WORST_CASE(Omega(1),?) ### Pre-processing the ITS problem ### Initial linear ITS problem Start location: l65 0: l0 -> l1 : a_118^0'=a_118^post_1, a_149^0'=a_149^post_1, a_188^0'=a_188^post_1, a_225^0'=a_225^post_1, a_281^0'=a_281^post_1, a_289^0'=a_289^post_1, a_342^0'=a_342^post_1, a_343^0'=a_343^post_1, f_171^0'=f_171^post_1, head_15^0'=head_15^post_1, head_32^0'=head_32^post_1, head_SLAM_f_29^0'=head_SLAM_f_29^post_1, i_110^0'=i_110^post_1, i_30^0'=i_30^post_1, i_95^0'=i_95^post_1, len_134^0'=len_134^post_1, len_187^0'=len_187^post_1, length_28^0'=length_28^post_1, nondet_12^0'=nondet_12^post_1, r_126^0'=r_126^post_1, r_165^0'=r_165^post_1, r_39^0'=r_39^post_1, rcd_59^0'=rcd_59^post_1, rcd_89^0'=rcd_89^post_1, result_11^0'=result_11^post_1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1, t_22^0'=t_22^post_1, tail_14^0'=tail_14^post_1, temp0_16^0'=temp0_16^post_1, temp0_31^0'=temp0_31^post_1, temp_35^0'=temp_35^post_1, tmp_34^0'=tmp_34^post_1, x_131^0'=x_131^post_1, x_176^0'=x_176^post_1, x_19^0'=x_19^post_1, x_26^0'=x_26^post_1, x_SLAM_f_17^0'=x_SLAM_f_17^post_1, x_SLAM_f_24^0'=x_SLAM_f_24^post_1, y_18^0'=y_18^post_1, y_25^0'=y_25^post_1, [ 0<=i_30^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1 && length_28^0<=i_30^0 && temp0_31^1_1==head_32^0 && result_11^1_1==temp0_31^1_1 && length_28^post_1==length_28^post_1 && head_SLAM_f_29^post_1==head_SLAM_f_29^post_1 && i_30^post_1==i_30^post_1 && temp0_31^post_1==temp0_31^post_1 && head_32^post_1==head_32^post_1 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_1==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_1 && tmp_34^post_1==tmp_34^post_1 && temp_35^post_1==temp_35^post_1 && head_15^post_1==result_11^1_1 && result_11^post_1==result_11^post_1 && x_SLAM_f_24^post_1==head_15^post_1 && y_25^post_1==tail_14^0 && x_26^post_1==x_SLAM_f_24^post_1 && tail_14^0<=y_25^post_1 && y_25^post_1<=tail_14^0 && head_15^post_1<=x_SLAM_f_24^post_1 && x_SLAM_f_24^post_1<=head_15^post_1 && head_15^post_1<=x_26^post_1 && x_26^post_1<=head_15^post_1 && x_SLAM_f_24^post_1<=x_26^post_1 && x_26^post_1<=x_SLAM_f_24^post_1 && 1<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1<=i_30^post_1 && a_118^0==a_118^post_1 && a_149^0==a_149^post_1 && a_188^0==a_188^post_1 && a_225^0==a_225^post_1 && a_281^0==a_281^post_1 && a_289^0==a_289^post_1 && a_342^0==a_342^post_1 && a_343^0==a_343^post_1 && f_171^0==f_171^post_1 && i_110^0==i_110^post_1 && i_95^0==i_95^post_1 && len_134^0==len_134^post_1 && len_187^0==len_187^post_1 && nondet_12^0==nondet_12^post_1 && r_126^0==r_126^post_1 && r_165^0==r_165^post_1 && r_39^0==r_39^post_1 && rcd_59^0==rcd_59^post_1 && rcd_89^0==rcd_89^post_1 && t_22^0==t_22^post_1 && tail_14^0==tail_14^post_1 && temp0_16^0==temp0_16^post_1 && x_131^0==x_131^post_1 && x_176^0==x_176^post_1 && x_19^0==x_19^post_1 && x_SLAM_f_17^0==x_SLAM_f_17^post_1 && y_18^0==y_18^post_1 ], cost: 1 1: l0 -> l2 : a_118^0'=a_118^post_2, a_149^0'=a_149^post_2, a_188^0'=a_188^post_2, a_225^0'=a_225^post_2, a_281^0'=a_281^post_2, a_289^0'=a_289^post_2, a_342^0'=a_342^post_2, a_343^0'=a_343^post_2, f_171^0'=f_171^post_2, head_15^0'=head_15^post_2, head_32^0'=head_32^post_2, head_SLAM_f_29^0'=head_SLAM_f_29^post_2, i_110^0'=i_110^post_2, i_30^0'=i_30^post_2, i_95^0'=i_95^post_2, len_134^0'=len_134^post_2, len_187^0'=len_187^post_2, length_28^0'=length_28^post_2, nondet_12^0'=nondet_12^post_2, r_126^0'=r_126^post_2, r_165^0'=r_165^post_2, r_39^0'=r_39^post_2, rcd_59^0'=rcd_59^post_2, rcd_89^0'=rcd_89^post_2, result_11^0'=result_11^post_2, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_2, t_22^0'=t_22^post_2, tail_14^0'=tail_14^post_2, temp0_16^0'=temp0_16^post_2, temp0_31^0'=temp0_31^post_2, temp_35^0'=temp_35^post_2, tmp_34^0'=tmp_34^post_2, x_131^0'=x_131^post_2, x_176^0'=x_176^post_2, x_19^0'=x_19^post_2, x_26^0'=x_26^post_2, x_SLAM_f_17^0'=x_SLAM_f_17^post_2, x_SLAM_f_24^0'=x_SLAM_f_24^post_2, y_18^0'=y_18^post_2, y_25^0'=y_25^post_2, [ 0<=i_30^0 && rcd_89^post_2==rcd_89^post_2 && i_95^post_2==i_95^post_2 && 1+i_30^0<=length_28^0 && tmp_34^post_2==temp_35^0 && temp_35^post_2==temp_35^post_2 && head_32^post_2==tmp_34^post_2 && i_30^post_2==1+i_30^0 && i_30^post_2<=1+i_95^post_2 && 1+i_95^post_2<=i_30^post_2 && i_95^post_2<=-1+i_30^post_2 && -1+i_30^post_2<=i_95^post_2 && 1+i_95^post_2<=length_28^0 && a_118^0==a_118^post_2 && a_149^0==a_149^post_2 && a_188^0==a_188^post_2 && a_225^0==a_225^post_2 && a_281^0==a_281^post_2 && a_289^0==a_289^post_2 && a_342^0==a_342^post_2 && a_343^0==a_343^post_2 && f_171^0==f_171^post_2 && head_15^0==head_15^post_2 && head_SLAM_f_29^0==head_SLAM_f_29^post_2 && i_110^0==i_110^post_2 && len_134^0==len_134^post_2 && len_187^0==len_187^post_2 && length_28^0==length_28^post_2 && nondet_12^0==nondet_12^post_2 && r_126^0==r_126^post_2 && r_165^0==r_165^post_2 && r_39^0==r_39^post_2 && rcd_59^0==rcd_59^post_2 && result_11^0==result_11^post_2 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_2 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_2 && t_22^0==t_22^post_2 && tail_14^0==tail_14^post_2 && temp0_16^0==temp0_16^post_2 && temp0_31^0==temp0_31^post_2 && x_131^0==x_131^post_2 && x_176^0==x_176^post_2 && x_19^0==x_19^post_2 && x_26^0==x_26^post_2 && x_SLAM_f_17^0==x_SLAM_f_17^post_2 && x_SLAM_f_24^0==x_SLAM_f_24^post_2 && y_18^0==y_18^post_2 && y_25^0==y_25^post_2 ], cost: 1 93: l1 -> l4 : a_118^0'=a_118^post_94, a_149^0'=a_149^post_94, a_188^0'=a_188^post_94, a_225^0'=a_225^post_94, a_281^0'=a_281^post_94, a_289^0'=a_289^post_94, a_342^0'=a_342^post_94, a_343^0'=a_343^post_94, f_171^0'=f_171^post_94, head_15^0'=head_15^post_94, head_32^0'=head_32^post_94, head_SLAM_f_29^0'=head_SLAM_f_29^post_94, i_110^0'=i_110^post_94, i_30^0'=i_30^post_94, i_95^0'=i_95^post_94, len_134^0'=len_134^post_94, len_187^0'=len_187^post_94, length_28^0'=length_28^post_94, nondet_12^0'=nondet_12^post_94, r_126^0'=r_126^post_94, r_165^0'=r_165^post_94, r_39^0'=r_39^post_94, rcd_59^0'=rcd_59^post_94, rcd_89^0'=rcd_89^post_94, result_11^0'=result_11^post_94, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_94, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_94, t_22^0'=t_22^post_94, tail_14^0'=tail_14^post_94, temp0_16^0'=temp0_16^post_94, temp0_31^0'=temp0_31^post_94, temp_35^0'=temp_35^post_94, tmp_34^0'=tmp_34^post_94, x_131^0'=x_131^post_94, x_176^0'=x_176^post_94, x_19^0'=x_19^post_94, x_26^0'=x_26^post_94, x_SLAM_f_17^0'=x_SLAM_f_17^post_94, x_SLAM_f_24^0'=x_SLAM_f_24^post_94, y_18^0'=y_18^post_94, y_25^0'=y_25^post_94, [ 0<=i_30^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^1_2==result_dot_nondet_sdv_special_RETURN_VALUE_13^1_2 && y_25^0<=x_26^0 && x_26^0<=y_25^0 && x_SLAM_f_24^post_94==x_SLAM_f_24^post_94 && y_25^post_94==y_25^post_94 && x_26^post_94==x_26^post_94 && x_SLAM_f_17^1_3_1==head_15^0 && y_18^1_3_1==tail_14^0 && x_19^1_3_1==x_SLAM_f_17^1_3_1 && tail_14^0<=head_15^0 && head_15^0<=tail_14^0 && tail_14^0<=x_SLAM_f_17^1_3_1 && x_SLAM_f_17^1_3_1<=tail_14^0 && tail_14^0<=y_18^1_3_1 && y_18^1_3_1<=tail_14^0 && tail_14^0<=x_19^1_3_1 && x_19^1_3_1<=tail_14^0 && head_15^0<=x_SLAM_f_17^1_3_1 && x_SLAM_f_17^1_3_1<=head_15^0 && x_SLAM_f_17^1_3_1<=x_19^1_3_1 && x_19^1_3_1<=x_SLAM_f_17^1_3_1 && 1<=result_dot_nondet_sdv_special_RETURN_VALUE_13^1_2 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^1_2 && result_dot_nondet_sdv_special_RETURN_VALUE_13^1_2<=i_30^0 && 0<=i_30^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_94==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_94 && y_18^1_3_1<=x_19^1_3_1 && x_19^1_3_1<=y_18^1_3_1 && x_SLAM_f_17^post_94==x_SLAM_f_17^post_94 && y_18^post_94==y_18^post_94 && x_19^post_94==x_19^post_94 && t_22^post_94==t_22^post_94 && result_11^post_94==temp0_16^0 && 1<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_94 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_94 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_94<=i_30^0 && a_118^0==a_118^post_94 && a_149^0==a_149^post_94 && a_188^0==a_188^post_94 && a_225^0==a_225^post_94 && a_281^0==a_281^post_94 && a_289^0==a_289^post_94 && a_342^0==a_342^post_94 && a_343^0==a_343^post_94 && f_171^0==f_171^post_94 && head_15^0==head_15^post_94 && head_32^0==head_32^post_94 && head_SLAM_f_29^0==head_SLAM_f_29^post_94 && i_110^0==i_110^post_94 && i_30^0==i_30^post_94 && i_95^0==i_95^post_94 && len_134^0==len_134^post_94 && len_187^0==len_187^post_94 && length_28^0==length_28^post_94 && nondet_12^0==nondet_12^post_94 && r_126^0==r_126^post_94 && r_165^0==r_165^post_94 && r_39^0==r_39^post_94 && rcd_59^0==rcd_59^post_94 && rcd_89^0==rcd_89^post_94 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_94 && tail_14^0==tail_14^post_94 && temp0_16^0==temp0_16^post_94 && temp0_31^0==temp0_31^post_94 && temp_35^0==temp_35^post_94 && tmp_34^0==tmp_34^post_94 && x_131^0==x_131^post_94 && x_176^0==x_176^post_94 ], cost: 1 94: l1 -> l61 : a_118^0'=a_118^post_95, a_149^0'=a_149^post_95, a_188^0'=a_188^post_95, a_225^0'=a_225^post_95, a_281^0'=a_281^post_95, a_289^0'=a_289^post_95, a_342^0'=a_342^post_95, a_343^0'=a_343^post_95, f_171^0'=f_171^post_95, head_15^0'=head_15^post_95, head_32^0'=head_32^post_95, head_SLAM_f_29^0'=head_SLAM_f_29^post_95, i_110^0'=i_110^post_95, i_30^0'=i_30^post_95, i_95^0'=i_95^post_95, len_134^0'=len_134^post_95, len_187^0'=len_187^post_95, length_28^0'=length_28^post_95, nondet_12^0'=nondet_12^post_95, r_126^0'=r_126^post_95, r_165^0'=r_165^post_95, r_39^0'=r_39^post_95, rcd_59^0'=rcd_59^post_95, rcd_89^0'=rcd_89^post_95, result_11^0'=result_11^post_95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_95, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95, t_22^0'=t_22^post_95, tail_14^0'=tail_14^post_95, temp0_16^0'=temp0_16^post_95, temp0_31^0'=temp0_31^post_95, temp_35^0'=temp_35^post_95, tmp_34^0'=tmp_34^post_95, x_131^0'=x_131^post_95, x_176^0'=x_176^post_95, x_19^0'=x_19^post_95, x_26^0'=x_26^post_95, x_SLAM_f_17^0'=x_SLAM_f_17^post_95, x_SLAM_f_24^0'=x_SLAM_f_24^post_95, y_18^0'=y_18^post_95, y_25^0'=y_25^post_95, [ 0<=i_30^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95 && tail_14^post_95==tail_14^post_95 && head_15^post_95==head_15^post_95 && x_SLAM_f_24^post_95==x_SLAM_f_24^post_95 && r_39^post_95==r_39^post_95 && i_110^post_95==i_110^post_95 && r_165^post_95==r_165^post_95 && a_118^0==a_118^post_95 && a_149^0==a_149^post_95 && a_188^0==a_188^post_95 && a_225^0==a_225^post_95 && a_281^0==a_281^post_95 && a_289^0==a_289^post_95 && a_342^0==a_342^post_95 && a_343^0==a_343^post_95 && f_171^0==f_171^post_95 && head_32^0==head_32^post_95 && head_SLAM_f_29^0==head_SLAM_f_29^post_95 && i_30^0==i_30^post_95 && i_95^0==i_95^post_95 && len_134^0==len_134^post_95 && len_187^0==len_187^post_95 && length_28^0==length_28^post_95 && nondet_12^0==nondet_12^post_95 && r_126^0==r_126^post_95 && rcd_59^0==rcd_59^post_95 && rcd_89^0==rcd_89^post_95 && result_11^0==result_11^post_95 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_95 && t_22^0==t_22^post_95 && temp0_16^0==temp0_16^post_95 && temp0_31^0==temp0_31^post_95 && temp_35^0==temp_35^post_95 && tmp_34^0==tmp_34^post_95 && x_131^0==x_131^post_95 && x_176^0==x_176^post_95 && x_19^0==x_19^post_95 && x_26^0==x_26^post_95 && x_SLAM_f_17^0==x_SLAM_f_17^post_95 && y_18^0==y_18^post_95 && y_25^0==y_25^post_95 ], cost: 1 2: l2 -> l0 : a_118^0'=a_118^post_3, a_149^0'=a_149^post_3, a_188^0'=a_188^post_3, a_225^0'=a_225^post_3, a_281^0'=a_281^post_3, a_289^0'=a_289^post_3, a_342^0'=a_342^post_3, a_343^0'=a_343^post_3, f_171^0'=f_171^post_3, head_15^0'=head_15^post_3, head_32^0'=head_32^post_3, head_SLAM_f_29^0'=head_SLAM_f_29^post_3, i_110^0'=i_110^post_3, i_30^0'=i_30^post_3, i_95^0'=i_95^post_3, len_134^0'=len_134^post_3, len_187^0'=len_187^post_3, length_28^0'=length_28^post_3, nondet_12^0'=nondet_12^post_3, r_126^0'=r_126^post_3, r_165^0'=r_165^post_3, r_39^0'=r_39^post_3, rcd_59^0'=rcd_59^post_3, rcd_89^0'=rcd_89^post_3, result_11^0'=result_11^post_3, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_3, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_3, t_22^0'=t_22^post_3, tail_14^0'=tail_14^post_3, temp0_16^0'=temp0_16^post_3, temp0_31^0'=temp0_31^post_3, temp_35^0'=temp_35^post_3, tmp_34^0'=tmp_34^post_3, x_131^0'=x_131^post_3, x_176^0'=x_176^post_3, x_19^0'=x_19^post_3, x_26^0'=x_26^post_3, x_SLAM_f_17^0'=x_SLAM_f_17^post_3, x_SLAM_f_24^0'=x_SLAM_f_24^post_3, y_18^0'=y_18^post_3, y_25^0'=y_25^post_3, [ a_118^0==a_118^post_3 && a_149^0==a_149^post_3 && a_188^0==a_188^post_3 && a_225^0==a_225^post_3 && a_281^0==a_281^post_3 && a_289^0==a_289^post_3 && a_342^0==a_342^post_3 && a_343^0==a_343^post_3 && f_171^0==f_171^post_3 && head_15^0==head_15^post_3 && head_32^0==head_32^post_3 && head_SLAM_f_29^0==head_SLAM_f_29^post_3 && i_110^0==i_110^post_3 && i_30^0==i_30^post_3 && i_95^0==i_95^post_3 && len_134^0==len_134^post_3 && len_187^0==len_187^post_3 && length_28^0==length_28^post_3 && nondet_12^0==nondet_12^post_3 && r_126^0==r_126^post_3 && r_165^0==r_165^post_3 && r_39^0==r_39^post_3 && rcd_59^0==rcd_59^post_3 && rcd_89^0==rcd_89^post_3 && result_11^0==result_11^post_3 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_3 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_3 && t_22^0==t_22^post_3 && tail_14^0==tail_14^post_3 && temp0_16^0==temp0_16^post_3 && temp0_31^0==temp0_31^post_3 && temp_35^0==temp_35^post_3 && tmp_34^0==tmp_34^post_3 && x_131^0==x_131^post_3 && x_176^0==x_176^post_3 && x_19^0==x_19^post_3 && x_26^0==x_26^post_3 && x_SLAM_f_17^0==x_SLAM_f_17^post_3 && x_SLAM_f_24^0==x_SLAM_f_24^post_3 && y_18^0==y_18^post_3 && y_25^0==y_25^post_3 ], cost: 1 3: l3 -> l4 : a_118^0'=a_118^post_4, a_149^0'=a_149^post_4, a_188^0'=a_188^post_4, a_225^0'=a_225^post_4, a_281^0'=a_281^post_4, a_289^0'=a_289^post_4, a_342^0'=a_342^post_4, a_343^0'=a_343^post_4, f_171^0'=f_171^post_4, head_15^0'=head_15^post_4, head_32^0'=head_32^post_4, head_SLAM_f_29^0'=head_SLAM_f_29^post_4, i_110^0'=i_110^post_4, i_30^0'=i_30^post_4, i_95^0'=i_95^post_4, len_134^0'=len_134^post_4, len_187^0'=len_187^post_4, length_28^0'=length_28^post_4, nondet_12^0'=nondet_12^post_4, r_126^0'=r_126^post_4, r_165^0'=r_165^post_4, r_39^0'=r_39^post_4, rcd_59^0'=rcd_59^post_4, rcd_89^0'=rcd_89^post_4, result_11^0'=result_11^post_4, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_4, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_4, t_22^0'=t_22^post_4, tail_14^0'=tail_14^post_4, temp0_16^0'=temp0_16^post_4, temp0_31^0'=temp0_31^post_4, temp_35^0'=temp_35^post_4, tmp_34^0'=tmp_34^post_4, x_131^0'=x_131^post_4, x_176^0'=x_176^post_4, x_19^0'=x_19^post_4, x_26^0'=x_26^post_4, x_SLAM_f_17^0'=x_SLAM_f_17^post_4, x_SLAM_f_24^0'=x_SLAM_f_24^post_4, y_18^0'=y_18^post_4, y_25^0'=y_25^post_4, [ result_dot_nondet_sdv_special_RETURN_VALUE_13^1_1==result_dot_nondet_sdv_special_RETURN_VALUE_13^1_1 && length_28^0<=i_30^0 && temp0_31^1_2_1==head_32^0 && result_11^1_2==temp0_31^1_2_1 && length_28^post_4==length_28^post_4 && head_SLAM_f_29^post_4==head_SLAM_f_29^post_4 && i_30^post_4==i_30^post_4 && temp0_31^post_4==temp0_31^post_4 && head_32^post_4==head_32^post_4 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_4==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_4 && tmp_34^post_4==tmp_34^post_4 && temp_35^post_4==temp_35^post_4 && head_15^post_4==result_11^1_2 && result_11^2_1==result_11^2_1 && x_SLAM_f_24^1_1==head_15^post_4 && y_25^1_1==tail_14^0 && x_26^1_1==x_SLAM_f_24^1_1 && tail_14^0<=head_15^post_4 && head_15^post_4<=tail_14^0 && tail_14^0<=x_SLAM_f_24^1_1 && x_SLAM_f_24^1_1<=tail_14^0 && tail_14^0<=y_25^1_1 && y_25^1_1<=tail_14^0 && tail_14^0<=x_26^1_1 && x_26^1_1<=tail_14^0 && head_15^post_4<=x_SLAM_f_24^1_1 && x_SLAM_f_24^1_1<=head_15^post_4 && x_SLAM_f_24^1_1<=x_26^1_1 && x_26^1_1<=x_SLAM_f_24^1_1 && result_dot_nondet_sdv_special_RETURN_VALUE_13^1_1<=0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^2_1==result_dot_nondet_sdv_special_RETURN_VALUE_13^2_1 && y_25^1_1<=x_26^1_1 && x_26^1_1<=y_25^1_1 && x_SLAM_f_24^post_4==x_SLAM_f_24^post_4 && y_25^post_4==y_25^post_4 && x_26^post_4==x_26^post_4 && x_SLAM_f_17^1_1==head_15^post_4 && y_18^1_1==tail_14^0 && x_19^1_1==x_SLAM_f_17^1_1 && tail_14^0<=head_15^post_4 && head_15^post_4<=tail_14^0 && tail_14^0<=x_SLAM_f_17^1_1 && x_SLAM_f_17^1_1<=tail_14^0 && tail_14^0<=y_18^1_1 && y_18^1_1<=tail_14^0 && tail_14^0<=x_19^1_1 && x_19^1_1<=tail_14^0 && head_15^post_4<=x_SLAM_f_17^1_1 && x_SLAM_f_17^1_1<=head_15^post_4 && x_SLAM_f_17^1_1<=x_19^1_1 && x_19^1_1<=x_SLAM_f_17^1_1 && result_dot_nondet_sdv_special_RETURN_VALUE_13^2_1<=0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_4==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_4 && y_18^1_1<=x_19^1_1 && x_19^1_1<=y_18^1_1 && x_SLAM_f_17^post_4==x_SLAM_f_17^post_4 && y_18^post_4==y_18^post_4 && x_19^post_4==x_19^post_4 && t_22^post_4==t_22^post_4 && result_11^post_4==temp0_16^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_4<=0 && a_118^0==a_118^post_4 && a_149^0==a_149^post_4 && a_188^0==a_188^post_4 && a_225^0==a_225^post_4 && a_281^0==a_281^post_4 && a_289^0==a_289^post_4 && a_342^0==a_342^post_4 && a_343^0==a_343^post_4 && f_171^0==f_171^post_4 && i_110^0==i_110^post_4 && i_95^0==i_95^post_4 && len_134^0==len_134^post_4 && len_187^0==len_187^post_4 && nondet_12^0==nondet_12^post_4 && r_126^0==r_126^post_4 && r_165^0==r_165^post_4 && r_39^0==r_39^post_4 && rcd_59^0==rcd_59^post_4 && rcd_89^0==rcd_89^post_4 && tail_14^0==tail_14^post_4 && temp0_16^0==temp0_16^post_4 && x_131^0==x_131^post_4 && x_176^0==x_176^post_4 ], cost: 1 4: l3 -> l5 : a_118^0'=a_118^post_5, a_149^0'=a_149^post_5, a_188^0'=a_188^post_5, a_225^0'=a_225^post_5, a_281^0'=a_281^post_5, a_289^0'=a_289^post_5, a_342^0'=a_342^post_5, a_343^0'=a_343^post_5, f_171^0'=f_171^post_5, head_15^0'=head_15^post_5, head_32^0'=head_32^post_5, head_SLAM_f_29^0'=head_SLAM_f_29^post_5, i_110^0'=i_110^post_5, i_30^0'=i_30^post_5, i_95^0'=i_95^post_5, len_134^0'=len_134^post_5, len_187^0'=len_187^post_5, length_28^0'=length_28^post_5, nondet_12^0'=nondet_12^post_5, r_126^0'=r_126^post_5, r_165^0'=r_165^post_5, r_39^0'=r_39^post_5, rcd_59^0'=rcd_59^post_5, rcd_89^0'=rcd_89^post_5, result_11^0'=result_11^post_5, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_5, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_5, t_22^0'=t_22^post_5, tail_14^0'=tail_14^post_5, temp0_16^0'=temp0_16^post_5, temp0_31^0'=temp0_31^post_5, temp_35^0'=temp_35^post_5, tmp_34^0'=tmp_34^post_5, x_131^0'=x_131^post_5, x_176^0'=x_176^post_5, x_19^0'=x_19^post_5, x_26^0'=x_26^post_5, x_SLAM_f_17^0'=x_SLAM_f_17^post_5, x_SLAM_f_24^0'=x_SLAM_f_24^post_5, y_18^0'=y_18^post_5, y_25^0'=y_25^post_5, [ result_dot_nondet_sdv_special_RETURN_VALUE_13^post_5==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_5 && tail_14^post_5==tail_14^post_5 && head_SLAM_f_29^post_5==head_SLAM_f_29^post_5 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_5==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_5 && 1+i_30^0<=length_28^0 && tmp_34^post_5==temp_35^0 && temp_35^post_5==temp_35^post_5 && head_32^post_5==tmp_34^post_5 && i_30^post_5==1+i_30^0 && 1<=i_30^post_5 && i_30^post_5<=1 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_5<=length_28^0 && length_28^0<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_5 && tail_14^post_5<=head_SLAM_f_29^post_5 && head_SLAM_f_29^post_5<=tail_14^post_5 && head_32^post_5<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_5 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_5<=head_32^post_5 && head_32^post_5<=tmp_34^post_5 && tmp_34^post_5<=head_32^post_5 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_5<=tmp_34^post_5 && tmp_34^post_5<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_5 && 1<=length_28^0 && a_118^0==a_118^post_5 && a_149^0==a_149^post_5 && a_188^0==a_188^post_5 && a_225^0==a_225^post_5 && a_281^0==a_281^post_5 && a_289^0==a_289^post_5 && a_342^0==a_342^post_5 && a_343^0==a_343^post_5 && f_171^0==f_171^post_5 && head_15^0==head_15^post_5 && i_110^0==i_110^post_5 && i_95^0==i_95^post_5 && len_134^0==len_134^post_5 && len_187^0==len_187^post_5 && length_28^0==length_28^post_5 && nondet_12^0==nondet_12^post_5 && r_126^0==r_126^post_5 && r_165^0==r_165^post_5 && r_39^0==r_39^post_5 && rcd_59^0==rcd_59^post_5 && rcd_89^0==rcd_89^post_5 && result_11^0==result_11^post_5 && t_22^0==t_22^post_5 && temp0_16^0==temp0_16^post_5 && temp0_31^0==temp0_31^post_5 && x_131^0==x_131^post_5 && x_176^0==x_176^post_5 && x_19^0==x_19^post_5 && x_26^0==x_26^post_5 && x_SLAM_f_17^0==x_SLAM_f_17^post_5 && x_SLAM_f_24^0==x_SLAM_f_24^post_5 && y_18^0==y_18^post_5 && y_25^0==y_25^post_5 ], cost: 1 101: l5 -> l40 : a_118^0'=a_118^post_102, a_149^0'=a_149^post_102, a_188^0'=a_188^post_102, a_225^0'=a_225^post_102, a_281^0'=a_281^post_102, a_289^0'=a_289^post_102, a_342^0'=a_342^post_102, a_343^0'=a_343^post_102, f_171^0'=f_171^post_102, head_15^0'=head_15^post_102, head_32^0'=head_32^post_102, head_SLAM_f_29^0'=head_SLAM_f_29^post_102, i_110^0'=i_110^post_102, i_30^0'=i_30^post_102, i_95^0'=i_95^post_102, len_134^0'=len_134^post_102, len_187^0'=len_187^post_102, length_28^0'=length_28^post_102, nondet_12^0'=nondet_12^post_102, r_126^0'=r_126^post_102, r_165^0'=r_165^post_102, r_39^0'=r_39^post_102, rcd_59^0'=rcd_59^post_102, rcd_89^0'=rcd_89^post_102, result_11^0'=result_11^post_102, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_102, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_102, t_22^0'=t_22^post_102, tail_14^0'=tail_14^post_102, temp0_16^0'=temp0_16^post_102, temp0_31^0'=temp0_31^post_102, temp_35^0'=temp_35^post_102, tmp_34^0'=tmp_34^post_102, x_131^0'=x_131^post_102, x_176^0'=x_176^post_102, x_19^0'=x_19^post_102, x_26^0'=x_26^post_102, x_SLAM_f_17^0'=x_SLAM_f_17^post_102, x_SLAM_f_24^0'=x_SLAM_f_24^post_102, y_18^0'=y_18^post_102, y_25^0'=y_25^post_102, [ result_dot_nondet_sdv_special_RETURN_VALUE_13^post_102==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_102 && length_28^0<=i_30^0 && temp0_31^1_3_1==head_32^0 && result_11^1_3==temp0_31^1_3_1 && length_28^post_102==length_28^post_102 && head_SLAM_f_29^post_102==head_SLAM_f_29^post_102 && i_30^post_102==i_30^post_102 && temp0_31^post_102==temp0_31^post_102 && head_32^post_102==head_32^post_102 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_102==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_102 && tmp_34^post_102==tmp_34^post_102 && temp_35^post_102==temp_35^post_102 && head_15^post_102==result_11^1_3 && result_11^post_102==result_11^post_102 && x_SLAM_f_24^post_102==head_15^post_102 && y_25^post_102==tail_14^0 && x_26^post_102==x_SLAM_f_24^post_102 && 1<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_102 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_102<=1 && tail_14^0<=y_25^post_102 && y_25^post_102<=tail_14^0 && head_15^post_102<=x_SLAM_f_24^post_102 && x_SLAM_f_24^post_102<=head_15^post_102 && head_15^post_102<=x_26^post_102 && x_26^post_102<=head_15^post_102 && x_SLAM_f_24^post_102<=x_26^post_102 && x_26^post_102<=x_SLAM_f_24^post_102 && 1<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_102 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_102<=1 && a_118^0==a_118^post_102 && a_149^0==a_149^post_102 && a_188^0==a_188^post_102 && a_225^0==a_225^post_102 && a_281^0==a_281^post_102 && a_289^0==a_289^post_102 && a_342^0==a_342^post_102 && a_343^0==a_343^post_102 && f_171^0==f_171^post_102 && i_110^0==i_110^post_102 && i_95^0==i_95^post_102 && len_134^0==len_134^post_102 && len_187^0==len_187^post_102 && nondet_12^0==nondet_12^post_102 && r_126^0==r_126^post_102 && r_165^0==r_165^post_102 && r_39^0==r_39^post_102 && rcd_59^0==rcd_59^post_102 && rcd_89^0==rcd_89^post_102 && t_22^0==t_22^post_102 && tail_14^0==tail_14^post_102 && temp0_16^0==temp0_16^post_102 && x_131^0==x_131^post_102 && x_176^0==x_176^post_102 && x_19^0==x_19^post_102 && x_SLAM_f_17^0==x_SLAM_f_17^post_102 && y_18^0==y_18^post_102 ], cost: 1 102: l5 -> l0 : a_118^0'=a_118^post_103, a_149^0'=a_149^post_103, a_188^0'=a_188^post_103, a_225^0'=a_225^post_103, a_281^0'=a_281^post_103, a_289^0'=a_289^post_103, a_342^0'=a_342^post_103, a_343^0'=a_343^post_103, f_171^0'=f_171^post_103, head_15^0'=head_15^post_103, head_32^0'=head_32^post_103, head_SLAM_f_29^0'=head_SLAM_f_29^post_103, i_110^0'=i_110^post_103, i_30^0'=i_30^post_103, i_95^0'=i_95^post_103, len_134^0'=len_134^post_103, len_187^0'=len_187^post_103, length_28^0'=length_28^post_103, nondet_12^0'=nondet_12^post_103, r_126^0'=r_126^post_103, r_165^0'=r_165^post_103, r_39^0'=r_39^post_103, rcd_59^0'=rcd_59^post_103, rcd_89^0'=rcd_89^post_103, result_11^0'=result_11^post_103, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_103, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_103, t_22^0'=t_22^post_103, tail_14^0'=tail_14^post_103, temp0_16^0'=temp0_16^post_103, temp0_31^0'=temp0_31^post_103, temp_35^0'=temp_35^post_103, tmp_34^0'=tmp_34^post_103, x_131^0'=x_131^post_103, x_176^0'=x_176^post_103, x_19^0'=x_19^post_103, x_26^0'=x_26^post_103, x_SLAM_f_17^0'=x_SLAM_f_17^post_103, x_SLAM_f_24^0'=x_SLAM_f_24^post_103, y_18^0'=y_18^post_103, y_25^0'=y_25^post_103, [ result_dot_nondet_sdv_special_RETURN_VALUE_13^post_103==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_103 && tail_14^post_103==tail_14^post_103 && head_SLAM_f_29^post_103==head_SLAM_f_29^post_103 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_103==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_103 && rcd_59^post_103==rcd_59^post_103 && 1+i_30^0<=length_28^0 && tmp_34^post_103==temp_35^0 && temp_35^post_103==temp_35^post_103 && head_32^post_103==tmp_34^post_103 && i_30^post_103==1+i_30^0 && 2<=i_30^post_103 && i_30^post_103<=2 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_103<=length_28^0 && length_28^0<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_103 && tail_14^post_103<=head_SLAM_f_29^post_103 && head_SLAM_f_29^post_103<=tail_14^post_103 && head_32^post_103<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_103 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_103<=head_32^post_103 && head_32^post_103<=tmp_34^post_103 && tmp_34^post_103<=head_32^post_103 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_103<=tmp_34^post_103 && tmp_34^post_103<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_103 && 1<=length_28^0 && 2<=length_28^0 && a_118^0==a_118^post_103 && a_149^0==a_149^post_103 && a_188^0==a_188^post_103 && a_225^0==a_225^post_103 && a_281^0==a_281^post_103 && a_289^0==a_289^post_103 && a_342^0==a_342^post_103 && a_343^0==a_343^post_103 && f_171^0==f_171^post_103 && head_15^0==head_15^post_103 && i_110^0==i_110^post_103 && i_95^0==i_95^post_103 && len_134^0==len_134^post_103 && len_187^0==len_187^post_103 && length_28^0==length_28^post_103 && nondet_12^0==nondet_12^post_103 && r_126^0==r_126^post_103 && r_165^0==r_165^post_103 && r_39^0==r_39^post_103 && rcd_89^0==rcd_89^post_103 && result_11^0==result_11^post_103 && t_22^0==t_22^post_103 && temp0_16^0==temp0_16^post_103 && temp0_31^0==temp0_31^post_103 && x_131^0==x_131^post_103 && x_176^0==x_176^post_103 && x_19^0==x_19^post_103 && x_26^0==x_26^post_103 && x_SLAM_f_17^0==x_SLAM_f_17^post_103 && x_SLAM_f_24^0==x_SLAM_f_24^post_103 && y_18^0==y_18^post_103 && y_25^0==y_25^post_103 ], cost: 1 5: l6 -> l4 : a_118^0'=a_118^post_6, a_149^0'=a_149^post_6, a_188^0'=a_188^post_6, a_225^0'=a_225^post_6, a_281^0'=a_281^post_6, a_289^0'=a_289^post_6, a_342^0'=a_342^post_6, a_343^0'=a_343^post_6, f_171^0'=f_171^post_6, head_15^0'=head_15^post_6, head_32^0'=head_32^post_6, head_SLAM_f_29^0'=head_SLAM_f_29^post_6, i_110^0'=i_110^post_6, i_30^0'=i_30^post_6, i_95^0'=i_95^post_6, len_134^0'=len_134^post_6, len_187^0'=len_187^post_6, length_28^0'=length_28^post_6, nondet_12^0'=nondet_12^post_6, r_126^0'=r_126^post_6, r_165^0'=r_165^post_6, r_39^0'=r_39^post_6, rcd_59^0'=rcd_59^post_6, rcd_89^0'=rcd_89^post_6, result_11^0'=result_11^post_6, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_6, t_22^0'=t_22^post_6, tail_14^0'=tail_14^post_6, temp0_16^0'=temp0_16^post_6, temp0_31^0'=temp0_31^post_6, temp_35^0'=temp_35^post_6, tmp_34^0'=tmp_34^post_6, x_131^0'=x_131^post_6, x_176^0'=x_176^post_6, x_19^0'=x_19^post_6, x_26^0'=x_26^post_6, x_SLAM_f_17^0'=x_SLAM_f_17^post_6, x_SLAM_f_24^0'=x_SLAM_f_24^post_6, y_18^0'=y_18^post_6, y_25^0'=y_25^post_6, [ 0<=a_149^0 && 0<=a_281^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_6==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_6 && y_18^0<=x_19^0 && x_19^0<=y_18^0 && x_SLAM_f_17^post_6==x_SLAM_f_17^post_6 && y_18^post_6==y_18^post_6 && x_19^post_6==x_19^post_6 && t_22^post_6==t_22^post_6 && result_11^post_6==temp0_16^0 && 1<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_6 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_6 && a_118^0==a_118^post_6 && a_149^0==a_149^post_6 && a_188^0==a_188^post_6 && a_225^0==a_225^post_6 && a_281^0==a_281^post_6 && a_289^0==a_289^post_6 && a_342^0==a_342^post_6 && a_343^0==a_343^post_6 && f_171^0==f_171^post_6 && head_15^0==head_15^post_6 && head_32^0==head_32^post_6 && head_SLAM_f_29^0==head_SLAM_f_29^post_6 && i_110^0==i_110^post_6 && i_30^0==i_30^post_6 && i_95^0==i_95^post_6 && len_134^0==len_134^post_6 && len_187^0==len_187^post_6 && length_28^0==length_28^post_6 && nondet_12^0==nondet_12^post_6 && r_126^0==r_126^post_6 && r_165^0==r_165^post_6 && r_39^0==r_39^post_6 && rcd_59^0==rcd_59^post_6 && rcd_89^0==rcd_89^post_6 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_6 && tail_14^0==tail_14^post_6 && temp0_16^0==temp0_16^post_6 && temp0_31^0==temp0_31^post_6 && temp_35^0==temp_35^post_6 && tmp_34^0==tmp_34^post_6 && x_131^0==x_131^post_6 && x_176^0==x_176^post_6 && x_26^0==x_26^post_6 && x_SLAM_f_24^0==x_SLAM_f_24^post_6 && y_25^0==y_25^post_6 ], cost: 1 6: l6 -> l8 : a_118^0'=a_118^post_7, a_149^0'=a_149^post_7, a_188^0'=a_188^post_7, a_225^0'=a_225^post_7, a_281^0'=a_281^post_7, a_289^0'=a_289^post_7, a_342^0'=a_342^post_7, a_343^0'=a_343^post_7, f_171^0'=f_171^post_7, head_15^0'=head_15^post_7, head_32^0'=head_32^post_7, head_SLAM_f_29^0'=head_SLAM_f_29^post_7, i_110^0'=i_110^post_7, i_30^0'=i_30^post_7, i_95^0'=i_95^post_7, len_134^0'=len_134^post_7, len_187^0'=len_187^post_7, length_28^0'=length_28^post_7, nondet_12^0'=nondet_12^post_7, r_126^0'=r_126^post_7, r_165^0'=r_165^post_7, r_39^0'=r_39^post_7, rcd_59^0'=rcd_59^post_7, rcd_89^0'=rcd_89^post_7, result_11^0'=result_11^post_7, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_7, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7, t_22^0'=t_22^post_7, tail_14^0'=tail_14^post_7, temp0_16^0'=temp0_16^post_7, temp0_31^0'=temp0_31^post_7, temp_35^0'=temp_35^post_7, tmp_34^0'=tmp_34^post_7, x_131^0'=x_131^post_7, x_176^0'=x_176^post_7, x_19^0'=x_19^post_7, x_26^0'=x_26^post_7, x_SLAM_f_17^0'=x_SLAM_f_17^post_7, x_SLAM_f_24^0'=x_SLAM_f_24^post_7, y_18^0'=y_18^post_7, y_25^0'=y_25^post_7, [ 0<=a_149^0 && 0<=a_281^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7 && tail_14^post_7==tail_14^post_7 && head_15^post_7==head_15^post_7 && x_SLAM_f_17^post_7==x_SLAM_f_17^post_7 && r_39^post_7==r_39^post_7 && a_118^0==a_118^post_7 && a_149^0==a_149^post_7 && a_188^0==a_188^post_7 && a_225^0==a_225^post_7 && a_281^0==a_281^post_7 && a_289^0==a_289^post_7 && a_342^0==a_342^post_7 && a_343^0==a_343^post_7 && f_171^0==f_171^post_7 && head_32^0==head_32^post_7 && head_SLAM_f_29^0==head_SLAM_f_29^post_7 && i_110^0==i_110^post_7 && i_30^0==i_30^post_7 && i_95^0==i_95^post_7 && len_134^0==len_134^post_7 && len_187^0==len_187^post_7 && length_28^0==length_28^post_7 && nondet_12^0==nondet_12^post_7 && r_126^0==r_126^post_7 && r_165^0==r_165^post_7 && rcd_59^0==rcd_59^post_7 && rcd_89^0==rcd_89^post_7 && result_11^0==result_11^post_7 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_7 && t_22^0==t_22^post_7 && temp0_16^0==temp0_16^post_7 && temp0_31^0==temp0_31^post_7 && temp_35^0==temp_35^post_7 && tmp_34^0==tmp_34^post_7 && x_131^0==x_131^post_7 && x_176^0==x_176^post_7 && x_19^0==x_19^post_7 && x_26^0==x_26^post_7 && x_SLAM_f_24^0==x_SLAM_f_24^post_7 && y_18^0==y_18^post_7 && y_25^0==y_25^post_7 ], cost: 1 7: l8 -> l9 : a_118^0'=a_118^post_8, a_149^0'=a_149^post_8, a_188^0'=a_188^post_8, a_225^0'=a_225^post_8, a_281^0'=a_281^post_8, a_289^0'=a_289^post_8, a_342^0'=a_342^post_8, a_343^0'=a_343^post_8, f_171^0'=f_171^post_8, head_15^0'=head_15^post_8, head_32^0'=head_32^post_8, head_SLAM_f_29^0'=head_SLAM_f_29^post_8, i_110^0'=i_110^post_8, i_30^0'=i_30^post_8, i_95^0'=i_95^post_8, len_134^0'=len_134^post_8, len_187^0'=len_187^post_8, length_28^0'=length_28^post_8, nondet_12^0'=nondet_12^post_8, r_126^0'=r_126^post_8, r_165^0'=r_165^post_8, r_39^0'=r_39^post_8, rcd_59^0'=rcd_59^post_8, rcd_89^0'=rcd_89^post_8, result_11^0'=result_11^post_8, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_8, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_8, t_22^0'=t_22^post_8, tail_14^0'=tail_14^post_8, temp0_16^0'=temp0_16^post_8, temp0_31^0'=temp0_31^post_8, temp_35^0'=temp_35^post_8, tmp_34^0'=tmp_34^post_8, x_131^0'=x_131^post_8, x_176^0'=x_176^post_8, x_19^0'=x_19^post_8, x_26^0'=x_26^post_8, x_SLAM_f_17^0'=x_SLAM_f_17^post_8, x_SLAM_f_24^0'=x_SLAM_f_24^post_8, y_18^0'=y_18^post_8, y_25^0'=y_25^post_8, [ 1+y_18^0<=x_19^0 && a_118^0==a_118^post_8 && a_149^0==a_149^post_8 && a_188^0==a_188^post_8 && a_225^0==a_225^post_8 && a_281^0==a_281^post_8 && a_289^0==a_289^post_8 && a_342^0==a_342^post_8 && a_343^0==a_343^post_8 && f_171^0==f_171^post_8 && head_15^0==head_15^post_8 && head_32^0==head_32^post_8 && head_SLAM_f_29^0==head_SLAM_f_29^post_8 && i_110^0==i_110^post_8 && i_30^0==i_30^post_8 && i_95^0==i_95^post_8 && len_134^0==len_134^post_8 && len_187^0==len_187^post_8 && length_28^0==length_28^post_8 && nondet_12^0==nondet_12^post_8 && r_126^0==r_126^post_8 && r_165^0==r_165^post_8 && r_39^0==r_39^post_8 && rcd_59^0==rcd_59^post_8 && rcd_89^0==rcd_89^post_8 && result_11^0==result_11^post_8 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_8 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_8 && t_22^0==t_22^post_8 && tail_14^0==tail_14^post_8 && temp0_16^0==temp0_16^post_8 && temp0_31^0==temp0_31^post_8 && temp_35^0==temp_35^post_8 && tmp_34^0==tmp_34^post_8 && x_131^0==x_131^post_8 && x_176^0==x_176^post_8 && x_19^0==x_19^post_8 && x_26^0==x_26^post_8 && x_SLAM_f_17^0==x_SLAM_f_17^post_8 && x_SLAM_f_24^0==x_SLAM_f_24^post_8 && y_18^0==y_18^post_8 && y_25^0==y_25^post_8 ], cost: 1 8: l8 -> l9 : a_118^0'=a_118^post_9, a_149^0'=a_149^post_9, a_188^0'=a_188^post_9, a_225^0'=a_225^post_9, a_281^0'=a_281^post_9, a_289^0'=a_289^post_9, a_342^0'=a_342^post_9, a_343^0'=a_343^post_9, f_171^0'=f_171^post_9, head_15^0'=head_15^post_9, head_32^0'=head_32^post_9, head_SLAM_f_29^0'=head_SLAM_f_29^post_9, i_110^0'=i_110^post_9, i_30^0'=i_30^post_9, i_95^0'=i_95^post_9, len_134^0'=len_134^post_9, len_187^0'=len_187^post_9, length_28^0'=length_28^post_9, nondet_12^0'=nondet_12^post_9, r_126^0'=r_126^post_9, r_165^0'=r_165^post_9, r_39^0'=r_39^post_9, rcd_59^0'=rcd_59^post_9, rcd_89^0'=rcd_89^post_9, result_11^0'=result_11^post_9, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_9, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_9, t_22^0'=t_22^post_9, tail_14^0'=tail_14^post_9, temp0_16^0'=temp0_16^post_9, temp0_31^0'=temp0_31^post_9, temp_35^0'=temp_35^post_9, tmp_34^0'=tmp_34^post_9, x_131^0'=x_131^post_9, x_176^0'=x_176^post_9, x_19^0'=x_19^post_9, x_26^0'=x_26^post_9, x_SLAM_f_17^0'=x_SLAM_f_17^post_9, x_SLAM_f_24^0'=x_SLAM_f_24^post_9, y_18^0'=y_18^post_9, y_25^0'=y_25^post_9, [ 1+x_19^0<=y_18^0 && a_118^0==a_118^post_9 && a_149^0==a_149^post_9 && a_188^0==a_188^post_9 && a_225^0==a_225^post_9 && a_281^0==a_281^post_9 && a_289^0==a_289^post_9 && a_342^0==a_342^post_9 && a_343^0==a_343^post_9 && f_171^0==f_171^post_9 && head_15^0==head_15^post_9 && head_32^0==head_32^post_9 && head_SLAM_f_29^0==head_SLAM_f_29^post_9 && i_110^0==i_110^post_9 && i_30^0==i_30^post_9 && i_95^0==i_95^post_9 && len_134^0==len_134^post_9 && len_187^0==len_187^post_9 && length_28^0==length_28^post_9 && nondet_12^0==nondet_12^post_9 && r_126^0==r_126^post_9 && r_165^0==r_165^post_9 && r_39^0==r_39^post_9 && rcd_59^0==rcd_59^post_9 && rcd_89^0==rcd_89^post_9 && result_11^0==result_11^post_9 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_9 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_9 && t_22^0==t_22^post_9 && tail_14^0==tail_14^post_9 && temp0_16^0==temp0_16^post_9 && temp0_31^0==temp0_31^post_9 && temp_35^0==temp_35^post_9 && tmp_34^0==tmp_34^post_9 && x_131^0==x_131^post_9 && x_176^0==x_176^post_9 && x_19^0==x_19^post_9 && x_26^0==x_26^post_9 && x_SLAM_f_17^0==x_SLAM_f_17^post_9 && x_SLAM_f_24^0==x_SLAM_f_24^post_9 && y_18^0==y_18^post_9 && y_25^0==y_25^post_9 ], cost: 1 9: l9 -> l10 : a_118^0'=a_118^post_10, a_149^0'=a_149^post_10, a_188^0'=a_188^post_10, a_225^0'=a_225^post_10, a_281^0'=a_281^post_10, a_289^0'=a_289^post_10, a_342^0'=a_342^post_10, a_343^0'=a_343^post_10, f_171^0'=f_171^post_10, head_15^0'=head_15^post_10, head_32^0'=head_32^post_10, head_SLAM_f_29^0'=head_SLAM_f_29^post_10, i_110^0'=i_110^post_10, i_30^0'=i_30^post_10, i_95^0'=i_95^post_10, len_134^0'=len_134^post_10, len_187^0'=len_187^post_10, length_28^0'=length_28^post_10, nondet_12^0'=nondet_12^post_10, r_126^0'=r_126^post_10, r_165^0'=r_165^post_10, r_39^0'=r_39^post_10, rcd_59^0'=rcd_59^post_10, rcd_89^0'=rcd_89^post_10, result_11^0'=result_11^post_10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_10, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_10, t_22^0'=t_22^post_10, tail_14^0'=tail_14^post_10, temp0_16^0'=temp0_16^post_10, temp0_31^0'=temp0_31^post_10, temp_35^0'=temp_35^post_10, tmp_34^0'=tmp_34^post_10, x_131^0'=x_131^post_10, x_176^0'=x_176^post_10, x_19^0'=x_19^post_10, x_26^0'=x_26^post_10, x_SLAM_f_17^0'=x_SLAM_f_17^post_10, x_SLAM_f_24^0'=x_SLAM_f_24^post_10, y_18^0'=y_18^post_10, y_25^0'=y_25^post_10, [ t_22^post_10==x_19^0 && a_342^post_10==a_342^post_10 && a_343^post_10==a_343^post_10 && 0<=a_342^post_10 && a_342^post_10<=0 && tail_14^0<=y_18^0 && y_18^0<=tail_14^0 && head_15^0<=x_SLAM_f_17^0 && x_SLAM_f_17^0<=head_15^0 && a_149^0<=1+a_343^post_10-a_281^0 && 1+a_343^post_10-a_281^0<=a_149^0 && a_118^0==a_118^post_10 && a_149^0==a_149^post_10 && a_188^0==a_188^post_10 && a_225^0==a_225^post_10 && a_281^0==a_281^post_10 && a_289^0==a_289^post_10 && f_171^0==f_171^post_10 && head_15^0==head_15^post_10 && head_32^0==head_32^post_10 && head_SLAM_f_29^0==head_SLAM_f_29^post_10 && i_110^0==i_110^post_10 && i_30^0==i_30^post_10 && i_95^0==i_95^post_10 && len_134^0==len_134^post_10 && len_187^0==len_187^post_10 && length_28^0==length_28^post_10 && nondet_12^0==nondet_12^post_10 && r_126^0==r_126^post_10 && r_165^0==r_165^post_10 && r_39^0==r_39^post_10 && rcd_59^0==rcd_59^post_10 && rcd_89^0==rcd_89^post_10 && result_11^0==result_11^post_10 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_10 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_10 && tail_14^0==tail_14^post_10 && temp0_16^0==temp0_16^post_10 && temp0_31^0==temp0_31^post_10 && temp_35^0==temp_35^post_10 && tmp_34^0==tmp_34^post_10 && x_131^0==x_131^post_10 && x_176^0==x_176^post_10 && x_19^0==x_19^post_10 && x_26^0==x_26^post_10 && x_SLAM_f_17^0==x_SLAM_f_17^post_10 && x_SLAM_f_24^0==x_SLAM_f_24^post_10 && y_18^0==y_18^post_10 && y_25^0==y_25^post_10 ], cost: 1 10: l10 -> l11 : a_118^0'=a_118^post_11, a_149^0'=a_149^post_11, a_188^0'=a_188^post_11, a_225^0'=a_225^post_11, a_281^0'=a_281^post_11, a_289^0'=a_289^post_11, a_342^0'=a_342^post_11, a_343^0'=a_343^post_11, f_171^0'=f_171^post_11, head_15^0'=head_15^post_11, head_32^0'=head_32^post_11, head_SLAM_f_29^0'=head_SLAM_f_29^post_11, i_110^0'=i_110^post_11, i_30^0'=i_30^post_11, i_95^0'=i_95^post_11, len_134^0'=len_134^post_11, len_187^0'=len_187^post_11, length_28^0'=length_28^post_11, nondet_12^0'=nondet_12^post_11, r_126^0'=r_126^post_11, r_165^0'=r_165^post_11, r_39^0'=r_39^post_11, rcd_59^0'=rcd_59^post_11, rcd_89^0'=rcd_89^post_11, result_11^0'=result_11^post_11, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_11, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_11, t_22^0'=t_22^post_11, tail_14^0'=tail_14^post_11, temp0_16^0'=temp0_16^post_11, temp0_31^0'=temp0_31^post_11, temp_35^0'=temp_35^post_11, tmp_34^0'=tmp_34^post_11, x_131^0'=x_131^post_11, x_176^0'=x_176^post_11, x_19^0'=x_19^post_11, x_26^0'=x_26^post_11, x_SLAM_f_17^0'=x_SLAM_f_17^post_11, x_SLAM_f_24^0'=x_SLAM_f_24^post_11, y_18^0'=y_18^post_11, y_25^0'=y_25^post_11, [ 1+tail_14^0<=head_15^0 && a_118^0==a_118^post_11 && a_149^0==a_149^post_11 && a_188^0==a_188^post_11 && a_225^0==a_225^post_11 && a_281^0==a_281^post_11 && a_289^0==a_289^post_11 && a_342^0==a_342^post_11 && a_343^0==a_343^post_11 && f_171^0==f_171^post_11 && head_15^0==head_15^post_11 && head_32^0==head_32^post_11 && head_SLAM_f_29^0==head_SLAM_f_29^post_11 && i_110^0==i_110^post_11 && i_30^0==i_30^post_11 && i_95^0==i_95^post_11 && len_134^0==len_134^post_11 && len_187^0==len_187^post_11 && length_28^0==length_28^post_11 && nondet_12^0==nondet_12^post_11 && r_126^0==r_126^post_11 && r_165^0==r_165^post_11 && r_39^0==r_39^post_11 && rcd_59^0==rcd_59^post_11 && rcd_89^0==rcd_89^post_11 && result_11^0==result_11^post_11 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_11 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_11 && t_22^0==t_22^post_11 && tail_14^0==tail_14^post_11 && temp0_16^0==temp0_16^post_11 && temp0_31^0==temp0_31^post_11 && temp_35^0==temp_35^post_11 && tmp_34^0==tmp_34^post_11 && x_131^0==x_131^post_11 && x_176^0==x_176^post_11 && x_19^0==x_19^post_11 && x_26^0==x_26^post_11 && x_SLAM_f_17^0==x_SLAM_f_17^post_11 && x_SLAM_f_24^0==x_SLAM_f_24^post_11 && y_18^0==y_18^post_11 && y_25^0==y_25^post_11 ], cost: 1 11: l10 -> l11 : a_118^0'=a_118^post_12, a_149^0'=a_149^post_12, a_188^0'=a_188^post_12, a_225^0'=a_225^post_12, a_281^0'=a_281^post_12, a_289^0'=a_289^post_12, a_342^0'=a_342^post_12, a_343^0'=a_343^post_12, f_171^0'=f_171^post_12, head_15^0'=head_15^post_12, head_32^0'=head_32^post_12, head_SLAM_f_29^0'=head_SLAM_f_29^post_12, i_110^0'=i_110^post_12, i_30^0'=i_30^post_12, i_95^0'=i_95^post_12, len_134^0'=len_134^post_12, len_187^0'=len_187^post_12, length_28^0'=length_28^post_12, nondet_12^0'=nondet_12^post_12, r_126^0'=r_126^post_12, r_165^0'=r_165^post_12, r_39^0'=r_39^post_12, rcd_59^0'=rcd_59^post_12, rcd_89^0'=rcd_89^post_12, result_11^0'=result_11^post_12, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_12, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_12, t_22^0'=t_22^post_12, tail_14^0'=tail_14^post_12, temp0_16^0'=temp0_16^post_12, temp0_31^0'=temp0_31^post_12, temp_35^0'=temp_35^post_12, tmp_34^0'=tmp_34^post_12, x_131^0'=x_131^post_12, x_176^0'=x_176^post_12, x_19^0'=x_19^post_12, x_26^0'=x_26^post_12, x_SLAM_f_17^0'=x_SLAM_f_17^post_12, x_SLAM_f_24^0'=x_SLAM_f_24^post_12, y_18^0'=y_18^post_12, y_25^0'=y_25^post_12, [ 1+head_15^0<=tail_14^0 && a_118^0==a_118^post_12 && a_149^0==a_149^post_12 && a_188^0==a_188^post_12 && a_225^0==a_225^post_12 && a_281^0==a_281^post_12 && a_289^0==a_289^post_12 && a_342^0==a_342^post_12 && a_343^0==a_343^post_12 && f_171^0==f_171^post_12 && head_15^0==head_15^post_12 && head_32^0==head_32^post_12 && head_SLAM_f_29^0==head_SLAM_f_29^post_12 && i_110^0==i_110^post_12 && i_30^0==i_30^post_12 && i_95^0==i_95^post_12 && len_134^0==len_134^post_12 && len_187^0==len_187^post_12 && length_28^0==length_28^post_12 && nondet_12^0==nondet_12^post_12 && r_126^0==r_126^post_12 && r_165^0==r_165^post_12 && r_39^0==r_39^post_12 && rcd_59^0==rcd_59^post_12 && rcd_89^0==rcd_89^post_12 && result_11^0==result_11^post_12 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_12 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_12 && t_22^0==t_22^post_12 && tail_14^0==tail_14^post_12 && temp0_16^0==temp0_16^post_12 && temp0_31^0==temp0_31^post_12 && temp_35^0==temp_35^post_12 && tmp_34^0==tmp_34^post_12 && x_131^0==x_131^post_12 && x_176^0==x_176^post_12 && x_19^0==x_19^post_12 && x_26^0==x_26^post_12 && x_SLAM_f_17^0==x_SLAM_f_17^post_12 && x_SLAM_f_24^0==x_SLAM_f_24^post_12 && y_18^0==y_18^post_12 && y_25^0==y_25^post_12 ], cost: 1 12: l11 -> l12 : a_118^0'=a_118^post_13, a_149^0'=a_149^post_13, a_188^0'=a_188^post_13, a_225^0'=a_225^post_13, a_281^0'=a_281^post_13, a_289^0'=a_289^post_13, a_342^0'=a_342^post_13, a_343^0'=a_343^post_13, f_171^0'=f_171^post_13, head_15^0'=head_15^post_13, head_32^0'=head_32^post_13, head_SLAM_f_29^0'=head_SLAM_f_29^post_13, i_110^0'=i_110^post_13, i_30^0'=i_30^post_13, i_95^0'=i_95^post_13, len_134^0'=len_134^post_13, len_187^0'=len_187^post_13, length_28^0'=length_28^post_13, nondet_12^0'=nondet_12^post_13, r_126^0'=r_126^post_13, r_165^0'=r_165^post_13, r_39^0'=r_39^post_13, rcd_59^0'=rcd_59^post_13, rcd_89^0'=rcd_89^post_13, result_11^0'=result_11^post_13, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_13, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_13, t_22^0'=t_22^post_13, tail_14^0'=tail_14^post_13, temp0_16^0'=temp0_16^post_13, temp0_31^0'=temp0_31^post_13, temp_35^0'=temp_35^post_13, tmp_34^0'=tmp_34^post_13, x_131^0'=x_131^post_13, x_176^0'=x_176^post_13, x_19^0'=x_19^post_13, x_26^0'=x_26^post_13, x_SLAM_f_17^0'=x_SLAM_f_17^post_13, x_SLAM_f_24^0'=x_SLAM_f_24^post_13, y_18^0'=y_18^post_13, y_25^0'=y_25^post_13, [ 1+head_15^0<=y_18^0 && a_118^0==a_118^post_13 && a_149^0==a_149^post_13 && a_188^0==a_188^post_13 && a_225^0==a_225^post_13 && a_281^0==a_281^post_13 && a_289^0==a_289^post_13 && a_342^0==a_342^post_13 && a_343^0==a_343^post_13 && f_171^0==f_171^post_13 && head_15^0==head_15^post_13 && head_32^0==head_32^post_13 && head_SLAM_f_29^0==head_SLAM_f_29^post_13 && i_110^0==i_110^post_13 && i_30^0==i_30^post_13 && i_95^0==i_95^post_13 && len_134^0==len_134^post_13 && len_187^0==len_187^post_13 && length_28^0==length_28^post_13 && nondet_12^0==nondet_12^post_13 && r_126^0==r_126^post_13 && r_165^0==r_165^post_13 && r_39^0==r_39^post_13 && rcd_59^0==rcd_59^post_13 && rcd_89^0==rcd_89^post_13 && result_11^0==result_11^post_13 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_13 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_13 && t_22^0==t_22^post_13 && tail_14^0==tail_14^post_13 && temp0_16^0==temp0_16^post_13 && temp0_31^0==temp0_31^post_13 && temp_35^0==temp_35^post_13 && tmp_34^0==tmp_34^post_13 && x_131^0==x_131^post_13 && x_176^0==x_176^post_13 && x_19^0==x_19^post_13 && x_26^0==x_26^post_13 && x_SLAM_f_17^0==x_SLAM_f_17^post_13 && x_SLAM_f_24^0==x_SLAM_f_24^post_13 && y_18^0==y_18^post_13 && y_25^0==y_25^post_13 ], cost: 1 13: l11 -> l12 : a_118^0'=a_118^post_14, a_149^0'=a_149^post_14, a_188^0'=a_188^post_14, a_225^0'=a_225^post_14, a_281^0'=a_281^post_14, a_289^0'=a_289^post_14, a_342^0'=a_342^post_14, a_343^0'=a_343^post_14, f_171^0'=f_171^post_14, head_15^0'=head_15^post_14, head_32^0'=head_32^post_14, head_SLAM_f_29^0'=head_SLAM_f_29^post_14, i_110^0'=i_110^post_14, i_30^0'=i_30^post_14, i_95^0'=i_95^post_14, len_134^0'=len_134^post_14, len_187^0'=len_187^post_14, length_28^0'=length_28^post_14, nondet_12^0'=nondet_12^post_14, r_126^0'=r_126^post_14, r_165^0'=r_165^post_14, r_39^0'=r_39^post_14, rcd_59^0'=rcd_59^post_14, rcd_89^0'=rcd_89^post_14, result_11^0'=result_11^post_14, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_14, t_22^0'=t_22^post_14, tail_14^0'=tail_14^post_14, temp0_16^0'=temp0_16^post_14, temp0_31^0'=temp0_31^post_14, temp_35^0'=temp_35^post_14, tmp_34^0'=tmp_34^post_14, x_131^0'=x_131^post_14, x_176^0'=x_176^post_14, x_19^0'=x_19^post_14, x_26^0'=x_26^post_14, x_SLAM_f_17^0'=x_SLAM_f_17^post_14, x_SLAM_f_24^0'=x_SLAM_f_24^post_14, y_18^0'=y_18^post_14, y_25^0'=y_25^post_14, [ 1+y_18^0<=head_15^0 && a_118^0==a_118^post_14 && a_149^0==a_149^post_14 && a_188^0==a_188^post_14 && a_225^0==a_225^post_14 && a_281^0==a_281^post_14 && a_289^0==a_289^post_14 && a_342^0==a_342^post_14 && a_343^0==a_343^post_14 && f_171^0==f_171^post_14 && head_15^0==head_15^post_14 && head_32^0==head_32^post_14 && head_SLAM_f_29^0==head_SLAM_f_29^post_14 && i_110^0==i_110^post_14 && i_30^0==i_30^post_14 && i_95^0==i_95^post_14 && len_134^0==len_134^post_14 && len_187^0==len_187^post_14 && length_28^0==length_28^post_14 && nondet_12^0==nondet_12^post_14 && r_126^0==r_126^post_14 && r_165^0==r_165^post_14 && r_39^0==r_39^post_14 && rcd_59^0==rcd_59^post_14 && rcd_89^0==rcd_89^post_14 && result_11^0==result_11^post_14 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_14 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_14 && t_22^0==t_22^post_14 && tail_14^0==tail_14^post_14 && temp0_16^0==temp0_16^post_14 && temp0_31^0==temp0_31^post_14 && temp_35^0==temp_35^post_14 && tmp_34^0==tmp_34^post_14 && x_131^0==x_131^post_14 && x_176^0==x_176^post_14 && x_19^0==x_19^post_14 && x_26^0==x_26^post_14 && x_SLAM_f_17^0==x_SLAM_f_17^post_14 && x_SLAM_f_24^0==x_SLAM_f_24^post_14 && y_18^0==y_18^post_14 && y_25^0==y_25^post_14 ], cost: 1 14: l12 -> l13 : a_118^0'=a_118^post_15, a_149^0'=a_149^post_15, a_188^0'=a_188^post_15, a_225^0'=a_225^post_15, a_281^0'=a_281^post_15, a_289^0'=a_289^post_15, a_342^0'=a_342^post_15, a_343^0'=a_343^post_15, f_171^0'=f_171^post_15, head_15^0'=head_15^post_15, head_32^0'=head_32^post_15, head_SLAM_f_29^0'=head_SLAM_f_29^post_15, i_110^0'=i_110^post_15, i_30^0'=i_30^post_15, i_95^0'=i_95^post_15, len_134^0'=len_134^post_15, len_187^0'=len_187^post_15, length_28^0'=length_28^post_15, nondet_12^0'=nondet_12^post_15, r_126^0'=r_126^post_15, r_165^0'=r_165^post_15, r_39^0'=r_39^post_15, rcd_59^0'=rcd_59^post_15, rcd_89^0'=rcd_89^post_15, result_11^0'=result_11^post_15, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_15, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_15, t_22^0'=t_22^post_15, tail_14^0'=tail_14^post_15, temp0_16^0'=temp0_16^post_15, temp0_31^0'=temp0_31^post_15, temp_35^0'=temp_35^post_15, tmp_34^0'=tmp_34^post_15, x_131^0'=x_131^post_15, x_176^0'=x_176^post_15, x_19^0'=x_19^post_15, x_26^0'=x_26^post_15, x_SLAM_f_17^0'=x_SLAM_f_17^post_15, x_SLAM_f_24^0'=x_SLAM_f_24^post_15, y_18^0'=y_18^post_15, y_25^0'=y_25^post_15, [ 1+y_18^0<=t_22^0 && a_118^0==a_118^post_15 && a_149^0==a_149^post_15 && a_188^0==a_188^post_15 && a_225^0==a_225^post_15 && a_281^0==a_281^post_15 && a_289^0==a_289^post_15 && a_342^0==a_342^post_15 && a_343^0==a_343^post_15 && f_171^0==f_171^post_15 && head_15^0==head_15^post_15 && head_32^0==head_32^post_15 && head_SLAM_f_29^0==head_SLAM_f_29^post_15 && i_110^0==i_110^post_15 && i_30^0==i_30^post_15 && i_95^0==i_95^post_15 && len_134^0==len_134^post_15 && len_187^0==len_187^post_15 && length_28^0==length_28^post_15 && nondet_12^0==nondet_12^post_15 && r_126^0==r_126^post_15 && r_165^0==r_165^post_15 && r_39^0==r_39^post_15 && rcd_59^0==rcd_59^post_15 && rcd_89^0==rcd_89^post_15 && result_11^0==result_11^post_15 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_15 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_15 && t_22^0==t_22^post_15 && tail_14^0==tail_14^post_15 && temp0_16^0==temp0_16^post_15 && temp0_31^0==temp0_31^post_15 && temp_35^0==temp_35^post_15 && tmp_34^0==tmp_34^post_15 && x_131^0==x_131^post_15 && x_176^0==x_176^post_15 && x_19^0==x_19^post_15 && x_26^0==x_26^post_15 && x_SLAM_f_17^0==x_SLAM_f_17^post_15 && x_SLAM_f_24^0==x_SLAM_f_24^post_15 && y_18^0==y_18^post_15 && y_25^0==y_25^post_15 ], cost: 1 15: l12 -> l13 : a_118^0'=a_118^post_16, a_149^0'=a_149^post_16, a_188^0'=a_188^post_16, a_225^0'=a_225^post_16, a_281^0'=a_281^post_16, a_289^0'=a_289^post_16, a_342^0'=a_342^post_16, a_343^0'=a_343^post_16, f_171^0'=f_171^post_16, head_15^0'=head_15^post_16, head_32^0'=head_32^post_16, head_SLAM_f_29^0'=head_SLAM_f_29^post_16, i_110^0'=i_110^post_16, i_30^0'=i_30^post_16, i_95^0'=i_95^post_16, len_134^0'=len_134^post_16, len_187^0'=len_187^post_16, length_28^0'=length_28^post_16, nondet_12^0'=nondet_12^post_16, r_126^0'=r_126^post_16, r_165^0'=r_165^post_16, r_39^0'=r_39^post_16, rcd_59^0'=rcd_59^post_16, rcd_89^0'=rcd_89^post_16, result_11^0'=result_11^post_16, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_16, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_16, t_22^0'=t_22^post_16, tail_14^0'=tail_14^post_16, temp0_16^0'=temp0_16^post_16, temp0_31^0'=temp0_31^post_16, temp_35^0'=temp_35^post_16, tmp_34^0'=tmp_34^post_16, x_131^0'=x_131^post_16, x_176^0'=x_176^post_16, x_19^0'=x_19^post_16, x_26^0'=x_26^post_16, x_SLAM_f_17^0'=x_SLAM_f_17^post_16, x_SLAM_f_24^0'=x_SLAM_f_24^post_16, y_18^0'=y_18^post_16, y_25^0'=y_25^post_16, [ 1+t_22^0<=y_18^0 && a_118^0==a_118^post_16 && a_149^0==a_149^post_16 && a_188^0==a_188^post_16 && a_225^0==a_225^post_16 && a_281^0==a_281^post_16 && a_289^0==a_289^post_16 && a_342^0==a_342^post_16 && a_343^0==a_343^post_16 && f_171^0==f_171^post_16 && head_15^0==head_15^post_16 && head_32^0==head_32^post_16 && head_SLAM_f_29^0==head_SLAM_f_29^post_16 && i_110^0==i_110^post_16 && i_30^0==i_30^post_16 && i_95^0==i_95^post_16 && len_134^0==len_134^post_16 && len_187^0==len_187^post_16 && length_28^0==length_28^post_16 && nondet_12^0==nondet_12^post_16 && r_126^0==r_126^post_16 && r_165^0==r_165^post_16 && r_39^0==r_39^post_16 && rcd_59^0==rcd_59^post_16 && rcd_89^0==rcd_89^post_16 && result_11^0==result_11^post_16 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_16 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_16 && t_22^0==t_22^post_16 && tail_14^0==tail_14^post_16 && temp0_16^0==temp0_16^post_16 && temp0_31^0==temp0_31^post_16 && temp_35^0==temp_35^post_16 && tmp_34^0==tmp_34^post_16 && x_131^0==x_131^post_16 && x_176^0==x_176^post_16 && x_19^0==x_19^post_16 && x_26^0==x_26^post_16 && x_SLAM_f_17^0==x_SLAM_f_17^post_16 && x_SLAM_f_24^0==x_SLAM_f_24^post_16 && y_18^0==y_18^post_16 && y_25^0==y_25^post_16 ], cost: 1 16: l13 -> l7 : a_118^0'=a_118^post_17, a_149^0'=a_149^post_17, a_188^0'=a_188^post_17, a_225^0'=a_225^post_17, a_281^0'=a_281^post_17, a_289^0'=a_289^post_17, a_342^0'=a_342^post_17, a_343^0'=a_343^post_17, f_171^0'=f_171^post_17, head_15^0'=head_15^post_17, head_32^0'=head_32^post_17, head_SLAM_f_29^0'=head_SLAM_f_29^post_17, i_110^0'=i_110^post_17, i_30^0'=i_30^post_17, i_95^0'=i_95^post_17, len_134^0'=len_134^post_17, len_187^0'=len_187^post_17, length_28^0'=length_28^post_17, nondet_12^0'=nondet_12^post_17, r_126^0'=r_126^post_17, r_165^0'=r_165^post_17, r_39^0'=r_39^post_17, rcd_59^0'=rcd_59^post_17, rcd_89^0'=rcd_89^post_17, result_11^0'=result_11^post_17, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_17, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_17, t_22^0'=t_22^post_17, tail_14^0'=tail_14^post_17, temp0_16^0'=temp0_16^post_17, temp0_31^0'=temp0_31^post_17, temp_35^0'=temp_35^post_17, tmp_34^0'=tmp_34^post_17, x_131^0'=x_131^post_17, x_176^0'=x_176^post_17, x_19^0'=x_19^post_17, x_26^0'=x_26^post_17, x_SLAM_f_17^0'=x_SLAM_f_17^post_17, x_SLAM_f_24^0'=x_SLAM_f_24^post_17, y_18^0'=y_18^post_17, y_25^0'=y_25^post_17, [ 1<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && a_281^post_17==a_281^post_17 && a_281^post_17<=a_343^0 && a_343^0<=a_281^post_17 && a_149^post_17==a_149^post_17 && a_149^post_17<=a_342^0 && a_342^0<=a_149^post_17 && a_118^0==a_118^post_17 && a_188^0==a_188^post_17 && a_225^0==a_225^post_17 && a_289^0==a_289^post_17 && a_342^0==a_342^post_17 && a_343^0==a_343^post_17 && f_171^0==f_171^post_17 && head_15^0==head_15^post_17 && head_32^0==head_32^post_17 && head_SLAM_f_29^0==head_SLAM_f_29^post_17 && i_110^0==i_110^post_17 && i_30^0==i_30^post_17 && i_95^0==i_95^post_17 && len_134^0==len_134^post_17 && len_187^0==len_187^post_17 && length_28^0==length_28^post_17 && nondet_12^0==nondet_12^post_17 && r_126^0==r_126^post_17 && r_165^0==r_165^post_17 && r_39^0==r_39^post_17 && rcd_59^0==rcd_59^post_17 && rcd_89^0==rcd_89^post_17 && result_11^0==result_11^post_17 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_17 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_17 && t_22^0==t_22^post_17 && tail_14^0==tail_14^post_17 && temp0_16^0==temp0_16^post_17 && temp0_31^0==temp0_31^post_17 && temp_35^0==temp_35^post_17 && tmp_34^0==tmp_34^post_17 && x_131^0==x_131^post_17 && x_176^0==x_176^post_17 && x_19^0==x_19^post_17 && x_26^0==x_26^post_17 && x_SLAM_f_17^0==x_SLAM_f_17^post_17 && x_SLAM_f_24^0==x_SLAM_f_24^post_17 && y_18^0==y_18^post_17 && y_25^0==y_25^post_17 ], cost: 1 17: l7 -> l6 : a_118^0'=a_118^post_18, a_149^0'=a_149^post_18, a_188^0'=a_188^post_18, a_225^0'=a_225^post_18, a_281^0'=a_281^post_18, a_289^0'=a_289^post_18, a_342^0'=a_342^post_18, a_343^0'=a_343^post_18, f_171^0'=f_171^post_18, head_15^0'=head_15^post_18, head_32^0'=head_32^post_18, head_SLAM_f_29^0'=head_SLAM_f_29^post_18, i_110^0'=i_110^post_18, i_30^0'=i_30^post_18, i_95^0'=i_95^post_18, len_134^0'=len_134^post_18, len_187^0'=len_187^post_18, length_28^0'=length_28^post_18, nondet_12^0'=nondet_12^post_18, r_126^0'=r_126^post_18, r_165^0'=r_165^post_18, r_39^0'=r_39^post_18, rcd_59^0'=rcd_59^post_18, rcd_89^0'=rcd_89^post_18, result_11^0'=result_11^post_18, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_18, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_18, t_22^0'=t_22^post_18, tail_14^0'=tail_14^post_18, temp0_16^0'=temp0_16^post_18, temp0_31^0'=temp0_31^post_18, temp_35^0'=temp_35^post_18, tmp_34^0'=tmp_34^post_18, x_131^0'=x_131^post_18, x_176^0'=x_176^post_18, x_19^0'=x_19^post_18, x_26^0'=x_26^post_18, x_SLAM_f_17^0'=x_SLAM_f_17^post_18, x_SLAM_f_24^0'=x_SLAM_f_24^post_18, y_18^0'=y_18^post_18, y_25^0'=y_25^post_18, [ a_118^0==a_118^post_18 && a_149^0==a_149^post_18 && a_188^0==a_188^post_18 && a_225^0==a_225^post_18 && a_281^0==a_281^post_18 && a_289^0==a_289^post_18 && a_342^0==a_342^post_18 && a_343^0==a_343^post_18 && f_171^0==f_171^post_18 && head_15^0==head_15^post_18 && head_32^0==head_32^post_18 && head_SLAM_f_29^0==head_SLAM_f_29^post_18 && i_110^0==i_110^post_18 && i_30^0==i_30^post_18 && i_95^0==i_95^post_18 && len_134^0==len_134^post_18 && len_187^0==len_187^post_18 && length_28^0==length_28^post_18 && nondet_12^0==nondet_12^post_18 && r_126^0==r_126^post_18 && r_165^0==r_165^post_18 && r_39^0==r_39^post_18 && rcd_59^0==rcd_59^post_18 && rcd_89^0==rcd_89^post_18 && result_11^0==result_11^post_18 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_18 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_18 && t_22^0==t_22^post_18 && tail_14^0==tail_14^post_18 && temp0_16^0==temp0_16^post_18 && temp0_31^0==temp0_31^post_18 && temp_35^0==temp_35^post_18 && tmp_34^0==tmp_34^post_18 && x_131^0==x_131^post_18 && x_176^0==x_176^post_18 && x_19^0==x_19^post_18 && x_26^0==x_26^post_18 && x_SLAM_f_17^0==x_SLAM_f_17^post_18 && x_SLAM_f_24^0==x_SLAM_f_24^post_18 && y_18^0==y_18^post_18 && y_25^0==y_25^post_18 ], cost: 1 18: l14 -> l15 : a_118^0'=a_118^post_19, a_149^0'=a_149^post_19, a_188^0'=a_188^post_19, a_225^0'=a_225^post_19, a_281^0'=a_281^post_19, a_289^0'=a_289^post_19, a_342^0'=a_342^post_19, a_343^0'=a_343^post_19, f_171^0'=f_171^post_19, head_15^0'=head_15^post_19, head_32^0'=head_32^post_19, head_SLAM_f_29^0'=head_SLAM_f_29^post_19, i_110^0'=i_110^post_19, i_30^0'=i_30^post_19, i_95^0'=i_95^post_19, len_134^0'=len_134^post_19, len_187^0'=len_187^post_19, length_28^0'=length_28^post_19, nondet_12^0'=nondet_12^post_19, r_126^0'=r_126^post_19, r_165^0'=r_165^post_19, r_39^0'=r_39^post_19, rcd_59^0'=rcd_59^post_19, rcd_89^0'=rcd_89^post_19, result_11^0'=result_11^post_19, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_19, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_19, t_22^0'=t_22^post_19, tail_14^0'=tail_14^post_19, temp0_16^0'=temp0_16^post_19, temp0_31^0'=temp0_31^post_19, temp_35^0'=temp_35^post_19, tmp_34^0'=tmp_34^post_19, x_131^0'=x_131^post_19, x_176^0'=x_176^post_19, x_19^0'=x_19^post_19, x_26^0'=x_26^post_19, x_SLAM_f_17^0'=x_SLAM_f_17^post_19, x_SLAM_f_24^0'=x_SLAM_f_24^post_19, y_18^0'=y_18^post_19, y_25^0'=y_25^post_19, [ 0<=a_149^0 && 0<=a_225^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_19==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_19 && tail_14^post_19==tail_14^post_19 && head_15^post_19==head_15^post_19 && y_18^0<=x_19^0 && x_19^0<=y_18^0 && x_SLAM_f_17^post_19==x_SLAM_f_17^post_19 && y_18^post_19==y_18^post_19 && x_19^post_19==x_19^post_19 && t_22^post_19==t_22^post_19 && result_11^post_19==temp0_16^0 && a_118^0==a_118^post_19 && a_149^0==a_149^post_19 && a_188^0==a_188^post_19 && a_225^0==a_225^post_19 && a_281^0==a_281^post_19 && a_289^0==a_289^post_19 && a_342^0==a_342^post_19 && a_343^0==a_343^post_19 && f_171^0==f_171^post_19 && head_32^0==head_32^post_19 && head_SLAM_f_29^0==head_SLAM_f_29^post_19 && i_110^0==i_110^post_19 && i_30^0==i_30^post_19 && i_95^0==i_95^post_19 && len_134^0==len_134^post_19 && len_187^0==len_187^post_19 && length_28^0==length_28^post_19 && nondet_12^0==nondet_12^post_19 && r_126^0==r_126^post_19 && r_165^0==r_165^post_19 && r_39^0==r_39^post_19 && rcd_59^0==rcd_59^post_19 && rcd_89^0==rcd_89^post_19 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_19 && temp0_16^0==temp0_16^post_19 && temp0_31^0==temp0_31^post_19 && temp_35^0==temp_35^post_19 && tmp_34^0==tmp_34^post_19 && x_131^0==x_131^post_19 && x_176^0==x_176^post_19 && x_26^0==x_26^post_19 && x_SLAM_f_24^0==x_SLAM_f_24^post_19 && y_25^0==y_25^post_19 ], cost: 1 22: l14 -> l17 : a_118^0'=a_118^post_23, a_149^0'=a_149^post_23, a_188^0'=a_188^post_23, a_225^0'=a_225^post_23, a_281^0'=a_281^post_23, a_289^0'=a_289^post_23, a_342^0'=a_342^post_23, a_343^0'=a_343^post_23, f_171^0'=f_171^post_23, head_15^0'=head_15^post_23, head_32^0'=head_32^post_23, head_SLAM_f_29^0'=head_SLAM_f_29^post_23, i_110^0'=i_110^post_23, i_30^0'=i_30^post_23, i_95^0'=i_95^post_23, len_134^0'=len_134^post_23, len_187^0'=len_187^post_23, length_28^0'=length_28^post_23, nondet_12^0'=nondet_12^post_23, r_126^0'=r_126^post_23, r_165^0'=r_165^post_23, r_39^0'=r_39^post_23, rcd_59^0'=rcd_59^post_23, rcd_89^0'=rcd_89^post_23, result_11^0'=result_11^post_23, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_23, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_23, t_22^0'=t_22^post_23, tail_14^0'=tail_14^post_23, temp0_16^0'=temp0_16^post_23, temp0_31^0'=temp0_31^post_23, temp_35^0'=temp_35^post_23, tmp_34^0'=tmp_34^post_23, x_131^0'=x_131^post_23, x_176^0'=x_176^post_23, x_19^0'=x_19^post_23, x_26^0'=x_26^post_23, x_SLAM_f_17^0'=x_SLAM_f_17^post_23, x_SLAM_f_24^0'=x_SLAM_f_24^post_23, y_18^0'=y_18^post_23, y_25^0'=y_25^post_23, [ 0<=a_149^0 && 0<=a_225^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_23==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_23 && tail_14^post_23==tail_14^post_23 && head_15^post_23==head_15^post_23 && x_SLAM_f_17^post_23==x_SLAM_f_17^post_23 && a_118^0==a_118^post_23 && a_149^0==a_149^post_23 && a_188^0==a_188^post_23 && a_225^0==a_225^post_23 && a_281^0==a_281^post_23 && a_289^0==a_289^post_23 && a_342^0==a_342^post_23 && a_343^0==a_343^post_23 && f_171^0==f_171^post_23 && head_32^0==head_32^post_23 && head_SLAM_f_29^0==head_SLAM_f_29^post_23 && i_110^0==i_110^post_23 && i_30^0==i_30^post_23 && i_95^0==i_95^post_23 && len_134^0==len_134^post_23 && len_187^0==len_187^post_23 && length_28^0==length_28^post_23 && nondet_12^0==nondet_12^post_23 && r_126^0==r_126^post_23 && r_165^0==r_165^post_23 && r_39^0==r_39^post_23 && rcd_59^0==rcd_59^post_23 && rcd_89^0==rcd_89^post_23 && result_11^0==result_11^post_23 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_23 && t_22^0==t_22^post_23 && temp0_16^0==temp0_16^post_23 && temp0_31^0==temp0_31^post_23 && temp_35^0==temp_35^post_23 && tmp_34^0==tmp_34^post_23 && x_131^0==x_131^post_23 && x_176^0==x_176^post_23 && x_19^0==x_19^post_23 && x_26^0==x_26^post_23 && x_SLAM_f_24^0==x_SLAM_f_24^post_23 && y_18^0==y_18^post_23 && y_25^0==y_25^post_23 ], cost: 1 19: l15 -> l16 : a_118^0'=a_118^post_20, a_149^0'=a_149^post_20, a_188^0'=a_188^post_20, a_225^0'=a_225^post_20, a_281^0'=a_281^post_20, a_289^0'=a_289^post_20, a_342^0'=a_342^post_20, a_343^0'=a_343^post_20, f_171^0'=f_171^post_20, head_15^0'=head_15^post_20, head_32^0'=head_32^post_20, head_SLAM_f_29^0'=head_SLAM_f_29^post_20, i_110^0'=i_110^post_20, i_30^0'=i_30^post_20, i_95^0'=i_95^post_20, len_134^0'=len_134^post_20, len_187^0'=len_187^post_20, length_28^0'=length_28^post_20, nondet_12^0'=nondet_12^post_20, r_126^0'=r_126^post_20, r_165^0'=r_165^post_20, r_39^0'=r_39^post_20, rcd_59^0'=rcd_59^post_20, rcd_89^0'=rcd_89^post_20, result_11^0'=result_11^post_20, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_20, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_20, t_22^0'=t_22^post_20, tail_14^0'=tail_14^post_20, temp0_16^0'=temp0_16^post_20, temp0_31^0'=temp0_31^post_20, temp_35^0'=temp_35^post_20, tmp_34^0'=tmp_34^post_20, x_131^0'=x_131^post_20, x_176^0'=x_176^post_20, x_19^0'=x_19^post_20, x_26^0'=x_26^post_20, x_SLAM_f_17^0'=x_SLAM_f_17^post_20, x_SLAM_f_24^0'=x_SLAM_f_24^post_20, y_18^0'=y_18^post_20, y_25^0'=y_25^post_20, [ 1+tail_14^0<=head_15^0 && a_118^0==a_118^post_20 && a_149^0==a_149^post_20 && a_188^0==a_188^post_20 && a_225^0==a_225^post_20 && a_281^0==a_281^post_20 && a_289^0==a_289^post_20 && a_342^0==a_342^post_20 && a_343^0==a_343^post_20 && f_171^0==f_171^post_20 && head_15^0==head_15^post_20 && head_32^0==head_32^post_20 && head_SLAM_f_29^0==head_SLAM_f_29^post_20 && i_110^0==i_110^post_20 && i_30^0==i_30^post_20 && i_95^0==i_95^post_20 && len_134^0==len_134^post_20 && len_187^0==len_187^post_20 && length_28^0==length_28^post_20 && nondet_12^0==nondet_12^post_20 && r_126^0==r_126^post_20 && r_165^0==r_165^post_20 && r_39^0==r_39^post_20 && rcd_59^0==rcd_59^post_20 && rcd_89^0==rcd_89^post_20 && result_11^0==result_11^post_20 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_20 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_20 && t_22^0==t_22^post_20 && tail_14^0==tail_14^post_20 && temp0_16^0==temp0_16^post_20 && temp0_31^0==temp0_31^post_20 && temp_35^0==temp_35^post_20 && tmp_34^0==tmp_34^post_20 && x_131^0==x_131^post_20 && x_176^0==x_176^post_20 && x_19^0==x_19^post_20 && x_26^0==x_26^post_20 && x_SLAM_f_17^0==x_SLAM_f_17^post_20 && x_SLAM_f_24^0==x_SLAM_f_24^post_20 && y_18^0==y_18^post_20 && y_25^0==y_25^post_20 ], cost: 1 20: l15 -> l16 : a_118^0'=a_118^post_21, a_149^0'=a_149^post_21, a_188^0'=a_188^post_21, a_225^0'=a_225^post_21, a_281^0'=a_281^post_21, a_289^0'=a_289^post_21, a_342^0'=a_342^post_21, a_343^0'=a_343^post_21, f_171^0'=f_171^post_21, head_15^0'=head_15^post_21, head_32^0'=head_32^post_21, head_SLAM_f_29^0'=head_SLAM_f_29^post_21, i_110^0'=i_110^post_21, i_30^0'=i_30^post_21, i_95^0'=i_95^post_21, len_134^0'=len_134^post_21, len_187^0'=len_187^post_21, length_28^0'=length_28^post_21, nondet_12^0'=nondet_12^post_21, r_126^0'=r_126^post_21, r_165^0'=r_165^post_21, r_39^0'=r_39^post_21, rcd_59^0'=rcd_59^post_21, rcd_89^0'=rcd_89^post_21, result_11^0'=result_11^post_21, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_21, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_21, t_22^0'=t_22^post_21, tail_14^0'=tail_14^post_21, temp0_16^0'=temp0_16^post_21, temp0_31^0'=temp0_31^post_21, temp_35^0'=temp_35^post_21, tmp_34^0'=tmp_34^post_21, x_131^0'=x_131^post_21, x_176^0'=x_176^post_21, x_19^0'=x_19^post_21, x_26^0'=x_26^post_21, x_SLAM_f_17^0'=x_SLAM_f_17^post_21, x_SLAM_f_24^0'=x_SLAM_f_24^post_21, y_18^0'=y_18^post_21, y_25^0'=y_25^post_21, [ 1+head_15^0<=tail_14^0 && a_118^0==a_118^post_21 && a_149^0==a_149^post_21 && a_188^0==a_188^post_21 && a_225^0==a_225^post_21 && a_281^0==a_281^post_21 && a_289^0==a_289^post_21 && a_342^0==a_342^post_21 && a_343^0==a_343^post_21 && f_171^0==f_171^post_21 && head_15^0==head_15^post_21 && head_32^0==head_32^post_21 && head_SLAM_f_29^0==head_SLAM_f_29^post_21 && i_110^0==i_110^post_21 && i_30^0==i_30^post_21 && i_95^0==i_95^post_21 && len_134^0==len_134^post_21 && len_187^0==len_187^post_21 && length_28^0==length_28^post_21 && nondet_12^0==nondet_12^post_21 && r_126^0==r_126^post_21 && r_165^0==r_165^post_21 && r_39^0==r_39^post_21 && rcd_59^0==rcd_59^post_21 && rcd_89^0==rcd_89^post_21 && result_11^0==result_11^post_21 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_21 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_21 && t_22^0==t_22^post_21 && tail_14^0==tail_14^post_21 && temp0_16^0==temp0_16^post_21 && temp0_31^0==temp0_31^post_21 && temp_35^0==temp_35^post_21 && tmp_34^0==tmp_34^post_21 && x_131^0==x_131^post_21 && x_176^0==x_176^post_21 && x_19^0==x_19^post_21 && x_26^0==x_26^post_21 && x_SLAM_f_17^0==x_SLAM_f_17^post_21 && x_SLAM_f_24^0==x_SLAM_f_24^post_21 && y_18^0==y_18^post_21 && y_25^0==y_25^post_21 ], cost: 1 21: l16 -> l4 : a_118^0'=a_118^post_22, a_149^0'=a_149^post_22, a_188^0'=a_188^post_22, a_225^0'=a_225^post_22, a_281^0'=a_281^post_22, a_289^0'=a_289^post_22, a_342^0'=a_342^post_22, a_343^0'=a_343^post_22, f_171^0'=f_171^post_22, head_15^0'=head_15^post_22, head_32^0'=head_32^post_22, head_SLAM_f_29^0'=head_SLAM_f_29^post_22, i_110^0'=i_110^post_22, i_30^0'=i_30^post_22, i_95^0'=i_95^post_22, len_134^0'=len_134^post_22, len_187^0'=len_187^post_22, length_28^0'=length_28^post_22, nondet_12^0'=nondet_12^post_22, r_126^0'=r_126^post_22, r_165^0'=r_165^post_22, r_39^0'=r_39^post_22, rcd_59^0'=rcd_59^post_22, rcd_89^0'=rcd_89^post_22, result_11^0'=result_11^post_22, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_22, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_22, t_22^0'=t_22^post_22, tail_14^0'=tail_14^post_22, temp0_16^0'=temp0_16^post_22, temp0_31^0'=temp0_31^post_22, temp_35^0'=temp_35^post_22, tmp_34^0'=tmp_34^post_22, x_131^0'=x_131^post_22, x_176^0'=x_176^post_22, x_19^0'=x_19^post_22, x_26^0'=x_26^post_22, x_SLAM_f_17^0'=x_SLAM_f_17^post_22, x_SLAM_f_24^0'=x_SLAM_f_24^post_22, y_18^0'=y_18^post_22, y_25^0'=y_25^post_22, [ 1<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && a_118^0==a_118^post_22 && a_149^0==a_149^post_22 && a_188^0==a_188^post_22 && a_225^0==a_225^post_22 && a_281^0==a_281^post_22 && a_289^0==a_289^post_22 && a_342^0==a_342^post_22 && a_343^0==a_343^post_22 && f_171^0==f_171^post_22 && head_15^0==head_15^post_22 && head_32^0==head_32^post_22 && head_SLAM_f_29^0==head_SLAM_f_29^post_22 && i_110^0==i_110^post_22 && i_30^0==i_30^post_22 && i_95^0==i_95^post_22 && len_134^0==len_134^post_22 && len_187^0==len_187^post_22 && length_28^0==length_28^post_22 && nondet_12^0==nondet_12^post_22 && r_126^0==r_126^post_22 && r_165^0==r_165^post_22 && r_39^0==r_39^post_22 && rcd_59^0==rcd_59^post_22 && rcd_89^0==rcd_89^post_22 && result_11^0==result_11^post_22 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_22 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_22 && t_22^0==t_22^post_22 && tail_14^0==tail_14^post_22 && temp0_16^0==temp0_16^post_22 && temp0_31^0==temp0_31^post_22 && temp_35^0==temp_35^post_22 && tmp_34^0==tmp_34^post_22 && x_131^0==x_131^post_22 && x_176^0==x_176^post_22 && x_19^0==x_19^post_22 && x_26^0==x_26^post_22 && x_SLAM_f_17^0==x_SLAM_f_17^post_22 && x_SLAM_f_24^0==x_SLAM_f_24^post_22 && y_18^0==y_18^post_22 && y_25^0==y_25^post_22 ], cost: 1 23: l17 -> l18 : a_118^0'=a_118^post_24, a_149^0'=a_149^post_24, a_188^0'=a_188^post_24, a_225^0'=a_225^post_24, a_281^0'=a_281^post_24, a_289^0'=a_289^post_24, a_342^0'=a_342^post_24, a_343^0'=a_343^post_24, f_171^0'=f_171^post_24, head_15^0'=head_15^post_24, head_32^0'=head_32^post_24, head_SLAM_f_29^0'=head_SLAM_f_29^post_24, i_110^0'=i_110^post_24, i_30^0'=i_30^post_24, i_95^0'=i_95^post_24, len_134^0'=len_134^post_24, len_187^0'=len_187^post_24, length_28^0'=length_28^post_24, nondet_12^0'=nondet_12^post_24, r_126^0'=r_126^post_24, r_165^0'=r_165^post_24, r_39^0'=r_39^post_24, rcd_59^0'=rcd_59^post_24, rcd_89^0'=rcd_89^post_24, result_11^0'=result_11^post_24, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_24, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_24, t_22^0'=t_22^post_24, tail_14^0'=tail_14^post_24, temp0_16^0'=temp0_16^post_24, temp0_31^0'=temp0_31^post_24, temp_35^0'=temp_35^post_24, tmp_34^0'=tmp_34^post_24, x_131^0'=x_131^post_24, x_176^0'=x_176^post_24, x_19^0'=x_19^post_24, x_26^0'=x_26^post_24, x_SLAM_f_17^0'=x_SLAM_f_17^post_24, x_SLAM_f_24^0'=x_SLAM_f_24^post_24, y_18^0'=y_18^post_24, y_25^0'=y_25^post_24, [ 1+y_18^0<=x_19^0 && a_118^0==a_118^post_24 && a_149^0==a_149^post_24 && a_188^0==a_188^post_24 && a_225^0==a_225^post_24 && a_281^0==a_281^post_24 && a_289^0==a_289^post_24 && a_342^0==a_342^post_24 && a_343^0==a_343^post_24 && f_171^0==f_171^post_24 && head_15^0==head_15^post_24 && head_32^0==head_32^post_24 && head_SLAM_f_29^0==head_SLAM_f_29^post_24 && i_110^0==i_110^post_24 && i_30^0==i_30^post_24 && i_95^0==i_95^post_24 && len_134^0==len_134^post_24 && len_187^0==len_187^post_24 && length_28^0==length_28^post_24 && nondet_12^0==nondet_12^post_24 && r_126^0==r_126^post_24 && r_165^0==r_165^post_24 && r_39^0==r_39^post_24 && rcd_59^0==rcd_59^post_24 && rcd_89^0==rcd_89^post_24 && result_11^0==result_11^post_24 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_24 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_24 && t_22^0==t_22^post_24 && tail_14^0==tail_14^post_24 && temp0_16^0==temp0_16^post_24 && temp0_31^0==temp0_31^post_24 && temp_35^0==temp_35^post_24 && tmp_34^0==tmp_34^post_24 && x_131^0==x_131^post_24 && x_176^0==x_176^post_24 && x_19^0==x_19^post_24 && x_26^0==x_26^post_24 && x_SLAM_f_17^0==x_SLAM_f_17^post_24 && x_SLAM_f_24^0==x_SLAM_f_24^post_24 && y_18^0==y_18^post_24 && y_25^0==y_25^post_24 ], cost: 1 24: l17 -> l18 : a_118^0'=a_118^post_25, a_149^0'=a_149^post_25, a_188^0'=a_188^post_25, a_225^0'=a_225^post_25, a_281^0'=a_281^post_25, a_289^0'=a_289^post_25, a_342^0'=a_342^post_25, a_343^0'=a_343^post_25, f_171^0'=f_171^post_25, head_15^0'=head_15^post_25, head_32^0'=head_32^post_25, head_SLAM_f_29^0'=head_SLAM_f_29^post_25, i_110^0'=i_110^post_25, i_30^0'=i_30^post_25, i_95^0'=i_95^post_25, len_134^0'=len_134^post_25, len_187^0'=len_187^post_25, length_28^0'=length_28^post_25, nondet_12^0'=nondet_12^post_25, r_126^0'=r_126^post_25, r_165^0'=r_165^post_25, r_39^0'=r_39^post_25, rcd_59^0'=rcd_59^post_25, rcd_89^0'=rcd_89^post_25, result_11^0'=result_11^post_25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_25, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_25, t_22^0'=t_22^post_25, tail_14^0'=tail_14^post_25, temp0_16^0'=temp0_16^post_25, temp0_31^0'=temp0_31^post_25, temp_35^0'=temp_35^post_25, tmp_34^0'=tmp_34^post_25, x_131^0'=x_131^post_25, x_176^0'=x_176^post_25, x_19^0'=x_19^post_25, x_26^0'=x_26^post_25, x_SLAM_f_17^0'=x_SLAM_f_17^post_25, x_SLAM_f_24^0'=x_SLAM_f_24^post_25, y_18^0'=y_18^post_25, y_25^0'=y_25^post_25, [ 1+x_19^0<=y_18^0 && a_118^0==a_118^post_25 && a_149^0==a_149^post_25 && a_188^0==a_188^post_25 && a_225^0==a_225^post_25 && a_281^0==a_281^post_25 && a_289^0==a_289^post_25 && a_342^0==a_342^post_25 && a_343^0==a_343^post_25 && f_171^0==f_171^post_25 && head_15^0==head_15^post_25 && head_32^0==head_32^post_25 && head_SLAM_f_29^0==head_SLAM_f_29^post_25 && i_110^0==i_110^post_25 && i_30^0==i_30^post_25 && i_95^0==i_95^post_25 && len_134^0==len_134^post_25 && len_187^0==len_187^post_25 && length_28^0==length_28^post_25 && nondet_12^0==nondet_12^post_25 && r_126^0==r_126^post_25 && r_165^0==r_165^post_25 && r_39^0==r_39^post_25 && rcd_59^0==rcd_59^post_25 && rcd_89^0==rcd_89^post_25 && result_11^0==result_11^post_25 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_25 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_25 && t_22^0==t_22^post_25 && tail_14^0==tail_14^post_25 && temp0_16^0==temp0_16^post_25 && temp0_31^0==temp0_31^post_25 && temp_35^0==temp_35^post_25 && tmp_34^0==tmp_34^post_25 && x_131^0==x_131^post_25 && x_176^0==x_176^post_25 && x_19^0==x_19^post_25 && x_26^0==x_26^post_25 && x_SLAM_f_17^0==x_SLAM_f_17^post_25 && x_SLAM_f_24^0==x_SLAM_f_24^post_25 && y_18^0==y_18^post_25 && y_25^0==y_25^post_25 ], cost: 1 25: l18 -> l19 : a_118^0'=a_118^post_26, a_149^0'=a_149^post_26, a_188^0'=a_188^post_26, a_225^0'=a_225^post_26, a_281^0'=a_281^post_26, a_289^0'=a_289^post_26, a_342^0'=a_342^post_26, a_343^0'=a_343^post_26, f_171^0'=f_171^post_26, head_15^0'=head_15^post_26, head_32^0'=head_32^post_26, head_SLAM_f_29^0'=head_SLAM_f_29^post_26, i_110^0'=i_110^post_26, i_30^0'=i_30^post_26, i_95^0'=i_95^post_26, len_134^0'=len_134^post_26, len_187^0'=len_187^post_26, length_28^0'=length_28^post_26, nondet_12^0'=nondet_12^post_26, r_126^0'=r_126^post_26, r_165^0'=r_165^post_26, r_39^0'=r_39^post_26, rcd_59^0'=rcd_59^post_26, rcd_89^0'=rcd_89^post_26, result_11^0'=result_11^post_26, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_26, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_26, t_22^0'=t_22^post_26, tail_14^0'=tail_14^post_26, temp0_16^0'=temp0_16^post_26, temp0_31^0'=temp0_31^post_26, temp_35^0'=temp_35^post_26, tmp_34^0'=tmp_34^post_26, x_131^0'=x_131^post_26, x_176^0'=x_176^post_26, x_19^0'=x_19^post_26, x_26^0'=x_26^post_26, x_SLAM_f_17^0'=x_SLAM_f_17^post_26, x_SLAM_f_24^0'=x_SLAM_f_24^post_26, y_18^0'=y_18^post_26, y_25^0'=y_25^post_26, [ t_22^post_26==x_19^0 && tail_14^0<=y_18^0 && y_18^0<=tail_14^0 && head_15^0<=x_SLAM_f_17^0 && x_SLAM_f_17^0<=head_15^0 && a_118^0==a_118^post_26 && a_149^0==a_149^post_26 && a_188^0==a_188^post_26 && a_225^0==a_225^post_26 && a_281^0==a_281^post_26 && a_289^0==a_289^post_26 && a_342^0==a_342^post_26 && a_343^0==a_343^post_26 && f_171^0==f_171^post_26 && head_15^0==head_15^post_26 && head_32^0==head_32^post_26 && head_SLAM_f_29^0==head_SLAM_f_29^post_26 && i_110^0==i_110^post_26 && i_30^0==i_30^post_26 && i_95^0==i_95^post_26 && len_134^0==len_134^post_26 && len_187^0==len_187^post_26 && length_28^0==length_28^post_26 && nondet_12^0==nondet_12^post_26 && r_126^0==r_126^post_26 && r_165^0==r_165^post_26 && r_39^0==r_39^post_26 && rcd_59^0==rcd_59^post_26 && rcd_89^0==rcd_89^post_26 && result_11^0==result_11^post_26 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_26 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_26 && tail_14^0==tail_14^post_26 && temp0_16^0==temp0_16^post_26 && temp0_31^0==temp0_31^post_26 && temp_35^0==temp_35^post_26 && tmp_34^0==tmp_34^post_26 && x_131^0==x_131^post_26 && x_176^0==x_176^post_26 && x_19^0==x_19^post_26 && x_26^0==x_26^post_26 && x_SLAM_f_17^0==x_SLAM_f_17^post_26 && x_SLAM_f_24^0==x_SLAM_f_24^post_26 && y_18^0==y_18^post_26 && y_25^0==y_25^post_26 ], cost: 1 26: l19 -> l20 : a_118^0'=a_118^post_27, a_149^0'=a_149^post_27, a_188^0'=a_188^post_27, a_225^0'=a_225^post_27, a_281^0'=a_281^post_27, a_289^0'=a_289^post_27, a_342^0'=a_342^post_27, a_343^0'=a_343^post_27, f_171^0'=f_171^post_27, head_15^0'=head_15^post_27, head_32^0'=head_32^post_27, head_SLAM_f_29^0'=head_SLAM_f_29^post_27, i_110^0'=i_110^post_27, i_30^0'=i_30^post_27, i_95^0'=i_95^post_27, len_134^0'=len_134^post_27, len_187^0'=len_187^post_27, length_28^0'=length_28^post_27, nondet_12^0'=nondet_12^post_27, r_126^0'=r_126^post_27, r_165^0'=r_165^post_27, r_39^0'=r_39^post_27, rcd_59^0'=rcd_59^post_27, rcd_89^0'=rcd_89^post_27, result_11^0'=result_11^post_27, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_27, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_27, t_22^0'=t_22^post_27, tail_14^0'=tail_14^post_27, temp0_16^0'=temp0_16^post_27, temp0_31^0'=temp0_31^post_27, temp_35^0'=temp_35^post_27, tmp_34^0'=tmp_34^post_27, x_131^0'=x_131^post_27, x_176^0'=x_176^post_27, x_19^0'=x_19^post_27, x_26^0'=x_26^post_27, x_SLAM_f_17^0'=x_SLAM_f_17^post_27, x_SLAM_f_24^0'=x_SLAM_f_24^post_27, y_18^0'=y_18^post_27, y_25^0'=y_25^post_27, [ 1+tail_14^0<=head_15^0 && a_118^0==a_118^post_27 && a_149^0==a_149^post_27 && a_188^0==a_188^post_27 && a_225^0==a_225^post_27 && a_281^0==a_281^post_27 && a_289^0==a_289^post_27 && a_342^0==a_342^post_27 && a_343^0==a_343^post_27 && f_171^0==f_171^post_27 && head_15^0==head_15^post_27 && head_32^0==head_32^post_27 && head_SLAM_f_29^0==head_SLAM_f_29^post_27 && i_110^0==i_110^post_27 && i_30^0==i_30^post_27 && i_95^0==i_95^post_27 && len_134^0==len_134^post_27 && len_187^0==len_187^post_27 && length_28^0==length_28^post_27 && nondet_12^0==nondet_12^post_27 && r_126^0==r_126^post_27 && r_165^0==r_165^post_27 && r_39^0==r_39^post_27 && rcd_59^0==rcd_59^post_27 && rcd_89^0==rcd_89^post_27 && result_11^0==result_11^post_27 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_27 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_27 && t_22^0==t_22^post_27 && tail_14^0==tail_14^post_27 && temp0_16^0==temp0_16^post_27 && temp0_31^0==temp0_31^post_27 && temp_35^0==temp_35^post_27 && tmp_34^0==tmp_34^post_27 && x_131^0==x_131^post_27 && x_176^0==x_176^post_27 && x_19^0==x_19^post_27 && x_26^0==x_26^post_27 && x_SLAM_f_17^0==x_SLAM_f_17^post_27 && x_SLAM_f_24^0==x_SLAM_f_24^post_27 && y_18^0==y_18^post_27 && y_25^0==y_25^post_27 ], cost: 1 27: l19 -> l20 : a_118^0'=a_118^post_28, a_149^0'=a_149^post_28, a_188^0'=a_188^post_28, a_225^0'=a_225^post_28, a_281^0'=a_281^post_28, a_289^0'=a_289^post_28, a_342^0'=a_342^post_28, a_343^0'=a_343^post_28, f_171^0'=f_171^post_28, head_15^0'=head_15^post_28, head_32^0'=head_32^post_28, head_SLAM_f_29^0'=head_SLAM_f_29^post_28, i_110^0'=i_110^post_28, i_30^0'=i_30^post_28, i_95^0'=i_95^post_28, len_134^0'=len_134^post_28, len_187^0'=len_187^post_28, length_28^0'=length_28^post_28, nondet_12^0'=nondet_12^post_28, r_126^0'=r_126^post_28, r_165^0'=r_165^post_28, r_39^0'=r_39^post_28, rcd_59^0'=rcd_59^post_28, rcd_89^0'=rcd_89^post_28, result_11^0'=result_11^post_28, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_28, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_28, t_22^0'=t_22^post_28, tail_14^0'=tail_14^post_28, temp0_16^0'=temp0_16^post_28, temp0_31^0'=temp0_31^post_28, temp_35^0'=temp_35^post_28, tmp_34^0'=tmp_34^post_28, x_131^0'=x_131^post_28, x_176^0'=x_176^post_28, x_19^0'=x_19^post_28, x_26^0'=x_26^post_28, x_SLAM_f_17^0'=x_SLAM_f_17^post_28, x_SLAM_f_24^0'=x_SLAM_f_24^post_28, y_18^0'=y_18^post_28, y_25^0'=y_25^post_28, [ 1+head_15^0<=tail_14^0 && a_118^0==a_118^post_28 && a_149^0==a_149^post_28 && a_188^0==a_188^post_28 && a_225^0==a_225^post_28 && a_281^0==a_281^post_28 && a_289^0==a_289^post_28 && a_342^0==a_342^post_28 && a_343^0==a_343^post_28 && f_171^0==f_171^post_28 && head_15^0==head_15^post_28 && head_32^0==head_32^post_28 && head_SLAM_f_29^0==head_SLAM_f_29^post_28 && i_110^0==i_110^post_28 && i_30^0==i_30^post_28 && i_95^0==i_95^post_28 && len_134^0==len_134^post_28 && len_187^0==len_187^post_28 && length_28^0==length_28^post_28 && nondet_12^0==nondet_12^post_28 && r_126^0==r_126^post_28 && r_165^0==r_165^post_28 && r_39^0==r_39^post_28 && rcd_59^0==rcd_59^post_28 && rcd_89^0==rcd_89^post_28 && result_11^0==result_11^post_28 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_28 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_28 && t_22^0==t_22^post_28 && tail_14^0==tail_14^post_28 && temp0_16^0==temp0_16^post_28 && temp0_31^0==temp0_31^post_28 && temp_35^0==temp_35^post_28 && tmp_34^0==tmp_34^post_28 && x_131^0==x_131^post_28 && x_176^0==x_176^post_28 && x_19^0==x_19^post_28 && x_26^0==x_26^post_28 && x_SLAM_f_17^0==x_SLAM_f_17^post_28 && x_SLAM_f_24^0==x_SLAM_f_24^post_28 && y_18^0==y_18^post_28 && y_25^0==y_25^post_28 ], cost: 1 28: l20 -> l21 : a_118^0'=a_118^post_29, a_149^0'=a_149^post_29, a_188^0'=a_188^post_29, a_225^0'=a_225^post_29, a_281^0'=a_281^post_29, a_289^0'=a_289^post_29, a_342^0'=a_342^post_29, a_343^0'=a_343^post_29, f_171^0'=f_171^post_29, head_15^0'=head_15^post_29, head_32^0'=head_32^post_29, head_SLAM_f_29^0'=head_SLAM_f_29^post_29, i_110^0'=i_110^post_29, i_30^0'=i_30^post_29, i_95^0'=i_95^post_29, len_134^0'=len_134^post_29, len_187^0'=len_187^post_29, length_28^0'=length_28^post_29, nondet_12^0'=nondet_12^post_29, r_126^0'=r_126^post_29, r_165^0'=r_165^post_29, r_39^0'=r_39^post_29, rcd_59^0'=rcd_59^post_29, rcd_89^0'=rcd_89^post_29, result_11^0'=result_11^post_29, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_29, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_29, t_22^0'=t_22^post_29, tail_14^0'=tail_14^post_29, temp0_16^0'=temp0_16^post_29, temp0_31^0'=temp0_31^post_29, temp_35^0'=temp_35^post_29, tmp_34^0'=tmp_34^post_29, x_131^0'=x_131^post_29, x_176^0'=x_176^post_29, x_19^0'=x_19^post_29, x_26^0'=x_26^post_29, x_SLAM_f_17^0'=x_SLAM_f_17^post_29, x_SLAM_f_24^0'=x_SLAM_f_24^post_29, y_18^0'=y_18^post_29, y_25^0'=y_25^post_29, [ 1+head_15^0<=y_18^0 && a_118^0==a_118^post_29 && a_149^0==a_149^post_29 && a_188^0==a_188^post_29 && a_225^0==a_225^post_29 && a_281^0==a_281^post_29 && a_289^0==a_289^post_29 && a_342^0==a_342^post_29 && a_343^0==a_343^post_29 && f_171^0==f_171^post_29 && head_15^0==head_15^post_29 && head_32^0==head_32^post_29 && head_SLAM_f_29^0==head_SLAM_f_29^post_29 && i_110^0==i_110^post_29 && i_30^0==i_30^post_29 && i_95^0==i_95^post_29 && len_134^0==len_134^post_29 && len_187^0==len_187^post_29 && length_28^0==length_28^post_29 && nondet_12^0==nondet_12^post_29 && r_126^0==r_126^post_29 && r_165^0==r_165^post_29 && r_39^0==r_39^post_29 && rcd_59^0==rcd_59^post_29 && rcd_89^0==rcd_89^post_29 && result_11^0==result_11^post_29 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_29 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_29 && t_22^0==t_22^post_29 && tail_14^0==tail_14^post_29 && temp0_16^0==temp0_16^post_29 && temp0_31^0==temp0_31^post_29 && temp_35^0==temp_35^post_29 && tmp_34^0==tmp_34^post_29 && x_131^0==x_131^post_29 && x_176^0==x_176^post_29 && x_19^0==x_19^post_29 && x_26^0==x_26^post_29 && x_SLAM_f_17^0==x_SLAM_f_17^post_29 && x_SLAM_f_24^0==x_SLAM_f_24^post_29 && y_18^0==y_18^post_29 && y_25^0==y_25^post_29 ], cost: 1 29: l20 -> l21 : a_118^0'=a_118^post_30, a_149^0'=a_149^post_30, a_188^0'=a_188^post_30, a_225^0'=a_225^post_30, a_281^0'=a_281^post_30, a_289^0'=a_289^post_30, a_342^0'=a_342^post_30, a_343^0'=a_343^post_30, f_171^0'=f_171^post_30, head_15^0'=head_15^post_30, head_32^0'=head_32^post_30, head_SLAM_f_29^0'=head_SLAM_f_29^post_30, i_110^0'=i_110^post_30, i_30^0'=i_30^post_30, i_95^0'=i_95^post_30, len_134^0'=len_134^post_30, len_187^0'=len_187^post_30, length_28^0'=length_28^post_30, nondet_12^0'=nondet_12^post_30, r_126^0'=r_126^post_30, r_165^0'=r_165^post_30, r_39^0'=r_39^post_30, rcd_59^0'=rcd_59^post_30, rcd_89^0'=rcd_89^post_30, result_11^0'=result_11^post_30, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_30, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_30, t_22^0'=t_22^post_30, tail_14^0'=tail_14^post_30, temp0_16^0'=temp0_16^post_30, temp0_31^0'=temp0_31^post_30, temp_35^0'=temp_35^post_30, tmp_34^0'=tmp_34^post_30, x_131^0'=x_131^post_30, x_176^0'=x_176^post_30, x_19^0'=x_19^post_30, x_26^0'=x_26^post_30, x_SLAM_f_17^0'=x_SLAM_f_17^post_30, x_SLAM_f_24^0'=x_SLAM_f_24^post_30, y_18^0'=y_18^post_30, y_25^0'=y_25^post_30, [ 1+y_18^0<=head_15^0 && a_118^0==a_118^post_30 && a_149^0==a_149^post_30 && a_188^0==a_188^post_30 && a_225^0==a_225^post_30 && a_281^0==a_281^post_30 && a_289^0==a_289^post_30 && a_342^0==a_342^post_30 && a_343^0==a_343^post_30 && f_171^0==f_171^post_30 && head_15^0==head_15^post_30 && head_32^0==head_32^post_30 && head_SLAM_f_29^0==head_SLAM_f_29^post_30 && i_110^0==i_110^post_30 && i_30^0==i_30^post_30 && i_95^0==i_95^post_30 && len_134^0==len_134^post_30 && len_187^0==len_187^post_30 && length_28^0==length_28^post_30 && nondet_12^0==nondet_12^post_30 && r_126^0==r_126^post_30 && r_165^0==r_165^post_30 && r_39^0==r_39^post_30 && rcd_59^0==rcd_59^post_30 && rcd_89^0==rcd_89^post_30 && result_11^0==result_11^post_30 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_30 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_30 && t_22^0==t_22^post_30 && tail_14^0==tail_14^post_30 && temp0_16^0==temp0_16^post_30 && temp0_31^0==temp0_31^post_30 && temp_35^0==temp_35^post_30 && tmp_34^0==tmp_34^post_30 && x_131^0==x_131^post_30 && x_176^0==x_176^post_30 && x_19^0==x_19^post_30 && x_26^0==x_26^post_30 && x_SLAM_f_17^0==x_SLAM_f_17^post_30 && x_SLAM_f_24^0==x_SLAM_f_24^post_30 && y_18^0==y_18^post_30 && y_25^0==y_25^post_30 ], cost: 1 30: l21 -> l22 : a_118^0'=a_118^post_31, a_149^0'=a_149^post_31, a_188^0'=a_188^post_31, a_225^0'=a_225^post_31, a_281^0'=a_281^post_31, a_289^0'=a_289^post_31, a_342^0'=a_342^post_31, a_343^0'=a_343^post_31, f_171^0'=f_171^post_31, head_15^0'=head_15^post_31, head_32^0'=head_32^post_31, head_SLAM_f_29^0'=head_SLAM_f_29^post_31, i_110^0'=i_110^post_31, i_30^0'=i_30^post_31, i_95^0'=i_95^post_31, len_134^0'=len_134^post_31, len_187^0'=len_187^post_31, length_28^0'=length_28^post_31, nondet_12^0'=nondet_12^post_31, r_126^0'=r_126^post_31, r_165^0'=r_165^post_31, r_39^0'=r_39^post_31, rcd_59^0'=rcd_59^post_31, rcd_89^0'=rcd_89^post_31, result_11^0'=result_11^post_31, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_31, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_31, t_22^0'=t_22^post_31, tail_14^0'=tail_14^post_31, temp0_16^0'=temp0_16^post_31, temp0_31^0'=temp0_31^post_31, temp_35^0'=temp_35^post_31, tmp_34^0'=tmp_34^post_31, x_131^0'=x_131^post_31, x_176^0'=x_176^post_31, x_19^0'=x_19^post_31, x_26^0'=x_26^post_31, x_SLAM_f_17^0'=x_SLAM_f_17^post_31, x_SLAM_f_24^0'=x_SLAM_f_24^post_31, y_18^0'=y_18^post_31, y_25^0'=y_25^post_31, [ 1+y_18^0<=t_22^0 && a_118^0==a_118^post_31 && a_149^0==a_149^post_31 && a_188^0==a_188^post_31 && a_225^0==a_225^post_31 && a_281^0==a_281^post_31 && a_289^0==a_289^post_31 && a_342^0==a_342^post_31 && a_343^0==a_343^post_31 && f_171^0==f_171^post_31 && head_15^0==head_15^post_31 && head_32^0==head_32^post_31 && head_SLAM_f_29^0==head_SLAM_f_29^post_31 && i_110^0==i_110^post_31 && i_30^0==i_30^post_31 && i_95^0==i_95^post_31 && len_134^0==len_134^post_31 && len_187^0==len_187^post_31 && length_28^0==length_28^post_31 && nondet_12^0==nondet_12^post_31 && r_126^0==r_126^post_31 && r_165^0==r_165^post_31 && r_39^0==r_39^post_31 && rcd_59^0==rcd_59^post_31 && rcd_89^0==rcd_89^post_31 && result_11^0==result_11^post_31 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_31 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_31 && t_22^0==t_22^post_31 && tail_14^0==tail_14^post_31 && temp0_16^0==temp0_16^post_31 && temp0_31^0==temp0_31^post_31 && temp_35^0==temp_35^post_31 && tmp_34^0==tmp_34^post_31 && x_131^0==x_131^post_31 && x_176^0==x_176^post_31 && x_19^0==x_19^post_31 && x_26^0==x_26^post_31 && x_SLAM_f_17^0==x_SLAM_f_17^post_31 && x_SLAM_f_24^0==x_SLAM_f_24^post_31 && y_18^0==y_18^post_31 && y_25^0==y_25^post_31 ], cost: 1 31: l21 -> l22 : a_118^0'=a_118^post_32, a_149^0'=a_149^post_32, a_188^0'=a_188^post_32, a_225^0'=a_225^post_32, a_281^0'=a_281^post_32, a_289^0'=a_289^post_32, a_342^0'=a_342^post_32, a_343^0'=a_343^post_32, f_171^0'=f_171^post_32, head_15^0'=head_15^post_32, head_32^0'=head_32^post_32, head_SLAM_f_29^0'=head_SLAM_f_29^post_32, i_110^0'=i_110^post_32, i_30^0'=i_30^post_32, i_95^0'=i_95^post_32, len_134^0'=len_134^post_32, len_187^0'=len_187^post_32, length_28^0'=length_28^post_32, nondet_12^0'=nondet_12^post_32, r_126^0'=r_126^post_32, r_165^0'=r_165^post_32, r_39^0'=r_39^post_32, rcd_59^0'=rcd_59^post_32, rcd_89^0'=rcd_89^post_32, result_11^0'=result_11^post_32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_32, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_32, t_22^0'=t_22^post_32, tail_14^0'=tail_14^post_32, temp0_16^0'=temp0_16^post_32, temp0_31^0'=temp0_31^post_32, temp_35^0'=temp_35^post_32, tmp_34^0'=tmp_34^post_32, x_131^0'=x_131^post_32, x_176^0'=x_176^post_32, x_19^0'=x_19^post_32, x_26^0'=x_26^post_32, x_SLAM_f_17^0'=x_SLAM_f_17^post_32, x_SLAM_f_24^0'=x_SLAM_f_24^post_32, y_18^0'=y_18^post_32, y_25^0'=y_25^post_32, [ 1+t_22^0<=y_18^0 && a_118^0==a_118^post_32 && a_149^0==a_149^post_32 && a_188^0==a_188^post_32 && a_225^0==a_225^post_32 && a_281^0==a_281^post_32 && a_289^0==a_289^post_32 && a_342^0==a_342^post_32 && a_343^0==a_343^post_32 && f_171^0==f_171^post_32 && head_15^0==head_15^post_32 && head_32^0==head_32^post_32 && head_SLAM_f_29^0==head_SLAM_f_29^post_32 && i_110^0==i_110^post_32 && i_30^0==i_30^post_32 && i_95^0==i_95^post_32 && len_134^0==len_134^post_32 && len_187^0==len_187^post_32 && length_28^0==length_28^post_32 && nondet_12^0==nondet_12^post_32 && r_126^0==r_126^post_32 && r_165^0==r_165^post_32 && r_39^0==r_39^post_32 && rcd_59^0==rcd_59^post_32 && rcd_89^0==rcd_89^post_32 && result_11^0==result_11^post_32 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_32 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_32 && t_22^0==t_22^post_32 && tail_14^0==tail_14^post_32 && temp0_16^0==temp0_16^post_32 && temp0_31^0==temp0_31^post_32 && temp_35^0==temp_35^post_32 && tmp_34^0==tmp_34^post_32 && x_131^0==x_131^post_32 && x_176^0==x_176^post_32 && x_19^0==x_19^post_32 && x_26^0==x_26^post_32 && x_SLAM_f_17^0==x_SLAM_f_17^post_32 && x_SLAM_f_24^0==x_SLAM_f_24^post_32 && y_18^0==y_18^post_32 && y_25^0==y_25^post_32 ], cost: 1 32: l22 -> l6 : a_118^0'=a_118^post_33, a_149^0'=a_149^post_33, a_188^0'=a_188^post_33, a_225^0'=a_225^post_33, a_281^0'=a_281^post_33, a_289^0'=a_289^post_33, a_342^0'=a_342^post_33, a_343^0'=a_343^post_33, f_171^0'=f_171^post_33, head_15^0'=head_15^post_33, head_32^0'=head_32^post_33, head_SLAM_f_29^0'=head_SLAM_f_29^post_33, i_110^0'=i_110^post_33, i_30^0'=i_30^post_33, i_95^0'=i_95^post_33, len_134^0'=len_134^post_33, len_187^0'=len_187^post_33, length_28^0'=length_28^post_33, nondet_12^0'=nondet_12^post_33, r_126^0'=r_126^post_33, r_165^0'=r_165^post_33, r_39^0'=r_39^post_33, rcd_59^0'=rcd_59^post_33, rcd_89^0'=rcd_89^post_33, result_11^0'=result_11^post_33, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_33, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_33, t_22^0'=t_22^post_33, tail_14^0'=tail_14^post_33, temp0_16^0'=temp0_16^post_33, temp0_31^0'=temp0_31^post_33, temp_35^0'=temp_35^post_33, tmp_34^0'=tmp_34^post_33, x_131^0'=x_131^post_33, x_176^0'=x_176^post_33, x_19^0'=x_19^post_33, x_26^0'=x_26^post_33, x_SLAM_f_17^0'=x_SLAM_f_17^post_33, x_SLAM_f_24^0'=x_SLAM_f_24^post_33, y_18^0'=y_18^post_33, y_25^0'=y_25^post_33, [ 1<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && a_118^0==a_118^post_33 && a_149^0==a_149^post_33 && a_188^0==a_188^post_33 && a_225^0==a_225^post_33 && a_281^0==a_281^post_33 && a_289^0==a_289^post_33 && a_342^0==a_342^post_33 && a_343^0==a_343^post_33 && f_171^0==f_171^post_33 && head_15^0==head_15^post_33 && head_32^0==head_32^post_33 && head_SLAM_f_29^0==head_SLAM_f_29^post_33 && i_110^0==i_110^post_33 && i_30^0==i_30^post_33 && i_95^0==i_95^post_33 && len_134^0==len_134^post_33 && len_187^0==len_187^post_33 && length_28^0==length_28^post_33 && nondet_12^0==nondet_12^post_33 && r_126^0==r_126^post_33 && r_165^0==r_165^post_33 && r_39^0==r_39^post_33 && rcd_59^0==rcd_59^post_33 && rcd_89^0==rcd_89^post_33 && result_11^0==result_11^post_33 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_33 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_33 && t_22^0==t_22^post_33 && tail_14^0==tail_14^post_33 && temp0_16^0==temp0_16^post_33 && temp0_31^0==temp0_31^post_33 && temp_35^0==temp_35^post_33 && tmp_34^0==tmp_34^post_33 && x_131^0==x_131^post_33 && x_176^0==x_176^post_33 && x_19^0==x_19^post_33 && x_26^0==x_26^post_33 && x_SLAM_f_17^0==x_SLAM_f_17^post_33 && x_SLAM_f_24^0==x_SLAM_f_24^post_33 && y_18^0==y_18^post_33 && y_25^0==y_25^post_33 ], cost: 1 33: l23 -> l24 : a_118^0'=a_118^post_34, a_149^0'=a_149^post_34, a_188^0'=a_188^post_34, a_225^0'=a_225^post_34, a_281^0'=a_281^post_34, a_289^0'=a_289^post_34, a_342^0'=a_342^post_34, a_343^0'=a_343^post_34, f_171^0'=f_171^post_34, head_15^0'=head_15^post_34, head_32^0'=head_32^post_34, head_SLAM_f_29^0'=head_SLAM_f_29^post_34, i_110^0'=i_110^post_34, i_30^0'=i_30^post_34, i_95^0'=i_95^post_34, len_134^0'=len_134^post_34, len_187^0'=len_187^post_34, length_28^0'=length_28^post_34, nondet_12^0'=nondet_12^post_34, r_126^0'=r_126^post_34, r_165^0'=r_165^post_34, r_39^0'=r_39^post_34, rcd_59^0'=rcd_59^post_34, rcd_89^0'=rcd_89^post_34, result_11^0'=result_11^post_34, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_34, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_34, t_22^0'=t_22^post_34, tail_14^0'=tail_14^post_34, temp0_16^0'=temp0_16^post_34, temp0_31^0'=temp0_31^post_34, temp_35^0'=temp_35^post_34, tmp_34^0'=tmp_34^post_34, x_131^0'=x_131^post_34, x_176^0'=x_176^post_34, x_19^0'=x_19^post_34, x_26^0'=x_26^post_34, x_SLAM_f_17^0'=x_SLAM_f_17^post_34, x_SLAM_f_24^0'=x_SLAM_f_24^post_34, y_18^0'=y_18^post_34, y_25^0'=y_25^post_34, [ 0<=a_149^0 && 0<=len_134^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_34==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_34 && tail_14^post_34==tail_14^post_34 && head_15^post_34==head_15^post_34 && x_SLAM_f_17^post_34==x_SLAM_f_17^post_34 && a_289^post_34==a_289^post_34 && a_118^0==a_118^post_34 && a_149^0==a_149^post_34 && a_188^0==a_188^post_34 && a_225^0==a_225^post_34 && a_281^0==a_281^post_34 && a_342^0==a_342^post_34 && a_343^0==a_343^post_34 && f_171^0==f_171^post_34 && head_32^0==head_32^post_34 && head_SLAM_f_29^0==head_SLAM_f_29^post_34 && i_110^0==i_110^post_34 && i_30^0==i_30^post_34 && i_95^0==i_95^post_34 && len_134^0==len_134^post_34 && len_187^0==len_187^post_34 && length_28^0==length_28^post_34 && nondet_12^0==nondet_12^post_34 && r_126^0==r_126^post_34 && r_165^0==r_165^post_34 && r_39^0==r_39^post_34 && rcd_59^0==rcd_59^post_34 && rcd_89^0==rcd_89^post_34 && result_11^0==result_11^post_34 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_34 && t_22^0==t_22^post_34 && temp0_16^0==temp0_16^post_34 && temp0_31^0==temp0_31^post_34 && temp_35^0==temp_35^post_34 && tmp_34^0==tmp_34^post_34 && x_131^0==x_131^post_34 && x_176^0==x_176^post_34 && x_19^0==x_19^post_34 && x_26^0==x_26^post_34 && x_SLAM_f_24^0==x_SLAM_f_24^post_34 && y_18^0==y_18^post_34 && y_25^0==y_25^post_34 ], cost: 1 34: l24 -> l25 : a_118^0'=a_118^post_35, a_149^0'=a_149^post_35, a_188^0'=a_188^post_35, a_225^0'=a_225^post_35, a_281^0'=a_281^post_35, a_289^0'=a_289^post_35, a_342^0'=a_342^post_35, a_343^0'=a_343^post_35, f_171^0'=f_171^post_35, head_15^0'=head_15^post_35, head_32^0'=head_32^post_35, head_SLAM_f_29^0'=head_SLAM_f_29^post_35, i_110^0'=i_110^post_35, i_30^0'=i_30^post_35, i_95^0'=i_95^post_35, len_134^0'=len_134^post_35, len_187^0'=len_187^post_35, length_28^0'=length_28^post_35, nondet_12^0'=nondet_12^post_35, r_126^0'=r_126^post_35, r_165^0'=r_165^post_35, r_39^0'=r_39^post_35, rcd_59^0'=rcd_59^post_35, rcd_89^0'=rcd_89^post_35, result_11^0'=result_11^post_35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_35, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_35, t_22^0'=t_22^post_35, tail_14^0'=tail_14^post_35, temp0_16^0'=temp0_16^post_35, temp0_31^0'=temp0_31^post_35, temp_35^0'=temp_35^post_35, tmp_34^0'=tmp_34^post_35, x_131^0'=x_131^post_35, x_176^0'=x_176^post_35, x_19^0'=x_19^post_35, x_26^0'=x_26^post_35, x_SLAM_f_17^0'=x_SLAM_f_17^post_35, x_SLAM_f_24^0'=x_SLAM_f_24^post_35, y_18^0'=y_18^post_35, y_25^0'=y_25^post_35, [ 1+y_18^0<=x_19^0 && a_118^0==a_118^post_35 && a_149^0==a_149^post_35 && a_188^0==a_188^post_35 && a_225^0==a_225^post_35 && a_281^0==a_281^post_35 && a_289^0==a_289^post_35 && a_342^0==a_342^post_35 && a_343^0==a_343^post_35 && f_171^0==f_171^post_35 && head_15^0==head_15^post_35 && head_32^0==head_32^post_35 && head_SLAM_f_29^0==head_SLAM_f_29^post_35 && i_110^0==i_110^post_35 && i_30^0==i_30^post_35 && i_95^0==i_95^post_35 && len_134^0==len_134^post_35 && len_187^0==len_187^post_35 && length_28^0==length_28^post_35 && nondet_12^0==nondet_12^post_35 && r_126^0==r_126^post_35 && r_165^0==r_165^post_35 && r_39^0==r_39^post_35 && rcd_59^0==rcd_59^post_35 && rcd_89^0==rcd_89^post_35 && result_11^0==result_11^post_35 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_35 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_35 && t_22^0==t_22^post_35 && tail_14^0==tail_14^post_35 && temp0_16^0==temp0_16^post_35 && temp0_31^0==temp0_31^post_35 && temp_35^0==temp_35^post_35 && tmp_34^0==tmp_34^post_35 && x_131^0==x_131^post_35 && x_176^0==x_176^post_35 && x_19^0==x_19^post_35 && x_26^0==x_26^post_35 && x_SLAM_f_17^0==x_SLAM_f_17^post_35 && x_SLAM_f_24^0==x_SLAM_f_24^post_35 && y_18^0==y_18^post_35 && y_25^0==y_25^post_35 ], cost: 1 35: l24 -> l25 : a_118^0'=a_118^post_36, a_149^0'=a_149^post_36, a_188^0'=a_188^post_36, a_225^0'=a_225^post_36, a_281^0'=a_281^post_36, a_289^0'=a_289^post_36, a_342^0'=a_342^post_36, a_343^0'=a_343^post_36, f_171^0'=f_171^post_36, head_15^0'=head_15^post_36, head_32^0'=head_32^post_36, head_SLAM_f_29^0'=head_SLAM_f_29^post_36, i_110^0'=i_110^post_36, i_30^0'=i_30^post_36, i_95^0'=i_95^post_36, len_134^0'=len_134^post_36, len_187^0'=len_187^post_36, length_28^0'=length_28^post_36, nondet_12^0'=nondet_12^post_36, r_126^0'=r_126^post_36, r_165^0'=r_165^post_36, r_39^0'=r_39^post_36, rcd_59^0'=rcd_59^post_36, rcd_89^0'=rcd_89^post_36, result_11^0'=result_11^post_36, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_36, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_36, t_22^0'=t_22^post_36, tail_14^0'=tail_14^post_36, temp0_16^0'=temp0_16^post_36, temp0_31^0'=temp0_31^post_36, temp_35^0'=temp_35^post_36, tmp_34^0'=tmp_34^post_36, x_131^0'=x_131^post_36, x_176^0'=x_176^post_36, x_19^0'=x_19^post_36, x_26^0'=x_26^post_36, x_SLAM_f_17^0'=x_SLAM_f_17^post_36, x_SLAM_f_24^0'=x_SLAM_f_24^post_36, y_18^0'=y_18^post_36, y_25^0'=y_25^post_36, [ 1+x_19^0<=y_18^0 && a_118^0==a_118^post_36 && a_149^0==a_149^post_36 && a_188^0==a_188^post_36 && a_225^0==a_225^post_36 && a_281^0==a_281^post_36 && a_289^0==a_289^post_36 && a_342^0==a_342^post_36 && a_343^0==a_343^post_36 && f_171^0==f_171^post_36 && head_15^0==head_15^post_36 && head_32^0==head_32^post_36 && head_SLAM_f_29^0==head_SLAM_f_29^post_36 && i_110^0==i_110^post_36 && i_30^0==i_30^post_36 && i_95^0==i_95^post_36 && len_134^0==len_134^post_36 && len_187^0==len_187^post_36 && length_28^0==length_28^post_36 && nondet_12^0==nondet_12^post_36 && r_126^0==r_126^post_36 && r_165^0==r_165^post_36 && r_39^0==r_39^post_36 && rcd_59^0==rcd_59^post_36 && rcd_89^0==rcd_89^post_36 && result_11^0==result_11^post_36 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_36 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_36 && t_22^0==t_22^post_36 && tail_14^0==tail_14^post_36 && temp0_16^0==temp0_16^post_36 && temp0_31^0==temp0_31^post_36 && temp_35^0==temp_35^post_36 && tmp_34^0==tmp_34^post_36 && x_131^0==x_131^post_36 && x_176^0==x_176^post_36 && x_19^0==x_19^post_36 && x_26^0==x_26^post_36 && x_SLAM_f_17^0==x_SLAM_f_17^post_36 && x_SLAM_f_24^0==x_SLAM_f_24^post_36 && y_18^0==y_18^post_36 && y_25^0==y_25^post_36 ], cost: 1 36: l25 -> l26 : a_118^0'=a_118^post_37, a_149^0'=a_149^post_37, a_188^0'=a_188^post_37, a_225^0'=a_225^post_37, a_281^0'=a_281^post_37, a_289^0'=a_289^post_37, a_342^0'=a_342^post_37, a_343^0'=a_343^post_37, f_171^0'=f_171^post_37, head_15^0'=head_15^post_37, head_32^0'=head_32^post_37, head_SLAM_f_29^0'=head_SLAM_f_29^post_37, i_110^0'=i_110^post_37, i_30^0'=i_30^post_37, i_95^0'=i_95^post_37, len_134^0'=len_134^post_37, len_187^0'=len_187^post_37, length_28^0'=length_28^post_37, nondet_12^0'=nondet_12^post_37, r_126^0'=r_126^post_37, r_165^0'=r_165^post_37, r_39^0'=r_39^post_37, rcd_59^0'=rcd_59^post_37, rcd_89^0'=rcd_89^post_37, result_11^0'=result_11^post_37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_37, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_37, t_22^0'=t_22^post_37, tail_14^0'=tail_14^post_37, temp0_16^0'=temp0_16^post_37, temp0_31^0'=temp0_31^post_37, temp_35^0'=temp_35^post_37, tmp_34^0'=tmp_34^post_37, x_131^0'=x_131^post_37, x_176^0'=x_176^post_37, x_19^0'=x_19^post_37, x_26^0'=x_26^post_37, x_SLAM_f_17^0'=x_SLAM_f_17^post_37, x_SLAM_f_24^0'=x_SLAM_f_24^post_37, y_18^0'=y_18^post_37, y_25^0'=y_25^post_37, [ t_22^post_37==x_19^0 && a_225^post_37==a_225^post_37 && 0<=a_289^0 && a_289^0<=0 && tail_14^0<=y_18^0 && y_18^0<=tail_14^0 && head_15^0<=x_SLAM_f_17^0 && x_SLAM_f_17^0<=head_15^0 && head_15^0<=t_22^post_37 && t_22^post_37<=head_15^0 && a_149^0<=a_281^0-a_225^post_37 && a_281^0-a_225^post_37<=a_149^0 && a_118^0==a_118^post_37 && a_149^0==a_149^post_37 && a_188^0==a_188^post_37 && a_281^0==a_281^post_37 && a_289^0==a_289^post_37 && a_342^0==a_342^post_37 && a_343^0==a_343^post_37 && f_171^0==f_171^post_37 && head_15^0==head_15^post_37 && head_32^0==head_32^post_37 && head_SLAM_f_29^0==head_SLAM_f_29^post_37 && i_110^0==i_110^post_37 && i_30^0==i_30^post_37 && i_95^0==i_95^post_37 && len_134^0==len_134^post_37 && len_187^0==len_187^post_37 && length_28^0==length_28^post_37 && nondet_12^0==nondet_12^post_37 && r_126^0==r_126^post_37 && r_165^0==r_165^post_37 && r_39^0==r_39^post_37 && rcd_59^0==rcd_59^post_37 && rcd_89^0==rcd_89^post_37 && result_11^0==result_11^post_37 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_37 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_37 && tail_14^0==tail_14^post_37 && temp0_16^0==temp0_16^post_37 && temp0_31^0==temp0_31^post_37 && temp_35^0==temp_35^post_37 && tmp_34^0==tmp_34^post_37 && x_131^0==x_131^post_37 && x_176^0==x_176^post_37 && x_19^0==x_19^post_37 && x_26^0==x_26^post_37 && x_SLAM_f_17^0==x_SLAM_f_17^post_37 && x_SLAM_f_24^0==x_SLAM_f_24^post_37 && y_18^0==y_18^post_37 && y_25^0==y_25^post_37 ], cost: 1 37: l26 -> l27 : a_118^0'=a_118^post_38, a_149^0'=a_149^post_38, a_188^0'=a_188^post_38, a_225^0'=a_225^post_38, a_281^0'=a_281^post_38, a_289^0'=a_289^post_38, a_342^0'=a_342^post_38, a_343^0'=a_343^post_38, f_171^0'=f_171^post_38, head_15^0'=head_15^post_38, head_32^0'=head_32^post_38, head_SLAM_f_29^0'=head_SLAM_f_29^post_38, i_110^0'=i_110^post_38, i_30^0'=i_30^post_38, i_95^0'=i_95^post_38, len_134^0'=len_134^post_38, len_187^0'=len_187^post_38, length_28^0'=length_28^post_38, nondet_12^0'=nondet_12^post_38, r_126^0'=r_126^post_38, r_165^0'=r_165^post_38, r_39^0'=r_39^post_38, rcd_59^0'=rcd_59^post_38, rcd_89^0'=rcd_89^post_38, result_11^0'=result_11^post_38, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_38, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_38, t_22^0'=t_22^post_38, tail_14^0'=tail_14^post_38, temp0_16^0'=temp0_16^post_38, temp0_31^0'=temp0_31^post_38, temp_35^0'=temp_35^post_38, tmp_34^0'=tmp_34^post_38, x_131^0'=x_131^post_38, x_176^0'=x_176^post_38, x_19^0'=x_19^post_38, x_26^0'=x_26^post_38, x_SLAM_f_17^0'=x_SLAM_f_17^post_38, x_SLAM_f_24^0'=x_SLAM_f_24^post_38, y_18^0'=y_18^post_38, y_25^0'=y_25^post_38, [ 1+tail_14^0<=head_15^0 && a_118^0==a_118^post_38 && a_149^0==a_149^post_38 && a_188^0==a_188^post_38 && a_225^0==a_225^post_38 && a_281^0==a_281^post_38 && a_289^0==a_289^post_38 && a_342^0==a_342^post_38 && a_343^0==a_343^post_38 && f_171^0==f_171^post_38 && head_15^0==head_15^post_38 && head_32^0==head_32^post_38 && head_SLAM_f_29^0==head_SLAM_f_29^post_38 && i_110^0==i_110^post_38 && i_30^0==i_30^post_38 && i_95^0==i_95^post_38 && len_134^0==len_134^post_38 && len_187^0==len_187^post_38 && length_28^0==length_28^post_38 && nondet_12^0==nondet_12^post_38 && r_126^0==r_126^post_38 && r_165^0==r_165^post_38 && r_39^0==r_39^post_38 && rcd_59^0==rcd_59^post_38 && rcd_89^0==rcd_89^post_38 && result_11^0==result_11^post_38 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_38 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_38 && t_22^0==t_22^post_38 && tail_14^0==tail_14^post_38 && temp0_16^0==temp0_16^post_38 && temp0_31^0==temp0_31^post_38 && temp_35^0==temp_35^post_38 && tmp_34^0==tmp_34^post_38 && x_131^0==x_131^post_38 && x_176^0==x_176^post_38 && x_19^0==x_19^post_38 && x_26^0==x_26^post_38 && x_SLAM_f_17^0==x_SLAM_f_17^post_38 && x_SLAM_f_24^0==x_SLAM_f_24^post_38 && y_18^0==y_18^post_38 && y_25^0==y_25^post_38 ], cost: 1 38: l26 -> l27 : a_118^0'=a_118^post_39, a_149^0'=a_149^post_39, a_188^0'=a_188^post_39, a_225^0'=a_225^post_39, a_281^0'=a_281^post_39, a_289^0'=a_289^post_39, a_342^0'=a_342^post_39, a_343^0'=a_343^post_39, f_171^0'=f_171^post_39, head_15^0'=head_15^post_39, head_32^0'=head_32^post_39, head_SLAM_f_29^0'=head_SLAM_f_29^post_39, i_110^0'=i_110^post_39, i_30^0'=i_30^post_39, i_95^0'=i_95^post_39, len_134^0'=len_134^post_39, len_187^0'=len_187^post_39, length_28^0'=length_28^post_39, nondet_12^0'=nondet_12^post_39, r_126^0'=r_126^post_39, r_165^0'=r_165^post_39, r_39^0'=r_39^post_39, rcd_59^0'=rcd_59^post_39, rcd_89^0'=rcd_89^post_39, result_11^0'=result_11^post_39, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_39, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_39, t_22^0'=t_22^post_39, tail_14^0'=tail_14^post_39, temp0_16^0'=temp0_16^post_39, temp0_31^0'=temp0_31^post_39, temp_35^0'=temp_35^post_39, tmp_34^0'=tmp_34^post_39, x_131^0'=x_131^post_39, x_176^0'=x_176^post_39, x_19^0'=x_19^post_39, x_26^0'=x_26^post_39, x_SLAM_f_17^0'=x_SLAM_f_17^post_39, x_SLAM_f_24^0'=x_SLAM_f_24^post_39, y_18^0'=y_18^post_39, y_25^0'=y_25^post_39, [ 1+head_15^0<=tail_14^0 && a_118^0==a_118^post_39 && a_149^0==a_149^post_39 && a_188^0==a_188^post_39 && a_225^0==a_225^post_39 && a_281^0==a_281^post_39 && a_289^0==a_289^post_39 && a_342^0==a_342^post_39 && a_343^0==a_343^post_39 && f_171^0==f_171^post_39 && head_15^0==head_15^post_39 && head_32^0==head_32^post_39 && head_SLAM_f_29^0==head_SLAM_f_29^post_39 && i_110^0==i_110^post_39 && i_30^0==i_30^post_39 && i_95^0==i_95^post_39 && len_134^0==len_134^post_39 && len_187^0==len_187^post_39 && length_28^0==length_28^post_39 && nondet_12^0==nondet_12^post_39 && r_126^0==r_126^post_39 && r_165^0==r_165^post_39 && r_39^0==r_39^post_39 && rcd_59^0==rcd_59^post_39 && rcd_89^0==rcd_89^post_39 && result_11^0==result_11^post_39 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_39 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_39 && t_22^0==t_22^post_39 && tail_14^0==tail_14^post_39 && temp0_16^0==temp0_16^post_39 && temp0_31^0==temp0_31^post_39 && temp_35^0==temp_35^post_39 && tmp_34^0==tmp_34^post_39 && x_131^0==x_131^post_39 && x_176^0==x_176^post_39 && x_19^0==x_19^post_39 && x_26^0==x_26^post_39 && x_SLAM_f_17^0==x_SLAM_f_17^post_39 && x_SLAM_f_24^0==x_SLAM_f_24^post_39 && y_18^0==y_18^post_39 && y_25^0==y_25^post_39 ], cost: 1 39: l27 -> l28 : a_118^0'=a_118^post_40, a_149^0'=a_149^post_40, a_188^0'=a_188^post_40, a_225^0'=a_225^post_40, a_281^0'=a_281^post_40, a_289^0'=a_289^post_40, a_342^0'=a_342^post_40, a_343^0'=a_343^post_40, f_171^0'=f_171^post_40, head_15^0'=head_15^post_40, head_32^0'=head_32^post_40, head_SLAM_f_29^0'=head_SLAM_f_29^post_40, i_110^0'=i_110^post_40, i_30^0'=i_30^post_40, i_95^0'=i_95^post_40, len_134^0'=len_134^post_40, len_187^0'=len_187^post_40, length_28^0'=length_28^post_40, nondet_12^0'=nondet_12^post_40, r_126^0'=r_126^post_40, r_165^0'=r_165^post_40, r_39^0'=r_39^post_40, rcd_59^0'=rcd_59^post_40, rcd_89^0'=rcd_89^post_40, result_11^0'=result_11^post_40, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_40, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_40, t_22^0'=t_22^post_40, tail_14^0'=tail_14^post_40, temp0_16^0'=temp0_16^post_40, temp0_31^0'=temp0_31^post_40, temp_35^0'=temp_35^post_40, tmp_34^0'=tmp_34^post_40, x_131^0'=x_131^post_40, x_176^0'=x_176^post_40, x_19^0'=x_19^post_40, x_26^0'=x_26^post_40, x_SLAM_f_17^0'=x_SLAM_f_17^post_40, x_SLAM_f_24^0'=x_SLAM_f_24^post_40, y_18^0'=y_18^post_40, y_25^0'=y_25^post_40, [ 1+head_15^0<=y_18^0 && a_118^0==a_118^post_40 && a_149^0==a_149^post_40 && a_188^0==a_188^post_40 && a_225^0==a_225^post_40 && a_281^0==a_281^post_40 && a_289^0==a_289^post_40 && a_342^0==a_342^post_40 && a_343^0==a_343^post_40 && f_171^0==f_171^post_40 && head_15^0==head_15^post_40 && head_32^0==head_32^post_40 && head_SLAM_f_29^0==head_SLAM_f_29^post_40 && i_110^0==i_110^post_40 && i_30^0==i_30^post_40 && i_95^0==i_95^post_40 && len_134^0==len_134^post_40 && len_187^0==len_187^post_40 && length_28^0==length_28^post_40 && nondet_12^0==nondet_12^post_40 && r_126^0==r_126^post_40 && r_165^0==r_165^post_40 && r_39^0==r_39^post_40 && rcd_59^0==rcd_59^post_40 && rcd_89^0==rcd_89^post_40 && result_11^0==result_11^post_40 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_40 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_40 && t_22^0==t_22^post_40 && tail_14^0==tail_14^post_40 && temp0_16^0==temp0_16^post_40 && temp0_31^0==temp0_31^post_40 && temp_35^0==temp_35^post_40 && tmp_34^0==tmp_34^post_40 && x_131^0==x_131^post_40 && x_176^0==x_176^post_40 && x_19^0==x_19^post_40 && x_26^0==x_26^post_40 && x_SLAM_f_17^0==x_SLAM_f_17^post_40 && x_SLAM_f_24^0==x_SLAM_f_24^post_40 && y_18^0==y_18^post_40 && y_25^0==y_25^post_40 ], cost: 1 40: l27 -> l28 : a_118^0'=a_118^post_41, a_149^0'=a_149^post_41, a_188^0'=a_188^post_41, a_225^0'=a_225^post_41, a_281^0'=a_281^post_41, a_289^0'=a_289^post_41, a_342^0'=a_342^post_41, a_343^0'=a_343^post_41, f_171^0'=f_171^post_41, head_15^0'=head_15^post_41, head_32^0'=head_32^post_41, head_SLAM_f_29^0'=head_SLAM_f_29^post_41, i_110^0'=i_110^post_41, i_30^0'=i_30^post_41, i_95^0'=i_95^post_41, len_134^0'=len_134^post_41, len_187^0'=len_187^post_41, length_28^0'=length_28^post_41, nondet_12^0'=nondet_12^post_41, r_126^0'=r_126^post_41, r_165^0'=r_165^post_41, r_39^0'=r_39^post_41, rcd_59^0'=rcd_59^post_41, rcd_89^0'=rcd_89^post_41, result_11^0'=result_11^post_41, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_41, t_22^0'=t_22^post_41, tail_14^0'=tail_14^post_41, temp0_16^0'=temp0_16^post_41, temp0_31^0'=temp0_31^post_41, temp_35^0'=temp_35^post_41, tmp_34^0'=tmp_34^post_41, x_131^0'=x_131^post_41, x_176^0'=x_176^post_41, x_19^0'=x_19^post_41, x_26^0'=x_26^post_41, x_SLAM_f_17^0'=x_SLAM_f_17^post_41, x_SLAM_f_24^0'=x_SLAM_f_24^post_41, y_18^0'=y_18^post_41, y_25^0'=y_25^post_41, [ 1+y_18^0<=head_15^0 && a_118^0==a_118^post_41 && a_149^0==a_149^post_41 && a_188^0==a_188^post_41 && a_225^0==a_225^post_41 && a_281^0==a_281^post_41 && a_289^0==a_289^post_41 && a_342^0==a_342^post_41 && a_343^0==a_343^post_41 && f_171^0==f_171^post_41 && head_15^0==head_15^post_41 && head_32^0==head_32^post_41 && head_SLAM_f_29^0==head_SLAM_f_29^post_41 && i_110^0==i_110^post_41 && i_30^0==i_30^post_41 && i_95^0==i_95^post_41 && len_134^0==len_134^post_41 && len_187^0==len_187^post_41 && length_28^0==length_28^post_41 && nondet_12^0==nondet_12^post_41 && r_126^0==r_126^post_41 && r_165^0==r_165^post_41 && r_39^0==r_39^post_41 && rcd_59^0==rcd_59^post_41 && rcd_89^0==rcd_89^post_41 && result_11^0==result_11^post_41 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_41 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_41 && t_22^0==t_22^post_41 && tail_14^0==tail_14^post_41 && temp0_16^0==temp0_16^post_41 && temp0_31^0==temp0_31^post_41 && temp_35^0==temp_35^post_41 && tmp_34^0==tmp_34^post_41 && x_131^0==x_131^post_41 && x_176^0==x_176^post_41 && x_19^0==x_19^post_41 && x_26^0==x_26^post_41 && x_SLAM_f_17^0==x_SLAM_f_17^post_41 && x_SLAM_f_24^0==x_SLAM_f_24^post_41 && y_18^0==y_18^post_41 && y_25^0==y_25^post_41 ], cost: 1 41: l28 -> l29 : a_118^0'=a_118^post_42, a_149^0'=a_149^post_42, a_188^0'=a_188^post_42, a_225^0'=a_225^post_42, a_281^0'=a_281^post_42, a_289^0'=a_289^post_42, a_342^0'=a_342^post_42, a_343^0'=a_343^post_42, f_171^0'=f_171^post_42, head_15^0'=head_15^post_42, head_32^0'=head_32^post_42, head_SLAM_f_29^0'=head_SLAM_f_29^post_42, i_110^0'=i_110^post_42, i_30^0'=i_30^post_42, i_95^0'=i_95^post_42, len_134^0'=len_134^post_42, len_187^0'=len_187^post_42, length_28^0'=length_28^post_42, nondet_12^0'=nondet_12^post_42, r_126^0'=r_126^post_42, r_165^0'=r_165^post_42, r_39^0'=r_39^post_42, rcd_59^0'=rcd_59^post_42, rcd_89^0'=rcd_89^post_42, result_11^0'=result_11^post_42, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_42, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_42, t_22^0'=t_22^post_42, tail_14^0'=tail_14^post_42, temp0_16^0'=temp0_16^post_42, temp0_31^0'=temp0_31^post_42, temp_35^0'=temp_35^post_42, tmp_34^0'=tmp_34^post_42, x_131^0'=x_131^post_42, x_176^0'=x_176^post_42, x_19^0'=x_19^post_42, x_26^0'=x_26^post_42, x_SLAM_f_17^0'=x_SLAM_f_17^post_42, x_SLAM_f_24^0'=x_SLAM_f_24^post_42, y_18^0'=y_18^post_42, y_25^0'=y_25^post_42, [ 1+y_18^0<=t_22^0 && a_118^0==a_118^post_42 && a_149^0==a_149^post_42 && a_188^0==a_188^post_42 && a_225^0==a_225^post_42 && a_281^0==a_281^post_42 && a_289^0==a_289^post_42 && a_342^0==a_342^post_42 && a_343^0==a_343^post_42 && f_171^0==f_171^post_42 && head_15^0==head_15^post_42 && head_32^0==head_32^post_42 && head_SLAM_f_29^0==head_SLAM_f_29^post_42 && i_110^0==i_110^post_42 && i_30^0==i_30^post_42 && i_95^0==i_95^post_42 && len_134^0==len_134^post_42 && len_187^0==len_187^post_42 && length_28^0==length_28^post_42 && nondet_12^0==nondet_12^post_42 && r_126^0==r_126^post_42 && r_165^0==r_165^post_42 && r_39^0==r_39^post_42 && rcd_59^0==rcd_59^post_42 && rcd_89^0==rcd_89^post_42 && result_11^0==result_11^post_42 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_42 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_42 && t_22^0==t_22^post_42 && tail_14^0==tail_14^post_42 && temp0_16^0==temp0_16^post_42 && temp0_31^0==temp0_31^post_42 && temp_35^0==temp_35^post_42 && tmp_34^0==tmp_34^post_42 && x_131^0==x_131^post_42 && x_176^0==x_176^post_42 && x_19^0==x_19^post_42 && x_26^0==x_26^post_42 && x_SLAM_f_17^0==x_SLAM_f_17^post_42 && x_SLAM_f_24^0==x_SLAM_f_24^post_42 && y_18^0==y_18^post_42 && y_25^0==y_25^post_42 ], cost: 1 42: l28 -> l29 : a_118^0'=a_118^post_43, a_149^0'=a_149^post_43, a_188^0'=a_188^post_43, a_225^0'=a_225^post_43, a_281^0'=a_281^post_43, a_289^0'=a_289^post_43, a_342^0'=a_342^post_43, a_343^0'=a_343^post_43, f_171^0'=f_171^post_43, head_15^0'=head_15^post_43, head_32^0'=head_32^post_43, head_SLAM_f_29^0'=head_SLAM_f_29^post_43, i_110^0'=i_110^post_43, i_30^0'=i_30^post_43, i_95^0'=i_95^post_43, len_134^0'=len_134^post_43, len_187^0'=len_187^post_43, length_28^0'=length_28^post_43, nondet_12^0'=nondet_12^post_43, r_126^0'=r_126^post_43, r_165^0'=r_165^post_43, r_39^0'=r_39^post_43, rcd_59^0'=rcd_59^post_43, rcd_89^0'=rcd_89^post_43, result_11^0'=result_11^post_43, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_43, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_43, t_22^0'=t_22^post_43, tail_14^0'=tail_14^post_43, temp0_16^0'=temp0_16^post_43, temp0_31^0'=temp0_31^post_43, temp_35^0'=temp_35^post_43, tmp_34^0'=tmp_34^post_43, x_131^0'=x_131^post_43, x_176^0'=x_176^post_43, x_19^0'=x_19^post_43, x_26^0'=x_26^post_43, x_SLAM_f_17^0'=x_SLAM_f_17^post_43, x_SLAM_f_24^0'=x_SLAM_f_24^post_43, y_18^0'=y_18^post_43, y_25^0'=y_25^post_43, [ 1+t_22^0<=y_18^0 && a_118^0==a_118^post_43 && a_149^0==a_149^post_43 && a_188^0==a_188^post_43 && a_225^0==a_225^post_43 && a_281^0==a_281^post_43 && a_289^0==a_289^post_43 && a_342^0==a_342^post_43 && a_343^0==a_343^post_43 && f_171^0==f_171^post_43 && head_15^0==head_15^post_43 && head_32^0==head_32^post_43 && head_SLAM_f_29^0==head_SLAM_f_29^post_43 && i_110^0==i_110^post_43 && i_30^0==i_30^post_43 && i_95^0==i_95^post_43 && len_134^0==len_134^post_43 && len_187^0==len_187^post_43 && length_28^0==length_28^post_43 && nondet_12^0==nondet_12^post_43 && r_126^0==r_126^post_43 && r_165^0==r_165^post_43 && r_39^0==r_39^post_43 && rcd_59^0==rcd_59^post_43 && rcd_89^0==rcd_89^post_43 && result_11^0==result_11^post_43 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_43 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_43 && t_22^0==t_22^post_43 && tail_14^0==tail_14^post_43 && temp0_16^0==temp0_16^post_43 && temp0_31^0==temp0_31^post_43 && temp_35^0==temp_35^post_43 && tmp_34^0==tmp_34^post_43 && x_131^0==x_131^post_43 && x_176^0==x_176^post_43 && x_19^0==x_19^post_43 && x_26^0==x_26^post_43 && x_SLAM_f_17^0==x_SLAM_f_17^post_43 && x_SLAM_f_24^0==x_SLAM_f_24^post_43 && y_18^0==y_18^post_43 && y_25^0==y_25^post_43 ], cost: 1 43: l29 -> l6 : a_118^0'=a_118^post_44, a_149^0'=a_149^post_44, a_188^0'=a_188^post_44, a_225^0'=a_225^post_44, a_281^0'=a_281^post_44, a_289^0'=a_289^post_44, a_342^0'=a_342^post_44, a_343^0'=a_343^post_44, f_171^0'=f_171^post_44, head_15^0'=head_15^post_44, head_32^0'=head_32^post_44, head_SLAM_f_29^0'=head_SLAM_f_29^post_44, i_110^0'=i_110^post_44, i_30^0'=i_30^post_44, i_95^0'=i_95^post_44, len_134^0'=len_134^post_44, len_187^0'=len_187^post_44, length_28^0'=length_28^post_44, nondet_12^0'=nondet_12^post_44, r_126^0'=r_126^post_44, r_165^0'=r_165^post_44, r_39^0'=r_39^post_44, rcd_59^0'=rcd_59^post_44, rcd_89^0'=rcd_89^post_44, result_11^0'=result_11^post_44, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_44, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_44, t_22^0'=t_22^post_44, tail_14^0'=tail_14^post_44, temp0_16^0'=temp0_16^post_44, temp0_31^0'=temp0_31^post_44, temp_35^0'=temp_35^post_44, tmp_34^0'=tmp_34^post_44, x_131^0'=x_131^post_44, x_176^0'=x_176^post_44, x_19^0'=x_19^post_44, x_26^0'=x_26^post_44, x_SLAM_f_17^0'=x_SLAM_f_17^post_44, x_SLAM_f_24^0'=x_SLAM_f_24^post_44, y_18^0'=y_18^post_44, y_25^0'=y_25^post_44, [ 1<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && len_134^post_44==len_134^post_44 && -1+len_134^post_44<=a_225^0 && a_225^0<=-1+len_134^post_44 && a_118^0==a_118^post_44 && a_149^0==a_149^post_44 && a_188^0==a_188^post_44 && a_225^0==a_225^post_44 && a_281^0==a_281^post_44 && a_289^0==a_289^post_44 && a_342^0==a_342^post_44 && a_343^0==a_343^post_44 && f_171^0==f_171^post_44 && head_15^0==head_15^post_44 && head_32^0==head_32^post_44 && head_SLAM_f_29^0==head_SLAM_f_29^post_44 && i_110^0==i_110^post_44 && i_30^0==i_30^post_44 && i_95^0==i_95^post_44 && len_187^0==len_187^post_44 && length_28^0==length_28^post_44 && nondet_12^0==nondet_12^post_44 && r_126^0==r_126^post_44 && r_165^0==r_165^post_44 && r_39^0==r_39^post_44 && rcd_59^0==rcd_59^post_44 && rcd_89^0==rcd_89^post_44 && result_11^0==result_11^post_44 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_44 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_44 && t_22^0==t_22^post_44 && tail_14^0==tail_14^post_44 && temp0_16^0==temp0_16^post_44 && temp0_31^0==temp0_31^post_44 && temp_35^0==temp_35^post_44 && tmp_34^0==tmp_34^post_44 && x_131^0==x_131^post_44 && x_176^0==x_176^post_44 && x_19^0==x_19^post_44 && x_26^0==x_26^post_44 && x_SLAM_f_17^0==x_SLAM_f_17^post_44 && x_SLAM_f_24^0==x_SLAM_f_24^post_44 && y_18^0==y_18^post_44 && y_25^0==y_25^post_44 ], cost: 1 44: l30 -> l3 : a_118^0'=a_118^post_45, a_149^0'=a_149^post_45, a_188^0'=a_188^post_45, a_225^0'=a_225^post_45, a_281^0'=a_281^post_45, a_289^0'=a_289^post_45, a_342^0'=a_342^post_45, a_343^0'=a_343^post_45, f_171^0'=f_171^post_45, head_15^0'=head_15^post_45, head_32^0'=head_32^post_45, head_SLAM_f_29^0'=head_SLAM_f_29^post_45, i_110^0'=i_110^post_45, i_30^0'=i_30^post_45, i_95^0'=i_95^post_45, len_134^0'=len_134^post_45, len_187^0'=len_187^post_45, length_28^0'=length_28^post_45, nondet_12^0'=nondet_12^post_45, r_126^0'=r_126^post_45, r_165^0'=r_165^post_45, r_39^0'=r_39^post_45, rcd_59^0'=rcd_59^post_45, rcd_89^0'=rcd_89^post_45, result_11^0'=result_11^post_45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_45, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_45, t_22^0'=t_22^post_45, tail_14^0'=tail_14^post_45, temp0_16^0'=temp0_16^post_45, temp0_31^0'=temp0_31^post_45, temp_35^0'=temp_35^post_45, tmp_34^0'=tmp_34^post_45, x_131^0'=x_131^post_45, x_176^0'=x_176^post_45, x_19^0'=x_19^post_45, x_26^0'=x_26^post_45, x_SLAM_f_17^0'=x_SLAM_f_17^post_45, x_SLAM_f_24^0'=x_SLAM_f_24^post_45, y_18^0'=y_18^post_45, y_25^0'=y_25^post_45, [ nondet_12^1_1==nondet_12^1_1 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_45==nondet_12^1_1 && nondet_12^post_45==nondet_12^post_45 && length_28^post_45==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_45 && head_SLAM_f_29^post_45==tail_14^0 && head_32^post_45==head_SLAM_f_29^post_45 && i_30^post_45==0 && 0<=i_30^post_45 && i_30^post_45<=0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_45<=length_28^post_45 && length_28^post_45<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_45 && tail_14^0<=head_SLAM_f_29^post_45 && head_SLAM_f_29^post_45<=tail_14^0 && tail_14^0<=head_32^post_45 && head_32^post_45<=tail_14^0 && head_SLAM_f_29^post_45<=head_32^post_45 && head_32^post_45<=head_SLAM_f_29^post_45 && a_118^0==a_118^post_45 && a_149^0==a_149^post_45 && a_188^0==a_188^post_45 && a_225^0==a_225^post_45 && a_281^0==a_281^post_45 && a_289^0==a_289^post_45 && a_342^0==a_342^post_45 && a_343^0==a_343^post_45 && f_171^0==f_171^post_45 && head_15^0==head_15^post_45 && i_110^0==i_110^post_45 && i_95^0==i_95^post_45 && len_134^0==len_134^post_45 && len_187^0==len_187^post_45 && r_126^0==r_126^post_45 && r_165^0==r_165^post_45 && r_39^0==r_39^post_45 && rcd_59^0==rcd_59^post_45 && rcd_89^0==rcd_89^post_45 && result_11^0==result_11^post_45 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_45 && t_22^0==t_22^post_45 && tail_14^0==tail_14^post_45 && temp0_16^0==temp0_16^post_45 && temp0_31^0==temp0_31^post_45 && temp_35^0==temp_35^post_45 && tmp_34^0==tmp_34^post_45 && x_131^0==x_131^post_45 && x_176^0==x_176^post_45 && x_19^0==x_19^post_45 && x_26^0==x_26^post_45 && x_SLAM_f_17^0==x_SLAM_f_17^post_45 && x_SLAM_f_24^0==x_SLAM_f_24^post_45 && y_18^0==y_18^post_45 && y_25^0==y_25^post_45 ], cost: 1 45: l31 -> l32 : a_118^0'=a_118^post_46, a_149^0'=a_149^post_46, a_188^0'=a_188^post_46, a_225^0'=a_225^post_46, a_281^0'=a_281^post_46, a_289^0'=a_289^post_46, a_342^0'=a_342^post_46, a_343^0'=a_343^post_46, f_171^0'=f_171^post_46, head_15^0'=head_15^post_46, head_32^0'=head_32^post_46, head_SLAM_f_29^0'=head_SLAM_f_29^post_46, i_110^0'=i_110^post_46, i_30^0'=i_30^post_46, i_95^0'=i_95^post_46, len_134^0'=len_134^post_46, len_187^0'=len_187^post_46, length_28^0'=length_28^post_46, nondet_12^0'=nondet_12^post_46, r_126^0'=r_126^post_46, r_165^0'=r_165^post_46, r_39^0'=r_39^post_46, rcd_59^0'=rcd_59^post_46, rcd_89^0'=rcd_89^post_46, result_11^0'=result_11^post_46, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_46, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_46, t_22^0'=t_22^post_46, tail_14^0'=tail_14^post_46, temp0_16^0'=temp0_16^post_46, temp0_31^0'=temp0_31^post_46, temp_35^0'=temp_35^post_46, tmp_34^0'=tmp_34^post_46, x_131^0'=x_131^post_46, x_176^0'=x_176^post_46, x_19^0'=x_19^post_46, x_26^0'=x_26^post_46, x_SLAM_f_17^0'=x_SLAM_f_17^post_46, x_SLAM_f_24^0'=x_SLAM_f_24^post_46, y_18^0'=y_18^post_46, y_25^0'=y_25^post_46, [ 0<=len_134^0 && 0<=a_149^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_46==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_46 && y_25^0<=x_26^0 && x_26^0<=y_25^0 && x_SLAM_f_24^post_46==x_SLAM_f_24^post_46 && y_25^post_46==y_25^post_46 && x_26^post_46==x_26^post_46 && x_SLAM_f_17^post_46==head_15^0 && y_18^post_46==tail_14^0 && x_19^post_46==x_SLAM_f_17^post_46 && tail_14^0<=y_18^post_46 && y_18^post_46<=tail_14^0 && head_15^0<=x_SLAM_f_17^post_46 && x_SLAM_f_17^post_46<=head_15^0 && head_15^0<=x_19^post_46 && x_19^post_46<=head_15^0 && x_SLAM_f_17^post_46<=x_19^post_46 && x_19^post_46<=x_SLAM_f_17^post_46 && a_118^0==a_118^post_46 && a_149^0==a_149^post_46 && a_188^0==a_188^post_46 && a_225^0==a_225^post_46 && a_281^0==a_281^post_46 && a_289^0==a_289^post_46 && a_342^0==a_342^post_46 && a_343^0==a_343^post_46 && f_171^0==f_171^post_46 && head_15^0==head_15^post_46 && head_32^0==head_32^post_46 && head_SLAM_f_29^0==head_SLAM_f_29^post_46 && i_110^0==i_110^post_46 && i_30^0==i_30^post_46 && i_95^0==i_95^post_46 && len_134^0==len_134^post_46 && len_187^0==len_187^post_46 && length_28^0==length_28^post_46 && nondet_12^0==nondet_12^post_46 && r_126^0==r_126^post_46 && r_165^0==r_165^post_46 && r_39^0==r_39^post_46 && rcd_59^0==rcd_59^post_46 && rcd_89^0==rcd_89^post_46 && result_11^0==result_11^post_46 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_46 && t_22^0==t_22^post_46 && tail_14^0==tail_14^post_46 && temp0_16^0==temp0_16^post_46 && temp0_31^0==temp0_31^post_46 && temp_35^0==temp_35^post_46 && tmp_34^0==tmp_34^post_46 && x_131^0==x_131^post_46 && x_176^0==x_176^post_46 ], cost: 1 49: l31 -> l35 : a_118^0'=a_118^post_50, a_149^0'=a_149^post_50, a_188^0'=a_188^post_50, a_225^0'=a_225^post_50, a_281^0'=a_281^post_50, a_289^0'=a_289^post_50, a_342^0'=a_342^post_50, a_343^0'=a_343^post_50, f_171^0'=f_171^post_50, head_15^0'=head_15^post_50, head_32^0'=head_32^post_50, head_SLAM_f_29^0'=head_SLAM_f_29^post_50, i_110^0'=i_110^post_50, i_30^0'=i_30^post_50, i_95^0'=i_95^post_50, len_134^0'=len_134^post_50, len_187^0'=len_187^post_50, length_28^0'=length_28^post_50, nondet_12^0'=nondet_12^post_50, r_126^0'=r_126^post_50, r_165^0'=r_165^post_50, r_39^0'=r_39^post_50, rcd_59^0'=rcd_59^post_50, rcd_89^0'=rcd_89^post_50, result_11^0'=result_11^post_50, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_50, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50, t_22^0'=t_22^post_50, tail_14^0'=tail_14^post_50, temp0_16^0'=temp0_16^post_50, temp0_31^0'=temp0_31^post_50, temp_35^0'=temp_35^post_50, tmp_34^0'=tmp_34^post_50, x_131^0'=x_131^post_50, x_176^0'=x_176^post_50, x_19^0'=x_19^post_50, x_26^0'=x_26^post_50, x_SLAM_f_17^0'=x_SLAM_f_17^post_50, x_SLAM_f_24^0'=x_SLAM_f_24^post_50, y_18^0'=y_18^post_50, y_25^0'=y_25^post_50, [ 0<=len_134^0 && 0<=a_149^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50 && tail_14^post_50==tail_14^post_50 && head_15^post_50==head_15^post_50 && x_SLAM_f_24^post_50==x_SLAM_f_24^post_50 && r_39^post_50==r_39^post_50 && f_171^post_50==f_171^post_50 && x_176^post_50==x_176^post_50 && a_118^0==a_118^post_50 && a_149^0==a_149^post_50 && a_188^0==a_188^post_50 && a_225^0==a_225^post_50 && a_281^0==a_281^post_50 && a_289^0==a_289^post_50 && a_342^0==a_342^post_50 && a_343^0==a_343^post_50 && head_32^0==head_32^post_50 && head_SLAM_f_29^0==head_SLAM_f_29^post_50 && i_110^0==i_110^post_50 && i_30^0==i_30^post_50 && i_95^0==i_95^post_50 && len_134^0==len_134^post_50 && len_187^0==len_187^post_50 && length_28^0==length_28^post_50 && nondet_12^0==nondet_12^post_50 && r_126^0==r_126^post_50 && r_165^0==r_165^post_50 && rcd_59^0==rcd_59^post_50 && rcd_89^0==rcd_89^post_50 && result_11^0==result_11^post_50 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_50 && t_22^0==t_22^post_50 && temp0_16^0==temp0_16^post_50 && temp0_31^0==temp0_31^post_50 && temp_35^0==temp_35^post_50 && tmp_34^0==tmp_34^post_50 && x_131^0==x_131^post_50 && x_19^0==x_19^post_50 && x_26^0==x_26^post_50 && x_SLAM_f_17^0==x_SLAM_f_17^post_50 && y_18^0==y_18^post_50 && y_25^0==y_25^post_50 ], cost: 1 46: l32 -> l33 : a_118^0'=a_118^post_47, a_149^0'=a_149^post_47, a_188^0'=a_188^post_47, a_225^0'=a_225^post_47, a_281^0'=a_281^post_47, a_289^0'=a_289^post_47, a_342^0'=a_342^post_47, a_343^0'=a_343^post_47, f_171^0'=f_171^post_47, head_15^0'=head_15^post_47, head_32^0'=head_32^post_47, head_SLAM_f_29^0'=head_SLAM_f_29^post_47, i_110^0'=i_110^post_47, i_30^0'=i_30^post_47, i_95^0'=i_95^post_47, len_134^0'=len_134^post_47, len_187^0'=len_187^post_47, length_28^0'=length_28^post_47, nondet_12^0'=nondet_12^post_47, r_126^0'=r_126^post_47, r_165^0'=r_165^post_47, r_39^0'=r_39^post_47, rcd_59^0'=rcd_59^post_47, rcd_89^0'=rcd_89^post_47, result_11^0'=result_11^post_47, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_47, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_47, t_22^0'=t_22^post_47, tail_14^0'=tail_14^post_47, temp0_16^0'=temp0_16^post_47, temp0_31^0'=temp0_31^post_47, temp_35^0'=temp_35^post_47, tmp_34^0'=tmp_34^post_47, x_131^0'=x_131^post_47, x_176^0'=x_176^post_47, x_19^0'=x_19^post_47, x_26^0'=x_26^post_47, x_SLAM_f_17^0'=x_SLAM_f_17^post_47, x_SLAM_f_24^0'=x_SLAM_f_24^post_47, y_18^0'=y_18^post_47, y_25^0'=y_25^post_47, [ 1+tail_14^0<=head_15^0 && a_118^0==a_118^post_47 && a_149^0==a_149^post_47 && a_188^0==a_188^post_47 && a_225^0==a_225^post_47 && a_281^0==a_281^post_47 && a_289^0==a_289^post_47 && a_342^0==a_342^post_47 && a_343^0==a_343^post_47 && f_171^0==f_171^post_47 && head_15^0==head_15^post_47 && head_32^0==head_32^post_47 && head_SLAM_f_29^0==head_SLAM_f_29^post_47 && i_110^0==i_110^post_47 && i_30^0==i_30^post_47 && i_95^0==i_95^post_47 && len_134^0==len_134^post_47 && len_187^0==len_187^post_47 && length_28^0==length_28^post_47 && nondet_12^0==nondet_12^post_47 && r_126^0==r_126^post_47 && r_165^0==r_165^post_47 && r_39^0==r_39^post_47 && rcd_59^0==rcd_59^post_47 && rcd_89^0==rcd_89^post_47 && result_11^0==result_11^post_47 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_47 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_47 && t_22^0==t_22^post_47 && tail_14^0==tail_14^post_47 && temp0_16^0==temp0_16^post_47 && temp0_31^0==temp0_31^post_47 && temp_35^0==temp_35^post_47 && tmp_34^0==tmp_34^post_47 && x_131^0==x_131^post_47 && x_176^0==x_176^post_47 && x_19^0==x_19^post_47 && x_26^0==x_26^post_47 && x_SLAM_f_17^0==x_SLAM_f_17^post_47 && x_SLAM_f_24^0==x_SLAM_f_24^post_47 && y_18^0==y_18^post_47 && y_25^0==y_25^post_47 ], cost: 1 47: l32 -> l33 : a_118^0'=a_118^post_48, a_149^0'=a_149^post_48, a_188^0'=a_188^post_48, a_225^0'=a_225^post_48, a_281^0'=a_281^post_48, a_289^0'=a_289^post_48, a_342^0'=a_342^post_48, a_343^0'=a_343^post_48, f_171^0'=f_171^post_48, head_15^0'=head_15^post_48, head_32^0'=head_32^post_48, head_SLAM_f_29^0'=head_SLAM_f_29^post_48, i_110^0'=i_110^post_48, i_30^0'=i_30^post_48, i_95^0'=i_95^post_48, len_134^0'=len_134^post_48, len_187^0'=len_187^post_48, length_28^0'=length_28^post_48, nondet_12^0'=nondet_12^post_48, r_126^0'=r_126^post_48, r_165^0'=r_165^post_48, r_39^0'=r_39^post_48, rcd_59^0'=rcd_59^post_48, rcd_89^0'=rcd_89^post_48, result_11^0'=result_11^post_48, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_48, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_48, t_22^0'=t_22^post_48, tail_14^0'=tail_14^post_48, temp0_16^0'=temp0_16^post_48, temp0_31^0'=temp0_31^post_48, temp_35^0'=temp_35^post_48, tmp_34^0'=tmp_34^post_48, x_131^0'=x_131^post_48, x_176^0'=x_176^post_48, x_19^0'=x_19^post_48, x_26^0'=x_26^post_48, x_SLAM_f_17^0'=x_SLAM_f_17^post_48, x_SLAM_f_24^0'=x_SLAM_f_24^post_48, y_18^0'=y_18^post_48, y_25^0'=y_25^post_48, [ 1+head_15^0<=tail_14^0 && a_118^0==a_118^post_48 && a_149^0==a_149^post_48 && a_188^0==a_188^post_48 && a_225^0==a_225^post_48 && a_281^0==a_281^post_48 && a_289^0==a_289^post_48 && a_342^0==a_342^post_48 && a_343^0==a_343^post_48 && f_171^0==f_171^post_48 && head_15^0==head_15^post_48 && head_32^0==head_32^post_48 && head_SLAM_f_29^0==head_SLAM_f_29^post_48 && i_110^0==i_110^post_48 && i_30^0==i_30^post_48 && i_95^0==i_95^post_48 && len_134^0==len_134^post_48 && len_187^0==len_187^post_48 && length_28^0==length_28^post_48 && nondet_12^0==nondet_12^post_48 && r_126^0==r_126^post_48 && r_165^0==r_165^post_48 && r_39^0==r_39^post_48 && rcd_59^0==rcd_59^post_48 && rcd_89^0==rcd_89^post_48 && result_11^0==result_11^post_48 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_48 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_48 && t_22^0==t_22^post_48 && tail_14^0==tail_14^post_48 && temp0_16^0==temp0_16^post_48 && temp0_31^0==temp0_31^post_48 && temp_35^0==temp_35^post_48 && tmp_34^0==tmp_34^post_48 && x_131^0==x_131^post_48 && x_176^0==x_176^post_48 && x_19^0==x_19^post_48 && x_26^0==x_26^post_48 && x_SLAM_f_17^0==x_SLAM_f_17^post_48 && x_SLAM_f_24^0==x_SLAM_f_24^post_48 && y_18^0==y_18^post_48 && y_25^0==y_25^post_48 ], cost: 1 48: l33 -> l23 : a_118^0'=a_118^post_49, a_149^0'=a_149^post_49, a_188^0'=a_188^post_49, a_225^0'=a_225^post_49, a_281^0'=a_281^post_49, a_289^0'=a_289^post_49, a_342^0'=a_342^post_49, a_343^0'=a_343^post_49, f_171^0'=f_171^post_49, head_15^0'=head_15^post_49, head_32^0'=head_32^post_49, head_SLAM_f_29^0'=head_SLAM_f_29^post_49, i_110^0'=i_110^post_49, i_30^0'=i_30^post_49, i_95^0'=i_95^post_49, len_134^0'=len_134^post_49, len_187^0'=len_187^post_49, length_28^0'=length_28^post_49, nondet_12^0'=nondet_12^post_49, r_126^0'=r_126^post_49, r_165^0'=r_165^post_49, r_39^0'=r_39^post_49, rcd_59^0'=rcd_59^post_49, rcd_89^0'=rcd_89^post_49, result_11^0'=result_11^post_49, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_49, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_49, t_22^0'=t_22^post_49, tail_14^0'=tail_14^post_49, temp0_16^0'=temp0_16^post_49, temp0_31^0'=temp0_31^post_49, temp_35^0'=temp_35^post_49, tmp_34^0'=tmp_34^post_49, x_131^0'=x_131^post_49, x_176^0'=x_176^post_49, x_19^0'=x_19^post_49, x_26^0'=x_26^post_49, x_SLAM_f_17^0'=x_SLAM_f_17^post_49, x_SLAM_f_24^0'=x_SLAM_f_24^post_49, y_18^0'=y_18^post_49, y_25^0'=y_25^post_49, [ 1<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && a_118^0==a_118^post_49 && a_149^0==a_149^post_49 && a_188^0==a_188^post_49 && a_225^0==a_225^post_49 && a_281^0==a_281^post_49 && a_289^0==a_289^post_49 && a_342^0==a_342^post_49 && a_343^0==a_343^post_49 && f_171^0==f_171^post_49 && head_15^0==head_15^post_49 && head_32^0==head_32^post_49 && head_SLAM_f_29^0==head_SLAM_f_29^post_49 && i_110^0==i_110^post_49 && i_30^0==i_30^post_49 && i_95^0==i_95^post_49 && len_134^0==len_134^post_49 && len_187^0==len_187^post_49 && length_28^0==length_28^post_49 && nondet_12^0==nondet_12^post_49 && r_126^0==r_126^post_49 && r_165^0==r_165^post_49 && r_39^0==r_39^post_49 && rcd_59^0==rcd_59^post_49 && rcd_89^0==rcd_89^post_49 && result_11^0==result_11^post_49 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_49 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_49 && t_22^0==t_22^post_49 && tail_14^0==tail_14^post_49 && temp0_16^0==temp0_16^post_49 && temp0_31^0==temp0_31^post_49 && temp_35^0==temp_35^post_49 && tmp_34^0==tmp_34^post_49 && x_131^0==x_131^post_49 && x_176^0==x_176^post_49 && x_19^0==x_19^post_49 && x_26^0==x_26^post_49 && x_SLAM_f_17^0==x_SLAM_f_17^post_49 && x_SLAM_f_24^0==x_SLAM_f_24^post_49 && y_18^0==y_18^post_49 && y_25^0==y_25^post_49 ], cost: 1 50: l35 -> l36 : a_118^0'=a_118^post_51, a_149^0'=a_149^post_51, a_188^0'=a_188^post_51, a_225^0'=a_225^post_51, a_281^0'=a_281^post_51, a_289^0'=a_289^post_51, a_342^0'=a_342^post_51, a_343^0'=a_343^post_51, f_171^0'=f_171^post_51, head_15^0'=head_15^post_51, head_32^0'=head_32^post_51, head_SLAM_f_29^0'=head_SLAM_f_29^post_51, i_110^0'=i_110^post_51, i_30^0'=i_30^post_51, i_95^0'=i_95^post_51, len_134^0'=len_134^post_51, len_187^0'=len_187^post_51, length_28^0'=length_28^post_51, nondet_12^0'=nondet_12^post_51, r_126^0'=r_126^post_51, r_165^0'=r_165^post_51, r_39^0'=r_39^post_51, rcd_59^0'=rcd_59^post_51, rcd_89^0'=rcd_89^post_51, result_11^0'=result_11^post_51, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_51, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_51, t_22^0'=t_22^post_51, tail_14^0'=tail_14^post_51, temp0_16^0'=temp0_16^post_51, temp0_31^0'=temp0_31^post_51, temp_35^0'=temp_35^post_51, tmp_34^0'=tmp_34^post_51, x_131^0'=x_131^post_51, x_176^0'=x_176^post_51, x_19^0'=x_19^post_51, x_26^0'=x_26^post_51, x_SLAM_f_17^0'=x_SLAM_f_17^post_51, x_SLAM_f_24^0'=x_SLAM_f_24^post_51, y_18^0'=y_18^post_51, y_25^0'=y_25^post_51, [ 1+y_25^0<=x_26^0 && a_118^0==a_118^post_51 && a_149^0==a_149^post_51 && a_188^0==a_188^post_51 && a_225^0==a_225^post_51 && a_281^0==a_281^post_51 && a_289^0==a_289^post_51 && a_342^0==a_342^post_51 && a_343^0==a_343^post_51 && f_171^0==f_171^post_51 && head_15^0==head_15^post_51 && head_32^0==head_32^post_51 && head_SLAM_f_29^0==head_SLAM_f_29^post_51 && i_110^0==i_110^post_51 && i_30^0==i_30^post_51 && i_95^0==i_95^post_51 && len_134^0==len_134^post_51 && len_187^0==len_187^post_51 && length_28^0==length_28^post_51 && nondet_12^0==nondet_12^post_51 && r_126^0==r_126^post_51 && r_165^0==r_165^post_51 && r_39^0==r_39^post_51 && rcd_59^0==rcd_59^post_51 && rcd_89^0==rcd_89^post_51 && result_11^0==result_11^post_51 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_51 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_51 && t_22^0==t_22^post_51 && tail_14^0==tail_14^post_51 && temp0_16^0==temp0_16^post_51 && temp0_31^0==temp0_31^post_51 && temp_35^0==temp_35^post_51 && tmp_34^0==tmp_34^post_51 && x_131^0==x_131^post_51 && x_176^0==x_176^post_51 && x_19^0==x_19^post_51 && x_26^0==x_26^post_51 && x_SLAM_f_17^0==x_SLAM_f_17^post_51 && x_SLAM_f_24^0==x_SLAM_f_24^post_51 && y_18^0==y_18^post_51 && y_25^0==y_25^post_51 ], cost: 1 51: l35 -> l36 : a_118^0'=a_118^post_52, a_149^0'=a_149^post_52, a_188^0'=a_188^post_52, a_225^0'=a_225^post_52, a_281^0'=a_281^post_52, a_289^0'=a_289^post_52, a_342^0'=a_342^post_52, a_343^0'=a_343^post_52, f_171^0'=f_171^post_52, head_15^0'=head_15^post_52, head_32^0'=head_32^post_52, head_SLAM_f_29^0'=head_SLAM_f_29^post_52, i_110^0'=i_110^post_52, i_30^0'=i_30^post_52, i_95^0'=i_95^post_52, len_134^0'=len_134^post_52, len_187^0'=len_187^post_52, length_28^0'=length_28^post_52, nondet_12^0'=nondet_12^post_52, r_126^0'=r_126^post_52, r_165^0'=r_165^post_52, r_39^0'=r_39^post_52, rcd_59^0'=rcd_59^post_52, rcd_89^0'=rcd_89^post_52, result_11^0'=result_11^post_52, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_52, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_52, t_22^0'=t_22^post_52, tail_14^0'=tail_14^post_52, temp0_16^0'=temp0_16^post_52, temp0_31^0'=temp0_31^post_52, temp_35^0'=temp_35^post_52, tmp_34^0'=tmp_34^post_52, x_131^0'=x_131^post_52, x_176^0'=x_176^post_52, x_19^0'=x_19^post_52, x_26^0'=x_26^post_52, x_SLAM_f_17^0'=x_SLAM_f_17^post_52, x_SLAM_f_24^0'=x_SLAM_f_24^post_52, y_18^0'=y_18^post_52, y_25^0'=y_25^post_52, [ 1+x_26^0<=y_25^0 && a_118^0==a_118^post_52 && a_149^0==a_149^post_52 && a_188^0==a_188^post_52 && a_225^0==a_225^post_52 && a_281^0==a_281^post_52 && a_289^0==a_289^post_52 && a_342^0==a_342^post_52 && a_343^0==a_343^post_52 && f_171^0==f_171^post_52 && head_15^0==head_15^post_52 && head_32^0==head_32^post_52 && head_SLAM_f_29^0==head_SLAM_f_29^post_52 && i_110^0==i_110^post_52 && i_30^0==i_30^post_52 && i_95^0==i_95^post_52 && len_134^0==len_134^post_52 && len_187^0==len_187^post_52 && length_28^0==length_28^post_52 && nondet_12^0==nondet_12^post_52 && r_126^0==r_126^post_52 && r_165^0==r_165^post_52 && r_39^0==r_39^post_52 && rcd_59^0==rcd_59^post_52 && rcd_89^0==rcd_89^post_52 && result_11^0==result_11^post_52 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_52 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_52 && t_22^0==t_22^post_52 && tail_14^0==tail_14^post_52 && temp0_16^0==temp0_16^post_52 && temp0_31^0==temp0_31^post_52 && temp_35^0==temp_35^post_52 && tmp_34^0==tmp_34^post_52 && x_131^0==x_131^post_52 && x_176^0==x_176^post_52 && x_19^0==x_19^post_52 && x_26^0==x_26^post_52 && x_SLAM_f_17^0==x_SLAM_f_17^post_52 && x_SLAM_f_24^0==x_SLAM_f_24^post_52 && y_18^0==y_18^post_52 && y_25^0==y_25^post_52 ], cost: 1 52: l36 -> l37 : a_118^0'=a_118^post_53, a_149^0'=a_149^post_53, a_188^0'=a_188^post_53, a_225^0'=a_225^post_53, a_281^0'=a_281^post_53, a_289^0'=a_289^post_53, a_342^0'=a_342^post_53, a_343^0'=a_343^post_53, f_171^0'=f_171^post_53, head_15^0'=head_15^post_53, head_32^0'=head_32^post_53, head_SLAM_f_29^0'=head_SLAM_f_29^post_53, i_110^0'=i_110^post_53, i_30^0'=i_30^post_53, i_95^0'=i_95^post_53, len_134^0'=len_134^post_53, len_187^0'=len_187^post_53, length_28^0'=length_28^post_53, nondet_12^0'=nondet_12^post_53, r_126^0'=r_126^post_53, r_165^0'=r_165^post_53, r_39^0'=r_39^post_53, rcd_59^0'=rcd_59^post_53, rcd_89^0'=rcd_89^post_53, result_11^0'=result_11^post_53, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_53, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_53, t_22^0'=t_22^post_53, tail_14^0'=tail_14^post_53, temp0_16^0'=temp0_16^post_53, temp0_31^0'=temp0_31^post_53, temp_35^0'=temp_35^post_53, tmp_34^0'=tmp_34^post_53, x_131^0'=x_131^post_53, x_176^0'=x_176^post_53, x_19^0'=x_19^post_53, x_26^0'=x_26^post_53, x_SLAM_f_17^0'=x_SLAM_f_17^post_53, x_SLAM_f_24^0'=x_SLAM_f_24^post_53, y_18^0'=y_18^post_53, y_25^0'=y_25^post_53, [ len_187^post_53==len_187^post_53 && a_188^post_53==a_188^post_53 && 1<=len_187^post_53-len_134^0 && len_187^post_53-len_134^0<=1 && tail_14^0<=y_25^0 && y_25^0<=tail_14^0 && head_15^0<=x_SLAM_f_24^0 && x_SLAM_f_24^0<=head_15^0 && x_26^0<=f_171^0 && f_171^0<=x_26^0 && a_188^post_53<=-1+a_149^0 && -1+a_149^0<=a_188^post_53 && a_118^0==a_118^post_53 && a_149^0==a_149^post_53 && a_225^0==a_225^post_53 && a_281^0==a_281^post_53 && a_289^0==a_289^post_53 && a_342^0==a_342^post_53 && a_343^0==a_343^post_53 && f_171^0==f_171^post_53 && head_15^0==head_15^post_53 && head_32^0==head_32^post_53 && head_SLAM_f_29^0==head_SLAM_f_29^post_53 && i_110^0==i_110^post_53 && i_30^0==i_30^post_53 && i_95^0==i_95^post_53 && len_134^0==len_134^post_53 && length_28^0==length_28^post_53 && nondet_12^0==nondet_12^post_53 && r_126^0==r_126^post_53 && r_165^0==r_165^post_53 && r_39^0==r_39^post_53 && rcd_59^0==rcd_59^post_53 && rcd_89^0==rcd_89^post_53 && result_11^0==result_11^post_53 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_53 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_53 && t_22^0==t_22^post_53 && tail_14^0==tail_14^post_53 && temp0_16^0==temp0_16^post_53 && temp0_31^0==temp0_31^post_53 && temp_35^0==temp_35^post_53 && tmp_34^0==tmp_34^post_53 && x_131^0==x_131^post_53 && x_176^0==x_176^post_53 && x_19^0==x_19^post_53 && x_26^0==x_26^post_53 && x_SLAM_f_17^0==x_SLAM_f_17^post_53 && x_SLAM_f_24^0==x_SLAM_f_24^post_53 && y_18^0==y_18^post_53 && y_25^0==y_25^post_53 ], cost: 1 53: l37 -> l38 : a_118^0'=a_118^post_54, a_149^0'=a_149^post_54, a_188^0'=a_188^post_54, a_225^0'=a_225^post_54, a_281^0'=a_281^post_54, a_289^0'=a_289^post_54, a_342^0'=a_342^post_54, a_343^0'=a_343^post_54, f_171^0'=f_171^post_54, head_15^0'=head_15^post_54, head_32^0'=head_32^post_54, head_SLAM_f_29^0'=head_SLAM_f_29^post_54, i_110^0'=i_110^post_54, i_30^0'=i_30^post_54, i_95^0'=i_95^post_54, len_134^0'=len_134^post_54, len_187^0'=len_187^post_54, length_28^0'=length_28^post_54, nondet_12^0'=nondet_12^post_54, r_126^0'=r_126^post_54, r_165^0'=r_165^post_54, r_39^0'=r_39^post_54, rcd_59^0'=rcd_59^post_54, rcd_89^0'=rcd_89^post_54, result_11^0'=result_11^post_54, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_54, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_54, t_22^0'=t_22^post_54, tail_14^0'=tail_14^post_54, temp0_16^0'=temp0_16^post_54, temp0_31^0'=temp0_31^post_54, temp_35^0'=temp_35^post_54, tmp_34^0'=tmp_34^post_54, x_131^0'=x_131^post_54, x_176^0'=x_176^post_54, x_19^0'=x_19^post_54, x_26^0'=x_26^post_54, x_SLAM_f_17^0'=x_SLAM_f_17^post_54, x_SLAM_f_24^0'=x_SLAM_f_24^post_54, y_18^0'=y_18^post_54, y_25^0'=y_25^post_54, [ 1+head_15^0<=y_25^0 && a_118^0==a_118^post_54 && a_149^0==a_149^post_54 && a_188^0==a_188^post_54 && a_225^0==a_225^post_54 && a_281^0==a_281^post_54 && a_289^0==a_289^post_54 && a_342^0==a_342^post_54 && a_343^0==a_343^post_54 && f_171^0==f_171^post_54 && head_15^0==head_15^post_54 && head_32^0==head_32^post_54 && head_SLAM_f_29^0==head_SLAM_f_29^post_54 && i_110^0==i_110^post_54 && i_30^0==i_30^post_54 && i_95^0==i_95^post_54 && len_134^0==len_134^post_54 && len_187^0==len_187^post_54 && length_28^0==length_28^post_54 && nondet_12^0==nondet_12^post_54 && r_126^0==r_126^post_54 && r_165^0==r_165^post_54 && r_39^0==r_39^post_54 && rcd_59^0==rcd_59^post_54 && rcd_89^0==rcd_89^post_54 && result_11^0==result_11^post_54 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_54 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_54 && t_22^0==t_22^post_54 && tail_14^0==tail_14^post_54 && temp0_16^0==temp0_16^post_54 && temp0_31^0==temp0_31^post_54 && temp_35^0==temp_35^post_54 && tmp_34^0==tmp_34^post_54 && x_131^0==x_131^post_54 && x_176^0==x_176^post_54 && x_19^0==x_19^post_54 && x_26^0==x_26^post_54 && x_SLAM_f_17^0==x_SLAM_f_17^post_54 && x_SLAM_f_24^0==x_SLAM_f_24^post_54 && y_18^0==y_18^post_54 && y_25^0==y_25^post_54 ], cost: 1 54: l37 -> l38 : a_118^0'=a_118^post_55, a_149^0'=a_149^post_55, a_188^0'=a_188^post_55, a_225^0'=a_225^post_55, a_281^0'=a_281^post_55, a_289^0'=a_289^post_55, a_342^0'=a_342^post_55, a_343^0'=a_343^post_55, f_171^0'=f_171^post_55, head_15^0'=head_15^post_55, head_32^0'=head_32^post_55, head_SLAM_f_29^0'=head_SLAM_f_29^post_55, i_110^0'=i_110^post_55, i_30^0'=i_30^post_55, i_95^0'=i_95^post_55, len_134^0'=len_134^post_55, len_187^0'=len_187^post_55, length_28^0'=length_28^post_55, nondet_12^0'=nondet_12^post_55, r_126^0'=r_126^post_55, r_165^0'=r_165^post_55, r_39^0'=r_39^post_55, rcd_59^0'=rcd_59^post_55, rcd_89^0'=rcd_89^post_55, result_11^0'=result_11^post_55, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_55, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_55, t_22^0'=t_22^post_55, tail_14^0'=tail_14^post_55, temp0_16^0'=temp0_16^post_55, temp0_31^0'=temp0_31^post_55, temp_35^0'=temp_35^post_55, tmp_34^0'=tmp_34^post_55, x_131^0'=x_131^post_55, x_176^0'=x_176^post_55, x_19^0'=x_19^post_55, x_26^0'=x_26^post_55, x_SLAM_f_17^0'=x_SLAM_f_17^post_55, x_SLAM_f_24^0'=x_SLAM_f_24^post_55, y_18^0'=y_18^post_55, y_25^0'=y_25^post_55, [ 1+y_25^0<=head_15^0 && a_118^0==a_118^post_55 && a_149^0==a_149^post_55 && a_188^0==a_188^post_55 && a_225^0==a_225^post_55 && a_281^0==a_281^post_55 && a_289^0==a_289^post_55 && a_342^0==a_342^post_55 && a_343^0==a_343^post_55 && f_171^0==f_171^post_55 && head_15^0==head_15^post_55 && head_32^0==head_32^post_55 && head_SLAM_f_29^0==head_SLAM_f_29^post_55 && i_110^0==i_110^post_55 && i_30^0==i_30^post_55 && i_95^0==i_95^post_55 && len_134^0==len_134^post_55 && len_187^0==len_187^post_55 && length_28^0==length_28^post_55 && nondet_12^0==nondet_12^post_55 && r_126^0==r_126^post_55 && r_165^0==r_165^post_55 && r_39^0==r_39^post_55 && rcd_59^0==rcd_59^post_55 && rcd_89^0==rcd_89^post_55 && result_11^0==result_11^post_55 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_55 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_55 && t_22^0==t_22^post_55 && tail_14^0==tail_14^post_55 && temp0_16^0==temp0_16^post_55 && temp0_31^0==temp0_31^post_55 && temp_35^0==temp_35^post_55 && tmp_34^0==tmp_34^post_55 && x_131^0==x_131^post_55 && x_176^0==x_176^post_55 && x_19^0==x_19^post_55 && x_26^0==x_26^post_55 && x_SLAM_f_17^0==x_SLAM_f_17^post_55 && x_SLAM_f_24^0==x_SLAM_f_24^post_55 && y_18^0==y_18^post_55 && y_25^0==y_25^post_55 ], cost: 1 55: l38 -> l39 : a_118^0'=a_118^post_56, a_149^0'=a_149^post_56, a_188^0'=a_188^post_56, a_225^0'=a_225^post_56, a_281^0'=a_281^post_56, a_289^0'=a_289^post_56, a_342^0'=a_342^post_56, a_343^0'=a_343^post_56, f_171^0'=f_171^post_56, head_15^0'=head_15^post_56, head_32^0'=head_32^post_56, head_SLAM_f_29^0'=head_SLAM_f_29^post_56, i_110^0'=i_110^post_56, i_30^0'=i_30^post_56, i_95^0'=i_95^post_56, len_134^0'=len_134^post_56, len_187^0'=len_187^post_56, length_28^0'=length_28^post_56, nondet_12^0'=nondet_12^post_56, r_126^0'=r_126^post_56, r_165^0'=r_165^post_56, r_39^0'=r_39^post_56, rcd_59^0'=rcd_59^post_56, rcd_89^0'=rcd_89^post_56, result_11^0'=result_11^post_56, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_56, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_56, t_22^0'=t_22^post_56, tail_14^0'=tail_14^post_56, temp0_16^0'=temp0_16^post_56, temp0_31^0'=temp0_31^post_56, temp_35^0'=temp_35^post_56, tmp_34^0'=tmp_34^post_56, x_131^0'=x_131^post_56, x_176^0'=x_176^post_56, x_19^0'=x_19^post_56, x_26^0'=x_26^post_56, x_SLAM_f_17^0'=x_SLAM_f_17^post_56, x_SLAM_f_24^0'=x_SLAM_f_24^post_56, y_18^0'=y_18^post_56, y_25^0'=y_25^post_56, [ 1+y_25^0<=x_176^0 && a_118^0==a_118^post_56 && a_149^0==a_149^post_56 && a_188^0==a_188^post_56 && a_225^0==a_225^post_56 && a_281^0==a_281^post_56 && a_289^0==a_289^post_56 && a_342^0==a_342^post_56 && a_343^0==a_343^post_56 && f_171^0==f_171^post_56 && head_15^0==head_15^post_56 && head_32^0==head_32^post_56 && head_SLAM_f_29^0==head_SLAM_f_29^post_56 && i_110^0==i_110^post_56 && i_30^0==i_30^post_56 && i_95^0==i_95^post_56 && len_134^0==len_134^post_56 && len_187^0==len_187^post_56 && length_28^0==length_28^post_56 && nondet_12^0==nondet_12^post_56 && r_126^0==r_126^post_56 && r_165^0==r_165^post_56 && r_39^0==r_39^post_56 && rcd_59^0==rcd_59^post_56 && rcd_89^0==rcd_89^post_56 && result_11^0==result_11^post_56 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_56 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_56 && t_22^0==t_22^post_56 && tail_14^0==tail_14^post_56 && temp0_16^0==temp0_16^post_56 && temp0_31^0==temp0_31^post_56 && temp_35^0==temp_35^post_56 && tmp_34^0==tmp_34^post_56 && x_131^0==x_131^post_56 && x_176^0==x_176^post_56 && x_19^0==x_19^post_56 && x_26^0==x_26^post_56 && x_SLAM_f_17^0==x_SLAM_f_17^post_56 && x_SLAM_f_24^0==x_SLAM_f_24^post_56 && y_18^0==y_18^post_56 && y_25^0==y_25^post_56 ], cost: 1 56: l38 -> l39 : a_118^0'=a_118^post_57, a_149^0'=a_149^post_57, a_188^0'=a_188^post_57, a_225^0'=a_225^post_57, a_281^0'=a_281^post_57, a_289^0'=a_289^post_57, a_342^0'=a_342^post_57, a_343^0'=a_343^post_57, f_171^0'=f_171^post_57, head_15^0'=head_15^post_57, head_32^0'=head_32^post_57, head_SLAM_f_29^0'=head_SLAM_f_29^post_57, i_110^0'=i_110^post_57, i_30^0'=i_30^post_57, i_95^0'=i_95^post_57, len_134^0'=len_134^post_57, len_187^0'=len_187^post_57, length_28^0'=length_28^post_57, nondet_12^0'=nondet_12^post_57, r_126^0'=r_126^post_57, r_165^0'=r_165^post_57, r_39^0'=r_39^post_57, rcd_59^0'=rcd_59^post_57, rcd_89^0'=rcd_89^post_57, result_11^0'=result_11^post_57, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_57, t_22^0'=t_22^post_57, tail_14^0'=tail_14^post_57, temp0_16^0'=temp0_16^post_57, temp0_31^0'=temp0_31^post_57, temp_35^0'=temp_35^post_57, tmp_34^0'=tmp_34^post_57, x_131^0'=x_131^post_57, x_176^0'=x_176^post_57, x_19^0'=x_19^post_57, x_26^0'=x_26^post_57, x_SLAM_f_17^0'=x_SLAM_f_17^post_57, x_SLAM_f_24^0'=x_SLAM_f_24^post_57, y_18^0'=y_18^post_57, y_25^0'=y_25^post_57, [ 1+x_176^0<=y_25^0 && a_118^0==a_118^post_57 && a_149^0==a_149^post_57 && a_188^0==a_188^post_57 && a_225^0==a_225^post_57 && a_281^0==a_281^post_57 && a_289^0==a_289^post_57 && a_342^0==a_342^post_57 && a_343^0==a_343^post_57 && f_171^0==f_171^post_57 && head_15^0==head_15^post_57 && head_32^0==head_32^post_57 && head_SLAM_f_29^0==head_SLAM_f_29^post_57 && i_110^0==i_110^post_57 && i_30^0==i_30^post_57 && i_95^0==i_95^post_57 && len_134^0==len_134^post_57 && len_187^0==len_187^post_57 && length_28^0==length_28^post_57 && nondet_12^0==nondet_12^post_57 && r_126^0==r_126^post_57 && r_165^0==r_165^post_57 && r_39^0==r_39^post_57 && rcd_59^0==rcd_59^post_57 && rcd_89^0==rcd_89^post_57 && result_11^0==result_11^post_57 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_57 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_57 && t_22^0==t_22^post_57 && tail_14^0==tail_14^post_57 && temp0_16^0==temp0_16^post_57 && temp0_31^0==temp0_31^post_57 && temp_35^0==temp_35^post_57 && tmp_34^0==tmp_34^post_57 && x_131^0==x_131^post_57 && x_176^0==x_176^post_57 && x_19^0==x_19^post_57 && x_26^0==x_26^post_57 && x_SLAM_f_17^0==x_SLAM_f_17^post_57 && x_SLAM_f_24^0==x_SLAM_f_24^post_57 && y_18^0==y_18^post_57 && y_25^0==y_25^post_57 ], cost: 1 57: l39 -> l34 : a_118^0'=a_118^post_58, a_149^0'=a_149^post_58, a_188^0'=a_188^post_58, a_225^0'=a_225^post_58, a_281^0'=a_281^post_58, a_289^0'=a_289^post_58, a_342^0'=a_342^post_58, a_343^0'=a_343^post_58, f_171^0'=f_171^post_58, head_15^0'=head_15^post_58, head_32^0'=head_32^post_58, head_SLAM_f_29^0'=head_SLAM_f_29^post_58, i_110^0'=i_110^post_58, i_30^0'=i_30^post_58, i_95^0'=i_95^post_58, len_134^0'=len_134^post_58, len_187^0'=len_187^post_58, length_28^0'=length_28^post_58, nondet_12^0'=nondet_12^post_58, r_126^0'=r_126^post_58, r_165^0'=r_165^post_58, r_39^0'=r_39^post_58, rcd_59^0'=rcd_59^post_58, rcd_89^0'=rcd_89^post_58, result_11^0'=result_11^post_58, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_58, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_58, t_22^0'=t_22^post_58, tail_14^0'=tail_14^post_58, temp0_16^0'=temp0_16^post_58, temp0_31^0'=temp0_31^post_58, temp_35^0'=temp_35^post_58, tmp_34^0'=tmp_34^post_58, x_131^0'=x_131^post_58, x_176^0'=x_176^post_58, x_19^0'=x_19^post_58, x_26^0'=x_26^post_58, x_SLAM_f_17^0'=x_SLAM_f_17^post_58, x_SLAM_f_24^0'=x_SLAM_f_24^post_58, y_18^0'=y_18^post_58, y_25^0'=y_25^post_58, [ 1<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && a_149^post_58==a_149^post_58 && a_149^post_58<=a_188^0 && a_188^0<=a_149^post_58 && len_134^post_58==len_134^post_58 && len_134^post_58<=len_187^0 && len_187^0<=len_134^post_58 && a_118^0==a_118^post_58 && a_188^0==a_188^post_58 && a_225^0==a_225^post_58 && a_281^0==a_281^post_58 && a_289^0==a_289^post_58 && a_342^0==a_342^post_58 && a_343^0==a_343^post_58 && f_171^0==f_171^post_58 && head_15^0==head_15^post_58 && head_32^0==head_32^post_58 && head_SLAM_f_29^0==head_SLAM_f_29^post_58 && i_110^0==i_110^post_58 && i_30^0==i_30^post_58 && i_95^0==i_95^post_58 && len_187^0==len_187^post_58 && length_28^0==length_28^post_58 && nondet_12^0==nondet_12^post_58 && r_126^0==r_126^post_58 && r_165^0==r_165^post_58 && r_39^0==r_39^post_58 && rcd_59^0==rcd_59^post_58 && rcd_89^0==rcd_89^post_58 && result_11^0==result_11^post_58 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_58 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_58 && t_22^0==t_22^post_58 && tail_14^0==tail_14^post_58 && temp0_16^0==temp0_16^post_58 && temp0_31^0==temp0_31^post_58 && temp_35^0==temp_35^post_58 && tmp_34^0==tmp_34^post_58 && x_131^0==x_131^post_58 && x_176^0==x_176^post_58 && x_19^0==x_19^post_58 && x_26^0==x_26^post_58 && x_SLAM_f_17^0==x_SLAM_f_17^post_58 && x_SLAM_f_24^0==x_SLAM_f_24^post_58 && y_18^0==y_18^post_58 && y_25^0==y_25^post_58 ], cost: 1 58: l34 -> l31 : a_118^0'=a_118^post_59, a_149^0'=a_149^post_59, a_188^0'=a_188^post_59, a_225^0'=a_225^post_59, a_281^0'=a_281^post_59, a_289^0'=a_289^post_59, a_342^0'=a_342^post_59, a_343^0'=a_343^post_59, f_171^0'=f_171^post_59, head_15^0'=head_15^post_59, head_32^0'=head_32^post_59, head_SLAM_f_29^0'=head_SLAM_f_29^post_59, i_110^0'=i_110^post_59, i_30^0'=i_30^post_59, i_95^0'=i_95^post_59, len_134^0'=len_134^post_59, len_187^0'=len_187^post_59, length_28^0'=length_28^post_59, nondet_12^0'=nondet_12^post_59, r_126^0'=r_126^post_59, r_165^0'=r_165^post_59, r_39^0'=r_39^post_59, rcd_59^0'=rcd_59^post_59, rcd_89^0'=rcd_89^post_59, result_11^0'=result_11^post_59, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_59, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_59, t_22^0'=t_22^post_59, tail_14^0'=tail_14^post_59, temp0_16^0'=temp0_16^post_59, temp0_31^0'=temp0_31^post_59, temp_35^0'=temp_35^post_59, tmp_34^0'=tmp_34^post_59, x_131^0'=x_131^post_59, x_176^0'=x_176^post_59, x_19^0'=x_19^post_59, x_26^0'=x_26^post_59, x_SLAM_f_17^0'=x_SLAM_f_17^post_59, x_SLAM_f_24^0'=x_SLAM_f_24^post_59, y_18^0'=y_18^post_59, y_25^0'=y_25^post_59, [ a_118^0==a_118^post_59 && a_149^0==a_149^post_59 && a_188^0==a_188^post_59 && a_225^0==a_225^post_59 && a_281^0==a_281^post_59 && a_289^0==a_289^post_59 && a_342^0==a_342^post_59 && a_343^0==a_343^post_59 && f_171^0==f_171^post_59 && head_15^0==head_15^post_59 && head_32^0==head_32^post_59 && head_SLAM_f_29^0==head_SLAM_f_29^post_59 && i_110^0==i_110^post_59 && i_30^0==i_30^post_59 && i_95^0==i_95^post_59 && len_134^0==len_134^post_59 && len_187^0==len_187^post_59 && length_28^0==length_28^post_59 && nondet_12^0==nondet_12^post_59 && r_126^0==r_126^post_59 && r_165^0==r_165^post_59 && r_39^0==r_39^post_59 && rcd_59^0==rcd_59^post_59 && rcd_89^0==rcd_89^post_59 && result_11^0==result_11^post_59 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_59 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_59 && t_22^0==t_22^post_59 && tail_14^0==tail_14^post_59 && temp0_16^0==temp0_16^post_59 && temp0_31^0==temp0_31^post_59 && temp_35^0==temp_35^post_59 && tmp_34^0==tmp_34^post_59 && x_131^0==x_131^post_59 && x_176^0==x_176^post_59 && x_19^0==x_19^post_59 && x_26^0==x_26^post_59 && x_SLAM_f_17^0==x_SLAM_f_17^post_59 && x_SLAM_f_24^0==x_SLAM_f_24^post_59 && y_18^0==y_18^post_59 && y_25^0==y_25^post_59 ], cost: 1 59: l40 -> l4 : a_118^0'=a_118^post_60, a_149^0'=a_149^post_60, a_188^0'=a_188^post_60, a_225^0'=a_225^post_60, a_281^0'=a_281^post_60, a_289^0'=a_289^post_60, a_342^0'=a_342^post_60, a_343^0'=a_343^post_60, f_171^0'=f_171^post_60, head_15^0'=head_15^post_60, head_32^0'=head_32^post_60, head_SLAM_f_29^0'=head_SLAM_f_29^post_60, i_110^0'=i_110^post_60, i_30^0'=i_30^post_60, i_95^0'=i_95^post_60, len_134^0'=len_134^post_60, len_187^0'=len_187^post_60, length_28^0'=length_28^post_60, nondet_12^0'=nondet_12^post_60, r_126^0'=r_126^post_60, r_165^0'=r_165^post_60, r_39^0'=r_39^post_60, rcd_59^0'=rcd_59^post_60, rcd_89^0'=rcd_89^post_60, result_11^0'=result_11^post_60, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_60, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_60, t_22^0'=t_22^post_60, tail_14^0'=tail_14^post_60, temp0_16^0'=temp0_16^post_60, temp0_31^0'=temp0_31^post_60, temp_35^0'=temp_35^post_60, tmp_34^0'=tmp_34^post_60, x_131^0'=x_131^post_60, x_176^0'=x_176^post_60, x_19^0'=x_19^post_60, x_26^0'=x_26^post_60, x_SLAM_f_17^0'=x_SLAM_f_17^post_60, x_SLAM_f_24^0'=x_SLAM_f_24^post_60, y_18^0'=y_18^post_60, y_25^0'=y_25^post_60, [ result_dot_nondet_sdv_special_RETURN_VALUE_13^post_60==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_60 && y_25^0<=x_26^0 && x_26^0<=y_25^0 && x_SLAM_f_24^post_60==x_SLAM_f_24^post_60 && y_25^post_60==y_25^post_60 && x_26^post_60==x_26^post_60 && x_SLAM_f_17^1_2_1==head_15^0 && y_18^1_2_1==tail_14^0 && x_19^1_2==x_SLAM_f_17^1_2_1 && 1<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_60 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_60<=1 && tail_14^0<=head_15^0 && head_15^0<=tail_14^0 && tail_14^0<=x_SLAM_f_17^1_2_1 && x_SLAM_f_17^1_2_1<=tail_14^0 && tail_14^0<=y_18^1_2_1 && y_18^1_2_1<=tail_14^0 && tail_14^0<=x_19^1_2 && x_19^1_2<=tail_14^0 && head_15^0<=x_SLAM_f_17^1_2_1 && x_SLAM_f_17^1_2_1<=head_15^0 && x_SLAM_f_17^1_2_1<=x_19^1_2 && x_19^1_2<=x_SLAM_f_17^1_2_1 && 1<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_60 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_60<=1 && y_18^1_2_1<=x_19^1_2 && x_19^1_2<=y_18^1_2_1 && x_SLAM_f_17^post_60==x_SLAM_f_17^post_60 && y_18^post_60==y_18^post_60 && x_19^post_60==x_19^post_60 && t_22^post_60==t_22^post_60 && result_11^post_60==temp0_16^0 && a_118^0==a_118^post_60 && a_149^0==a_149^post_60 && a_188^0==a_188^post_60 && a_225^0==a_225^post_60 && a_281^0==a_281^post_60 && a_289^0==a_289^post_60 && a_342^0==a_342^post_60 && a_343^0==a_343^post_60 && f_171^0==f_171^post_60 && head_15^0==head_15^post_60 && head_32^0==head_32^post_60 && head_SLAM_f_29^0==head_SLAM_f_29^post_60 && i_110^0==i_110^post_60 && i_30^0==i_30^post_60 && i_95^0==i_95^post_60 && len_134^0==len_134^post_60 && len_187^0==len_187^post_60 && length_28^0==length_28^post_60 && nondet_12^0==nondet_12^post_60 && r_126^0==r_126^post_60 && r_165^0==r_165^post_60 && r_39^0==r_39^post_60 && rcd_59^0==rcd_59^post_60 && rcd_89^0==rcd_89^post_60 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_60 && tail_14^0==tail_14^post_60 && temp0_16^0==temp0_16^post_60 && temp0_31^0==temp0_31^post_60 && temp_35^0==temp_35^post_60 && tmp_34^0==tmp_34^post_60 && x_131^0==x_131^post_60 && x_176^0==x_176^post_60 ], cost: 1 60: l40 -> l41 : a_118^0'=a_118^post_61, a_149^0'=a_149^post_61, a_188^0'=a_188^post_61, a_225^0'=a_225^post_61, a_281^0'=a_281^post_61, a_289^0'=a_289^post_61, a_342^0'=a_342^post_61, a_343^0'=a_343^post_61, f_171^0'=f_171^post_61, head_15^0'=head_15^post_61, head_32^0'=head_32^post_61, head_SLAM_f_29^0'=head_SLAM_f_29^post_61, i_110^0'=i_110^post_61, i_30^0'=i_30^post_61, i_95^0'=i_95^post_61, len_134^0'=len_134^post_61, len_187^0'=len_187^post_61, length_28^0'=length_28^post_61, nondet_12^0'=nondet_12^post_61, r_126^0'=r_126^post_61, r_165^0'=r_165^post_61, r_39^0'=r_39^post_61, rcd_59^0'=rcd_59^post_61, rcd_89^0'=rcd_89^post_61, result_11^0'=result_11^post_61, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_61, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_61, t_22^0'=t_22^post_61, tail_14^0'=tail_14^post_61, temp0_16^0'=temp0_16^post_61, temp0_31^0'=temp0_31^post_61, temp_35^0'=temp_35^post_61, tmp_34^0'=tmp_34^post_61, x_131^0'=x_131^post_61, x_176^0'=x_176^post_61, x_19^0'=x_19^post_61, x_26^0'=x_26^post_61, x_SLAM_f_17^0'=x_SLAM_f_17^post_61, x_SLAM_f_24^0'=x_SLAM_f_24^post_61, y_18^0'=y_18^post_61, y_25^0'=y_25^post_61, [ result_dot_nondet_sdv_special_RETURN_VALUE_13^post_61==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_61 && tail_14^post_61==tail_14^post_61 && head_15^post_61==head_15^post_61 && x_SLAM_f_24^post_61==x_SLAM_f_24^post_61 && a_118^0==a_118^post_61 && a_149^0==a_149^post_61 && a_188^0==a_188^post_61 && a_225^0==a_225^post_61 && a_281^0==a_281^post_61 && a_289^0==a_289^post_61 && a_342^0==a_342^post_61 && a_343^0==a_343^post_61 && f_171^0==f_171^post_61 && head_32^0==head_32^post_61 && head_SLAM_f_29^0==head_SLAM_f_29^post_61 && i_110^0==i_110^post_61 && i_30^0==i_30^post_61 && i_95^0==i_95^post_61 && len_134^0==len_134^post_61 && len_187^0==len_187^post_61 && length_28^0==length_28^post_61 && nondet_12^0==nondet_12^post_61 && r_126^0==r_126^post_61 && r_165^0==r_165^post_61 && r_39^0==r_39^post_61 && rcd_59^0==rcd_59^post_61 && rcd_89^0==rcd_89^post_61 && result_11^0==result_11^post_61 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_61 && t_22^0==t_22^post_61 && temp0_16^0==temp0_16^post_61 && temp0_31^0==temp0_31^post_61 && temp_35^0==temp_35^post_61 && tmp_34^0==tmp_34^post_61 && x_131^0==x_131^post_61 && x_176^0==x_176^post_61 && x_19^0==x_19^post_61 && x_26^0==x_26^post_61 && x_SLAM_f_17^0==x_SLAM_f_17^post_61 && y_18^0==y_18^post_61 && y_25^0==y_25^post_61 ], cost: 1 61: l41 -> l42 : a_118^0'=a_118^post_62, a_149^0'=a_149^post_62, a_188^0'=a_188^post_62, a_225^0'=a_225^post_62, a_281^0'=a_281^post_62, a_289^0'=a_289^post_62, a_342^0'=a_342^post_62, a_343^0'=a_343^post_62, f_171^0'=f_171^post_62, head_15^0'=head_15^post_62, head_32^0'=head_32^post_62, head_SLAM_f_29^0'=head_SLAM_f_29^post_62, i_110^0'=i_110^post_62, i_30^0'=i_30^post_62, i_95^0'=i_95^post_62, len_134^0'=len_134^post_62, len_187^0'=len_187^post_62, length_28^0'=length_28^post_62, nondet_12^0'=nondet_12^post_62, r_126^0'=r_126^post_62, r_165^0'=r_165^post_62, r_39^0'=r_39^post_62, rcd_59^0'=rcd_59^post_62, rcd_89^0'=rcd_89^post_62, result_11^0'=result_11^post_62, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_62, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_62, t_22^0'=t_22^post_62, tail_14^0'=tail_14^post_62, temp0_16^0'=temp0_16^post_62, temp0_31^0'=temp0_31^post_62, temp_35^0'=temp_35^post_62, tmp_34^0'=tmp_34^post_62, x_131^0'=x_131^post_62, x_176^0'=x_176^post_62, x_19^0'=x_19^post_62, x_26^0'=x_26^post_62, x_SLAM_f_17^0'=x_SLAM_f_17^post_62, x_SLAM_f_24^0'=x_SLAM_f_24^post_62, y_18^0'=y_18^post_62, y_25^0'=y_25^post_62, [ 1+y_25^0<=x_26^0 && a_118^0==a_118^post_62 && a_149^0==a_149^post_62 && a_188^0==a_188^post_62 && a_225^0==a_225^post_62 && a_281^0==a_281^post_62 && a_289^0==a_289^post_62 && a_342^0==a_342^post_62 && a_343^0==a_343^post_62 && f_171^0==f_171^post_62 && head_15^0==head_15^post_62 && head_32^0==head_32^post_62 && head_SLAM_f_29^0==head_SLAM_f_29^post_62 && i_110^0==i_110^post_62 && i_30^0==i_30^post_62 && i_95^0==i_95^post_62 && len_134^0==len_134^post_62 && len_187^0==len_187^post_62 && length_28^0==length_28^post_62 && nondet_12^0==nondet_12^post_62 && r_126^0==r_126^post_62 && r_165^0==r_165^post_62 && r_39^0==r_39^post_62 && rcd_59^0==rcd_59^post_62 && rcd_89^0==rcd_89^post_62 && result_11^0==result_11^post_62 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_62 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_62 && t_22^0==t_22^post_62 && tail_14^0==tail_14^post_62 && temp0_16^0==temp0_16^post_62 && temp0_31^0==temp0_31^post_62 && temp_35^0==temp_35^post_62 && tmp_34^0==tmp_34^post_62 && x_131^0==x_131^post_62 && x_176^0==x_176^post_62 && x_19^0==x_19^post_62 && x_26^0==x_26^post_62 && x_SLAM_f_17^0==x_SLAM_f_17^post_62 && x_SLAM_f_24^0==x_SLAM_f_24^post_62 && y_18^0==y_18^post_62 && y_25^0==y_25^post_62 ], cost: 1 62: l41 -> l42 : a_118^0'=a_118^post_63, a_149^0'=a_149^post_63, a_188^0'=a_188^post_63, a_225^0'=a_225^post_63, a_281^0'=a_281^post_63, a_289^0'=a_289^post_63, a_342^0'=a_342^post_63, a_343^0'=a_343^post_63, f_171^0'=f_171^post_63, head_15^0'=head_15^post_63, head_32^0'=head_32^post_63, head_SLAM_f_29^0'=head_SLAM_f_29^post_63, i_110^0'=i_110^post_63, i_30^0'=i_30^post_63, i_95^0'=i_95^post_63, len_134^0'=len_134^post_63, len_187^0'=len_187^post_63, length_28^0'=length_28^post_63, nondet_12^0'=nondet_12^post_63, r_126^0'=r_126^post_63, r_165^0'=r_165^post_63, r_39^0'=r_39^post_63, rcd_59^0'=rcd_59^post_63, rcd_89^0'=rcd_89^post_63, result_11^0'=result_11^post_63, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_63, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_63, t_22^0'=t_22^post_63, tail_14^0'=tail_14^post_63, temp0_16^0'=temp0_16^post_63, temp0_31^0'=temp0_31^post_63, temp_35^0'=temp_35^post_63, tmp_34^0'=tmp_34^post_63, x_131^0'=x_131^post_63, x_176^0'=x_176^post_63, x_19^0'=x_19^post_63, x_26^0'=x_26^post_63, x_SLAM_f_17^0'=x_SLAM_f_17^post_63, x_SLAM_f_24^0'=x_SLAM_f_24^post_63, y_18^0'=y_18^post_63, y_25^0'=y_25^post_63, [ 1+x_26^0<=y_25^0 && a_118^0==a_118^post_63 && a_149^0==a_149^post_63 && a_188^0==a_188^post_63 && a_225^0==a_225^post_63 && a_281^0==a_281^post_63 && a_289^0==a_289^post_63 && a_342^0==a_342^post_63 && a_343^0==a_343^post_63 && f_171^0==f_171^post_63 && head_15^0==head_15^post_63 && head_32^0==head_32^post_63 && head_SLAM_f_29^0==head_SLAM_f_29^post_63 && i_110^0==i_110^post_63 && i_30^0==i_30^post_63 && i_95^0==i_95^post_63 && len_134^0==len_134^post_63 && len_187^0==len_187^post_63 && length_28^0==length_28^post_63 && nondet_12^0==nondet_12^post_63 && r_126^0==r_126^post_63 && r_165^0==r_165^post_63 && r_39^0==r_39^post_63 && rcd_59^0==rcd_59^post_63 && rcd_89^0==rcd_89^post_63 && result_11^0==result_11^post_63 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_63 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_63 && t_22^0==t_22^post_63 && tail_14^0==tail_14^post_63 && temp0_16^0==temp0_16^post_63 && temp0_31^0==temp0_31^post_63 && temp_35^0==temp_35^post_63 && tmp_34^0==tmp_34^post_63 && x_131^0==x_131^post_63 && x_176^0==x_176^post_63 && x_19^0==x_19^post_63 && x_26^0==x_26^post_63 && x_SLAM_f_17^0==x_SLAM_f_17^post_63 && x_SLAM_f_24^0==x_SLAM_f_24^post_63 && y_18^0==y_18^post_63 && y_25^0==y_25^post_63 ], cost: 1 63: l42 -> l43 : a_118^0'=a_118^post_64, a_149^0'=a_149^post_64, a_188^0'=a_188^post_64, a_225^0'=a_225^post_64, a_281^0'=a_281^post_64, a_289^0'=a_289^post_64, a_342^0'=a_342^post_64, a_343^0'=a_343^post_64, f_171^0'=f_171^post_64, head_15^0'=head_15^post_64, head_32^0'=head_32^post_64, head_SLAM_f_29^0'=head_SLAM_f_29^post_64, i_110^0'=i_110^post_64, i_30^0'=i_30^post_64, i_95^0'=i_95^post_64, len_134^0'=len_134^post_64, len_187^0'=len_187^post_64, length_28^0'=length_28^post_64, nondet_12^0'=nondet_12^post_64, r_126^0'=r_126^post_64, r_165^0'=r_165^post_64, r_39^0'=r_39^post_64, rcd_59^0'=rcd_59^post_64, rcd_89^0'=rcd_89^post_64, result_11^0'=result_11^post_64, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_64, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_64, t_22^0'=t_22^post_64, tail_14^0'=tail_14^post_64, temp0_16^0'=temp0_16^post_64, temp0_31^0'=temp0_31^post_64, temp_35^0'=temp_35^post_64, tmp_34^0'=tmp_34^post_64, x_131^0'=x_131^post_64, x_176^0'=x_176^post_64, x_19^0'=x_19^post_64, x_26^0'=x_26^post_64, x_SLAM_f_17^0'=x_SLAM_f_17^post_64, x_SLAM_f_24^0'=x_SLAM_f_24^post_64, y_18^0'=y_18^post_64, y_25^0'=y_25^post_64, [ 1<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0<=1 && tail_14^0<=y_25^0 && y_25^0<=tail_14^0 && tail_14^0<=x_26^0 && x_26^0<=tail_14^0 && head_15^0<=x_SLAM_f_24^0 && x_SLAM_f_24^0<=head_15^0 && a_118^0==a_118^post_64 && a_149^0==a_149^post_64 && a_188^0==a_188^post_64 && a_225^0==a_225^post_64 && a_281^0==a_281^post_64 && a_289^0==a_289^post_64 && a_342^0==a_342^post_64 && a_343^0==a_343^post_64 && f_171^0==f_171^post_64 && head_15^0==head_15^post_64 && head_32^0==head_32^post_64 && head_SLAM_f_29^0==head_SLAM_f_29^post_64 && i_110^0==i_110^post_64 && i_30^0==i_30^post_64 && i_95^0==i_95^post_64 && len_134^0==len_134^post_64 && len_187^0==len_187^post_64 && length_28^0==length_28^post_64 && nondet_12^0==nondet_12^post_64 && r_126^0==r_126^post_64 && r_165^0==r_165^post_64 && r_39^0==r_39^post_64 && rcd_59^0==rcd_59^post_64 && rcd_89^0==rcd_89^post_64 && result_11^0==result_11^post_64 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_64 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_64 && t_22^0==t_22^post_64 && tail_14^0==tail_14^post_64 && temp0_16^0==temp0_16^post_64 && temp0_31^0==temp0_31^post_64 && temp_35^0==temp_35^post_64 && tmp_34^0==tmp_34^post_64 && x_131^0==x_131^post_64 && x_176^0==x_176^post_64 && x_19^0==x_19^post_64 && x_26^0==x_26^post_64 && x_SLAM_f_17^0==x_SLAM_f_17^post_64 && x_SLAM_f_24^0==x_SLAM_f_24^post_64 && y_18^0==y_18^post_64 && y_25^0==y_25^post_64 ], cost: 1 64: l43 -> l44 : a_118^0'=a_118^post_65, a_149^0'=a_149^post_65, a_188^0'=a_188^post_65, a_225^0'=a_225^post_65, a_281^0'=a_281^post_65, a_289^0'=a_289^post_65, a_342^0'=a_342^post_65, a_343^0'=a_343^post_65, f_171^0'=f_171^post_65, head_15^0'=head_15^post_65, head_32^0'=head_32^post_65, head_SLAM_f_29^0'=head_SLAM_f_29^post_65, i_110^0'=i_110^post_65, i_30^0'=i_30^post_65, i_95^0'=i_95^post_65, len_134^0'=len_134^post_65, len_187^0'=len_187^post_65, length_28^0'=length_28^post_65, nondet_12^0'=nondet_12^post_65, r_126^0'=r_126^post_65, r_165^0'=r_165^post_65, r_39^0'=r_39^post_65, rcd_59^0'=rcd_59^post_65, rcd_89^0'=rcd_89^post_65, result_11^0'=result_11^post_65, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_65, t_22^0'=t_22^post_65, tail_14^0'=tail_14^post_65, temp0_16^0'=temp0_16^post_65, temp0_31^0'=temp0_31^post_65, temp_35^0'=temp_35^post_65, tmp_34^0'=tmp_34^post_65, x_131^0'=x_131^post_65, x_176^0'=x_176^post_65, x_19^0'=x_19^post_65, x_26^0'=x_26^post_65, x_SLAM_f_17^0'=x_SLAM_f_17^post_65, x_SLAM_f_24^0'=x_SLAM_f_24^post_65, y_18^0'=y_18^post_65, y_25^0'=y_25^post_65, [ 1+head_15^0<=y_25^0 && a_118^0==a_118^post_65 && a_149^0==a_149^post_65 && a_188^0==a_188^post_65 && a_225^0==a_225^post_65 && a_281^0==a_281^post_65 && a_289^0==a_289^post_65 && a_342^0==a_342^post_65 && a_343^0==a_343^post_65 && f_171^0==f_171^post_65 && head_15^0==head_15^post_65 && head_32^0==head_32^post_65 && head_SLAM_f_29^0==head_SLAM_f_29^post_65 && i_110^0==i_110^post_65 && i_30^0==i_30^post_65 && i_95^0==i_95^post_65 && len_134^0==len_134^post_65 && len_187^0==len_187^post_65 && length_28^0==length_28^post_65 && nondet_12^0==nondet_12^post_65 && r_126^0==r_126^post_65 && r_165^0==r_165^post_65 && r_39^0==r_39^post_65 && rcd_59^0==rcd_59^post_65 && rcd_89^0==rcd_89^post_65 && result_11^0==result_11^post_65 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_65 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_65 && t_22^0==t_22^post_65 && tail_14^0==tail_14^post_65 && temp0_16^0==temp0_16^post_65 && temp0_31^0==temp0_31^post_65 && temp_35^0==temp_35^post_65 && tmp_34^0==tmp_34^post_65 && x_131^0==x_131^post_65 && x_176^0==x_176^post_65 && x_19^0==x_19^post_65 && x_26^0==x_26^post_65 && x_SLAM_f_17^0==x_SLAM_f_17^post_65 && x_SLAM_f_24^0==x_SLAM_f_24^post_65 && y_18^0==y_18^post_65 && y_25^0==y_25^post_65 ], cost: 1 65: l43 -> l44 : a_118^0'=a_118^post_66, a_149^0'=a_149^post_66, a_188^0'=a_188^post_66, a_225^0'=a_225^post_66, a_281^0'=a_281^post_66, a_289^0'=a_289^post_66, a_342^0'=a_342^post_66, a_343^0'=a_343^post_66, f_171^0'=f_171^post_66, head_15^0'=head_15^post_66, head_32^0'=head_32^post_66, head_SLAM_f_29^0'=head_SLAM_f_29^post_66, i_110^0'=i_110^post_66, i_30^0'=i_30^post_66, i_95^0'=i_95^post_66, len_134^0'=len_134^post_66, len_187^0'=len_187^post_66, length_28^0'=length_28^post_66, nondet_12^0'=nondet_12^post_66, r_126^0'=r_126^post_66, r_165^0'=r_165^post_66, r_39^0'=r_39^post_66, rcd_59^0'=rcd_59^post_66, rcd_89^0'=rcd_89^post_66, result_11^0'=result_11^post_66, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_66, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66, t_22^0'=t_22^post_66, tail_14^0'=tail_14^post_66, temp0_16^0'=temp0_16^post_66, temp0_31^0'=temp0_31^post_66, temp_35^0'=temp_35^post_66, tmp_34^0'=tmp_34^post_66, x_131^0'=x_131^post_66, x_176^0'=x_176^post_66, x_19^0'=x_19^post_66, x_26^0'=x_26^post_66, x_SLAM_f_17^0'=x_SLAM_f_17^post_66, x_SLAM_f_24^0'=x_SLAM_f_24^post_66, y_18^0'=y_18^post_66, y_25^0'=y_25^post_66, [ 1+y_25^0<=head_15^0 && a_118^0==a_118^post_66 && a_149^0==a_149^post_66 && a_188^0==a_188^post_66 && a_225^0==a_225^post_66 && a_281^0==a_281^post_66 && a_289^0==a_289^post_66 && a_342^0==a_342^post_66 && a_343^0==a_343^post_66 && f_171^0==f_171^post_66 && head_15^0==head_15^post_66 && head_32^0==head_32^post_66 && head_SLAM_f_29^0==head_SLAM_f_29^post_66 && i_110^0==i_110^post_66 && i_30^0==i_30^post_66 && i_95^0==i_95^post_66 && len_134^0==len_134^post_66 && len_187^0==len_187^post_66 && length_28^0==length_28^post_66 && nondet_12^0==nondet_12^post_66 && r_126^0==r_126^post_66 && r_165^0==r_165^post_66 && r_39^0==r_39^post_66 && rcd_59^0==rcd_59^post_66 && rcd_89^0==rcd_89^post_66 && result_11^0==result_11^post_66 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_66 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_66 && t_22^0==t_22^post_66 && tail_14^0==tail_14^post_66 && temp0_16^0==temp0_16^post_66 && temp0_31^0==temp0_31^post_66 && temp_35^0==temp_35^post_66 && tmp_34^0==tmp_34^post_66 && x_131^0==x_131^post_66 && x_176^0==x_176^post_66 && x_19^0==x_19^post_66 && x_26^0==x_26^post_66 && x_SLAM_f_17^0==x_SLAM_f_17^post_66 && x_SLAM_f_24^0==x_SLAM_f_24^post_66 && y_18^0==y_18^post_66 && y_25^0==y_25^post_66 ], cost: 1 66: l44 -> l45 : a_118^0'=a_118^post_67, a_149^0'=a_149^post_67, a_188^0'=a_188^post_67, a_225^0'=a_225^post_67, a_281^0'=a_281^post_67, a_289^0'=a_289^post_67, a_342^0'=a_342^post_67, a_343^0'=a_343^post_67, f_171^0'=f_171^post_67, head_15^0'=head_15^post_67, head_32^0'=head_32^post_67, head_SLAM_f_29^0'=head_SLAM_f_29^post_67, i_110^0'=i_110^post_67, i_30^0'=i_30^post_67, i_95^0'=i_95^post_67, len_134^0'=len_134^post_67, len_187^0'=len_187^post_67, length_28^0'=length_28^post_67, nondet_12^0'=nondet_12^post_67, r_126^0'=r_126^post_67, r_165^0'=r_165^post_67, r_39^0'=r_39^post_67, rcd_59^0'=rcd_59^post_67, rcd_89^0'=rcd_89^post_67, result_11^0'=result_11^post_67, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_67, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_67, t_22^0'=t_22^post_67, tail_14^0'=tail_14^post_67, temp0_16^0'=temp0_16^post_67, temp0_31^0'=temp0_31^post_67, temp_35^0'=temp_35^post_67, tmp_34^0'=tmp_34^post_67, x_131^0'=x_131^post_67, x_176^0'=x_176^post_67, x_19^0'=x_19^post_67, x_26^0'=x_26^post_67, x_SLAM_f_17^0'=x_SLAM_f_17^post_67, x_SLAM_f_24^0'=x_SLAM_f_24^post_67, y_18^0'=y_18^post_67, y_25^0'=y_25^post_67, [ 1<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0<=1 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_67==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_67 && y_25^0<=x_26^0 && x_26^0<=y_25^0 && x_SLAM_f_24^post_67==x_SLAM_f_24^post_67 && y_25^post_67==y_25^post_67 && x_26^post_67==x_26^post_67 && x_SLAM_f_17^post_67==head_15^0 && y_18^post_67==tail_14^0 && x_19^post_67==x_SLAM_f_17^post_67 && 1<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_67 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_67<=1 && tail_14^0<=y_18^post_67 && y_18^post_67<=tail_14^0 && head_15^0<=x_SLAM_f_17^post_67 && x_SLAM_f_17^post_67<=head_15^0 && head_15^0<=x_19^post_67 && x_19^post_67<=head_15^0 && x_SLAM_f_17^post_67<=x_19^post_67 && x_19^post_67<=x_SLAM_f_17^post_67 && a_118^0==a_118^post_67 && a_149^0==a_149^post_67 && a_188^0==a_188^post_67 && a_225^0==a_225^post_67 && a_281^0==a_281^post_67 && a_289^0==a_289^post_67 && a_342^0==a_342^post_67 && a_343^0==a_343^post_67 && f_171^0==f_171^post_67 && head_15^0==head_15^post_67 && head_32^0==head_32^post_67 && head_SLAM_f_29^0==head_SLAM_f_29^post_67 && i_110^0==i_110^post_67 && i_30^0==i_30^post_67 && i_95^0==i_95^post_67 && len_134^0==len_134^post_67 && len_187^0==len_187^post_67 && length_28^0==length_28^post_67 && nondet_12^0==nondet_12^post_67 && r_126^0==r_126^post_67 && r_165^0==r_165^post_67 && r_39^0==r_39^post_67 && rcd_59^0==rcd_59^post_67 && rcd_89^0==rcd_89^post_67 && result_11^0==result_11^post_67 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_67 && t_22^0==t_22^post_67 && tail_14^0==tail_14^post_67 && temp0_16^0==temp0_16^post_67 && temp0_31^0==temp0_31^post_67 && temp_35^0==temp_35^post_67 && tmp_34^0==tmp_34^post_67 && x_131^0==x_131^post_67 && x_176^0==x_176^post_67 ], cost: 1 67: l45 -> l46 : a_118^0'=a_118^post_68, a_149^0'=a_149^post_68, a_188^0'=a_188^post_68, a_225^0'=a_225^post_68, a_281^0'=a_281^post_68, a_289^0'=a_289^post_68, a_342^0'=a_342^post_68, a_343^0'=a_343^post_68, f_171^0'=f_171^post_68, head_15^0'=head_15^post_68, head_32^0'=head_32^post_68, head_SLAM_f_29^0'=head_SLAM_f_29^post_68, i_110^0'=i_110^post_68, i_30^0'=i_30^post_68, i_95^0'=i_95^post_68, len_134^0'=len_134^post_68, len_187^0'=len_187^post_68, length_28^0'=length_28^post_68, nondet_12^0'=nondet_12^post_68, r_126^0'=r_126^post_68, r_165^0'=r_165^post_68, r_39^0'=r_39^post_68, rcd_59^0'=rcd_59^post_68, rcd_89^0'=rcd_89^post_68, result_11^0'=result_11^post_68, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_68, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_68, t_22^0'=t_22^post_68, tail_14^0'=tail_14^post_68, temp0_16^0'=temp0_16^post_68, temp0_31^0'=temp0_31^post_68, temp_35^0'=temp_35^post_68, tmp_34^0'=tmp_34^post_68, x_131^0'=x_131^post_68, x_176^0'=x_176^post_68, x_19^0'=x_19^post_68, x_26^0'=x_26^post_68, x_SLAM_f_17^0'=x_SLAM_f_17^post_68, x_SLAM_f_24^0'=x_SLAM_f_24^post_68, y_18^0'=y_18^post_68, y_25^0'=y_25^post_68, [ 1+tail_14^0<=head_15^0 && a_118^0==a_118^post_68 && a_149^0==a_149^post_68 && a_188^0==a_188^post_68 && a_225^0==a_225^post_68 && a_281^0==a_281^post_68 && a_289^0==a_289^post_68 && a_342^0==a_342^post_68 && a_343^0==a_343^post_68 && f_171^0==f_171^post_68 && head_15^0==head_15^post_68 && head_32^0==head_32^post_68 && head_SLAM_f_29^0==head_SLAM_f_29^post_68 && i_110^0==i_110^post_68 && i_30^0==i_30^post_68 && i_95^0==i_95^post_68 && len_134^0==len_134^post_68 && len_187^0==len_187^post_68 && length_28^0==length_28^post_68 && nondet_12^0==nondet_12^post_68 && r_126^0==r_126^post_68 && r_165^0==r_165^post_68 && r_39^0==r_39^post_68 && rcd_59^0==rcd_59^post_68 && rcd_89^0==rcd_89^post_68 && result_11^0==result_11^post_68 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_68 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_68 && t_22^0==t_22^post_68 && tail_14^0==tail_14^post_68 && temp0_16^0==temp0_16^post_68 && temp0_31^0==temp0_31^post_68 && temp_35^0==temp_35^post_68 && tmp_34^0==tmp_34^post_68 && x_131^0==x_131^post_68 && x_176^0==x_176^post_68 && x_19^0==x_19^post_68 && x_26^0==x_26^post_68 && x_SLAM_f_17^0==x_SLAM_f_17^post_68 && x_SLAM_f_24^0==x_SLAM_f_24^post_68 && y_18^0==y_18^post_68 && y_25^0==y_25^post_68 ], cost: 1 68: l45 -> l46 : a_118^0'=a_118^post_69, a_149^0'=a_149^post_69, a_188^0'=a_188^post_69, a_225^0'=a_225^post_69, a_281^0'=a_281^post_69, a_289^0'=a_289^post_69, a_342^0'=a_342^post_69, a_343^0'=a_343^post_69, f_171^0'=f_171^post_69, head_15^0'=head_15^post_69, head_32^0'=head_32^post_69, head_SLAM_f_29^0'=head_SLAM_f_29^post_69, i_110^0'=i_110^post_69, i_30^0'=i_30^post_69, i_95^0'=i_95^post_69, len_134^0'=len_134^post_69, len_187^0'=len_187^post_69, length_28^0'=length_28^post_69, nondet_12^0'=nondet_12^post_69, r_126^0'=r_126^post_69, r_165^0'=r_165^post_69, r_39^0'=r_39^post_69, rcd_59^0'=rcd_59^post_69, rcd_89^0'=rcd_89^post_69, result_11^0'=result_11^post_69, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_69, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_69, t_22^0'=t_22^post_69, tail_14^0'=tail_14^post_69, temp0_16^0'=temp0_16^post_69, temp0_31^0'=temp0_31^post_69, temp_35^0'=temp_35^post_69, tmp_34^0'=tmp_34^post_69, x_131^0'=x_131^post_69, x_176^0'=x_176^post_69, x_19^0'=x_19^post_69, x_26^0'=x_26^post_69, x_SLAM_f_17^0'=x_SLAM_f_17^post_69, x_SLAM_f_24^0'=x_SLAM_f_24^post_69, y_18^0'=y_18^post_69, y_25^0'=y_25^post_69, [ 1+head_15^0<=tail_14^0 && a_118^0==a_118^post_69 && a_149^0==a_149^post_69 && a_188^0==a_188^post_69 && a_225^0==a_225^post_69 && a_281^0==a_281^post_69 && a_289^0==a_289^post_69 && a_342^0==a_342^post_69 && a_343^0==a_343^post_69 && f_171^0==f_171^post_69 && head_15^0==head_15^post_69 && head_32^0==head_32^post_69 && head_SLAM_f_29^0==head_SLAM_f_29^post_69 && i_110^0==i_110^post_69 && i_30^0==i_30^post_69 && i_95^0==i_95^post_69 && len_134^0==len_134^post_69 && len_187^0==len_187^post_69 && length_28^0==length_28^post_69 && nondet_12^0==nondet_12^post_69 && r_126^0==r_126^post_69 && r_165^0==r_165^post_69 && r_39^0==r_39^post_69 && rcd_59^0==rcd_59^post_69 && rcd_89^0==rcd_89^post_69 && result_11^0==result_11^post_69 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_69 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_69 && t_22^0==t_22^post_69 && tail_14^0==tail_14^post_69 && temp0_16^0==temp0_16^post_69 && temp0_31^0==temp0_31^post_69 && temp_35^0==temp_35^post_69 && tmp_34^0==tmp_34^post_69 && x_131^0==x_131^post_69 && x_176^0==x_176^post_69 && x_19^0==x_19^post_69 && x_26^0==x_26^post_69 && x_SLAM_f_17^0==x_SLAM_f_17^post_69 && x_SLAM_f_24^0==x_SLAM_f_24^post_69 && y_18^0==y_18^post_69 && y_25^0==y_25^post_69 ], cost: 1 69: l46 -> l47 : a_118^0'=a_118^post_70, a_149^0'=a_149^post_70, a_188^0'=a_188^post_70, a_225^0'=a_225^post_70, a_281^0'=a_281^post_70, a_289^0'=a_289^post_70, a_342^0'=a_342^post_70, a_343^0'=a_343^post_70, f_171^0'=f_171^post_70, head_15^0'=head_15^post_70, head_32^0'=head_32^post_70, head_SLAM_f_29^0'=head_SLAM_f_29^post_70, i_110^0'=i_110^post_70, i_30^0'=i_30^post_70, i_95^0'=i_95^post_70, len_134^0'=len_134^post_70, len_187^0'=len_187^post_70, length_28^0'=length_28^post_70, nondet_12^0'=nondet_12^post_70, r_126^0'=r_126^post_70, r_165^0'=r_165^post_70, r_39^0'=r_39^post_70, rcd_59^0'=rcd_59^post_70, rcd_89^0'=rcd_89^post_70, result_11^0'=result_11^post_70, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_70, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_70, t_22^0'=t_22^post_70, tail_14^0'=tail_14^post_70, temp0_16^0'=temp0_16^post_70, temp0_31^0'=temp0_31^post_70, temp_35^0'=temp_35^post_70, tmp_34^0'=tmp_34^post_70, x_131^0'=x_131^post_70, x_176^0'=x_176^post_70, x_19^0'=x_19^post_70, x_26^0'=x_26^post_70, x_SLAM_f_17^0'=x_SLAM_f_17^post_70, x_SLAM_f_24^0'=x_SLAM_f_24^post_70, y_18^0'=y_18^post_70, y_25^0'=y_25^post_70, [ 1<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0<=1 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_70==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_70 && tail_14^post_70==tail_14^post_70 && head_15^post_70==head_15^post_70 && x_SLAM_f_17^post_70==x_SLAM_f_17^post_70 && a_118^0==a_118^post_70 && a_149^0==a_149^post_70 && a_188^0==a_188^post_70 && a_225^0==a_225^post_70 && a_281^0==a_281^post_70 && a_289^0==a_289^post_70 && a_342^0==a_342^post_70 && a_343^0==a_343^post_70 && f_171^0==f_171^post_70 && head_32^0==head_32^post_70 && head_SLAM_f_29^0==head_SLAM_f_29^post_70 && i_110^0==i_110^post_70 && i_30^0==i_30^post_70 && i_95^0==i_95^post_70 && len_134^0==len_134^post_70 && len_187^0==len_187^post_70 && length_28^0==length_28^post_70 && nondet_12^0==nondet_12^post_70 && r_126^0==r_126^post_70 && r_165^0==r_165^post_70 && r_39^0==r_39^post_70 && rcd_59^0==rcd_59^post_70 && rcd_89^0==rcd_89^post_70 && result_11^0==result_11^post_70 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_70 && t_22^0==t_22^post_70 && temp0_16^0==temp0_16^post_70 && temp0_31^0==temp0_31^post_70 && temp_35^0==temp_35^post_70 && tmp_34^0==tmp_34^post_70 && x_131^0==x_131^post_70 && x_176^0==x_176^post_70 && x_19^0==x_19^post_70 && x_26^0==x_26^post_70 && x_SLAM_f_24^0==x_SLAM_f_24^post_70 && y_18^0==y_18^post_70 && y_25^0==y_25^post_70 ], cost: 1 70: l47 -> l48 : a_118^0'=a_118^post_71, a_149^0'=a_149^post_71, a_188^0'=a_188^post_71, a_225^0'=a_225^post_71, a_281^0'=a_281^post_71, a_289^0'=a_289^post_71, a_342^0'=a_342^post_71, a_343^0'=a_343^post_71, f_171^0'=f_171^post_71, head_15^0'=head_15^post_71, head_32^0'=head_32^post_71, head_SLAM_f_29^0'=head_SLAM_f_29^post_71, i_110^0'=i_110^post_71, i_30^0'=i_30^post_71, i_95^0'=i_95^post_71, len_134^0'=len_134^post_71, len_187^0'=len_187^post_71, length_28^0'=length_28^post_71, nondet_12^0'=nondet_12^post_71, r_126^0'=r_126^post_71, r_165^0'=r_165^post_71, r_39^0'=r_39^post_71, rcd_59^0'=rcd_59^post_71, rcd_89^0'=rcd_89^post_71, result_11^0'=result_11^post_71, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_71, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_71, t_22^0'=t_22^post_71, tail_14^0'=tail_14^post_71, temp0_16^0'=temp0_16^post_71, temp0_31^0'=temp0_31^post_71, temp_35^0'=temp_35^post_71, tmp_34^0'=tmp_34^post_71, x_131^0'=x_131^post_71, x_176^0'=x_176^post_71, x_19^0'=x_19^post_71, x_26^0'=x_26^post_71, x_SLAM_f_17^0'=x_SLAM_f_17^post_71, x_SLAM_f_24^0'=x_SLAM_f_24^post_71, y_18^0'=y_18^post_71, y_25^0'=y_25^post_71, [ 1+y_18^0<=x_19^0 && a_118^0==a_118^post_71 && a_149^0==a_149^post_71 && a_188^0==a_188^post_71 && a_225^0==a_225^post_71 && a_281^0==a_281^post_71 && a_289^0==a_289^post_71 && a_342^0==a_342^post_71 && a_343^0==a_343^post_71 && f_171^0==f_171^post_71 && head_15^0==head_15^post_71 && head_32^0==head_32^post_71 && head_SLAM_f_29^0==head_SLAM_f_29^post_71 && i_110^0==i_110^post_71 && i_30^0==i_30^post_71 && i_95^0==i_95^post_71 && len_134^0==len_134^post_71 && len_187^0==len_187^post_71 && length_28^0==length_28^post_71 && nondet_12^0==nondet_12^post_71 && r_126^0==r_126^post_71 && r_165^0==r_165^post_71 && r_39^0==r_39^post_71 && rcd_59^0==rcd_59^post_71 && rcd_89^0==rcd_89^post_71 && result_11^0==result_11^post_71 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_71 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_71 && t_22^0==t_22^post_71 && tail_14^0==tail_14^post_71 && temp0_16^0==temp0_16^post_71 && temp0_31^0==temp0_31^post_71 && temp_35^0==temp_35^post_71 && tmp_34^0==tmp_34^post_71 && x_131^0==x_131^post_71 && x_176^0==x_176^post_71 && x_19^0==x_19^post_71 && x_26^0==x_26^post_71 && x_SLAM_f_17^0==x_SLAM_f_17^post_71 && x_SLAM_f_24^0==x_SLAM_f_24^post_71 && y_18^0==y_18^post_71 && y_25^0==y_25^post_71 ], cost: 1 71: l47 -> l48 : a_118^0'=a_118^post_72, a_149^0'=a_149^post_72, a_188^0'=a_188^post_72, a_225^0'=a_225^post_72, a_281^0'=a_281^post_72, a_289^0'=a_289^post_72, a_342^0'=a_342^post_72, a_343^0'=a_343^post_72, f_171^0'=f_171^post_72, head_15^0'=head_15^post_72, head_32^0'=head_32^post_72, head_SLAM_f_29^0'=head_SLAM_f_29^post_72, i_110^0'=i_110^post_72, i_30^0'=i_30^post_72, i_95^0'=i_95^post_72, len_134^0'=len_134^post_72, len_187^0'=len_187^post_72, length_28^0'=length_28^post_72, nondet_12^0'=nondet_12^post_72, r_126^0'=r_126^post_72, r_165^0'=r_165^post_72, r_39^0'=r_39^post_72, rcd_59^0'=rcd_59^post_72, rcd_89^0'=rcd_89^post_72, result_11^0'=result_11^post_72, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_72, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_72, t_22^0'=t_22^post_72, tail_14^0'=tail_14^post_72, temp0_16^0'=temp0_16^post_72, temp0_31^0'=temp0_31^post_72, temp_35^0'=temp_35^post_72, tmp_34^0'=tmp_34^post_72, x_131^0'=x_131^post_72, x_176^0'=x_176^post_72, x_19^0'=x_19^post_72, x_26^0'=x_26^post_72, x_SLAM_f_17^0'=x_SLAM_f_17^post_72, x_SLAM_f_24^0'=x_SLAM_f_24^post_72, y_18^0'=y_18^post_72, y_25^0'=y_25^post_72, [ 1+x_19^0<=y_18^0 && a_118^0==a_118^post_72 && a_149^0==a_149^post_72 && a_188^0==a_188^post_72 && a_225^0==a_225^post_72 && a_281^0==a_281^post_72 && a_289^0==a_289^post_72 && a_342^0==a_342^post_72 && a_343^0==a_343^post_72 && f_171^0==f_171^post_72 && head_15^0==head_15^post_72 && head_32^0==head_32^post_72 && head_SLAM_f_29^0==head_SLAM_f_29^post_72 && i_110^0==i_110^post_72 && i_30^0==i_30^post_72 && i_95^0==i_95^post_72 && len_134^0==len_134^post_72 && len_187^0==len_187^post_72 && length_28^0==length_28^post_72 && nondet_12^0==nondet_12^post_72 && r_126^0==r_126^post_72 && r_165^0==r_165^post_72 && r_39^0==r_39^post_72 && rcd_59^0==rcd_59^post_72 && rcd_89^0==rcd_89^post_72 && result_11^0==result_11^post_72 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_72 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_72 && t_22^0==t_22^post_72 && tail_14^0==tail_14^post_72 && temp0_16^0==temp0_16^post_72 && temp0_31^0==temp0_31^post_72 && temp_35^0==temp_35^post_72 && tmp_34^0==tmp_34^post_72 && x_131^0==x_131^post_72 && x_176^0==x_176^post_72 && x_19^0==x_19^post_72 && x_26^0==x_26^post_72 && x_SLAM_f_17^0==x_SLAM_f_17^post_72 && x_SLAM_f_24^0==x_SLAM_f_24^post_72 && y_18^0==y_18^post_72 && y_25^0==y_25^post_72 ], cost: 1 72: l48 -> l49 : a_118^0'=a_118^post_73, a_149^0'=a_149^post_73, a_188^0'=a_188^post_73, a_225^0'=a_225^post_73, a_281^0'=a_281^post_73, a_289^0'=a_289^post_73, a_342^0'=a_342^post_73, a_343^0'=a_343^post_73, f_171^0'=f_171^post_73, head_15^0'=head_15^post_73, head_32^0'=head_32^post_73, head_SLAM_f_29^0'=head_SLAM_f_29^post_73, i_110^0'=i_110^post_73, i_30^0'=i_30^post_73, i_95^0'=i_95^post_73, len_134^0'=len_134^post_73, len_187^0'=len_187^post_73, length_28^0'=length_28^post_73, nondet_12^0'=nondet_12^post_73, r_126^0'=r_126^post_73, r_165^0'=r_165^post_73, r_39^0'=r_39^post_73, rcd_59^0'=rcd_59^post_73, rcd_89^0'=rcd_89^post_73, result_11^0'=result_11^post_73, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_73, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_73, t_22^0'=t_22^post_73, tail_14^0'=tail_14^post_73, temp0_16^0'=temp0_16^post_73, temp0_31^0'=temp0_31^post_73, temp_35^0'=temp_35^post_73, tmp_34^0'=tmp_34^post_73, x_131^0'=x_131^post_73, x_176^0'=x_176^post_73, x_19^0'=x_19^post_73, x_26^0'=x_26^post_73, x_SLAM_f_17^0'=x_SLAM_f_17^post_73, x_SLAM_f_24^0'=x_SLAM_f_24^post_73, y_18^0'=y_18^post_73, y_25^0'=y_25^post_73, [ t_22^post_73==x_19^0 && 1<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0<=1 && tail_14^0<=y_18^0 && y_18^0<=tail_14^0 && tail_14^0<=x_19^0 && x_19^0<=tail_14^0 && head_15^0<=x_SLAM_f_17^0 && x_SLAM_f_17^0<=head_15^0 && head_15^0<=t_22^post_73 && t_22^post_73<=head_15^0 && a_118^0==a_118^post_73 && a_149^0==a_149^post_73 && a_188^0==a_188^post_73 && a_225^0==a_225^post_73 && a_281^0==a_281^post_73 && a_289^0==a_289^post_73 && a_342^0==a_342^post_73 && a_343^0==a_343^post_73 && f_171^0==f_171^post_73 && head_15^0==head_15^post_73 && head_32^0==head_32^post_73 && head_SLAM_f_29^0==head_SLAM_f_29^post_73 && i_110^0==i_110^post_73 && i_30^0==i_30^post_73 && i_95^0==i_95^post_73 && len_134^0==len_134^post_73 && len_187^0==len_187^post_73 && length_28^0==length_28^post_73 && nondet_12^0==nondet_12^post_73 && r_126^0==r_126^post_73 && r_165^0==r_165^post_73 && r_39^0==r_39^post_73 && rcd_59^0==rcd_59^post_73 && rcd_89^0==rcd_89^post_73 && result_11^0==result_11^post_73 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_73 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_73 && tail_14^0==tail_14^post_73 && temp0_16^0==temp0_16^post_73 && temp0_31^0==temp0_31^post_73 && temp_35^0==temp_35^post_73 && tmp_34^0==tmp_34^post_73 && x_131^0==x_131^post_73 && x_176^0==x_176^post_73 && x_19^0==x_19^post_73 && x_26^0==x_26^post_73 && x_SLAM_f_17^0==x_SLAM_f_17^post_73 && x_SLAM_f_24^0==x_SLAM_f_24^post_73 && y_18^0==y_18^post_73 && y_25^0==y_25^post_73 ], cost: 1 73: l49 -> l50 : a_118^0'=a_118^post_74, a_149^0'=a_149^post_74, a_188^0'=a_188^post_74, a_225^0'=a_225^post_74, a_281^0'=a_281^post_74, a_289^0'=a_289^post_74, a_342^0'=a_342^post_74, a_343^0'=a_343^post_74, f_171^0'=f_171^post_74, head_15^0'=head_15^post_74, head_32^0'=head_32^post_74, head_SLAM_f_29^0'=head_SLAM_f_29^post_74, i_110^0'=i_110^post_74, i_30^0'=i_30^post_74, i_95^0'=i_95^post_74, len_134^0'=len_134^post_74, len_187^0'=len_187^post_74, length_28^0'=length_28^post_74, nondet_12^0'=nondet_12^post_74, r_126^0'=r_126^post_74, r_165^0'=r_165^post_74, r_39^0'=r_39^post_74, rcd_59^0'=rcd_59^post_74, rcd_89^0'=rcd_89^post_74, result_11^0'=result_11^post_74, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_74, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_74, t_22^0'=t_22^post_74, tail_14^0'=tail_14^post_74, temp0_16^0'=temp0_16^post_74, temp0_31^0'=temp0_31^post_74, temp_35^0'=temp_35^post_74, tmp_34^0'=tmp_34^post_74, x_131^0'=x_131^post_74, x_176^0'=x_176^post_74, x_19^0'=x_19^post_74, x_26^0'=x_26^post_74, x_SLAM_f_17^0'=x_SLAM_f_17^post_74, x_SLAM_f_24^0'=x_SLAM_f_24^post_74, y_18^0'=y_18^post_74, y_25^0'=y_25^post_74, [ 1+tail_14^0<=head_15^0 && a_118^0==a_118^post_74 && a_149^0==a_149^post_74 && a_188^0==a_188^post_74 && a_225^0==a_225^post_74 && a_281^0==a_281^post_74 && a_289^0==a_289^post_74 && a_342^0==a_342^post_74 && a_343^0==a_343^post_74 && f_171^0==f_171^post_74 && head_15^0==head_15^post_74 && head_32^0==head_32^post_74 && head_SLAM_f_29^0==head_SLAM_f_29^post_74 && i_110^0==i_110^post_74 && i_30^0==i_30^post_74 && i_95^0==i_95^post_74 && len_134^0==len_134^post_74 && len_187^0==len_187^post_74 && length_28^0==length_28^post_74 && nondet_12^0==nondet_12^post_74 && r_126^0==r_126^post_74 && r_165^0==r_165^post_74 && r_39^0==r_39^post_74 && rcd_59^0==rcd_59^post_74 && rcd_89^0==rcd_89^post_74 && result_11^0==result_11^post_74 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_74 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_74 && t_22^0==t_22^post_74 && tail_14^0==tail_14^post_74 && temp0_16^0==temp0_16^post_74 && temp0_31^0==temp0_31^post_74 && temp_35^0==temp_35^post_74 && tmp_34^0==tmp_34^post_74 && x_131^0==x_131^post_74 && x_176^0==x_176^post_74 && x_19^0==x_19^post_74 && x_26^0==x_26^post_74 && x_SLAM_f_17^0==x_SLAM_f_17^post_74 && x_SLAM_f_24^0==x_SLAM_f_24^post_74 && y_18^0==y_18^post_74 && y_25^0==y_25^post_74 ], cost: 1 74: l49 -> l50 : a_118^0'=a_118^post_75, a_149^0'=a_149^post_75, a_188^0'=a_188^post_75, a_225^0'=a_225^post_75, a_281^0'=a_281^post_75, a_289^0'=a_289^post_75, a_342^0'=a_342^post_75, a_343^0'=a_343^post_75, f_171^0'=f_171^post_75, head_15^0'=head_15^post_75, head_32^0'=head_32^post_75, head_SLAM_f_29^0'=head_SLAM_f_29^post_75, i_110^0'=i_110^post_75, i_30^0'=i_30^post_75, i_95^0'=i_95^post_75, len_134^0'=len_134^post_75, len_187^0'=len_187^post_75, length_28^0'=length_28^post_75, nondet_12^0'=nondet_12^post_75, r_126^0'=r_126^post_75, r_165^0'=r_165^post_75, r_39^0'=r_39^post_75, rcd_59^0'=rcd_59^post_75, rcd_89^0'=rcd_89^post_75, result_11^0'=result_11^post_75, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_75, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_75, t_22^0'=t_22^post_75, tail_14^0'=tail_14^post_75, temp0_16^0'=temp0_16^post_75, temp0_31^0'=temp0_31^post_75, temp_35^0'=temp_35^post_75, tmp_34^0'=tmp_34^post_75, x_131^0'=x_131^post_75, x_176^0'=x_176^post_75, x_19^0'=x_19^post_75, x_26^0'=x_26^post_75, x_SLAM_f_17^0'=x_SLAM_f_17^post_75, x_SLAM_f_24^0'=x_SLAM_f_24^post_75, y_18^0'=y_18^post_75, y_25^0'=y_25^post_75, [ 1+head_15^0<=tail_14^0 && a_118^0==a_118^post_75 && a_149^0==a_149^post_75 && a_188^0==a_188^post_75 && a_225^0==a_225^post_75 && a_281^0==a_281^post_75 && a_289^0==a_289^post_75 && a_342^0==a_342^post_75 && a_343^0==a_343^post_75 && f_171^0==f_171^post_75 && head_15^0==head_15^post_75 && head_32^0==head_32^post_75 && head_SLAM_f_29^0==head_SLAM_f_29^post_75 && i_110^0==i_110^post_75 && i_30^0==i_30^post_75 && i_95^0==i_95^post_75 && len_134^0==len_134^post_75 && len_187^0==len_187^post_75 && length_28^0==length_28^post_75 && nondet_12^0==nondet_12^post_75 && r_126^0==r_126^post_75 && r_165^0==r_165^post_75 && r_39^0==r_39^post_75 && rcd_59^0==rcd_59^post_75 && rcd_89^0==rcd_89^post_75 && result_11^0==result_11^post_75 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_75 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_75 && t_22^0==t_22^post_75 && tail_14^0==tail_14^post_75 && temp0_16^0==temp0_16^post_75 && temp0_31^0==temp0_31^post_75 && temp_35^0==temp_35^post_75 && tmp_34^0==tmp_34^post_75 && x_131^0==x_131^post_75 && x_176^0==x_176^post_75 && x_19^0==x_19^post_75 && x_26^0==x_26^post_75 && x_SLAM_f_17^0==x_SLAM_f_17^post_75 && x_SLAM_f_24^0==x_SLAM_f_24^post_75 && y_18^0==y_18^post_75 && y_25^0==y_25^post_75 ], cost: 1 75: l50 -> l51 : a_118^0'=a_118^post_76, a_149^0'=a_149^post_76, a_188^0'=a_188^post_76, a_225^0'=a_225^post_76, a_281^0'=a_281^post_76, a_289^0'=a_289^post_76, a_342^0'=a_342^post_76, a_343^0'=a_343^post_76, f_171^0'=f_171^post_76, head_15^0'=head_15^post_76, head_32^0'=head_32^post_76, head_SLAM_f_29^0'=head_SLAM_f_29^post_76, i_110^0'=i_110^post_76, i_30^0'=i_30^post_76, i_95^0'=i_95^post_76, len_134^0'=len_134^post_76, len_187^0'=len_187^post_76, length_28^0'=length_28^post_76, nondet_12^0'=nondet_12^post_76, r_126^0'=r_126^post_76, r_165^0'=r_165^post_76, r_39^0'=r_39^post_76, rcd_59^0'=rcd_59^post_76, rcd_89^0'=rcd_89^post_76, result_11^0'=result_11^post_76, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_76, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_76, t_22^0'=t_22^post_76, tail_14^0'=tail_14^post_76, temp0_16^0'=temp0_16^post_76, temp0_31^0'=temp0_31^post_76, temp_35^0'=temp_35^post_76, tmp_34^0'=tmp_34^post_76, x_131^0'=x_131^post_76, x_176^0'=x_176^post_76, x_19^0'=x_19^post_76, x_26^0'=x_26^post_76, x_SLAM_f_17^0'=x_SLAM_f_17^post_76, x_SLAM_f_24^0'=x_SLAM_f_24^post_76, y_18^0'=y_18^post_76, y_25^0'=y_25^post_76, [ 1+head_15^0<=y_18^0 && a_118^0==a_118^post_76 && a_149^0==a_149^post_76 && a_188^0==a_188^post_76 && a_225^0==a_225^post_76 && a_281^0==a_281^post_76 && a_289^0==a_289^post_76 && a_342^0==a_342^post_76 && a_343^0==a_343^post_76 && f_171^0==f_171^post_76 && head_15^0==head_15^post_76 && head_32^0==head_32^post_76 && head_SLAM_f_29^0==head_SLAM_f_29^post_76 && i_110^0==i_110^post_76 && i_30^0==i_30^post_76 && i_95^0==i_95^post_76 && len_134^0==len_134^post_76 && len_187^0==len_187^post_76 && length_28^0==length_28^post_76 && nondet_12^0==nondet_12^post_76 && r_126^0==r_126^post_76 && r_165^0==r_165^post_76 && r_39^0==r_39^post_76 && rcd_59^0==rcd_59^post_76 && rcd_89^0==rcd_89^post_76 && result_11^0==result_11^post_76 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_76 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_76 && t_22^0==t_22^post_76 && tail_14^0==tail_14^post_76 && temp0_16^0==temp0_16^post_76 && temp0_31^0==temp0_31^post_76 && temp_35^0==temp_35^post_76 && tmp_34^0==tmp_34^post_76 && x_131^0==x_131^post_76 && x_176^0==x_176^post_76 && x_19^0==x_19^post_76 && x_26^0==x_26^post_76 && x_SLAM_f_17^0==x_SLAM_f_17^post_76 && x_SLAM_f_24^0==x_SLAM_f_24^post_76 && y_18^0==y_18^post_76 && y_25^0==y_25^post_76 ], cost: 1 76: l50 -> l51 : a_118^0'=a_118^post_77, a_149^0'=a_149^post_77, a_188^0'=a_188^post_77, a_225^0'=a_225^post_77, a_281^0'=a_281^post_77, a_289^0'=a_289^post_77, a_342^0'=a_342^post_77, a_343^0'=a_343^post_77, f_171^0'=f_171^post_77, head_15^0'=head_15^post_77, head_32^0'=head_32^post_77, head_SLAM_f_29^0'=head_SLAM_f_29^post_77, i_110^0'=i_110^post_77, i_30^0'=i_30^post_77, i_95^0'=i_95^post_77, len_134^0'=len_134^post_77, len_187^0'=len_187^post_77, length_28^0'=length_28^post_77, nondet_12^0'=nondet_12^post_77, r_126^0'=r_126^post_77, r_165^0'=r_165^post_77, r_39^0'=r_39^post_77, rcd_59^0'=rcd_59^post_77, rcd_89^0'=rcd_89^post_77, result_11^0'=result_11^post_77, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_77, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_77, t_22^0'=t_22^post_77, tail_14^0'=tail_14^post_77, temp0_16^0'=temp0_16^post_77, temp0_31^0'=temp0_31^post_77, temp_35^0'=temp_35^post_77, tmp_34^0'=tmp_34^post_77, x_131^0'=x_131^post_77, x_176^0'=x_176^post_77, x_19^0'=x_19^post_77, x_26^0'=x_26^post_77, x_SLAM_f_17^0'=x_SLAM_f_17^post_77, x_SLAM_f_24^0'=x_SLAM_f_24^post_77, y_18^0'=y_18^post_77, y_25^0'=y_25^post_77, [ 1+y_18^0<=head_15^0 && a_118^0==a_118^post_77 && a_149^0==a_149^post_77 && a_188^0==a_188^post_77 && a_225^0==a_225^post_77 && a_281^0==a_281^post_77 && a_289^0==a_289^post_77 && a_342^0==a_342^post_77 && a_343^0==a_343^post_77 && f_171^0==f_171^post_77 && head_15^0==head_15^post_77 && head_32^0==head_32^post_77 && head_SLAM_f_29^0==head_SLAM_f_29^post_77 && i_110^0==i_110^post_77 && i_30^0==i_30^post_77 && i_95^0==i_95^post_77 && len_134^0==len_134^post_77 && len_187^0==len_187^post_77 && length_28^0==length_28^post_77 && nondet_12^0==nondet_12^post_77 && r_126^0==r_126^post_77 && r_165^0==r_165^post_77 && r_39^0==r_39^post_77 && rcd_59^0==rcd_59^post_77 && rcd_89^0==rcd_89^post_77 && result_11^0==result_11^post_77 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_77 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_77 && t_22^0==t_22^post_77 && tail_14^0==tail_14^post_77 && temp0_16^0==temp0_16^post_77 && temp0_31^0==temp0_31^post_77 && temp_35^0==temp_35^post_77 && tmp_34^0==tmp_34^post_77 && x_131^0==x_131^post_77 && x_176^0==x_176^post_77 && x_19^0==x_19^post_77 && x_26^0==x_26^post_77 && x_SLAM_f_17^0==x_SLAM_f_17^post_77 && x_SLAM_f_24^0==x_SLAM_f_24^post_77 && y_18^0==y_18^post_77 && y_25^0==y_25^post_77 ], cost: 1 77: l51 -> l52 : a_118^0'=a_118^post_78, a_149^0'=a_149^post_78, a_188^0'=a_188^post_78, a_225^0'=a_225^post_78, a_281^0'=a_281^post_78, a_289^0'=a_289^post_78, a_342^0'=a_342^post_78, a_343^0'=a_343^post_78, f_171^0'=f_171^post_78, head_15^0'=head_15^post_78, head_32^0'=head_32^post_78, head_SLAM_f_29^0'=head_SLAM_f_29^post_78, i_110^0'=i_110^post_78, i_30^0'=i_30^post_78, i_95^0'=i_95^post_78, len_134^0'=len_134^post_78, len_187^0'=len_187^post_78, length_28^0'=length_28^post_78, nondet_12^0'=nondet_12^post_78, r_126^0'=r_126^post_78, r_165^0'=r_165^post_78, r_39^0'=r_39^post_78, rcd_59^0'=rcd_59^post_78, rcd_89^0'=rcd_89^post_78, result_11^0'=result_11^post_78, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_78, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_78, t_22^0'=t_22^post_78, tail_14^0'=tail_14^post_78, temp0_16^0'=temp0_16^post_78, temp0_31^0'=temp0_31^post_78, temp_35^0'=temp_35^post_78, tmp_34^0'=tmp_34^post_78, x_131^0'=x_131^post_78, x_176^0'=x_176^post_78, x_19^0'=x_19^post_78, x_26^0'=x_26^post_78, x_SLAM_f_17^0'=x_SLAM_f_17^post_78, x_SLAM_f_24^0'=x_SLAM_f_24^post_78, y_18^0'=y_18^post_78, y_25^0'=y_25^post_78, [ 1<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0<=1 && tail_14^post_78==tail_14^post_78 && head_15^post_78==head_15^post_78 && y_18^0<=x_19^0 && x_19^0<=y_18^0 && x_SLAM_f_17^post_78==x_SLAM_f_17^post_78 && y_18^post_78==y_18^post_78 && x_19^post_78==x_19^post_78 && t_22^post_78==t_22^post_78 && result_11^post_78==temp0_16^0 && a_118^0==a_118^post_78 && a_149^0==a_149^post_78 && a_188^0==a_188^post_78 && a_225^0==a_225^post_78 && a_281^0==a_281^post_78 && a_289^0==a_289^post_78 && a_342^0==a_342^post_78 && a_343^0==a_343^post_78 && f_171^0==f_171^post_78 && head_32^0==head_32^post_78 && head_SLAM_f_29^0==head_SLAM_f_29^post_78 && i_110^0==i_110^post_78 && i_30^0==i_30^post_78 && i_95^0==i_95^post_78 && len_134^0==len_134^post_78 && len_187^0==len_187^post_78 && length_28^0==length_28^post_78 && nondet_12^0==nondet_12^post_78 && r_126^0==r_126^post_78 && r_165^0==r_165^post_78 && r_39^0==r_39^post_78 && rcd_59^0==rcd_59^post_78 && rcd_89^0==rcd_89^post_78 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_78 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_78 && temp0_16^0==temp0_16^post_78 && temp0_31^0==temp0_31^post_78 && temp_35^0==temp_35^post_78 && tmp_34^0==tmp_34^post_78 && x_131^0==x_131^post_78 && x_176^0==x_176^post_78 && x_26^0==x_26^post_78 && x_SLAM_f_24^0==x_SLAM_f_24^post_78 && y_25^0==y_25^post_78 ], cost: 1 78: l52 -> l4 : a_118^0'=a_118^post_79, a_149^0'=a_149^post_79, a_188^0'=a_188^post_79, a_225^0'=a_225^post_79, a_281^0'=a_281^post_79, a_289^0'=a_289^post_79, a_342^0'=a_342^post_79, a_343^0'=a_343^post_79, f_171^0'=f_171^post_79, head_15^0'=head_15^post_79, head_32^0'=head_32^post_79, head_SLAM_f_29^0'=head_SLAM_f_29^post_79, i_110^0'=i_110^post_79, i_30^0'=i_30^post_79, i_95^0'=i_95^post_79, len_134^0'=len_134^post_79, len_187^0'=len_187^post_79, length_28^0'=length_28^post_79, nondet_12^0'=nondet_12^post_79, r_126^0'=r_126^post_79, r_165^0'=r_165^post_79, r_39^0'=r_39^post_79, rcd_59^0'=rcd_59^post_79, rcd_89^0'=rcd_89^post_79, result_11^0'=result_11^post_79, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_79, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_79, t_22^0'=t_22^post_79, tail_14^0'=tail_14^post_79, temp0_16^0'=temp0_16^post_79, temp0_31^0'=temp0_31^post_79, temp_35^0'=temp_35^post_79, tmp_34^0'=tmp_34^post_79, x_131^0'=x_131^post_79, x_176^0'=x_176^post_79, x_19^0'=x_19^post_79, x_26^0'=x_26^post_79, x_SLAM_f_17^0'=x_SLAM_f_17^post_79, x_SLAM_f_24^0'=x_SLAM_f_24^post_79, y_18^0'=y_18^post_79, y_25^0'=y_25^post_79, [ 1+tail_14^0<=head_15^0 && a_118^0==a_118^post_79 && a_149^0==a_149^post_79 && a_188^0==a_188^post_79 && a_225^0==a_225^post_79 && a_281^0==a_281^post_79 && a_289^0==a_289^post_79 && a_342^0==a_342^post_79 && a_343^0==a_343^post_79 && f_171^0==f_171^post_79 && head_15^0==head_15^post_79 && head_32^0==head_32^post_79 && head_SLAM_f_29^0==head_SLAM_f_29^post_79 && i_110^0==i_110^post_79 && i_30^0==i_30^post_79 && i_95^0==i_95^post_79 && len_134^0==len_134^post_79 && len_187^0==len_187^post_79 && length_28^0==length_28^post_79 && nondet_12^0==nondet_12^post_79 && r_126^0==r_126^post_79 && r_165^0==r_165^post_79 && r_39^0==r_39^post_79 && rcd_59^0==rcd_59^post_79 && rcd_89^0==rcd_89^post_79 && result_11^0==result_11^post_79 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_79 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_79 && t_22^0==t_22^post_79 && tail_14^0==tail_14^post_79 && temp0_16^0==temp0_16^post_79 && temp0_31^0==temp0_31^post_79 && temp_35^0==temp_35^post_79 && tmp_34^0==tmp_34^post_79 && x_131^0==x_131^post_79 && x_176^0==x_176^post_79 && x_19^0==x_19^post_79 && x_26^0==x_26^post_79 && x_SLAM_f_17^0==x_SLAM_f_17^post_79 && x_SLAM_f_24^0==x_SLAM_f_24^post_79 && y_18^0==y_18^post_79 && y_25^0==y_25^post_79 ], cost: 1 79: l52 -> l4 : a_118^0'=a_118^post_80, a_149^0'=a_149^post_80, a_188^0'=a_188^post_80, a_225^0'=a_225^post_80, a_281^0'=a_281^post_80, a_289^0'=a_289^post_80, a_342^0'=a_342^post_80, a_343^0'=a_343^post_80, f_171^0'=f_171^post_80, head_15^0'=head_15^post_80, head_32^0'=head_32^post_80, head_SLAM_f_29^0'=head_SLAM_f_29^post_80, i_110^0'=i_110^post_80, i_30^0'=i_30^post_80, i_95^0'=i_95^post_80, len_134^0'=len_134^post_80, len_187^0'=len_187^post_80, length_28^0'=length_28^post_80, nondet_12^0'=nondet_12^post_80, r_126^0'=r_126^post_80, r_165^0'=r_165^post_80, r_39^0'=r_39^post_80, rcd_59^0'=rcd_59^post_80, rcd_89^0'=rcd_89^post_80, result_11^0'=result_11^post_80, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_80, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_80, t_22^0'=t_22^post_80, tail_14^0'=tail_14^post_80, temp0_16^0'=temp0_16^post_80, temp0_31^0'=temp0_31^post_80, temp_35^0'=temp_35^post_80, tmp_34^0'=tmp_34^post_80, x_131^0'=x_131^post_80, x_176^0'=x_176^post_80, x_19^0'=x_19^post_80, x_26^0'=x_26^post_80, x_SLAM_f_17^0'=x_SLAM_f_17^post_80, x_SLAM_f_24^0'=x_SLAM_f_24^post_80, y_18^0'=y_18^post_80, y_25^0'=y_25^post_80, [ 1+head_15^0<=tail_14^0 && a_118^0==a_118^post_80 && a_149^0==a_149^post_80 && a_188^0==a_188^post_80 && a_225^0==a_225^post_80 && a_281^0==a_281^post_80 && a_289^0==a_289^post_80 && a_342^0==a_342^post_80 && a_343^0==a_343^post_80 && f_171^0==f_171^post_80 && head_15^0==head_15^post_80 && head_32^0==head_32^post_80 && head_SLAM_f_29^0==head_SLAM_f_29^post_80 && i_110^0==i_110^post_80 && i_30^0==i_30^post_80 && i_95^0==i_95^post_80 && len_134^0==len_134^post_80 && len_187^0==len_187^post_80 && length_28^0==length_28^post_80 && nondet_12^0==nondet_12^post_80 && r_126^0==r_126^post_80 && r_165^0==r_165^post_80 && r_39^0==r_39^post_80 && rcd_59^0==rcd_59^post_80 && rcd_89^0==rcd_89^post_80 && result_11^0==result_11^post_80 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_80 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_80 && t_22^0==t_22^post_80 && tail_14^0==tail_14^post_80 && temp0_16^0==temp0_16^post_80 && temp0_31^0==temp0_31^post_80 && temp_35^0==temp_35^post_80 && tmp_34^0==tmp_34^post_80 && x_131^0==x_131^post_80 && x_176^0==x_176^post_80 && x_19^0==x_19^post_80 && x_26^0==x_26^post_80 && x_SLAM_f_17^0==x_SLAM_f_17^post_80 && x_SLAM_f_24^0==x_SLAM_f_24^post_80 && y_18^0==y_18^post_80 && y_25^0==y_25^post_80 ], cost: 1 80: l53 -> l54 : a_118^0'=a_118^post_81, a_149^0'=a_149^post_81, a_188^0'=a_188^post_81, a_225^0'=a_225^post_81, a_281^0'=a_281^post_81, a_289^0'=a_289^post_81, a_342^0'=a_342^post_81, a_343^0'=a_343^post_81, f_171^0'=f_171^post_81, head_15^0'=head_15^post_81, head_32^0'=head_32^post_81, head_SLAM_f_29^0'=head_SLAM_f_29^post_81, i_110^0'=i_110^post_81, i_30^0'=i_30^post_81, i_95^0'=i_95^post_81, len_134^0'=len_134^post_81, len_187^0'=len_187^post_81, length_28^0'=length_28^post_81, nondet_12^0'=nondet_12^post_81, r_126^0'=r_126^post_81, r_165^0'=r_165^post_81, r_39^0'=r_39^post_81, rcd_59^0'=rcd_59^post_81, rcd_89^0'=rcd_89^post_81, result_11^0'=result_11^post_81, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_81, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_81, t_22^0'=t_22^post_81, tail_14^0'=tail_14^post_81, temp0_16^0'=temp0_16^post_81, temp0_31^0'=temp0_31^post_81, temp_35^0'=temp_35^post_81, tmp_34^0'=tmp_34^post_81, x_131^0'=x_131^post_81, x_176^0'=x_176^post_81, x_19^0'=x_19^post_81, x_26^0'=x_26^post_81, x_SLAM_f_17^0'=x_SLAM_f_17^post_81, x_SLAM_f_24^0'=x_SLAM_f_24^post_81, y_18^0'=y_18^post_81, y_25^0'=y_25^post_81, [ 0<=a_118^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_81==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_81 && y_25^0<=x_26^0 && x_26^0<=y_25^0 && x_SLAM_f_24^post_81==x_SLAM_f_24^post_81 && y_25^post_81==y_25^post_81 && x_26^post_81==x_26^post_81 && x_SLAM_f_17^post_81==head_15^0 && y_18^post_81==tail_14^0 && x_19^post_81==x_SLAM_f_17^post_81 && 0<=a_149^0 && a_149^0<=0 && tail_14^0<=y_18^post_81 && y_18^post_81<=tail_14^0 && head_15^0<=x_SLAM_f_17^post_81 && x_SLAM_f_17^post_81<=head_15^0 && head_15^0<=x_19^post_81 && x_19^post_81<=head_15^0 && x_SLAM_f_17^post_81<=x_19^post_81 && x_19^post_81<=x_SLAM_f_17^post_81 && a_118^0<=-1+len_134^0 && -1+len_134^0<=a_118^0 && a_118^0==a_118^post_81 && a_149^0==a_149^post_81 && a_188^0==a_188^post_81 && a_225^0==a_225^post_81 && a_281^0==a_281^post_81 && a_289^0==a_289^post_81 && a_342^0==a_342^post_81 && a_343^0==a_343^post_81 && f_171^0==f_171^post_81 && head_15^0==head_15^post_81 && head_32^0==head_32^post_81 && head_SLAM_f_29^0==head_SLAM_f_29^post_81 && i_110^0==i_110^post_81 && i_30^0==i_30^post_81 && i_95^0==i_95^post_81 && len_134^0==len_134^post_81 && len_187^0==len_187^post_81 && length_28^0==length_28^post_81 && nondet_12^0==nondet_12^post_81 && r_126^0==r_126^post_81 && r_165^0==r_165^post_81 && r_39^0==r_39^post_81 && rcd_59^0==rcd_59^post_81 && rcd_89^0==rcd_89^post_81 && result_11^0==result_11^post_81 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_81 && t_22^0==t_22^post_81 && tail_14^0==tail_14^post_81 && temp0_16^0==temp0_16^post_81 && temp0_31^0==temp0_31^post_81 && temp_35^0==temp_35^post_81 && tmp_34^0==tmp_34^post_81 && x_131^0==x_131^post_81 && x_176^0==x_176^post_81 ], cost: 1 84: l53 -> l56 : a_118^0'=a_118^post_85, a_149^0'=a_149^post_85, a_188^0'=a_188^post_85, a_225^0'=a_225^post_85, a_281^0'=a_281^post_85, a_289^0'=a_289^post_85, a_342^0'=a_342^post_85, a_343^0'=a_343^post_85, f_171^0'=f_171^post_85, head_15^0'=head_15^post_85, head_32^0'=head_32^post_85, head_SLAM_f_29^0'=head_SLAM_f_29^post_85, i_110^0'=i_110^post_85, i_30^0'=i_30^post_85, i_95^0'=i_95^post_85, len_134^0'=len_134^post_85, len_187^0'=len_187^post_85, length_28^0'=length_28^post_85, nondet_12^0'=nondet_12^post_85, r_126^0'=r_126^post_85, r_165^0'=r_165^post_85, r_39^0'=r_39^post_85, rcd_59^0'=rcd_59^post_85, rcd_89^0'=rcd_89^post_85, result_11^0'=result_11^post_85, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_85, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_85, t_22^0'=t_22^post_85, tail_14^0'=tail_14^post_85, temp0_16^0'=temp0_16^post_85, temp0_31^0'=temp0_31^post_85, temp_35^0'=temp_35^post_85, tmp_34^0'=tmp_34^post_85, x_131^0'=x_131^post_85, x_176^0'=x_176^post_85, x_19^0'=x_19^post_85, x_26^0'=x_26^post_85, x_SLAM_f_17^0'=x_SLAM_f_17^post_85, x_SLAM_f_24^0'=x_SLAM_f_24^post_85, y_18^0'=y_18^post_85, y_25^0'=y_25^post_85, [ 0<=a_118^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_85==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_85 && tail_14^post_85==tail_14^post_85 && head_15^post_85==head_15^post_85 && x_SLAM_f_24^post_85==x_SLAM_f_24^post_85 && r_126^post_85==r_126^post_85 && x_131^post_85==x_131^post_85 && a_118^0==a_118^post_85 && a_149^0==a_149^post_85 && a_188^0==a_188^post_85 && a_225^0==a_225^post_85 && a_281^0==a_281^post_85 && a_289^0==a_289^post_85 && a_342^0==a_342^post_85 && a_343^0==a_343^post_85 && f_171^0==f_171^post_85 && head_32^0==head_32^post_85 && head_SLAM_f_29^0==head_SLAM_f_29^post_85 && i_110^0==i_110^post_85 && i_30^0==i_30^post_85 && i_95^0==i_95^post_85 && len_134^0==len_134^post_85 && len_187^0==len_187^post_85 && length_28^0==length_28^post_85 && nondet_12^0==nondet_12^post_85 && r_165^0==r_165^post_85 && r_39^0==r_39^post_85 && rcd_59^0==rcd_59^post_85 && rcd_89^0==rcd_89^post_85 && result_11^0==result_11^post_85 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_85 && t_22^0==t_22^post_85 && temp0_16^0==temp0_16^post_85 && temp0_31^0==temp0_31^post_85 && temp_35^0==temp_35^post_85 && tmp_34^0==tmp_34^post_85 && x_176^0==x_176^post_85 && x_19^0==x_19^post_85 && x_26^0==x_26^post_85 && x_SLAM_f_17^0==x_SLAM_f_17^post_85 && y_18^0==y_18^post_85 && y_25^0==y_25^post_85 ], cost: 1 81: l54 -> l55 : a_118^0'=a_118^post_82, a_149^0'=a_149^post_82, a_188^0'=a_188^post_82, a_225^0'=a_225^post_82, a_281^0'=a_281^post_82, a_289^0'=a_289^post_82, a_342^0'=a_342^post_82, a_343^0'=a_343^post_82, f_171^0'=f_171^post_82, head_15^0'=head_15^post_82, head_32^0'=head_32^post_82, head_SLAM_f_29^0'=head_SLAM_f_29^post_82, i_110^0'=i_110^post_82, i_30^0'=i_30^post_82, i_95^0'=i_95^post_82, len_134^0'=len_134^post_82, len_187^0'=len_187^post_82, length_28^0'=length_28^post_82, nondet_12^0'=nondet_12^post_82, r_126^0'=r_126^post_82, r_165^0'=r_165^post_82, r_39^0'=r_39^post_82, rcd_59^0'=rcd_59^post_82, rcd_89^0'=rcd_89^post_82, result_11^0'=result_11^post_82, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_82, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_82, t_22^0'=t_22^post_82, tail_14^0'=tail_14^post_82, temp0_16^0'=temp0_16^post_82, temp0_31^0'=temp0_31^post_82, temp_35^0'=temp_35^post_82, tmp_34^0'=tmp_34^post_82, x_131^0'=x_131^post_82, x_176^0'=x_176^post_82, x_19^0'=x_19^post_82, x_26^0'=x_26^post_82, x_SLAM_f_17^0'=x_SLAM_f_17^post_82, x_SLAM_f_24^0'=x_SLAM_f_24^post_82, y_18^0'=y_18^post_82, y_25^0'=y_25^post_82, [ 1+tail_14^0<=head_15^0 && a_118^0==a_118^post_82 && a_149^0==a_149^post_82 && a_188^0==a_188^post_82 && a_225^0==a_225^post_82 && a_281^0==a_281^post_82 && a_289^0==a_289^post_82 && a_342^0==a_342^post_82 && a_343^0==a_343^post_82 && f_171^0==f_171^post_82 && head_15^0==head_15^post_82 && head_32^0==head_32^post_82 && head_SLAM_f_29^0==head_SLAM_f_29^post_82 && i_110^0==i_110^post_82 && i_30^0==i_30^post_82 && i_95^0==i_95^post_82 && len_134^0==len_134^post_82 && len_187^0==len_187^post_82 && length_28^0==length_28^post_82 && nondet_12^0==nondet_12^post_82 && r_126^0==r_126^post_82 && r_165^0==r_165^post_82 && r_39^0==r_39^post_82 && rcd_59^0==rcd_59^post_82 && rcd_89^0==rcd_89^post_82 && result_11^0==result_11^post_82 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_82 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_82 && t_22^0==t_22^post_82 && tail_14^0==tail_14^post_82 && temp0_16^0==temp0_16^post_82 && temp0_31^0==temp0_31^post_82 && temp_35^0==temp_35^post_82 && tmp_34^0==tmp_34^post_82 && x_131^0==x_131^post_82 && x_176^0==x_176^post_82 && x_19^0==x_19^post_82 && x_26^0==x_26^post_82 && x_SLAM_f_17^0==x_SLAM_f_17^post_82 && x_SLAM_f_24^0==x_SLAM_f_24^post_82 && y_18^0==y_18^post_82 && y_25^0==y_25^post_82 ], cost: 1 82: l54 -> l55 : a_118^0'=a_118^post_83, a_149^0'=a_149^post_83, a_188^0'=a_188^post_83, a_225^0'=a_225^post_83, a_281^0'=a_281^post_83, a_289^0'=a_289^post_83, a_342^0'=a_342^post_83, a_343^0'=a_343^post_83, f_171^0'=f_171^post_83, head_15^0'=head_15^post_83, head_32^0'=head_32^post_83, head_SLAM_f_29^0'=head_SLAM_f_29^post_83, i_110^0'=i_110^post_83, i_30^0'=i_30^post_83, i_95^0'=i_95^post_83, len_134^0'=len_134^post_83, len_187^0'=len_187^post_83, length_28^0'=length_28^post_83, nondet_12^0'=nondet_12^post_83, r_126^0'=r_126^post_83, r_165^0'=r_165^post_83, r_39^0'=r_39^post_83, rcd_59^0'=rcd_59^post_83, rcd_89^0'=rcd_89^post_83, result_11^0'=result_11^post_83, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_83, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_83, t_22^0'=t_22^post_83, tail_14^0'=tail_14^post_83, temp0_16^0'=temp0_16^post_83, temp0_31^0'=temp0_31^post_83, temp_35^0'=temp_35^post_83, tmp_34^0'=tmp_34^post_83, x_131^0'=x_131^post_83, x_176^0'=x_176^post_83, x_19^0'=x_19^post_83, x_26^0'=x_26^post_83, x_SLAM_f_17^0'=x_SLAM_f_17^post_83, x_SLAM_f_24^0'=x_SLAM_f_24^post_83, y_18^0'=y_18^post_83, y_25^0'=y_25^post_83, [ 1+head_15^0<=tail_14^0 && a_118^0==a_118^post_83 && a_149^0==a_149^post_83 && a_188^0==a_188^post_83 && a_225^0==a_225^post_83 && a_281^0==a_281^post_83 && a_289^0==a_289^post_83 && a_342^0==a_342^post_83 && a_343^0==a_343^post_83 && f_171^0==f_171^post_83 && head_15^0==head_15^post_83 && head_32^0==head_32^post_83 && head_SLAM_f_29^0==head_SLAM_f_29^post_83 && i_110^0==i_110^post_83 && i_30^0==i_30^post_83 && i_95^0==i_95^post_83 && len_134^0==len_134^post_83 && len_187^0==len_187^post_83 && length_28^0==length_28^post_83 && nondet_12^0==nondet_12^post_83 && r_126^0==r_126^post_83 && r_165^0==r_165^post_83 && r_39^0==r_39^post_83 && rcd_59^0==rcd_59^post_83 && rcd_89^0==rcd_89^post_83 && result_11^0==result_11^post_83 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_83 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_83 && t_22^0==t_22^post_83 && tail_14^0==tail_14^post_83 && temp0_16^0==temp0_16^post_83 && temp0_31^0==temp0_31^post_83 && temp_35^0==temp_35^post_83 && tmp_34^0==tmp_34^post_83 && x_131^0==x_131^post_83 && x_176^0==x_176^post_83 && x_19^0==x_19^post_83 && x_26^0==x_26^post_83 && x_SLAM_f_17^0==x_SLAM_f_17^post_83 && x_SLAM_f_24^0==x_SLAM_f_24^post_83 && y_18^0==y_18^post_83 && y_25^0==y_25^post_83 ], cost: 1 83: l55 -> l23 : a_118^0'=a_118^post_84, a_149^0'=a_149^post_84, a_188^0'=a_188^post_84, a_225^0'=a_225^post_84, a_281^0'=a_281^post_84, a_289^0'=a_289^post_84, a_342^0'=a_342^post_84, a_343^0'=a_343^post_84, f_171^0'=f_171^post_84, head_15^0'=head_15^post_84, head_32^0'=head_32^post_84, head_SLAM_f_29^0'=head_SLAM_f_29^post_84, i_110^0'=i_110^post_84, i_30^0'=i_30^post_84, i_95^0'=i_95^post_84, len_134^0'=len_134^post_84, len_187^0'=len_187^post_84, length_28^0'=length_28^post_84, nondet_12^0'=nondet_12^post_84, r_126^0'=r_126^post_84, r_165^0'=r_165^post_84, r_39^0'=r_39^post_84, rcd_59^0'=rcd_59^post_84, rcd_89^0'=rcd_89^post_84, result_11^0'=result_11^post_84, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_84, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_84, t_22^0'=t_22^post_84, tail_14^0'=tail_14^post_84, temp0_16^0'=temp0_16^post_84, temp0_31^0'=temp0_31^post_84, temp_35^0'=temp_35^post_84, tmp_34^0'=tmp_34^post_84, x_131^0'=x_131^post_84, x_176^0'=x_176^post_84, x_19^0'=x_19^post_84, x_26^0'=x_26^post_84, x_SLAM_f_17^0'=x_SLAM_f_17^post_84, x_SLAM_f_24^0'=x_SLAM_f_24^post_84, y_18^0'=y_18^post_84, y_25^0'=y_25^post_84, [ 1<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && a_118^0==a_118^post_84 && a_149^0==a_149^post_84 && a_188^0==a_188^post_84 && a_225^0==a_225^post_84 && a_281^0==a_281^post_84 && a_289^0==a_289^post_84 && a_342^0==a_342^post_84 && a_343^0==a_343^post_84 && f_171^0==f_171^post_84 && head_15^0==head_15^post_84 && head_32^0==head_32^post_84 && head_SLAM_f_29^0==head_SLAM_f_29^post_84 && i_110^0==i_110^post_84 && i_30^0==i_30^post_84 && i_95^0==i_95^post_84 && len_134^0==len_134^post_84 && len_187^0==len_187^post_84 && length_28^0==length_28^post_84 && nondet_12^0==nondet_12^post_84 && r_126^0==r_126^post_84 && r_165^0==r_165^post_84 && r_39^0==r_39^post_84 && rcd_59^0==rcd_59^post_84 && rcd_89^0==rcd_89^post_84 && result_11^0==result_11^post_84 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_84 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_84 && t_22^0==t_22^post_84 && tail_14^0==tail_14^post_84 && temp0_16^0==temp0_16^post_84 && temp0_31^0==temp0_31^post_84 && temp_35^0==temp_35^post_84 && tmp_34^0==tmp_34^post_84 && x_131^0==x_131^post_84 && x_176^0==x_176^post_84 && x_19^0==x_19^post_84 && x_26^0==x_26^post_84 && x_SLAM_f_17^0==x_SLAM_f_17^post_84 && x_SLAM_f_24^0==x_SLAM_f_24^post_84 && y_18^0==y_18^post_84 && y_25^0==y_25^post_84 ], cost: 1 85: l56 -> l57 : a_118^0'=a_118^post_86, a_149^0'=a_149^post_86, a_188^0'=a_188^post_86, a_225^0'=a_225^post_86, a_281^0'=a_281^post_86, a_289^0'=a_289^post_86, a_342^0'=a_342^post_86, a_343^0'=a_343^post_86, f_171^0'=f_171^post_86, head_15^0'=head_15^post_86, head_32^0'=head_32^post_86, head_SLAM_f_29^0'=head_SLAM_f_29^post_86, i_110^0'=i_110^post_86, i_30^0'=i_30^post_86, i_95^0'=i_95^post_86, len_134^0'=len_134^post_86, len_187^0'=len_187^post_86, length_28^0'=length_28^post_86, nondet_12^0'=nondet_12^post_86, r_126^0'=r_126^post_86, r_165^0'=r_165^post_86, r_39^0'=r_39^post_86, rcd_59^0'=rcd_59^post_86, rcd_89^0'=rcd_89^post_86, result_11^0'=result_11^post_86, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_86, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_86, t_22^0'=t_22^post_86, tail_14^0'=tail_14^post_86, temp0_16^0'=temp0_16^post_86, temp0_31^0'=temp0_31^post_86, temp_35^0'=temp_35^post_86, tmp_34^0'=tmp_34^post_86, x_131^0'=x_131^post_86, x_176^0'=x_176^post_86, x_19^0'=x_19^post_86, x_26^0'=x_26^post_86, x_SLAM_f_17^0'=x_SLAM_f_17^post_86, x_SLAM_f_24^0'=x_SLAM_f_24^post_86, y_18^0'=y_18^post_86, y_25^0'=y_25^post_86, [ 1+y_25^0<=x_26^0 && a_118^0==a_118^post_86 && a_149^0==a_149^post_86 && a_188^0==a_188^post_86 && a_225^0==a_225^post_86 && a_281^0==a_281^post_86 && a_289^0==a_289^post_86 && a_342^0==a_342^post_86 && a_343^0==a_343^post_86 && f_171^0==f_171^post_86 && head_15^0==head_15^post_86 && head_32^0==head_32^post_86 && head_SLAM_f_29^0==head_SLAM_f_29^post_86 && i_110^0==i_110^post_86 && i_30^0==i_30^post_86 && i_95^0==i_95^post_86 && len_134^0==len_134^post_86 && len_187^0==len_187^post_86 && length_28^0==length_28^post_86 && nondet_12^0==nondet_12^post_86 && r_126^0==r_126^post_86 && r_165^0==r_165^post_86 && r_39^0==r_39^post_86 && rcd_59^0==rcd_59^post_86 && rcd_89^0==rcd_89^post_86 && result_11^0==result_11^post_86 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_86 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_86 && t_22^0==t_22^post_86 && tail_14^0==tail_14^post_86 && temp0_16^0==temp0_16^post_86 && temp0_31^0==temp0_31^post_86 && temp_35^0==temp_35^post_86 && tmp_34^0==tmp_34^post_86 && x_131^0==x_131^post_86 && x_176^0==x_176^post_86 && x_19^0==x_19^post_86 && x_26^0==x_26^post_86 && x_SLAM_f_17^0==x_SLAM_f_17^post_86 && x_SLAM_f_24^0==x_SLAM_f_24^post_86 && y_18^0==y_18^post_86 && y_25^0==y_25^post_86 ], cost: 1 86: l56 -> l57 : a_118^0'=a_118^post_87, a_149^0'=a_149^post_87, a_188^0'=a_188^post_87, a_225^0'=a_225^post_87, a_281^0'=a_281^post_87, a_289^0'=a_289^post_87, a_342^0'=a_342^post_87, a_343^0'=a_343^post_87, f_171^0'=f_171^post_87, head_15^0'=head_15^post_87, head_32^0'=head_32^post_87, head_SLAM_f_29^0'=head_SLAM_f_29^post_87, i_110^0'=i_110^post_87, i_30^0'=i_30^post_87, i_95^0'=i_95^post_87, len_134^0'=len_134^post_87, len_187^0'=len_187^post_87, length_28^0'=length_28^post_87, nondet_12^0'=nondet_12^post_87, r_126^0'=r_126^post_87, r_165^0'=r_165^post_87, r_39^0'=r_39^post_87, rcd_59^0'=rcd_59^post_87, rcd_89^0'=rcd_89^post_87, result_11^0'=result_11^post_87, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_87, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_87, t_22^0'=t_22^post_87, tail_14^0'=tail_14^post_87, temp0_16^0'=temp0_16^post_87, temp0_31^0'=temp0_31^post_87, temp_35^0'=temp_35^post_87, tmp_34^0'=tmp_34^post_87, x_131^0'=x_131^post_87, x_176^0'=x_176^post_87, x_19^0'=x_19^post_87, x_26^0'=x_26^post_87, x_SLAM_f_17^0'=x_SLAM_f_17^post_87, x_SLAM_f_24^0'=x_SLAM_f_24^post_87, y_18^0'=y_18^post_87, y_25^0'=y_25^post_87, [ 1+x_26^0<=y_25^0 && a_118^0==a_118^post_87 && a_149^0==a_149^post_87 && a_188^0==a_188^post_87 && a_225^0==a_225^post_87 && a_281^0==a_281^post_87 && a_289^0==a_289^post_87 && a_342^0==a_342^post_87 && a_343^0==a_343^post_87 && f_171^0==f_171^post_87 && head_15^0==head_15^post_87 && head_32^0==head_32^post_87 && head_SLAM_f_29^0==head_SLAM_f_29^post_87 && i_110^0==i_110^post_87 && i_30^0==i_30^post_87 && i_95^0==i_95^post_87 && len_134^0==len_134^post_87 && len_187^0==len_187^post_87 && length_28^0==length_28^post_87 && nondet_12^0==nondet_12^post_87 && r_126^0==r_126^post_87 && r_165^0==r_165^post_87 && r_39^0==r_39^post_87 && rcd_59^0==rcd_59^post_87 && rcd_89^0==rcd_89^post_87 && result_11^0==result_11^post_87 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_87 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_87 && t_22^0==t_22^post_87 && tail_14^0==tail_14^post_87 && temp0_16^0==temp0_16^post_87 && temp0_31^0==temp0_31^post_87 && temp_35^0==temp_35^post_87 && tmp_34^0==tmp_34^post_87 && x_131^0==x_131^post_87 && x_176^0==x_176^post_87 && x_19^0==x_19^post_87 && x_26^0==x_26^post_87 && x_SLAM_f_17^0==x_SLAM_f_17^post_87 && x_SLAM_f_24^0==x_SLAM_f_24^post_87 && y_18^0==y_18^post_87 && y_25^0==y_25^post_87 ], cost: 1 87: l57 -> l58 : a_118^0'=a_118^post_88, a_149^0'=a_149^post_88, a_188^0'=a_188^post_88, a_225^0'=a_225^post_88, a_281^0'=a_281^post_88, a_289^0'=a_289^post_88, a_342^0'=a_342^post_88, a_343^0'=a_343^post_88, f_171^0'=f_171^post_88, head_15^0'=head_15^post_88, head_32^0'=head_32^post_88, head_SLAM_f_29^0'=head_SLAM_f_29^post_88, i_110^0'=i_110^post_88, i_30^0'=i_30^post_88, i_95^0'=i_95^post_88, len_134^0'=len_134^post_88, len_187^0'=len_187^post_88, length_28^0'=length_28^post_88, nondet_12^0'=nondet_12^post_88, r_126^0'=r_126^post_88, r_165^0'=r_165^post_88, r_39^0'=r_39^post_88, rcd_59^0'=rcd_59^post_88, rcd_89^0'=rcd_89^post_88, result_11^0'=result_11^post_88, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_88, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_88, t_22^0'=t_22^post_88, tail_14^0'=tail_14^post_88, temp0_16^0'=temp0_16^post_88, temp0_31^0'=temp0_31^post_88, temp_35^0'=temp_35^post_88, tmp_34^0'=tmp_34^post_88, x_131^0'=x_131^post_88, x_176^0'=x_176^post_88, x_19^0'=x_19^post_88, x_26^0'=x_26^post_88, x_SLAM_f_17^0'=x_SLAM_f_17^post_88, x_SLAM_f_24^0'=x_SLAM_f_24^post_88, y_18^0'=y_18^post_88, y_25^0'=y_25^post_88, [ tail_14^0<=y_25^0 && y_25^0<=tail_14^0 && head_15^0<=x_SLAM_f_24^0 && x_SLAM_f_24^0<=head_15^0 && a_118^0==a_118^post_88 && a_149^0==a_149^post_88 && a_188^0==a_188^post_88 && a_225^0==a_225^post_88 && a_281^0==a_281^post_88 && a_289^0==a_289^post_88 && a_342^0==a_342^post_88 && a_343^0==a_343^post_88 && f_171^0==f_171^post_88 && head_15^0==head_15^post_88 && head_32^0==head_32^post_88 && head_SLAM_f_29^0==head_SLAM_f_29^post_88 && i_110^0==i_110^post_88 && i_30^0==i_30^post_88 && i_95^0==i_95^post_88 && len_134^0==len_134^post_88 && len_187^0==len_187^post_88 && length_28^0==length_28^post_88 && nondet_12^0==nondet_12^post_88 && r_126^0==r_126^post_88 && r_165^0==r_165^post_88 && r_39^0==r_39^post_88 && rcd_59^0==rcd_59^post_88 && rcd_89^0==rcd_89^post_88 && result_11^0==result_11^post_88 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_88 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_88 && t_22^0==t_22^post_88 && tail_14^0==tail_14^post_88 && temp0_16^0==temp0_16^post_88 && temp0_31^0==temp0_31^post_88 && temp_35^0==temp_35^post_88 && tmp_34^0==tmp_34^post_88 && x_131^0==x_131^post_88 && x_176^0==x_176^post_88 && x_19^0==x_19^post_88 && x_26^0==x_26^post_88 && x_SLAM_f_17^0==x_SLAM_f_17^post_88 && x_SLAM_f_24^0==x_SLAM_f_24^post_88 && y_18^0==y_18^post_88 && y_25^0==y_25^post_88 ], cost: 1 88: l58 -> l59 : a_118^0'=a_118^post_89, a_149^0'=a_149^post_89, a_188^0'=a_188^post_89, a_225^0'=a_225^post_89, a_281^0'=a_281^post_89, a_289^0'=a_289^post_89, a_342^0'=a_342^post_89, a_343^0'=a_343^post_89, f_171^0'=f_171^post_89, head_15^0'=head_15^post_89, head_32^0'=head_32^post_89, head_SLAM_f_29^0'=head_SLAM_f_29^post_89, i_110^0'=i_110^post_89, i_30^0'=i_30^post_89, i_95^0'=i_95^post_89, len_134^0'=len_134^post_89, len_187^0'=len_187^post_89, length_28^0'=length_28^post_89, nondet_12^0'=nondet_12^post_89, r_126^0'=r_126^post_89, r_165^0'=r_165^post_89, r_39^0'=r_39^post_89, rcd_59^0'=rcd_59^post_89, rcd_89^0'=rcd_89^post_89, result_11^0'=result_11^post_89, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_89, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_89, t_22^0'=t_22^post_89, tail_14^0'=tail_14^post_89, temp0_16^0'=temp0_16^post_89, temp0_31^0'=temp0_31^post_89, temp_35^0'=temp_35^post_89, tmp_34^0'=tmp_34^post_89, x_131^0'=x_131^post_89, x_176^0'=x_176^post_89, x_19^0'=x_19^post_89, x_26^0'=x_26^post_89, x_SLAM_f_17^0'=x_SLAM_f_17^post_89, x_SLAM_f_24^0'=x_SLAM_f_24^post_89, y_18^0'=y_18^post_89, y_25^0'=y_25^post_89, [ 1+head_15^0<=y_25^0 && a_118^0==a_118^post_89 && a_149^0==a_149^post_89 && a_188^0==a_188^post_89 && a_225^0==a_225^post_89 && a_281^0==a_281^post_89 && a_289^0==a_289^post_89 && a_342^0==a_342^post_89 && a_343^0==a_343^post_89 && f_171^0==f_171^post_89 && head_15^0==head_15^post_89 && head_32^0==head_32^post_89 && head_SLAM_f_29^0==head_SLAM_f_29^post_89 && i_110^0==i_110^post_89 && i_30^0==i_30^post_89 && i_95^0==i_95^post_89 && len_134^0==len_134^post_89 && len_187^0==len_187^post_89 && length_28^0==length_28^post_89 && nondet_12^0==nondet_12^post_89 && r_126^0==r_126^post_89 && r_165^0==r_165^post_89 && r_39^0==r_39^post_89 && rcd_59^0==rcd_59^post_89 && rcd_89^0==rcd_89^post_89 && result_11^0==result_11^post_89 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_89 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_89 && t_22^0==t_22^post_89 && tail_14^0==tail_14^post_89 && temp0_16^0==temp0_16^post_89 && temp0_31^0==temp0_31^post_89 && temp_35^0==temp_35^post_89 && tmp_34^0==tmp_34^post_89 && x_131^0==x_131^post_89 && x_176^0==x_176^post_89 && x_19^0==x_19^post_89 && x_26^0==x_26^post_89 && x_SLAM_f_17^0==x_SLAM_f_17^post_89 && x_SLAM_f_24^0==x_SLAM_f_24^post_89 && y_18^0==y_18^post_89 && y_25^0==y_25^post_89 ], cost: 1 89: l58 -> l59 : a_118^0'=a_118^post_90, a_149^0'=a_149^post_90, a_188^0'=a_188^post_90, a_225^0'=a_225^post_90, a_281^0'=a_281^post_90, a_289^0'=a_289^post_90, a_342^0'=a_342^post_90, a_343^0'=a_343^post_90, f_171^0'=f_171^post_90, head_15^0'=head_15^post_90, head_32^0'=head_32^post_90, head_SLAM_f_29^0'=head_SLAM_f_29^post_90, i_110^0'=i_110^post_90, i_30^0'=i_30^post_90, i_95^0'=i_95^post_90, len_134^0'=len_134^post_90, len_187^0'=len_187^post_90, length_28^0'=length_28^post_90, nondet_12^0'=nondet_12^post_90, r_126^0'=r_126^post_90, r_165^0'=r_165^post_90, r_39^0'=r_39^post_90, rcd_59^0'=rcd_59^post_90, rcd_89^0'=rcd_89^post_90, result_11^0'=result_11^post_90, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_90, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_90, t_22^0'=t_22^post_90, tail_14^0'=tail_14^post_90, temp0_16^0'=temp0_16^post_90, temp0_31^0'=temp0_31^post_90, temp_35^0'=temp_35^post_90, tmp_34^0'=tmp_34^post_90, x_131^0'=x_131^post_90, x_176^0'=x_176^post_90, x_19^0'=x_19^post_90, x_26^0'=x_26^post_90, x_SLAM_f_17^0'=x_SLAM_f_17^post_90, x_SLAM_f_24^0'=x_SLAM_f_24^post_90, y_18^0'=y_18^post_90, y_25^0'=y_25^post_90, [ 1+y_25^0<=head_15^0 && a_118^0==a_118^post_90 && a_149^0==a_149^post_90 && a_188^0==a_188^post_90 && a_225^0==a_225^post_90 && a_281^0==a_281^post_90 && a_289^0==a_289^post_90 && a_342^0==a_342^post_90 && a_343^0==a_343^post_90 && f_171^0==f_171^post_90 && head_15^0==head_15^post_90 && head_32^0==head_32^post_90 && head_SLAM_f_29^0==head_SLAM_f_29^post_90 && i_110^0==i_110^post_90 && i_30^0==i_30^post_90 && i_95^0==i_95^post_90 && len_134^0==len_134^post_90 && len_187^0==len_187^post_90 && length_28^0==length_28^post_90 && nondet_12^0==nondet_12^post_90 && r_126^0==r_126^post_90 && r_165^0==r_165^post_90 && r_39^0==r_39^post_90 && rcd_59^0==rcd_59^post_90 && rcd_89^0==rcd_89^post_90 && result_11^0==result_11^post_90 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_90 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_90 && t_22^0==t_22^post_90 && tail_14^0==tail_14^post_90 && temp0_16^0==temp0_16^post_90 && temp0_31^0==temp0_31^post_90 && temp_35^0==temp_35^post_90 && tmp_34^0==tmp_34^post_90 && x_131^0==x_131^post_90 && x_176^0==x_176^post_90 && x_19^0==x_19^post_90 && x_26^0==x_26^post_90 && x_SLAM_f_17^0==x_SLAM_f_17^post_90 && x_SLAM_f_24^0==x_SLAM_f_24^post_90 && y_18^0==y_18^post_90 && y_25^0==y_25^post_90 ], cost: 1 90: l59 -> l60 : a_118^0'=a_118^post_91, a_149^0'=a_149^post_91, a_188^0'=a_188^post_91, a_225^0'=a_225^post_91, a_281^0'=a_281^post_91, a_289^0'=a_289^post_91, a_342^0'=a_342^post_91, a_343^0'=a_343^post_91, f_171^0'=f_171^post_91, head_15^0'=head_15^post_91, head_32^0'=head_32^post_91, head_SLAM_f_29^0'=head_SLAM_f_29^post_91, i_110^0'=i_110^post_91, i_30^0'=i_30^post_91, i_95^0'=i_95^post_91, len_134^0'=len_134^post_91, len_187^0'=len_187^post_91, length_28^0'=length_28^post_91, nondet_12^0'=nondet_12^post_91, r_126^0'=r_126^post_91, r_165^0'=r_165^post_91, r_39^0'=r_39^post_91, rcd_59^0'=rcd_59^post_91, rcd_89^0'=rcd_89^post_91, result_11^0'=result_11^post_91, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_91, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_91, t_22^0'=t_22^post_91, tail_14^0'=tail_14^post_91, temp0_16^0'=temp0_16^post_91, temp0_31^0'=temp0_31^post_91, temp_35^0'=temp_35^post_91, tmp_34^0'=tmp_34^post_91, x_131^0'=x_131^post_91, x_176^0'=x_176^post_91, x_19^0'=x_19^post_91, x_26^0'=x_26^post_91, x_SLAM_f_17^0'=x_SLAM_f_17^post_91, x_SLAM_f_24^0'=x_SLAM_f_24^post_91, y_18^0'=y_18^post_91, y_25^0'=y_25^post_91, [ 1+y_25^0<=x_131^0 && a_118^0==a_118^post_91 && a_149^0==a_149^post_91 && a_188^0==a_188^post_91 && a_225^0==a_225^post_91 && a_281^0==a_281^post_91 && a_289^0==a_289^post_91 && a_342^0==a_342^post_91 && a_343^0==a_343^post_91 && f_171^0==f_171^post_91 && head_15^0==head_15^post_91 && head_32^0==head_32^post_91 && head_SLAM_f_29^0==head_SLAM_f_29^post_91 && i_110^0==i_110^post_91 && i_30^0==i_30^post_91 && i_95^0==i_95^post_91 && len_134^0==len_134^post_91 && len_187^0==len_187^post_91 && length_28^0==length_28^post_91 && nondet_12^0==nondet_12^post_91 && r_126^0==r_126^post_91 && r_165^0==r_165^post_91 && r_39^0==r_39^post_91 && rcd_59^0==rcd_59^post_91 && rcd_89^0==rcd_89^post_91 && result_11^0==result_11^post_91 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_91 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_91 && t_22^0==t_22^post_91 && tail_14^0==tail_14^post_91 && temp0_16^0==temp0_16^post_91 && temp0_31^0==temp0_31^post_91 && temp_35^0==temp_35^post_91 && tmp_34^0==tmp_34^post_91 && x_131^0==x_131^post_91 && x_176^0==x_176^post_91 && x_19^0==x_19^post_91 && x_26^0==x_26^post_91 && x_SLAM_f_17^0==x_SLAM_f_17^post_91 && x_SLAM_f_24^0==x_SLAM_f_24^post_91 && y_18^0==y_18^post_91 && y_25^0==y_25^post_91 ], cost: 1 91: l59 -> l60 : a_118^0'=a_118^post_92, a_149^0'=a_149^post_92, a_188^0'=a_188^post_92, a_225^0'=a_225^post_92, a_281^0'=a_281^post_92, a_289^0'=a_289^post_92, a_342^0'=a_342^post_92, a_343^0'=a_343^post_92, f_171^0'=f_171^post_92, head_15^0'=head_15^post_92, head_32^0'=head_32^post_92, head_SLAM_f_29^0'=head_SLAM_f_29^post_92, i_110^0'=i_110^post_92, i_30^0'=i_30^post_92, i_95^0'=i_95^post_92, len_134^0'=len_134^post_92, len_187^0'=len_187^post_92, length_28^0'=length_28^post_92, nondet_12^0'=nondet_12^post_92, r_126^0'=r_126^post_92, r_165^0'=r_165^post_92, r_39^0'=r_39^post_92, rcd_59^0'=rcd_59^post_92, rcd_89^0'=rcd_89^post_92, result_11^0'=result_11^post_92, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_92, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_92, t_22^0'=t_22^post_92, tail_14^0'=tail_14^post_92, temp0_16^0'=temp0_16^post_92, temp0_31^0'=temp0_31^post_92, temp_35^0'=temp_35^post_92, tmp_34^0'=tmp_34^post_92, x_131^0'=x_131^post_92, x_176^0'=x_176^post_92, x_19^0'=x_19^post_92, x_26^0'=x_26^post_92, x_SLAM_f_17^0'=x_SLAM_f_17^post_92, x_SLAM_f_24^0'=x_SLAM_f_24^post_92, y_18^0'=y_18^post_92, y_25^0'=y_25^post_92, [ 1+x_131^0<=y_25^0 && a_118^0==a_118^post_92 && a_149^0==a_149^post_92 && a_188^0==a_188^post_92 && a_225^0==a_225^post_92 && a_281^0==a_281^post_92 && a_289^0==a_289^post_92 && a_342^0==a_342^post_92 && a_343^0==a_343^post_92 && f_171^0==f_171^post_92 && head_15^0==head_15^post_92 && head_32^0==head_32^post_92 && head_SLAM_f_29^0==head_SLAM_f_29^post_92 && i_110^0==i_110^post_92 && i_30^0==i_30^post_92 && i_95^0==i_95^post_92 && len_134^0==len_134^post_92 && len_187^0==len_187^post_92 && length_28^0==length_28^post_92 && nondet_12^0==nondet_12^post_92 && r_126^0==r_126^post_92 && r_165^0==r_165^post_92 && r_39^0==r_39^post_92 && rcd_59^0==rcd_59^post_92 && rcd_89^0==rcd_89^post_92 && result_11^0==result_11^post_92 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_92 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_92 && t_22^0==t_22^post_92 && tail_14^0==tail_14^post_92 && temp0_16^0==temp0_16^post_92 && temp0_31^0==temp0_31^post_92 && temp_35^0==temp_35^post_92 && tmp_34^0==tmp_34^post_92 && x_131^0==x_131^post_92 && x_176^0==x_176^post_92 && x_19^0==x_19^post_92 && x_26^0==x_26^post_92 && x_SLAM_f_17^0==x_SLAM_f_17^post_92 && x_SLAM_f_24^0==x_SLAM_f_24^post_92 && y_18^0==y_18^post_92 && y_25^0==y_25^post_92 ], cost: 1 92: l60 -> l31 : a_118^0'=a_118^post_93, a_149^0'=a_149^post_93, a_188^0'=a_188^post_93, a_225^0'=a_225^post_93, a_281^0'=a_281^post_93, a_289^0'=a_289^post_93, a_342^0'=a_342^post_93, a_343^0'=a_343^post_93, f_171^0'=f_171^post_93, head_15^0'=head_15^post_93, head_32^0'=head_32^post_93, head_SLAM_f_29^0'=head_SLAM_f_29^post_93, i_110^0'=i_110^post_93, i_30^0'=i_30^post_93, i_95^0'=i_95^post_93, len_134^0'=len_134^post_93, len_187^0'=len_187^post_93, length_28^0'=length_28^post_93, nondet_12^0'=nondet_12^post_93, r_126^0'=r_126^post_93, r_165^0'=r_165^post_93, r_39^0'=r_39^post_93, rcd_59^0'=rcd_59^post_93, rcd_89^0'=rcd_89^post_93, result_11^0'=result_11^post_93, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_93, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_93, t_22^0'=t_22^post_93, tail_14^0'=tail_14^post_93, temp0_16^0'=temp0_16^post_93, temp0_31^0'=temp0_31^post_93, temp_35^0'=temp_35^post_93, tmp_34^0'=tmp_34^post_93, x_131^0'=x_131^post_93, x_176^0'=x_176^post_93, x_19^0'=x_19^post_93, x_26^0'=x_26^post_93, x_SLAM_f_17^0'=x_SLAM_f_17^post_93, x_SLAM_f_24^0'=x_SLAM_f_24^post_93, y_18^0'=y_18^post_93, y_25^0'=y_25^post_93, [ 1<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && a_118^0==a_118^post_93 && a_149^0==a_149^post_93 && a_188^0==a_188^post_93 && a_225^0==a_225^post_93 && a_281^0==a_281^post_93 && a_289^0==a_289^post_93 && a_342^0==a_342^post_93 && a_343^0==a_343^post_93 && f_171^0==f_171^post_93 && head_15^0==head_15^post_93 && head_32^0==head_32^post_93 && head_SLAM_f_29^0==head_SLAM_f_29^post_93 && i_110^0==i_110^post_93 && i_30^0==i_30^post_93 && i_95^0==i_95^post_93 && len_134^0==len_134^post_93 && len_187^0==len_187^post_93 && length_28^0==length_28^post_93 && nondet_12^0==nondet_12^post_93 && r_126^0==r_126^post_93 && r_165^0==r_165^post_93 && r_39^0==r_39^post_93 && rcd_59^0==rcd_59^post_93 && rcd_89^0==rcd_89^post_93 && result_11^0==result_11^post_93 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_93 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_93 && t_22^0==t_22^post_93 && tail_14^0==tail_14^post_93 && temp0_16^0==temp0_16^post_93 && temp0_31^0==temp0_31^post_93 && temp_35^0==temp_35^post_93 && tmp_34^0==tmp_34^post_93 && x_131^0==x_131^post_93 && x_176^0==x_176^post_93 && x_19^0==x_19^post_93 && x_26^0==x_26^post_93 && x_SLAM_f_17^0==x_SLAM_f_17^post_93 && x_SLAM_f_24^0==x_SLAM_f_24^post_93 && y_18^0==y_18^post_93 && y_25^0==y_25^post_93 ], cost: 1 95: l61 -> l62 : a_118^0'=a_118^post_96, a_149^0'=a_149^post_96, a_188^0'=a_188^post_96, a_225^0'=a_225^post_96, a_281^0'=a_281^post_96, a_289^0'=a_289^post_96, a_342^0'=a_342^post_96, a_343^0'=a_343^post_96, f_171^0'=f_171^post_96, head_15^0'=head_15^post_96, head_32^0'=head_32^post_96, head_SLAM_f_29^0'=head_SLAM_f_29^post_96, i_110^0'=i_110^post_96, i_30^0'=i_30^post_96, i_95^0'=i_95^post_96, len_134^0'=len_134^post_96, len_187^0'=len_187^post_96, length_28^0'=length_28^post_96, nondet_12^0'=nondet_12^post_96, r_126^0'=r_126^post_96, r_165^0'=r_165^post_96, r_39^0'=r_39^post_96, rcd_59^0'=rcd_59^post_96, rcd_89^0'=rcd_89^post_96, result_11^0'=result_11^post_96, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_96, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_96, t_22^0'=t_22^post_96, tail_14^0'=tail_14^post_96, temp0_16^0'=temp0_16^post_96, temp0_31^0'=temp0_31^post_96, temp_35^0'=temp_35^post_96, tmp_34^0'=tmp_34^post_96, x_131^0'=x_131^post_96, x_176^0'=x_176^post_96, x_19^0'=x_19^post_96, x_26^0'=x_26^post_96, x_SLAM_f_17^0'=x_SLAM_f_17^post_96, x_SLAM_f_24^0'=x_SLAM_f_24^post_96, y_18^0'=y_18^post_96, y_25^0'=y_25^post_96, [ 1+y_25^0<=x_26^0 && a_118^0==a_118^post_96 && a_149^0==a_149^post_96 && a_188^0==a_188^post_96 && a_225^0==a_225^post_96 && a_281^0==a_281^post_96 && a_289^0==a_289^post_96 && a_342^0==a_342^post_96 && a_343^0==a_343^post_96 && f_171^0==f_171^post_96 && head_15^0==head_15^post_96 && head_32^0==head_32^post_96 && head_SLAM_f_29^0==head_SLAM_f_29^post_96 && i_110^0==i_110^post_96 && i_30^0==i_30^post_96 && i_95^0==i_95^post_96 && len_134^0==len_134^post_96 && len_187^0==len_187^post_96 && length_28^0==length_28^post_96 && nondet_12^0==nondet_12^post_96 && r_126^0==r_126^post_96 && r_165^0==r_165^post_96 && r_39^0==r_39^post_96 && rcd_59^0==rcd_59^post_96 && rcd_89^0==rcd_89^post_96 && result_11^0==result_11^post_96 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_96 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_96 && t_22^0==t_22^post_96 && tail_14^0==tail_14^post_96 && temp0_16^0==temp0_16^post_96 && temp0_31^0==temp0_31^post_96 && temp_35^0==temp_35^post_96 && tmp_34^0==tmp_34^post_96 && x_131^0==x_131^post_96 && x_176^0==x_176^post_96 && x_19^0==x_19^post_96 && x_26^0==x_26^post_96 && x_SLAM_f_17^0==x_SLAM_f_17^post_96 && x_SLAM_f_24^0==x_SLAM_f_24^post_96 && y_18^0==y_18^post_96 && y_25^0==y_25^post_96 ], cost: 1 96: l61 -> l62 : a_118^0'=a_118^post_97, a_149^0'=a_149^post_97, a_188^0'=a_188^post_97, a_225^0'=a_225^post_97, a_281^0'=a_281^post_97, a_289^0'=a_289^post_97, a_342^0'=a_342^post_97, a_343^0'=a_343^post_97, f_171^0'=f_171^post_97, head_15^0'=head_15^post_97, head_32^0'=head_32^post_97, head_SLAM_f_29^0'=head_SLAM_f_29^post_97, i_110^0'=i_110^post_97, i_30^0'=i_30^post_97, i_95^0'=i_95^post_97, len_134^0'=len_134^post_97, len_187^0'=len_187^post_97, length_28^0'=length_28^post_97, nondet_12^0'=nondet_12^post_97, r_126^0'=r_126^post_97, r_165^0'=r_165^post_97, r_39^0'=r_39^post_97, rcd_59^0'=rcd_59^post_97, rcd_89^0'=rcd_89^post_97, result_11^0'=result_11^post_97, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_97, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_97, t_22^0'=t_22^post_97, tail_14^0'=tail_14^post_97, temp0_16^0'=temp0_16^post_97, temp0_31^0'=temp0_31^post_97, temp_35^0'=temp_35^post_97, tmp_34^0'=tmp_34^post_97, x_131^0'=x_131^post_97, x_176^0'=x_176^post_97, x_19^0'=x_19^post_97, x_26^0'=x_26^post_97, x_SLAM_f_17^0'=x_SLAM_f_17^post_97, x_SLAM_f_24^0'=x_SLAM_f_24^post_97, y_18^0'=y_18^post_97, y_25^0'=y_25^post_97, [ 1+x_26^0<=y_25^0 && a_118^0==a_118^post_97 && a_149^0==a_149^post_97 && a_188^0==a_188^post_97 && a_225^0==a_225^post_97 && a_281^0==a_281^post_97 && a_289^0==a_289^post_97 && a_342^0==a_342^post_97 && a_343^0==a_343^post_97 && f_171^0==f_171^post_97 && head_15^0==head_15^post_97 && head_32^0==head_32^post_97 && head_SLAM_f_29^0==head_SLAM_f_29^post_97 && i_110^0==i_110^post_97 && i_30^0==i_30^post_97 && i_95^0==i_95^post_97 && len_134^0==len_134^post_97 && len_187^0==len_187^post_97 && length_28^0==length_28^post_97 && nondet_12^0==nondet_12^post_97 && r_126^0==r_126^post_97 && r_165^0==r_165^post_97 && r_39^0==r_39^post_97 && rcd_59^0==rcd_59^post_97 && rcd_89^0==rcd_89^post_97 && result_11^0==result_11^post_97 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_97 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_97 && t_22^0==t_22^post_97 && tail_14^0==tail_14^post_97 && temp0_16^0==temp0_16^post_97 && temp0_31^0==temp0_31^post_97 && temp_35^0==temp_35^post_97 && tmp_34^0==tmp_34^post_97 && x_131^0==x_131^post_97 && x_176^0==x_176^post_97 && x_19^0==x_19^post_97 && x_26^0==x_26^post_97 && x_SLAM_f_17^0==x_SLAM_f_17^post_97 && x_SLAM_f_24^0==x_SLAM_f_24^post_97 && y_18^0==y_18^post_97 && y_25^0==y_25^post_97 ], cost: 1 97: l62 -> l63 : a_118^0'=a_118^post_98, a_149^0'=a_149^post_98, a_188^0'=a_188^post_98, a_225^0'=a_225^post_98, a_281^0'=a_281^post_98, a_289^0'=a_289^post_98, a_342^0'=a_342^post_98, a_343^0'=a_343^post_98, f_171^0'=f_171^post_98, head_15^0'=head_15^post_98, head_32^0'=head_32^post_98, head_SLAM_f_29^0'=head_SLAM_f_29^post_98, i_110^0'=i_110^post_98, i_30^0'=i_30^post_98, i_95^0'=i_95^post_98, len_134^0'=len_134^post_98, len_187^0'=len_187^post_98, length_28^0'=length_28^post_98, nondet_12^0'=nondet_12^post_98, r_126^0'=r_126^post_98, r_165^0'=r_165^post_98, r_39^0'=r_39^post_98, rcd_59^0'=rcd_59^post_98, rcd_89^0'=rcd_89^post_98, result_11^0'=result_11^post_98, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_98, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_98, t_22^0'=t_22^post_98, tail_14^0'=tail_14^post_98, temp0_16^0'=temp0_16^post_98, temp0_31^0'=temp0_31^post_98, temp_35^0'=temp_35^post_98, tmp_34^0'=tmp_34^post_98, x_131^0'=x_131^post_98, x_176^0'=x_176^post_98, x_19^0'=x_19^post_98, x_26^0'=x_26^post_98, x_SLAM_f_17^0'=x_SLAM_f_17^post_98, x_SLAM_f_24^0'=x_SLAM_f_24^post_98, y_18^0'=y_18^post_98, y_25^0'=y_25^post_98, [ a_118^post_98==a_118^post_98 && 0<=a_149^0-a_118^post_98 && a_149^0-a_118^post_98<=0 && 1<=len_134^0 && len_134^0<=1 && tail_14^0<=y_25^0 && y_25^0<=tail_14^0 && head_15^0<=x_SLAM_f_24^0 && x_SLAM_f_24^0<=head_15^0 && a_118^post_98<=a_149^0 && a_149^0<=a_118^post_98 && a_149^0==a_149^post_98 && a_188^0==a_188^post_98 && a_225^0==a_225^post_98 && a_281^0==a_281^post_98 && a_289^0==a_289^post_98 && a_342^0==a_342^post_98 && a_343^0==a_343^post_98 && f_171^0==f_171^post_98 && head_15^0==head_15^post_98 && head_32^0==head_32^post_98 && head_SLAM_f_29^0==head_SLAM_f_29^post_98 && i_110^0==i_110^post_98 && i_30^0==i_30^post_98 && i_95^0==i_95^post_98 && len_134^0==len_134^post_98 && len_187^0==len_187^post_98 && length_28^0==length_28^post_98 && nondet_12^0==nondet_12^post_98 && r_126^0==r_126^post_98 && r_165^0==r_165^post_98 && r_39^0==r_39^post_98 && rcd_59^0==rcd_59^post_98 && rcd_89^0==rcd_89^post_98 && result_11^0==result_11^post_98 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_98 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_98 && t_22^0==t_22^post_98 && tail_14^0==tail_14^post_98 && temp0_16^0==temp0_16^post_98 && temp0_31^0==temp0_31^post_98 && temp_35^0==temp_35^post_98 && tmp_34^0==tmp_34^post_98 && x_131^0==x_131^post_98 && x_176^0==x_176^post_98 && x_19^0==x_19^post_98 && x_26^0==x_26^post_98 && x_SLAM_f_17^0==x_SLAM_f_17^post_98 && x_SLAM_f_24^0==x_SLAM_f_24^post_98 && y_18^0==y_18^post_98 && y_25^0==y_25^post_98 ], cost: 1 98: l63 -> l64 : a_118^0'=a_118^post_99, a_149^0'=a_149^post_99, a_188^0'=a_188^post_99, a_225^0'=a_225^post_99, a_281^0'=a_281^post_99, a_289^0'=a_289^post_99, a_342^0'=a_342^post_99, a_343^0'=a_343^post_99, f_171^0'=f_171^post_99, head_15^0'=head_15^post_99, head_32^0'=head_32^post_99, head_SLAM_f_29^0'=head_SLAM_f_29^post_99, i_110^0'=i_110^post_99, i_30^0'=i_30^post_99, i_95^0'=i_95^post_99, len_134^0'=len_134^post_99, len_187^0'=len_187^post_99, length_28^0'=length_28^post_99, nondet_12^0'=nondet_12^post_99, r_126^0'=r_126^post_99, r_165^0'=r_165^post_99, r_39^0'=r_39^post_99, rcd_59^0'=rcd_59^post_99, rcd_89^0'=rcd_89^post_99, result_11^0'=result_11^post_99, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_99, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_99, t_22^0'=t_22^post_99, tail_14^0'=tail_14^post_99, temp0_16^0'=temp0_16^post_99, temp0_31^0'=temp0_31^post_99, temp_35^0'=temp_35^post_99, tmp_34^0'=tmp_34^post_99, x_131^0'=x_131^post_99, x_176^0'=x_176^post_99, x_19^0'=x_19^post_99, x_26^0'=x_26^post_99, x_SLAM_f_17^0'=x_SLAM_f_17^post_99, x_SLAM_f_24^0'=x_SLAM_f_24^post_99, y_18^0'=y_18^post_99, y_25^0'=y_25^post_99, [ 1+head_15^0<=y_25^0 && a_118^0==a_118^post_99 && a_149^0==a_149^post_99 && a_188^0==a_188^post_99 && a_225^0==a_225^post_99 && a_281^0==a_281^post_99 && a_289^0==a_289^post_99 && a_342^0==a_342^post_99 && a_343^0==a_343^post_99 && f_171^0==f_171^post_99 && head_15^0==head_15^post_99 && head_32^0==head_32^post_99 && head_SLAM_f_29^0==head_SLAM_f_29^post_99 && i_110^0==i_110^post_99 && i_30^0==i_30^post_99 && i_95^0==i_95^post_99 && len_134^0==len_134^post_99 && len_187^0==len_187^post_99 && length_28^0==length_28^post_99 && nondet_12^0==nondet_12^post_99 && r_126^0==r_126^post_99 && r_165^0==r_165^post_99 && r_39^0==r_39^post_99 && rcd_59^0==rcd_59^post_99 && rcd_89^0==rcd_89^post_99 && result_11^0==result_11^post_99 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_99 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_99 && t_22^0==t_22^post_99 && tail_14^0==tail_14^post_99 && temp0_16^0==temp0_16^post_99 && temp0_31^0==temp0_31^post_99 && temp_35^0==temp_35^post_99 && tmp_34^0==tmp_34^post_99 && x_131^0==x_131^post_99 && x_176^0==x_176^post_99 && x_19^0==x_19^post_99 && x_26^0==x_26^post_99 && x_SLAM_f_17^0==x_SLAM_f_17^post_99 && x_SLAM_f_24^0==x_SLAM_f_24^post_99 && y_18^0==y_18^post_99 && y_25^0==y_25^post_99 ], cost: 1 99: l63 -> l64 : a_118^0'=a_118^post_100, a_149^0'=a_149^post_100, a_188^0'=a_188^post_100, a_225^0'=a_225^post_100, a_281^0'=a_281^post_100, a_289^0'=a_289^post_100, a_342^0'=a_342^post_100, a_343^0'=a_343^post_100, f_171^0'=f_171^post_100, head_15^0'=head_15^post_100, head_32^0'=head_32^post_100, head_SLAM_f_29^0'=head_SLAM_f_29^post_100, i_110^0'=i_110^post_100, i_30^0'=i_30^post_100, i_95^0'=i_95^post_100, len_134^0'=len_134^post_100, len_187^0'=len_187^post_100, length_28^0'=length_28^post_100, nondet_12^0'=nondet_12^post_100, r_126^0'=r_126^post_100, r_165^0'=r_165^post_100, r_39^0'=r_39^post_100, rcd_59^0'=rcd_59^post_100, rcd_89^0'=rcd_89^post_100, result_11^0'=result_11^post_100, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_100, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_100, t_22^0'=t_22^post_100, tail_14^0'=tail_14^post_100, temp0_16^0'=temp0_16^post_100, temp0_31^0'=temp0_31^post_100, temp_35^0'=temp_35^post_100, tmp_34^0'=tmp_34^post_100, x_131^0'=x_131^post_100, x_176^0'=x_176^post_100, x_19^0'=x_19^post_100, x_26^0'=x_26^post_100, x_SLAM_f_17^0'=x_SLAM_f_17^post_100, x_SLAM_f_24^0'=x_SLAM_f_24^post_100, y_18^0'=y_18^post_100, y_25^0'=y_25^post_100, [ 1+y_25^0<=head_15^0 && a_118^0==a_118^post_100 && a_149^0==a_149^post_100 && a_188^0==a_188^post_100 && a_225^0==a_225^post_100 && a_281^0==a_281^post_100 && a_289^0==a_289^post_100 && a_342^0==a_342^post_100 && a_343^0==a_343^post_100 && f_171^0==f_171^post_100 && head_15^0==head_15^post_100 && head_32^0==head_32^post_100 && head_SLAM_f_29^0==head_SLAM_f_29^post_100 && i_110^0==i_110^post_100 && i_30^0==i_30^post_100 && i_95^0==i_95^post_100 && len_134^0==len_134^post_100 && len_187^0==len_187^post_100 && length_28^0==length_28^post_100 && nondet_12^0==nondet_12^post_100 && r_126^0==r_126^post_100 && r_165^0==r_165^post_100 && r_39^0==r_39^post_100 && rcd_59^0==rcd_59^post_100 && rcd_89^0==rcd_89^post_100 && result_11^0==result_11^post_100 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_100 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_100 && t_22^0==t_22^post_100 && tail_14^0==tail_14^post_100 && temp0_16^0==temp0_16^post_100 && temp0_31^0==temp0_31^post_100 && temp_35^0==temp_35^post_100 && tmp_34^0==tmp_34^post_100 && x_131^0==x_131^post_100 && x_176^0==x_176^post_100 && x_19^0==x_19^post_100 && x_26^0==x_26^post_100 && x_SLAM_f_17^0==x_SLAM_f_17^post_100 && x_SLAM_f_24^0==x_SLAM_f_24^post_100 && y_18^0==y_18^post_100 && y_25^0==y_25^post_100 ], cost: 1 100: l64 -> l31 : a_118^0'=a_118^post_101, a_149^0'=a_149^post_101, a_188^0'=a_188^post_101, a_225^0'=a_225^post_101, a_281^0'=a_281^post_101, a_289^0'=a_289^post_101, a_342^0'=a_342^post_101, a_343^0'=a_343^post_101, f_171^0'=f_171^post_101, head_15^0'=head_15^post_101, head_32^0'=head_32^post_101, head_SLAM_f_29^0'=head_SLAM_f_29^post_101, i_110^0'=i_110^post_101, i_30^0'=i_30^post_101, i_95^0'=i_95^post_101, len_134^0'=len_134^post_101, len_187^0'=len_187^post_101, length_28^0'=length_28^post_101, nondet_12^0'=nondet_12^post_101, r_126^0'=r_126^post_101, r_165^0'=r_165^post_101, r_39^0'=r_39^post_101, rcd_59^0'=rcd_59^post_101, rcd_89^0'=rcd_89^post_101, result_11^0'=result_11^post_101, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_101, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_101, t_22^0'=t_22^post_101, tail_14^0'=tail_14^post_101, temp0_16^0'=temp0_16^post_101, temp0_31^0'=temp0_31^post_101, temp_35^0'=temp_35^post_101, tmp_34^0'=tmp_34^post_101, x_131^0'=x_131^post_101, x_176^0'=x_176^post_101, x_19^0'=x_19^post_101, x_26^0'=x_26^post_101, x_SLAM_f_17^0'=x_SLAM_f_17^post_101, x_SLAM_f_24^0'=x_SLAM_f_24^post_101, y_18^0'=y_18^post_101, y_25^0'=y_25^post_101, [ 1<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0<=i_110^0 && i_110^post_101==i_110^post_101 && -1+i_110^post_101<=a_118^0 && a_118^0<=-1+i_110^post_101 && a_118^0==a_118^post_101 && a_149^0==a_149^post_101 && a_188^0==a_188^post_101 && a_225^0==a_225^post_101 && a_281^0==a_281^post_101 && a_289^0==a_289^post_101 && a_342^0==a_342^post_101 && a_343^0==a_343^post_101 && f_171^0==f_171^post_101 && head_15^0==head_15^post_101 && head_32^0==head_32^post_101 && head_SLAM_f_29^0==head_SLAM_f_29^post_101 && i_30^0==i_30^post_101 && i_95^0==i_95^post_101 && len_134^0==len_134^post_101 && len_187^0==len_187^post_101 && length_28^0==length_28^post_101 && nondet_12^0==nondet_12^post_101 && r_126^0==r_126^post_101 && r_165^0==r_165^post_101 && r_39^0==r_39^post_101 && rcd_59^0==rcd_59^post_101 && rcd_89^0==rcd_89^post_101 && result_11^0==result_11^post_101 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_101 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_101 && t_22^0==t_22^post_101 && tail_14^0==tail_14^post_101 && temp0_16^0==temp0_16^post_101 && temp0_31^0==temp0_31^post_101 && temp_35^0==temp_35^post_101 && tmp_34^0==tmp_34^post_101 && x_131^0==x_131^post_101 && x_176^0==x_176^post_101 && x_19^0==x_19^post_101 && x_26^0==x_26^post_101 && x_SLAM_f_17^0==x_SLAM_f_17^post_101 && x_SLAM_f_24^0==x_SLAM_f_24^post_101 && y_18^0==y_18^post_101 && y_25^0==y_25^post_101 ], cost: 1 103: l65 -> l30 : a_118^0'=a_118^post_104, a_149^0'=a_149^post_104, a_188^0'=a_188^post_104, a_225^0'=a_225^post_104, a_281^0'=a_281^post_104, a_289^0'=a_289^post_104, a_342^0'=a_342^post_104, a_343^0'=a_343^post_104, f_171^0'=f_171^post_104, head_15^0'=head_15^post_104, head_32^0'=head_32^post_104, head_SLAM_f_29^0'=head_SLAM_f_29^post_104, i_110^0'=i_110^post_104, i_30^0'=i_30^post_104, i_95^0'=i_95^post_104, len_134^0'=len_134^post_104, len_187^0'=len_187^post_104, length_28^0'=length_28^post_104, nondet_12^0'=nondet_12^post_104, r_126^0'=r_126^post_104, r_165^0'=r_165^post_104, r_39^0'=r_39^post_104, rcd_59^0'=rcd_59^post_104, rcd_89^0'=rcd_89^post_104, result_11^0'=result_11^post_104, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_104, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_104, t_22^0'=t_22^post_104, tail_14^0'=tail_14^post_104, temp0_16^0'=temp0_16^post_104, temp0_31^0'=temp0_31^post_104, temp_35^0'=temp_35^post_104, tmp_34^0'=tmp_34^post_104, x_131^0'=x_131^post_104, x_176^0'=x_176^post_104, x_19^0'=x_19^post_104, x_26^0'=x_26^post_104, x_SLAM_f_17^0'=x_SLAM_f_17^post_104, x_SLAM_f_24^0'=x_SLAM_f_24^post_104, y_18^0'=y_18^post_104, y_25^0'=y_25^post_104, [ a_118^0==a_118^post_104 && a_149^0==a_149^post_104 && a_188^0==a_188^post_104 && a_225^0==a_225^post_104 && a_281^0==a_281^post_104 && a_289^0==a_289^post_104 && a_342^0==a_342^post_104 && a_343^0==a_343^post_104 && f_171^0==f_171^post_104 && head_15^0==head_15^post_104 && head_32^0==head_32^post_104 && head_SLAM_f_29^0==head_SLAM_f_29^post_104 && i_110^0==i_110^post_104 && i_30^0==i_30^post_104 && i_95^0==i_95^post_104 && len_134^0==len_134^post_104 && len_187^0==len_187^post_104 && length_28^0==length_28^post_104 && nondet_12^0==nondet_12^post_104 && r_126^0==r_126^post_104 && r_165^0==r_165^post_104 && r_39^0==r_39^post_104 && rcd_59^0==rcd_59^post_104 && rcd_89^0==rcd_89^post_104 && result_11^0==result_11^post_104 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_104 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_104 && t_22^0==t_22^post_104 && tail_14^0==tail_14^post_104 && temp0_16^0==temp0_16^post_104 && temp0_31^0==temp0_31^post_104 && temp_35^0==temp_35^post_104 && tmp_34^0==tmp_34^post_104 && x_131^0==x_131^post_104 && x_176^0==x_176^post_104 && x_19^0==x_19^post_104 && x_26^0==x_26^post_104 && x_SLAM_f_17^0==x_SLAM_f_17^post_104 && x_SLAM_f_24^0==x_SLAM_f_24^post_104 && y_18^0==y_18^post_104 && y_25^0==y_25^post_104 ], cost: 1 Checking for constant complexity: The following rule is satisfiable with cost >= 1, yielding constant complexity: 103: l65 -> l30 : a_118^0'=a_118^post_104, a_149^0'=a_149^post_104, a_188^0'=a_188^post_104, a_225^0'=a_225^post_104, a_281^0'=a_281^post_104, a_289^0'=a_289^post_104, a_342^0'=a_342^post_104, a_343^0'=a_343^post_104, f_171^0'=f_171^post_104, head_15^0'=head_15^post_104, head_32^0'=head_32^post_104, head_SLAM_f_29^0'=head_SLAM_f_29^post_104, i_110^0'=i_110^post_104, i_30^0'=i_30^post_104, i_95^0'=i_95^post_104, len_134^0'=len_134^post_104, len_187^0'=len_187^post_104, length_28^0'=length_28^post_104, nondet_12^0'=nondet_12^post_104, r_126^0'=r_126^post_104, r_165^0'=r_165^post_104, r_39^0'=r_39^post_104, rcd_59^0'=rcd_59^post_104, rcd_89^0'=rcd_89^post_104, result_11^0'=result_11^post_104, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_104, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_104, t_22^0'=t_22^post_104, tail_14^0'=tail_14^post_104, temp0_16^0'=temp0_16^post_104, temp0_31^0'=temp0_31^post_104, temp_35^0'=temp_35^post_104, tmp_34^0'=tmp_34^post_104, x_131^0'=x_131^post_104, x_176^0'=x_176^post_104, x_19^0'=x_19^post_104, x_26^0'=x_26^post_104, x_SLAM_f_17^0'=x_SLAM_f_17^post_104, x_SLAM_f_24^0'=x_SLAM_f_24^post_104, y_18^0'=y_18^post_104, y_25^0'=y_25^post_104, [ a_118^0==a_118^post_104 && a_149^0==a_149^post_104 && a_188^0==a_188^post_104 && a_225^0==a_225^post_104 && a_281^0==a_281^post_104 && a_289^0==a_289^post_104 && a_342^0==a_342^post_104 && a_343^0==a_343^post_104 && f_171^0==f_171^post_104 && head_15^0==head_15^post_104 && head_32^0==head_32^post_104 && head_SLAM_f_29^0==head_SLAM_f_29^post_104 && i_110^0==i_110^post_104 && i_30^0==i_30^post_104 && i_95^0==i_95^post_104 && len_134^0==len_134^post_104 && len_187^0==len_187^post_104 && length_28^0==length_28^post_104 && nondet_12^0==nondet_12^post_104 && r_126^0==r_126^post_104 && r_165^0==r_165^post_104 && r_39^0==r_39^post_104 && rcd_59^0==rcd_59^post_104 && rcd_89^0==rcd_89^post_104 && result_11^0==result_11^post_104 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_104 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_104 && t_22^0==t_22^post_104 && tail_14^0==tail_14^post_104 && temp0_16^0==temp0_16^post_104 && temp0_31^0==temp0_31^post_104 && temp_35^0==temp_35^post_104 && tmp_34^0==tmp_34^post_104 && x_131^0==x_131^post_104 && x_176^0==x_176^post_104 && x_19^0==x_19^post_104 && x_26^0==x_26^post_104 && x_SLAM_f_17^0==x_SLAM_f_17^post_104 && x_SLAM_f_24^0==x_SLAM_f_24^post_104 && y_18^0==y_18^post_104 && y_25^0==y_25^post_104 ], cost: 1 Removed unreachable and leaf rules: Start location: l65 0: l0 -> l1 : a_118^0'=a_118^post_1, a_149^0'=a_149^post_1, a_188^0'=a_188^post_1, a_225^0'=a_225^post_1, a_281^0'=a_281^post_1, a_289^0'=a_289^post_1, a_342^0'=a_342^post_1, a_343^0'=a_343^post_1, f_171^0'=f_171^post_1, head_15^0'=head_15^post_1, head_32^0'=head_32^post_1, head_SLAM_f_29^0'=head_SLAM_f_29^post_1, i_110^0'=i_110^post_1, i_30^0'=i_30^post_1, i_95^0'=i_95^post_1, len_134^0'=len_134^post_1, len_187^0'=len_187^post_1, length_28^0'=length_28^post_1, nondet_12^0'=nondet_12^post_1, r_126^0'=r_126^post_1, r_165^0'=r_165^post_1, r_39^0'=r_39^post_1, rcd_59^0'=rcd_59^post_1, rcd_89^0'=rcd_89^post_1, result_11^0'=result_11^post_1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1, t_22^0'=t_22^post_1, tail_14^0'=tail_14^post_1, temp0_16^0'=temp0_16^post_1, temp0_31^0'=temp0_31^post_1, temp_35^0'=temp_35^post_1, tmp_34^0'=tmp_34^post_1, x_131^0'=x_131^post_1, x_176^0'=x_176^post_1, x_19^0'=x_19^post_1, x_26^0'=x_26^post_1, x_SLAM_f_17^0'=x_SLAM_f_17^post_1, x_SLAM_f_24^0'=x_SLAM_f_24^post_1, y_18^0'=y_18^post_1, y_25^0'=y_25^post_1, [ 0<=i_30^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1 && length_28^0<=i_30^0 && temp0_31^1_1==head_32^0 && result_11^1_1==temp0_31^1_1 && length_28^post_1==length_28^post_1 && head_SLAM_f_29^post_1==head_SLAM_f_29^post_1 && i_30^post_1==i_30^post_1 && temp0_31^post_1==temp0_31^post_1 && head_32^post_1==head_32^post_1 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_1==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_1 && tmp_34^post_1==tmp_34^post_1 && temp_35^post_1==temp_35^post_1 && head_15^post_1==result_11^1_1 && result_11^post_1==result_11^post_1 && x_SLAM_f_24^post_1==head_15^post_1 && y_25^post_1==tail_14^0 && x_26^post_1==x_SLAM_f_24^post_1 && tail_14^0<=y_25^post_1 && y_25^post_1<=tail_14^0 && head_15^post_1<=x_SLAM_f_24^post_1 && x_SLAM_f_24^post_1<=head_15^post_1 && head_15^post_1<=x_26^post_1 && x_26^post_1<=head_15^post_1 && x_SLAM_f_24^post_1<=x_26^post_1 && x_26^post_1<=x_SLAM_f_24^post_1 && 1<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1<=i_30^post_1 && a_118^0==a_118^post_1 && a_149^0==a_149^post_1 && a_188^0==a_188^post_1 && a_225^0==a_225^post_1 && a_281^0==a_281^post_1 && a_289^0==a_289^post_1 && a_342^0==a_342^post_1 && a_343^0==a_343^post_1 && f_171^0==f_171^post_1 && i_110^0==i_110^post_1 && i_95^0==i_95^post_1 && len_134^0==len_134^post_1 && len_187^0==len_187^post_1 && nondet_12^0==nondet_12^post_1 && r_126^0==r_126^post_1 && r_165^0==r_165^post_1 && r_39^0==r_39^post_1 && rcd_59^0==rcd_59^post_1 && rcd_89^0==rcd_89^post_1 && t_22^0==t_22^post_1 && tail_14^0==tail_14^post_1 && temp0_16^0==temp0_16^post_1 && x_131^0==x_131^post_1 && x_176^0==x_176^post_1 && x_19^0==x_19^post_1 && x_SLAM_f_17^0==x_SLAM_f_17^post_1 && y_18^0==y_18^post_1 ], cost: 1 1: l0 -> l2 : a_118^0'=a_118^post_2, a_149^0'=a_149^post_2, a_188^0'=a_188^post_2, a_225^0'=a_225^post_2, a_281^0'=a_281^post_2, a_289^0'=a_289^post_2, a_342^0'=a_342^post_2, a_343^0'=a_343^post_2, f_171^0'=f_171^post_2, head_15^0'=head_15^post_2, head_32^0'=head_32^post_2, head_SLAM_f_29^0'=head_SLAM_f_29^post_2, i_110^0'=i_110^post_2, i_30^0'=i_30^post_2, i_95^0'=i_95^post_2, len_134^0'=len_134^post_2, len_187^0'=len_187^post_2, length_28^0'=length_28^post_2, nondet_12^0'=nondet_12^post_2, r_126^0'=r_126^post_2, r_165^0'=r_165^post_2, r_39^0'=r_39^post_2, rcd_59^0'=rcd_59^post_2, rcd_89^0'=rcd_89^post_2, result_11^0'=result_11^post_2, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_2, t_22^0'=t_22^post_2, tail_14^0'=tail_14^post_2, temp0_16^0'=temp0_16^post_2, temp0_31^0'=temp0_31^post_2, temp_35^0'=temp_35^post_2, tmp_34^0'=tmp_34^post_2, x_131^0'=x_131^post_2, x_176^0'=x_176^post_2, x_19^0'=x_19^post_2, x_26^0'=x_26^post_2, x_SLAM_f_17^0'=x_SLAM_f_17^post_2, x_SLAM_f_24^0'=x_SLAM_f_24^post_2, y_18^0'=y_18^post_2, y_25^0'=y_25^post_2, [ 0<=i_30^0 && rcd_89^post_2==rcd_89^post_2 && i_95^post_2==i_95^post_2 && 1+i_30^0<=length_28^0 && tmp_34^post_2==temp_35^0 && temp_35^post_2==temp_35^post_2 && head_32^post_2==tmp_34^post_2 && i_30^post_2==1+i_30^0 && i_30^post_2<=1+i_95^post_2 && 1+i_95^post_2<=i_30^post_2 && i_95^post_2<=-1+i_30^post_2 && -1+i_30^post_2<=i_95^post_2 && 1+i_95^post_2<=length_28^0 && a_118^0==a_118^post_2 && a_149^0==a_149^post_2 && a_188^0==a_188^post_2 && a_225^0==a_225^post_2 && a_281^0==a_281^post_2 && a_289^0==a_289^post_2 && a_342^0==a_342^post_2 && a_343^0==a_343^post_2 && f_171^0==f_171^post_2 && head_15^0==head_15^post_2 && head_SLAM_f_29^0==head_SLAM_f_29^post_2 && i_110^0==i_110^post_2 && len_134^0==len_134^post_2 && len_187^0==len_187^post_2 && length_28^0==length_28^post_2 && nondet_12^0==nondet_12^post_2 && r_126^0==r_126^post_2 && r_165^0==r_165^post_2 && r_39^0==r_39^post_2 && rcd_59^0==rcd_59^post_2 && result_11^0==result_11^post_2 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_2 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_2 && t_22^0==t_22^post_2 && tail_14^0==tail_14^post_2 && temp0_16^0==temp0_16^post_2 && temp0_31^0==temp0_31^post_2 && x_131^0==x_131^post_2 && x_176^0==x_176^post_2 && x_19^0==x_19^post_2 && x_26^0==x_26^post_2 && x_SLAM_f_17^0==x_SLAM_f_17^post_2 && x_SLAM_f_24^0==x_SLAM_f_24^post_2 && y_18^0==y_18^post_2 && y_25^0==y_25^post_2 ], cost: 1 94: l1 -> l61 : a_118^0'=a_118^post_95, a_149^0'=a_149^post_95, a_188^0'=a_188^post_95, a_225^0'=a_225^post_95, a_281^0'=a_281^post_95, a_289^0'=a_289^post_95, a_342^0'=a_342^post_95, a_343^0'=a_343^post_95, f_171^0'=f_171^post_95, head_15^0'=head_15^post_95, head_32^0'=head_32^post_95, head_SLAM_f_29^0'=head_SLAM_f_29^post_95, i_110^0'=i_110^post_95, i_30^0'=i_30^post_95, i_95^0'=i_95^post_95, len_134^0'=len_134^post_95, len_187^0'=len_187^post_95, length_28^0'=length_28^post_95, nondet_12^0'=nondet_12^post_95, r_126^0'=r_126^post_95, r_165^0'=r_165^post_95, r_39^0'=r_39^post_95, rcd_59^0'=rcd_59^post_95, rcd_89^0'=rcd_89^post_95, result_11^0'=result_11^post_95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_95, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95, t_22^0'=t_22^post_95, tail_14^0'=tail_14^post_95, temp0_16^0'=temp0_16^post_95, temp0_31^0'=temp0_31^post_95, temp_35^0'=temp_35^post_95, tmp_34^0'=tmp_34^post_95, x_131^0'=x_131^post_95, x_176^0'=x_176^post_95, x_19^0'=x_19^post_95, x_26^0'=x_26^post_95, x_SLAM_f_17^0'=x_SLAM_f_17^post_95, x_SLAM_f_24^0'=x_SLAM_f_24^post_95, y_18^0'=y_18^post_95, y_25^0'=y_25^post_95, [ 0<=i_30^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95 && tail_14^post_95==tail_14^post_95 && head_15^post_95==head_15^post_95 && x_SLAM_f_24^post_95==x_SLAM_f_24^post_95 && r_39^post_95==r_39^post_95 && i_110^post_95==i_110^post_95 && r_165^post_95==r_165^post_95 && a_118^0==a_118^post_95 && a_149^0==a_149^post_95 && a_188^0==a_188^post_95 && a_225^0==a_225^post_95 && a_281^0==a_281^post_95 && a_289^0==a_289^post_95 && a_342^0==a_342^post_95 && a_343^0==a_343^post_95 && f_171^0==f_171^post_95 && head_32^0==head_32^post_95 && head_SLAM_f_29^0==head_SLAM_f_29^post_95 && i_30^0==i_30^post_95 && i_95^0==i_95^post_95 && len_134^0==len_134^post_95 && len_187^0==len_187^post_95 && length_28^0==length_28^post_95 && nondet_12^0==nondet_12^post_95 && r_126^0==r_126^post_95 && rcd_59^0==rcd_59^post_95 && rcd_89^0==rcd_89^post_95 && result_11^0==result_11^post_95 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_95 && t_22^0==t_22^post_95 && temp0_16^0==temp0_16^post_95 && temp0_31^0==temp0_31^post_95 && temp_35^0==temp_35^post_95 && tmp_34^0==tmp_34^post_95 && x_131^0==x_131^post_95 && x_176^0==x_176^post_95 && x_19^0==x_19^post_95 && x_26^0==x_26^post_95 && x_SLAM_f_17^0==x_SLAM_f_17^post_95 && y_18^0==y_18^post_95 && y_25^0==y_25^post_95 ], cost: 1 2: l2 -> l0 : a_118^0'=a_118^post_3, a_149^0'=a_149^post_3, a_188^0'=a_188^post_3, a_225^0'=a_225^post_3, a_281^0'=a_281^post_3, a_289^0'=a_289^post_3, a_342^0'=a_342^post_3, a_343^0'=a_343^post_3, f_171^0'=f_171^post_3, head_15^0'=head_15^post_3, head_32^0'=head_32^post_3, head_SLAM_f_29^0'=head_SLAM_f_29^post_3, i_110^0'=i_110^post_3, i_30^0'=i_30^post_3, i_95^0'=i_95^post_3, len_134^0'=len_134^post_3, len_187^0'=len_187^post_3, length_28^0'=length_28^post_3, nondet_12^0'=nondet_12^post_3, r_126^0'=r_126^post_3, r_165^0'=r_165^post_3, r_39^0'=r_39^post_3, rcd_59^0'=rcd_59^post_3, rcd_89^0'=rcd_89^post_3, result_11^0'=result_11^post_3, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_3, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_3, t_22^0'=t_22^post_3, tail_14^0'=tail_14^post_3, temp0_16^0'=temp0_16^post_3, temp0_31^0'=temp0_31^post_3, temp_35^0'=temp_35^post_3, tmp_34^0'=tmp_34^post_3, x_131^0'=x_131^post_3, x_176^0'=x_176^post_3, x_19^0'=x_19^post_3, x_26^0'=x_26^post_3, x_SLAM_f_17^0'=x_SLAM_f_17^post_3, x_SLAM_f_24^0'=x_SLAM_f_24^post_3, y_18^0'=y_18^post_3, y_25^0'=y_25^post_3, [ a_118^0==a_118^post_3 && a_149^0==a_149^post_3 && a_188^0==a_188^post_3 && a_225^0==a_225^post_3 && a_281^0==a_281^post_3 && a_289^0==a_289^post_3 && a_342^0==a_342^post_3 && a_343^0==a_343^post_3 && f_171^0==f_171^post_3 && head_15^0==head_15^post_3 && head_32^0==head_32^post_3 && head_SLAM_f_29^0==head_SLAM_f_29^post_3 && i_110^0==i_110^post_3 && i_30^0==i_30^post_3 && i_95^0==i_95^post_3 && len_134^0==len_134^post_3 && len_187^0==len_187^post_3 && length_28^0==length_28^post_3 && nondet_12^0==nondet_12^post_3 && r_126^0==r_126^post_3 && r_165^0==r_165^post_3 && r_39^0==r_39^post_3 && rcd_59^0==rcd_59^post_3 && rcd_89^0==rcd_89^post_3 && result_11^0==result_11^post_3 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_3 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_3 && t_22^0==t_22^post_3 && tail_14^0==tail_14^post_3 && temp0_16^0==temp0_16^post_3 && temp0_31^0==temp0_31^post_3 && temp_35^0==temp_35^post_3 && tmp_34^0==tmp_34^post_3 && x_131^0==x_131^post_3 && x_176^0==x_176^post_3 && x_19^0==x_19^post_3 && x_26^0==x_26^post_3 && x_SLAM_f_17^0==x_SLAM_f_17^post_3 && x_SLAM_f_24^0==x_SLAM_f_24^post_3 && y_18^0==y_18^post_3 && y_25^0==y_25^post_3 ], cost: 1 4: l3 -> l5 : a_118^0'=a_118^post_5, a_149^0'=a_149^post_5, a_188^0'=a_188^post_5, a_225^0'=a_225^post_5, a_281^0'=a_281^post_5, a_289^0'=a_289^post_5, a_342^0'=a_342^post_5, a_343^0'=a_343^post_5, f_171^0'=f_171^post_5, head_15^0'=head_15^post_5, head_32^0'=head_32^post_5, head_SLAM_f_29^0'=head_SLAM_f_29^post_5, i_110^0'=i_110^post_5, i_30^0'=i_30^post_5, i_95^0'=i_95^post_5, len_134^0'=len_134^post_5, len_187^0'=len_187^post_5, length_28^0'=length_28^post_5, nondet_12^0'=nondet_12^post_5, r_126^0'=r_126^post_5, r_165^0'=r_165^post_5, r_39^0'=r_39^post_5, rcd_59^0'=rcd_59^post_5, rcd_89^0'=rcd_89^post_5, result_11^0'=result_11^post_5, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_5, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_5, t_22^0'=t_22^post_5, tail_14^0'=tail_14^post_5, temp0_16^0'=temp0_16^post_5, temp0_31^0'=temp0_31^post_5, temp_35^0'=temp_35^post_5, tmp_34^0'=tmp_34^post_5, x_131^0'=x_131^post_5, x_176^0'=x_176^post_5, x_19^0'=x_19^post_5, x_26^0'=x_26^post_5, x_SLAM_f_17^0'=x_SLAM_f_17^post_5, x_SLAM_f_24^0'=x_SLAM_f_24^post_5, y_18^0'=y_18^post_5, y_25^0'=y_25^post_5, [ result_dot_nondet_sdv_special_RETURN_VALUE_13^post_5==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_5 && tail_14^post_5==tail_14^post_5 && head_SLAM_f_29^post_5==head_SLAM_f_29^post_5 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_5==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_5 && 1+i_30^0<=length_28^0 && tmp_34^post_5==temp_35^0 && temp_35^post_5==temp_35^post_5 && head_32^post_5==tmp_34^post_5 && i_30^post_5==1+i_30^0 && 1<=i_30^post_5 && i_30^post_5<=1 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_5<=length_28^0 && length_28^0<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_5 && tail_14^post_5<=head_SLAM_f_29^post_5 && head_SLAM_f_29^post_5<=tail_14^post_5 && head_32^post_5<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_5 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_5<=head_32^post_5 && head_32^post_5<=tmp_34^post_5 && tmp_34^post_5<=head_32^post_5 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_5<=tmp_34^post_5 && tmp_34^post_5<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_5 && 1<=length_28^0 && a_118^0==a_118^post_5 && a_149^0==a_149^post_5 && a_188^0==a_188^post_5 && a_225^0==a_225^post_5 && a_281^0==a_281^post_5 && a_289^0==a_289^post_5 && a_342^0==a_342^post_5 && a_343^0==a_343^post_5 && f_171^0==f_171^post_5 && head_15^0==head_15^post_5 && i_110^0==i_110^post_5 && i_95^0==i_95^post_5 && len_134^0==len_134^post_5 && len_187^0==len_187^post_5 && length_28^0==length_28^post_5 && nondet_12^0==nondet_12^post_5 && r_126^0==r_126^post_5 && r_165^0==r_165^post_5 && r_39^0==r_39^post_5 && rcd_59^0==rcd_59^post_5 && rcd_89^0==rcd_89^post_5 && result_11^0==result_11^post_5 && t_22^0==t_22^post_5 && temp0_16^0==temp0_16^post_5 && temp0_31^0==temp0_31^post_5 && x_131^0==x_131^post_5 && x_176^0==x_176^post_5 && x_19^0==x_19^post_5 && x_26^0==x_26^post_5 && x_SLAM_f_17^0==x_SLAM_f_17^post_5 && x_SLAM_f_24^0==x_SLAM_f_24^post_5 && y_18^0==y_18^post_5 && y_25^0==y_25^post_5 ], cost: 1 102: l5 -> l0 : a_118^0'=a_118^post_103, a_149^0'=a_149^post_103, a_188^0'=a_188^post_103, a_225^0'=a_225^post_103, a_281^0'=a_281^post_103, a_289^0'=a_289^post_103, a_342^0'=a_342^post_103, a_343^0'=a_343^post_103, f_171^0'=f_171^post_103, head_15^0'=head_15^post_103, head_32^0'=head_32^post_103, head_SLAM_f_29^0'=head_SLAM_f_29^post_103, i_110^0'=i_110^post_103, i_30^0'=i_30^post_103, i_95^0'=i_95^post_103, len_134^0'=len_134^post_103, len_187^0'=len_187^post_103, length_28^0'=length_28^post_103, nondet_12^0'=nondet_12^post_103, r_126^0'=r_126^post_103, r_165^0'=r_165^post_103, r_39^0'=r_39^post_103, rcd_59^0'=rcd_59^post_103, rcd_89^0'=rcd_89^post_103, result_11^0'=result_11^post_103, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_103, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_103, t_22^0'=t_22^post_103, tail_14^0'=tail_14^post_103, temp0_16^0'=temp0_16^post_103, temp0_31^0'=temp0_31^post_103, temp_35^0'=temp_35^post_103, tmp_34^0'=tmp_34^post_103, x_131^0'=x_131^post_103, x_176^0'=x_176^post_103, x_19^0'=x_19^post_103, x_26^0'=x_26^post_103, x_SLAM_f_17^0'=x_SLAM_f_17^post_103, x_SLAM_f_24^0'=x_SLAM_f_24^post_103, y_18^0'=y_18^post_103, y_25^0'=y_25^post_103, [ result_dot_nondet_sdv_special_RETURN_VALUE_13^post_103==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_103 && tail_14^post_103==tail_14^post_103 && head_SLAM_f_29^post_103==head_SLAM_f_29^post_103 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_103==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_103 && rcd_59^post_103==rcd_59^post_103 && 1+i_30^0<=length_28^0 && tmp_34^post_103==temp_35^0 && temp_35^post_103==temp_35^post_103 && head_32^post_103==tmp_34^post_103 && i_30^post_103==1+i_30^0 && 2<=i_30^post_103 && i_30^post_103<=2 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_103<=length_28^0 && length_28^0<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_103 && tail_14^post_103<=head_SLAM_f_29^post_103 && head_SLAM_f_29^post_103<=tail_14^post_103 && head_32^post_103<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_103 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_103<=head_32^post_103 && head_32^post_103<=tmp_34^post_103 && tmp_34^post_103<=head_32^post_103 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_103<=tmp_34^post_103 && tmp_34^post_103<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_103 && 1<=length_28^0 && 2<=length_28^0 && a_118^0==a_118^post_103 && a_149^0==a_149^post_103 && a_188^0==a_188^post_103 && a_225^0==a_225^post_103 && a_281^0==a_281^post_103 && a_289^0==a_289^post_103 && a_342^0==a_342^post_103 && a_343^0==a_343^post_103 && f_171^0==f_171^post_103 && head_15^0==head_15^post_103 && i_110^0==i_110^post_103 && i_95^0==i_95^post_103 && len_134^0==len_134^post_103 && len_187^0==len_187^post_103 && length_28^0==length_28^post_103 && nondet_12^0==nondet_12^post_103 && r_126^0==r_126^post_103 && r_165^0==r_165^post_103 && r_39^0==r_39^post_103 && rcd_89^0==rcd_89^post_103 && result_11^0==result_11^post_103 && t_22^0==t_22^post_103 && temp0_16^0==temp0_16^post_103 && temp0_31^0==temp0_31^post_103 && x_131^0==x_131^post_103 && x_176^0==x_176^post_103 && x_19^0==x_19^post_103 && x_26^0==x_26^post_103 && x_SLAM_f_17^0==x_SLAM_f_17^post_103 && x_SLAM_f_24^0==x_SLAM_f_24^post_103 && y_18^0==y_18^post_103 && y_25^0==y_25^post_103 ], cost: 1 6: l6 -> l8 : a_118^0'=a_118^post_7, a_149^0'=a_149^post_7, a_188^0'=a_188^post_7, a_225^0'=a_225^post_7, a_281^0'=a_281^post_7, a_289^0'=a_289^post_7, a_342^0'=a_342^post_7, a_343^0'=a_343^post_7, f_171^0'=f_171^post_7, head_15^0'=head_15^post_7, head_32^0'=head_32^post_7, head_SLAM_f_29^0'=head_SLAM_f_29^post_7, i_110^0'=i_110^post_7, i_30^0'=i_30^post_7, i_95^0'=i_95^post_7, len_134^0'=len_134^post_7, len_187^0'=len_187^post_7, length_28^0'=length_28^post_7, nondet_12^0'=nondet_12^post_7, r_126^0'=r_126^post_7, r_165^0'=r_165^post_7, r_39^0'=r_39^post_7, rcd_59^0'=rcd_59^post_7, rcd_89^0'=rcd_89^post_7, result_11^0'=result_11^post_7, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_7, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7, t_22^0'=t_22^post_7, tail_14^0'=tail_14^post_7, temp0_16^0'=temp0_16^post_7, temp0_31^0'=temp0_31^post_7, temp_35^0'=temp_35^post_7, tmp_34^0'=tmp_34^post_7, x_131^0'=x_131^post_7, x_176^0'=x_176^post_7, x_19^0'=x_19^post_7, x_26^0'=x_26^post_7, x_SLAM_f_17^0'=x_SLAM_f_17^post_7, x_SLAM_f_24^0'=x_SLAM_f_24^post_7, y_18^0'=y_18^post_7, y_25^0'=y_25^post_7, [ 0<=a_149^0 && 0<=a_281^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7 && tail_14^post_7==tail_14^post_7 && head_15^post_7==head_15^post_7 && x_SLAM_f_17^post_7==x_SLAM_f_17^post_7 && r_39^post_7==r_39^post_7 && a_118^0==a_118^post_7 && a_149^0==a_149^post_7 && a_188^0==a_188^post_7 && a_225^0==a_225^post_7 && a_281^0==a_281^post_7 && a_289^0==a_289^post_7 && a_342^0==a_342^post_7 && a_343^0==a_343^post_7 && f_171^0==f_171^post_7 && head_32^0==head_32^post_7 && head_SLAM_f_29^0==head_SLAM_f_29^post_7 && i_110^0==i_110^post_7 && i_30^0==i_30^post_7 && i_95^0==i_95^post_7 && len_134^0==len_134^post_7 && len_187^0==len_187^post_7 && length_28^0==length_28^post_7 && nondet_12^0==nondet_12^post_7 && r_126^0==r_126^post_7 && r_165^0==r_165^post_7 && rcd_59^0==rcd_59^post_7 && rcd_89^0==rcd_89^post_7 && result_11^0==result_11^post_7 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_7 && t_22^0==t_22^post_7 && temp0_16^0==temp0_16^post_7 && temp0_31^0==temp0_31^post_7 && temp_35^0==temp_35^post_7 && tmp_34^0==tmp_34^post_7 && x_131^0==x_131^post_7 && x_176^0==x_176^post_7 && x_19^0==x_19^post_7 && x_26^0==x_26^post_7 && x_SLAM_f_24^0==x_SLAM_f_24^post_7 && y_18^0==y_18^post_7 && y_25^0==y_25^post_7 ], cost: 1 7: l8 -> l9 : a_118^0'=a_118^post_8, a_149^0'=a_149^post_8, a_188^0'=a_188^post_8, a_225^0'=a_225^post_8, a_281^0'=a_281^post_8, a_289^0'=a_289^post_8, a_342^0'=a_342^post_8, a_343^0'=a_343^post_8, f_171^0'=f_171^post_8, head_15^0'=head_15^post_8, head_32^0'=head_32^post_8, head_SLAM_f_29^0'=head_SLAM_f_29^post_8, i_110^0'=i_110^post_8, i_30^0'=i_30^post_8, i_95^0'=i_95^post_8, len_134^0'=len_134^post_8, len_187^0'=len_187^post_8, length_28^0'=length_28^post_8, nondet_12^0'=nondet_12^post_8, r_126^0'=r_126^post_8, r_165^0'=r_165^post_8, r_39^0'=r_39^post_8, rcd_59^0'=rcd_59^post_8, rcd_89^0'=rcd_89^post_8, result_11^0'=result_11^post_8, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_8, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_8, t_22^0'=t_22^post_8, tail_14^0'=tail_14^post_8, temp0_16^0'=temp0_16^post_8, temp0_31^0'=temp0_31^post_8, temp_35^0'=temp_35^post_8, tmp_34^0'=tmp_34^post_8, x_131^0'=x_131^post_8, x_176^0'=x_176^post_8, x_19^0'=x_19^post_8, x_26^0'=x_26^post_8, x_SLAM_f_17^0'=x_SLAM_f_17^post_8, x_SLAM_f_24^0'=x_SLAM_f_24^post_8, y_18^0'=y_18^post_8, y_25^0'=y_25^post_8, [ 1+y_18^0<=x_19^0 && a_118^0==a_118^post_8 && a_149^0==a_149^post_8 && a_188^0==a_188^post_8 && a_225^0==a_225^post_8 && a_281^0==a_281^post_8 && a_289^0==a_289^post_8 && a_342^0==a_342^post_8 && a_343^0==a_343^post_8 && f_171^0==f_171^post_8 && head_15^0==head_15^post_8 && head_32^0==head_32^post_8 && head_SLAM_f_29^0==head_SLAM_f_29^post_8 && i_110^0==i_110^post_8 && i_30^0==i_30^post_8 && i_95^0==i_95^post_8 && len_134^0==len_134^post_8 && len_187^0==len_187^post_8 && length_28^0==length_28^post_8 && nondet_12^0==nondet_12^post_8 && r_126^0==r_126^post_8 && r_165^0==r_165^post_8 && r_39^0==r_39^post_8 && rcd_59^0==rcd_59^post_8 && rcd_89^0==rcd_89^post_8 && result_11^0==result_11^post_8 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_8 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_8 && t_22^0==t_22^post_8 && tail_14^0==tail_14^post_8 && temp0_16^0==temp0_16^post_8 && temp0_31^0==temp0_31^post_8 && temp_35^0==temp_35^post_8 && tmp_34^0==tmp_34^post_8 && x_131^0==x_131^post_8 && x_176^0==x_176^post_8 && x_19^0==x_19^post_8 && x_26^0==x_26^post_8 && x_SLAM_f_17^0==x_SLAM_f_17^post_8 && x_SLAM_f_24^0==x_SLAM_f_24^post_8 && y_18^0==y_18^post_8 && y_25^0==y_25^post_8 ], cost: 1 8: l8 -> l9 : a_118^0'=a_118^post_9, a_149^0'=a_149^post_9, a_188^0'=a_188^post_9, a_225^0'=a_225^post_9, a_281^0'=a_281^post_9, a_289^0'=a_289^post_9, a_342^0'=a_342^post_9, a_343^0'=a_343^post_9, f_171^0'=f_171^post_9, head_15^0'=head_15^post_9, head_32^0'=head_32^post_9, head_SLAM_f_29^0'=head_SLAM_f_29^post_9, i_110^0'=i_110^post_9, i_30^0'=i_30^post_9, i_95^0'=i_95^post_9, len_134^0'=len_134^post_9, len_187^0'=len_187^post_9, length_28^0'=length_28^post_9, nondet_12^0'=nondet_12^post_9, r_126^0'=r_126^post_9, r_165^0'=r_165^post_9, r_39^0'=r_39^post_9, rcd_59^0'=rcd_59^post_9, rcd_89^0'=rcd_89^post_9, result_11^0'=result_11^post_9, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_9, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_9, t_22^0'=t_22^post_9, tail_14^0'=tail_14^post_9, temp0_16^0'=temp0_16^post_9, temp0_31^0'=temp0_31^post_9, temp_35^0'=temp_35^post_9, tmp_34^0'=tmp_34^post_9, x_131^0'=x_131^post_9, x_176^0'=x_176^post_9, x_19^0'=x_19^post_9, x_26^0'=x_26^post_9, x_SLAM_f_17^0'=x_SLAM_f_17^post_9, x_SLAM_f_24^0'=x_SLAM_f_24^post_9, y_18^0'=y_18^post_9, y_25^0'=y_25^post_9, [ 1+x_19^0<=y_18^0 && a_118^0==a_118^post_9 && a_149^0==a_149^post_9 && a_188^0==a_188^post_9 && a_225^0==a_225^post_9 && a_281^0==a_281^post_9 && a_289^0==a_289^post_9 && a_342^0==a_342^post_9 && a_343^0==a_343^post_9 && f_171^0==f_171^post_9 && head_15^0==head_15^post_9 && head_32^0==head_32^post_9 && head_SLAM_f_29^0==head_SLAM_f_29^post_9 && i_110^0==i_110^post_9 && i_30^0==i_30^post_9 && i_95^0==i_95^post_9 && len_134^0==len_134^post_9 && len_187^0==len_187^post_9 && length_28^0==length_28^post_9 && nondet_12^0==nondet_12^post_9 && r_126^0==r_126^post_9 && r_165^0==r_165^post_9 && r_39^0==r_39^post_9 && rcd_59^0==rcd_59^post_9 && rcd_89^0==rcd_89^post_9 && result_11^0==result_11^post_9 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_9 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_9 && t_22^0==t_22^post_9 && tail_14^0==tail_14^post_9 && temp0_16^0==temp0_16^post_9 && temp0_31^0==temp0_31^post_9 && temp_35^0==temp_35^post_9 && tmp_34^0==tmp_34^post_9 && x_131^0==x_131^post_9 && x_176^0==x_176^post_9 && x_19^0==x_19^post_9 && x_26^0==x_26^post_9 && x_SLAM_f_17^0==x_SLAM_f_17^post_9 && x_SLAM_f_24^0==x_SLAM_f_24^post_9 && y_18^0==y_18^post_9 && y_25^0==y_25^post_9 ], cost: 1 9: l9 -> l10 : a_118^0'=a_118^post_10, a_149^0'=a_149^post_10, a_188^0'=a_188^post_10, a_225^0'=a_225^post_10, a_281^0'=a_281^post_10, a_289^0'=a_289^post_10, a_342^0'=a_342^post_10, a_343^0'=a_343^post_10, f_171^0'=f_171^post_10, head_15^0'=head_15^post_10, head_32^0'=head_32^post_10, head_SLAM_f_29^0'=head_SLAM_f_29^post_10, i_110^0'=i_110^post_10, i_30^0'=i_30^post_10, i_95^0'=i_95^post_10, len_134^0'=len_134^post_10, len_187^0'=len_187^post_10, length_28^0'=length_28^post_10, nondet_12^0'=nondet_12^post_10, r_126^0'=r_126^post_10, r_165^0'=r_165^post_10, r_39^0'=r_39^post_10, rcd_59^0'=rcd_59^post_10, rcd_89^0'=rcd_89^post_10, result_11^0'=result_11^post_10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_10, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_10, t_22^0'=t_22^post_10, tail_14^0'=tail_14^post_10, temp0_16^0'=temp0_16^post_10, temp0_31^0'=temp0_31^post_10, temp_35^0'=temp_35^post_10, tmp_34^0'=tmp_34^post_10, x_131^0'=x_131^post_10, x_176^0'=x_176^post_10, x_19^0'=x_19^post_10, x_26^0'=x_26^post_10, x_SLAM_f_17^0'=x_SLAM_f_17^post_10, x_SLAM_f_24^0'=x_SLAM_f_24^post_10, y_18^0'=y_18^post_10, y_25^0'=y_25^post_10, [ t_22^post_10==x_19^0 && a_342^post_10==a_342^post_10 && a_343^post_10==a_343^post_10 && 0<=a_342^post_10 && a_342^post_10<=0 && tail_14^0<=y_18^0 && y_18^0<=tail_14^0 && head_15^0<=x_SLAM_f_17^0 && x_SLAM_f_17^0<=head_15^0 && a_149^0<=1+a_343^post_10-a_281^0 && 1+a_343^post_10-a_281^0<=a_149^0 && a_118^0==a_118^post_10 && a_149^0==a_149^post_10 && a_188^0==a_188^post_10 && a_225^0==a_225^post_10 && a_281^0==a_281^post_10 && a_289^0==a_289^post_10 && f_171^0==f_171^post_10 && head_15^0==head_15^post_10 && head_32^0==head_32^post_10 && head_SLAM_f_29^0==head_SLAM_f_29^post_10 && i_110^0==i_110^post_10 && i_30^0==i_30^post_10 && i_95^0==i_95^post_10 && len_134^0==len_134^post_10 && len_187^0==len_187^post_10 && length_28^0==length_28^post_10 && nondet_12^0==nondet_12^post_10 && r_126^0==r_126^post_10 && r_165^0==r_165^post_10 && r_39^0==r_39^post_10 && rcd_59^0==rcd_59^post_10 && rcd_89^0==rcd_89^post_10 && result_11^0==result_11^post_10 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_10 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_10 && tail_14^0==tail_14^post_10 && temp0_16^0==temp0_16^post_10 && temp0_31^0==temp0_31^post_10 && temp_35^0==temp_35^post_10 && tmp_34^0==tmp_34^post_10 && x_131^0==x_131^post_10 && x_176^0==x_176^post_10 && x_19^0==x_19^post_10 && x_26^0==x_26^post_10 && x_SLAM_f_17^0==x_SLAM_f_17^post_10 && x_SLAM_f_24^0==x_SLAM_f_24^post_10 && y_18^0==y_18^post_10 && y_25^0==y_25^post_10 ], cost: 1 10: l10 -> l11 : a_118^0'=a_118^post_11, a_149^0'=a_149^post_11, a_188^0'=a_188^post_11, a_225^0'=a_225^post_11, a_281^0'=a_281^post_11, a_289^0'=a_289^post_11, a_342^0'=a_342^post_11, a_343^0'=a_343^post_11, f_171^0'=f_171^post_11, head_15^0'=head_15^post_11, head_32^0'=head_32^post_11, head_SLAM_f_29^0'=head_SLAM_f_29^post_11, i_110^0'=i_110^post_11, i_30^0'=i_30^post_11, i_95^0'=i_95^post_11, len_134^0'=len_134^post_11, len_187^0'=len_187^post_11, length_28^0'=length_28^post_11, nondet_12^0'=nondet_12^post_11, r_126^0'=r_126^post_11, r_165^0'=r_165^post_11, r_39^0'=r_39^post_11, rcd_59^0'=rcd_59^post_11, rcd_89^0'=rcd_89^post_11, result_11^0'=result_11^post_11, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_11, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_11, t_22^0'=t_22^post_11, tail_14^0'=tail_14^post_11, temp0_16^0'=temp0_16^post_11, temp0_31^0'=temp0_31^post_11, temp_35^0'=temp_35^post_11, tmp_34^0'=tmp_34^post_11, x_131^0'=x_131^post_11, x_176^0'=x_176^post_11, x_19^0'=x_19^post_11, x_26^0'=x_26^post_11, x_SLAM_f_17^0'=x_SLAM_f_17^post_11, x_SLAM_f_24^0'=x_SLAM_f_24^post_11, y_18^0'=y_18^post_11, y_25^0'=y_25^post_11, [ 1+tail_14^0<=head_15^0 && a_118^0==a_118^post_11 && a_149^0==a_149^post_11 && a_188^0==a_188^post_11 && a_225^0==a_225^post_11 && a_281^0==a_281^post_11 && a_289^0==a_289^post_11 && a_342^0==a_342^post_11 && a_343^0==a_343^post_11 && f_171^0==f_171^post_11 && head_15^0==head_15^post_11 && head_32^0==head_32^post_11 && head_SLAM_f_29^0==head_SLAM_f_29^post_11 && i_110^0==i_110^post_11 && i_30^0==i_30^post_11 && i_95^0==i_95^post_11 && len_134^0==len_134^post_11 && len_187^0==len_187^post_11 && length_28^0==length_28^post_11 && nondet_12^0==nondet_12^post_11 && r_126^0==r_126^post_11 && r_165^0==r_165^post_11 && r_39^0==r_39^post_11 && rcd_59^0==rcd_59^post_11 && rcd_89^0==rcd_89^post_11 && result_11^0==result_11^post_11 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_11 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_11 && t_22^0==t_22^post_11 && tail_14^0==tail_14^post_11 && temp0_16^0==temp0_16^post_11 && temp0_31^0==temp0_31^post_11 && temp_35^0==temp_35^post_11 && tmp_34^0==tmp_34^post_11 && x_131^0==x_131^post_11 && x_176^0==x_176^post_11 && x_19^0==x_19^post_11 && x_26^0==x_26^post_11 && x_SLAM_f_17^0==x_SLAM_f_17^post_11 && x_SLAM_f_24^0==x_SLAM_f_24^post_11 && y_18^0==y_18^post_11 && y_25^0==y_25^post_11 ], cost: 1 11: l10 -> l11 : a_118^0'=a_118^post_12, a_149^0'=a_149^post_12, a_188^0'=a_188^post_12, a_225^0'=a_225^post_12, a_281^0'=a_281^post_12, a_289^0'=a_289^post_12, a_342^0'=a_342^post_12, a_343^0'=a_343^post_12, f_171^0'=f_171^post_12, head_15^0'=head_15^post_12, head_32^0'=head_32^post_12, head_SLAM_f_29^0'=head_SLAM_f_29^post_12, i_110^0'=i_110^post_12, i_30^0'=i_30^post_12, i_95^0'=i_95^post_12, len_134^0'=len_134^post_12, len_187^0'=len_187^post_12, length_28^0'=length_28^post_12, nondet_12^0'=nondet_12^post_12, r_126^0'=r_126^post_12, r_165^0'=r_165^post_12, r_39^0'=r_39^post_12, rcd_59^0'=rcd_59^post_12, rcd_89^0'=rcd_89^post_12, result_11^0'=result_11^post_12, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_12, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_12, t_22^0'=t_22^post_12, tail_14^0'=tail_14^post_12, temp0_16^0'=temp0_16^post_12, temp0_31^0'=temp0_31^post_12, temp_35^0'=temp_35^post_12, tmp_34^0'=tmp_34^post_12, x_131^0'=x_131^post_12, x_176^0'=x_176^post_12, x_19^0'=x_19^post_12, x_26^0'=x_26^post_12, x_SLAM_f_17^0'=x_SLAM_f_17^post_12, x_SLAM_f_24^0'=x_SLAM_f_24^post_12, y_18^0'=y_18^post_12, y_25^0'=y_25^post_12, [ 1+head_15^0<=tail_14^0 && a_118^0==a_118^post_12 && a_149^0==a_149^post_12 && a_188^0==a_188^post_12 && a_225^0==a_225^post_12 && a_281^0==a_281^post_12 && a_289^0==a_289^post_12 && a_342^0==a_342^post_12 && a_343^0==a_343^post_12 && f_171^0==f_171^post_12 && head_15^0==head_15^post_12 && head_32^0==head_32^post_12 && head_SLAM_f_29^0==head_SLAM_f_29^post_12 && i_110^0==i_110^post_12 && i_30^0==i_30^post_12 && i_95^0==i_95^post_12 && len_134^0==len_134^post_12 && len_187^0==len_187^post_12 && length_28^0==length_28^post_12 && nondet_12^0==nondet_12^post_12 && r_126^0==r_126^post_12 && r_165^0==r_165^post_12 && r_39^0==r_39^post_12 && rcd_59^0==rcd_59^post_12 && rcd_89^0==rcd_89^post_12 && result_11^0==result_11^post_12 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_12 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_12 && t_22^0==t_22^post_12 && tail_14^0==tail_14^post_12 && temp0_16^0==temp0_16^post_12 && temp0_31^0==temp0_31^post_12 && temp_35^0==temp_35^post_12 && tmp_34^0==tmp_34^post_12 && x_131^0==x_131^post_12 && x_176^0==x_176^post_12 && x_19^0==x_19^post_12 && x_26^0==x_26^post_12 && x_SLAM_f_17^0==x_SLAM_f_17^post_12 && x_SLAM_f_24^0==x_SLAM_f_24^post_12 && y_18^0==y_18^post_12 && y_25^0==y_25^post_12 ], cost: 1 12: l11 -> l12 : a_118^0'=a_118^post_13, a_149^0'=a_149^post_13, a_188^0'=a_188^post_13, a_225^0'=a_225^post_13, a_281^0'=a_281^post_13, a_289^0'=a_289^post_13, a_342^0'=a_342^post_13, a_343^0'=a_343^post_13, f_171^0'=f_171^post_13, head_15^0'=head_15^post_13, head_32^0'=head_32^post_13, head_SLAM_f_29^0'=head_SLAM_f_29^post_13, i_110^0'=i_110^post_13, i_30^0'=i_30^post_13, i_95^0'=i_95^post_13, len_134^0'=len_134^post_13, len_187^0'=len_187^post_13, length_28^0'=length_28^post_13, nondet_12^0'=nondet_12^post_13, r_126^0'=r_126^post_13, r_165^0'=r_165^post_13, r_39^0'=r_39^post_13, rcd_59^0'=rcd_59^post_13, rcd_89^0'=rcd_89^post_13, result_11^0'=result_11^post_13, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_13, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_13, t_22^0'=t_22^post_13, tail_14^0'=tail_14^post_13, temp0_16^0'=temp0_16^post_13, temp0_31^0'=temp0_31^post_13, temp_35^0'=temp_35^post_13, tmp_34^0'=tmp_34^post_13, x_131^0'=x_131^post_13, x_176^0'=x_176^post_13, x_19^0'=x_19^post_13, x_26^0'=x_26^post_13, x_SLAM_f_17^0'=x_SLAM_f_17^post_13, x_SLAM_f_24^0'=x_SLAM_f_24^post_13, y_18^0'=y_18^post_13, y_25^0'=y_25^post_13, [ 1+head_15^0<=y_18^0 && a_118^0==a_118^post_13 && a_149^0==a_149^post_13 && a_188^0==a_188^post_13 && a_225^0==a_225^post_13 && a_281^0==a_281^post_13 && a_289^0==a_289^post_13 && a_342^0==a_342^post_13 && a_343^0==a_343^post_13 && f_171^0==f_171^post_13 && head_15^0==head_15^post_13 && head_32^0==head_32^post_13 && head_SLAM_f_29^0==head_SLAM_f_29^post_13 && i_110^0==i_110^post_13 && i_30^0==i_30^post_13 && i_95^0==i_95^post_13 && len_134^0==len_134^post_13 && len_187^0==len_187^post_13 && length_28^0==length_28^post_13 && nondet_12^0==nondet_12^post_13 && r_126^0==r_126^post_13 && r_165^0==r_165^post_13 && r_39^0==r_39^post_13 && rcd_59^0==rcd_59^post_13 && rcd_89^0==rcd_89^post_13 && result_11^0==result_11^post_13 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_13 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_13 && t_22^0==t_22^post_13 && tail_14^0==tail_14^post_13 && temp0_16^0==temp0_16^post_13 && temp0_31^0==temp0_31^post_13 && temp_35^0==temp_35^post_13 && tmp_34^0==tmp_34^post_13 && x_131^0==x_131^post_13 && x_176^0==x_176^post_13 && x_19^0==x_19^post_13 && x_26^0==x_26^post_13 && x_SLAM_f_17^0==x_SLAM_f_17^post_13 && x_SLAM_f_24^0==x_SLAM_f_24^post_13 && y_18^0==y_18^post_13 && y_25^0==y_25^post_13 ], cost: 1 13: l11 -> l12 : a_118^0'=a_118^post_14, a_149^0'=a_149^post_14, a_188^0'=a_188^post_14, a_225^0'=a_225^post_14, a_281^0'=a_281^post_14, a_289^0'=a_289^post_14, a_342^0'=a_342^post_14, a_343^0'=a_343^post_14, f_171^0'=f_171^post_14, head_15^0'=head_15^post_14, head_32^0'=head_32^post_14, head_SLAM_f_29^0'=head_SLAM_f_29^post_14, i_110^0'=i_110^post_14, i_30^0'=i_30^post_14, i_95^0'=i_95^post_14, len_134^0'=len_134^post_14, len_187^0'=len_187^post_14, length_28^0'=length_28^post_14, nondet_12^0'=nondet_12^post_14, r_126^0'=r_126^post_14, r_165^0'=r_165^post_14, r_39^0'=r_39^post_14, rcd_59^0'=rcd_59^post_14, rcd_89^0'=rcd_89^post_14, result_11^0'=result_11^post_14, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_14, t_22^0'=t_22^post_14, tail_14^0'=tail_14^post_14, temp0_16^0'=temp0_16^post_14, temp0_31^0'=temp0_31^post_14, temp_35^0'=temp_35^post_14, tmp_34^0'=tmp_34^post_14, x_131^0'=x_131^post_14, x_176^0'=x_176^post_14, x_19^0'=x_19^post_14, x_26^0'=x_26^post_14, x_SLAM_f_17^0'=x_SLAM_f_17^post_14, x_SLAM_f_24^0'=x_SLAM_f_24^post_14, y_18^0'=y_18^post_14, y_25^0'=y_25^post_14, [ 1+y_18^0<=head_15^0 && a_118^0==a_118^post_14 && a_149^0==a_149^post_14 && a_188^0==a_188^post_14 && a_225^0==a_225^post_14 && a_281^0==a_281^post_14 && a_289^0==a_289^post_14 && a_342^0==a_342^post_14 && a_343^0==a_343^post_14 && f_171^0==f_171^post_14 && head_15^0==head_15^post_14 && head_32^0==head_32^post_14 && head_SLAM_f_29^0==head_SLAM_f_29^post_14 && i_110^0==i_110^post_14 && i_30^0==i_30^post_14 && i_95^0==i_95^post_14 && len_134^0==len_134^post_14 && len_187^0==len_187^post_14 && length_28^0==length_28^post_14 && nondet_12^0==nondet_12^post_14 && r_126^0==r_126^post_14 && r_165^0==r_165^post_14 && r_39^0==r_39^post_14 && rcd_59^0==rcd_59^post_14 && rcd_89^0==rcd_89^post_14 && result_11^0==result_11^post_14 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_14 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_14 && t_22^0==t_22^post_14 && tail_14^0==tail_14^post_14 && temp0_16^0==temp0_16^post_14 && temp0_31^0==temp0_31^post_14 && temp_35^0==temp_35^post_14 && tmp_34^0==tmp_34^post_14 && x_131^0==x_131^post_14 && x_176^0==x_176^post_14 && x_19^0==x_19^post_14 && x_26^0==x_26^post_14 && x_SLAM_f_17^0==x_SLAM_f_17^post_14 && x_SLAM_f_24^0==x_SLAM_f_24^post_14 && y_18^0==y_18^post_14 && y_25^0==y_25^post_14 ], cost: 1 14: l12 -> l13 : a_118^0'=a_118^post_15, a_149^0'=a_149^post_15, a_188^0'=a_188^post_15, a_225^0'=a_225^post_15, a_281^0'=a_281^post_15, a_289^0'=a_289^post_15, a_342^0'=a_342^post_15, a_343^0'=a_343^post_15, f_171^0'=f_171^post_15, head_15^0'=head_15^post_15, head_32^0'=head_32^post_15, head_SLAM_f_29^0'=head_SLAM_f_29^post_15, i_110^0'=i_110^post_15, i_30^0'=i_30^post_15, i_95^0'=i_95^post_15, len_134^0'=len_134^post_15, len_187^0'=len_187^post_15, length_28^0'=length_28^post_15, nondet_12^0'=nondet_12^post_15, r_126^0'=r_126^post_15, r_165^0'=r_165^post_15, r_39^0'=r_39^post_15, rcd_59^0'=rcd_59^post_15, rcd_89^0'=rcd_89^post_15, result_11^0'=result_11^post_15, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_15, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_15, t_22^0'=t_22^post_15, tail_14^0'=tail_14^post_15, temp0_16^0'=temp0_16^post_15, temp0_31^0'=temp0_31^post_15, temp_35^0'=temp_35^post_15, tmp_34^0'=tmp_34^post_15, x_131^0'=x_131^post_15, x_176^0'=x_176^post_15, x_19^0'=x_19^post_15, x_26^0'=x_26^post_15, x_SLAM_f_17^0'=x_SLAM_f_17^post_15, x_SLAM_f_24^0'=x_SLAM_f_24^post_15, y_18^0'=y_18^post_15, y_25^0'=y_25^post_15, [ 1+y_18^0<=t_22^0 && a_118^0==a_118^post_15 && a_149^0==a_149^post_15 && a_188^0==a_188^post_15 && a_225^0==a_225^post_15 && a_281^0==a_281^post_15 && a_289^0==a_289^post_15 && a_342^0==a_342^post_15 && a_343^0==a_343^post_15 && f_171^0==f_171^post_15 && head_15^0==head_15^post_15 && head_32^0==head_32^post_15 && head_SLAM_f_29^0==head_SLAM_f_29^post_15 && i_110^0==i_110^post_15 && i_30^0==i_30^post_15 && i_95^0==i_95^post_15 && len_134^0==len_134^post_15 && len_187^0==len_187^post_15 && length_28^0==length_28^post_15 && nondet_12^0==nondet_12^post_15 && r_126^0==r_126^post_15 && r_165^0==r_165^post_15 && r_39^0==r_39^post_15 && rcd_59^0==rcd_59^post_15 && rcd_89^0==rcd_89^post_15 && result_11^0==result_11^post_15 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_15 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_15 && t_22^0==t_22^post_15 && tail_14^0==tail_14^post_15 && temp0_16^0==temp0_16^post_15 && temp0_31^0==temp0_31^post_15 && temp_35^0==temp_35^post_15 && tmp_34^0==tmp_34^post_15 && x_131^0==x_131^post_15 && x_176^0==x_176^post_15 && x_19^0==x_19^post_15 && x_26^0==x_26^post_15 && x_SLAM_f_17^0==x_SLAM_f_17^post_15 && x_SLAM_f_24^0==x_SLAM_f_24^post_15 && y_18^0==y_18^post_15 && y_25^0==y_25^post_15 ], cost: 1 15: l12 -> l13 : a_118^0'=a_118^post_16, a_149^0'=a_149^post_16, a_188^0'=a_188^post_16, a_225^0'=a_225^post_16, a_281^0'=a_281^post_16, a_289^0'=a_289^post_16, a_342^0'=a_342^post_16, a_343^0'=a_343^post_16, f_171^0'=f_171^post_16, head_15^0'=head_15^post_16, head_32^0'=head_32^post_16, head_SLAM_f_29^0'=head_SLAM_f_29^post_16, i_110^0'=i_110^post_16, i_30^0'=i_30^post_16, i_95^0'=i_95^post_16, len_134^0'=len_134^post_16, len_187^0'=len_187^post_16, length_28^0'=length_28^post_16, nondet_12^0'=nondet_12^post_16, r_126^0'=r_126^post_16, r_165^0'=r_165^post_16, r_39^0'=r_39^post_16, rcd_59^0'=rcd_59^post_16, rcd_89^0'=rcd_89^post_16, result_11^0'=result_11^post_16, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_16, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_16, t_22^0'=t_22^post_16, tail_14^0'=tail_14^post_16, temp0_16^0'=temp0_16^post_16, temp0_31^0'=temp0_31^post_16, temp_35^0'=temp_35^post_16, tmp_34^0'=tmp_34^post_16, x_131^0'=x_131^post_16, x_176^0'=x_176^post_16, x_19^0'=x_19^post_16, x_26^0'=x_26^post_16, x_SLAM_f_17^0'=x_SLAM_f_17^post_16, x_SLAM_f_24^0'=x_SLAM_f_24^post_16, y_18^0'=y_18^post_16, y_25^0'=y_25^post_16, [ 1+t_22^0<=y_18^0 && a_118^0==a_118^post_16 && a_149^0==a_149^post_16 && a_188^0==a_188^post_16 && a_225^0==a_225^post_16 && a_281^0==a_281^post_16 && a_289^0==a_289^post_16 && a_342^0==a_342^post_16 && a_343^0==a_343^post_16 && f_171^0==f_171^post_16 && head_15^0==head_15^post_16 && head_32^0==head_32^post_16 && head_SLAM_f_29^0==head_SLAM_f_29^post_16 && i_110^0==i_110^post_16 && i_30^0==i_30^post_16 && i_95^0==i_95^post_16 && len_134^0==len_134^post_16 && len_187^0==len_187^post_16 && length_28^0==length_28^post_16 && nondet_12^0==nondet_12^post_16 && r_126^0==r_126^post_16 && r_165^0==r_165^post_16 && r_39^0==r_39^post_16 && rcd_59^0==rcd_59^post_16 && rcd_89^0==rcd_89^post_16 && result_11^0==result_11^post_16 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_16 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_16 && t_22^0==t_22^post_16 && tail_14^0==tail_14^post_16 && temp0_16^0==temp0_16^post_16 && temp0_31^0==temp0_31^post_16 && temp_35^0==temp_35^post_16 && tmp_34^0==tmp_34^post_16 && x_131^0==x_131^post_16 && x_176^0==x_176^post_16 && x_19^0==x_19^post_16 && x_26^0==x_26^post_16 && x_SLAM_f_17^0==x_SLAM_f_17^post_16 && x_SLAM_f_24^0==x_SLAM_f_24^post_16 && y_18^0==y_18^post_16 && y_25^0==y_25^post_16 ], cost: 1 16: l13 -> l7 : a_118^0'=a_118^post_17, a_149^0'=a_149^post_17, a_188^0'=a_188^post_17, a_225^0'=a_225^post_17, a_281^0'=a_281^post_17, a_289^0'=a_289^post_17, a_342^0'=a_342^post_17, a_343^0'=a_343^post_17, f_171^0'=f_171^post_17, head_15^0'=head_15^post_17, head_32^0'=head_32^post_17, head_SLAM_f_29^0'=head_SLAM_f_29^post_17, i_110^0'=i_110^post_17, i_30^0'=i_30^post_17, i_95^0'=i_95^post_17, len_134^0'=len_134^post_17, len_187^0'=len_187^post_17, length_28^0'=length_28^post_17, nondet_12^0'=nondet_12^post_17, r_126^0'=r_126^post_17, r_165^0'=r_165^post_17, r_39^0'=r_39^post_17, rcd_59^0'=rcd_59^post_17, rcd_89^0'=rcd_89^post_17, result_11^0'=result_11^post_17, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_17, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_17, t_22^0'=t_22^post_17, tail_14^0'=tail_14^post_17, temp0_16^0'=temp0_16^post_17, temp0_31^0'=temp0_31^post_17, temp_35^0'=temp_35^post_17, tmp_34^0'=tmp_34^post_17, x_131^0'=x_131^post_17, x_176^0'=x_176^post_17, x_19^0'=x_19^post_17, x_26^0'=x_26^post_17, x_SLAM_f_17^0'=x_SLAM_f_17^post_17, x_SLAM_f_24^0'=x_SLAM_f_24^post_17, y_18^0'=y_18^post_17, y_25^0'=y_25^post_17, [ 1<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && a_281^post_17==a_281^post_17 && a_281^post_17<=a_343^0 && a_343^0<=a_281^post_17 && a_149^post_17==a_149^post_17 && a_149^post_17<=a_342^0 && a_342^0<=a_149^post_17 && a_118^0==a_118^post_17 && a_188^0==a_188^post_17 && a_225^0==a_225^post_17 && a_289^0==a_289^post_17 && a_342^0==a_342^post_17 && a_343^0==a_343^post_17 && f_171^0==f_171^post_17 && head_15^0==head_15^post_17 && head_32^0==head_32^post_17 && head_SLAM_f_29^0==head_SLAM_f_29^post_17 && i_110^0==i_110^post_17 && i_30^0==i_30^post_17 && i_95^0==i_95^post_17 && len_134^0==len_134^post_17 && len_187^0==len_187^post_17 && length_28^0==length_28^post_17 && nondet_12^0==nondet_12^post_17 && r_126^0==r_126^post_17 && r_165^0==r_165^post_17 && r_39^0==r_39^post_17 && rcd_59^0==rcd_59^post_17 && rcd_89^0==rcd_89^post_17 && result_11^0==result_11^post_17 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_17 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_17 && t_22^0==t_22^post_17 && tail_14^0==tail_14^post_17 && temp0_16^0==temp0_16^post_17 && temp0_31^0==temp0_31^post_17 && temp_35^0==temp_35^post_17 && tmp_34^0==tmp_34^post_17 && x_131^0==x_131^post_17 && x_176^0==x_176^post_17 && x_19^0==x_19^post_17 && x_26^0==x_26^post_17 && x_SLAM_f_17^0==x_SLAM_f_17^post_17 && x_SLAM_f_24^0==x_SLAM_f_24^post_17 && y_18^0==y_18^post_17 && y_25^0==y_25^post_17 ], cost: 1 17: l7 -> l6 : a_118^0'=a_118^post_18, a_149^0'=a_149^post_18, a_188^0'=a_188^post_18, a_225^0'=a_225^post_18, a_281^0'=a_281^post_18, a_289^0'=a_289^post_18, a_342^0'=a_342^post_18, a_343^0'=a_343^post_18, f_171^0'=f_171^post_18, head_15^0'=head_15^post_18, head_32^0'=head_32^post_18, head_SLAM_f_29^0'=head_SLAM_f_29^post_18, i_110^0'=i_110^post_18, i_30^0'=i_30^post_18, i_95^0'=i_95^post_18, len_134^0'=len_134^post_18, len_187^0'=len_187^post_18, length_28^0'=length_28^post_18, nondet_12^0'=nondet_12^post_18, r_126^0'=r_126^post_18, r_165^0'=r_165^post_18, r_39^0'=r_39^post_18, rcd_59^0'=rcd_59^post_18, rcd_89^0'=rcd_89^post_18, result_11^0'=result_11^post_18, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_18, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_18, t_22^0'=t_22^post_18, tail_14^0'=tail_14^post_18, temp0_16^0'=temp0_16^post_18, temp0_31^0'=temp0_31^post_18, temp_35^0'=temp_35^post_18, tmp_34^0'=tmp_34^post_18, x_131^0'=x_131^post_18, x_176^0'=x_176^post_18, x_19^0'=x_19^post_18, x_26^0'=x_26^post_18, x_SLAM_f_17^0'=x_SLAM_f_17^post_18, x_SLAM_f_24^0'=x_SLAM_f_24^post_18, y_18^0'=y_18^post_18, y_25^0'=y_25^post_18, [ a_118^0==a_118^post_18 && a_149^0==a_149^post_18 && a_188^0==a_188^post_18 && a_225^0==a_225^post_18 && a_281^0==a_281^post_18 && a_289^0==a_289^post_18 && a_342^0==a_342^post_18 && a_343^0==a_343^post_18 && f_171^0==f_171^post_18 && head_15^0==head_15^post_18 && head_32^0==head_32^post_18 && head_SLAM_f_29^0==head_SLAM_f_29^post_18 && i_110^0==i_110^post_18 && i_30^0==i_30^post_18 && i_95^0==i_95^post_18 && len_134^0==len_134^post_18 && len_187^0==len_187^post_18 && length_28^0==length_28^post_18 && nondet_12^0==nondet_12^post_18 && r_126^0==r_126^post_18 && r_165^0==r_165^post_18 && r_39^0==r_39^post_18 && rcd_59^0==rcd_59^post_18 && rcd_89^0==rcd_89^post_18 && result_11^0==result_11^post_18 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_18 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_18 && t_22^0==t_22^post_18 && tail_14^0==tail_14^post_18 && temp0_16^0==temp0_16^post_18 && temp0_31^0==temp0_31^post_18 && temp_35^0==temp_35^post_18 && tmp_34^0==tmp_34^post_18 && x_131^0==x_131^post_18 && x_176^0==x_176^post_18 && x_19^0==x_19^post_18 && x_26^0==x_26^post_18 && x_SLAM_f_17^0==x_SLAM_f_17^post_18 && x_SLAM_f_24^0==x_SLAM_f_24^post_18 && y_18^0==y_18^post_18 && y_25^0==y_25^post_18 ], cost: 1 33: l23 -> l24 : a_118^0'=a_118^post_34, a_149^0'=a_149^post_34, a_188^0'=a_188^post_34, a_225^0'=a_225^post_34, a_281^0'=a_281^post_34, a_289^0'=a_289^post_34, a_342^0'=a_342^post_34, a_343^0'=a_343^post_34, f_171^0'=f_171^post_34, head_15^0'=head_15^post_34, head_32^0'=head_32^post_34, head_SLAM_f_29^0'=head_SLAM_f_29^post_34, i_110^0'=i_110^post_34, i_30^0'=i_30^post_34, i_95^0'=i_95^post_34, len_134^0'=len_134^post_34, len_187^0'=len_187^post_34, length_28^0'=length_28^post_34, nondet_12^0'=nondet_12^post_34, r_126^0'=r_126^post_34, r_165^0'=r_165^post_34, r_39^0'=r_39^post_34, rcd_59^0'=rcd_59^post_34, rcd_89^0'=rcd_89^post_34, result_11^0'=result_11^post_34, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_34, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_34, t_22^0'=t_22^post_34, tail_14^0'=tail_14^post_34, temp0_16^0'=temp0_16^post_34, temp0_31^0'=temp0_31^post_34, temp_35^0'=temp_35^post_34, tmp_34^0'=tmp_34^post_34, x_131^0'=x_131^post_34, x_176^0'=x_176^post_34, x_19^0'=x_19^post_34, x_26^0'=x_26^post_34, x_SLAM_f_17^0'=x_SLAM_f_17^post_34, x_SLAM_f_24^0'=x_SLAM_f_24^post_34, y_18^0'=y_18^post_34, y_25^0'=y_25^post_34, [ 0<=a_149^0 && 0<=len_134^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_34==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_34 && tail_14^post_34==tail_14^post_34 && head_15^post_34==head_15^post_34 && x_SLAM_f_17^post_34==x_SLAM_f_17^post_34 && a_289^post_34==a_289^post_34 && a_118^0==a_118^post_34 && a_149^0==a_149^post_34 && a_188^0==a_188^post_34 && a_225^0==a_225^post_34 && a_281^0==a_281^post_34 && a_342^0==a_342^post_34 && a_343^0==a_343^post_34 && f_171^0==f_171^post_34 && head_32^0==head_32^post_34 && head_SLAM_f_29^0==head_SLAM_f_29^post_34 && i_110^0==i_110^post_34 && i_30^0==i_30^post_34 && i_95^0==i_95^post_34 && len_134^0==len_134^post_34 && len_187^0==len_187^post_34 && length_28^0==length_28^post_34 && nondet_12^0==nondet_12^post_34 && r_126^0==r_126^post_34 && r_165^0==r_165^post_34 && r_39^0==r_39^post_34 && rcd_59^0==rcd_59^post_34 && rcd_89^0==rcd_89^post_34 && result_11^0==result_11^post_34 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_34 && t_22^0==t_22^post_34 && temp0_16^0==temp0_16^post_34 && temp0_31^0==temp0_31^post_34 && temp_35^0==temp_35^post_34 && tmp_34^0==tmp_34^post_34 && x_131^0==x_131^post_34 && x_176^0==x_176^post_34 && x_19^0==x_19^post_34 && x_26^0==x_26^post_34 && x_SLAM_f_24^0==x_SLAM_f_24^post_34 && y_18^0==y_18^post_34 && y_25^0==y_25^post_34 ], cost: 1 34: l24 -> l25 : a_118^0'=a_118^post_35, a_149^0'=a_149^post_35, a_188^0'=a_188^post_35, a_225^0'=a_225^post_35, a_281^0'=a_281^post_35, a_289^0'=a_289^post_35, a_342^0'=a_342^post_35, a_343^0'=a_343^post_35, f_171^0'=f_171^post_35, head_15^0'=head_15^post_35, head_32^0'=head_32^post_35, head_SLAM_f_29^0'=head_SLAM_f_29^post_35, i_110^0'=i_110^post_35, i_30^0'=i_30^post_35, i_95^0'=i_95^post_35, len_134^0'=len_134^post_35, len_187^0'=len_187^post_35, length_28^0'=length_28^post_35, nondet_12^0'=nondet_12^post_35, r_126^0'=r_126^post_35, r_165^0'=r_165^post_35, r_39^0'=r_39^post_35, rcd_59^0'=rcd_59^post_35, rcd_89^0'=rcd_89^post_35, result_11^0'=result_11^post_35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_35, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_35, t_22^0'=t_22^post_35, tail_14^0'=tail_14^post_35, temp0_16^0'=temp0_16^post_35, temp0_31^0'=temp0_31^post_35, temp_35^0'=temp_35^post_35, tmp_34^0'=tmp_34^post_35, x_131^0'=x_131^post_35, x_176^0'=x_176^post_35, x_19^0'=x_19^post_35, x_26^0'=x_26^post_35, x_SLAM_f_17^0'=x_SLAM_f_17^post_35, x_SLAM_f_24^0'=x_SLAM_f_24^post_35, y_18^0'=y_18^post_35, y_25^0'=y_25^post_35, [ 1+y_18^0<=x_19^0 && a_118^0==a_118^post_35 && a_149^0==a_149^post_35 && a_188^0==a_188^post_35 && a_225^0==a_225^post_35 && a_281^0==a_281^post_35 && a_289^0==a_289^post_35 && a_342^0==a_342^post_35 && a_343^0==a_343^post_35 && f_171^0==f_171^post_35 && head_15^0==head_15^post_35 && head_32^0==head_32^post_35 && head_SLAM_f_29^0==head_SLAM_f_29^post_35 && i_110^0==i_110^post_35 && i_30^0==i_30^post_35 && i_95^0==i_95^post_35 && len_134^0==len_134^post_35 && len_187^0==len_187^post_35 && length_28^0==length_28^post_35 && nondet_12^0==nondet_12^post_35 && r_126^0==r_126^post_35 && r_165^0==r_165^post_35 && r_39^0==r_39^post_35 && rcd_59^0==rcd_59^post_35 && rcd_89^0==rcd_89^post_35 && result_11^0==result_11^post_35 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_35 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_35 && t_22^0==t_22^post_35 && tail_14^0==tail_14^post_35 && temp0_16^0==temp0_16^post_35 && temp0_31^0==temp0_31^post_35 && temp_35^0==temp_35^post_35 && tmp_34^0==tmp_34^post_35 && x_131^0==x_131^post_35 && x_176^0==x_176^post_35 && x_19^0==x_19^post_35 && x_26^0==x_26^post_35 && x_SLAM_f_17^0==x_SLAM_f_17^post_35 && x_SLAM_f_24^0==x_SLAM_f_24^post_35 && y_18^0==y_18^post_35 && y_25^0==y_25^post_35 ], cost: 1 35: l24 -> l25 : a_118^0'=a_118^post_36, a_149^0'=a_149^post_36, a_188^0'=a_188^post_36, a_225^0'=a_225^post_36, a_281^0'=a_281^post_36, a_289^0'=a_289^post_36, a_342^0'=a_342^post_36, a_343^0'=a_343^post_36, f_171^0'=f_171^post_36, head_15^0'=head_15^post_36, head_32^0'=head_32^post_36, head_SLAM_f_29^0'=head_SLAM_f_29^post_36, i_110^0'=i_110^post_36, i_30^0'=i_30^post_36, i_95^0'=i_95^post_36, len_134^0'=len_134^post_36, len_187^0'=len_187^post_36, length_28^0'=length_28^post_36, nondet_12^0'=nondet_12^post_36, r_126^0'=r_126^post_36, r_165^0'=r_165^post_36, r_39^0'=r_39^post_36, rcd_59^0'=rcd_59^post_36, rcd_89^0'=rcd_89^post_36, result_11^0'=result_11^post_36, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_36, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_36, t_22^0'=t_22^post_36, tail_14^0'=tail_14^post_36, temp0_16^0'=temp0_16^post_36, temp0_31^0'=temp0_31^post_36, temp_35^0'=temp_35^post_36, tmp_34^0'=tmp_34^post_36, x_131^0'=x_131^post_36, x_176^0'=x_176^post_36, x_19^0'=x_19^post_36, x_26^0'=x_26^post_36, x_SLAM_f_17^0'=x_SLAM_f_17^post_36, x_SLAM_f_24^0'=x_SLAM_f_24^post_36, y_18^0'=y_18^post_36, y_25^0'=y_25^post_36, [ 1+x_19^0<=y_18^0 && a_118^0==a_118^post_36 && a_149^0==a_149^post_36 && a_188^0==a_188^post_36 && a_225^0==a_225^post_36 && a_281^0==a_281^post_36 && a_289^0==a_289^post_36 && a_342^0==a_342^post_36 && a_343^0==a_343^post_36 && f_171^0==f_171^post_36 && head_15^0==head_15^post_36 && head_32^0==head_32^post_36 && head_SLAM_f_29^0==head_SLAM_f_29^post_36 && i_110^0==i_110^post_36 && i_30^0==i_30^post_36 && i_95^0==i_95^post_36 && len_134^0==len_134^post_36 && len_187^0==len_187^post_36 && length_28^0==length_28^post_36 && nondet_12^0==nondet_12^post_36 && r_126^0==r_126^post_36 && r_165^0==r_165^post_36 && r_39^0==r_39^post_36 && rcd_59^0==rcd_59^post_36 && rcd_89^0==rcd_89^post_36 && result_11^0==result_11^post_36 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_36 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_36 && t_22^0==t_22^post_36 && tail_14^0==tail_14^post_36 && temp0_16^0==temp0_16^post_36 && temp0_31^0==temp0_31^post_36 && temp_35^0==temp_35^post_36 && tmp_34^0==tmp_34^post_36 && x_131^0==x_131^post_36 && x_176^0==x_176^post_36 && x_19^0==x_19^post_36 && x_26^0==x_26^post_36 && x_SLAM_f_17^0==x_SLAM_f_17^post_36 && x_SLAM_f_24^0==x_SLAM_f_24^post_36 && y_18^0==y_18^post_36 && y_25^0==y_25^post_36 ], cost: 1 36: l25 -> l26 : a_118^0'=a_118^post_37, a_149^0'=a_149^post_37, a_188^0'=a_188^post_37, a_225^0'=a_225^post_37, a_281^0'=a_281^post_37, a_289^0'=a_289^post_37, a_342^0'=a_342^post_37, a_343^0'=a_343^post_37, f_171^0'=f_171^post_37, head_15^0'=head_15^post_37, head_32^0'=head_32^post_37, head_SLAM_f_29^0'=head_SLAM_f_29^post_37, i_110^0'=i_110^post_37, i_30^0'=i_30^post_37, i_95^0'=i_95^post_37, len_134^0'=len_134^post_37, len_187^0'=len_187^post_37, length_28^0'=length_28^post_37, nondet_12^0'=nondet_12^post_37, r_126^0'=r_126^post_37, r_165^0'=r_165^post_37, r_39^0'=r_39^post_37, rcd_59^0'=rcd_59^post_37, rcd_89^0'=rcd_89^post_37, result_11^0'=result_11^post_37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_37, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_37, t_22^0'=t_22^post_37, tail_14^0'=tail_14^post_37, temp0_16^0'=temp0_16^post_37, temp0_31^0'=temp0_31^post_37, temp_35^0'=temp_35^post_37, tmp_34^0'=tmp_34^post_37, x_131^0'=x_131^post_37, x_176^0'=x_176^post_37, x_19^0'=x_19^post_37, x_26^0'=x_26^post_37, x_SLAM_f_17^0'=x_SLAM_f_17^post_37, x_SLAM_f_24^0'=x_SLAM_f_24^post_37, y_18^0'=y_18^post_37, y_25^0'=y_25^post_37, [ t_22^post_37==x_19^0 && a_225^post_37==a_225^post_37 && 0<=a_289^0 && a_289^0<=0 && tail_14^0<=y_18^0 && y_18^0<=tail_14^0 && head_15^0<=x_SLAM_f_17^0 && x_SLAM_f_17^0<=head_15^0 && head_15^0<=t_22^post_37 && t_22^post_37<=head_15^0 && a_149^0<=a_281^0-a_225^post_37 && a_281^0-a_225^post_37<=a_149^0 && a_118^0==a_118^post_37 && a_149^0==a_149^post_37 && a_188^0==a_188^post_37 && a_281^0==a_281^post_37 && a_289^0==a_289^post_37 && a_342^0==a_342^post_37 && a_343^0==a_343^post_37 && f_171^0==f_171^post_37 && head_15^0==head_15^post_37 && head_32^0==head_32^post_37 && head_SLAM_f_29^0==head_SLAM_f_29^post_37 && i_110^0==i_110^post_37 && i_30^0==i_30^post_37 && i_95^0==i_95^post_37 && len_134^0==len_134^post_37 && len_187^0==len_187^post_37 && length_28^0==length_28^post_37 && nondet_12^0==nondet_12^post_37 && r_126^0==r_126^post_37 && r_165^0==r_165^post_37 && r_39^0==r_39^post_37 && rcd_59^0==rcd_59^post_37 && rcd_89^0==rcd_89^post_37 && result_11^0==result_11^post_37 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_37 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_37 && tail_14^0==tail_14^post_37 && temp0_16^0==temp0_16^post_37 && temp0_31^0==temp0_31^post_37 && temp_35^0==temp_35^post_37 && tmp_34^0==tmp_34^post_37 && x_131^0==x_131^post_37 && x_176^0==x_176^post_37 && x_19^0==x_19^post_37 && x_26^0==x_26^post_37 && x_SLAM_f_17^0==x_SLAM_f_17^post_37 && x_SLAM_f_24^0==x_SLAM_f_24^post_37 && y_18^0==y_18^post_37 && y_25^0==y_25^post_37 ], cost: 1 37: l26 -> l27 : a_118^0'=a_118^post_38, a_149^0'=a_149^post_38, a_188^0'=a_188^post_38, a_225^0'=a_225^post_38, a_281^0'=a_281^post_38, a_289^0'=a_289^post_38, a_342^0'=a_342^post_38, a_343^0'=a_343^post_38, f_171^0'=f_171^post_38, head_15^0'=head_15^post_38, head_32^0'=head_32^post_38, head_SLAM_f_29^0'=head_SLAM_f_29^post_38, i_110^0'=i_110^post_38, i_30^0'=i_30^post_38, i_95^0'=i_95^post_38, len_134^0'=len_134^post_38, len_187^0'=len_187^post_38, length_28^0'=length_28^post_38, nondet_12^0'=nondet_12^post_38, r_126^0'=r_126^post_38, r_165^0'=r_165^post_38, r_39^0'=r_39^post_38, rcd_59^0'=rcd_59^post_38, rcd_89^0'=rcd_89^post_38, result_11^0'=result_11^post_38, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_38, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_38, t_22^0'=t_22^post_38, tail_14^0'=tail_14^post_38, temp0_16^0'=temp0_16^post_38, temp0_31^0'=temp0_31^post_38, temp_35^0'=temp_35^post_38, tmp_34^0'=tmp_34^post_38, x_131^0'=x_131^post_38, x_176^0'=x_176^post_38, x_19^0'=x_19^post_38, x_26^0'=x_26^post_38, x_SLAM_f_17^0'=x_SLAM_f_17^post_38, x_SLAM_f_24^0'=x_SLAM_f_24^post_38, y_18^0'=y_18^post_38, y_25^0'=y_25^post_38, [ 1+tail_14^0<=head_15^0 && a_118^0==a_118^post_38 && a_149^0==a_149^post_38 && a_188^0==a_188^post_38 && a_225^0==a_225^post_38 && a_281^0==a_281^post_38 && a_289^0==a_289^post_38 && a_342^0==a_342^post_38 && a_343^0==a_343^post_38 && f_171^0==f_171^post_38 && head_15^0==head_15^post_38 && head_32^0==head_32^post_38 && head_SLAM_f_29^0==head_SLAM_f_29^post_38 && i_110^0==i_110^post_38 && i_30^0==i_30^post_38 && i_95^0==i_95^post_38 && len_134^0==len_134^post_38 && len_187^0==len_187^post_38 && length_28^0==length_28^post_38 && nondet_12^0==nondet_12^post_38 && r_126^0==r_126^post_38 && r_165^0==r_165^post_38 && r_39^0==r_39^post_38 && rcd_59^0==rcd_59^post_38 && rcd_89^0==rcd_89^post_38 && result_11^0==result_11^post_38 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_38 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_38 && t_22^0==t_22^post_38 && tail_14^0==tail_14^post_38 && temp0_16^0==temp0_16^post_38 && temp0_31^0==temp0_31^post_38 && temp_35^0==temp_35^post_38 && tmp_34^0==tmp_34^post_38 && x_131^0==x_131^post_38 && x_176^0==x_176^post_38 && x_19^0==x_19^post_38 && x_26^0==x_26^post_38 && x_SLAM_f_17^0==x_SLAM_f_17^post_38 && x_SLAM_f_24^0==x_SLAM_f_24^post_38 && y_18^0==y_18^post_38 && y_25^0==y_25^post_38 ], cost: 1 38: l26 -> l27 : a_118^0'=a_118^post_39, a_149^0'=a_149^post_39, a_188^0'=a_188^post_39, a_225^0'=a_225^post_39, a_281^0'=a_281^post_39, a_289^0'=a_289^post_39, a_342^0'=a_342^post_39, a_343^0'=a_343^post_39, f_171^0'=f_171^post_39, head_15^0'=head_15^post_39, head_32^0'=head_32^post_39, head_SLAM_f_29^0'=head_SLAM_f_29^post_39, i_110^0'=i_110^post_39, i_30^0'=i_30^post_39, i_95^0'=i_95^post_39, len_134^0'=len_134^post_39, len_187^0'=len_187^post_39, length_28^0'=length_28^post_39, nondet_12^0'=nondet_12^post_39, r_126^0'=r_126^post_39, r_165^0'=r_165^post_39, r_39^0'=r_39^post_39, rcd_59^0'=rcd_59^post_39, rcd_89^0'=rcd_89^post_39, result_11^0'=result_11^post_39, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_39, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_39, t_22^0'=t_22^post_39, tail_14^0'=tail_14^post_39, temp0_16^0'=temp0_16^post_39, temp0_31^0'=temp0_31^post_39, temp_35^0'=temp_35^post_39, tmp_34^0'=tmp_34^post_39, x_131^0'=x_131^post_39, x_176^0'=x_176^post_39, x_19^0'=x_19^post_39, x_26^0'=x_26^post_39, x_SLAM_f_17^0'=x_SLAM_f_17^post_39, x_SLAM_f_24^0'=x_SLAM_f_24^post_39, y_18^0'=y_18^post_39, y_25^0'=y_25^post_39, [ 1+head_15^0<=tail_14^0 && a_118^0==a_118^post_39 && a_149^0==a_149^post_39 && a_188^0==a_188^post_39 && a_225^0==a_225^post_39 && a_281^0==a_281^post_39 && a_289^0==a_289^post_39 && a_342^0==a_342^post_39 && a_343^0==a_343^post_39 && f_171^0==f_171^post_39 && head_15^0==head_15^post_39 && head_32^0==head_32^post_39 && head_SLAM_f_29^0==head_SLAM_f_29^post_39 && i_110^0==i_110^post_39 && i_30^0==i_30^post_39 && i_95^0==i_95^post_39 && len_134^0==len_134^post_39 && len_187^0==len_187^post_39 && length_28^0==length_28^post_39 && nondet_12^0==nondet_12^post_39 && r_126^0==r_126^post_39 && r_165^0==r_165^post_39 && r_39^0==r_39^post_39 && rcd_59^0==rcd_59^post_39 && rcd_89^0==rcd_89^post_39 && result_11^0==result_11^post_39 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_39 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_39 && t_22^0==t_22^post_39 && tail_14^0==tail_14^post_39 && temp0_16^0==temp0_16^post_39 && temp0_31^0==temp0_31^post_39 && temp_35^0==temp_35^post_39 && tmp_34^0==tmp_34^post_39 && x_131^0==x_131^post_39 && x_176^0==x_176^post_39 && x_19^0==x_19^post_39 && x_26^0==x_26^post_39 && x_SLAM_f_17^0==x_SLAM_f_17^post_39 && x_SLAM_f_24^0==x_SLAM_f_24^post_39 && y_18^0==y_18^post_39 && y_25^0==y_25^post_39 ], cost: 1 39: l27 -> l28 : a_118^0'=a_118^post_40, a_149^0'=a_149^post_40, a_188^0'=a_188^post_40, a_225^0'=a_225^post_40, a_281^0'=a_281^post_40, a_289^0'=a_289^post_40, a_342^0'=a_342^post_40, a_343^0'=a_343^post_40, f_171^0'=f_171^post_40, head_15^0'=head_15^post_40, head_32^0'=head_32^post_40, head_SLAM_f_29^0'=head_SLAM_f_29^post_40, i_110^0'=i_110^post_40, i_30^0'=i_30^post_40, i_95^0'=i_95^post_40, len_134^0'=len_134^post_40, len_187^0'=len_187^post_40, length_28^0'=length_28^post_40, nondet_12^0'=nondet_12^post_40, r_126^0'=r_126^post_40, r_165^0'=r_165^post_40, r_39^0'=r_39^post_40, rcd_59^0'=rcd_59^post_40, rcd_89^0'=rcd_89^post_40, result_11^0'=result_11^post_40, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_40, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_40, t_22^0'=t_22^post_40, tail_14^0'=tail_14^post_40, temp0_16^0'=temp0_16^post_40, temp0_31^0'=temp0_31^post_40, temp_35^0'=temp_35^post_40, tmp_34^0'=tmp_34^post_40, x_131^0'=x_131^post_40, x_176^0'=x_176^post_40, x_19^0'=x_19^post_40, x_26^0'=x_26^post_40, x_SLAM_f_17^0'=x_SLAM_f_17^post_40, x_SLAM_f_24^0'=x_SLAM_f_24^post_40, y_18^0'=y_18^post_40, y_25^0'=y_25^post_40, [ 1+head_15^0<=y_18^0 && a_118^0==a_118^post_40 && a_149^0==a_149^post_40 && a_188^0==a_188^post_40 && a_225^0==a_225^post_40 && a_281^0==a_281^post_40 && a_289^0==a_289^post_40 && a_342^0==a_342^post_40 && a_343^0==a_343^post_40 && f_171^0==f_171^post_40 && head_15^0==head_15^post_40 && head_32^0==head_32^post_40 && head_SLAM_f_29^0==head_SLAM_f_29^post_40 && i_110^0==i_110^post_40 && i_30^0==i_30^post_40 && i_95^0==i_95^post_40 && len_134^0==len_134^post_40 && len_187^0==len_187^post_40 && length_28^0==length_28^post_40 && nondet_12^0==nondet_12^post_40 && r_126^0==r_126^post_40 && r_165^0==r_165^post_40 && r_39^0==r_39^post_40 && rcd_59^0==rcd_59^post_40 && rcd_89^0==rcd_89^post_40 && result_11^0==result_11^post_40 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_40 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_40 && t_22^0==t_22^post_40 && tail_14^0==tail_14^post_40 && temp0_16^0==temp0_16^post_40 && temp0_31^0==temp0_31^post_40 && temp_35^0==temp_35^post_40 && tmp_34^0==tmp_34^post_40 && x_131^0==x_131^post_40 && x_176^0==x_176^post_40 && x_19^0==x_19^post_40 && x_26^0==x_26^post_40 && x_SLAM_f_17^0==x_SLAM_f_17^post_40 && x_SLAM_f_24^0==x_SLAM_f_24^post_40 && y_18^0==y_18^post_40 && y_25^0==y_25^post_40 ], cost: 1 40: l27 -> l28 : a_118^0'=a_118^post_41, a_149^0'=a_149^post_41, a_188^0'=a_188^post_41, a_225^0'=a_225^post_41, a_281^0'=a_281^post_41, a_289^0'=a_289^post_41, a_342^0'=a_342^post_41, a_343^0'=a_343^post_41, f_171^0'=f_171^post_41, head_15^0'=head_15^post_41, head_32^0'=head_32^post_41, head_SLAM_f_29^0'=head_SLAM_f_29^post_41, i_110^0'=i_110^post_41, i_30^0'=i_30^post_41, i_95^0'=i_95^post_41, len_134^0'=len_134^post_41, len_187^0'=len_187^post_41, length_28^0'=length_28^post_41, nondet_12^0'=nondet_12^post_41, r_126^0'=r_126^post_41, r_165^0'=r_165^post_41, r_39^0'=r_39^post_41, rcd_59^0'=rcd_59^post_41, rcd_89^0'=rcd_89^post_41, result_11^0'=result_11^post_41, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_41, t_22^0'=t_22^post_41, tail_14^0'=tail_14^post_41, temp0_16^0'=temp0_16^post_41, temp0_31^0'=temp0_31^post_41, temp_35^0'=temp_35^post_41, tmp_34^0'=tmp_34^post_41, x_131^0'=x_131^post_41, x_176^0'=x_176^post_41, x_19^0'=x_19^post_41, x_26^0'=x_26^post_41, x_SLAM_f_17^0'=x_SLAM_f_17^post_41, x_SLAM_f_24^0'=x_SLAM_f_24^post_41, y_18^0'=y_18^post_41, y_25^0'=y_25^post_41, [ 1+y_18^0<=head_15^0 && a_118^0==a_118^post_41 && a_149^0==a_149^post_41 && a_188^0==a_188^post_41 && a_225^0==a_225^post_41 && a_281^0==a_281^post_41 && a_289^0==a_289^post_41 && a_342^0==a_342^post_41 && a_343^0==a_343^post_41 && f_171^0==f_171^post_41 && head_15^0==head_15^post_41 && head_32^0==head_32^post_41 && head_SLAM_f_29^0==head_SLAM_f_29^post_41 && i_110^0==i_110^post_41 && i_30^0==i_30^post_41 && i_95^0==i_95^post_41 && len_134^0==len_134^post_41 && len_187^0==len_187^post_41 && length_28^0==length_28^post_41 && nondet_12^0==nondet_12^post_41 && r_126^0==r_126^post_41 && r_165^0==r_165^post_41 && r_39^0==r_39^post_41 && rcd_59^0==rcd_59^post_41 && rcd_89^0==rcd_89^post_41 && result_11^0==result_11^post_41 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_41 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_41 && t_22^0==t_22^post_41 && tail_14^0==tail_14^post_41 && temp0_16^0==temp0_16^post_41 && temp0_31^0==temp0_31^post_41 && temp_35^0==temp_35^post_41 && tmp_34^0==tmp_34^post_41 && x_131^0==x_131^post_41 && x_176^0==x_176^post_41 && x_19^0==x_19^post_41 && x_26^0==x_26^post_41 && x_SLAM_f_17^0==x_SLAM_f_17^post_41 && x_SLAM_f_24^0==x_SLAM_f_24^post_41 && y_18^0==y_18^post_41 && y_25^0==y_25^post_41 ], cost: 1 41: l28 -> l29 : a_118^0'=a_118^post_42, a_149^0'=a_149^post_42, a_188^0'=a_188^post_42, a_225^0'=a_225^post_42, a_281^0'=a_281^post_42, a_289^0'=a_289^post_42, a_342^0'=a_342^post_42, a_343^0'=a_343^post_42, f_171^0'=f_171^post_42, head_15^0'=head_15^post_42, head_32^0'=head_32^post_42, head_SLAM_f_29^0'=head_SLAM_f_29^post_42, i_110^0'=i_110^post_42, i_30^0'=i_30^post_42, i_95^0'=i_95^post_42, len_134^0'=len_134^post_42, len_187^0'=len_187^post_42, length_28^0'=length_28^post_42, nondet_12^0'=nondet_12^post_42, r_126^0'=r_126^post_42, r_165^0'=r_165^post_42, r_39^0'=r_39^post_42, rcd_59^0'=rcd_59^post_42, rcd_89^0'=rcd_89^post_42, result_11^0'=result_11^post_42, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_42, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_42, t_22^0'=t_22^post_42, tail_14^0'=tail_14^post_42, temp0_16^0'=temp0_16^post_42, temp0_31^0'=temp0_31^post_42, temp_35^0'=temp_35^post_42, tmp_34^0'=tmp_34^post_42, x_131^0'=x_131^post_42, x_176^0'=x_176^post_42, x_19^0'=x_19^post_42, x_26^0'=x_26^post_42, x_SLAM_f_17^0'=x_SLAM_f_17^post_42, x_SLAM_f_24^0'=x_SLAM_f_24^post_42, y_18^0'=y_18^post_42, y_25^0'=y_25^post_42, [ 1+y_18^0<=t_22^0 && a_118^0==a_118^post_42 && a_149^0==a_149^post_42 && a_188^0==a_188^post_42 && a_225^0==a_225^post_42 && a_281^0==a_281^post_42 && a_289^0==a_289^post_42 && a_342^0==a_342^post_42 && a_343^0==a_343^post_42 && f_171^0==f_171^post_42 && head_15^0==head_15^post_42 && head_32^0==head_32^post_42 && head_SLAM_f_29^0==head_SLAM_f_29^post_42 && i_110^0==i_110^post_42 && i_30^0==i_30^post_42 && i_95^0==i_95^post_42 && len_134^0==len_134^post_42 && len_187^0==len_187^post_42 && length_28^0==length_28^post_42 && nondet_12^0==nondet_12^post_42 && r_126^0==r_126^post_42 && r_165^0==r_165^post_42 && r_39^0==r_39^post_42 && rcd_59^0==rcd_59^post_42 && rcd_89^0==rcd_89^post_42 && result_11^0==result_11^post_42 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_42 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_42 && t_22^0==t_22^post_42 && tail_14^0==tail_14^post_42 && temp0_16^0==temp0_16^post_42 && temp0_31^0==temp0_31^post_42 && temp_35^0==temp_35^post_42 && tmp_34^0==tmp_34^post_42 && x_131^0==x_131^post_42 && x_176^0==x_176^post_42 && x_19^0==x_19^post_42 && x_26^0==x_26^post_42 && x_SLAM_f_17^0==x_SLAM_f_17^post_42 && x_SLAM_f_24^0==x_SLAM_f_24^post_42 && y_18^0==y_18^post_42 && y_25^0==y_25^post_42 ], cost: 1 42: l28 -> l29 : a_118^0'=a_118^post_43, a_149^0'=a_149^post_43, a_188^0'=a_188^post_43, a_225^0'=a_225^post_43, a_281^0'=a_281^post_43, a_289^0'=a_289^post_43, a_342^0'=a_342^post_43, a_343^0'=a_343^post_43, f_171^0'=f_171^post_43, head_15^0'=head_15^post_43, head_32^0'=head_32^post_43, head_SLAM_f_29^0'=head_SLAM_f_29^post_43, i_110^0'=i_110^post_43, i_30^0'=i_30^post_43, i_95^0'=i_95^post_43, len_134^0'=len_134^post_43, len_187^0'=len_187^post_43, length_28^0'=length_28^post_43, nondet_12^0'=nondet_12^post_43, r_126^0'=r_126^post_43, r_165^0'=r_165^post_43, r_39^0'=r_39^post_43, rcd_59^0'=rcd_59^post_43, rcd_89^0'=rcd_89^post_43, result_11^0'=result_11^post_43, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_43, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_43, t_22^0'=t_22^post_43, tail_14^0'=tail_14^post_43, temp0_16^0'=temp0_16^post_43, temp0_31^0'=temp0_31^post_43, temp_35^0'=temp_35^post_43, tmp_34^0'=tmp_34^post_43, x_131^0'=x_131^post_43, x_176^0'=x_176^post_43, x_19^0'=x_19^post_43, x_26^0'=x_26^post_43, x_SLAM_f_17^0'=x_SLAM_f_17^post_43, x_SLAM_f_24^0'=x_SLAM_f_24^post_43, y_18^0'=y_18^post_43, y_25^0'=y_25^post_43, [ 