result_11^post_45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_45, t_24^0'=x_SLAM_f_19^post_36, temp0_31^0'=temp0_31^post_45, temp_33^0'=x_SLAM_f_19^post_36, tmp_27^0'=x_SLAM_f_19^post_26, x_15^0'=x_SLAM_f_19^post_26, x_17^0'=x_SLAM_f_19^post_26, x_21^0'=x_SLAM_f_19^post_36, x_32^0'=x_32^post_45, x_SLAM_f_19^0'=x_SLAM_f_19^post_26, y_20^0'=0, [ -2+len_14^0>=1 && 1+x_SLAM_f_19^post_36<=0 && 1+x_SLAM_f_19^post_26<=0 && 2<=len_14^post_26 && len_14^post_26<=i_13^post_26 && 1+a_152^0>=1 ], cost: 13+7*a_152^0+2*len_14^0
    102: l31 -> l4 : a_130^0'=a_152^0, a_152^0'=-1, a_175^0'=-1, a_28^0'=a_28^post_24, ct_18^0'=0, d_29^0'=d_29^post_24, i_13^0'=i_13^post_26, len_14^0'=len_14^post_26, r_37^0'=r_37^post_26, rcd_63^0'=rcd_63^post_24, result_11^0'=result_11^post_24, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_24, t_24^0'=x_SLAM_f_19^post_36, temp0_31^0'=temp0_31^post_24, temp_33^0'=temp_33^post_24, tmp_27^0'=x_SLAM_f_19^post_26, x_15^0'=x_SLAM_f_19^post_26, x_17^0'=x_SLAM_f_19^post_26, x_21^0'=x_SLAM_f_19^post_36, x_32^0'=x_32^post_24, x_SLAM_f_19^0'=x_SLAM_f_19^post_26, y_20^0'=0, [ 2-len_14^0==0 && 1+x_SLAM_f_19^post_36<=0 && 1<=x_SLAM_f_19^post_26 && 2<=len_14^post_26 && len_14^post_26<=i_13^post_26 && 1+a_152^0>=1 ], cost: 17+7*a_152^0
    103: l31 -> l4 : a_130^0'=a_152^0, a_152^0'=-1, a_175^0'=-1, a_28^0'=a_28^post_45, ct_18^0'=0, d_29^0'=d_29^post_45, i_111^0'=-1+len_14^0, i_13^0'=i_13^post_26, len_14^0'=len_14^post_26, r_37^0'=r_37^post_26, rcd_100^0'=rcd_100^post_45, rcd_63^0'=rcd_63^post_24, result_11^0'=result_11^post_45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_45, t_24^0'=x_SLAM_f_19^post_36, temp0_31^0'=temp0_31^post_45, temp_33^0'=x_SLAM_f_19^post_36, tmp_27^0'=x_SLAM_f_19^post_26, x_15^0'=x_SLAM_f_19^post_26, x_17^0'=x_SLAM_f_19^post_26, x_21^0'=x_SLAM_f_19^post_36, x_32^0'=x_32^post_45, x_SLAM_f_19^0'=x_SLAM_f_19^post_26, y_20^0'=0, [ -2+len_14^0>=1 && 1+x_SLAM_f_19^post_36<=0 && 1<=x_SLAM_f_19^post_26 && 2<=len_14^post_26 && len_14^post_26<=i_13^post_26 && 1+a_152^0>=1 ], cost: 13+7*a_152^0+2*len_14^0

### Computing asymptotic complexity ###

Fully simplified ITS problem
   Start location: l31
     84: l31 -> l4 : a_130^0'=a_152^0, a_28^0'=a_28^post_45, ct_18^0'=ct_18^post_36, d_29^0'=d_29^post_45, i_111^0'=-1+len_14^0, i_13^0'=1+a_152^0, len_14^0'=len_14^post_36, rcd_100^0'=rcd_100^post_45, rcd_63^0'=rcd_63^post_24, result_11^0'=result_11^post_45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_45, t_24^0'=temp_33^post_45, temp0_31^0'=temp0_31^post_45, temp_33^0'=temp_33^post_45, tmp_27^0'=tmp_27^post_36, x_15^0'=x_15^post_36, x_17^0'=x_17^post_36, x_21^0'=temp_33^post_45, x_32^0'=x_32^post_45, x_SLAM_f_19^0'=x_SLAM_f_19^post_36, y_20^0'=0, [ -2+len_14^0>=1 && 1<=temp_33^post_45 && -ct_18^post_36==0 && -x_17^post_36+x_15^post_36==0 && x_15^post_36-x_SLAM_f_19^post_36==0 && -temp_33^post_45+x_15^post_36==0 && -tmp_27^post_36+x_15^post_36==0 && 1<=x_15^post_36 && 2<=len_14^post_36 && len_14^post_36<=i_13^post_36 ], cost: 6+2*len_14^0
     85: l31 -> l4 : a_130^0'=a_152^0, a_28^0'=a_28^post_45, ct_18^0'=ct_18^post_36, d_29^0'=d_29^post_45, i_111^0'=-1+len_14^0, i_13^0'=1+a_152^0, len_14^0'=len_14^post_36, rcd_100^0'=rcd_100^post_45, rcd_63^0'=rcd_63^post_24, result_11^0'=result_11^post_45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_45, t_24^0'=temp_33^post_45, temp0_31^0'=temp0_31^post_45, temp_33^0'=temp_33^post_45, tmp_27^0'=tmp_27^post_36, x_15^0'=x_15^post_36, x_17^0'=x_17^post_36, x_21^0'=temp_33^post_45, x_32^0'=x_32^post_45, x_SLAM_f_19^0'=x_SLAM_f_19^post_36, y_20^0'=0, [ -2+len_14^0>=1 && 1+temp_33^post_45<=0 && -ct_18^post_36==0 && -x_17^post_36+x_15^post_36==0 && x_15^post_36-x_SLAM_f_19^post_36==0 && -temp_33^post_45+x_15^post_36==0 && -tmp_27^post_36+x_15^post_36==0 && 1+x_15^post_36<=0 && 2<=len_14^post_36 && len_14^post_36<=i_13^post_36 ], cost: 6+2*len_14^0
     86: l31 -> [33] : [ -2+len_14^0>=1 && 1<=temp_33^post_45 && -ct_18^post_36==0 && -x_17^post_36+x_15^post_36==0 && x_15^post_36-x_SLAM_f_19^post_36==0 && -temp_33^post_45+x_15^post_36==0 && -tmp_27^post_36+x_15^post_36==0 ], cost: 3+2*len_14^0
     87: l31 -> [33] : [ -2+len_14^0>=1 && 1+temp_33^post_45<=0 && -ct_18^post_36==0 && -x_17^post_36+x_15^post_36==0 && x_15^post_36-x_SLAM_f_19^post_36==0 && -temp_33^post_45+x_15^post_36==0 && -tmp_27^post_36+x_15^post_36==0 ], cost: 3+2*len_14^0
     96: l31 -> l4 : a_130^0'=a_152^0, a_152^0'=-1, a_175^0'=-1, a_28^0'=a_28^post_24, ct_18^0'=0, d_29^0'=d_29^post_24, i_13^0'=i_13^post_26, len_14^0'=len_14^post_26, r_37^0'=r_37^post_26, rcd_63^0'=rcd_63^post_24, result_11^0'=result_11^post_24, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_24, t_24^0'=x_SLAM_f_19^post_36, temp0_31^0'=temp0_31^post_24, temp_33^0'=temp_33^post_24, tmp_27^0'=x_SLAM_f_19^post_26, x_15^0'=x_SLAM_f_19^post_26, x_17^0'=x_SLAM_f_19^post_26, x_21^0'=x_SLAM_f_19^post_36, x_32^0'=x_32^post_24, x_SLAM_f_19^0'=x_SLAM_f_19^post_26, y_20^0'=0, [ 2-len_14^0==0 && 1<=x_SLAM_f_19^post_36 && 1+x_SLAM_f_19^post_26<=0 && 2<=len_14^post_26 && len_14^post_26<=i_13^post_26 && 1+a_152^0>=1 ], cost: 17+7*a_152^0
     97: l31 -> l4 : a_130^0'=a_152^0, a_152^0'=-1, a_175^0'=-1, a_28^0'=a_28^post_45, ct_18^0'=0, d_29^0'=d_29^post_45, i_111^0'=-1+len_14^0, i_13^0'=i_13^post_26, len_14^0'=len_14^post_26, r_37^0'=r_37^post_26, rcd_100^0'=rcd_100^post_45, rcd_63^0'=rcd_63^post_24, result_11^0'=result_11^post_45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_45, t_24^0'=x_SLAM_f_19^post_36, temp0_31^0'=temp0_31^post_45, temp_33^0'=x_SLAM_f_19^post_36, tmp_27^0'=x_SLAM_f_19^post_26, x_15^0'=x_SLAM_f_19^post_26, x_17^0'=x_SLAM_f_19^post_26, x_21^0'=x_SLAM_f_19^post_36, x_32^0'=x_32^post_45, x_SLAM_f_19^0'=x_SLAM_f_19^post_26, y_20^0'=0, [ -2+len_14^0>=1 && 1<=x_SLAM_f_19^post_36 && 1+x_SLAM_f_19^post_26<=0 && 2<=len_14^post_26 && len_14^post_26<=i_13^post_26 && 1+a_152^0>=1 ], cost: 13+7*a_152^0+2*len_14^0
     98: l31 -> l4 : a_130^0'=a_152^0, a_152^0'=-1, a_175^0'=-1, a_28^0'=a_28^post_24, ct_18^0'=0, d_29^0'=d_29^post_24, i_13^0'=i_13^post_26, len_14^0'=len_14^post_26, r_37^0'=r_37^post_26, rcd_63^0'=rcd_63^post_24, result_11^0'=result_11^post_24, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_24, t_24^0'=x_SLAM_f_19^post_36, temp0_31^0'=temp0_31^post_24, temp_33^0'=temp_33^post_24, tmp_27^0'=x_SLAM_f_19^post_26, x_15^0'=x_SLAM_f_19^post_26, x_17^0'=x_SLAM_f_19^post_26, x_21^0'=x_SLAM_f_19^post_36, x_32^0'=x_32^post_24, x_SLAM_f_19^0'=x_SLAM_f_19^post_26, y_20^0'=0, [ 2-len_14^0==0 && 1<=x_SLAM_f_19^post_36 && 1<=x_SLAM_f_19^post_26 && 2<=len_14^post_26 && len_14^post_26<=i_13^post_26 && 1+a_152^0>=1 ], cost: 17+7*a_152^0
     99: l31 -> l4 : a_130^0'=a_152^0, a_152^0'=-1, a_175^0'=-1, a_28^0'=a_28^post_45, ct_18^0'=0, d_29^0'=d_29^post_45, i_111^0'=-1+len_14^0, i_13^0'=i_13^post_26, len_14^0'=len_14^post_26, r_37^0'=r_37^post_26, rcd_100^0'=rcd_100^post_45, rcd_63^0'=rcd_63^post_24, result_11^0'=result_11^post_45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_45, t_24^0'=x_SLAM_f_19^post_36, temp0_31^0'=temp0_31^post_45, temp_33^0'=x_SLAM_f_19^post_36, tmp_27^0'=x_SLAM_f_19^post_26, x_15^0'=x_SLAM_f_19^post_26, x_17^0'=x_SLAM_f_19^post_26, x_21^0'=x_SLAM_f_19^post_36, x_32^0'=x_32^post_45, x_SLAM_f_19^0'=x_SLAM_f_19^post_26, y_20^0'=0, [ -2+len_14^0>=1 && 1<=x_SLAM_f_19^post_36 && 1<=x_SLAM_f_19^post_26 && 2<=len_14^post_26 && len_14^post_26<=i_13^post_26 && 1+a_152^0>=1 ], cost: 13+7*a_152^0+2*len_14^0
    100: l31 -> l4 : a_130^0'=a_152^0, a_152^0'=-1, a_175^0'=-1, a_28^0'=a_28^post_24, ct_18^0'=0, d_29^0'=d_29^post_24, i_13^0'=i_13^post_26, len_14^0'=len_14^post_26, r_37^0'=r_37^post_26, rcd_63^0'=rcd_63^post_24, result_11^0'=result_11^post_24, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_24, t_24^0'=x_SLAM_f_19^post_36, temp0_31^0'=temp0_31^post_24, temp_33^0'=temp_33^post_24, tmp_27^0'=x_SLAM_f_19^post_26, x_15^0'=x_SLAM_f_19^post_26, x_17^0'=x_SLAM_f_19^post_26, x_21^0'=x_SLAM_f_19^post_36, x_32^0'=x_32^post_24, x_SLAM_f_19^0'=x_SLAM_f_19^post_26, y_20^0'=0, [ 2-len_14^0==0 && 1+x_SLAM_f_19^post_36<=0 && 1+x_SLAM_f_19^post_26<=0 && 2<=len_14^post_26 && len_14^post_26<=i_13^post_26 && 1+a_152^0>=1 ], cost: 17+7*a_152^0
    101: l31 -> l4 : a_130^0'=a_152^0, a_152^0'=-1, a_175^0'=-1, a_28^0'=a_28^post_45, ct_18^0'=0, d_29^0'=d_29^post_45, i_111^0'=-1+len_14^0, i_13^0'=i_13^post_26, len_14^0'=len_14^post_26, r_37^0'=r_37^post_26, rcd_100^0'=rcd_100^post_45, rcd_63^0'=rcd_63^post_24, result_11^0'=result_11^post_45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_45, t_24^0'=x_SLAM_f_19^post_36, temp0_31^0'=temp0_31^post_45, temp_33^0'=x_SLAM_f_19^post_36, tmp_27^0'=x_SLAM_f_19^post_26, x_15^0'=x_SLAM_f_19^post_26, x_17^0'=x_SLAM_f_19^post_26, x_21^0'=x_SLAM_f_19^post_36, x_32^0'=x_32^post_45, x_SLAM_f_19^0'=x_SLAM_f_19^post_26, y_20^0'=0, [ -2+len_14^0>=1 && 1+x_SLAM_f_19^post_36<=0 && 1+x_SLAM_f_19^post_26<=0 && 2<=len_14^post_26 && len_14^post_26<=i_13^post_26 && 1+a_152^0>=1 ], cost: 13+7*a_152^0+2*len_14^0
    102: l31 -> l4 : a_130^0'=a_152^0, a_152^0'=-1, a_175^0'=-1, a_28^0'=a_28^post_24, ct_18^0'=0, d_29^0'=d_29^post_24, i_13^0'=i_13^post_26, len_14^0'=len_14^post_26, r_37^0'=r_37^post_26, rcd_63^0'=rcd_63^post_24, result_11^0'=result_11^post_24, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_24, t_24^0'=x_SLAM_f_19^post_36, temp0_31^0'=temp0_31^post_24, temp_33^0'=temp_33^post_24, tmp_27^0'=x_SLAM_f_19^post_26, x_15^0'=x_SLAM_f_19^post_26, x_17^0'=x_SLAM_f_19^post_26, x_21^0'=x_SLAM_f_19^post_36, x_32^0'=x_32^post_24, x_SLAM_f_19^0'=x_SLAM_f_19^post_26, y_20^0'=0, [ 2-len_14^0==0 && 1+x_SLAM_f_19^post_36<=0 && 1<=x_SLAM_f_19^post_26 && 2<=len_14^post_26 && len_14^post_26<=i_13^post_26 && 1+a_152^0>=1 ], cost: 17+7*a_152^0
    103: l31 -> l4 : a_130^0'=a_152^0, a_152^0'=-1, a_175^0'=-1, a_28^0'=a_28^post_45, ct_18^0'=0, d_29^0'=d_29^post_45, i_111^0'=-1+len_14^0, i_13^0'=i_13^post_26, len_14^0'=len_14^post_26, r_37^0'=r_37^post_26, rcd_100^0'=rcd_100^post_45, rcd_63^0'=rcd_63^post_24, result_11^0'=result_11^post_45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_45, t_24^0'=x_SLAM_f_19^post_36, temp0_31^0'=temp0_31^post_45, temp_33^0'=x_SLAM_f_19^post_36, tmp_27^0'=x_SLAM_f_19^post_26, x_15^0'=x_SLAM_f_19^post_26, x_17^0'=x_SLAM_f_19^post_26, x_21^0'=x_SLAM_f_19^post_36, x_32^0'=x_32^post_45, x_SLAM_f_19^0'=x_SLAM_f_19^post_26, y_20^0'=0, [ -2+len_14^0>=1 && 1+x_SLAM_f_19^post_36<=0 && 1<=x_SLAM_f_19^post_26 && 2<=len_14^post_26 && len_14^post_26<=i_13^post_26 && 1+a_152^0>=1 ], cost: 13+7*a_152^0+2*len_14^0

Computing asymptotic complexity for rule 96
   Resulting cost 0 has complexity: Unknown

Computing asymptotic complexity for rule 97
   Resulting cost 0 has complexity: Unknown

Computing asymptotic complexity for rule 98
   Resulting cost 0 has complexity: Unknown

Computing asymptotic complexity for rule 99
   Resulting cost 0 has complexity: Unknown

Computing asymptotic complexity for rule 100
   Resulting cost 0 has complexity: Unknown

Computing asymptotic complexity for rule 101
   Resulting cost 0 has complexity: Unknown

Computing asymptotic complexity for rule 102
   Resulting cost 0 has complexity: Unknown

Computing asymptotic complexity for rule 103
   Resulting cost 0 has complexity: Unknown

Computing asymptotic complexity for rule 86
   Resulting cost 0 has complexity: Unknown

Computing asymptotic complexity for rule 87
   Resulting cost 0 has complexity: Unknown

Computing asymptotic complexity for rule 84
   Resulting cost 0 has complexity: Unknown

Computing asymptotic complexity for rule 85
   Resulting cost 0 has complexity: Unknown

Obtained the following overall complexity (w.r.t. the length of the input n):
   Complexity:  Constant
   Cpx degree:  0
   Solved cost: 1
   Rule cost:   1
   Rule guard:  [ a_130^0==a_130^post_49 && a_152^0==a_152^post_49 && a_175^0==a_175^post_49 && a_28^0==a_28^post_49 && ct_18^0==ct_18^post_49 && d_29^0==d_29^post_49 && i_111^0==i_111^post_49 && i_13^0==i_13^post_49 && len_14^0==len_14^post_49 && r_37^0==r_37^post_49 && rcd_100^0==rcd_100^post_49 && rcd_63^0==rcd_63^post_49 && result_11^0==result_11^post_49 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_30^post_49 && t_24^0==t_24^post_49 && temp0_16^0==temp0_16^post_49 && temp0_31^0==temp0_31^post_49 && temp_33^0==temp_33^post_49 && tmp_27^0==tmp_27^post_49 && x_15^0==x_15^post_49 && x_17^0==x_17^post_49 && x_21^0==x_21^post_49 && x_32^0==x_32^post_49 && x_SLAM_f_19^0==x_SLAM_f_19^post_49 && y_20^0==y_20^post_49 ]

WORST_CASE(Omega(1),?)