1+t_22^0<=y_18^0 && a_118^0==a_118^post_43 && a_149^0==a_149^post_43 && a_188^0==a_188^post_43 && a_225^0==a_225^post_43 && a_281^0==a_281^post_43 && a_289^0==a_289^post_43 && a_342^0==a_342^post_43 && a_343^0==a_343^post_43 && f_171^0==f_171^post_43 && head_15^0==head_15^post_43 && head_32^0==head_32^post_43 && head_SLAM_f_29^0==head_SLAM_f_29^post_43 && i_110^0==i_110^post_43 && i_30^0==i_30^post_43 && i_95^0==i_95^post_43 && len_134^0==len_134^post_43 && len_187^0==len_187^post_43 && length_28^0==length_28^post_43 && nondet_12^0==nondet_12^post_43 && r_126^0==r_126^post_43 && r_165^0==r_165^post_43 && r_39^0==r_39^post_43 && rcd_59^0==rcd_59^post_43 && rcd_89^0==rcd_89^post_43 && result_11^0==result_11^post_43 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_43 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_43 && t_22^0==t_22^post_43 && tail_14^0==tail_14^post_43 && temp0_16^0==temp0_16^post_43 && temp0_31^0==temp0_31^post_43 && temp_35^0==temp_35^post_43 && tmp_34^0==tmp_34^post_43 && x_131^0==x_131^post_43 && x_176^0==x_176^post_43 && x_19^0==x_19^post_43 && x_26^0==x_26^post_43 && x_SLAM_f_17^0==x_SLAM_f_17^post_43 && x_SLAM_f_24^0==x_SLAM_f_24^post_43 && y_18^0==y_18^post_43 && y_25^0==y_25^post_43 ], cost: 1 43: l29 -> l6 : a_118^0'=a_118^post_44, a_149^0'=a_149^post_44, a_188^0'=a_188^post_44, a_225^0'=a_225^post_44, a_281^0'=a_281^post_44, a_289^0'=a_289^post_44, a_342^0'=a_342^post_44, a_343^0'=a_343^post_44, f_171^0'=f_171^post_44, head_15^0'=head_15^post_44, head_32^0'=head_32^post_44, head_SLAM_f_29^0'=head_SLAM_f_29^post_44, i_110^0'=i_110^post_44, i_30^0'=i_30^post_44, i_95^0'=i_95^post_44, len_134^0'=len_134^post_44, len_187^0'=len_187^post_44, length_28^0'=length_28^post_44, nondet_12^0'=nondet_12^post_44, r_126^0'=r_126^post_44, r_165^0'=r_165^post_44, r_39^0'=r_39^post_44, rcd_59^0'=rcd_59^post_44, rcd_89^0'=rcd_89^post_44, result_11^0'=result_11^post_44, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_44, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_44, t_22^0'=t_22^post_44, tail_14^0'=tail_14^post_44, temp0_16^0'=temp0_16^post_44, temp0_31^0'=temp0_31^post_44, temp_35^0'=temp_35^post_44, tmp_34^0'=tmp_34^post_44, x_131^0'=x_131^post_44, x_176^0'=x_176^post_44, x_19^0'=x_19^post_44, x_26^0'=x_26^post_44, x_SLAM_f_17^0'=x_SLAM_f_17^post_44, x_SLAM_f_24^0'=x_SLAM_f_24^post_44, y_18^0'=y_18^post_44, y_25^0'=y_25^post_44, [ 1<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && len_134^post_44==len_134^post_44 && -1+len_134^post_44<=a_225^0 && a_225^0<=-1+len_134^post_44 && a_118^0==a_118^post_44 && a_149^0==a_149^post_44 && a_188^0==a_188^post_44 && a_225^0==a_225^post_44 && a_281^0==a_281^post_44 && a_289^0==a_289^post_44 && a_342^0==a_342^post_44 && a_343^0==a_343^post_44 && f_171^0==f_171^post_44 && head_15^0==head_15^post_44 && head_32^0==head_32^post_44 && head_SLAM_f_29^0==head_SLAM_f_29^post_44 && i_110^0==i_110^post_44 && i_30^0==i_30^post_44 && i_95^0==i_95^post_44 && len_187^0==len_187^post_44 && length_28^0==length_28^post_44 && nondet_12^0==nondet_12^post_44 && r_126^0==r_126^post_44 && r_165^0==r_165^post_44 && r_39^0==r_39^post_44 && rcd_59^0==rcd_59^post_44 && rcd_89^0==rcd_89^post_44 && result_11^0==result_11^post_44 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_44 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_44 && t_22^0==t_22^post_44 && tail_14^0==tail_14^post_44 && temp0_16^0==temp0_16^post_44 && temp0_31^0==temp0_31^post_44 && temp_35^0==temp_35^post_44 && tmp_34^0==tmp_34^post_44 && x_131^0==x_131^post_44 && x_176^0==x_176^post_44 && x_19^0==x_19^post_44 && x_26^0==x_26^post_44 && x_SLAM_f_17^0==x_SLAM_f_17^post_44 && x_SLAM_f_24^0==x_SLAM_f_24^post_44 && y_18^0==y_18^post_44 && y_25^0==y_25^post_44 ], cost: 1 44: l30 -> l3 : a_118^0'=a_118^post_45, a_149^0'=a_149^post_45, a_188^0'=a_188^post_45, a_225^0'=a_225^post_45, a_281^0'=a_281^post_45, a_289^0'=a_289^post_45, a_342^0'=a_342^post_45, a_343^0'=a_343^post_45, f_171^0'=f_171^post_45, head_15^0'=head_15^post_45, head_32^0'=head_32^post_45, head_SLAM_f_29^0'=head_SLAM_f_29^post_45, i_110^0'=i_110^post_45, i_30^0'=i_30^post_45, i_95^0'=i_95^post_45, len_134^0'=len_134^post_45, len_187^0'=len_187^post_45, length_28^0'=length_28^post_45, nondet_12^0'=nondet_12^post_45, r_126^0'=r_126^post_45, r_165^0'=r_165^post_45, r_39^0'=r_39^post_45, rcd_59^0'=rcd_59^post_45, rcd_89^0'=rcd_89^post_45, result_11^0'=result_11^post_45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_45, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_45, t_22^0'=t_22^post_45, tail_14^0'=tail_14^post_45, temp0_16^0'=temp0_16^post_45, temp0_31^0'=temp0_31^post_45, temp_35^0'=temp_35^post_45, tmp_34^0'=tmp_34^post_45, x_131^0'=x_131^post_45, x_176^0'=x_176^post_45, x_19^0'=x_19^post_45, x_26^0'=x_26^post_45, x_SLAM_f_17^0'=x_SLAM_f_17^post_45, x_SLAM_f_24^0'=x_SLAM_f_24^post_45, y_18^0'=y_18^post_45, y_25^0'=y_25^post_45, [ nondet_12^1_1==nondet_12^1_1 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_45==nondet_12^1_1 && nondet_12^post_45==nondet_12^post_45 && length_28^post_45==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_45 && head_SLAM_f_29^post_45==tail_14^0 && head_32^post_45==head_SLAM_f_29^post_45 && i_30^post_45==0 && 0<=i_30^post_45 && i_30^post_45<=0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_45<=length_28^post_45 && length_28^post_45<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_45 && tail_14^0<=head_SLAM_f_29^post_45 && head_SLAM_f_29^post_45<=tail_14^0 && tail_14^0<=head_32^post_45 && head_32^post_45<=tail_14^0 && head_SLAM_f_29^post_45<=head_32^post_45 && head_32^post_45<=head_SLAM_f_29^post_45 && a_118^0==a_118^post_45 && a_149^0==a_149^post_45 && a_188^0==a_188^post_45 && a_225^0==a_225^post_45 && a_281^0==a_281^post_45 && a_289^0==a_289^post_45 && a_342^0==a_342^post_45 && a_343^0==a_343^post_45 && f_171^0==f_171^post_45 && head_15^0==head_15^post_45 && i_110^0==i_110^post_45 && i_95^0==i_95^post_45 && len_134^0==len_134^post_45 && len_187^0==len_187^post_45 && r_126^0==r_126^post_45 && r_165^0==r_165^post_45 && r_39^0==r_39^post_45 && rcd_59^0==rcd_59^post_45 && rcd_89^0==rcd_89^post_45 && result_11^0==result_11^post_45 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_45 && t_22^0==t_22^post_45 && tail_14^0==tail_14^post_45 && temp0_16^0==temp0_16^post_45 && temp0_31^0==temp0_31^post_45 && temp_35^0==temp_35^post_45 && tmp_34^0==tmp_34^post_45 && x_131^0==x_131^post_45 && x_176^0==x_176^post_45 && x_19^0==x_19^post_45 && x_26^0==x_26^post_45 && x_SLAM_f_17^0==x_SLAM_f_17^post_45 && x_SLAM_f_24^0==x_SLAM_f_24^post_45 && y_18^0==y_18^post_45 && y_25^0==y_25^post_45 ], cost: 1 45: l31 -> l32 : a_118^0'=a_118^post_46, a_149^0'=a_149^post_46, a_188^0'=a_188^post_46, a_225^0'=a_225^post_46, a_281^0'=a_281^post_46, a_289^0'=a_289^post_46, a_342^0'=a_342^post_46, a_343^0'=a_343^post_46, f_171^0'=f_171^post_46, head_15^0'=head_15^post_46, head_32^0'=head_32^post_46, head_SLAM_f_29^0'=head_SLAM_f_29^post_46, i_110^0'=i_110^post_46, i_30^0'=i_30^post_46, i_95^0'=i_95^post_46, len_134^0'=len_134^post_46, len_187^0'=len_187^post_46, length_28^0'=length_28^post_46, nondet_12^0'=nondet_12^post_46, r_126^0'=r_126^post_46, r_165^0'=r_165^post_46, r_39^0'=r_39^post_46, rcd_59^0'=rcd_59^post_46, rcd_89^0'=rcd_89^post_46, result_11^0'=result_11^post_46, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_46, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_46, t_22^0'=t_22^post_46, tail_14^0'=tail_14^post_46, temp0_16^0'=temp0_16^post_46, temp0_31^0'=temp0_31^post_46, temp_35^0'=temp_35^post_46, tmp_34^0'=tmp_34^post_46, x_131^0'=x_131^post_46, x_176^0'=x_176^post_46, x_19^0'=x_19^post_46, x_26^0'=x_26^post_46, x_SLAM_f_17^0'=x_SLAM_f_17^post_46, x_SLAM_f_24^0'=x_SLAM_f_24^post_46, y_18^0'=y_18^post_46, y_25^0'=y_25^post_46, [ 0<=len_134^0 && 0<=a_149^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_46==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_46 && y_25^0<=x_26^0 && x_26^0<=y_25^0 && x_SLAM_f_24^post_46==x_SLAM_f_24^post_46 && y_25^post_46==y_25^post_46 && x_26^post_46==x_26^post_46 && x_SLAM_f_17^post_46==head_15^0 && y_18^post_46==tail_14^0 && x_19^post_46==x_SLAM_f_17^post_46 && tail_14^0<=y_18^post_46 && y_18^post_46<=tail_14^0 && head_15^0<=x_SLAM_f_17^post_46 && x_SLAM_f_17^post_46<=head_15^0 && head_15^0<=x_19^post_46 && x_19^post_46<=head_15^0 && x_SLAM_f_17^post_46<=x_19^post_46 && x_19^post_46<=x_SLAM_f_17^post_46 && a_118^0==a_118^post_46 && a_149^0==a_149^post_46 && a_188^0==a_188^post_46 && a_225^0==a_225^post_46 && a_281^0==a_281^post_46 && a_289^0==a_289^post_46 && a_342^0==a_342^post_46 && a_343^0==a_343^post_46 && f_171^0==f_171^post_46 && head_15^0==head_15^post_46 && head_32^0==head_32^post_46 && head_SLAM_f_29^0==head_SLAM_f_29^post_46 && i_110^0==i_110^post_46 && i_30^0==i_30^post_46 && i_95^0==i_95^post_46 && len_134^0==len_134^post_46 && len_187^0==len_187^post_46 && length_28^0==length_28^post_46 && nondet_12^0==nondet_12^post_46 && r_126^0==r_126^post_46 && r_165^0==r_165^post_46 && r_39^0==r_39^post_46 && rcd_59^0==rcd_59^post_46 && rcd_89^0==rcd_89^post_46 && result_11^0==result_11^post_46 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_46 && t_22^0==t_22^post_46 && tail_14^0==tail_14^post_46 && temp0_16^0==temp0_16^post_46 && temp0_31^0==temp0_31^post_46 && temp_35^0==temp_35^post_46 && tmp_34^0==tmp_34^post_46 && x_131^0==x_131^post_46 && x_176^0==x_176^post_46 ], cost: 1 49: l31 -> l35 : a_118^0'=a_118^post_50, a_149^0'=a_149^post_50, a_188^0'=a_188^post_50, a_225^0'=a_225^post_50, a_281^0'=a_281^post_50, a_289^0'=a_289^post_50, a_342^0'=a_342^post_50, a_343^0'=a_343^post_50, f_171^0'=f_171^post_50, head_15^0'=head_15^post_50, head_32^0'=head_32^post_50, head_SLAM_f_29^0'=head_SLAM_f_29^post_50, i_110^0'=i_110^post_50, i_30^0'=i_30^post_50, i_95^0'=i_95^post_50, len_134^0'=len_134^post_50, len_187^0'=len_187^post_50, length_28^0'=length_28^post_50, nondet_12^0'=nondet_12^post_50, r_126^0'=r_126^post_50, r_165^0'=r_165^post_50, r_39^0'=r_39^post_50, rcd_59^0'=rcd_59^post_50, rcd_89^0'=rcd_89^post_50, result_11^0'=result_11^post_50, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_50, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50, t_22^0'=t_22^post_50, tail_14^0'=tail_14^post_50, temp0_16^0'=temp0_16^post_50, temp0_31^0'=temp0_31^post_50, temp_35^0'=temp_35^post_50, tmp_34^0'=tmp_34^post_50, x_131^0'=x_131^post_50, x_176^0'=x_176^post_50, x_19^0'=x_19^post_50, x_26^0'=x_26^post_50, x_SLAM_f_17^0'=x_SLAM_f_17^post_50, x_SLAM_f_24^0'=x_SLAM_f_24^post_50, y_18^0'=y_18^post_50, y_25^0'=y_25^post_50, [ 0<=len_134^0 && 0<=a_149^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50 && tail_14^post_50==tail_14^post_50 && head_15^post_50==head_15^post_50 && x_SLAM_f_24^post_50==x_SLAM_f_24^post_50 && r_39^post_50==r_39^post_50 && f_171^post_50==f_171^post_50 && x_176^post_50==x_176^post_50 && a_118^0==a_118^post_50 && a_149^0==a_149^post_50 && a_188^0==a_188^post_50 && a_225^0==a_225^post_50 && a_281^0==a_281^post_50 && a_289^0==a_289^post_50 && a_342^0==a_342^post_50 && a_343^0==a_343^post_50 && head_32^0==head_32^post_50 && head_SLAM_f_29^0==head_SLAM_f_29^post_50 && i_110^0==i_110^post_50 && i_30^0==i_30^post_50 && i_95^0==i_95^post_50 && len_134^0==len_134^post_50 && len_187^0==len_187^post_50 && length_28^0==length_28^post_50 && nondet_12^0==nondet_12^post_50 && r_126^0==r_126^post_50 && r_165^0==r_165^post_50 && rcd_59^0==rcd_59^post_50 && rcd_89^0==rcd_89^post_50 && result_11^0==result_11^post_50 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_50 && t_22^0==t_22^post_50 && temp0_16^0==temp0_16^post_50 && temp0_31^0==temp0_31^post_50 && temp_35^0==temp_35^post_50 && tmp_34^0==tmp_34^post_50 && x_131^0==x_131^post_50 && x_19^0==x_19^post_50 && x_26^0==x_26^post_50 && x_SLAM_f_17^0==x_SLAM_f_17^post_50 && y_18^0==y_18^post_50 && y_25^0==y_25^post_50 ], cost: 1 46: l32 -> l33 : a_118^0'=a_118^post_47, a_149^0'=a_149^post_47, a_188^0'=a_188^post_47, a_225^0'=a_225^post_47, a_281^0'=a_281^post_47, a_289^0'=a_289^post_47, a_342^0'=a_342^post_47, a_343^0'=a_343^post_47, f_171^0'=f_171^post_47, head_15^0'=head_15^post_47, head_32^0'=head_32^post_47, head_SLAM_f_29^0'=head_SLAM_f_29^post_47, i_110^0'=i_110^post_47, i_30^0'=i_30^post_47, i_95^0'=i_95^post_47, len_134^0'=len_134^post_47, len_187^0'=len_187^post_47, length_28^0'=length_28^post_47, nondet_12^0'=nondet_12^post_47, r_126^0'=r_126^post_47, r_165^0'=r_165^post_47, r_39^0'=r_39^post_47, rcd_59^0'=rcd_59^post_47, rcd_89^0'=rcd_89^post_47, result_11^0'=result_11^post_47, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_47, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_47, t_22^0'=t_22^post_47, tail_14^0'=tail_14^post_47, temp0_16^0'=temp0_16^post_47, temp0_31^0'=temp0_31^post_47, temp_35^0'=temp_35^post_47, tmp_34^0'=tmp_34^post_47, x_131^0'=x_131^post_47, x_176^0'=x_176^post_47, x_19^0'=x_19^post_47, x_26^0'=x_26^post_47, x_SLAM_f_17^0'=x_SLAM_f_17^post_47, x_SLAM_f_24^0'=x_SLAM_f_24^post_47, y_18^0'=y_18^post_47, y_25^0'=y_25^post_47, [ 1+tail_14^0<=head_15^0 && a_118^0==a_118^post_47 && a_149^0==a_149^post_47 && a_188^0==a_188^post_47 && a_225^0==a_225^post_47 && a_281^0==a_281^post_47 && a_289^0==a_289^post_47 && a_342^0==a_342^post_47 && a_343^0==a_343^post_47 && f_171^0==f_171^post_47 && head_15^0==head_15^post_47 && head_32^0==head_32^post_47 && head_SLAM_f_29^0==head_SLAM_f_29^post_47 && i_110^0==i_110^post_47 && i_30^0==i_30^post_47 && i_95^0==i_95^post_47 && len_134^0==len_134^post_47 && len_187^0==len_187^post_47 && length_28^0==length_28^post_47 && nondet_12^0==nondet_12^post_47 && r_126^0==r_126^post_47 && r_165^0==r_165^post_47 && r_39^0==r_39^post_47 && rcd_59^0==rcd_59^post_47 && rcd_89^0==rcd_89^post_47 && result_11^0==result_11^post_47 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_47 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_47 && t_22^0==t_22^post_47 && tail_14^0==tail_14^post_47 && temp0_16^0==temp0_16^post_47 && temp0_31^0==temp0_31^post_47 && temp_35^0==temp_35^post_47 && tmp_34^0==tmp_34^post_47 && x_131^0==x_131^post_47 && x_176^0==x_176^post_47 && x_19^0==x_19^post_47 && x_26^0==x_26^post_47 && x_SLAM_f_17^0==x_SLAM_f_17^post_47 && x_SLAM_f_24^0==x_SLAM_f_24^post_47 && y_18^0==y_18^post_47 && y_25^0==y_25^post_47 ], cost: 1 47: l32 -> l33 : a_118^0'=a_118^post_48, a_149^0'=a_149^post_48, a_188^0'=a_188^post_48, a_225^0'=a_225^post_48, a_281^0'=a_281^post_48, a_289^0'=a_289^post_48, a_342^0'=a_342^post_48, a_343^0'=a_343^post_48, f_171^0'=f_171^post_48, head_15^0'=head_15^post_48, head_32^0'=head_32^post_48, head_SLAM_f_29^0'=head_SLAM_f_29^post_48, i_110^0'=i_110^post_48, i_30^0'=i_30^post_48, i_95^0'=i_95^post_48, len_134^0'=len_134^post_48, len_187^0'=len_187^post_48, length_28^0'=length_28^post_48, nondet_12^0'=nondet_12^post_48, r_126^0'=r_126^post_48, r_165^0'=r_165^post_48, r_39^0'=r_39^post_48, rcd_59^0'=rcd_59^post_48, rcd_89^0'=rcd_89^post_48, result_11^0'=result_11^post_48, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_48, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_48, t_22^0'=t_22^post_48, tail_14^0'=tail_14^post_48, temp0_16^0'=temp0_16^post_48, temp0_31^0'=temp0_31^post_48, temp_35^0'=temp_35^post_48, tmp_34^0'=tmp_34^post_48, x_131^0'=x_131^post_48, x_176^0'=x_176^post_48, x_19^0'=x_19^post_48, x_26^0'=x_26^post_48, x_SLAM_f_17^0'=x_SLAM_f_17^post_48, x_SLAM_f_24^0'=x_SLAM_f_24^post_48, y_18^0'=y_18^post_48, y_25^0'=y_25^post_48, [ 1+head_15^0<=tail_14^0 && a_118^0==a_118^post_48 && a_149^0==a_149^post_48 && a_188^0==a_188^post_48 && a_225^0==a_225^post_48 && a_281^0==a_281^post_48 && a_289^0==a_289^post_48 && a_342^0==a_342^post_48 && a_343^0==a_343^post_48 && f_171^0==f_171^post_48 && head_15^0==head_15^post_48 && head_32^0==head_32^post_48 && head_SLAM_f_29^0==head_SLAM_f_29^post_48 && i_110^0==i_110^post_48 && i_30^0==i_30^post_48 && i_95^0==i_95^post_48 && len_134^0==len_134^post_48 && len_187^0==len_187^post_48 && length_28^0==length_28^post_48 && nondet_12^0==nondet_12^post_48 && r_126^0==r_126^post_48 && r_165^0==r_165^post_48 && r_39^0==r_39^post_48 && rcd_59^0==rcd_59^post_48 && rcd_89^0==rcd_89^post_48 && result_11^0==result_11^post_48 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_48 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_48 && t_22^0==t_22^post_48 && tail_14^0==tail_14^post_48 && temp0_16^0==temp0_16^post_48 && temp0_31^0==temp0_31^post_48 && temp_35^0==temp_35^post_48 && tmp_34^0==tmp_34^post_48 && x_131^0==x_131^post_48 && x_176^0==x_176^post_48 && x_19^0==x_19^post_48 && x_26^0==x_26^post_48 && x_SLAM_f_17^0==x_SLAM_f_17^post_48 && x_SLAM_f_24^0==x_SLAM_f_24^post_48 && y_18^0==y_18^post_48 && y_25^0==y_25^post_48 ], cost: 1 48: l33 -> l23 : a_118^0'=a_118^post_49, a_149^0'=a_149^post_49, a_188^0'=a_188^post_49, a_225^0'=a_225^post_49, a_281^0'=a_281^post_49, a_289^0'=a_289^post_49, a_342^0'=a_342^post_49, a_343^0'=a_343^post_49, f_171^0'=f_171^post_49, head_15^0'=head_15^post_49, head_32^0'=head_32^post_49, head_SLAM_f_29^0'=head_SLAM_f_29^post_49, i_110^0'=i_110^post_49, i_30^0'=i_30^post_49, i_95^0'=i_95^post_49, len_134^0'=len_134^post_49, len_187^0'=len_187^post_49, length_28^0'=length_28^post_49, nondet_12^0'=nondet_12^post_49, r_126^0'=r_126^post_49, r_165^0'=r_165^post_49, r_39^0'=r_39^post_49, rcd_59^0'=rcd_59^post_49, rcd_89^0'=rcd_89^post_49, result_11^0'=result_11^post_49, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_49, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_49, t_22^0'=t_22^post_49, tail_14^0'=tail_14^post_49, temp0_16^0'=temp0_16^post_49, temp0_31^0'=temp0_31^post_49, temp_35^0'=temp_35^post_49, tmp_34^0'=tmp_34^post_49, x_131^0'=x_131^post_49, x_176^0'=x_176^post_49, x_19^0'=x_19^post_49, x_26^0'=x_26^post_49, x_SLAM_f_17^0'=x_SLAM_f_17^post_49, x_SLAM_f_24^0'=x_SLAM_f_24^post_49, y_18^0'=y_18^post_49, y_25^0'=y_25^post_49, [ 1<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && a_118^0==a_118^post_49 && a_149^0==a_149^post_49 && a_188^0==a_188^post_49 && a_225^0==a_225^post_49 && a_281^0==a_281^post_49 && a_289^0==a_289^post_49 && a_342^0==a_342^post_49 && a_343^0==a_343^post_49 && f_171^0==f_171^post_49 && head_15^0==head_15^post_49 && head_32^0==head_32^post_49 && head_SLAM_f_29^0==head_SLAM_f_29^post_49 && i_110^0==i_110^post_49 && i_30^0==i_30^post_49 && i_95^0==i_95^post_49 && len_134^0==len_134^post_49 && len_187^0==len_187^post_49 && length_28^0==length_28^post_49 && nondet_12^0==nondet_12^post_49 && r_126^0==r_126^post_49 && r_165^0==r_165^post_49 && r_39^0==r_39^post_49 && rcd_59^0==rcd_59^post_49 && rcd_89^0==rcd_89^post_49 && result_11^0==result_11^post_49 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_49 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_49 && t_22^0==t_22^post_49 && tail_14^0==tail_14^post_49 && temp0_16^0==temp0_16^post_49 && temp0_31^0==temp0_31^post_49 && temp_35^0==temp_35^post_49 && tmp_34^0==tmp_34^post_49 && x_131^0==x_131^post_49 && x_176^0==x_176^post_49 && x_19^0==x_19^post_49 && x_26^0==x_26^post_49 && x_SLAM_f_17^0==x_SLAM_f_17^post_49 && x_SLAM_f_24^0==x_SLAM_f_24^post_49 && y_18^0==y_18^post_49 && y_25^0==y_25^post_49 ], cost: 1 50: l35 -> l36 : a_118^0'=a_118^post_51, a_149^0'=a_149^post_51, a_188^0'=a_188^post_51, a_225^0'=a_225^post_51, a_281^0'=a_281^post_51, a_289^0'=a_289^post_51, a_342^0'=a_342^post_51, a_343^0'=a_343^post_51, f_171^0'=f_171^post_51, head_15^0'=head_15^post_51, head_32^0'=head_32^post_51, head_SLAM_f_29^0'=head_SLAM_f_29^post_51, i_110^0'=i_110^post_51, i_30^0'=i_30^post_51, i_95^0'=i_95^post_51, len_134^0'=len_134^post_51, len_187^0'=len_187^post_51, length_28^0'=length_28^post_51, nondet_12^0'=nondet_12^post_51, r_126^0'=r_126^post_51, r_165^0'=r_165^post_51, r_39^0'=r_39^post_51, rcd_59^0'=rcd_59^post_51, rcd_89^0'=rcd_89^post_51, result_11^0'=result_11^post_51, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_51, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_51, t_22^0'=t_22^post_51, tail_14^0'=tail_14^post_51, temp0_16^0'=temp0_16^post_51, temp0_31^0'=temp0_31^post_51, temp_35^0'=temp_35^post_51, tmp_34^0'=tmp_34^post_51, x_131^0'=x_131^post_51, x_176^0'=x_176^post_51, x_19^0'=x_19^post_51, x_26^0'=x_26^post_51, x_SLAM_f_17^0'=x_SLAM_f_17^post_51, x_SLAM_f_24^0'=x_SLAM_f_24^post_51, y_18^0'=y_18^post_51, y_25^0'=y_25^post_51, [ 1+y_25^0<=x_26^0 && a_118^0==a_118^post_51 && a_149^0==a_149^post_51 && a_188^0==a_188^post_51 && a_225^0==a_225^post_51 && a_281^0==a_281^post_51 && a_289^0==a_289^post_51 && a_342^0==a_342^post_51 && a_343^0==a_343^post_51 && f_171^0==f_171^post_51 && head_15^0==head_15^post_51 && head_32^0==head_32^post_51 && head_SLAM_f_29^0==head_SLAM_f_29^post_51 && i_110^0==i_110^post_51 && i_30^0==i_30^post_51 && i_95^0==i_95^post_51 && len_134^0==len_134^post_51 && len_187^0==len_187^post_51 && length_28^0==length_28^post_51 && nondet_12^0==nondet_12^post_51 && r_126^0==r_126^post_51 && r_165^0==r_165^post_51 && r_39^0==r_39^post_51 && rcd_59^0==rcd_59^post_51 && rcd_89^0==rcd_89^post_51 && result_11^0==result_11^post_51 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_51 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_51 && t_22^0==t_22^post_51 && tail_14^0==tail_14^post_51 && temp0_16^0==temp0_16^post_51 && temp0_31^0==temp0_31^post_51 && temp_35^0==temp_35^post_51 && tmp_34^0==tmp_34^post_51 && x_131^0==x_131^post_51 && x_176^0==x_176^post_51 && x_19^0==x_19^post_51 && x_26^0==x_26^post_51 && x_SLAM_f_17^0==x_SLAM_f_17^post_51 && x_SLAM_f_24^0==x_SLAM_f_24^post_51 && y_18^0==y_18^post_51 && y_25^0==y_25^post_51 ], cost: 1 51: l35 -> l36 : a_118^0'=a_118^post_52, a_149^0'=a_149^post_52, a_188^0'=a_188^post_52, a_225^0'=a_225^post_52, a_281^0'=a_281^post_52, a_289^0'=a_289^post_52, a_342^0'=a_342^post_52, a_343^0'=a_343^post_52, f_171^0'=f_171^post_52, head_15^0'=head_15^post_52, head_32^0'=head_32^post_52, head_SLAM_f_29^0'=head_SLAM_f_29^post_52, i_110^0'=i_110^post_52, i_30^0'=i_30^post_52, i_95^0'=i_95^post_52, len_134^0'=len_134^post_52, len_187^0'=len_187^post_52, length_28^0'=length_28^post_52, nondet_12^0'=nondet_12^post_52, r_126^0'=r_126^post_52, r_165^0'=r_165^post_52, r_39^0'=r_39^post_52, rcd_59^0'=rcd_59^post_52, rcd_89^0'=rcd_89^post_52, result_11^0'=result_11^post_52, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_52, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_52, t_22^0'=t_22^post_52, tail_14^0'=tail_14^post_52, temp0_16^0'=temp0_16^post_52, temp0_31^0'=temp0_31^post_52, temp_35^0'=temp_35^post_52, tmp_34^0'=tmp_34^post_52, x_131^0'=x_131^post_52, x_176^0'=x_176^post_52, x_19^0'=x_19^post_52, x_26^0'=x_26^post_52, x_SLAM_f_17^0'=x_SLAM_f_17^post_52, x_SLAM_f_24^0'=x_SLAM_f_24^post_52, y_18^0'=y_18^post_52, y_25^0'=y_25^post_52, [ 1+x_26^0<=y_25^0 && a_118^0==a_118^post_52 && a_149^0==a_149^post_52 && a_188^0==a_188^post_52 && a_225^0==a_225^post_52 && a_281^0==a_281^post_52 && a_289^0==a_289^post_52 && a_342^0==a_342^post_52 && a_343^0==a_343^post_52 && f_171^0==f_171^post_52 && head_15^0==head_15^post_52 && head_32^0==head_32^post_52 && head_SLAM_f_29^0==head_SLAM_f_29^post_52 && i_110^0==i_110^post_52 && i_30^0==i_30^post_52 && i_95^0==i_95^post_52 && len_134^0==len_134^post_52 && len_187^0==len_187^post_52 && length_28^0==length_28^post_52 && nondet_12^0==nondet_12^post_52 && r_126^0==r_126^post_52 && r_165^0==r_165^post_52 && r_39^0==r_39^post_52 && rcd_59^0==rcd_59^post_52 && rcd_89^0==rcd_89^post_52 && result_11^0==result_11^post_52 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_52 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_52 && t_22^0==t_22^post_52 && tail_14^0==tail_14^post_52 && temp0_16^0==temp0_16^post_52 && temp0_31^0==temp0_31^post_52 && temp_35^0==temp_35^post_52 && tmp_34^0==tmp_34^post_52 && x_131^0==x_131^post_52 && x_176^0==x_176^post_52 && x_19^0==x_19^post_52 && x_26^0==x_26^post_52 && x_SLAM_f_17^0==x_SLAM_f_17^post_52 && x_SLAM_f_24^0==x_SLAM_f_24^post_52 && y_18^0==y_18^post_52 && y_25^0==y_25^post_52 ], cost: 1 52: l36 -> l37 : a_118^0'=a_118^post_53, a_149^0'=a_149^post_53, a_188^0'=a_188^post_53, a_225^0'=a_225^post_53, a_281^0'=a_281^post_53, a_289^0'=a_289^post_53, a_342^0'=a_342^post_53, a_343^0'=a_343^post_53, f_171^0'=f_171^post_53, head_15^0'=head_15^post_53, head_32^0'=head_32^post_53, head_SLAM_f_29^0'=head_SLAM_f_29^post_53, i_110^0'=i_110^post_53, i_30^0'=i_30^post_53, i_95^0'=i_95^post_53, len_134^0'=len_134^post_53, len_187^0'=len_187^post_53, length_28^0'=length_28^post_53, nondet_12^0'=nondet_12^post_53, r_126^0'=r_126^post_53, r_165^0'=r_165^post_53, r_39^0'=r_39^post_53, rcd_59^0'=rcd_59^post_53, rcd_89^0'=rcd_89^post_53, result_11^0'=result_11^post_53, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_53, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_53, t_22^0'=t_22^post_53, tail_14^0'=tail_14^post_53, temp0_16^0'=temp0_16^post_53, temp0_31^0'=temp0_31^post_53, temp_35^0'=temp_35^post_53, tmp_34^0'=tmp_34^post_53, x_131^0'=x_131^post_53, x_176^0'=x_176^post_53, x_19^0'=x_19^post_53, x_26^0'=x_26^post_53, x_SLAM_f_17^0'=x_SLAM_f_17^post_53, x_SLAM_f_24^0'=x_SLAM_f_24^post_53, y_18^0'=y_18^post_53, y_25^0'=y_25^post_53, [ len_187^post_53==len_187^post_53 && a_188^post_53==a_188^post_53 && 1<=len_187^post_53-len_134^0 && len_187^post_53-len_134^0<=1 && tail_14^0<=y_25^0 && y_25^0<=tail_14^0 && head_15^0<=x_SLAM_f_24^0 && x_SLAM_f_24^0<=head_15^0 && x_26^0<=f_171^0 && f_171^0<=x_26^0 && a_188^post_53<=-1+a_149^0 && -1+a_149^0<=a_188^post_53 && a_118^0==a_118^post_53 && a_149^0==a_149^post_53 && a_225^0==a_225^post_53 && a_281^0==a_281^post_53 && a_289^0==a_289^post_53 && a_342^0==a_342^post_53 && a_343^0==a_343^post_53 && f_171^0==f_171^post_53 && head_15^0==head_15^post_53 && head_32^0==head_32^post_53 && head_SLAM_f_29^0==head_SLAM_f_29^post_53 && i_110^0==i_110^post_53 && i_30^0==i_30^post_53 && i_95^0==i_95^post_53 && len_134^0==len_134^post_53 && length_28^0==length_28^post_53 && nondet_12^0==nondet_12^post_53 && r_126^0==r_126^post_53 && r_165^0==r_165^post_53 && r_39^0==r_39^post_53 && rcd_59^0==rcd_59^post_53 && rcd_89^0==rcd_89^post_53 && result_11^0==result_11^post_53 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_53 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_53 && t_22^0==t_22^post_53 && tail_14^0==tail_14^post_53 && temp0_16^0==temp0_16^post_53 && temp0_31^0==temp0_31^post_53 && temp_35^0==temp_35^post_53 && tmp_34^0==tmp_34^post_53 && x_131^0==x_131^post_53 && x_176^0==x_176^post_53 && x_19^0==x_19^post_53 && x_26^0==x_26^post_53 && x_SLAM_f_17^0==x_SLAM_f_17^post_53 && x_SLAM_f_24^0==x_SLAM_f_24^post_53 && y_18^0==y_18^post_53 && y_25^0==y_25^post_53 ], cost: 1 53: l37 -> l38 : a_118^0'=a_118^post_54, a_149^0'=a_149^post_54, a_188^0'=a_188^post_54, a_225^0'=a_225^post_54, a_281^0'=a_281^post_54, a_289^0'=a_289^post_54, a_342^0'=a_342^post_54, a_343^0'=a_343^post_54, f_171^0'=f_171^post_54, head_15^0'=head_15^post_54, head_32^0'=head_32^post_54, head_SLAM_f_29^0'=head_SLAM_f_29^post_54, i_110^0'=i_110^post_54, i_30^0'=i_30^post_54, i_95^0'=i_95^post_54, len_134^0'=len_134^post_54, len_187^0'=len_187^post_54, length_28^0'=length_28^post_54, nondet_12^0'=nondet_12^post_54, r_126^0'=r_126^post_54, r_165^0'=r_165^post_54, r_39^0'=r_39^post_54, rcd_59^0'=rcd_59^post_54, rcd_89^0'=rcd_89^post_54, result_11^0'=result_11^post_54, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_54, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_54, t_22^0'=t_22^post_54, tail_14^0'=tail_14^post_54, temp0_16^0'=temp0_16^post_54, temp0_31^0'=temp0_31^post_54, temp_35^0'=temp_35^post_54, tmp_34^0'=tmp_34^post_54, x_131^0'=x_131^post_54, x_176^0'=x_176^post_54, x_19^0'=x_19^post_54, x_26^0'=x_26^post_54, x_SLAM_f_17^0'=x_SLAM_f_17^post_54, x_SLAM_f_24^0'=x_SLAM_f_24^post_54, y_18^0'=y_18^post_54, y_25^0'=y_25^post_54, [ 1+head_15^0<=y_25^0 && a_118^0==a_118^post_54 && a_149^0==a_149^post_54 && a_188^0==a_188^post_54 && a_225^0==a_225^post_54 && a_281^0==a_281^post_54 && a_289^0==a_289^post_54 && a_342^0==a_342^post_54 && a_343^0==a_343^post_54 && f_171^0==f_171^post_54 && head_15^0==head_15^post_54 && head_32^0==head_32^post_54 && head_SLAM_f_29^0==head_SLAM_f_29^post_54 && i_110^0==i_110^post_54 && i_30^0==i_30^post_54 && i_95^0==i_95^post_54 && len_134^0==len_134^post_54 && len_187^0==len_187^post_54 && length_28^0==length_28^post_54 && nondet_12^0==nondet_12^post_54 && r_126^0==r_126^post_54 && r_165^0==r_165^post_54 && r_39^0==r_39^post_54 && rcd_59^0==rcd_59^post_54 && rcd_89^0==rcd_89^post_54 && result_11^0==result_11^post_54 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_54 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_54 && t_22^0==t_22^post_54 && tail_14^0==tail_14^post_54 && temp0_16^0==temp0_16^post_54 && temp0_31^0==temp0_31^post_54 && temp_35^0==temp_35^post_54 && tmp_34^0==tmp_34^post_54 && x_131^0==x_131^post_54 && x_176^0==x_176^post_54 && x_19^0==x_19^post_54 && x_26^0==x_26^post_54 && x_SLAM_f_17^0==x_SLAM_f_17^post_54 && x_SLAM_f_24^0==x_SLAM_f_24^post_54 && y_18^0==y_18^post_54 && y_25^0==y_25^post_54 ], cost: 1 54: l37 -> l38 : a_118^0'=a_118^post_55, a_149^0'=a_149^post_55, a_188^0'=a_188^post_55, a_225^0'=a_225^post_55, a_281^0'=a_281^post_55, a_289^0'=a_289^post_55, a_342^0'=a_342^post_55, a_343^0'=a_343^post_55, f_171^0'=f_171^post_55, head_15^0'=head_15^post_55, head_32^0'=head_32^post_55, head_SLAM_f_29^0'=head_SLAM_f_29^post_55, i_110^0'=i_110^post_55, i_30^0'=i_30^post_55, i_95^0'=i_95^post_55, len_134^0'=len_134^post_55, len_187^0'=len_187^post_55, length_28^0'=length_28^post_55, nondet_12^0'=nondet_12^post_55, r_126^0'=r_126^post_55, r_165^0'=r_165^post_55, r_39^0'=r_39^post_55, rcd_59^0'=rcd_59^post_55, rcd_89^0'=rcd_89^post_55, result_11^0'=result_11^post_55, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_55, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_55, t_22^0'=t_22^post_55, tail_14^0'=tail_14^post_55, temp0_16^0'=temp0_16^post_55, temp0_31^0'=temp0_31^post_55, temp_35^0'=temp_35^post_55, tmp_34^0'=tmp_34^post_55, x_131^0'=x_131^post_55, x_176^0'=x_176^post_55, x_19^0'=x_19^post_55, x_26^0'=x_26^post_55, x_SLAM_f_17^0'=x_SLAM_f_17^post_55, x_SLAM_f_24^0'=x_SLAM_f_24^post_55, y_18^0'=y_18^post_55, y_25^0'=y_25^post_55, [ 1+y_25^0<=head_15^0 && a_118^0==a_118^post_55 && a_149^0==a_149^post_55 && a_188^0==a_188^post_55 && a_225^0==a_225^post_55 && a_281^0==a_281^post_55 && a_289^0==a_289^post_55 && a_342^0==a_342^post_55 && a_343^0==a_343^post_55 && f_171^0==f_171^post_55 && head_15^0==head_15^post_55 && head_32^0==head_32^post_55 && head_SLAM_f_29^0==head_SLAM_f_29^post_55 && i_110^0==i_110^post_55 && i_30^0==i_30^post_55 && i_95^0==i_95^post_55 && len_134^0==len_134^post_55 && len_187^0==len_187^post_55 && length_28^0==length_28^post_55 && nondet_12^0==nondet_12^post_55 && r_126^0==r_126^post_55 && r_165^0==r_165^post_55 && r_39^0==r_39^post_55 && rcd_59^0==rcd_59^post_55 && rcd_89^0==rcd_89^post_55 && result_11^0==result_11^post_55 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_55 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_55 && t_22^0==t_22^post_55 && tail_14^0==tail_14^post_55 && temp0_16^0==temp0_16^post_55 && temp0_31^0==temp0_31^post_55 && temp_35^0==temp_35^post_55 && tmp_34^0==tmp_34^post_55 && x_131^0==x_131^post_55 && x_176^0==x_176^post_55 && x_19^0==x_19^post_55 && x_26^0==x_26^post_55 && x_SLAM_f_17^0==x_SLAM_f_17^post_55 && x_SLAM_f_24^0==x_SLAM_f_24^post_55 && y_18^0==y_18^post_55 && y_25^0==y_25^post_55 ], cost: 1 55: l38 -> l39 : a_118^0'=a_118^post_56, a_149^0'=a_149^post_56, a_188^0'=a_188^post_56, a_225^0'=a_225^post_56, a_281^0'=a_281^post_56, a_289^0'=a_289^post_56, a_342^0'=a_342^post_56, a_343^0'=a_343^post_56, f_171^0'=f_171^post_56, head_15^0'=head_15^post_56, head_32^0'=head_32^post_56, head_SLAM_f_29^0'=head_SLAM_f_29^post_56, i_110^0'=i_110^post_56, i_30^0'=i_30^post_56, i_95^0'=i_95^post_56, len_134^0'=len_134^post_56, len_187^0'=len_187^post_56, length_28^0'=length_28^post_56, nondet_12^0'=nondet_12^post_56, r_126^0'=r_126^post_56, r_165^0'=r_165^post_56, r_39^0'=r_39^post_56, rcd_59^0'=rcd_59^post_56, rcd_89^0'=rcd_89^post_56, result_11^0'=result_11^post_56, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_56, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_56, t_22^0'=t_22^post_56, tail_14^0'=tail_14^post_56, temp0_16^0'=temp0_16^post_56, temp0_31^0'=temp0_31^post_56, temp_35^0'=temp_35^post_56, tmp_34^0'=tmp_34^post_56, x_131^0'=x_131^post_56, x_176^0'=x_176^post_56, x_19^0'=x_19^post_56, x_26^0'=x_26^post_56, x_SLAM_f_17^0'=x_SLAM_f_17^post_56, x_SLAM_f_24^0'=x_SLAM_f_24^post_56, y_18^0'=y_18^post_56, y_25^0'=y_25^post_56, [ 1+y_25^0<=x_176^0 && a_118^0==a_118^post_56 && a_149^0==a_149^post_56 && a_188^0==a_188^post_56 && a_225^0==a_225^post_56 && a_281^0==a_281^post_56 && a_289^0==a_289^post_56 && a_342^0==a_342^post_56 && a_343^0==a_343^post_56 && f_171^0==f_171^post_56 && head_15^0==head_15^post_56 && head_32^0==head_32^post_56 && head_SLAM_f_29^0==head_SLAM_f_29^post_56 && i_110^0==i_110^post_56 && i_30^0==i_30^post_56 && i_95^0==i_95^post_56 && len_134^0==len_134^post_56 && len_187^0==len_187^post_56 && length_28^0==length_28^post_56 && nondet_12^0==nondet_12^post_56 && r_126^0==r_126^post_56 && r_165^0==r_165^post_56 && r_39^0==r_39^post_56 && rcd_59^0==rcd_59^post_56 && rcd_89^0==rcd_89^post_56 && result_11^0==result_11^post_56 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_56 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_56 && t_22^0==t_22^post_56 && tail_14^0==tail_14^post_56 && temp0_16^0==temp0_16^post_56 && temp0_31^0==temp0_31^post_56 && temp_35^0==temp_35^post_56 && tmp_34^0==tmp_34^post_56 && x_131^0==x_131^post_56 && x_176^0==x_176^post_56 && x_19^0==x_19^post_56 && x_26^0==x_26^post_56 && x_SLAM_f_17^0==x_SLAM_f_17^post_56 && x_SLAM_f_24^0==x_SLAM_f_24^post_56 && y_18^0==y_18^post_56 && y_25^0==y_25^post_56 ], cost: 1 56: l38 -> l39 : a_118^0'=a_118^post_57, a_149^0'=a_149^post_57, a_188^0'=a_188^post_57, a_225^0'=a_225^post_57, a_281^0'=a_281^post_57, a_289^0'=a_289^post_57, a_342^0'=a_342^post_57, a_343^0'=a_343^post_57, f_171^0'=f_171^post_57, head_15^0'=head_15^post_57, head_32^0'=head_32^post_57, head_SLAM_f_29^0'=head_SLAM_f_29^post_57, i_110^0'=i_110^post_57, i_30^0'=i_30^post_57, i_95^0'=i_95^post_57, len_134^0'=len_134^post_57, len_187^0'=len_187^post_57, length_28^0'=length_28^post_57, nondet_12^0'=nondet_12^post_57, r_126^0'=r_126^post_57, r_165^0'=r_165^post_57, r_39^0'=r_39^post_57, rcd_59^0'=rcd_59^post_57, rcd_89^0'=rcd_89^post_57, result_11^0'=result_11^post_57, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_57, t_22^0'=t_22^post_57, tail_14^0'=tail_14^post_57, temp0_16^0'=temp0_16^post_57, temp0_31^0'=temp0_31^post_57, temp_35^0'=temp_35^post_57, tmp_34^0'=tmp_34^post_57, x_131^0'=x_131^post_57, x_176^0'=x_176^post_57, x_19^0'=x_19^post_57, x_26^0'=x_26^post_57, x_SLAM_f_17^0'=x_SLAM_f_17^post_57, x_SLAM_f_24^0'=x_SLAM_f_24^post_57, y_18^0'=y_18^post_57, y_25^0'=y_25^post_57, [ 1+x_176^0<=y_25^0 && a_118^0==a_118^post_57 && a_149^0==a_149^post_57 && a_188^0==a_188^post_57 && a_225^0==a_225^post_57 && a_281^0==a_281^post_57 && a_289^0==a_289^post_57 && a_342^0==a_342^post_57 && a_343^0==a_343^post_57 && f_171^0==f_171^post_57 && head_15^0==head_15^post_57 && head_32^0==head_32^post_57 && head_SLAM_f_29^0==head_SLAM_f_29^post_57 && i_110^0==i_110^post_57 && i_30^0==i_30^post_57 && i_95^0==i_95^post_57 && len_134^0==len_134^post_57 && len_187^0==len_187^post_57 && length_28^0==length_28^post_57 && nondet_12^0==nondet_12^post_57 && r_126^0==r_126^post_57 && r_165^0==r_165^post_57 && r_39^0==r_39^post_57 && rcd_59^0==rcd_59^post_57 && rcd_89^0==rcd_89^post_57 && result_11^0==result_11^post_57 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_57 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_57 && t_22^0==t_22^post_57 && tail_14^0==tail_14^post_57 && temp0_16^0==temp0_16^post_57 && temp0_31^0==temp0_31^post_57 && temp_35^0==temp_35^post_57 && tmp_34^0==tmp_34^post_57 && x_131^0==x_131^post_57 && x_176^0==x_176^post_57 && x_19^0==x_19^post_57 && x_26^0==x_26^post_57 && x_SLAM_f_17^0==x_SLAM_f_17^post_57 && x_SLAM_f_24^0==x_SLAM_f_24^post_57 && y_18^0==y_18^post_57 && y_25^0==y_25^post_57 ], cost: 1 57: l39 -> l34 : a_118^0'=a_118^post_58, a_149^0'=a_149^post_58, a_188^0'=a_188^post_58, a_225^0'=a_225^post_58, a_281^0'=a_281^post_58, a_289^0'=a_289^post_58, a_342^0'=a_342^post_58, a_343^0'=a_343^post_58, f_171^0'=f_171^post_58, head_15^0'=head_15^post_58, head_32^0'=head_32^post_58, head_SLAM_f_29^0'=head_SLAM_f_29^post_58, i_110^0'=i_110^post_58, i_30^0'=i_30^post_58, i_95^0'=i_95^post_58, len_134^0'=len_134^post_58, len_187^0'=len_187^post_58, length_28^0'=length_28^post_58, nondet_12^0'=nondet_12^post_58, r_126^0'=r_126^post_58, r_165^0'=r_165^post_58, r_39^0'=r_39^post_58, rcd_59^0'=rcd_59^post_58, rcd_89^0'=rcd_89^post_58, result_11^0'=result_11^post_58, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_58, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_58, t_22^0'=t_22^post_58, tail_14^0'=tail_14^post_58, temp0_16^0'=temp0_16^post_58, temp0_31^0'=temp0_31^post_58, temp_35^0'=temp_35^post_58, tmp_34^0'=tmp_34^post_58, x_131^0'=x_131^post_58, x_176^0'=x_176^post_58, x_19^0'=x_19^post_58, x_26^0'=x_26^post_58, x_SLAM_f_17^0'=x_SLAM_f_17^post_58, x_SLAM_f_24^0'=x_SLAM_f_24^post_58, y_18^0'=y_18^post_58, y_25^0'=y_25^post_58, [ 1<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && a_149^post_58==a_149^post_58 && a_149^post_58<=a_188^0 && a_188^0<=a_149^post_58 && len_134^post_58==len_134^post_58 && len_134^post_58<=len_187^0 && len_187^0<=len_134^post_58 && a_118^0==a_118^post_58 && a_188^0==a_188^post_58 && a_225^0==a_225^post_58 && a_281^0==a_281^post_58 && a_289^0==a_289^post_58 && a_342^0==a_342^post_58 && a_343^0==a_343^post_58 && f_171^0==f_171^post_58 && head_15^0==head_15^post_58 && head_32^0==head_32^post_58 && head_SLAM_f_29^0==head_SLAM_f_29^post_58 && i_110^0==i_110^post_58 && i_30^0==i_30^post_58 && i_95^0==i_95^post_58 && len_187^0==len_187^post_58 && length_28^0==length_28^post_58 && nondet_12^0==nondet_12^post_58 && r_126^0==r_126^post_58 && r_165^0==r_165^post_58 && r_39^0==r_39^post_58 && rcd_59^0==rcd_59^post_58 && rcd_89^0==rcd_89^post_58 && result_11^0==result_11^post_58 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_58 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_58 && t_22^0==t_22^post_58 && tail_14^0==tail_14^post_58 && temp0_16^0==temp0_16^post_58 && temp0_31^0==temp0_31^post_58 && temp_35^0==temp_35^post_58 && tmp_34^0==tmp_34^post_58 && x_131^0==x_131^post_58 && x_176^0==x_176^post_58 && x_19^0==x_19^post_58 && x_26^0==x_26^post_58 && x_SLAM_f_17^0==x_SLAM_f_17^post_58 && x_SLAM_f_24^0==x_SLAM_f_24^post_58 && y_18^0==y_18^post_58 && y_25^0==y_25^post_58 ], cost: 1 58: l34 -> l31 : a_118^0'=a_118^post_59, a_149^0'=a_149^post_59, a_188^0'=a_188^post_59, a_225^0'=a_225^post_59, a_281^0'=a_281^post_59, a_289^0'=a_289^post_59, a_342^0'=a_342^post_59, a_343^0'=a_343^post_59, f_171^0'=f_171^post_59, head_15^0'=head_15^post_59, head_32^0'=head_32^post_59, head_SLAM_f_29^0'=head_SLAM_f_29^post_59, i_110^0'=i_110^post_59, i_30^0'=i_30^post_59, i_95^0'=i_95^post_59, len_134^0'=len_134^post_59, len_187^0'=len_187^post_59, length_28^0'=length_28^post_59, nondet_12^0'=nondet_12^post_59, r_126^0'=r_126^post_59, r_165^0'=r_165^post_59, r_39^0'=r_39^post_59, rcd_59^0'=rcd_59^post_59, rcd_89^0'=rcd_89^post_59, result_11^0'=result_11^post_59, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_59, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_59, t_22^0'=t_22^post_59, tail_14^0'=tail_14^post_59, temp0_16^0'=temp0_16^post_59, temp0_31^0'=temp0_31^post_59, temp_35^0'=temp_35^post_59, tmp_34^0'=tmp_34^post_59, x_131^0'=x_131^post_59, x_176^0'=x_176^post_59, x_19^0'=x_19^post_59, x_26^0'=x_26^post_59, x_SLAM_f_17^0'=x_SLAM_f_17^post_59, x_SLAM_f_24^0'=x_SLAM_f_24^post_59, y_18^0'=y_18^post_59, y_25^0'=y_25^post_59, [ a_118^0==a_118^post_59 && a_149^0==a_149^post_59 && a_188^0==a_188^post_59 && a_225^0==a_225^post_59 && a_281^0==a_281^post_59 && a_289^0==a_289^post_59 && a_342^0==a_342^post_59 && a_343^0==a_343^post_59 && f_171^0==f_171^post_59 && head_15^0==head_15^post_59 && head_32^0==head_32^post_59 && head_SLAM_f_29^0==head_SLAM_f_29^post_59 && i_110^0==i_110^post_59 && i_30^0==i_30^post_59 && i_95^0==i_95^post_59 && len_134^0==len_134^post_59 && len_187^0==len_187^post_59 && length_28^0==length_28^post_59 && nondet_12^0==nondet_12^post_59 && r_126^0==r_126^post_59 && r_165^0==r_165^post_59 && r_39^0==r_39^post_59 && rcd_59^0==rcd_59^post_59 && rcd_89^0==rcd_89^post_59 && result_11^0==result_11^post_59 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_59 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_59 && t_22^0==t_22^post_59 && tail_14^0==tail_14^post_59 && temp0_16^0==temp0_16^post_59 && temp0_31^0==temp0_31^post_59 && temp_35^0==temp_35^post_59 && tmp_34^0==tmp_34^post_59 && x_131^0==x_131^post_59 && x_176^0==x_176^post_59 && x_19^0==x_19^post_59 && x_26^0==x_26^post_59 && x_SLAM_f_17^0==x_SLAM_f_17^post_59 && x_SLAM_f_24^0==x_SLAM_f_24^post_59 && y_18^0==y_18^post_59 && y_25^0==y_25^post_59 ], cost: 1 95: l61 -> l62 : a_118^0'=a_118^post_96, a_149^0'=a_149^post_96, a_188^0'=a_188^post_96, a_225^0'=a_225^post_96, a_281^0'=a_281^post_96, a_289^0'=a_289^post_96, a_342^0'=a_342^post_96, a_343^0'=a_343^post_96, f_171^0'=f_171^post_96, head_15^0'=head_15^post_96, head_32^0'=head_32^post_96, head_SLAM_f_29^0'=head_SLAM_f_29^post_96, i_110^0'=i_110^post_96, i_30^0'=i_30^post_96, i_95^0'=i_95^post_96, len_134^0'=len_134^post_96, len_187^0'=len_187^post_96, length_28^0'=length_28^post_96, nondet_12^0'=nondet_12^post_96, r_126^0'=r_126^post_96, r_165^0'=r_165^post_96, r_39^0'=r_39^post_96, rcd_59^0'=rcd_59^post_96, rcd_89^0'=rcd_89^post_96, result_11^0'=result_11^post_96, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_96, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_96, t_22^0'=t_22^post_96, tail_14^0'=tail_14^post_96, temp0_16^0'=temp0_16^post_96, temp0_31^0'=temp0_31^post_96, temp_35^0'=temp_35^post_96, tmp_34^0'=tmp_34^post_96, x_131^0'=x_131^post_96, x_176^0'=x_176^post_96, x_19^0'=x_19^post_96, x_26^0'=x_26^post_96, x_SLAM_f_17^0'=x_SLAM_f_17^post_96, x_SLAM_f_24^0'=x_SLAM_f_24^post_96, y_18^0'=y_18^post_96, y_25^0'=y_25^post_96, [ 1+y_25^0<=x_26^0 && a_118^0==a_118^post_96 && a_149^0==a_149^post_96 && a_188^0==a_188^post_96 && a_225^0==a_225^post_96 && a_281^0==a_281^post_96 && a_289^0==a_289^post_96 && a_342^0==a_342^post_96 && a_343^0==a_343^post_96 && f_171^0==f_171^post_96 && head_15^0==head_15^post_96 && head_32^0==head_32^post_96 && head_SLAM_f_29^0==head_SLAM_f_29^post_96 && i_110^0==i_110^post_96 && i_30^0==i_30^post_96 && i_95^0==i_95^post_96 && len_134^0==len_134^post_96 && len_187^0==len_187^post_96 && length_28^0==length_28^post_96 && nondet_12^0==nondet_12^post_96 && r_126^0==r_126^post_96 && r_165^0==r_165^post_96 && r_39^0==r_39^post_96 && rcd_59^0==rcd_59^post_96 && rcd_89^0==rcd_89^post_96 && result_11^0==result_11^post_96 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_96 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_96 && t_22^0==t_22^post_96 && tail_14^0==tail_14^post_96 && temp0_16^0==temp0_16^post_96 && temp0_31^0==temp0_31^post_96 && temp_35^0==temp_35^post_96 && tmp_34^0==tmp_34^post_96 && x_131^0==x_131^post_96 && x_176^0==x_176^post_96 && x_19^0==x_19^post_96 && x_26^0==x_26^post_96 && x_SLAM_f_17^0==x_SLAM_f_17^post_96 && x_SLAM_f_24^0==x_SLAM_f_24^post_96 && y_18^0==y_18^post_96 && y_25^0==y_25^post_96 ], cost: 1 96: l61 -> l62 : a_118^0'=a_118^post_97, a_149^0'=a_149^post_97, a_188^0'=a_188^post_97, a_225^0'=a_225^post_97, a_281^0'=a_281^post_97, a_289^0'=a_289^post_97, a_342^0'=a_342^post_97, a_343^0'=a_343^post_97, f_171^0'=f_171^post_97, head_15^0'=head_15^post_97, head_32^0'=head_32^post_97, head_SLAM_f_29^0'=head_SLAM_f_29^post_97, i_110^0'=i_110^post_97, i_30^0'=i_30^post_97, i_95^0'=i_95^post_97, len_134^0'=len_134^post_97, len_187^0'=len_187^post_97, length_28^0'=length_28^post_97, nondet_12^0'=nondet_12^post_97, r_126^0'=r_126^post_97, r_165^0'=r_165^post_97, r_39^0'=r_39^post_97, rcd_59^0'=rcd_59^post_97, rcd_89^0'=rcd_89^post_97, result_11^0'=result_11^post_97, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_97, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_97, t_22^0'=t_22^post_97, tail_14^0'=tail_14^post_97, temp0_16^0'=temp0_16^post_97, temp0_31^0'=temp0_31^post_97, temp_35^0'=temp_35^post_97, tmp_34^0'=tmp_34^post_97, x_131^0'=x_131^post_97, x_176^0'=x_176^post_97, x_19^0'=x_19^post_97, x_26^0'=x_26^post_97, x_SLAM_f_17^0'=x_SLAM_f_17^post_97, x_SLAM_f_24^0'=x_SLAM_f_24^post_97, y_18^0'=y_18^post_97, y_25^0'=y_25^post_97, [ 1+x_26^0<=y_25^0 && a_118^0==a_118^post_97 && a_149^0==a_149^post_97 && a_188^0==a_188^post_97 && a_225^0==a_225^post_97 && a_281^0==a_281^post_97 && a_289^0==a_289^post_97 && a_342^0==a_342^post_97 && a_343^0==a_343^post_97 && f_171^0==f_171^post_97 && head_15^0==head_15^post_97 && head_32^0==head_32^post_97 && head_SLAM_f_29^0==head_SLAM_f_29^post_97 && i_110^0==i_110^post_97 && i_30^0==i_30^post_97 && i_95^0==i_95^post_97 && len_134^0==len_134^post_97 && len_187^0==len_187^post_97 && length_28^0==length_28^post_97 && nondet_12^0==nondet_12^post_97 && r_126^0==r_126^post_97 && r_165^0==r_165^post_97 && r_39^0==r_39^post_97 && rcd_59^0==rcd_59^post_97 && rcd_89^0==rcd_89^post_97 && result_11^0==result_11^post_97 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_97 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_97 && t_22^0==t_22^post_97 && tail_14^0==tail_14^post_97 && temp0_16^0==temp0_16^post_97 && temp0_31^0==temp0_31^post_97 && temp_35^0==temp_35^post_97 && tmp_34^0==tmp_34^post_97 && x_131^0==x_131^post_97 && x_176^0==x_176^post_97 && x_19^0==x_19^post_97 && x_26^0==x_26^post_97 && x_SLAM_f_17^0==x_SLAM_f_17^post_97 && x_SLAM_f_24^0==x_SLAM_f_24^post_97 && y_18^0==y_18^post_97 && y_25^0==y_25^post_97 ], cost: 1 97: l62 -> l63 : a_118^0'=a_118^post_98, a_149^0'=a_149^post_98, a_188^0'=a_188^post_98, a_225^0'=a_225^post_98, a_281^0'=a_281^post_98, a_289^0'=a_289^post_98, a_342^0'=a_342^post_98, a_343^0'=a_343^post_98, f_171^0'=f_171^post_98, head_15^0'=head_15^post_98, head_32^0'=head_32^post_98, head_SLAM_f_29^0'=head_SLAM_f_29^post_98, i_110^0'=i_110^post_98, i_30^0'=i_30^post_98, i_95^0'=i_95^post_98, len_134^0'=len_134^post_98, len_187^0'=len_187^post_98, length_28^0'=length_28^post_98, nondet_12^0'=nondet_12^post_98, r_126^0'=r_126^post_98, r_165^0'=r_165^post_98, r_39^0'=r_39^post_98, rcd_59^0'=rcd_59^post_98, rcd_89^0'=rcd_89^post_98, result_11^0'=result_11^post_98, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_98, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_98, t_22^0'=t_22^post_98, tail_14^0'=tail_14^post_98, temp0_16^0'=temp0_16^post_98, temp0_31^0'=temp0_31^post_98, temp_35^0'=temp_35^post_98, tmp_34^0'=tmp_34^post_98, x_131^0'=x_131^post_98, x_176^0'=x_176^post_98, x_19^0'=x_19^post_98, x_26^0'=x_26^post_98, x_SLAM_f_17^0'=x_SLAM_f_17^post_98, x_SLAM_f_24^0'=x_SLAM_f_24^post_98, y_18^0'=y_18^post_98, y_25^0'=y_25^post_98, [ a_118^post_98==a_118^post_98 && 0<=a_149^0-a_118^post_98 && a_149^0-a_118^post_98<=0 && 1<=len_134^0 && len_134^0<=1 && tail_14^0<=y_25^0 && y_25^0<=tail_14^0 && head_15^0<=x_SLAM_f_24^0 && x_SLAM_f_24^0<=head_15^0 && a_118^post_98<=a_149^0 && a_149^0<=a_118^post_98 && a_149^0==a_149^post_98 && a_188^0==a_188^post_98 && a_225^0==a_225^post_98 && a_281^0==a_281^post_98 && a_289^0==a_289^post_98 && a_342^0==a_342^post_98 && a_343^0==a_343^post_98 && f_171^0==f_171^post_98 && head_15^0==head_15^post_98 && head_32^0==head_32^post_98 && head_SLAM_f_29^0==head_SLAM_f_29^post_98 && i_110^0==i_110^post_98 && i_30^0==i_30^post_98 && i_95^0==i_95^post_98 && len_134^0==len_134^post_98 && len_187^0==len_187^post_98 && length_28^0==length_28^post_98 && nondet_12^0==nondet_12^post_98 && r_126^0==r_126^post_98 && r_165^0==r_165^post_98 && r_39^0==r_39^post_98 && rcd_59^0==rcd_59^post_98 && rcd_89^0==rcd_89^post_98 && result_11^0==result_11^post_98 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_98 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_98 && t_22^0==t_22^post_98 && tail_14^0==tail_14^post_98 && temp0_16^0==temp0_16^post_98 && temp0_31^0==temp0_31^post_98 && temp_35^0==temp_35^post_98 && tmp_34^0==tmp_34^post_98 && x_131^0==x_131^post_98 && x_176^0==x_176^post_98 && x_19^0==x_19^post_98 && x_26^0==x_26^post_98 && x_SLAM_f_17^0==x_SLAM_f_17^post_98 && x_SLAM_f_24^0==x_SLAM_f_24^post_98 && y_18^0==y_18^post_98 && y_25^0==y_25^post_98 ], cost: 1 98: l63 -> l64 : a_118^0'=a_118^post_99, a_149^0'=a_149^post_99, a_188^0'=a_188^post_99, a_225^0'=a_225^post_99, a_281^0'=a_281^post_99, a_289^0'=a_289^post_99, a_342^0'=a_342^post_99, a_343^0'=a_343^post_99, f_171^0'=f_171^post_99, head_15^0'=head_15^post_99, head_32^0'=head_32^post_99, head_SLAM_f_29^0'=head_SLAM_f_29^post_99, i_110^0'=i_110^post_99, i_30^0'=i_30^post_99, i_95^0'=i_95^post_99, len_134^0'=len_134^post_99, len_187^0'=len_187^post_99, length_28^0'=length_28^post_99, nondet_12^0'=nondet_12^post_99, r_126^0'=r_126^post_99, r_165^0'=r_165^post_99, r_39^0'=r_39^post_99, rcd_59^0'=rcd_59^post_99, rcd_89^0'=rcd_89^post_99, result_11^0'=result_11^post_99, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_99, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_99, t_22^0'=t_22^post_99, tail_14^0'=tail_14^post_99, temp0_16^0'=temp0_16^post_99, temp0_31^0'=temp0_31^post_99, temp_35^0'=temp_35^post_99, tmp_34^0'=tmp_34^post_99, x_131^0'=x_131^post_99, x_176^0'=x_176^post_99, x_19^0'=x_19^post_99, x_26^0'=x_26^post_99, x_SLAM_f_17^0'=x_SLAM_f_17^post_99, x_SLAM_f_24^0'=x_SLAM_f_24^post_99, y_18^0'=y_18^post_99, y_25^0'=y_25^post_99, [ 1+head_15^0<=y_25^0 && a_118^0==a_118^post_99 && a_149^0==a_149^post_99 && a_188^0==a_188^post_99 && a_225^0==a_225^post_99 && a_281^0==a_281^post_99 && a_289^0==a_289^post_99 && a_342^0==a_342^post_99 && a_343^0==a_343^post_99 && f_171^0==f_171^post_99 && head_15^0==head_15^post_99 && head_32^0==head_32^post_99 && head_SLAM_f_29^0==head_SLAM_f_29^post_99 && i_110^0==i_110^post_99 && i_30^0==i_30^post_99 && i_95^0==i_95^post_99 && len_134^0==len_134^post_99 && len_187^0==len_187^post_99 && length_28^0==length_28^post_99 && nondet_12^0==nondet_12^post_99 && r_126^0==r_126^post_99 && r_165^0==r_165^post_99 && r_39^0==r_39^post_99 && rcd_59^0==rcd_59^post_99 && rcd_89^0==rcd_89^post_99 && result_11^0==result_11^post_99 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_99 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_99 && t_22^0==t_22^post_99 && tail_14^0==tail_14^post_99 && temp0_16^0==temp0_16^post_99 && temp0_31^0==temp0_31^post_99 && temp_35^0==temp_35^post_99 && tmp_34^0==tmp_34^post_99 && x_131^0==x_131^post_99 && x_176^0==x_176^post_99 && x_19^0==x_19^post_99 && x_26^0==x_26^post_99 && x_SLAM_f_17^0==x_SLAM_f_17^post_99 && x_SLAM_f_24^0==x_SLAM_f_24^post_99 && y_18^0==y_18^post_99 && y_25^0==y_25^post_99 ], cost: 1 99: l63 -> l64 : a_118^0'=a_118^post_100, a_149^0'=a_149^post_100, a_188^0'=a_188^post_100, a_225^0'=a_225^post_100, a_281^0'=a_281^post_100, a_289^0'=a_289^post_100, a_342^0'=a_342^post_100, a_343^0'=a_343^post_100, f_171^0'=f_171^post_100, head_15^0'=head_15^post_100, head_32^0'=head_32^post_100, head_SLAM_f_29^0'=head_SLAM_f_29^post_100, i_110^0'=i_110^post_100, i_30^0'=i_30^post_100, i_95^0'=i_95^post_100, len_134^0'=len_134^post_100, len_187^0'=len_187^post_100, length_28^0'=length_28^post_100, nondet_12^0'=nondet_12^post_100, r_126^0'=r_126^post_100, r_165^0'=r_165^post_100, r_39^0'=r_39^post_100, rcd_59^0'=rcd_59^post_100, rcd_89^0'=rcd_89^post_100, result_11^0'=result_11^post_100, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_100, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_100, t_22^0'=t_22^post_100, tail_14^0'=tail_14^post_100, temp0_16^0'=temp0_16^post_100, temp0_31^0'=temp0_31^post_100, temp_35^0'=temp_35^post_100, tmp_34^0'=tmp_34^post_100, x_131^0'=x_131^post_100, x_176^0'=x_176^post_100, x_19^0'=x_19^post_100, x_26^0'=x_26^post_100, x_SLAM_f_17^0'=x_SLAM_f_17^post_100, x_SLAM_f_24^0'=x_SLAM_f_24^post_100, y_18^0'=y_18^post_100, y_25^0'=y_25^post_100, [ 1+y_25^0<=head_15^0 && a_118^0==a_118^post_100 && a_149^0==a_149^post_100 && a_188^0==a_188^post_100 && a_225^0==a_225^post_100 && a_281^0==a_281^post_100 && a_289^0==a_289^post_100 && a_342^0==a_342^post_100 && a_343^0==a_343^post_100 && f_171^0==f_171^post_100 && head_15^0==head_15^post_100 && head_32^0==head_32^post_100 && head_SLAM_f_29^0==head_SLAM_f_29^post_100 && i_110^0==i_110^post_100 && i_30^0==i_30^post_100 && i_95^0==i_95^post_100 && len_134^0==len_134^post_100 && len_187^0==len_187^post_100 && length_28^0==length_28^post_100 && nondet_12^0==nondet_12^post_100 && r_126^0==r_126^post_100 && r_165^0==r_165^post_100 && r_39^0==r_39^post_100 && rcd_59^0==rcd_59^post_100 && rcd_89^0==rcd_89^post_100 && result_11^0==result_11^post_100 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_100 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_100 && t_22^0==t_22^post_100 && tail_14^0==tail_14^post_100 && temp0_16^0==temp0_16^post_100 && temp0_31^0==temp0_31^post_100 && temp_35^0==temp_35^post_100 && tmp_34^0==tmp_34^post_100 && x_131^0==x_131^post_100 && x_176^0==x_176^post_100 && x_19^0==x_19^post_100 && x_26^0==x_26^post_100 && x_SLAM_f_17^0==x_SLAM_f_17^post_100 && x_SLAM_f_24^0==x_SLAM_f_24^post_100 && y_18^0==y_18^post_100 && y_25^0==y_25^post_100 ], cost: 1 100: l64 -> l31 : a_118^0'=a_118^post_101, a_149^0'=a_149^post_101, a_188^0'=a_188^post_101, a_225^0'=a_225^post_101, a_281^0'=a_281^post_101, a_289^0'=a_289^post_101, a_342^0'=a_342^post_101, a_343^0'=a_343^post_101, f_171^0'=f_171^post_101, head_15^0'=head_15^post_101, head_32^0'=head_32^post_101, head_SLAM_f_29^0'=head_SLAM_f_29^post_101, i_110^0'=i_110^post_101, i_30^0'=i_30^post_101, i_95^0'=i_95^post_101, len_134^0'=len_134^post_101, len_187^0'=len_187^post_101, length_28^0'=length_28^post_101, nondet_12^0'=nondet_12^post_101, r_126^0'=r_126^post_101, r_165^0'=r_165^post_101, r_39^0'=r_39^post_101, rcd_59^0'=rcd_59^post_101, rcd_89^0'=rcd_89^post_101, result_11^0'=result_11^post_101, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_101, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_101, t_22^0'=t_22^post_101, tail_14^0'=tail_14^post_101, temp0_16^0'=temp0_16^post_101, temp0_31^0'=temp0_31^post_101, temp_35^0'=temp_35^post_101, tmp_34^0'=tmp_34^post_101, x_131^0'=x_131^post_101, x_176^0'=x_176^post_101, x_19^0'=x_19^post_101, x_26^0'=x_26^post_101, x_SLAM_f_17^0'=x_SLAM_f_17^post_101, x_SLAM_f_24^0'=x_SLAM_f_24^post_101, y_18^0'=y_18^post_101, y_25^0'=y_25^post_101, [ 1<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0<=i_110^0 && i_110^post_101==i_110^post_101 && -1+i_110^post_101<=a_118^0 && a_118^0<=-1+i_110^post_101 && a_118^0==a_118^post_101 && a_149^0==a_149^post_101 && a_188^0==a_188^post_101 && a_225^0==a_225^post_101 && a_281^0==a_281^post_101 && a_289^0==a_289^post_101 && a_342^0==a_342^post_101 && a_343^0==a_343^post_101 && f_171^0==f_171^post_101 && head_15^0==head_15^post_101 && head_32^0==head_32^post_101 && head_SLAM_f_29^0==head_SLAM_f_29^post_101 && i_30^0==i_30^post_101 && i_95^0==i_95^post_101 && len_134^0==len_134^post_101 && len_187^0==len_187^post_101 && length_28^0==length_28^post_101 && nondet_12^0==nondet_12^post_101 && r_126^0==r_126^post_101 && r_165^0==r_165^post_101 && r_39^0==r_39^post_101 && rcd_59^0==rcd_59^post_101 && rcd_89^0==rcd_89^post_101 && result_11^0==result_11^post_101 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_101 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_101 && t_22^0==t_22^post_101 && tail_14^0==tail_14^post_101 && temp0_16^0==temp0_16^post_101 && temp0_31^0==temp0_31^post_101 && temp_35^0==temp_35^post_101 && tmp_34^0==tmp_34^post_101 && x_131^0==x_131^post_101 && x_176^0==x_176^post_101 && x_19^0==x_19^post_101 && x_26^0==x_26^post_101 && x_SLAM_f_17^0==x_SLAM_f_17^post_101 && x_SLAM_f_24^0==x_SLAM_f_24^post_101 && y_18^0==y_18^post_101 && y_25^0==y_25^post_101 ], cost: 1 103: l65 -> l30 : a_118^0'=a_118^post_104, a_149^0'=a_149^post_104, a_188^0'=a_188^post_104, a_225^0'=a_225^post_104, a_281^0'=a_281^post_104, a_289^0'=a_289^post_104, a_342^0'=a_342^post_104, a_343^0'=a_343^post_104, f_171^0'=f_171^post_104, head_15^0'=head_15^post_104, head_32^0'=head_32^post_104, head_SLAM_f_29^0'=head_SLAM_f_29^post_104, i_110^0'=i_110^post_104, i_30^0'=i_30^post_104, i_95^0'=i_95^post_104, len_134^0'=len_134^post_104, len_187^0'=len_187^post_104, length_28^0'=length_28^post_104, nondet_12^0'=nondet_12^post_104, r_126^0'=r_126^post_104, r_165^0'=r_165^post_104, r_39^0'=r_39^post_104, rcd_59^0'=rcd_59^post_104, rcd_89^0'=rcd_89^post_104, result_11^0'=result_11^post_104, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_104, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_104, t_22^0'=t_22^post_104, tail_14^0'=tail_14^post_104, temp0_16^0'=temp0_16^post_104, temp0_31^0'=temp0_31^post_104, temp_35^0'=temp_35^post_104, tmp_34^0'=tmp_34^post_104, x_131^0'=x_131^post_104, x_176^0'=x_176^post_104, x_19^0'=x_19^post_104, x_26^0'=x_26^post_104, x_SLAM_f_17^0'=x_SLAM_f_17^post_104, x_SLAM_f_24^0'=x_SLAM_f_24^post_104, y_18^0'=y_18^post_104, y_25^0'=y_25^post_104, [ a_118^0==a_118^post_104 && a_149^0==a_149^post_104 && a_188^0==a_188^post_104 && a_225^0==a_225^post_104 && a_281^0==a_281^post_104 && a_289^0==a_289^post_104 && a_342^0==a_342^post_104 && a_343^0==a_343^post_104 && f_171^0==f_171^post_104 && head_15^0==head_15^post_104 && head_32^0==head_32^post_104 && head_SLAM_f_29^0==head_SLAM_f_29^post_104 && i_110^0==i_110^post_104 && i_30^0==i_30^post_104 && i_95^0==i_95^post_104 && len_134^0==len_134^post_104 && len_187^0==len_187^post_104 && length_28^0==length_28^post_104 && nondet_12^0==nondet_12^post_104 && r_126^0==r_126^post_104 && r_165^0==r_165^post_104 && r_39^0==r_39^post_104 && rcd_59^0==rcd_59^post_104 && rcd_89^0==rcd_89^post_104 && result_11^0==result_11^post_104 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_104 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_104 && t_22^0==t_22^post_104 && tail_14^0==tail_14^post_104 && temp0_16^0==temp0_16^post_104 && temp0_31^0==temp0_31^post_104 && temp_35^0==temp_35^post_104 && tmp_34^0==tmp_34^post_104 && x_131^0==x_131^post_104 && x_176^0==x_176^post_104 && x_19^0==x_19^post_104 && x_26^0==x_26^post_104 && x_SLAM_f_17^0==x_SLAM_f_17^post_104 && x_SLAM_f_24^0==x_SLAM_f_24^post_104 && y_18^0==y_18^post_104 && y_25^0==y_25^post_104 ], cost: 1 Removed unreachable and leaf rules: Start location: l65 0: l0 -> l1 : a_118^0'=a_118^post_1, a_149^0'=a_149^post_1, a_188^0'=a_188^post_1, a_225^0'=a_225^post_1, a_281^0'=a_281^post_1, a_289^0'=a_289^post_1, a_342^0'=a_342^post_1, a_343^0'=a_343^post_1, f_171^0'=f_171^post_1, head_15^0'=head_15^post_1, head_32^0'=head_32^post_1, head_SLAM_f_29^0'=head_SLAM_f_29^post_1, i_110^0'=i_110^post_1, i_30^0'=i_30^post_1, i_95^0'=i_95^post_1, len_134^0'=len_134^post_1, len_187^0'=len_187^post_1, length_28^0'=length_28^post_1, nondet_12^0'=nondet_12^post_1, r_126^0'=r_126^post_1, r_165^0'=r_165^post_1, r_39^0'=r_39^post_1, rcd_59^0'=rcd_59^post_1, rcd_89^0'=rcd_89^post_1, result_11^0'=result_11^post_1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1, t_22^0'=t_22^post_1, tail_14^0'=tail_14^post_1, temp0_16^0'=temp0_16^post_1, temp0_31^0'=temp0_31^post_1, temp_35^0'=temp_35^post_1, tmp_34^0'=tmp_34^post_1, x_131^0'=x_131^post_1, x_176^0'=x_176^post_1, x_19^0'=x_19^post_1, x_26^0'=x_26^post_1, x_SLAM_f_17^0'=x_SLAM_f_17^post_1, x_SLAM_f_24^0'=x_SLAM_f_24^post_1, y_18^0'=y_18^post_1, y_25^0'=y_25^post_1, [ 0<=i_30^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1 && length_28^0<=i_30^0 && temp0_31^1_1==head_32^0 && result_11^1_1==temp0_31^1_1 && length_28^post_1==length_28^post_1 && head_SLAM_f_29^post_1==head_SLAM_f_29^post_1 && i_30^post_1==i_30^post_1 && temp0_31^post_1==temp0_31^post_1 && head_32^post_1==head_32^post_1 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_1==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_1 && tmp_34^post_1==tmp_34^post_1 && temp_35^post_1==temp_35^post_1 && head_15^post_1==result_11^1_1 && result_11^post_1==result_11^post_1 && x_SLAM_f_24^post_1==head_15^post_1 && y_25^post_1==tail_14^0 && x_26^post_1==x_SLAM_f_24^post_1 && tail_14^0<=y_25^post_1 && y_25^post_1<=tail_14^0 && head_15^post_1<=x_SLAM_f_24^post_1 && x_SLAM_f_24^post_1<=head_15^post_1 && head_15^post_1<=x_26^post_1 && x_26^post_1<=head_15^post_1 && x_SLAM_f_24^post_1<=x_26^post_1 && x_26^post_1<=x_SLAM_f_24^post_1 && 1<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1<=i_30^post_1 && a_118^0==a_118^post_1 && a_149^0==a_149^post_1 && a_188^0==a_188^post_1 && a_225^0==a_225^post_1 && a_281^0==a_281^post_1 && a_289^0==a_289^post_1 && a_342^0==a_342^post_1 && a_343^0==a_343^post_1 && f_171^0==f_171^post_1 && i_110^0==i_110^post_1 && i_95^0==i_95^post_1 && len_134^0==len_134^post_1 && len_187^0==len_187^post_1 && nondet_12^0==nondet_12^post_1 && r_126^0==r_126^post_1 && r_165^0==r_165^post_1 && r_39^0==r_39^post_1 && rcd_59^0==rcd_59^post_1 && rcd_89^0==rcd_89^post_1 && t_22^0==t_22^post_1 && tail_14^0==tail_14^post_1 && temp0_16^0==temp0_16^post_1 && x_131^0==x_131^post_1 && x_176^0==x_176^post_1 && x_19^0==x_19^post_1 && x_SLAM_f_17^0==x_SLAM_f_17^post_1 && y_18^0==y_18^post_1 ], cost: 1 1: l0 -> l2 : a_118^0'=a_118^post_2, a_149^0'=a_149^post_2, a_188^0'=a_188^post_2, a_225^0'=a_225^post_2, a_281^0'=a_281^post_2, a_289^0'=a_289^post_2, a_342^0'=a_342^post_2, a_343^0'=a_343^post_2, f_171^0'=f_171^post_2, head_15^0'=head_15^post_2, head_32^0'=head_32^post_2, head_SLAM_f_29^0'=head_SLAM_f_29^post_2, i_110^0'=i_110^post_2, i_30^0'=i_30^post_2, i_95^0'=i_95^post_2, len_134^0'=len_134^post_2, len_187^0'=len_187^post_2, length_28^0'=length_28^post_2, nondet_12^0'=nondet_12^post_2, r_126^0'=r_126^post_2, r_165^0'=r_165^post_2, r_39^0'=r_39^post_2, rcd_59^0'=rcd_59^post_2, rcd_89^0'=rcd_89^post_2, result_11^0'=result_11^post_2, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_2, t_22^0'=t_22^post_2, tail_14^0'=tail_14^post_2, temp0_16^0'=temp0_16^post_2, temp0_31^0'=temp0_31^post_2, temp_35^0'=temp_35^post_2, tmp_34^0'=tmp_34^post_2, x_131^0'=x_131^post_2, x_176^0'=x_176^post_2, x_19^0'=x_19^post_2, x_26^0'=x_26^post_2, x_SLAM_f_17^0'=x_SLAM_f_17^post_2, x_SLAM_f_24^0'=x_SLAM_f_24^post_2, y_18^0'=y_18^post_2, y_25^0'=y_25^post_2, [ 0<=i_30^0 && rcd_89^post_2==rcd_89^post_2 && i_95^post_2==i_95^post_2 && 1+i_30^0<=length_28^0 && tmp_34^post_2==temp_35^0 && temp_35^post_2==temp_35^post_2 && head_32^post_2==tmp_34^post_2 && i_30^post_2==1+i_30^0 && i_30^post_2<=1+i_95^post_2 && 1+i_95^post_2<=i_30^post_2 && i_95^post_2<=-1+i_30^post_2 && -1+i_30^post_2<=i_95^post_2 && 1+i_95^post_2<=length_28^0 && a_118^0==a_118^post_2 && a_149^0==a_149^post_2 && a_188^0==a_188^post_2 && a_225^0==a_225^post_2 && a_281^0==a_281^post_2 && a_289^0==a_289^post_2 && a_342^0==a_342^post_2 && a_343^0==a_343^post_2 && f_171^0==f_171^post_2 && head_15^0==head_15^post_2 && head_SLAM_f_29^0==head_SLAM_f_29^post_2 && i_110^0==i_110^post_2 && len_134^0==len_134^post_2 && len_187^0==len_187^post_2 && length_28^0==length_28^post_2 && nondet_12^0==nondet_12^post_2 && r_126^0==r_126^post_2 && r_165^0==r_165^post_2 && r_39^0==r_39^post_2 && rcd_59^0==rcd_59^post_2 && result_11^0==result_11^post_2 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_2 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_2 && t_22^0==t_22^post_2 && tail_14^0==tail_14^post_2 && temp0_16^0==temp0_16^post_2 && temp0_31^0==temp0_31^post_2 && x_131^0==x_131^post_2 && x_176^0==x_176^post_2 && x_19^0==x_19^post_2 && x_26^0==x_26^post_2 && x_SLAM_f_17^0==x_SLAM_f_17^post_2 && x_SLAM_f_24^0==x_SLAM_f_24^post_2 && y_18^0==y_18^post_2 && y_25^0==y_25^post_2 ], cost: 1 94: l1 -> l61 : a_118^0'=a_118^post_95, a_149^0'=a_149^post_95, a_188^0'=a_188^post_95, a_225^0'=a_225^post_95, a_281^0'=a_281^post_95, a_289^0'=a_289^post_95, a_342^0'=a_342^post_95, a_343^0'=a_343^post_95, f_171^0'=f_171^post_95, head_15^0'=head_15^post_95, head_32^0'=head_32^post_95, head_SLAM_f_29^0'=head_SLAM_f_29^post_95, i_110^0'=i_110^post_95, i_30^0'=i_30^post_95, i_95^0'=i_95^post_95, len_134^0'=len_134^post_95, len_187^0'=len_187^post_95, length_28^0'=length_28^post_95, nondet_12^0'=nondet_12^post_95, r_126^0'=r_126^post_95, r_165^0'=r_165^post_95, r_39^0'=r_39^post_95, rcd_59^0'=rcd_59^post_95, rcd_89^0'=rcd_89^post_95, result_11^0'=result_11^post_95, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_95, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95, t_22^0'=t_22^post_95, tail_14^0'=tail_14^post_95, temp0_16^0'=temp0_16^post_95, temp0_31^0'=temp0_31^post_95, temp_35^0'=temp_35^post_95, tmp_34^0'=tmp_34^post_95, x_131^0'=x_131^post_95, x_176^0'=x_176^post_95, x_19^0'=x_19^post_95, x_26^0'=x_26^post_95, x_SLAM_f_17^0'=x_SLAM_f_17^post_95, x_SLAM_f_24^0'=x_SLAM_f_24^post_95, y_18^0'=y_18^post_95, y_25^0'=y_25^post_95, [ 0<=i_30^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95 && tail_14^post_95==tail_14^post_95 && head_15^post_95==head_15^post_95 && x_SLAM_f_24^post_95==x_SLAM_f_24^post_95 && r_39^post_95==r_39^post_95 && i_110^post_95==i_110^post_95 && r_165^post_95==r_165^post_95 && a_118^0==a_118^post_95 && a_149^0==a_149^post_95 && a_188^0==a_188^post_95 && a_225^0==a_225^post_95 && a_281^0==a_281^post_95 && a_289^0==a_289^post_95 && a_342^0==a_342^post_95 && a_343^0==a_343^post_95 && f_171^0==f_171^post_95 && head_32^0==head_32^post_95 && head_SLAM_f_29^0==head_SLAM_f_29^post_95 && i_30^0==i_30^post_95 && i_95^0==i_95^post_95 && len_134^0==len_134^post_95 && len_187^0==len_187^post_95 && length_28^0==length_28^post_95 && nondet_12^0==nondet_12^post_95 && r_126^0==r_126^post_95 && rcd_59^0==rcd_59^post_95 && rcd_89^0==rcd_89^post_95 && result_11^0==result_11^post_95 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_95 && t_22^0==t_22^post_95 && temp0_16^0==temp0_16^post_95 && temp0_31^0==temp0_31^post_95 && temp_35^0==temp_35^post_95 && tmp_34^0==tmp_34^post_95 && x_131^0==x_131^post_95 && x_176^0==x_176^post_95 && x_19^0==x_19^post_95 && x_26^0==x_26^post_95 && x_SLAM_f_17^0==x_SLAM_f_17^post_95 && y_18^0==y_18^post_95 && y_25^0==y_25^post_95 ], cost: 1 2: l2 -> l0 : a_118^0'=a_118^post_3, a_149^0'=a_149^post_3, a_188^0'=a_188^post_3, a_225^0'=a_225^post_3, a_281^0'=a_281^post_3, a_289^0'=a_289^post_3, a_342^0'=a_342^post_3, a_343^0'=a_343^post_3, f_171^0'=f_171^post_3, head_15^0'=head_15^post_3, head_32^0'=head_32^post_3, head_SLAM_f_29^0'=head_SLAM_f_29^post_3, i_110^0'=i_110^post_3, i_30^0'=i_30^post_3, i_95^0'=i_95^post_3, len_134^0'=len_134^post_3, len_187^0'=len_187^post_3, length_28^0'=length_28^post_3, nondet_12^0'=nondet_12^post_3, r_126^0'=r_126^post_3, r_165^0'=r_165^post_3, r_39^0'=r_39^post_3, rcd_59^0'=rcd_59^post_3, rcd_89^0'=rcd_89^post_3, result_11^0'=result_11^post_3, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_3, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_3, t_22^0'=t_22^post_3, tail_14^0'=tail_14^post_3, temp0_16^0'=temp0_16^post_3, temp0_31^0'=temp0_31^post_3, temp_35^0'=temp_35^post_3, tmp_34^0'=tmp_34^post_3, x_131^0'=x_131^post_3, x_176^0'=x_176^post_3, x_19^0'=x_19^post_3, x_26^0'=x_26^post_3, x_SLAM_f_17^0'=x_SLAM_f_17^post_3, x_SLAM_f_24^0'=x_SLAM_f_24^post_3, y_18^0'=y_18^post_3, y_25^0'=y_25^post_3, [ a_118^0==a_118^post_3 && a_149^0==a_149^post_3 && a_188^0==a_188^post_3 && a_225^0==a_225^post_3 && a_281^0==a_281^post_3 && a_289^0==a_289^post_3 && a_342^0==a_342^post_3 && a_343^0==a_343^post_3 && f_171^0==f_171^post_3 && head_15^0==head_15^post_3 && head_32^0==head_32^post_3 && head_SLAM_f_29^0==head_SLAM_f_29^post_3 && i_110^0==i_110^post_3 && i_30^0==i_30^post_3 && i_95^0==i_95^post_3 && len_134^0==len_134^post_3 && len_187^0==len_187^post_3 && length_28^0==length_28^post_3 && nondet_12^0==nondet_12^post_3 && r_126^0==r_126^post_3 && r_165^0==r_165^post_3 && r_39^0==r_39^post_3 && rcd_59^0==rcd_59^post_3 && rcd_89^0==rcd_89^post_3 && result_11^0==result_11^post_3 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_3 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_3 && t_22^0==t_22^post_3 && tail_14^0==tail_14^post_3 && temp0_16^0==temp0_16^post_3 && temp0_31^0==temp0_31^post_3 && temp_35^0==temp_35^post_3 && tmp_34^0==tmp_34^post_3 && x_131^0==x_131^post_3 && x_176^0==x_176^post_3 && x_19^0==x_19^post_3 && x_26^0==x_26^post_3 && x_SLAM_f_17^0==x_SLAM_f_17^post_3 && x_SLAM_f_24^0==x_SLAM_f_24^post_3 && y_18^0==y_18^post_3 && y_25^0==y_25^post_3 ], cost: 1 4: l3 -> l5 : a_118^0'=a_118^post_5, a_149^0'=a_149^post_5, a_188^0'=a_188^post_5, a_225^0'=a_225^post_5, a_281^0'=a_281^post_5, a_289^0'=a_289^post_5, a_342^0'=a_342^post_5, a_343^0'=a_343^post_5, f_171^0'=f_171^post_5, head_15^0'=head_15^post_5, head_32^0'=head_32^post_5, head_SLAM_f_29^0'=head_SLAM_f_29^post_5, i_110^0'=i_110^post_5, i_30^0'=i_30^post_5, i_95^0'=i_95^post_5, len_134^0'=len_134^post_5, len_187^0'=len_187^post_5, length_28^0'=length_28^post_5, nondet_12^0'=nondet_12^post_5, r_126^0'=r_126^post_5, r_165^0'=r_165^post_5, r_39^0'=r_39^post_5, rcd_59^0'=rcd_59^post_5, rcd_89^0'=rcd_89^post_5, result_11^0'=result_11^post_5, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_5, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_5, t_22^0'=t_22^post_5, tail_14^0'=tail_14^post_5, temp0_16^0'=temp0_16^post_5, temp0_31^0'=temp0_31^post_5, temp_35^0'=temp_35^post_5, tmp_34^0'=tmp_34^post_5, x_131^0'=x_131^post_5, x_176^0'=x_176^post_5, x_19^0'=x_19^post_5, x_26^0'=x_26^post_5, x_SLAM_f_17^0'=x_SLAM_f_17^post_5, x_SLAM_f_24^0'=x_SLAM_f_24^post_5, y_18^0'=y_18^post_5, y_25^0'=y_25^post_5, [ result_dot_nondet_sdv_special_RETURN_VALUE_13^post_5==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_5 && tail_14^post_5==tail_14^post_5 && head_SLAM_f_29^post_5==head_SLAM_f_29^post_5 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_5==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_5 && 1+i_30^0<=length_28^0 && tmp_34^post_5==temp_35^0 && temp_35^post_5==temp_35^post_5 && head_32^post_5==tmp_34^post_5 && i_30^post_5==1+i_30^0 && 1<=i_30^post_5 && i_30^post_5<=1 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_5<=length_28^0 && length_28^0<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_5 && tail_14^post_5<=head_SLAM_f_29^post_5 && head_SLAM_f_29^post_5<=tail_14^post_5 && head_32^post_5<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_5 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_5<=head_32^post_5 && head_32^post_5<=tmp_34^post_5 && tmp_34^post_5<=head_32^post_5 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_5<=tmp_34^post_5 && tmp_34^post_5<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_5 && 1<=length_28^0 && a_118^0==a_118^post_5 && a_149^0==a_149^post_5 && a_188^0==a_188^post_5 && a_225^0==a_225^post_5 && a_281^0==a_281^post_5 && a_289^0==a_289^post_5 && a_342^0==a_342^post_5 && a_343^0==a_343^post_5 && f_171^0==f_171^post_5 && head_15^0==head_15^post_5 && i_110^0==i_110^post_5 && i_95^0==i_95^post_5 && len_134^0==len_134^post_5 && len_187^0==len_187^post_5 && length_28^0==length_28^post_5 && nondet_12^0==nondet_12^post_5 && r_126^0==r_126^post_5 && r_165^0==r_165^post_5 && r_39^0==r_39^post_5 && rcd_59^0==rcd_59^post_5 && rcd_89^0==rcd_89^post_5 && result_11^0==result_11^post_5 && t_22^0==t_22^post_5 && temp0_16^0==temp0_16^post_5 && temp0_31^0==temp0_31^post_5 && x_131^0==x_131^post_5 && x_176^0==x_176^post_5 && x_19^0==x_19^post_5 && x_26^0==x_26^post_5 && x_SLAM_f_17^0==x_SLAM_f_17^post_5 && x_SLAM_f_24^0==x_SLAM_f_24^post_5 && y_18^0==y_18^post_5 && y_25^0==y_25^post_5 ], cost: 1 102: l5 -> l0 : a_118^0'=a_118^post_103, a_149^0'=a_149^post_103, a_188^0'=a_188^post_103, a_225^0'=a_225^post_103, a_281^0'=a_281^post_103, a_289^0'=a_289^post_103, a_342^0'=a_342^post_103, a_343^0'=a_343^post_103, f_171^0'=f_171^post_103, head_15^0'=head_15^post_103, head_32^0'=head_32^post_103, head_SLAM_f_29^0'=head_SLAM_f_29^post_103, i_110^0'=i_110^post_103, i_30^0'=i_30^post_103, i_95^0'=i_95^post_103, len_134^0'=len_134^post_103, len_187^0'=len_187^post_103, length_28^0'=length_28^post_103, nondet_12^0'=nondet_12^post_103, r_126^0'=r_126^post_103, r_165^0'=r_165^post_103, r_39^0'=r_39^post_103, rcd_59^0'=rcd_59^post_103, rcd_89^0'=rcd_89^post_103, result_11^0'=result_11^post_103, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_103, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_103, t_22^0'=t_22^post_103, tail_14^0'=tail_14^post_103, temp0_16^0'=temp0_16^post_103, temp0_31^0'=temp0_31^post_103, temp_35^0'=temp_35^post_103, tmp_34^0'=tmp_34^post_103, x_131^0'=x_131^post_103, x_176^0'=x_176^post_103, x_19^0'=x_19^post_103, x_26^0'=x_26^post_103, x_SLAM_f_17^0'=x_SLAM_f_17^post_103, x_SLAM_f_24^0'=x_SLAM_f_24^post_103, y_18^0'=y_18^post_103, y_25^0'=y_25^post_103, [ result_dot_nondet_sdv_special_RETURN_VALUE_13^post_103==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_103 && tail_14^post_103==tail_14^post_103 && head_SLAM_f_29^post_103==head_SLAM_f_29^post_103 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_103==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_103 && rcd_59^post_103==rcd_59^post_103 && 1+i_30^0<=length_28^0 && tmp_34^post_103==temp_35^0 && temp_35^post_103==temp_35^post_103 && head_32^post_103==tmp_34^post_103 && i_30^post_103==1+i_30^0 && 2<=i_30^post_103 && i_30^post_103<=2 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_103<=length_28^0 && length_28^0<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_103 && tail_14^post_103<=head_SLAM_f_29^post_103 && head_SLAM_f_29^post_103<=tail_14^post_103 && head_32^post_103<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_103 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_103<=head_32^post_103 && head_32^post_103<=tmp_34^post_103 && tmp_34^post_103<=head_32^post_103 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_103<=tmp_34^post_103 && tmp_34^post_103<=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_103 && 1<=length_28^0 && 2<=length_28^0 && a_118^0==a_118^post_103 && a_149^0==a_149^post_103 && a_188^0==a_188^post_103 && a_225^0==a_225^post_103 && a_281^0==a_281^post_103 && a_289^0==a_289^post_103 && a_342^0==a_342^post_103 && a_343^0==a_343^post_103 && f_171^0==f_171^post_103 && head_15^0==head_15^post_103 && i_110^0==i_110^post_103 && i_95^0==i_95^post_103 && len_134^0==len_134^post_103 && len_187^0==len_187^post_103 && length_28^0==length_28^post_103 && nondet_12^0==nondet_12^post_103 && r_126^0==r_126^post_103 && r_165^0==r_165^post_103 && r_39^0==r_39^post_103 && rcd_89^0==rcd_89^post_103 && result_11^0==result_11^post_103 && t_22^0==t_22^post_103 && temp0_16^0==temp0_16^post_103 && temp0_31^0==temp0_31^post_103 && x_131^0==x_131^post_103 && x_176^0==x_176^post_103 && x_19^0==x_19^post_103 && x_26^0==x_26^post_103 && x_SLAM_f_17^0==x_SLAM_f_17^post_103 && x_SLAM_f_24^0==x_SLAM_f_24^post_103 && y_18^0==y_18^post_103 && y_25^0==y_25^post_103 ], cost: 1 6: l6 -> l8 : a_118^0'=a_118^post_7, a_149^0'=a_149^post_7, a_188^0'=a_188^post_7, a_225^0'=a_225^post_7, a_281^0'=a_281^post_7, a_289^0'=a_289^post_7, a_342^0'=a_342^post_7, a_343^0'=a_343^post_7, f_171^0'=f_171^post_7, head_15^0'=head_15^post_7, head_32^0'=head_32^post_7, head_SLAM_f_29^0'=head_SLAM_f_29^post_7, i_110^0'=i_110^post_7, i_30^0'=i_30^post_7, i_95^0'=i_95^post_7, len_134^0'=len_134^post_7, len_187^0'=len_187^post_7, length_28^0'=length_28^post_7, nondet_12^0'=nondet_12^post_7, r_126^0'=r_126^post_7, r_165^0'=r_165^post_7, r_39^0'=r_39^post_7, rcd_59^0'=rcd_59^post_7, rcd_89^0'=rcd_89^post_7, result_11^0'=result_11^post_7, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_7, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7, t_22^0'=t_22^post_7, tail_14^0'=tail_14^post_7, temp0_16^0'=temp0_16^post_7, temp0_31^0'=temp0_31^post_7, temp_35^0'=temp_35^post_7, tmp_34^0'=tmp_34^post_7, x_131^0'=x_131^post_7, x_176^0'=x_176^post_7, x_19^0'=x_19^post_7, x_26^0'=x_26^post_7, x_SLAM_f_17^0'=x_SLAM_f_17^post_7, x_SLAM_f_24^0'=x_SLAM_f_24^post_7, y_18^0'=y_18^post_7, y_25^0'=y_25^post_7, [ 0<=a_149^0 && 0<=a_281^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7 && tail_14^post_7==tail_14^post_7 && head_15^post_7==head_15^post_7 && x_SLAM_f_17^post_7==x_SLAM_f_17^post_7 && r_39^post_7==r_39^post_7 && a_118^0==a_118^post_7 && a_149^0==a_149^post_7 && a_188^0==a_188^post_7 && a_225^0==a_225^post_7 && a_281^0==a_281^post_7 && a_289^0==a_289^post_7 && a_342^0==a_342^post_7 && a_343^0==a_343^post_7 && f_171^0==f_171^post_7 && head_32^0==head_32^post_7 && head_SLAM_f_29^0==head_SLAM_f_29^post_7 && i_110^0==i_110^post_7 && i_30^0==i_30^post_7 && i_95^0==i_95^post_7 && len_134^0==len_134^post_7 && len_187^0==len_187^post_7 && length_28^0==length_28^post_7 && nondet_12^0==nondet_12^post_7 && r_126^0==r_126^post_7 && r_165^0==r_165^post_7 && rcd_59^0==rcd_59^post_7 && rcd_89^0==rcd_89^post_7 && result_11^0==result_11^post_7 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_7 && t_22^0==t_22^post_7 && temp0_16^0==temp0_16^post_7 && temp0_31^0==temp0_31^post_7 && temp_35^0==temp_35^post_7 && tmp_34^0==tmp_34^post_7 && x_131^0==x_131^post_7 && x_176^0==x_176^post_7 && x_19^0==x_19^post_7 && x_26^0==x_26^post_7 && x_SLAM_f_24^0==x_SLAM_f_24^post_7 && y_18^0==y_18^post_7 && y_25^0==y_25^post_7 ], cost: 1 7: l8 -> l9 : a_118^0'=a_118^post_8, a_149^0'=a_149^post_8, a_188^0'=a_188^post_8, a_225^0'=a_225^post_8, a_281^0'=a_281^post_8, a_289^0'=a_289^post_8, a_342^0'=a_342^post_8, a_343^0'=a_343^post_8, f_171^0'=f_171^post_8, head_15^0'=head_15^post_8, head_32^0'=head_32^post_8, head_SLAM_f_29^0'=head_SLAM_f_29^post_8, i_110^0'=i_110^post_8, i_30^0'=i_30^post_8, i_95^0'=i_95^post_8, len_134^0'=len_134^post_8, len_187^0'=len_187^post_8, length_28^0'=length_28^post_8, nondet_12^0'=nondet_12^post_8, r_126^0'=r_126^post_8, r_165^0'=r_165^post_8, r_39^0'=r_39^post_8, rcd_59^0'=rcd_59^post_8, rcd_89^0'=rcd_89^post_8, result_11^0'=result_11^post_8, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_8, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_8, t_22^0'=t_22^post_8, tail_14^0'=tail_14^post_8, temp0_16^0'=temp0_16^post_8, temp0_31^0'=temp0_31^post_8, temp_35^0'=temp_35^post_8, tmp_34^0'=tmp_34^post_8, x_131^0'=x_131^post_8, x_176^0'=x_176^post_8, x_19^0'=x_19^post_8, x_26^0'=x_26^post_8, x_SLAM_f_17^0'=x_SLAM_f_17^post_8, x_SLAM_f_24^0'=x_SLAM_f_24^post_8, y_18^0'=y_18^post_8, y_25^0'=y_25^post_8, [ 1+y_18^0<=x_19^0 && a_118^0==a_118^post_8 && a_149^0==a_149^post_8 && a_188^0==a_188^post_8 && a_225^0==a_225^post_8 && a_281^0==a_281^post_8 && a_289^0==a_289^post_8 && a_342^0==a_342^post_8 && a_343^0==a_343^post_8 && f_171^0==f_171^post_8 && head_15^0==head_15^post_8 && head_32^0==head_32^post_8 && head_SLAM_f_29^0==head_SLAM_f_29^post_8 && i_110^0==i_110^post_8 && i_30^0==i_30^post_8 && i_95^0==i_95^post_8 && len_134^0==len_134^post_8 && len_187^0==len_187^post_8 && length_28^0==length_28^post_8 && nondet_12^0==nondet_12^post_8 && r_126^0==r_126^post_8 && r_165^0==r_165^post_8 && r_39^0==r_39^post_8 && rcd_59^0==rcd_59^post_8 && rcd_89^0==rcd_89^post_8 && result_11^0==result_11^post_8 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_8 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_8 && t_22^0==t_22^post_8 && tail_14^0==tail_14^post_8 && temp0_16^0==temp0_16^post_8 && temp0_31^0==temp0_31^post_8 && temp_35^0==temp_35^post_8 && tmp_34^0==tmp_34^post_8 && x_131^0==x_131^post_8 && x_176^0==x_176^post_8 && x_19^0==x_19^post_8 && x_26^0==x_26^post_8 && x_SLAM_f_17^0==x_SLAM_f_17^post_8 && x_SLAM_f_24^0==x_SLAM_f_24^post_8 && y_18^0==y_18^post_8 && y_25^0==y_25^post_8 ], cost: 1 8: l8 -> l9 : a_118^0'=a_118^post_9, a_149^0'=a_149^post_9, a_188^0'=a_188^post_9, a_225^0'=a_225^post_9, a_281^0'=a_281^post_9, a_289^0'=a_289^post_9, a_342^0'=a_342^post_9, a_343^0'=a_343^post_9, f_171^0'=f_171^post_9, head_15^0'=head_15^post_9, head_32^0'=head_32^post_9, head_SLAM_f_29^0'=head_SLAM_f_29^post_9, i_110^0'=i_110^post_9, i_30^0'=i_30^post_9, i_95^0'=i_95^post_9, len_134^0'=len_134^post_9, len_187^0'=len_187^post_9, length_28^0'=length_28^post_9, nondet_12^0'=nondet_12^post_9, r_126^0'=r_126^post_9, r_165^0'=r_165^post_9, r_39^0'=r_39^post_9, rcd_59^0'=rcd_59^post_9, rcd_89^0'=rcd_89^post_9, result_11^0'=result_11^post_9, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_9, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_9, t_22^0'=t_22^post_9, tail_14^0'=tail_14^post_9, temp0_16^0'=temp0_16^post_9, temp0_31^0'=temp0_31^post_9, temp_35^0'=temp_35^post_9, tmp_34^0'=tmp_34^post_9, x_131^0'=x_131^post_9, x_176^0'=x_176^post_9, x_19^0'=x_19^post_9, x_26^0'=x_26^post_9, x_SLAM_f_17^0'=x_SLAM_f_17^post_9, x_SLAM_f_24^0'=x_SLAM_f_24^post_9, y_18^0'=y_18^post_9, y_25^0'=y_25^post_9, [ 1+x_19^0<=y_18^0 && a_118^0==a_118^post_9 && a_149^0==a_149^post_9 && a_188^0==a_188^post_9 && a_225^0==a_225^post_9 && a_281^0==a_281^post_9 && a_289^0==a_289^post_9 && a_342^0==a_342^post_9 && a_343^0==a_343^post_9 && f_171^0==f_171^post_9 && head_15^0==head_15^post_9 && head_32^0==head_32^post_9 && head_SLAM_f_29^0==head_SLAM_f_29^post_9 && i_110^0==i_110^post_9 && i_30^0==i_30^post_9 && i_95^0==i_95^post_9 && len_134^0==len_134^post_9 && len_187^0==len_187^post_9 && length_28^0==length_28^post_9 && nondet_12^0==nondet_12^post_9 && r_126^0==r_126^post_9 && r_165^0==r_165^post_9 && r_39^0==r_39^post_9 && rcd_59^0==rcd_59^post_9 && rcd_89^0==rcd_89^post_9 && result_11^0==result_11^post_9 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_9 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_9 && t_22^0==t_22^post_9 && tail_14^0==tail_14^post_9 && temp0_16^0==temp0_16^post_9 && temp0_31^0==temp0_31^post_9 && temp_35^0==temp_35^post_9 && tmp_34^0==tmp_34^post_9 && x_131^0==x_131^post_9 && x_176^0==x_176^post_9 && x_19^0==x_19^post_9 && x_26^0==x_26^post_9 && x_SLAM_f_17^0==x_SLAM_f_17^post_9 && x_SLAM_f_24^0==x_SLAM_f_24^post_9 && y_18^0==y_18^post_9 && y_25^0==y_25^post_9 ], cost: 1 9: l9 -> l10 : a_118^0'=a_118^post_10, a_149^0'=a_149^post_10, a_188^0'=a_188^post_10, a_225^0'=a_225^post_10, a_281^0'=a_281^post_10, a_289^0'=a_289^post_10, a_342^0'=a_342^post_10, a_343^0'=a_343^post_10, f_171^0'=f_171^post_10, head_15^0'=head_15^post_10, head_32^0'=head_32^post_10, head_SLAM_f_29^0'=head_SLAM_f_29^post_10, i_110^0'=i_110^post_10, i_30^0'=i_30^post_10, i_95^0'=i_95^post_10, len_134^0'=len_134^post_10, len_187^0'=len_187^post_10, length_28^0'=length_28^post_10, nondet_12^0'=nondet_12^post_10, r_126^0'=r_126^post_10, r_165^0'=r_165^post_10, r_39^0'=r_39^post_10, rcd_59^0'=rcd_59^post_10, rcd_89^0'=rcd_89^post_10, result_11^0'=result_11^post_10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_10, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_10, t_22^0'=t_22^post_10, tail_14^0'=tail_14^post_10, temp0_16^0'=temp0_16^post_10, temp0_31^0'=temp0_31^post_10, temp_35^0'=temp_35^post_10, tmp_34^0'=tmp_34^post_10, x_131^0'=x_131^post_10, x_176^0'=x_176^post_10, x_19^0'=x_19^post_10, x_26^0'=x_26^post_10, x_SLAM_f_17^0'=x_SLAM_f_17^post_10, x_SLAM_f_24^0'=x_SLAM_f_24^post_10, y_18^0'=y_18^post_10, y_25^0'=y_25^post_10, [ t_22^post_10==x_19^0 && a_342^post_10==a_342^post_10 && a_343^post_10==a_343^post_10 && 0<=a_342^post_10 && a_342^post_10<=0 && tail_14^0<=y_18^0 && y_18^0<=tail_14^0 && head_15^0<=x_SLAM_f_17^0 && x_SLAM_f_17^0<=head_15^0 && a_149^0<=1+a_343^post_10-a_281^0 && 1+a_343^post_10-a_281^0<=a_149^0 && a_118^0==a_118^post_10 && a_149^0==a_149^post_10 && a_188^0==a_188^post_10 && a_225^0==a_225^post_10 && a_281^0==a_281^post_10 && a_289^0==a_289^post_10 && f_171^0==f_171^post_10 && head_15^0==head_15^post_10 && head_32^0==head_32^post_10 && head_SLAM_f_29^0==head_SLAM_f_29^post_10 && i_110^0==i_110^post_10 && i_30^0==i_30^post_10 && i_95^0==i_95^post_10 && len_134^0==len_134^post_10 && len_187^0==len_187^post_10 && length_28^0==length_28^post_10 && nondet_12^0==nondet_12^post_10 && r_126^0==r_126^post_10 && r_165^0==r_165^post_10 && r_39^0==r_39^post_10 && rcd_59^0==rcd_59^post_10 && rcd_89^0==rcd_89^post_10 && result_11^0==result_11^post_10 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_10 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_10 && tail_14^0==tail_14^post_10 && temp0_16^0==temp0_16^post_10 && temp0_31^0==temp0_31^post_10 && temp_35^0==temp_35^post_10 && tmp_34^0==tmp_34^post_10 && x_131^0==x_131^post_10 && x_176^0==x_176^post_10 && x_19^0==x_19^post_10 && x_26^0==x_26^post_10 && x_SLAM_f_17^0==x_SLAM_f_17^post_10 && x_SLAM_f_24^0==x_SLAM_f_24^post_10 && y_18^0==y_18^post_10 && y_25^0==y_25^post_10 ], cost: 1 10: l10 -> l11 : a_118^0'=a_118^post_11, a_149^0'=a_149^post_11, a_188^0'=a_188^post_11, a_225^0'=a_225^post_11, a_281^0'=a_281^post_11, a_289^0'=a_289^post_11, a_342^0'=a_342^post_11, a_343^0'=a_343^post_11, f_171^0'=f_171^post_11, head_15^0'=head_15^post_11, head_32^0'=head_32^post_11, head_SLAM_f_29^0'=head_SLAM_f_29^post_11, i_110^0'=i_110^post_11, i_30^0'=i_30^post_11, i_95^0'=i_95^post_11, len_134^0'=len_134^post_11, len_187^0'=len_187^post_11, length_28^0'=length_28^post_11, nondet_12^0'=nondet_12^post_11, r_126^0'=r_126^post_11, r_165^0'=r_165^post_11, r_39^0'=r_39^post_11, rcd_59^0'=rcd_59^post_11, rcd_89^0'=rcd_89^post_11, result_11^0'=result_11^post_11, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_11, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_11, t_22^0'=t_22^post_11, tail_14^0'=tail_14^post_11, temp0_16^0'=temp0_16^post_11, temp0_31^0'=temp0_31^post_11, temp_35^0'=temp_35^post_11, tmp_34^0'=tmp_34^post_11, x_131^0'=x_131^post_11, x_176^0'=x_176^post_11, x_19^0'=x_19^post_11, x_26^0'=x_26^post_11, x_SLAM_f_17^0'=x_SLAM_f_17^post_11, x_SLAM_f_24^0'=x_SLAM_f_24^post_11, y_18^0'=y_18^post_11, y_25^0'=y_25^post_11, [ 1+tail_14^0<=head_15^0 && a_118^0==a_118^post_11 && a_149^0==a_149^post_11 && a_188^0==a_188^post_11 && a_225^0==a_225^post_11 && a_281^0==a_281^post_11 && a_289^0==a_289^post_11 && a_342^0==a_342^post_11 && a_343^0==a_343^post_11 && f_171^0==f_171^post_11 && head_15^0==head_15^post_11 && head_32^0==head_32^post_11 && head_SLAM_f_29^0==head_SLAM_f_29^post_11 && i_110^0==i_110^post_11 && i_30^0==i_30^post_11 && i_95^0==i_95^post_11 && len_134^0==len_134^post_11 && len_187^0==len_187^post_11 && length_28^0==length_28^post_11 && nondet_12^0==nondet_12^post_11 && r_126^0==r_126^post_11 && r_165^0==r_165^post_11 && r_39^0==r_39^post_11 && rcd_59^0==rcd_59^post_11 && rcd_89^0==rcd_89^post_11 && result_11^0==result_11^post_11 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_11 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_11 && t_22^0==t_22^post_11 && tail_14^0==tail_14^post_11 && temp0_16^0==temp0_16^post_11 && temp0_31^0==temp0_31^post_11 && temp_35^0==temp_35^post_11 && tmp_34^0==tmp_34^post_11 && x_131^0==x_131^post_11 && x_176^0==x_176^post_11 && x_19^0==x_19^post_11 && x_26^0==x_26^post_11 && x_SLAM_f_17^0==x_SLAM_f_17^post_11 && x_SLAM_f_24^0==x_SLAM_f_24^post_11 && y_18^0==y_18^post_11 && y_25^0==y_25^post_11 ], cost: 1 11: l10 -> l11 : a_118^0'=a_118^post_12, a_149^0'=a_149^post_12, a_188^0'=a_188^post_12, a_225^0'=a_225^post_12, a_281^0'=a_281^post_12, a_289^0'=a_289^post_12, a_342^0'=a_342^post_12, a_343^0'=a_343^post_12, f_171^0'=f_171^post_12, head_15^0'=head_15^post_12, head_32^0'=head_32^post_12, head_SLAM_f_29^0'=head_SLAM_f_29^post_12, i_110^0'=i_110^post_12, i_30^0'=i_30^post_12, i_95^0'=i_95^post_12, len_134^0'=len_134^post_12, len_187^0'=len_187^post_12, length_28^0'=length_28^post_12, nondet_12^0'=nondet_12^post_12, r_126^0'=r_126^post_12, r_165^0'=r_165^post_12, r_39^0'=r_39^post_12, rcd_59^0'=rcd_59^post_12, rcd_89^0'=rcd_89^post_12, result_11^0'=result_11^post_12, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_12, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_12, t_22^0'=t_22^post_12, tail_14^0'=tail_14^post_12, temp0_16^0'=temp0_16^post_12, temp0_31^0'=temp0_31^post_12, temp_35^0'=temp_35^post_12, tmp_34^0'=tmp_34^post_12, x_131^0'=x_131^post_12, x_176^0'=x_176^post_12, x_19^0'=x_19^post_12, x_26^0'=x_26^post_12, x_SLAM_f_17^0'=x_SLAM_f_17^post_12, x_SLAM_f_24^0'=x_SLAM_f_24^post_12, y_18^0'=y_18^post_12, y_25^0'=y_25^post_12, [ 1+head_15^0<=tail_14^0 && a_118^0==a_118^post_12 && a_149^0==a_149^post_12 && a_188^0==a_188^post_12 && a_225^0==a_225^post_12 && a_281^0==a_281^post_12 && a_289^0==a_289^post_12 && a_342^0==a_342^post_12 && a_343^0==a_343^post_12 && f_171^0==f_171^post_12 && head_15^0==head_15^post_12 && head_32^0==head_32^post_12 && head_SLAM_f_29^0==head_SLAM_f_29^post_12 && i_110^0==i_110^post_12 && i_30^0==i_30^post_12 && i_95^0==i_95^post_12 && len_134^0==len_134^post_12 && len_187^0==len_187^post_12 && length_28^0==length_28^post_12 && nondet_12^0==nondet_12^post_12 && r_126^0==r_126^post_12 && r_165^0==r_165^post_12 && r_39^0==r_39^post_12 && rcd_59^0==rcd_59^post_12 && rcd_89^0==rcd_89^post_12 && result_11^0==result_11^post_12 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_12 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_12 && t_22^0==t_22^post_12 && tail_14^0==tail_14^post_12 && temp0_16^0==temp0_16^post_12 && temp0_31^0==temp0_31^post_12 && temp_35^0==temp_35^post_12 && tmp_34^0==tmp_34^post_12 && x_131^0==x_131^post_12 && x_176^0==x_176^post_12 && x_19^0==x_19^post_12 && x_26^0==x_26^post_12 && x_SLAM_f_17^0==x_SLAM_f_17^post_12 && x_SLAM_f_24^0==x_SLAM_f_24^post_12 && y_18^0==y_18^post_12 && y_25^0==y_25^post_12 ], cost: 1 12: l11 -> l12 : a_118^0'=a_118^post_13, a_149^0'=a_149^post_13, a_188^0'=a_188^post_13, a_225^0'=a_225^post_13, a_281^0'=a_281^post_13, a_289^0'=a_289^post_13, a_342^0'=a_342^post_13, a_343^0'=a_343^post_13, f_171^0'=f_171^post_13, head_15^0'=head_15^post_13, head_32^0'=head_32^post_13, head_SLAM_f_29^0'=head_SLAM_f_29^post_13, i_110^0'=i_110^post_13, i_30^0'=i_30^post_13, i_95^0'=i_95^post_13, len_134^0'=len_134^post_13, len_187^0'=len_187^post_13, length_28^0'=length_28^post_13, nondet_12^0'=nondet_12^post_13, r_126^0'=r_126^post_13, r_165^0'=r_165^post_13, r_39^0'=r_39^post_13, rcd_59^0'=rcd_59^post_13, rcd_89^0'=rcd_89^post_13, result_11^0'=result_11^post_13, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_13, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_13, t_22^0'=t_22^post_13, tail_14^0'=tail_14^post_13, temp0_16^0'=temp0_16^post_13, temp0_31^0'=temp0_31^post_13, temp_35^0'=temp_35^post_13, tmp_34^0'=tmp_34^post_13, x_131^0'=x_131^post_13, x_176^0'=x_176^post_13, x_19^0'=x_19^post_13, x_26^0'=x_26^post_13, x_SLAM_f_17^0'=x_SLAM_f_17^post_13, x_SLAM_f_24^0'=x_SLAM_f_24^post_13, y_18^0'=y_18^post_13, y_25^0'=y_25^post_13, [ 1+head_15^0<=y_18^0 && a_118^0==a_118^post_13 && a_149^0==a_149^post_13 && a_188^0==a_188^post_13 && a_225^0==a_225^post_13 && a_281^0==a_281^post_13 && a_289^0==a_289^post_13 && a_342^0==a_342^post_13 && a_343^0==a_343^post_13 && f_171^0==f_171^post_13 && head_15^0==head_15^post_13 && head_32^0==head_32^post_13 && head_SLAM_f_29^0==head_SLAM_f_29^post_13 && i_110^0==i_110^post_13 && i_30^0==i_30^post_13 && i_95^0==i_95^post_13 && len_134^0==len_134^post_13 && len_187^0==len_187^post_13 && length_28^0==length_28^post_13 && nondet_12^0==nondet_12^post_13 && r_126^0==r_126^post_13 && r_165^0==r_165^post_13 && r_39^0==r_39^post_13 && rcd_59^0==rcd_59^post_13 && rcd_89^0==rcd_89^post_13 && result_11^0==result_11^post_13 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_13 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_13 && t_22^0==t_22^post_13 && tail_14^0==tail_14^post_13 && temp0_16^0==temp0_16^post_13 && temp0_31^0==temp0_31^post_13 && temp_35^0==temp_35^post_13 && tmp_34^0==tmp_34^post_13 && x_131^0==x_131^post_13 && x_176^0==x_176^post_13 && x_19^0==x_19^post_13 && x_26^0==x_26^post_13 && x_SLAM_f_17^0==x_SLAM_f_17^post_13 && x_SLAM_f_24^0==x_SLAM_f_24^post_13 && y_18^0==y_18^post_13 && y_25^0==y_25^post_13 ], cost: 1 13: l11 -> l12 : a_118^0'=a_118^post_14, a_149^0'=a_149^post_14, a_188^0'=a_188^post_14, a_225^0'=a_225^post_14, a_281^0'=a_281^post_14, a_289^0'=a_289^post_14, a_342^0'=a_342^post_14, a_343^0'=a_343^post_14, f_171^0'=f_171^post_14, head_15^0'=head_15^post_14, head_32^0'=head_32^post_14, head_SLAM_f_29^0'=head_SLAM_f_29^post_14, i_110^0'=i_110^post_14, i_30^0'=i_30^post_14, i_95^0'=i_95^post_14, len_134^0'=len_134^post_14, len_187^0'=len_187^post_14, length_28^0'=length_28^post_14, nondet_12^0'=nondet_12^post_14, r_126^0'=r_126^post_14, r_165^0'=r_165^post_14, r_39^0'=r_39^post_14, rcd_59^0'=rcd_59^post_14, rcd_89^0'=rcd_89^post_14, result_11^0'=result_11^post_14, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_14, t_22^0'=t_22^post_14, tail_14^0'=tail_14^post_14, temp0_16^0'=temp0_16^post_14, temp0_31^0'=temp0_31^post_14, temp_35^0'=temp_35^post_14, tmp_34^0'=tmp_34^post_14, x_131^0'=x_131^post_14, x_176^0'=x_176^post_14, x_19^0'=x_19^post_14, x_26^0'=x_26^post_14, x_SLAM_f_17^0'=x_SLAM_f_17^post_14, x_SLAM_f_24^0'=x_SLAM_f_24^post_14, y_18^0'=y_18^post_14, y_25^0'=y_25^post_14, [ 1+y_18^0<=head_15^0 && a_118^0==a_118^post_14 && a_149^0==a_149^post_14 && a_188^0==a_188^post_14 && a_225^0==a_225^post_14 && a_281^0==a_281^post_14 && a_289^0==a_289^post_14 && a_342^0==a_342^post_14 && a_343^0==a_343^post_14 && f_171^0==f_171^post_14 && head_15^0==head_15^post_14 && head_32^0==head_32^post_14 && head_SLAM_f_29^0==head_SLAM_f_29^post_14 && i_110^0==i_110^post_14 && i_30^0==i_30^post_14 && i_95^0==i_95^post_14 && len_134^0==len_134^post_14 && len_187^0==len_187^post_14 && length_28^0==length_28^post_14 && nondet_12^0==nondet_12^post_14 && r_126^0==r_126^post_14 && r_165^0==r_165^post_14 && r_39^0==r_39^post_14 && rcd_59^0==rcd_59^post_14 && rcd_89^0==rcd_89^post_14 && result_11^0==result_11^post_14 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_14 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_14 && t_22^0==t_22^post_14 && tail_14^0==tail_14^post_14 && temp0_16^0==temp0_16^post_14 && temp0_31^0==temp0_31^post_14 && temp_35^0==temp_35^post_14 && tmp_34^0==tmp_34^post_14 && x_131^0==x_131^post_14 && x_176^0==x_176^post_14 && x_19^0==x_19^post_14 && x_26^0==x_26^post_14 && x_SLAM_f_17^0==x_SLAM_f_17^post_14 && x_SLAM_f_24^0==x_SLAM_f_24^post_14 && y_18^0==y_18^post_14 && y_25^0==y_25^post_14 ], cost: 1 14: l12 -> l13 : a_118^0'=a_118^post_15, a_149^0'=a_149^post_15, a_188^0'=a_188^post_15, a_225^0'=a_225^post_15, a_281^0'=a_281^post_15, a_289^0'=a_289^post_15, a_342^0'=a_342^post_15, a_343^0'=a_343^post_15, f_171^0'=f_171^post_15, head_15^0'=head_15^post_15, head_32^0'=head_32^post_15, head_SLAM_f_29^0'=head_SLAM_f_29^post_15, i_110^0'=i_110^post_15, i_30^0'=i_30^post_15, i_95^0'=i_95^post_15, len_134^0'=len_134^post_15, len_187^0'=len_187^post_15, length_28^0'=length_28^post_15, nondet_12^0'=nondet_12^post_15, r_126^0'=r_126^post_15, r_165^0'=r_165^post_15, r_39^0'=r_39^post_15, rcd_59^0'=rcd_59^post_15, rcd_89^0'=rcd_89^post_15, result_11^0'=result_11^post_15, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_15, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_15, t_22^0'=t_22^post_15, tail_14^0'=tail_14^post_15, temp0_16^0'=temp0_16^post_15, temp0_31^0'=temp0_31^post_15, temp_35^0'=temp_35^post_15, tmp_34^0'=tmp_34^post_15, x_131^0'=x_131^post_15, x_176^0'=x_176^post_15, x_19^0'=x_19^post_15, x_26^0'=x_26^post_15, x_SLAM_f_17^0'=x_SLAM_f_17^post_15, x_SLAM_f_24^0'=x_SLAM_f_24^post_15, y_18^0'=y_18^post_15, y_25^0'=y_25^post_15, [ 1+y_18^0<=t_22^0 && a_118^0==a_118^post_15 && a_149^0==a_149^post_15 && a_188^0==a_188^post_15 && a_225^0==a_225^post_15 && a_281^0==a_281^post_15 && a_289^0==a_289^post_15 && a_342^0==a_342^post_15 && a_343^0==a_343^post_15 && f_171^0==f_171^post_15 && head_15^0==head_15^post_15 && head_32^0==head_32^post_15 && head_SLAM_f_29^0==head_SLAM_f_29^post_15 && i_110^0==i_110^post_15 && i_30^0==i_30^post_15 && i_95^0==i_95^post_15 && len_134^0==len_134^post_15 && len_187^0==len_187^post_15 && length_28^0==length_28^post_15 && nondet_12^0==nondet_12^post_15 && r_126^0==r_126^post_15 && r_165^0==r_165^post_15 && r_39^0==r_39^post_15 && rcd_59^0==rcd_59^post_15 && rcd_89^0==rcd_89^post_15 && result_11^0==result_11^post_15 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_15 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_15 && t_22^0==t_22^post_15 && tail_14^0==tail_14^post_15 && temp0_16^0==temp0_16^post_15 && temp0_31^0==temp0_31^post_15 && temp_35^0==temp_35^post_15 && tmp_34^0==tmp_34^post_15 && x_131^0==x_131^post_15 && x_176^0==x_176^post_15 && x_19^0==x_19^post_15 && x_26^0==x_26^post_15 && x_SLAM_f_17^0==x_SLAM_f_17^post_15 && x_SLAM_f_24^0==x_SLAM_f_24^post_15 && y_18^0==y_18^post_15 && y_25^0==y_25^post_15 ], cost: 1 15: l12 -> l13 : a_118^0'=a_118^post_16, a_149^0'=a_149^post_16, a_188^0'=a_188^post_16, a_225^0'=a_225^post_16, a_281^0'=a_281^post_16, a_289^0'=a_289^post_16, a_342^0'=a_342^post_16, a_343^0'=a_343^post_16, f_171^0'=f_171^post_16, head_15^0'=head_15^post_16, head_32^0'=head_32^post_16, head_SLAM_f_29^0'=head_SLAM_f_29^post_16, i_110^0'=i_110^post_16, i_30^0'=i_30^post_16, i_95^0'=i_95^post_16, len_134^0'=len_134^post_16, len_187^0'=len_187^post_16, length_28^0'=length_28^post_16, nondet_12^0'=nondet_12^post_16, r_126^0'=r_126^post_16, r_165^0'=r_165^post_16, r_39^0'=r_39^post_16, rcd_59^0'=rcd_59^post_16, rcd_89^0'=rcd_89^post_16, result_11^0'=result_11^post_16, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_16, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_16, t_22^0'=t_22^post_16, tail_14^0'=tail_14^post_16, temp0_16^0'=temp0_16^post_16, temp0_31^0'=temp0_31^post_16, temp_35^0'=temp_35^post_16, tmp_34^0'=tmp_34^post_16, x_131^0'=x_131^post_16, x_176^0'=x_176^post_16, x_19^0'=x_19^post_16, x_26^0'=x_26^post_16, x_SLAM_f_17^0'=x_SLAM_f_17^post_16, x_SLAM_f_24^0'=x_SLAM_f_24^post_16, y_18^0'=y_18^post_16, y_25^0'=y_25^post_16, [ 1+t_22^0<=y_18^0 && a_118^0==a_118^post_16 && a_149^0==a_149^post_16 && a_188^0==a_188^post_16 && a_225^0==a_225^post_16 && a_281^0==a_281^post_16 && a_289^0==a_289^post_16 && a_342^0==a_342^post_16 && a_343^0==a_343^post_16 && f_171^0==f_171^post_16 && head_15^0==head_15^post_16 && head_32^0==head_32^post_16 && head_SLAM_f_29^0==head_SLAM_f_29^post_16 && i_110^0==i_110^post_16 && i_30^0==i_30^post_16 && i_95^0==i_95^post_16 && len_134^0==len_134^post_16 && len_187^0==len_187^post_16 && length_28^0==length_28^post_16 && nondet_12^0==nondet_12^post_16 && r_126^0==r_126^post_16 && r_165^0==r_165^post_16 && r_39^0==r_39^post_16 && rcd_59^0==rcd_59^post_16 && rcd_89^0==rcd_89^post_16 && result_11^0==result_11^post_16 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_16 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_16 && t_22^0==t_22^post_16 && tail_14^0==tail_14^post_16 && temp0_16^0==temp0_16^post_16 && temp0_31^0==temp0_31^post_16 && temp_35^0==temp_35^post_16 && tmp_34^0==tmp_34^post_16 && x_131^0==x_131^post_16 && x_176^0==x_176^post_16 && x_19^0==x_19^post_16 && x_26^0==x_26^post_16 && x_SLAM_f_17^0==x_SLAM_f_17^post_16 && x_SLAM_f_24^0==x_SLAM_f_24^post_16 && y_18^0==y_18^post_16 && y_25^0==y_25^post_16 ], cost: 1 16: l13 -> l7 : a_118^0'=a_118^post_17, a_149^0'=a_149^post_17, a_188^0'=a_188^post_17, a_225^0'=a_225^post_17, a_281^0'=a_281^post_17, a_289^0'=a_289^post_17, a_342^0'=a_342^post_17, a_343^0'=a_343^post_17, f_171^0'=f_171^post_17, head_15^0'=head_15^post_17, head_32^0'=head_32^post_17, head_SLAM_f_29^0'=head_SLAM_f_29^post_17, i_110^0'=i_110^post_17, i_30^0'=i_30^post_17, i_95^0'=i_95^post_17, len_134^0'=len_134^post_17, len_187^0'=len_187^post_17, length_28^0'=length_28^post_17, nondet_12^0'=nondet_12^post_17, r_126^0'=r_126^post_17, r_165^0'=r_165^post_17, r_39^0'=r_39^post_17, rcd_59^0'=rcd_59^post_17, rcd_89^0'=rcd_89^post_17, result_11^0'=result_11^post_17, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_17, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_17, t_22^0'=t_22^post_17, tail_14^0'=tail_14^post_17, temp0_16^0'=temp0_16^post_17, temp0_31^0'=temp0_31^post_17, temp_35^0'=temp_35^post_17, tmp_34^0'=tmp_34^post_17, x_131^0'=x_131^post_17, x_176^0'=x_176^post_17, x_19^0'=x_19^post_17, x_26^0'=x_26^post_17, x_SLAM_f_17^0'=x_SLAM_f_17^post_17, x_SLAM_f_24^0'=x_SLAM_f_24^post_17, y_18^0'=y_18^post_17, y_25^0'=y_25^post_17, [ 1<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && a_281^post_17==a_281^post_17 && a_281^post_17<=a_343^0 && a_343^0<=a_281^post_17 && a_149^post_17==a_149^post_17 && a_149^post_17<=a_342^0 && a_342^0<=a_149^post_17 && a_118^0==a_118^post_17 && a_188^0==a_188^post_17 && a_225^0==a_225^post_17 && a_289^0==a_289^post_17 && a_342^0==a_342^post_17 && a_343^0==a_343^post_17 && f_171^0==f_171^post_17 && head_15^0==head_15^post_17 && head_32^0==head_32^post_17 && head_SLAM_f_29^0==head_SLAM_f_29^post_17 && i_110^0==i_110^post_17 && i_30^0==i_30^post_17 && i_95^0==i_95^post_17 && len_134^0==len_134^post_17 && len_187^0==len_187^post_17 && length_28^0==length_28^post_17 && nondet_12^0==nondet_12^post_17 && r_126^0==r_126^post_17 && r_165^0==r_165^post_17 && r_39^0==r_39^post_17 && rcd_59^0==rcd_59^post_17 && rcd_89^0==rcd_89^post_17 && result_11^0==result_11^post_17 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_17 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_17 && t_22^0==t_22^post_17 && tail_14^0==tail_14^post_17 && temp0_16^0==temp0_16^post_17 && temp0_31^0==temp0_31^post_17 && temp_35^0==temp_35^post_17 && tmp_34^0==tmp_34^post_17 && x_131^0==x_131^post_17 && x_176^0==x_176^post_17 && x_19^0==x_19^post_17 && x_26^0==x_26^post_17 && x_SLAM_f_17^0==x_SLAM_f_17^post_17 && x_SLAM_f_24^0==x_SLAM_f_24^post_17 && y_18^0==y_18^post_17 && y_25^0==y_25^post_17 ], cost: 1 17: l7 -> l6 : a_118^0'=a_118^post_18, a_149^0'=a_149^post_18, a_188^0'=a_188^post_18, a_225^0'=a_225^post_18, a_281^0'=a_281^post_18, a_289^0'=a_289^post_18, a_342^0'=a_342^post_18, a_343^0'=a_343^post_18, f_171^0'=f_171^post_18, head_15^0'=head_15^post_18, head_32^0'=head_32^post_18, head_SLAM_f_29^0'=head_SLAM_f_29^post_18, i_110^0'=i_110^post_18, i_30^0'=i_30^post_18, i_95^0'=i_95^post_18, len_134^0'=len_134^post_18, len_187^0'=len_187^post_18, length_28^0'=length_28^post_18, nondet_12^0'=nondet_12^post_18, r_126^0'=r_126^post_18, r_165^0'=r_165^post_18, r_39^0'=r_39^post_18, rcd_59^0'=rcd_59^post_18, rcd_89^0'=rcd_89^post_18, result_11^0'=result_11^post_18, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_18, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_18, t_22^0'=t_22^post_18, tail_14^0'=tail_14^post_18, temp0_16^0'=temp0_16^post_18, temp0_31^0'=temp0_31^post_18, temp_35^0'=temp_35^post_18, tmp_34^0'=tmp_34^post_18, x_131^0'=x_131^post_18, x_176^0'=x_176^post_18, x_19^0'=x_19^post_18, x_26^0'=x_26^post_18, x_SLAM_f_17^0'=x_SLAM_f_17^post_18, x_SLAM_f_24^0'=x_SLAM_f_24^post_18, y_18^0'=y_18^post_18, y_25^0'=y_25^post_18, [ a_118^0==a_118^post_18 && a_149^0==a_149^post_18 && a_188^0==a_188^post_18 && a_225^0==a_225^post_18 && a_281^0==a_281^post_18 && a_289^0==a_289^post_18 && a_342^0==a_342^post_18 && a_343^0==a_343^post_18 && f_171^0==f_171^post_18 && head_15^0==head_15^post_18 && head_32^0==head_32^post_18 && head_SLAM_f_29^0==head_SLAM_f_29^post_18 && i_110^0==i_110^post_18 && i_30^0==i_30^post_18 && i_95^0==i_95^post_18 && len_134^0==len_134^post_18 && len_187^0==len_187^post_18 && length_28^0==length_28^post_18 && nondet_12^0==nondet_12^post_18 && r_126^0==r_126^post_18 && r_165^0==r_165^post_18 && r_39^0==r_39^post_18 && rcd_59^0==rcd_59^post_18 && rcd_89^0==rcd_89^post_18 && result_11^0==result_11^post_18 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_18 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_18 && t_22^0==t_22^post_18 && tail_14^0==tail_14^post_18 && temp0_16^0==temp0_16^post_18 && temp0_31^0==temp0_31^post_18 && temp_35^0==temp_35^post_18 && tmp_34^0==tmp_34^post_18 && x_131^0==x_131^post_18 && x_176^0==x_176^post_18 && x_19^0==x_19^post_18 && x_26^0==x_26^post_18 && x_SLAM_f_17^0==x_SLAM_f_17^post_18 && x_SLAM_f_24^0==x_SLAM_f_24^post_18 && y_18^0==y_18^post_18 && y_25^0==y_25^post_18 ], cost: 1 33: l23 -> l24 : a_118^0'=a_118^post_34, a_149^0'=a_149^post_34, a_188^0'=a_188^post_34, a_225^0'=a_225^post_34, a_281^0'=a_281^post_34, a_289^0'=a_289^post_34, a_342^0'=a_342^post_34, a_343^0'=a_343^post_34, f_171^0'=f_171^post_34, head_15^0'=head_15^post_34, head_32^0'=head_32^post_34, head_SLAM_f_29^0'=head_SLAM_f_29^post_34, i_110^0'=i_110^post_34, i_30^0'=i_30^post_34, i_95^0'=i_95^post_34, len_134^0'=len_134^post_34, len_187^0'=len_187^post_34, length_28^0'=length_28^post_34, nondet_12^0'=nondet_12^post_34, r_126^0'=r_126^post_34, r_165^0'=r_165^post_34, r_39^0'=r_39^post_34, rcd_59^0'=rcd_59^post_34, rcd_89^0'=rcd_89^post_34, result_11^0'=result_11^post_34, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_34, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_34, t_22^0'=t_22^post_34, tail_14^0'=tail_14^post_34, temp0_16^0'=temp0_16^post_34, temp0_31^0'=temp0_31^post_34, temp_35^0'=temp_35^post_34, tmp_34^0'=tmp_34^post_34, x_131^0'=x_131^post_34, x_176^0'=x_176^post_34, x_19^0'=x_19^post_34, x_26^0'=x_26^post_34, x_SLAM_f_17^0'=x_SLAM_f_17^post_34, x_SLAM_f_24^0'=x_SLAM_f_24^post_34, y_18^0'=y_18^post_34, y_25^0'=y_25^post_34, [ 0<=a_149^0 && 0<=len_134^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_34==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_34 && tail_14^post_34==tail_14^post_34 && head_15^post_34==head_15^post_34 && x_SLAM_f_17^post_34==x_SLAM_f_17^post_34 && a_289^post_34==a_289^post_34 && a_118^0==a_118^post_34 && a_149^0==a_149^post_34 && a_188^0==a_188^post_34 && a_225^0==a_225^post_34 && a_281^0==a_281^post_34 && a_342^0==a_342^post_34 && a_343^0==a_343^post_34 && f_171^0==f_171^post_34 && head_32^0==head_32^post_34 && head_SLAM_f_29^0==head_SLAM_f_29^post_34 && i_110^0==i_110^post_34 && i_30^0==i_30^post_34 && i_95^0==i_95^post_34 && len_134^0==len_134^post_34 && len_187^0==len_187^post_34 && length_28^0==length_28^post_34 && nondet_12^0==nondet_12^post_34 && r_126^0==r_126^post_34 && r_165^0==r_165^post_34 && r_39^0==r_39^post_34 && rcd_59^0==rcd_59^post_34 && rcd_89^0==rcd_89^post_34 && result_11^0==result_11^post_34 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_34 && t_22^0==t_22^post_34 && temp0_16^0==temp0_16^post_34 && temp0_31^0==temp0_31^post_34 && temp_35^0==temp_35^post_34 && tmp_34^0==tmp_34^post_34 && x_131^0==x_131^post_34 && x_176^0==x_176^post_34 && x_19^0==x_19^post_34 && x_26^0==x_26^post_34 && x_SLAM_f_24^0==x_SLAM_f_24^post_34 && y_18^0==y_18^post_34 && y_25^0==y_25^post_34 ], cost: 1 34: l24 -> l25 : a_118^0'=a_118^post_35, a_149^0'=a_149^post_35, a_188^0'=a_188^post_35, a_225^0'=a_225^post_35, a_281^0'=a_281^post_35, a_289^0'=a_289^post_35, a_342^0'=a_342^post_35, a_343^0'=a_343^post_35, f_171^0'=f_171^post_35, head_15^0'=head_15^post_35, head_32^0'=head_32^post_35, head_SLAM_f_29^0'=head_SLAM_f_29^post_35, i_110^0'=i_110^post_35, i_30^0'=i_30^post_35, i_95^0'=i_95^post_35, len_134^0'=len_134^post_35, len_187^0'=len_187^post_35, length_28^0'=length_28^post_35, nondet_12^0'=nondet_12^post_35, r_126^0'=r_126^post_35, r_165^0'=r_165^post_35, r_39^0'=r_39^post_35, rcd_59^0'=rcd_59^post_35, rcd_89^0'=rcd_89^post_35, result_11^0'=result_11^post_35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_35, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_35, t_22^0'=t_22^post_35, tail_14^0'=tail_14^post_35, temp0_16^0'=temp0_16^post_35, temp0_31^0'=temp0_31^post_35, temp_35^0'=temp_35^post_35, tmp_34^0'=tmp_34^post_35, x_131^0'=x_131^post_35, x_176^0'=x_176^post_35, x_19^0'=x_19^post_35, x_26^0'=x_26^post_35, x_SLAM_f_17^0'=x_SLAM_f_17^post_35, x_SLAM_f_24^0'=x_SLAM_f_24^post_35, y_18^0'=y_18^post_35, y_25^0'=y_25^post_35, [ 1+y_18^0<=x_19^0 && a_118^0==a_118^post_35 && a_149^0==a_149^post_35 && a_188^0==a_188^post_35 && a_225^0==a_225^post_35 && a_281^0==a_281^post_35 && a_289^0==a_289^post_35 && a_342^0==a_342^post_35 && a_343^0==a_343^post_35 && f_171^0==f_171^post_35 && head_15^0==head_15^post_35 && head_32^0==head_32^post_35 && head_SLAM_f_29^0==head_SLAM_f_29^post_35 && i_110^0==i_110^post_35 && i_30^0==i_30^post_35 && i_95^0==i_95^post_35 && len_134^0==len_134^post_35 && len_187^0==len_187^post_35 && length_28^0==length_28^post_35 && nondet_12^0==nondet_12^post_35 && r_126^0==r_126^post_35 && r_165^0==r_165^post_35 && r_39^0==r_39^post_35 && rcd_59^0==rcd_59^post_35 && rcd_89^0==rcd_89^post_35 && result_11^0==result_11^post_35 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_35 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_35 && t_22^0==t_22^post_35 && tail_14^0==tail_14^post_35 && temp0_16^0==temp0_16^post_35 && temp0_31^0==temp0_31^post_35 && temp_35^0==temp_35^post_35 && tmp_34^0==tmp_34^post_35 && x_131^0==x_131^post_35 && x_176^0==x_176^post_35 && x_19^0==x_19^post_35 && x_26^0==x_26^post_35 && x_SLAM_f_17^0==x_SLAM_f_17^post_35 && x_SLAM_f_24^0==x_SLAM_f_24^post_35 && y_18^0==y_18^post_35 && y_25^0==y_25^post_35 ], cost: 1 35: l24 -> l25 : a_118^0'=a_118^post_36, a_149^0'=a_149^post_36, a_188^0'=a_188^post_36, a_225^0'=a_225^post_36, a_281^0'=a_281^post_36, a_289^0'=a_289^post_36, a_342^0'=a_342^post_36, a_343^0'=a_343^post_36, f_171^0'=f_171^post_36, head_15^0'=head_15^post_36, head_32^0'=head_32^post_36, head_SLAM_f_29^0'=head_SLAM_f_29^post_36, i_110^0'=i_110^post_36, i_30^0'=i_30^post_36, i_95^0'=i_95^post_36, len_134^0'=len_134^post_36, len_187^0'=len_187^post_36, length_28^0'=length_28^post_36, nondet_12^0'=nondet_12^post_36, r_126^0'=r_126^post_36, r_165^0'=r_165^post_36, r_39^0'=r_39^post_36, rcd_59^0'=rcd_59^post_36, rcd_89^0'=rcd_89^post_36, result_11^0'=result_11^post_36, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_36, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_36, t_22^0'=t_22^post_36, tail_14^0'=tail_14^post_36, temp0_16^0'=temp0_16^post_36, temp0_31^0'=temp0_31^post_36, temp_35^0'=temp_35^post_36, tmp_34^0'=tmp_34^post_36, x_131^0'=x_131^post_36, x_176^0'=x_176^post_36, x_19^0'=x_19^post_36, x_26^0'=x_26^post_36, x_SLAM_f_17^0'=x_SLAM_f_17^post_36, x_SLAM_f_24^0'=x_SLAM_f_24^post_36, y_18^0'=y_18^post_36, y_25^0'=y_25^post_36, [ 1+x_19^0<=y_18^0 && a_118^0==a_118^post_36 && a_149^0==a_149^post_36 && a_188^0==a_188^post_36 && a_225^0==a_225^post_36 && a_281^0==a_281^post_36 && a_289^0==a_289^post_36 && a_342^0==a_342^post_36 && a_343^0==a_343^post_36 && f_171^0==f_171^post_36 && head_15^0==head_15^post_36 && head_32^0==head_32^post_36 && head_SLAM_f_29^0==head_SLAM_f_29^post_36 && i_110^0==i_110^post_36 && i_30^0==i_30^post_36 && i_95^0==i_95^post_36 && len_134^0==len_134^post_36 && len_187^0==len_187^post_36 && length_28^0==length_28^post_36 && nondet_12^0==nondet_12^post_36 && r_126^0==r_126^post_36 && r_165^0==r_165^post_36 && r_39^0==r_39^post_36 && rcd_59^0==rcd_59^post_36 && rcd_89^0==rcd_89^post_36 && result_11^0==result_11^post_36 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_36 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_36 && t_22^0==t_22^post_36 && tail_14^0==tail_14^post_36 && temp0_16^0==temp0_16^post_36 && temp0_31^0==temp0_31^post_36 && temp_35^0==temp_35^post_36 && tmp_34^0==tmp_34^post_36 && x_131^0==x_131^post_36 && x_176^0==x_176^post_36 && x_19^0==x_19^post_36 && x_26^0==x_26^post_36 && x_SLAM_f_17^0==x_SLAM_f_17^post_36 && x_SLAM_f_24^0==x_SLAM_f_24^post_36 && y_18^0==y_18^post_36 && y_25^0==y_25^post_36 ], cost: 1 36: l25 -> l26 : a_118^0'=a_118^post_37, a_149^0'=a_149^post_37, a_188^0'=a_188^post_37, a_225^0'=a_225^post_37, a_281^0'=a_281^post_37, a_289^0'=a_289^post_37, a_342^0'=a_342^post_37, a_343^0'=a_343^post_37, f_171^0'=f_171^post_37, head_15^0'=head_15^post_37, head_32^0'=head_32^post_37, head_SLAM_f_29^0'=head_SLAM_f_29^post_37, i_110^0'=i_110^post_37, i_30^0'=i_30^post_37, i_95^0'=i_95^post_37, len_134^0'=len_134^post_37, len_187^0'=len_187^post_37, length_28^0'=length_28^post_37, nondet_12^0'=nondet_12^post_37, r_126^0'=r_126^post_37, r_165^0'=r_165^post_37, r_39^0'=r_39^post_37, rcd_59^0'=rcd_59^post_37, rcd_89^0'=rcd_89^post_37, result_11^0'=result_11^post_37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_37, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_37, t_22^0'=t_22^post_37, tail_14^0'=tail_14^post_37, temp0_16^0'=temp0_16^post_37, temp0_31^0'=temp0_31^post_37, temp_35^0'=temp_35^post_37, tmp_34^0'=tmp_34^post_37, x_131^0'=x_131^post_37, x_176^0'=x_176^post_37, x_19^0'=x_19^post_37, x_26^0'=x_26^post_37, x_SLAM_f_17^0'=x_SLAM_f_17^post_37, x_SLAM_f_24^0'=x_SLAM_f_24^post_37, y_18^0'=y_18^post_37, y_25^0'=y_25^post_37, [ t_22^post_37==x_19^0 && a_225^post_37==a_225^post_37 && 0<=a_289^0 && a_289^0<=0 && tail_14^0<=y_18^0 && y_18^0<=tail_14^0 && head_15^0<=x_SLAM_f_17^0 && x_SLAM_f_17^0<=head_15^0 && head_15^0<=t_22^post_37 && t_22^post_37<=head_15^0 && a_149^0<=a_281^0-a_225^post_37 && a_281^0-a_225^post_37<=a_149^0 && a_118^0==a_118^post_37 && a_149^0==a_149^post_37 && a_188^0==a_188^post_37 && a_281^0==a_281^post_37 && a_289^0==a_289^post_37 && a_342^0==a_342^post_37 && a_343^0==a_343^post_37 && f_171^0==f_171^post_37 && head_15^0==head_15^post_37 && head_32^0==head_32^post_37 && head_SLAM_f_29^0==head_SLAM_f_29^post_37 && i_110^0==i_110^post_37 && i_30^0==i_30^post_37 && i_95^0==i_95^post_37 && len_134^0==len_134^post_37 && len_187^0==len_187^post_37 && length_28^0==length_28^post_37 && nondet_12^0==nondet_12^post_37 && r_126^0==r_126^post_37 && r_165^0==r_165^post_37 && r_39^0==r_39^post_37 && rcd_59^0==rcd_59^post_37 && rcd_89^0==rcd_89^post_37 && result_11^0==result_11^post_37 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_37 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_37 && tail_14^0==tail_14^post_37 && temp0_16^0==temp0_16^post_37 && temp0_31^0==temp0_31^post_37 && temp_35^0==temp_35^post_37 && tmp_34^0==tmp_34^post_37 && x_131^0==x_131^post_37 && x_176^0==x_176^post_37 && x_19^0==x_19^post_37 && x_26^0==x_26^post_37 && x_SLAM_f_17^0==x_SLAM_f_17^post_37 && x_SLAM_f_24^0==x_SLAM_f_24^post_37 && y_18^0==y_18^post_37 && y_25^0==y_25^post_37 ], cost: 1 37: l26 -> l27 : a_118^0'=a_118^post_38, a_149^0'=a_149^post_38, a_188^0'=a_188^post_38, a_225^0'=a_225^post_38, a_281^0'=a_281^post_38, a_289^0'=a_289^post_38, a_342^0'=a_342^post_38, a_343^0'=a_343^post_38, f_171^0'=f_171^post_38, head_15^0'=head_15^post_38, head_32^0'=head_32^post_38, head_SLAM_f_29^0'=head_SLAM_f_29^post_38, i_110^0'=i_110^post_38, i_30^0'=i_30^post_38, i_95^0'=i_95^post_38, len_134^0'=len_134^post_38, len_187^0'=len_187^post_38, length_28^0'=length_28^post_38, nondet_12^0'=nondet_12^post_38, r_126^0'=r_126^post_38, r_165^0'=r_165^post_38, r_39^0'=r_39^post_38, rcd_59^0'=rcd_59^post_38, rcd_89^0'=rcd_89^post_38, result_11^0'=result_11^post_38, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_38, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_38, t_22^0'=t_22^post_38, tail_14^0'=tail_14^post_38, temp0_16^0'=temp0_16^post_38, temp0_31^0'=temp0_31^post_38, temp_35^0'=temp_35^post_38, tmp_34^0'=tmp_34^post_38, x_131^0'=x_131^post_38, x_176^0'=x_176^post_38, x_19^0'=x_19^post_38, x_26^0'=x_26^post_38, x_SLAM_f_17^0'=x_SLAM_f_17^post_38, x_SLAM_f_24^0'=x_SLAM_f_24^post_38, y_18^0'=y_18^post_38, y_25^0'=y_25^post_38, [ 1+tail_14^0<=head_15^0 && a_118^0==a_118^post_38 && a_149^0==a_149^post_38 && a_188^0==a_188^post_38 && a_225^0==a_225^post_38 && a_281^0==a_281^post_38 && a_289^0==a_289^post_38 && a_342^0==a_342^post_38 && a_343^0==a_343^post_38 && f_171^0==f_171^post_38 && head_15^0==head_15^post_38 && head_32^0==head_32^post_38 && head_SLAM_f_29^0==head_SLAM_f_29^post_38 && i_110^0==i_110^post_38 && i_30^0==i_30^post_38 && i_95^0==i_95^post_38 && len_134^0==len_134^post_38 && len_187^0==len_187^post_38 && length_28^0==length_28^post_38 && nondet_12^0==nondet_12^post_38 && r_126^0==r_126^post_38 && r_165^0==r_165^post_38 && r_39^0==r_39^post_38 && rcd_59^0==rcd_59^post_38 && rcd_89^0==rcd_89^post_38 && result_11^0==result_11^post_38 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_38 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_38 && t_22^0==t_22^post_38 && tail_14^0==tail_14^post_38 && temp0_16^0==temp0_16^post_38 && temp0_31^0==temp0_31^post_38 && temp_35^0==temp_35^post_38 && tmp_34^0==tmp_34^post_38 && x_131^0==x_131^post_38 && x_176^0==x_176^post_38 && x_19^0==x_19^post_38 && x_26^0==x_26^post_38 && x_SLAM_f_17^0==x_SLAM_f_17^post_38 && x_SLAM_f_24^0==x_SLAM_f_24^post_38 && y_18^0==y_18^post_38 && y_25^0==y_25^post_38 ], cost: 1 38: l26 -> l27 : a_118^0'=a_118^post_39, a_149^0'=a_149^post_39, a_188^0'=a_188^post_39, a_225^0'=a_225^post_39, a_281^0'=a_281^post_39, a_289^0'=a_289^post_39, a_342^0'=a_342^post_39, a_343^0'=a_343^post_39, f_171^0'=f_171^post_39, head_15^0'=head_15^post_39, head_32^0'=head_32^post_39, head_SLAM_f_29^0'=head_SLAM_f_29^post_39, i_110^0'=i_110^post_39, i_30^0'=i_30^post_39, i_95^0'=i_95^post_39, len_134^0'=len_134^post_39, len_187^0'=len_187^post_39, length_28^0'=length_28^post_39, nondet_12^0'=nondet_12^post_39, r_126^0'=r_126^post_39, r_165^0'=r_165^post_39, r_39^0'=r_39^post_39, rcd_59^0'=rcd_59^post_39, rcd_89^0'=rcd_89^post_39, result_11^0'=result_11^post_39, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_39, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_39, t_22^0'=t_22^post_39, tail_14^0'=tail_14^post_39, temp0_16^0'=temp0_16^post_39, temp0_31^0'=temp0_31^post_39, temp_35^0'=temp_35^post_39, tmp_34^0'=tmp_34^post_39, x_131^0'=x_131^post_39, x_176^0'=x_176^post_39, x_19^0'=x_19^post_39, x_26^0'=x_26^post_39, x_SLAM_f_17^0'=x_SLAM_f_17^post_39, x_SLAM_f_24^0'=x_SLAM_f_24^post_39, y_18^0'=y_18^post_39, y_25^0'=y_25^post_39, [ 1+head_15^0<=tail_14^0 && a_118^0==a_118^post_39 && a_149^0==a_149^post_39 && a_188^0==a_188^post_39 && a_225^0==a_225^post_39 && a_281^0==a_281^post_39 && a_289^0==a_289^post_39 && a_342^0==a_342^post_39 && a_343^0==a_343^post_39 && f_171^0==f_171^post_39 && head_15^0==head_15^post_39 && head_32^0==head_32^post_39 && head_SLAM_f_29^0==head_SLAM_f_29^post_39 && i_110^0==i_110^post_39 && i_30^0==i_30^post_39 && i_95^0==i_95^post_39 && len_134^0==len_134^post_39 && len_187^0==len_187^post_39 && length_28^0==length_28^post_39 && nondet_12^0==nondet_12^post_39 && r_126^0==r_126^post_39 && r_165^0==r_165^post_39 && r_39^0==r_39^post_39 && rcd_59^0==rcd_59^post_39 && rcd_89^0==rcd_89^post_39 && result_11^0==result_11^post_39 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_39 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_39 && t_22^0==t_22^post_39 && tail_14^0==tail_14^post_39 && temp0_16^0==temp0_16^post_39 && temp0_31^0==temp0_31^post_39 && temp_35^0==temp_35^post_39 && tmp_34^0==tmp_34^post_39 && x_131^0==x_131^post_39 && x_176^0==x_176^post_39 && x_19^0==x_19^post_39 && x_26^0==x_26^post_39 && x_SLAM_f_17^0==x_SLAM_f_17^post_39 && x_SLAM_f_24^0==x_SLAM_f_24^post_39 && y_18^0==y_18^post_39 && y_25^0==y_25^post_39 ], cost: 1 39: l27 -> l28 : a_118^0'=a_118^post_40, a_149^0'=a_149^post_40, a_188^0'=a_188^post_40, a_225^0'=a_225^post_40, a_281^0'=a_281^post_40, a_289^0'=a_289^post_40, a_342^0'=a_342^post_40, a_343^0'=a_343^post_40, f_171^0'=f_171^post_40, head_15^0'=head_15^post_40, head_32^0'=head_32^post_40, head_SLAM_f_29^0'=head_SLAM_f_29^post_40, i_110^0'=i_110^post_40, i_30^0'=i_30^post_40, i_95^0'=i_95^post_40, len_134^0'=len_134^post_40, len_187^0'=len_187^post_40, length_28^0'=length_28^post_40, nondet_12^0'=nondet_12^post_40, r_126^0'=r_126^post_40, r_165^0'=r_165^post_40, r_39^0'=r_39^post_40, rcd_59^0'=rcd_59^post_40, rcd_89^0'=rcd_89^post_40, result_11^0'=result_11^post_40, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_40, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_40, t_22^0'=t_22^post_40, tail_14^0'=tail_14^post_40, temp0_16^0'=temp0_16^post_40, temp0_31^0'=temp0_31^post_40, temp_35^0'=temp_35^post_40, tmp_34^0'=tmp_34^post_40, x_131^0'=x_131^post_40, x_176^0'=x_176^post_40, x_19^0'=x_19^post_40, x_26^0'=x_26^post_40, x_SLAM_f_17^0'=x_SLAM_f_17^post_40, x_SLAM_f_24^0'=x_SLAM_f_24^post_40, y_18^0'=y_18^post_40, y_25^0'=y_25^post_40, [ 1+head_15^0<=y_18^0 && a_118^0==a_118^post_40 && a_149^0==a_149^post_40 && a_188^0==a_188^post_40 && a_225^0==a_225^post_40 && a_281^0==a_281^post_40 && a_289^0==a_289^post_40 && a_342^0==a_342^post_40 && a_343^0==a_343^post_40 && f_171^0==f_171^post_40 && head_15^0==head_15^post_40 && head_32^0==head_32^post_40 && head_SLAM_f_29^0==head_SLAM_f_29^post_40 && i_110^0==i_110^post_40 && i_30^0==i_30^post_40 && i_95^0==i_95^post_40 && len_134^0==len_134^post_40 && len_187^0==len_187^post_40 && length_28^0==length_28^post_40 && nondet_12^0==nondet_12^post_40 && r_126^0==r_126^post_40 && r_165^0==r_165^post_40 && r_39^0==r_39^post_40 && rcd_59^0==rcd_59^post_40 && rcd_89^0==rcd_89^post_40 && result_11^0==result_11^post_40 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_40 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_40 && t_22^0==t_22^post_40 && tail_14^0==tail_14^post_40 && temp0_16^0==temp0_16^post_40 && temp0_31^0==temp0_31^post_40 && temp_35^0==temp_35^post_40 && tmp_34^0==tmp_34^post_40 && x_131^0==x_131^post_40 && x_176^0==x_176^post_40 && x_19^0==x_19^post_40 && x_26^0==x_26^post_40 && x_SLAM_f_17^0==x_SLAM_f_17^post_40 && x_SLAM_f_24^0==x_SLAM_f_24^post_40 && y_18^0==y_18^post_40 && y_25^0==y_25^post_40 ], cost: 1 40: l27 -> l28 : a_118^0'=a_118^post_41, a_149^0'=a_149^post_41, a_188^0'=a_188^post_41, a_225^0'=a_225^post_41, a_281^0'=a_281^post_41, a_289^0'=a_289^post_41, a_342^0'=a_342^post_41, a_343^0'=a_343^post_41, f_171^0'=f_171^post_41, head_15^0'=head_15^post_41, head_32^0'=head_32^post_41, head_SLAM_f_29^0'=head_SLAM_f_29^post_41, i_110^0'=i_110^post_41, i_30^0'=i_30^post_41, i_95^0'=i_95^post_41, len_134^0'=len_134^post_41, len_187^0'=len_187^post_41, length_28^0'=length_28^post_41, nondet_12^0'=nondet_12^post_41, r_126^0'=r_126^post_41, r_165^0'=r_165^post_41, r_39^0'=r_39^post_41, rcd_59^0'=rcd_59^post_41, rcd_89^0'=rcd_89^post_41, result_11^0'=result_11^post_41, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_41, t_22^0'=t_22^post_41, tail_14^0'=tail_14^post_41, temp0_16^0'=temp0_16^post_41, temp0_31^0'=temp0_31^post_41, temp_35^0'=temp_35^post_41, tmp_34^0'=tmp_34^post_41, x_131^0'=x_131^post_41, x_176^0'=x_176^post_41, x_19^0'=x_19^post_41, x_26^0'=x_26^post_41, x_SLAM_f_17^0'=x_SLAM_f_17^post_41, x_SLAM_f_24^0'=x_SLAM_f_24^post_41, y_18^0'=y_18^post_41, y_25^0'=y_25^post_41, [ 1+y_18^0<=head_15^0 && a_118^0==a_118^post_41 && a_149^0==a_149^post_41 && a_188^0==a_188^post_41 && a_225^0==a_225^post_41 && a_281^0==a_281^post_41 && a_289^0==a_289^post_41 && a_342^0==a_342^post_41 && a_343^0==a_343^post_41 && f_171^0==f_171^post_41 && head_15^0==head_15^post_41 && head_32^0==head_32^post_41 && head_SLAM_f_29^0==head_SLAM_f_29^post_41 && i_110^0==i_110^post_41 && i_30^0==i_30^post_41 && i_95^0==i_95^post_41 && len_134^0==len_134^post_41 && len_187^0==len_187^post_41 && length_28^0==length_28^post_41 && nondet_12^0==nondet_12^post_41 && r_126^0==r_126^post_41 && r_165^0==r_165^post_41 && r_39^0==r_39^post_41 && rcd_59^0==rcd_59^post_41 && rcd_89^0==rcd_89^post_41 && result_11^0==result_11^post_41 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_41 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_41 && t_22^0==t_22^post_41 && tail_14^0==tail_14^post_41 && temp0_16^0==temp0_16^post_41 && temp0_31^0==temp0_31^post_41 && temp_35^0==temp_35^post_41 && tmp_34^0==tmp_34^post_41 && x_131^0==x_131^post_41 && x_176^0==x_176^post_41 && x_19^0==x_19^post_41 && x_26^0==x_26^post_41 && x_SLAM_f_17^0==x_SLAM_f_17^post_41 && x_SLAM_f_24^0==x_SLAM_f_24^post_41 && y_18^0==y_18^post_41 && y_25^0==y_25^post_41 ], cost: 1 41: l28 -> l29 : a_118^0'=a_118^post_42, a_149^0'=a_149^post_42, a_188^0'=a_188^post_42, a_225^0'=a_225^post_42, a_281^0'=a_281^post_42, a_289^0'=a_289^post_42, a_342^0'=a_342^post_42, a_343^0'=a_343^post_42, f_171^0'=f_171^post_42, head_15^0'=head_15^post_42, head_32^0'=head_32^post_42, head_SLAM_f_29^0'=head_SLAM_f_29^post_42, i_110^0'=i_110^post_42, i_30^0'=i_30^post_42, i_95^0'=i_95^post_42, len_134^0'=len_134^post_42, len_187^0'=len_187^post_42, length_28^0'=length_28^post_42, nondet_12^0'=nondet_12^post_42, r_126^0'=r_126^post_42, r_165^0'=r_165^post_42, r_39^0'=r_39^post_42, rcd_59^0'=rcd_59^post_42, rcd_89^0'=rcd_89^post_42, result_11^0'=result_11^post_42, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_42, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_42, t_22^0'=t_22^post_42, tail_14^0'=tail_14^post_42, temp0_16^0'=temp0_16^post_42, temp0_31^0'=temp0_31^post_42, temp_35^0'=temp_35^post_42, tmp_34^0'=tmp_34^post_42, x_131^0'=x_131^post_42, x_176^0'=x_176^post_42, x_19^0'=x_19^post_42, x_26^0'=x_26^post_42, x_SLAM_f_17^0'=x_SLAM_f_17^post_42, x_SLAM_f_24^0'=x_SLAM_f_24^post_42, y_18^0'=y_18^post_42, y_25^0'=y_25^post_42, [ 1+y_18^0<=t_22^0 && a_118^0==a_118^post_42 && a_149^0==a_149^post_42 && a_188^0==a_188^post_42 && a_225^0==a_225^post_42 && a_281^0==a_281^post_42 && a_289^0==a_289^post_42 && a_342^0==a_342^post_42 && a_343^0==a_343^post_42 && f_171^0==f_171^post_42 && head_15^0==head_15^post_42 && head_32^0==head_32^post_42 && head_SLAM_f_29^0==head_SLAM_f_29^post_42 && i_110^0==i_110^post_42 && i_30^0==i_30^post_42 && i_95^0==i_95^post_42 && len_134^0==len_134^post_42 && len_187^0==len_187^post_42 && length_28^0==length_28^post_42 && nondet_12^0==nondet_12^post_42 && r_126^0==r_126^post_42 && r_165^0==r_165^post_42 && r_39^0==r_39^post_42 && rcd_59^0==rcd_59^post_42 && rcd_89^0==rcd_89^post_42 && result_11^0==result_11^post_42 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_42 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_42 && t_22^0==t_22^post_42 && tail_14^0==tail_14^post_42 && temp0_16^0==temp0_16^post_42 && temp0_31^0==temp0_31^post_42 && temp_35^0==temp_35^post_42 && tmp_34^0==tmp_34^post_42 && x_131^0==x_131^post_42 && x_176^0==x_176^post_42 && x_19^0==x_19^post_42 && x_26^0==x_26^post_42 && x_SLAM_f_17^0==x_SLAM_f_17^post_42 && x_SLAM_f_24^0==x_SLAM_f_24^post_42 && y_18^0==y_18^post_42 && y_25^0==y_25^post_42 ], cost: 1 42: l28 -> l29 : a_118^0'=a_118^post_43, a_149^0'=a_149^post_43, a_188^0'=a_188^post_43, a_225^0'=a_225^post_43, a_281^0'=a_281^post_43, a_289^0'=a_289^post_43, a_342^0'=a_342^post_43, a_343^0'=a_343^post_43, f_171^0'=f_171^post_43, head_15^0'=head_15^post_43, head_32^0'=head_32^post_43, head_SLAM_f_29^0'=head_SLAM_f_29^post_43, i_110^0'=i_110^post_43, i_30^0'=i_30^post_43, i_95^0'=i_95^post_43, len_134^0'=len_134^post_43, len_187^0'=len_187^post_43, length_28^0'=length_28^post_43, nondet_12^0'=nondet_12^post_43, r_126^0'=r_126^post_43, r_165^0'=r_165^post_43, r_39^0'=r_39^post_43, rcd_59^0'=rcd_59^post_43, rcd_89^0'=rcd_89^post_43, result_11^0'=result_11^post_43, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_43, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_43, t_22^0'=t_22^post_43, tail_14^0'=tail_14^post_43, temp0_16^0'=temp0_16^post_43, temp0_31^0'=temp0_31^post_43, temp_35^0'=temp_35^post_43, tmp_34^0'=tmp_34^post_43, x_131^0'=x_131^post_43, x_176^0'=x_176^post_43, x_19^0'=x_19^post_43, x_26^0'=x_26^post_43, x_SLAM_f_17^0'=x_SLAM_f_17^post_43, x_SLAM_f_24^0'=x_SLAM_f_24^post_43, y_18^0'=y_18^post_43, y_25^0'=y_25^post_43, [ 1+t_22^0<=y_18^0 && a_118^0==a_118^post_43 && a_149^0==a_149^post_43 && a_188^0==a_188^post_43 && a_225^0==a_225^post_43 && a_281^0==a_281^post_43 && a_289^0==a_289^post_43 && a_342^0==a_342^post_43 && a_343^0==a_343^post_43 && f_171^0==f_171^post_43 && head_15^0==head_15^post_43 && head_32^0==head_32^post_43 && head_SLAM_f_29^0==head_SLAM_f_29^post_43 && i_110^0==i_110^post_43 && i_30^0==i_30^post_43 && i_95^0==i_95^post_43 && len_134^0==len_134^post_43 && len_187^0==len_187^post_43 && length_28^0==length_28^post_43 && nondet_12^0==nondet_12^post_43 && r_126^0==r_126^post_43 && r_165^0==r_165^post_43 && r_39^0==r_39^post_43 && rcd_59^0==rcd_59^post_43 && rcd_89^0==rcd_89^post_43 && result_11^0==result_11^post_43 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_43 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_43 && t_22^0==t_22^post_43 && tail_14^0==tail_14^post_43 && temp0_16^0==temp0_16^post_43 && temp0_31^0==temp0_31^post_43 && temp_35^0==temp_35^post_43 && tmp_34^0==tmp_34^post_43 && x_131^0==x_131^post_43 && x_176^0==x_176^post_43 && x_19^0==x_19^post_43 && x_26^0==x_26^post_43 && x_SLAM_f_17^0==x_SLAM_f_17^post_43 && x_SLAM_f_24^0==x_SLAM_f_24^post_43 && y_18^0==y_18^post_43 && y_25^0==y_25^post_43 ], cost: 1 43: l29 -> l6 : a_118^0'=a_118^post_44, a_149^0'=a_149^post_44, a_188^0'=a_188^post_44, a_225^0'=a_225^post_44, a_281^0'=a_281^post_44, a_289^0'=a_289^post_44, a_342^0'=a_342^post_44, a_343^0'=a_343^post_44, f_171^0'=f_171^post_44, head_15^0'=head_15^post_44, head_32^0'=head_32^post_44, head_SLAM_f_29^0'=head_SLAM_f_29^post_44, i_110^0'=i_110^post_44, i_30^0'=i_30^post_44, i_95^0'=i_95^post_44, len_134^0'=len_134^post_44, len_187^0'=len_187^post_44, length_28^0'=length_28^post_44, nondet_12^0'=nondet_12^post_44, r_126^0'=r_126^post_44, r_165^0'=r_165^post_44, r_39^0'=r_39^post_44, rcd_59^0'=rcd_59^post_44, rcd_89^0'=rcd_89^post_44, result_11^0'=result_11^post_44, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_44, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_44, t_22^0'=t_22^post_44, tail_14^0'=tail_14^post_44, temp0_16^0'=temp0_16^post_44, temp0_31^0'=temp0_31^post_44, temp_35^0'=temp_35^post_44, tmp_34^0'=tmp_34^post_44, x_131^0'=x_131^post_44, x_176^0'=x_176^post_44, x_19^0'=x_19^post_44, x_26^0'=x_26^post_44, x_SLAM_f_17^0'=x_SLAM_f_17^post_44, x_SLAM_f_24^0'=x_SLAM_f_24^post_44, y_18^0'=y_18^post_44, y_25^0'=y_25^post_44, [ 1<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && len_134^post_44==len_134^post_44 && -1+len_134^post_44<=a_225^0 && a_225^0<=-1+len_134^post_44 && a_118^0==a_118^post_44 && a_149^0==a_149^post_44 && a_188^0==a_188^post_44 && a_225^0==a_225^post_44 && a_281^0==a_281^post_44 && a_289^0==a_289^post_44 && a_342^0==a_342^post_44 && a_343^0==a_343^post_44 && f_171^0==f_171^post_44 && head_15^0==head_15^post_44 && head_32^0==head_32^post_44 && head_SLAM_f_29^0==head_SLAM_f_29^post_44 && i_110^0==i_110^post_44 && i_30^0==i_30^post_44 && i_95^0==i_95^post_44 && len_187^0==len_187^post_44 && length_28^0==length_28^post_44 && nondet_12^0==nondet_12^post_44 && r_126^0==r_126^post_44 && r_165^0==r_165^post_44 && r_39^0==r_39^post_44 && rcd_59^0==rcd_59^post_44 && rcd_89^0==rcd_89^post_44 && result_11^0==result_11^post_44 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_44 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_44 && t_22^0==t_22^post_44 && tail_14^0==tail_14^post_44 && temp0_16^0==temp0_16^post_44 && temp0_31^0==temp0_31^post_44 && temp_35^0==temp_35^post_44 && tmp_34^0==tmp_34^post_44 && x_131^0==x_131^post_44 && x_176^0==x_176^post_44 && x_19^0==x_19^post_44 && x_26^0==x_26^post_44 && x_SLAM_f_17^0==x_SLAM_f_17^post_44 && x_SLAM_f_24^0==x_SLAM_f_24^post_44 && y_18^0==y_18^post_44 && y_25^0==y_25^post_44 ], cost: 1 44: l30 -> l3 : a_118^0'=a_118^post_45, a_149^0'=a_149^post_45, a_188^0'=a_188^post_45, a_225^0'=a_225^post_45, a_281^0'=a_281^post_45, a_289^0'=a_289^post_45, a_342^0'=a_342^post_45, a_343^0'=a_343^post_45, f_171^0'=f_171^post_45, head_15^0'=head_15^post_45, head_32^0'=head_32^post_45, head_SLAM_f_29^0'=head_SLAM_f_29^post_45, i_110^0'=i_110^post_45, i_30^0'=i_30^post_45, i_95^0'=i_95^post_45, len_134^0'=len_134^post_45, len_187^0'=len_187^post_45, length_28^0'=length_28^post_45, nondet_12^0'=nondet_12^post_45, r_126^0'=r_126^post_45, r_165^0'=r_165^post_45, r_39^0'=r_39^post_45, rcd_59^0'=rcd_59^post_45, rcd_89^0'=rcd_89^post_45, result_11^0'=result_11^post_45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_45, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_45, t_22^0'=t_22^post_45, tail_14^0'=tail_14^post_45, temp0_16^0'=temp0_16^post_45, temp0_31^0'=temp0_31^post_45, temp_35^0'=temp_35^post_45, tmp_34^0'=tmp_34^post_45, x_131^0'=x_131^post_45, x_176^0'=x_176^post_45, x_19^0'=x_19^post_45, x_26^0'=x_26^post_45, x_SLAM_f_17^0'=x_SLAM_f_17^post_45, x_SLAM_f_24^0'=x_SLAM_f_24^post_45, y_18^0'=y_18^post_45, y_25^0'=y_25^post_45, [ nondet_12^1_1==nondet_12^1_1 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_45==nondet_12^1_1 && nondet_12^post_45==nondet_12^post_45 && length_28^post_45==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_45 && head_SLAM_f_29^post_45==tail_14^0 && head_32^post_45==head_SLAM_f_29^post_45 && i_30^post_45==0 && 0<=i_30^post_45 && i_30^post_45<=0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_45<=length_28^post_45 && length_28^post_45<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_45 && tail_14^0<=head_SLAM_f_29^post_45 && head_SLAM_f_29^post_45<=tail_14^0 && tail_14^0<=head_32^post_45 && head_32^post_45<=tail_14^0 && head_SLAM_f_29^post_45<=head_32^post_45 && head_32^post_45<=head_SLAM_f_29^post_45 && a_118^0==a_118^post_45 && a_149^0==a_149^post_45 && a_188^0==a_188^post_45 && a_225^0==a_225^post_45 && a_281^0==a_281^post_45 && a_289^0==a_289^post_45 && a_342^0==a_342^post_45 && a_343^0==a_343^post_45 && f_171^0==f_171^post_45 && head_15^0==head_15^post_45 && i_110^0==i_110^post_45 && i_95^0==i_95^post_45 && len_134^0==len_134^post_45 && len_187^0==len_187^post_45 && r_126^0==r_126^post_45 && r_165^0==r_165^post_45 && r_39^0==r_39^post_45 && rcd_59^0==rcd_59^post_45 && rcd_89^0==rcd_89^post_45 && result_11^0==result_11^post_45 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_45 && t_22^0==t_22^post_45 && tail_14^0==tail_14^post_45 && temp0_16^0==temp0_16^post_45 && temp0_31^0==temp0_31^post_45 && temp_35^0==temp_35^post_45 && tmp_34^0==tmp_34^post_45 && x_131^0==x_131^post_45 && x_176^0==x_176^post_45 && x_19^0==x_19^post_45 && x_26^0==x_26^post_45 && x_SLAM_f_17^0==x_SLAM_f_17^post_45 && x_SLAM_f_24^0==x_SLAM_f_24^post_45 && y_18^0==y_18^post_45 && y_25^0==y_25^post_45 ], cost: 1 45: l31 -> l32 : a_118^0'=a_118^post_46, a_149^0'=a_149^post_46, a_188^0'=a_188^post_46, a_225^0'=a_225^post_46, a_281^0'=a_281^post_46, a_289^0'=a_289^post_46, a_342^0'=a_342^post_46, a_343^0'=a_343^post_46, f_171^0'=f_171^post_46, head_15^0'=head_15^post_46, head_32^0'=head_32^post_46, head_SLAM_f_29^0'=head_SLAM_f_29^post_46, i_110^0'=i_110^post_46, i_30^0'=i_30^post_46, i_95^0'=i_95^post_46, len_134^0'=len_134^post_46, len_187^0'=len_187^post_46, length_28^0'=length_28^post_46, nondet_12^0'=nondet_12^post_46, r_126^0'=r_126^post_46, r_165^0'=r_165^post_46, r_39^0'=r_39^post_46, rcd_59^0'=rcd_59^post_46, rcd_89^0'=rcd_89^post_46, result_11^0'=result_11^post_46, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_46, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_46, t_22^0'=t_22^post_46, tail_14^0'=tail_14^post_46, temp0_16^0'=temp0_16^post_46, temp0_31^0'=temp0_31^post_46, temp_35^0'=temp_35^post_46, tmp_34^0'=tmp_34^post_46, x_131^0'=x_131^post_46, x_176^0'=x_176^post_46, x_19^0'=x_19^post_46, x_26^0'=x_26^post_46, x_SLAM_f_17^0'=x_SLAM_f_17^post_46, x_SLAM_f_24^0'=x_SLAM_f_24^post_46, y_18^0'=y_18^post_46, y_25^0'=y_25^post_46, [ 0<=len_134^0 && 0<=a_149^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_46==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_46 && y_25^0<=x_26^0 && x_26^0<=y_25^0 && x_SLAM_f_24^post_46==x_SLAM_f_24^post_46 && y_25^post_46==y_25^post_46 && x_26^post_46==x_26^post_46 && x_SLAM_f_17^post_46==head_15^0 && y_18^post_46==tail_14^0 && x_19^post_46==x_SLAM_f_17^post_46 && tail_14^0<=y_18^post_46 && y_18^post_46<=tail_14^0 && head_15^0<=x_SLAM_f_17^post_46 && x_SLAM_f_17^post_46<=head_15^0 && head_15^0<=x_19^post_46 && x_19^post_46<=head_15^0 && x_SLAM_f_17^post_46<=x_19^post_46 && x_19^post_46<=x_SLAM_f_17^post_46 && a_118^0==a_118^post_46 && a_149^0==a_149^post_46 && a_188^0==a_188^post_46 && a_225^0==a_225^post_46 && a_281^0==a_281^post_46 && a_289^0==a_289^post_46 && a_342^0==a_342^post_46 && a_343^0==a_343^post_46 && f_171^0==f_171^post_46 && head_15^0==head_15^post_46 && head_32^0==head_32^post_46 && head_SLAM_f_29^0==head_SLAM_f_29^post_46 && i_110^0==i_110^post_46 && i_30^0==i_30^post_46 && i_95^0==i_95^post_46 && len_134^0==len_134^post_46 && len_187^0==len_187^post_46 && length_28^0==length_28^post_46 && nondet_12^0==nondet_12^post_46 && r_126^0==r_126^post_46 && r_165^0==r_165^post_46 && r_39^0==r_39^post_46 && rcd_59^0==rcd_59^post_46 && rcd_89^0==rcd_89^post_46 && result_11^0==result_11^post_46 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_46 && t_22^0==t_22^post_46 && tail_14^0==tail_14^post_46 && temp0_16^0==temp0_16^post_46 && temp0_31^0==temp0_31^post_46 && temp_35^0==temp_35^post_46 && tmp_34^0==tmp_34^post_46 && x_131^0==x_131^post_46 && x_176^0==x_176^post_46 ], cost: 1 49: l31 -> l35 : a_118^0'=a_118^post_50, a_149^0'=a_149^post_50, a_188^0'=a_188^post_50, a_225^0'=a_225^post_50, a_281^0'=a_281^post_50, a_289^0'=a_289^post_50, a_342^0'=a_342^post_50, a_343^0'=a_343^post_50, f_171^0'=f_171^post_50, head_15^0'=head_15^post_50, head_32^0'=head_32^post_50, head_SLAM_f_29^0'=head_SLAM_f_29^post_50, i_110^0'=i_110^post_50, i_30^0'=i_30^post_50, i_95^0'=i_95^post_50, len_134^0'=len_134^post_50, len_187^0'=len_187^post_50, length_28^0'=length_28^post_50, nondet_12^0'=nondet_12^post_50, r_126^0'=r_126^post_50, r_165^0'=r_165^post_50, r_39^0'=r_39^post_50, rcd_59^0'=rcd_59^post_50, rcd_89^0'=rcd_89^post_50, result_11^0'=result_11^post_50, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_50, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50, t_22^0'=t_22^post_50, tail_14^0'=tail_14^post_50, temp0_16^0'=temp0_16^post_50, temp0_31^0'=temp0_31^post_50, temp_35^0'=temp_35^post_50, tmp_34^0'=tmp_34^post_50, x_131^0'=x_131^post_50, x_176^0'=x_176^post_50, x_19^0'=x_19^post_50, x_26^0'=x_26^post_50, x_SLAM_f_17^0'=x_SLAM_f_17^post_50, x_SLAM_f_24^0'=x_SLAM_f_24^post_50, y_18^0'=y_18^post_50, y_25^0'=y_25^post_50, [ 0<=len_134^0 && 0<=a_149^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50 && tail_14^post_50==tail_14^post_50 && head_15^post_50==head_15^post_50 && x_SLAM_f_24^post_50==x_SLAM_f_24^post_50 && r_39^post_50==r_39^post_50 && f_171^post_50==f_171^post_50 && x_176^post_50==x_176^post_50 && a_118^0==a_118^post_50 && a_149^0==a_149^post_50 && a_188^0==a_188^post_50 && a_225^0==a_225^post_50 && a_281^0==a_281^post_50 && a_289^0==a_289^post_50 && a_342^0==a_342^post_50 && a_343^0==a_343^post_50 && head_32^0==head_32^post_50 && head_SLAM_f_29^0==head_SLAM_f_29^post_50 && i_110^0==i_110^post_50 && i_30^0==i_30^post_50 && i_95^0==i_95^post_50 && len_134^0==len_134^post_50 && len_187^0==len_187^post_50 && length_28^0==length_28^post_50 && nondet_12^0==nondet_12^post_50 && r_126^0==r_126^post_50 && r_165^0==r_165^post_50 && rcd_59^0==rcd_59^post_50 && rcd_89^0==rcd_89^post_50 && result_11^0==result_11^post_50 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_50 && t_22^0==t_22^post_50 && temp0_16^0==temp0_16^post_50 && temp0_31^0==temp0_31^post_50 && temp_35^0==temp_35^post_50 && tmp_34^0==tmp_34^post_50 && x_131^0==x_131^post_50 && x_19^0==x_19^post_50 && x_26^0==x_26^post_50 && x_SLAM_f_17^0==x_SLAM_f_17^post_50 && y_18^0==y_18^post_50 && y_25^0==y_25^post_50 ], cost: 1 46: l32 -> l33 : a_118^0'=a_118^post_47, a_149^0'=a_149^post_47, a_188^0'=a_188^post_47, a_225^0'=a_225^post_47, a_281^0'=a_281^post_47, a_289^0'=a_289^post_47, a_342^0'=a_342^post_47, a_343^0'=a_343^post_47, f_171^0'=f_171^post_47, head_15^0'=head_15^post_47, head_32^0'=head_32^post_47, head_SLAM_f_29^0'=head_SLAM_f_29^post_47, i_110^0'=i_110^post_47, i_30^0'=i_30^post_47, i_95^0'=i_95^post_47, len_134^0'=len_134^post_47, len_187^0'=len_187^post_47, length_28^0'=length_28^post_47, nondet_12^0'=nondet_12^post_47, r_126^0'=r_126^post_47, r_165^0'=r_165^post_47, r_39^0'=r_39^post_47, rcd_59^0'=rcd_59^post_47, rcd_89^0'=rcd_89^post_47, result_11^0'=result_11^post_47, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_47, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_47, t_22^0'=t_22^post_47, tail_14^0'=tail_14^post_47, temp0_16^0'=temp0_16^post_47, temp0_31^0'=temp0_31^post_47, temp_35^0'=temp_35^post_47, tmp_34^0'=tmp_34^post_47, x_131^0'=x_131^post_47, x_176^0'=x_176^post_47, x_19^0'=x_19^post_47, x_26^0'=x_26^post_47, x_SLAM_f_17^0'=x_SLAM_f_17^post_47, x_SLAM_f_24^0'=x_SLAM_f_24^post_47, y_18^0'=y_18^post_47, y_25^0'=y_25^post_47, [ 1+tail_14^0<=head_15^0 && a_118^0==a_118^post_47 && a_149^0==a_149^post_47 && a_188^0==a_188^post_47 && a_225^0==a_225^post_47 && a_281^0==a_281^post_47 && a_289^0==a_289^post_47 && a_342^0==a_342^post_47 && a_343^0==a_343^post_47 && f_171^0==f_171^post_47 && head_15^0==head_15^post_47 && head_32^0==head_32^post_47 && head_SLAM_f_29^0==head_SLAM_f_29^post_47 && i_110^0==i_110^post_47 && i_30^0==i_30^post_47 && i_95^0==i_95^post_47 && len_134^0==len_134^post_47 && len_187^0==len_187^post_47 && length_28^0==length_28^post_47 && nondet_12^0==nondet_12^post_47 && r_126^0==r_126^post_47 && r_165^0==r_165^post_47 && r_39^0==r_39^post_47 && rcd_59^0==rcd_59^post_47 && rcd_89^0==rcd_89^post_47 && result_11^0==result_11^post_47 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_47 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_47 && t_22^0==t_22^post_47 && tail_14^0==tail_14^post_47 && temp0_16^0==temp0_16^post_47 && temp0_31^0==temp0_31^post_47 && temp_35^0==temp_35^post_47 && tmp_34^0==tmp_34^post_47 && x_131^0==x_131^post_47 && x_176^0==x_176^post_47 && x_19^0==x_19^post_47 && x_26^0==x_26^post_47 && x_SLAM_f_17^0==x_SLAM_f_17^post_47 && x_SLAM_f_24^0==x_SLAM_f_24^post_47 && y_18^0==y_18^post_47 && y_25^0==y_25^post_47 ], cost: 1 47: l32 -> l33 : a_118^0'=a_118^post_48, a_149^0'=a_149^post_48, a_188^0'=a_188^post_48, a_225^0'=a_225^post_48, a_281^0'=a_281^post_48, a_289^0'=a_289^post_48, a_342^0'=a_342^post_48, a_343^0'=a_343^post_48, f_171^0'=f_171^post_48, head_15^0'=head_15^post_48, head_32^0'=head_32^post_48, head_SLAM_f_29^0'=head_SLAM_f_29^post_48, i_110^0'=i_110^post_48, i_30^0'=i_30^post_48, i_95^0'=i_95^post_48, len_134^0'=len_134^post_48, len_187^0'=len_187^post_48, length_28^0'=length_28^post_48, nondet_12^0'=nondet_12^post_48, r_126^0'=r_126^post_48, r_165^0'=r_165^post_48, r_39^0'=r_39^post_48, rcd_59^0'=rcd_59^post_48, rcd_89^0'=rcd_89^post_48, result_11^0'=result_11^post_48, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_48, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_48, t_22^0'=t_22^post_48, tail_14^0'=tail_14^post_48, temp0_16^0'=temp0_16^post_48, temp0_31^0'=temp0_31^post_48, temp_35^0'=temp_35^post_48, tmp_34^0'=tmp_34^post_48, x_131^0'=x_131^post_48, x_176^0'=x_176^post_48, x_19^0'=x_19^post_48, x_26^0'=x_26^post_48, x_SLAM_f_17^0'=x_SLAM_f_17^post_48, x_SLAM_f_24^0'=x_SLAM_f_24^post_48, y_18^0'=y_18^post_48, y_25^0'=y_25^post_48, [ 1+head_15^0<=tail_14^0 && a_118^0==a_118^post_48 && a_149^0==a_149^post_48 && a_188^0==a_188^post_48 && a_225^0==a_225^post_48 && a_281^0==a_281^post_48 && a_289^0==a_289^post_48 && a_342^0==a_342^post_48 && a_343^0==a_343^post_48 && f_171^0==f_171^post_48 && head_15^0==head_15^post_48 && head_32^0==head_32^post_48 && head_SLAM_f_29^0==head_SLAM_f_29^post_48 && i_110^0==i_110^post_48 && i_30^0==i_30^post_48 && i_95^0==i_95^post_48 && len_134^0==len_134^post_48 && len_187^0==len_187^post_48 && length_28^0==length_28^post_48 && nondet_12^0==nondet_12^post_48 && r_126^0==r_126^post_48 && r_165^0==r_165^post_48 && r_39^0==r_39^post_48 && rcd_59^0==rcd_59^post_48 && rcd_89^0==rcd_89^post_48 && result_11^0==result_11^post_48 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_48 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_48 && t_22^0==t_22^post_48 && tail_14^0==tail_14^post_48 && temp0_16^0==temp0_16^post_48 && temp0_31^0==temp0_31^post_48 && temp_35^0==temp_35^post_48 && tmp_34^0==tmp_34^post_48 && x_131^0==x_131^post_48 && x_176^0==x_176^post_48 && x_19^0==x_19^post_48 && x_26^0==x_26^post_48 && x_SLAM_f_17^0==x_SLAM_f_17^post_48 && x_SLAM_f_24^0==x_SLAM_f_24^post_48 && y_18^0==y_18^post_48 && y_25^0==y_25^post_48 ], cost: 1 48: l33 -> l23 : a_118^0'=a_118^post_49, a_149^0'=a_149^post_49, a_188^0'=a_188^post_49, a_225^0'=a_225^post_49, a_281^0'=a_281^post_49, a_289^0'=a_289^post_49, a_342^0'=a_342^post_49, a_343^0'=a_343^post_49, f_171^0'=f_171^post_49, head_15^0'=head_15^post_49, head_32^0'=head_32^post_49, head_SLAM_f_29^0'=head_SLAM_f_29^post_49, i_110^0'=i_110^post_49, i_30^0'=i_30^post_49, i_95^0'=i_95^post_49, len_134^0'=len_134^post_49, len_187^0'=len_187^post_49, length_28^0'=length_28^post_49, nondet_12^0'=nondet_12^post_49, r_126^0'=r_126^post_49, r_165^0'=r_165^post_49, r_39^0'=r_39^post_49, rcd_59^0'=rcd_59^post_49, rcd_89^0'=rcd_89^post_49, result_11^0'=result_11^post_49, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_49, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_49, t_22^0'=t_22^post_49, tail_14^0'=tail_14^post_49, temp0_16^0'=temp0_16^post_49, temp0_31^0'=temp0_31^post_49, temp_35^0'=temp_35^post_49, tmp_34^0'=tmp_34^post_49, x_131^0'=x_131^post_49, x_176^0'=x_176^post_49, x_19^0'=x_19^post_49, x_26^0'=x_26^post_49, x_SLAM_f_17^0'=x_SLAM_f_17^post_49, x_SLAM_f_24^0'=x_SLAM_f_24^post_49, y_18^0'=y_18^post_49, y_25^0'=y_25^post_49, [ 1<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && a_118^0==a_118^post_49 && a_149^0==a_149^post_49 && a_188^0==a_188^post_49 && a_225^0==a_225^post_49 && a_281^0==a_281^post_49 && a_289^0==a_289^post_49 && a_342^0==a_342^post_49 && a_343^0==a_343^post_49 && f_171^0==f_171^post_49 && head_15^0==head_15^post_49 && head_32^0==head_32^post_49 && head_SLAM_f_29^0==head_SLAM_f_29^post_49 && i_110^0==i_110^post_49 && i_30^0==i_30^post_49 && i_95^0==i_95^post_49 && len_134^0==len_134^post_49 && len_187^0==len_187^post_49 && length_28^0==length_28^post_49 && nondet_12^0==nondet_12^post_49 && r_126^0==r_126^post_49 && r_165^0==r_165^post_49 && r_39^0==r_39^post_49 && rcd_59^0==rcd_59^post_49 && rcd_89^0==rcd_89^post_49 && result_11^0==result_11^post_49 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_49 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_49 && t_22^0==t_22^post_49 && tail_14^0==tail_14^post_49 && temp0_16^0==temp0_16^post_49 && temp0_31^0==temp0_31^post_49 && temp_35^0==temp_35^post_49 && tmp_34^0==tmp_34^post_49 && x_131^0==x_131^post_49 && x_176^0==x_176^post_49 && x_19^0==x_19^post_49 && x_26^0==x_26^post_49 && x_SLAM_f_17^0==x_SLAM_f_17^post_49 && x_SLAM_f_24^0==x_SLAM_f_24^post_49 && y_18^0==y_18^post_49 && y_25^0==y_25^post_49 ], cost: 1 50: l35 -> l36 : a_118^0'=a_118^post_51, a_149^0'=a_149^post_51, a_188^0'=a_188^post_51, a_225^0'=a_225^post_51, a_281^0'=a_281^post_51, a_289^0'=a_289^post_51, a_342^0'=a_342^post_51, a_343^0'=a_343^post_51, f_171^0'=f_171^post_51, head_15^0'=head_15^post_51, head_32^0'=head_32^post_51, head_SLAM_f_29^0'=head_SLAM_f_29^post_51, i_110^0'=i_110^post_51, i_30^0'=i_30^post_51, i_95^0'=i_95^post_51, len_134^0'=len_134^post_51, len_187^0'=len_187^post_51, length_28^0'=length_28^post_51, nondet_12^0'=nondet_12^post_51, r_126^0'=r_126^post_51, r_165^0'=r_165^post_51, r_39^0'=r_39^post_51, rcd_59^0'=rcd_59^post_51, rcd_89^0'=rcd_89^post_51, result_11^0'=result_11^post_51, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_51, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_51, t_22^0'=t_22^post_51, tail_14^0'=tail_14^post_51, temp0_16^0'=temp0_16^post_51, temp0_31^0'=temp0_31^post_51, temp_35^0'=temp_35^post_51, tmp_34^0'=tmp_34^post_51, x_131^0'=x_131^post_51, x_176^0'=x_176^post_51, x_19^0'=x_19^post_51, x_26^0'=x_26^post_51, x_SLAM_f_17^0'=x_SLAM_f_17^post_51, x_SLAM_f_24^0'=x_SLAM_f_24^post_51, y_18^0'=y_18^post_51, y_25^0'=y_25^post_51, [ 1+y_25^0<=x_26^0 && a_118^0==a_118^post_51 && a_149^0==a_149^post_51 && a_188^0==a_188^post_51 && a_225^0==a_225^post_51 && a_281^0==a_281^post_51 && a_289^0==a_289^post_51 && a_342^0==a_342^post_51 && a_343^0==a_343^post_51 && f_171^0==f_171^post_51 && head_15^0==head_15^post_51 && head_32^0==head_32^post_51 && head_SLAM_f_29^0==head_SLAM_f_29^post_51 && i_110^0==i_110^post_51 && i_30^0==i_30^post_51 && i_95^0==i_95^post_51 && len_134^0==len_134^post_51 && len_187^0==len_187^post_51 && length_28^0==length_28^post_51 && nondet_12^0==nondet_12^post_51 && r_126^0==r_126^post_51 && r_165^0==r_165^post_51 && r_39^0==r_39^post_51 && rcd_59^0==rcd_59^post_51 && rcd_89^0==rcd_89^post_51 && result_11^0==result_11^post_51 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_51 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_51 && t_22^0==t_22^post_51 && tail_14^0==tail_14^post_51 && temp0_16^0==temp0_16^post_51 && temp0_31^0==temp0_31^post_51 && temp_35^0==temp_35^post_51 && tmp_34^0==tmp_34^post_51 && x_131^0==x_131^post_51 && x_176^0==x_176^post_51 && x_19^0==x_19^post_51 && x_26^0==x_26^post_51 && x_SLAM_f_17^0==x_SLAM_f_17^post_51 && x_SLAM_f_24^0==x_SLAM_f_24^post_51 && y_18^0==y_18^post_51 && y_25^0==y_25^post_51 ], cost: 1 51: l35 -> l36 : a_118^0'=a_118^post_52, a_149^0'=a_149^post_52, a_188^0'=a_188^post_52, a_225^0'=a_225^post_52, a_281^0'=a_281^post_52, a_289^0'=a_289^post_52, a_342^0'=a_342^post_52, a_343^0'=a_343^post_52, f_171^0'=f_171^post_52, head_15^0'=head_15^post_52, head_32^0'=head_32^post_52, head_SLAM_f_29^0'=head_SLAM_f_29^post_52, i_110^0'=i_110^post_52, i_30^0'=i_30^post_52, i_95^0'=i_95^post_52, len_134^0'=len_134^post_52, len_187^0'=len_187^post_52, length_28^0'=length_28^post_52, nondet_12^0'=nondet_12^post_52, r_126^0'=r_126^post_52, r_165^0'=r_165^post_52, r_39^0'=r_39^post_52, rcd_59^0'=rcd_59^post_52, rcd_89^0'=rcd_89^post_52, result_11^0'=result_11^post_52, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_52, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_52, t_22^0'=t_22^post_52, tail_14^0'=tail_14^post_52, temp0_16^0'=temp0_16^post_52, temp0_31^0'=temp0_31^post_52, temp_35^0'=temp_35^post_52, tmp_34^0'=tmp_34^post_52, x_131^0'=x_131^post_52, x_176^0'=x_176^post_52, x_19^0'=x_19^post_52, x_26^0'=x_26^post_52, x_SLAM_f_17^0'=x_SLAM_f_17^post_52, x_SLAM_f_24^0'=x_SLAM_f_24^post_52, y_18^0'=y_18^post_52, y_25^0'=y_25^post_52, [ 1+x_26^0<=y_25^0 && a_118^0==a_118^post_52 && a_149^0==a_149^post_52 && a_188^0==a_188^post_52 && a_225^0==a_225^post_52 && a_281^0==a_281^post_52 && a_289^0==a_289^post_52 && a_342^0==a_342^post_52 && a_343^0==a_343^post_52 && f_171^0==f_171^post_52 && head_15^0==head_15^post_52 && head_32^0==head_32^post_52 && head_SLAM_f_29^0==head_SLAM_f_29^post_52 && i_110^0==i_110^post_52 && i_30^0==i_30^post_52 && i_95^0==i_95^post_52 && len_134^0==len_134^post_52 && len_187^0==len_187^post_52 && length_28^0==length_28^post_52 && nondet_12^0==nondet_12^post_52 && r_126^0==r_126^post_52 && r_165^0==r_165^post_52 && r_39^0==r_39^post_52 && rcd_59^0==rcd_59^post_52 && rcd_89^0==rcd_89^post_52 && result_11^0==result_11^post_52 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_52 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_52 && t_22^0==t_22^post_52 && tail_14^0==tail_14^post_52 && temp0_16^0==temp0_16^post_52 && temp0_31^0==temp0_31^post_52 && temp_35^0==temp_35^post_52 && tmp_34^0==tmp_34^post_52 && x_131^0==x_131^post_52 && x_176^0==x_176^post_52 && x_19^0==x_19^post_52 && x_26^0==x_26^post_52 && x_SLAM_f_17^0==x_SLAM_f_17^post_52 && x_SLAM_f_24^0==x_SLAM_f_24^post_52 && y_18^0==y_18^post_52 && y_25^0==y_25^post_52 ], cost: 1 52: l36 -> l37 : a_118^0'=a_118^post_53, a_149^0'=a_149^post_53, a_188^0'=a_188^post_53, a_225^0'=a_225^post_53, a_281^0'=a_281^post_53, a_289^0'=a_289^post_53, a_342^0'=a_342^post_53, a_343^0'=a_343^post_53, f_171^0'=f_171^post_53, head_15^0'=head_15^post_53, head_32^0'=head_32^post_53, head_SLAM_f_29^0'=head_SLAM_f_29^post_53, i_110^0'=i_110^post_53, i_30^0'=i_30^post_53, i_95^0'=i_95^post_53, len_134^0'=len_134^post_53, len_187^0'=len_187^post_53, length_28^0'=length_28^post_53, nondet_12^0'=nondet_12^post_53, r_126^0'=r_126^post_53, r_165^0'=r_165^post_53, r_39^0'=r_39^post_53, rcd_59^0'=rcd_59^post_53, rcd_89^0'=rcd_89^post_53, result_11^0'=result_11^post_53, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_53, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_53, t_22^0'=t_22^post_53, tail_14^0'=tail_14^post_53, temp0_16^0'=temp0_16^post_53, temp0_31^0'=temp0_31^post_53, temp_35^0'=temp_35^post_53, tmp_34^0'=tmp_34^post_53, x_131^0'=x_131^post_53, x_176^0'=x_176^post_53, x_19^0'=x_19^post_53, x_26^0'=x_26^post_53, x_SLAM_f_17^0'=x_SLAM_f_17^post_53, x_SLAM_f_24^0'=x_SLAM_f_24^post_53, y_18^0'=y_18^post_53, y_25^0'=y_25^post_53, [ len_187^post_53==len_187^post_53 && a_188^post_53==a_188^post_53 && 1<=len_187^post_53-len_134^0 && len_187^post_53-len_134^0<=1 && tail_14^0<=y_25^0 && y_25^0<=tail_14^0 && head_15^0<=x_SLAM_f_24^0 && x_SLAM_f_24^0<=head_15^0 && x_26^0<=f_171^0 && f_171^0<=x_26^0 && a_188^post_53<=-1+a_149^0 && -1+a_149^0<=a_188^post_53 && a_118^0==a_118^post_53 && a_149^0==a_149^post_53 && a_225^0==a_225^post_53 && a_281^0==a_281^post_53 && a_289^0==a_289^post_53 && a_342^0==a_342^post_53 && a_343^0==a_343^post_53 && f_171^0==f_171^post_53 && head_15^0==head_15^post_53 && head_32^0==head_32^post_53 && head_SLAM_f_29^0==head_SLAM_f_29^post_53 && i_110^0==i_110^post_53 && i_30^0==i_30^post_53 && i_95^0==i_95^post_53 && len_134^0==len_134^post_53 && length_28^0==length_28^post_53 && nondet_12^0==nondet_12^post_53 && r_126^0==r_126^post_53 && r_165^0==r_165^post_53 && r_39^0==r_39^post_53 && rcd_59^0==rcd_59^post_53 && rcd_89^0==rcd_89^post_53 && result_11^0==result_11^post_53 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_53 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_53 && t_22^0==t_22^post_53 && tail_14^0==tail_14^post_53 && temp0_16^0==temp0_16^post_53 && temp0_31^0==temp0_31^post_53 && temp_35^0==temp_35^post_53 && tmp_34^0==tmp_34^post_53 && x_131^0==x_131^post_53 && x_176^0==x_176^post_53 && x_19^0==x_19^post_53 && x_26^0==x_26^post_53 && x_SLAM_f_17^0==x_SLAM_f_17^post_53 && x_SLAM_f_24^0==x_SLAM_f_24^post_53 && y_18^0==y_18^post_53 && y_25^0==y_25^post_53 ], cost: 1 53: l37 -> l38 : a_118^0'=a_118^post_54, a_149^0'=a_149^post_54, a_188^0'=a_188^post_54, a_225^0'=a_225^post_54, a_281^0'=a_281^post_54, a_289^0'=a_289^post_54, a_342^0'=a_342^post_54, a_343^0'=a_343^post_54, f_171^0'=f_171^post_54, head_15^0'=head_15^post_54, head_32^0'=head_32^post_54, head_SLAM_f_29^0'=head_SLAM_f_29^post_54, i_110^0'=i_110^post_54, i_30^0'=i_30^post_54, i_95^0'=i_95^post_54, len_134^0'=len_134^post_54, len_187^0'=len_187^post_54, length_28^0'=length_28^post_54, nondet_12^0'=nondet_12^post_54, r_126^0'=r_126^post_54, r_165^0'=r_165^post_54, r_39^0'=r_39^post_54, rcd_59^0'=rcd_59^post_54, rcd_89^0'=rcd_89^post_54, result_11^0'=result_11^post_54, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_54, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_54, t_22^0'=t_22^post_54, tail_14^0'=tail_14^post_54, temp0_16^0'=temp0_16^post_54, temp0_31^0'=temp0_31^post_54, temp_35^0'=temp_35^post_54, tmp_34^0'=tmp_34^post_54, x_131^0'=x_131^post_54, x_176^0'=x_176^post_54, x_19^0'=x_19^post_54, x_26^0'=x_26^post_54, x_SLAM_f_17^0'=x_SLAM_f_17^post_54, x_SLAM_f_24^0'=x_SLAM_f_24^post_54, y_18^0'=y_18^post_54, y_25^0'=y_25^post_54, [ 1+head_15^0<=y_25^0 && a_118^0==a_118^post_54 && a_149^0==a_149^post_54 && a_188^0==a_188^post_54 && a_225^0==a_225^post_54 && a_281^0==a_281^post_54 && a_289^0==a_289^post_54 && a_342^0==a_342^post_54 && a_343^0==a_343^post_54 && f_171^0==f_171^post_54 && head_15^0==head_15^post_54 && head_32^0==head_32^post_54 && head_SLAM_f_29^0==head_SLAM_f_29^post_54 && i_110^0==i_110^post_54 && i_30^0==i_30^post_54 && i_95^0==i_95^post_54 && len_134^0==len_134^post_54 && len_187^0==len_187^post_54 && length_28^0==length_28^post_54 && nondet_12^0==nondet_12^post_54 && r_126^0==r_126^post_54 && r_165^0==r_165^post_54 && r_39^0==r_39^post_54 && rcd_59^0==rcd_59^post_54 && rcd_89^0==rcd_89^post_54 && result_11^0==result_11^post_54 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_54 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_54 && t_22^0==t_22^post_54 && tail_14^0==tail_14^post_54 && temp0_16^0==temp0_16^post_54 && temp0_31^0==temp0_31^post_54 && temp_35^0==temp_35^post_54 && tmp_34^0==tmp_34^post_54 && x_131^0==x_131^post_54 && x_176^0==x_176^post_54 && x_19^0==x_19^post_54 && x_26^0==x_26^post_54 && x_SLAM_f_17^0==x_SLAM_f_17^post_54 && x_SLAM_f_24^0==x_SLAM_f_24^post_54 && y_18^0==y_18^post_54 && y_25^0==y_25^post_54 ], cost: 1 54: l37 -> l38 : a_118^0'=a_118^post_55, a_149^0'=a_149^post_55, a_188^0'=a_188^post_55, a_225^0'=a_225^post_55, a_281^0'=a_281^post_55, a_289^0'=a_289^post_55, a_342^0'=a_342^post_55, a_343^0'=a_343^post_55, f_171^0'=f_171^post_55, head_15^0'=head_15^post_55, head_32^0'=head_32^post_55, head_SLAM_f_29^0'=head_SLAM_f_29^post_55, i_110^0'=i_110^post_55, i_30^0'=i_30^post_55, i_95^0'=i_95^post_55, len_134^0'=len_134^post_55, len_187^0'=len_187^post_55, length_28^0'=length_28^post_55, nondet_12^0'=nondet_12^post_55, r_126^0'=r_126^post_55, r_165^0'=r_165^post_55, r_39^0'=r_39^post_55, rcd_59^0'=rcd_59^post_55, rcd_89^0'=rcd_89^post_55, result_11^0'=result_11^post_55, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_55, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_55, t_22^0'=t_22^post_55, tail_14^0'=tail_14^post_55, temp0_16^0'=temp0_16^post_55, temp0_31^0'=temp0_31^post_55, temp_35^0'=temp_35^post_55, tmp_34^0'=tmp_34^post_55, x_131^0'=x_131^post_55, x_176^0'=x_176^post_55, x_19^0'=x_19^post_55, x_26^0'=x_26^post_55, x_SLAM_f_17^0'=x_SLAM_f_17^post_55, x_SLAM_f_24^0'=x_SLAM_f_24^post_55, y_18^0'=y_18^post_55, y_25^0'=y_25^post_55, [ 1+y_25^0<=head_15^0 && a_118^0==a_118^post_55 && a_149^0==a_149^post_55 && a_188^0==a_188^post_55 && a_225^0==a_225^post_55 && a_281^0==a_281^post_55 && a_289^0==a_289^post_55 && a_342^0==a_342^post_55 && a_343^0==a_343^post_55 && f_171^0==f_171^post_55 && head_15^0==head_15^post_55 && head_32^0==head_32^post_55 && head_SLAM_f_29^0==head_SLAM_f_29^post_55 && i_110^0==i_110^post_55 && i_30^0==i_30^post_55 && i_95^0==i_95^post_55 && len_134^0==len_134^post_55 && len_187^0==len_187^post_55 && length_28^0==length_28^post_55 && nondet_12^0==nondet_12^post_55 && r_126^0==r_126^post_55 && r_165^0==r_165^post_55 && r_39^0==r_39^post_55 && rcd_59^0==rcd_59^post_55 && rcd_89^0==rcd_89^post_55 && result_11^0==result_11^post_55 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_55 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_55 && t_22^0==t_22^post_55 && tail_14^0==tail_14^post_55 && temp0_16^0==temp0_16^post_55 && temp0_31^0==temp0_31^post_55 && temp_35^0==temp_35^post_55 && tmp_34^0==tmp_34^post_55 && x_131^0==x_131^post_55 && x_176^0==x_176^post_55 && x_19^0==x_19^post_55 && x_26^0==x_26^post_55 && x_SLAM_f_17^0==x_SLAM_f_17^post_55 && x_SLAM_f_24^0==x_SLAM_f_24^post_55 && y_18^0==y_18^post_55 && y_25^0==y_25^post_55 ], cost: 1 55: l38 -> l39 : a_118^0'=a_118^post_56, a_149^0'=a_149^post_56, a_188^0'=a_188^post_56, a_225^0'=a_225^post_56, a_281^0'=a_281^post_56, a_289^0'=a_289^post_56, a_342^0'=a_342^post_56, a_343^0'=a_343^post_56, f_171^0'=f_171^post_56, head_15^0'=head_15^post_56, head_32^0'=head_32^post_56, head_SLAM_f_29^0'=head_SLAM_f_29^post_56, i_110^0'=i_110^post_56, i_30^0'=i_30^post_56, i_95^0'=i_95^post_56, len_134^0'=len_134^post_56, len_187^0'=len_187^post_56, length_28^0'=length_28^post_56, nondet_12^0'=nondet_12^post_56, r_126^0'=r_126^post_56, r_165^0'=r_165^post_56, r_39^0'=r_39^post_56, rcd_59^0'=rcd_59^post_56, rcd_89^0'=rcd_89^post_56, result_11^0'=result_11^post_56, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_56, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_56, t_22^0'=t_22^post_56, tail_14^0'=tail_14^post_56, temp0_16^0'=temp0_16^post_56, temp0_31^0'=temp0_31^post_56, temp_35^0'=temp_35^post_56, tmp_34^0'=tmp_34^post_56, x_131^0'=x_131^post_56, x_176^0'=x_176^post_56, x_19^0'=x_19^post_56, x_26^0'=x_26^post_56, x_SLAM_f_17^0'=x_SLAM_f_17^post_56, x_SLAM_f_24^0'=x_SLAM_f_24^post_56, y_18^0'=y_18^post_56, y_25^0'=y_25^post_56, [ 1+y_25^0<=x_176^0 && a_118^0==a_118^post_56 && a_149^0==a_149^post_56 && a_188^0==a_188^post_56 && a_225^0==a_225^post_56 && a_281^0==a_281^post_56 && a_289^0==a_289^post_56 && a_342^0==a_342^post_56 && a_343^0==a_343^post_56 && f_171^0==f_171^post_56 && head_15^0==head_15^post_56 && head_32^0==head_32^post_56 && head_SLAM_f_29^0==head_SLAM_f_29^post_56 && i_110^0==i_110^post_56 && i_30^0==i_30^post_56 && i_95^0==i_95^post_56 && len_134^0==len_134^post_56 && len_187^0==len_187^post_56 && length_28^0==length_28^post_56 && nondet_12^0==nondet_12^post_56 && r_126^0==r_126^post_56 && r_165^0==r_165^post_56 && r_39^0==r_39^post_56 && rcd_59^0==rcd_59^post_56 && rcd_89^0==rcd_89^post_56 && result_11^0==result_11^post_56 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_56 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_56 && t_22^0==t_22^post_56 && tail_14^0==tail_14^post_56 && temp0_16^0==temp0_16^post_56 && temp0_31^0==temp0_31^post_56 && temp_35^0==temp_35^post_56 && tmp_34^0==tmp_34^post_56 && x_131^0==x_131^post_56 && x_176^0==x_176^post_56 && x_19^0==x_19^post_56 && x_26^0==x_26^post_56 && x_SLAM_f_17^0==x_SLAM_f_17^post_56 && x_SLAM_f_24^0==x_SLAM_f_24^post_56 && y_18^0==y_18^post_56 && y_25^0==y_25^post_56 ], cost: 1 56: l38 -> l39 : a_118^0'=a_118^post_57, a_149^0'=a_149^post_57, a_188^0'=a_188^post_57, a_225^0'=a_225^post_57, a_281^0'=a_281^post_57, a_289^0'=a_289^post_57, a_342^0'=a_342^post_57, a_343^0'=a_343^post_57, f_171^0'=f_171^post_57, head_15^0'=head_15^post_57, head_32^0'=head_32^post_57, head_SLAM_f_29^0'=head_SLAM_f_29^post_57, i_110^0'=i_110^post_57, i_30^0'=i_30^post_57, i_95^0'=i_95^post_57, len_134^0'=len_134^post_57, len_187^0'=len_187^post_57, length_28^0'=length_28^post_57, nondet_12^0'=nondet_12^post_57, r_126^0'=r_126^post_57, r_165^0'=r_165^post_57, r_39^0'=r_39^post_57, rcd_59^0'=rcd_59^post_57, rcd_89^0'=rcd_89^post_57, result_11^0'=result_11^post_57, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_57, t_22^0'=t_22^post_57, tail_14^0'=tail_14^post_57, temp0_16^0'=temp0_16^post_57, temp0_31^0'=temp0_31^post_57, temp_35^0'=temp_35^post_57, tmp_34^0'=tmp_34^post_57, x_131^0'=x_131^post_57, x_176^0'=x_176^post_57, x_19^0'=x_19^post_57, x_26^0'=x_26^post_57, x_SLAM_f_17^0'=x_SLAM_f_17^post_57, x_SLAM_f_24^0'=x_SLAM_f_24^post_57, y_18^0'=y_18^post_57, y_25^0'=y_25^post_57, [ 1+x_176^0<=y_25^0 && a_118^0==a_118^post_57 && a_149^0==a_149^post_57 && a_188^0==a_188^post_57 && a_225^0==a_225^post_57 && a_281^0==a_281^post_57 && a_289^0==a_289^post_57 && a_342^0==a_342^post_57 && a_343^0==a_343^post_57 && f_171^0==f_171^post_57 && head_15^0==head_15^post_57 && head_32^0==head_32^post_57 && head_SLAM_f_29^0==head_SLAM_f_29^post_57 && i_110^0==i_110^post_57 && i_30^0==i_30^post_57 && i_95^0==i_95^post_57 && len_134^0==len_134^post_57 && len_187^0==len_187^post_57 && length_28^0==length_28^post_57 && nondet_12^0==nondet_12^post_57 && r_126^0==r_126^post_57 && r_165^0==r_165^post_57 && r_39^0==r_39^post_57 && rcd_59^0==rcd_59^post_57 && rcd_89^0==rcd_89^post_57 && result_11^0==result_11^post_57 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_57 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_57 && t_22^0==t_22^post_57 && tail_14^0==tail_14^post_57 && temp0_16^0==temp0_16^post_57 && temp0_31^0==temp0_31^post_57 && temp_35^0==temp_35^post_57 && tmp_34^0==tmp_34^post_57 && x_131^0==x_131^post_57 && x_176^0==x_176^post_57 && x_19^0==x_19^post_57 && x_26^0==x_26^post_57 && x_SLAM_f_17^0==x_SLAM_f_17^post_57 && x_SLAM_f_24^0==x_SLAM_f_24^post_57 && y_18^0==y_18^post_57 && y_25^0==y_25^post_57 ], cost: 1 57: l39 -> l34 : a_118^0'=a_118^post_58, a_149^0'=a_149^post_58, a_188^0'=a_188^post_58, a_225^0'=a_225^post_58, a_281^0'=a_281^post_58, a_289^0'=a_289^post_58, a_342^0'=a_342^post_58, a_343^0'=a_343^post_58, f_171^0'=f_171^post_58, head_15^0'=head_15^post_58, head_32^0'=head_32^post_58, head_SLAM_f_29^0'=head_SLAM_f_29^post_58, i_110^0'=i_110^post_58, i_30^0'=i_30^post_58, i_95^0'=i_95^post_58, len_134^0'=len_134^post_58, len_187^0'=len_187^post_58, length_28^0'=length_28^post_58, nondet_12^0'=nondet_12^post_58, r_126^0'=r_126^post_58, r_165^0'=r_165^post_58, r_39^0'=r_39^post_58, rcd_59^0'=rcd_59^post_58, rcd_89^0'=rcd_89^post_58, result_11^0'=result_11^post_58, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_58, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_58, t_22^0'=t_22^post_58, tail_14^0'=tail_14^post_58, temp0_16^0'=temp0_16^post_58, temp0_31^0'=temp0_31^post_58, temp_35^0'=temp_35^post_58, tmp_34^0'=tmp_34^post_58, x_131^0'=x_131^post_58, x_176^0'=x_176^post_58, x_19^0'=x_19^post_58, x_26^0'=x_26^post_58, x_SLAM_f_17^0'=x_SLAM_f_17^post_58, x_SLAM_f_24^0'=x_SLAM_f_24^post_58, y_18^0'=y_18^post_58, y_25^0'=y_25^post_58, [ 1<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && a_149^post_58==a_149^post_58 && a_149^post_58<=a_188^0 && a_188^0<=a_149^post_58 && len_134^post_58==len_134^post_58 && len_134^post_58<=len_187^0 && len_187^0<=len_134^post_58 && a_118^0==a_118^post_58 && a_188^0==a_188^post_58 && a_225^0==a_225^post_58 && a_281^0==a_281^post_58 && a_289^0==a_289^post_58 && a_342^0==a_342^post_58 && a_343^0==a_343^post_58 && f_171^0==f_171^post_58 && head_15^0==head_15^post_58 && head_32^0==head_32^post_58 && head_SLAM_f_29^0==head_SLAM_f_29^post_58 && i_110^0==i_110^post_58 && i_30^0==i_30^post_58 && i_95^0==i_95^post_58 && len_187^0==len_187^post_58 && length_28^0==length_28^post_58 && nondet_12^0==nondet_12^post_58 && r_126^0==r_126^post_58 && r_165^0==r_165^post_58 && r_39^0==r_39^post_58 && rcd_59^0==rcd_59^post_58 && rcd_89^0==rcd_89^post_58 && result_11^0==result_11^post_58 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_58 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_58 && t_22^0==t_22^post_58 && tail_14^0==tail_14^post_58 && temp0_16^0==temp0_16^post_58 && temp0_31^0==temp0_31^post_58 && temp_35^0==temp_35^post_58 && tmp_34^0==tmp_34^post_58 && x_131^0==x_131^post_58 && x_176^0==x_176^post_58 && x_19^0==x_19^post_58 && x_26^0==x_26^post_58 && x_SLAM_f_17^0==x_SLAM_f_17^post_58 && x_SLAM_f_24^0==x_SLAM_f_24^post_58 && y_18^0==y_18^post_58 && y_25^0==y_25^post_58 ], cost: 1 58: l34 -> l31 : a_118^0'=a_118^post_59, a_149^0'=a_149^post_59, a_188^0'=a_188^post_59, a_225^0'=a_225^post_59, a_281^0'=a_281^post_59, a_289^0'=a_289^post_59, a_342^0'=a_342^post_59, a_343^0'=a_343^post_59, f_171^0'=f_171^post_59, head_15^0'=head_15^post_59, head_32^0'=head_32^post_59, head_SLAM_f_29^0'=head_SLAM_f_29^post_59, i_110^0'=i_110^post_59, i_30^0'=i_30^post_59, i_95^0'=i_95^post_59, len_134^0'=len_134^post_59, len_187^0'=len_187^post_59, length_28^0'=length_28^post_59, nondet_12^0'=nondet_12^post_59, r_126^0'=r_126^post_59, r_165^0'=r_165^post_59, r_39^0'=r_39^post_59, rcd_59^0'=rcd_59^post_59, rcd_89^0'=rcd_89^post_59, result_11^0'=result_11^post_59, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_59, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_59, t_22^0'=t_22^post_59, tail_14^0'=tail_14^post_59, temp0_16^0'=temp0_16^post_59, temp0_31^0'=temp0_31^post_59, temp_35^0'=temp_35^post_59, tmp_34^0'=tmp_34^post_59, x_131^0'=x_131^post_59, x_176^0'=x_176^post_59, x_19^0'=x_19^post_59, x_26^0'=x_26^post_59, x_SLAM_f_17^0'=x_SLAM_f_17^post_59, x_SLAM_f_24^0'=x_SLAM_f_24^post_59, y_18^0'=y_18^post_59, y_25^0'=y_25^post_59, [ a_118^0==a_118^post_59 && a_149^0==a_149^post_59 && a_188^0==a_188^post_59 && a_225^0==a_225^post_59 && a_281^0==a_281^post_59 && a_289^0==a_289^post_59 && a_342^0==a_342^post_59 && a_343^0==a_343^post_59 && f_171^0==f_171^post_59 && head_15^0==head_15^post_59 && head_32^0==head_32^post_59 && head_SLAM_f_29^0==head_SLAM_f_29^post_59 && i_110^0==i_110^post_59 && i_30^0==i_30^post_59 && i_95^0==i_95^post_59 && len_134^0==len_134^post_59 && len_187^0==len_187^post_59 && length_28^0==length_28^post_59 && nondet_12^0==nondet_12^post_59 && r_126^0==r_126^post_59 && r_165^0==r_165^post_59 && r_39^0==r_39^post_59 && rcd_59^0==rcd_59^post_59 && rcd_89^0==rcd_89^post_59 && result_11^0==result_11^post_59 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_59 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_59 && t_22^0==t_22^post_59 && tail_14^0==tail_14^post_59 && temp0_16^0==temp0_16^post_59 && temp0_31^0==temp0_31^post_59 && temp_35^0==temp_35^post_59 && tmp_34^0==tmp_34^post_59 && x_131^0==x_131^post_59 && x_176^0==x_176^post_59 && x_19^0==x_19^post_59 && x_26^0==x_26^post_59 && x_SLAM_f_17^0==x_SLAM_f_17^post_59 && x_SLAM_f_24^0==x_SLAM_f_24^post_59 && y_18^0==y_18^post_59 && y_25^0==y_25^post_59 ], cost: 1 95: l61 -> l62 : a_118^0'=a_118^post_96, a_149^0'=a_149^post_96, a_188^0'=a_188^post_96, a_225^0'=a_225^post_96, a_281^0'=a_281^post_96, a_289^0'=a_289^post_96, a_342^0'=a_342^post_96, a_343^0'=a_343^post_96, f_171^0'=f_171^post_96, head_15^0'=head_15^post_96, head_32^0'=head_32^post_96, head_SLAM_f_29^0'=head_SLAM_f_29^post_96, i_110^0'=i_110^post_96, i_30^0'=i_30^post_96, i_95^0'=i_95^post_96, len_134^0'=len_134^post_96, len_187^0'=len_187^post_96, length_28^0'=length_28^post_96, nondet_12^0'=nondet_12^post_96, r_126^0'=r_126^post_96, r_165^0'=r_165^post_96, r_39^0'=r_39^post_96, rcd_59^0'=rcd_59^post_96, rcd_89^0'=rcd_89^post_96, result_11^0'=result_11^post_96, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_96, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_96, t_22^0'=t_22^post_96, tail_14^0'=tail_14^post_96, temp0_16^0'=temp0_16^post_96, temp0_31^0'=temp0_31^post_96, temp_35^0'=temp_35^post_96, tmp_34^0'=tmp_34^post_96, x_131^0'=x_131^post_96, x_176^0'=x_176^post_96, x_19^0'=x_19^post_96, x_26^0'=x_26^post_96, x_SLAM_f_17^0'=x_SLAM_f_17^post_96, x_SLAM_f_24^0'=x_SLAM_f_24^post_96, y_18^0'=y_18^post_96, y_25^0'=y_25^post_96, [ 1+y_25^0<=x_26^0 && a_118^0==a_118^post_96 && a_149^0==a_149^post_96 && a_188^0==a_188^post_96 && a_225^0==a_225^post_96 && a_281^0==a_281^post_96 && a_289^0==a_289^post_96 && a_342^0==a_342^post_96 && a_343^0==a_343^post_96 && f_171^0==f_171^post_96 && head_15^0==head_15^post_96 && head_32^0==head_32^post_96 && head_SLAM_f_29^0==head_SLAM_f_29^post_96 && i_110^0==i_110^post_96 && i_30^0==i_30^post_96 && i_95^0==i_95^post_96 && len_134^0==len_134^post_96 && len_187^0==len_187^post_96 && length_28^0==length_28^post_96 && nondet_12^0==nondet_12^post_96 && r_126^0==r_126^post_96 && r_165^0==r_165^post_96 && r_39^0==r_39^post_96 && rcd_59^0==rcd_59^post_96 && rcd_89^0==rcd_89^post_96 && result_11^0==result_11^post_96 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_96 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_96 && t_22^0==t_22^post_96 && tail_14^0==tail_14^post_96 && temp0_16^0==temp0_16^post_96 && temp0_31^0==temp0_31^post_96 && temp_35^0==temp_35^post_96 && tmp_34^0==tmp_34^post_96 && x_131^0==x_131^post_96 && x_176^0==x_176^post_96 && x_19^0==x_19^post_96 && x_26^0==x_26^post_96 && x_SLAM_f_17^0==x_SLAM_f_17^post_96 && x_SLAM_f_24^0==x_SLAM_f_24^post_96 && y_18^0==y_18^post_96 && y_25^0==y_25^post_96 ], cost: 1 96: l61 -> l62 : a_118^0'=a_118^post_97, a_149^0'=a_149^post_97, a_188^0'=a_188^post_97, a_225^0'=a_225^post_97, a_281^0'=a_281^post_97, a_289^0'=a_289^post_97, a_342^0'=a_342^post_97, a_343^0'=a_343^post_97, f_171^0'=f_171^post_97, head_15^0'=head_15^post_97, head_32^0'=head_32^post_97, head_SLAM_f_29^0'=head_SLAM_f_29^post_97, i_110^0'=i_110^post_97, i_30^0'=i_30^post_97, i_95^0'=i_95^post_97, len_134^0'=len_134^post_97, len_187^0'=len_187^post_97, length_28^0'=length_28^post_97, nondet_12^0'=nondet_12^post_97, r_126^0'=r_126^post_97, r_165^0'=r_165^post_97, r_39^0'=r_39^post_97, rcd_59^0'=rcd_59^post_97, rcd_89^0'=rcd_89^post_97, result_11^0'=result_11^post_97, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_97, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_97, t_22^0'=t_22^post_97, tail_14^0'=tail_14^post_97, temp0_16^0'=temp0_16^post_97, temp0_31^0'=temp0_31^post_97, temp_35^0'=temp_35^post_97, tmp_34^0'=tmp_34^post_97, x_131^0'=x_131^post_97, x_176^0'=x_176^post_97, x_19^0'=x_19^post_97, x_26^0'=x_26^post_97, x_SLAM_f_17^0'=x_SLAM_f_17^post_97, x_SLAM_f_24^0'=x_SLAM_f_24^post_97, y_18^0'=y_18^post_97, y_25^0'=y_25^post_97, [ 1+x_26^0<=y_25^0 && a_118^0==a_118^post_97 && a_149^0==a_149^post_97 && a_188^0==a_188^post_97 && a_225^0==a_225^post_97 && a_281^0==a_281^post_97 && a_289^0==a_289^post_97 && a_342^0==a_342^post_97 && a_343^0==a_343^post_97 && f_171^0==f_171^post_97 && head_15^0==head_15^post_97 && head_32^0==head_32^post_97 && head_SLAM_f_29^0==head_SLAM_f_29^post_97 && i_110^0==i_110^post_97 && i_30^0==i_30^post_97 && i_95^0==i_95^post_97 && len_134^0==len_134^post_97 && len_187^0==len_187^post_97 && length_28^0==length_28^post_97 && nondet_12^0==nondet_12^post_97 && r_126^0==r_126^post_97 && r_165^0==r_165^post_97 && r_39^0==r_39^post_97 && rcd_59^0==rcd_59^post_97 && rcd_89^0==rcd_89^post_97 && result_11^0==result_11^post_97 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_97 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_97 && t_22^0==t_22^post_97 && tail_14^0==tail_14^post_97 && temp0_16^0==temp0_16^post_97 && temp0_31^0==temp0_31^post_97 && temp_35^0==temp_35^post_97 && tmp_34^0==tmp_34^post_97 && x_131^0==x_131^post_97 && x_176^0==x_176^post_97 && x_19^0==x_19^post_97 && x_26^0==x_26^post_97 && x_SLAM_f_17^0==x_SLAM_f_17^post_97 && x_SLAM_f_24^0==x_SLAM_f_24^post_97 && y_18^0==y_18^post_97 && y_25^0==y_25^post_97 ], cost: 1 97: l62 -> l63 : a_118^0'=a_118^post_98, a_149^0'=a_149^post_98, a_188^0'=a_188^post_98, a_225^0'=a_225^post_98, a_281^0'=a_281^post_98, a_289^0'=a_289^post_98, a_342^0'=a_342^post_98, a_343^0'=a_343^post_98, f_171^0'=f_171^post_98, head_15^0'=head_15^post_98, head_32^0'=head_32^post_98, head_SLAM_f_29^0'=head_SLAM_f_29^post_98, i_110^0'=i_110^post_98, i_30^0'=i_30^post_98, i_95^0'=i_95^post_98, len_134^0'=len_134^post_98, len_187^0'=len_187^post_98, length_28^0'=length_28^post_98, nondet_12^0'=nondet_12^post_98, r_126^0'=r_126^post_98, r_165^0'=r_165^post_98, r_39^0'=r_39^post_98, rcd_59^0'=rcd_59^post_98, rcd_89^0'=rcd_89^post_98, result_11^0'=result_11^post_98, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_98, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_98, t_22^0'=t_22^post_98, tail_14^0'=tail_14^post_98, temp0_16^0'=temp0_16^post_98, temp0_31^0'=temp0_31^post_98, temp_35^0'=temp_35^post_98, tmp_34^0'=tmp_34^post_98, x_131^0'=x_131^post_98, x_176^0'=x_176^post_98, x_19^0'=x_19^post_98, x_26^0'=x_26^post_98, x_SLAM_f_17^0'=x_SLAM_f_17^post_98, x_SLAM_f_24^0'=x_SLAM_f_24^post_98, y_18^0'=y_18^post_98, y_25^0'=y_25^post_98, [ a_118^post_98==a_118^post_98 && 0<=a_149^0-a_118^post_98 && a_149^0-a_118^post_98<=0 && 1<=len_134^0 && len_134^0<=1 && tail_14^0<=y_25^0 && y_25^0<=tail_14^0 && head_15^0<=x_SLAM_f_24^0 && x_SLAM_f_24^0<=head_15^0 && a_118^post_98<=a_149^0 && a_149^0<=a_118^post_98 && a_149^0==a_149^post_98 && a_188^0==a_188^post_98 && a_225^0==a_225^post_98 && a_281^0==a_281^post_98 && a_289^0==a_289^post_98 && a_342^0==a_342^post_98 && a_343^0==a_343^post_98 && f_171^0==f_171^post_98 && head_15^0==head_15^post_98 && head_32^0==head_32^post_98 && head_SLAM_f_29^0==head_SLAM_f_29^post_98 && i_110^0==i_110^post_98 && i_30^0==i_30^post_98 && i_95^0==i_95^post_98 && len_134^0==len_134^post_98 && len_187^0==len_187^post_98 && length_28^0==length_28^post_98 && nondet_12^0==nondet_12^post_98 && r_126^0==r_126^post_98 && r_165^0==r_165^post_98 && r_39^0==r_39^post_98 && rcd_59^0==rcd_59^post_98 && rcd_89^0==rcd_89^post_98 && result_11^0==result_11^post_98 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_98 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_98 && t_22^0==t_22^post_98 && tail_14^0==tail_14^post_98 && temp0_16^0==temp0_16^post_98 && temp0_31^0==temp0_31^post_98 && temp_35^0==temp_35^post_98 && tmp_34^0==tmp_34^post_98 && x_131^0==x_131^post_98 && x_176^0==x_176^post_98 && x_19^0==x_19^post_98 && x_26^0==x_26^post_98 && x_SLAM_f_17^0==x_SLAM_f_17^post_98 && x_SLAM_f_24^0==x_SLAM_f_24^post_98 && y_18^0==y_18^post_98 && y_25^0==y_25^post_98 ], cost: 1 98: l63 -> l64 : a_118^0'=a_118^post_99, a_149^0'=a_149^post_99, a_188^0'=a_188^post_99, a_225^0'=a_225^post_99, a_281^0'=a_281^post_99, a_289^0'=a_289^post_99, a_342^0'=a_342^post_99, a_343^0'=a_343^post_99, f_171^0'=f_171^post_99, head_15^0'=head_15^post_99, head_32^0'=head_32^post_99, head_SLAM_f_29^0'=head_SLAM_f_29^post_99, i_110^0'=i_110^post_99, i_30^0'=i_30^post_99, i_95^0'=i_95^post_99, len_134^0'=len_134^post_99, len_187^0'=len_187^post_99, length_28^0'=length_28^post_99, nondet_12^0'=nondet_12^post_99, r_126^0'=r_126^post_99, r_165^0'=r_165^post_99, r_39^0'=r_39^post_99, rcd_59^0'=rcd_59^post_99, rcd_89^0'=rcd_89^post_99, result_11^0'=result_11^post_99, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_99, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_99, t_22^0'=t_22^post_99, tail_14^0'=tail_14^post_99, temp0_16^0'=temp0_16^post_99, temp0_31^0'=temp0_31^post_99, temp_35^0'=temp_35^post_99, tmp_34^0'=tmp_34^post_99, x_131^0'=x_131^post_99, x_176^0'=x_176^post_99, x_19^0'=x_19^post_99, x_26^0'=x_26^post_99, x_SLAM_f_17^0'=x_SLAM_f_17^post_99, x_SLAM_f_24^0'=x_SLAM_f_24^post_99, y_18^0'=y_18^post_99, y_25^0'=y_25^post_99, [ 1+head_15^0<=y_25^0 && a_118^0==a_118^post_99 && a_149^0==a_149^post_99 && a_188^0==a_188^post_99 && a_225^0==a_225^post_99 && a_281^0==a_281^post_99 && a_289^0==a_289^post_99 && a_342^0==a_342^post_99 && a_343^0==a_343^post_99 && f_171^0==f_171^post_99 && head_15^0==head_15^post_99 && head_32^0==head_32^post_99 && head_SLAM_f_29^0==head_SLAM_f_29^post_99 && i_110^0==i_110^post_99 && i_30^0==i_30^post_99 && i_95^0==i_95^post_99 && len_134^0==len_134^post_99 && len_187^0==len_187^post_99 && length_28^0==length_28^post_99 && nondet_12^0==nondet_12^post_99 && r_126^0==r_126^post_99 && r_165^0==r_165^post_99 && r_39^0==r_39^post_99 && rcd_59^0==rcd_59^post_99 && rcd_89^0==rcd_89^post_99 && result_11^0==result_11^post_99 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_99 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_99 && t_22^0==t_22^post_99 && tail_14^0==tail_14^post_99 && temp0_16^0==temp0_16^post_99 && temp0_31^0==temp0_31^post_99 && temp_35^0==temp_35^post_99 && tmp_34^0==tmp_34^post_99 && x_131^0==x_131^post_99 && x_176^0==x_176^post_99 && x_19^0==x_19^post_99 && x_26^0==x_26^post_99 && x_SLAM_f_17^0==x_SLAM_f_17^post_99 && x_SLAM_f_24^0==x_SLAM_f_24^post_99 && y_18^0==y_18^post_99 && y_25^0==y_25^post_99 ], cost: 1 99: l63 -> l64 : a_118^0'=a_118^post_100, a_149^0'=a_149^post_100, a_188^0'=a_188^post_100, a_225^0'=a_225^post_100, a_281^0'=a_281^post_100, a_289^0'=a_289^post_100, a_342^0'=a_342^post_100, a_343^0'=a_343^post_100, f_171^0'=f_171^post_100, head_15^0'=head_15^post_100, head_32^0'=head_32^post_100, head_SLAM_f_29^0'=head_SLAM_f_29^post_100, i_110^0'=i_110^post_100, i_30^0'=i_30^post_100, i_95^0'=i_95^post_100, len_134^0'=len_134^post_100, len_187^0'=len_187^post_100, length_28^0'=length_28^post_100, nondet_12^0'=nondet_12^post_100, r_126^0'=r_126^post_100, r_165^0'=r_165^post_100, r_39^0'=r_39^post_100, rcd_59^0'=rcd_59^post_100, rcd_89^0'=rcd_89^post_100, result_11^0'=result_11^post_100, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_100, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_100, t_22^0'=t_22^post_100, tail_14^0'=tail_14^post_100, temp0_16^0'=temp0_16^post_100, temp0_31^0'=temp0_31^post_100, temp_35^0'=temp_35^post_100, tmp_34^0'=tmp_34^post_100, x_131^0'=x_131^post_100, x_176^0'=x_176^post_100, x_19^0'=x_19^post_100, x_26^0'=x_26^post_100, x_SLAM_f_17^0'=x_SLAM_f_17^post_100, x_SLAM_f_24^0'=x_SLAM_f_24^post_100, y_18^0'=y_18^post_100, y_25^0'=y_25^post_100, [ 1+y_25^0<=head_15^0 && a_118^0==a_118^post_100 && a_149^0==a_149^post_100 && a_188^0==a_188^post_100 && a_225^0==a_225^post_100 && a_281^0==a_281^post_100 && a_289^0==a_289^post_100 && a_342^0==a_342^post_100 && a_343^0==a_343^post_100 && f_171^0==f_171^post_100 && head_15^0==head_15^post_100 && head_32^0==head_32^post_100 && head_SLAM_f_29^0==head_SLAM_f_29^post_100 && i_110^0==i_110^post_100 && i_30^0==i_30^post_100 && i_95^0==i_95^post_100 && len_134^0==len_134^post_100 && len_187^0==len_187^post_100 && length_28^0==length_28^post_100 && nondet_12^0==nondet_12^post_100 && r_126^0==r_126^post_100 && r_165^0==r_165^post_100 && r_39^0==r_39^post_100 && rcd_59^0==rcd_59^post_100 && rcd_89^0==rcd_89^post_100 && result_11^0==result_11^post_100 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_100 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_100 && t_22^0==t_22^post_100 && tail_14^0==tail_14^post_100 && temp0_16^0==temp0_16^post_100 && temp0_31^0==temp0_31^post_100 && temp_35^0==temp_35^post_100 && tmp_34^0==tmp_34^post_100 && x_131^0==x_131^post_100 && x_176^0==x_176^post_100 && x_19^0==x_19^post_100 && x_26^0==x_26^post_100 && x_SLAM_f_17^0==x_SLAM_f_17^post_100 && x_SLAM_f_24^0==x_SLAM_f_24^post_100 && y_18^0==y_18^post_100 && y_25^0==y_25^post_100 ], cost: 1 100: l64 -> l31 : a_118^0'=a_118^post_101, a_149^0'=a_149^post_101, a_188^0'=a_188^post_101, a_225^0'=a_225^post_101, a_281^0'=a_281^post_101, a_289^0'=a_289^post_101, a_342^0'=a_342^post_101, a_343^0'=a_343^post_101, f_171^0'=f_171^post_101, head_15^0'=head_15^post_101, head_32^0'=head_32^post_101, head_SLAM_f_29^0'=head_SLAM_f_29^post_101, i_110^0'=i_110^post_101, i_30^0'=i_30^post_101, i_95^0'=i_95^post_101, len_134^0'=len_134^post_101, len_187^0'=len_187^post_101, length_28^0'=length_28^post_101, nondet_12^0'=nondet_12^post_101, r_126^0'=r_126^post_101, r_165^0'=r_165^post_101, r_39^0'=r_39^post_101, rcd_59^0'=rcd_59^post_101, rcd_89^0'=rcd_89^post_101, result_11^0'=result_11^post_101, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_101, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_101, t_22^0'=t_22^post_101, tail_14^0'=tail_14^post_101, temp0_16^0'=temp0_16^post_101, temp0_31^0'=temp0_31^post_101, temp_35^0'=temp_35^post_101, tmp_34^0'=tmp_34^post_101, x_131^0'=x_131^post_101, x_176^0'=x_176^post_101, x_19^0'=x_19^post_101, x_26^0'=x_26^post_101, x_SLAM_f_17^0'=x_SLAM_f_17^post_101, x_SLAM_f_24^0'=x_SLAM_f_24^post_101, y_18^0'=y_18^post_101, y_25^0'=y_25^post_101, [ 1<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0<=i_110^0 && i_110^post_101==i_110^post_101 && -1+i_110^post_101<=a_118^0 && a_118^0<=-1+i_110^post_101 && a_118^0==a_118^post_101 && a_149^0==a_149^post_101 && a_188^0==a_188^post_101 && a_225^0==a_225^post_101 && a_281^0==a_281^post_101 && a_289^0==a_289^post_101 && a_342^0==a_342^post_101 && a_343^0==a_343^post_101 && f_171^0==f_171^post_101 && head_15^0==head_15^post_101 && head_32^0==head_32^post_101 && head_SLAM_f_29^0==head_SLAM_f_29^post_101 && i_30^0==i_30^post_101 && i_95^0==i_95^post_101 && len_134^0==len_134^post_101 && len_187^0==len_187^post_101 && length_28^0==length_28^post_101 && nondet_12^0==nondet_12^post_101 && r_126^0==r_126^post_101 && r_165^0==r_165^post_101 && r_39^0==r_39^post_101 && rcd_59^0==rcd_59^post_101 && rcd_89^0==rcd_89^post_101 && result_11^0==result_11^post_101 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_101 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_101 && t_22^0==t_22^post_101 && tail_14^0==tail_14^post_101 && temp0_16^0==temp0_16^post_101 && temp0_31^0==temp0_31^post_101 && temp_35^0==temp_35^post_101 && tmp_34^0==tmp_34^post_101 && x_131^0==x_131^post_101 && x_176^0==x_176^post_101 && x_19^0==x_19^post_101 && x_26^0==x_26^post_101 && x_SLAM_f_17^0==x_SLAM_f_17^post_101 && x_SLAM_f_24^0==x_SLAM_f_24^post_101 && y_18^0==y_18^post_101 && y_25^0==y_25^post_101 ], cost: 1 103: l65 -> l30 : a_118^0'=a_118^post_104, a_149^0'=a_149^post_104, a_188^0'=a_188^post_104, a_225^0'=a_225^post_104, a_281^0'=a_281^post_104, a_289^0'=a_289^post_104, a_342^0'=a_342^post_104, a_343^0'=a_343^post_104, f_171^0'=f_171^post_104, head_15^0'=head_15^post_104, head_32^0'=head_32^post_104, head_SLAM_f_29^0'=head_SLAM_f_29^post_104, i_110^0'=i_110^post_104, i_30^0'=i_30^post_104, i_95^0'=i_95^post_104, len_134^0'=len_134^post_104, len_187^0'=len_187^post_104, length_28^0'=length_28^post_104, nondet_12^0'=nondet_12^post_104, r_126^0'=r_126^post_104, r_165^0'=r_165^post_104, r_39^0'=r_39^post_104, rcd_59^0'=rcd_59^post_104, rcd_89^0'=rcd_89^post_104, result_11^0'=result_11^post_104, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_104, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_104, t_22^0'=t_22^post_104, tail_14^0'=tail_14^post_104, temp0_16^0'=temp0_16^post_104, temp0_31^0'=temp0_31^post_104, temp_35^0'=temp_35^post_104, tmp_34^0'=tmp_34^post_104, x_131^0'=x_131^post_104, x_176^0'=x_176^post_104, x_19^0'=x_19^post_104, x_26^0'=x_26^post_104, x_SLAM_f_17^0'=x_SLAM_f_17^post_104, x_SLAM_f_24^0'=x_SLAM_f_24^post_104, y_18^0'=y_18^post_104, y_25^0'=y_25^post_104, [ a_118^0==a_118^post_104 && a_149^0==a_149^post_104 && a_188^0==a_188^post_104 && a_225^0==a_225^post_104 && a_281^0==a_281^post_104 && a_289^0==a_289^post_104 && a_342^0==a_342^post_104 && a_343^0==a_343^post_104 && f_171^0==f_171^post_104 && head_15^0==head_15^post_104 && head_32^0==head_32^post_104 && head_SLAM_f_29^0==head_SLAM_f_29^post_104 && i_110^0==i_110^post_104 && i_30^0==i_30^post_104 && i_95^0==i_95^post_104 && len_134^0==len_134^post_104 && len_187^0==len_187^post_104 && length_28^0==length_28^post_104 && nondet_12^0==nondet_12^post_104 && r_126^0==r_126^post_104 && r_165^0==r_165^post_104 && r_39^0==r_39^post_104 && rcd_59^0==rcd_59^post_104 && rcd_89^0==rcd_89^post_104 && result_11^0==result_11^post_104 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_104 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_104 && t_22^0==t_22^post_104 && tail_14^0==tail_14^post_104 && temp0_16^0==temp0_16^post_104 && temp0_31^0==temp0_31^post_104 && temp_35^0==temp_35^post_104 && tmp_34^0==tmp_34^post_104 && x_131^0==x_131^post_104 && x_176^0==x_176^post_104 && x_19^0==x_19^post_104 && x_26^0==x_26^post_104 && x_SLAM_f_17^0==x_SLAM_f_17^post_104 && x_SLAM_f_24^0==x_SLAM_f_24^post_104 && y_18^0==y_18^post_104 && y_25^0==y_25^post_104 ], cost: 1 Simplified all rules, resulting in: Start location: l65 0: l0 -> l1 : head_15^0'=head_32^0, head_32^0'=head_32^post_1, head_SLAM_f_29^0'=head_SLAM_f_29^post_1, i_30^0'=i_30^post_1, length_28^0'=length_28^post_1, result_11^0'=result_11^post_1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1, temp0_31^0'=temp0_31^post_1, temp_35^0'=temp_35^post_1, tmp_34^0'=tmp_34^post_1, x_26^0'=head_32^0, x_SLAM_f_24^0'=head_32^0, y_25^0'=tail_14^0, [ 0<=i_30^0 && length_28^0<=i_30^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1<=i_30^post_1 ], cost: 1 1: l0 -> l2 : head_32^0'=temp_35^0, i_30^0'=1+i_30^0, i_95^0'=i_30^0, rcd_89^0'=rcd_89^post_2, temp_35^0'=temp_35^post_2, tmp_34^0'=temp_35^0, [ 0<=i_30^0 && 1+i_30^0<=length_28^0 ], cost: 1 94: l1 -> l61 : head_15^0'=head_15^post_95, i_110^0'=i_110^post_95, r_165^0'=r_165^post_95, r_39^0'=r_39^post_95, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95, tail_14^0'=tail_14^post_95, x_SLAM_f_24^0'=x_SLAM_f_24^post_95, [ 0<=i_30^0 ], cost: 1 2: l2 -> l0 : [], cost: 1 4: l3 -> l5 : head_32^0'=temp_35^0, head_SLAM_f_29^0'=tail_14^post_5, i_30^0'=1+i_30^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=length_28^0, tail_14^0'=tail_14^post_5, temp_35^0'=temp_35^post_5, tmp_34^0'=temp_35^0, [ 1+i_30^0<=length_28^0 && -i_30^0==0 ], cost: 1 102: l5 -> l0 : head_32^0'=temp_35^0, head_SLAM_f_29^0'=tail_14^post_103, i_30^0'=1+i_30^0, rcd_59^0'=rcd_59^post_103, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=length_28^0, tail_14^0'=tail_14^post_103, temp_35^0'=temp_35^post_103, tmp_34^0'=temp_35^0, [ 1+i_30^0<=length_28^0 && 1-i_30^0==0 ], cost: 1 6: l6 -> l8 : head_15^0'=head_15^post_7, r_39^0'=r_39^post_7, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7, tail_14^0'=tail_14^post_7, x_SLAM_f_17^0'=x_SLAM_f_17^post_7, [ 0<=a_149^0 && 0<=a_281^0 ], cost: 1 7: l8 -> l9 : [ 1+y_18^0<=x_19^0 ], cost: 1 8: l8 -> l9 : [ 1+x_19^0<=y_18^0 ], cost: 1 9: l9 -> l10 : a_342^0'=0, a_343^0'=-1+a_281^0+a_149^0, t_22^0'=x_19^0, [ -y_18^0+tail_14^0==0 && -x_SLAM_f_17^0+head_15^0==0 ], cost: 1 10: l10 -> l11 : [ 1+tail_14^0<=head_15^0 ], cost: 1 11: l10 -> l11 : [ 1+head_15^0<=tail_14^0 ], cost: 1 12: l11 -> l12 : [ 1+head_15^0<=y_18^0 ], cost: 1 13: l11 -> l12 : [ 1+y_18^0<=head_15^0 ], cost: 1 14: l12 -> l13 : [ 1+y_18^0<=t_22^0 ], cost: 1 15: l12 -> l13 : [ 1+t_22^0<=y_18^0 ], cost: 1 16: l13 -> l7 : a_149^0'=a_342^0, a_281^0'=a_343^0, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 ], cost: 1 17: l7 -> l6 : [], cost: 1 33: l23 -> l24 : a_289^0'=a_289^post_34, head_15^0'=head_15^post_34, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_34, tail_14^0'=tail_14^post_34, x_SLAM_f_17^0'=x_SLAM_f_17^post_34, [ 0<=a_149^0 && 0<=len_134^0 ], cost: 1 34: l24 -> l25 : [ 1+y_18^0<=x_19^0 ], cost: 1 35: l24 -> l25 : [ 1+x_19^0<=y_18^0 ], cost: 1 36: l25 -> l26 : a_225^0'=a_281^0-a_149^0, t_22^0'=x_19^0, [ -a_289^0==0 && -y_18^0+tail_14^0==0 && -x_SLAM_f_17^0+head_15^0==0 && head_15^0-x_19^0==0 ], cost: 1 37: l26 -> l27 : [ 1+tail_14^0<=head_15^0 ], cost: 1 38: l26 -> l27 : [ 1+head_15^0<=tail_14^0 ], cost: 1 39: l27 -> l28 : [ 1+head_15^0<=y_18^0 ], cost: 1 40: l27 -> l28 : [ 1+y_18^0<=head_15^0 ], cost: 1 41: l28 -> l29 : [ 1+y_18^0<=t_22^0 ], cost: 1 42: l28 -> l29 : [ 1+t_22^0<=y_18^0 ], cost: 1 43: l29 -> l6 : len_134^0'=1+a_225^0, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 ], cost: 1 44: l30 -> l3 : head_32^0'=tail_14^0, head_SLAM_f_29^0'=tail_14^0, i_30^0'=0, length_28^0'=nondet_12^1_1, nondet_12^0'=nondet_12^post_45, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^1_1, [], cost: 1 45: l31 -> l32 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_46, x_19^0'=head_15^0, x_26^0'=x_26^post_46, x_SLAM_f_17^0'=head_15^0, x_SLAM_f_24^0'=x_SLAM_f_24^post_46, y_18^0'=tail_14^0, y_25^0'=y_25^post_46, [ 0<=len_134^0 && 0<=a_149^0 && -x_26^0+y_25^0==0 ], cost: 1 49: l31 -> l35 : f_171^0'=f_171^post_50, head_15^0'=head_15^post_50, r_39^0'=r_39^post_50, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50, tail_14^0'=tail_14^post_50, x_176^0'=x_176^post_50, x_SLAM_f_24^0'=x_SLAM_f_24^post_50, [ 0<=len_134^0 && 0<=a_149^0 ], cost: 1 46: l32 -> l33 : [ 1+tail_14^0<=head_15^0 ], cost: 1 47: l32 -> l33 : [ 1+head_15^0<=tail_14^0 ], cost: 1 48: l33 -> l23 : [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 ], cost: 1 50: l35 -> l36 : [ 1+y_25^0<=x_26^0 ], cost: 1 51: l35 -> l36 : [ 1+x_26^0<=y_25^0 ], cost: 1 52: l36 -> l37 : a_188^0'=-1+a_149^0, len_187^0'=1+len_134^0, [ -y_25^0+tail_14^0==0 && head_15^0-x_SLAM_f_24^0==0 && x_26^0-f_171^0==0 ], cost: 1 53: l37 -> l38 : [ 1+head_15^0<=y_25^0 ], cost: 1 54: l37 -> l38 : [ 1+y_25^0<=head_15^0 ], cost: 1 55: l38 -> l39 : [ 1+y_25^0<=x_176^0 ], cost: 1 56: l38 -> l39 : [ 1+x_176^0<=y_25^0 ], cost: 1 57: l39 -> l34 : a_149^0'=a_188^0, len_134^0'=len_187^0, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 ], cost: 1 58: l34 -> l31 : [], cost: 1 95: l61 -> l62 : [ 1+y_25^0<=x_26^0 ], cost: 1 96: l61 -> l62 : [ 1+x_26^0<=y_25^0 ], cost: 1 97: l62 -> l63 : a_118^0'=a_149^0, [ 1-len_134^0==0 && -y_25^0+tail_14^0==0 && head_15^0-x_SLAM_f_24^0==0 ], cost: 1 98: l63 -> l64 : [ 1+head_15^0<=y_25^0 ], cost: 1 99: l63 -> l64 : [ 1+y_25^0<=head_15^0 ], cost: 1 100: l64 -> l31 : i_110^0'=1+a_118^0, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0<=i_110^0 ], cost: 1 103: l65 -> l30 : [], cost: 1 ### Simplification by acceleration and chaining ### Eliminated locations (on linear paths): Start location: l65 107: l0 -> l61 : head_15^0'=head_15^post_95, head_32^0'=head_32^post_1, head_SLAM_f_29^0'=head_SLAM_f_29^post_1, i_110^0'=i_110^post_95, i_30^0'=i_30^post_1, length_28^0'=length_28^post_1, r_165^0'=r_165^post_95, r_39^0'=r_39^post_95, result_11^0'=result_11^post_1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95, tail_14^0'=tail_14^post_95, temp0_31^0'=temp0_31^post_1, temp_35^0'=temp_35^post_1, tmp_34^0'=tmp_34^post_1, x_26^0'=head_32^0, x_SLAM_f_24^0'=x_SLAM_f_24^post_95, y_25^0'=tail_14^0, [ 0<=i_30^0 && length_28^0<=i_30^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1<=i_30^post_1 && 0<=i_30^post_1 ], cost: 2 108: l0 -> l0 : head_32^0'=temp_35^0, i_30^0'=1+i_30^0, i_95^0'=i_30^0, rcd_89^0'=rcd_89^post_2, temp_35^0'=temp_35^post_2, tmp_34^0'=temp_35^0, [ 0<=i_30^0 && 1+i_30^0<=length_28^0 ], cost: 2 6: l6 -> l8 : head_15^0'=head_15^post_7, r_39^0'=r_39^post_7, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7, tail_14^0'=tail_14^post_7, x_SLAM_f_17^0'=x_SLAM_f_17^post_7, [ 0<=a_149^0 && 0<=a_281^0 ], cost: 1 7: l8 -> l9 : [ 1+y_18^0<=x_19^0 ], cost: 1 8: l8 -> l9 : [ 1+x_19^0<=y_18^0 ], cost: 1 9: l9 -> l10 : a_342^0'=0, a_343^0'=-1+a_281^0+a_149^0, t_22^0'=x_19^0, [ -y_18^0+tail_14^0==0 && -x_SLAM_f_17^0+head_15^0==0 ], cost: 1 10: l10 -> l11 : [ 1+tail_14^0<=head_15^0 ], cost: 1 11: l10 -> l11 : [ 1+head_15^0<=tail_14^0 ], cost: 1 12: l11 -> l12 : [ 1+head_15^0<=y_18^0 ], cost: 1 13: l11 -> l12 : [ 1+y_18^0<=head_15^0 ], cost: 1 14: l12 -> l13 : [ 1+y_18^0<=t_22^0 ], cost: 1 15: l12 -> l13 : [ 1+t_22^0<=y_18^0 ], cost: 1 110: l13 -> l6 : a_149^0'=a_342^0, a_281^0'=a_343^0, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 ], cost: 2 34: l24 -> l25 : [ 1+y_18^0<=x_19^0 ], cost: 1 35: l24 -> l25 : [ 1+x_19^0<=y_18^0 ], cost: 1 36: l25 -> l26 : a_225^0'=a_281^0-a_149^0, t_22^0'=x_19^0, [ -a_289^0==0 && -y_18^0+tail_14^0==0 && -x_SLAM_f_17^0+head_15^0==0 && head_15^0-x_19^0==0 ], cost: 1 37: l26 -> l27 : [ 1+tail_14^0<=head_15^0 ], cost: 1 38: l26 -> l27 : [ 1+head_15^0<=tail_14^0 ], cost: 1 39: l27 -> l28 : [ 1+head_15^0<=y_18^0 ], cost: 1 40: l27 -> l28 : [ 1+y_18^0<=head_15^0 ], cost: 1 41: l28 -> l29 : [ 1+y_18^0<=t_22^0 ], cost: 1 42: l28 -> l29 : [ 1+t_22^0<=y_18^0 ], cost: 1 43: l29 -> l6 : len_134^0'=1+a_225^0, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 ], cost: 1 45: l31 -> l32 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_46, x_19^0'=head_15^0, x_26^0'=x_26^post_46, x_SLAM_f_17^0'=head_15^0, x_SLAM_f_24^0'=x_SLAM_f_24^post_46, y_18^0'=tail_14^0, y_25^0'=y_25^post_46, [ 0<=len_134^0 && 0<=a_149^0 && -x_26^0+y_25^0==0 ], cost: 1 49: l31 -> l35 : f_171^0'=f_171^post_50, head_15^0'=head_15^post_50, r_39^0'=r_39^post_50, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50, tail_14^0'=tail_14^post_50, x_176^0'=x_176^post_50, x_SLAM_f_24^0'=x_SLAM_f_24^post_50, [ 0<=len_134^0 && 0<=a_149^0 ], cost: 1 46: l32 -> l33 : [ 1+tail_14^0<=head_15^0 ], cost: 1 47: l32 -> l33 : [ 1+head_15^0<=tail_14^0 ], cost: 1 109: l33 -> l24 : a_289^0'=a_289^post_34, head_15^0'=head_15^post_34, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_34, tail_14^0'=tail_14^post_34, x_SLAM_f_17^0'=x_SLAM_f_17^post_34, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && 0<=a_149^0 && 0<=len_134^0 ], cost: 2 50: l35 -> l36 : [ 1+y_25^0<=x_26^0 ], cost: 1 51: l35 -> l36 : [ 1+x_26^0<=y_25^0 ], cost: 1 52: l36 -> l37 : a_188^0'=-1+a_149^0, len_187^0'=1+len_134^0, [ -y_25^0+tail_14^0==0 && head_15^0-x_SLAM_f_24^0==0 && x_26^0-f_171^0==0 ], cost: 1 53: l37 -> l38 : [ 1+head_15^0<=y_25^0 ], cost: 1 54: l37 -> l38 : [ 1+y_25^0<=head_15^0 ], cost: 1 55: l38 -> l39 : [ 1+y_25^0<=x_176^0 ], cost: 1 56: l38 -> l39 : [ 1+x_176^0<=y_25^0 ], cost: 1 111: l39 -> l31 : a_149^0'=a_188^0, len_134^0'=len_187^0, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 ], cost: 2 95: l61 -> l62 : [ 1+y_25^0<=x_26^0 ], cost: 1 96: l61 -> l62 : [ 1+x_26^0<=y_25^0 ], cost: 1 97: l62 -> l63 : a_118^0'=a_149^0, [ 1-len_134^0==0 && -y_25^0+tail_14^0==0 && head_15^0-x_SLAM_f_24^0==0 ], cost: 1 98: l63 -> l64 : [ 1+head_15^0<=y_25^0 ], cost: 1 99: l63 -> l64 : [ 1+y_25^0<=head_15^0 ], cost: 1 100: l64 -> l31 : i_110^0'=1+a_118^0, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0<=i_110^0 ], cost: 1 106: l65 -> l0 : head_32^0'=temp_35^post_5, head_SLAM_f_29^0'=tail_14^post_103, i_30^0'=2, length_28^0'=nondet_12^1_1, nondet_12^0'=nondet_12^post_45, rcd_59^0'=rcd_59^post_103, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post_5, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^1_1, tail_14^0'=tail_14^post_103, temp_35^0'=temp_35^post_103, tmp_34^0'=temp_35^post_5, [ 2<=nondet_12^1_1 ], cost: 4 Accelerating simple loops of location 0. Accelerating the following rules: 108: l0 -> l0 : head_32^0'=temp_35^0, i_30^0'=1+i_30^0, i_95^0'=i_30^0, rcd_89^0'=rcd_89^post_2, temp_35^0'=temp_35^post_2, tmp_34^0'=temp_35^0, [ 0<=i_30^0 && 1+i_30^0<=length_28^0 ], cost: 2 Accelerated rule 108 with backward acceleration, yielding the new rule 112. [accelerate] Nesting with 1 inner and 1 outer candidates Removing the simple loops: 108. Accelerated all simple loops using metering functions (where possible): Start location: l65 107: l0 -> l61 : head_15^0'=head_15^post_95, head_32^0'=head_32^post_1, head_SLAM_f_29^0'=head_SLAM_f_29^post_1, i_110^0'=i_110^post_95, i_30^0'=i_30^post_1, length_28^0'=length_28^post_1, r_165^0'=r_165^post_95, r_39^0'=r_39^post_95, result_11^0'=result_11^post_1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95, tail_14^0'=tail_14^post_95, temp0_31^0'=temp0_31^post_1, temp_35^0'=temp_35^post_1, tmp_34^0'=tmp_34^post_1, x_26^0'=head_32^0, x_SLAM_f_24^0'=x_SLAM_f_24^post_95, y_25^0'=tail_14^0, [ 0<=i_30^0 && length_28^0<=i_30^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1<=i_30^post_1 && 0<=i_30^post_1 ], cost: 2 112: l0 -> l0 : head_32^0'=temp_35^post_2, i_30^0'=length_28^0, i_95^0'=-1+length_28^0, rcd_89^0'=rcd_89^post_2, temp_35^0'=temp_35^post_2, tmp_34^0'=temp_35^post_2, [ 0<=i_30^0 && length_28^0-i_30^0>=1 ], cost: 2*length_28^0-2*i_30^0 6: l6 -> l8 : head_15^0'=head_15^post_7, r_39^0'=r_39^post_7, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7, tail_14^0'=tail_14^post_7, x_SLAM_f_17^0'=x_SLAM_f_17^post_7, [ 0<=a_149^0 && 0<=a_281^0 ], cost: 1 7: l8 -> l9 : [ 1+y_18^0<=x_19^0 ], cost: 1 8: l8 -> l9 : [ 1+x_19^0<=y_18^0 ], cost: 1 9: l9 -> l10 : a_342^0'=0, a_343^0'=-1+a_281^0+a_149^0, t_22^0'=x_19^0, [ -y_18^0+tail_14^0==0 && -x_SLAM_f_17^0+head_15^0==0 ], cost: 1 10: l10 -> l11 : [ 1+tail_14^0<=head_15^0 ], cost: 1 11: l10 -> l11 : [ 1+head_15^0<=tail_14^0 ], cost: 1 12: l11 -> l12 : [ 1+head_15^0<=y_18^0 ], cost: 1 13: l11 -> l12 : [ 1+y_18^0<=head_15^0 ], cost: 1 14: l12 -> l13 : [ 1+y_18^0<=t_22^0 ], cost: 1 15: l12 -> l13 : [ 1+t_22^0<=y_18^0 ], cost: 1 110: l13 -> l6 : a_149^0'=a_342^0, a_281^0'=a_343^0, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 ], cost: 2 34: l24 -> l25 : [ 1+y_18^0<=x_19^0 ], cost: 1 35: l24 -> l25 : [ 1+x_19^0<=y_18^0 ], cost: 1 36: l25 -> l26 : a_225^0'=a_281^0-a_149^0, t_22^0'=x_19^0, [ -a_289^0==0 && -y_18^0+tail_14^0==0 && -x_SLAM_f_17^0+head_15^0==0 && head_15^0-x_19^0==0 ], cost: 1 37: l26 -> l27 : [ 1+tail_14^0<=head_15^0 ], cost: 1 38: l26 -> l27 : [ 1+head_15^0<=tail_14^0 ], cost: 1 39: l27 -> l28 : [ 1+head_15^0<=y_18^0 ], cost: 1 40: l27 -> l28 : [ 1+y_18^0<=head_15^0 ], cost: 1 41: l28 -> l29 : [ 1+y_18^0<=t_22^0 ], cost: 1 42: l28 -> l29 : [ 1+t_22^0<=y_18^0 ], cost: 1 43: l29 -> l6 : len_134^0'=1+a_225^0, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 ], cost: 1 45: l31 -> l32 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_46, x_19^0'=head_15^0, x_26^0'=x_26^post_46, x_SLAM_f_17^0'=head_15^0, x_SLAM_f_24^0'=x_SLAM_f_24^post_46, y_18^0'=tail_14^0, y_25^0'=y_25^post_46, [ 0<=len_134^0 && 0<=a_149^0 && -x_26^0+y_25^0==0 ], cost: 1 49: l31 -> l35 : f_171^0'=f_171^post_50, head_15^0'=head_15^post_50, r_39^0'=r_39^post_50, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50, tail_14^0'=tail_14^post_50, x_176^0'=x_176^post_50, x_SLAM_f_24^0'=x_SLAM_f_24^post_50, [ 0<=len_134^0 && 0<=a_149^0 ], cost: 1 46: l32 -> l33 : [ 1+tail_14^0<=head_15^0 ], cost: 1 47: l32 -> l33 : [ 1+head_15^0<=tail_14^0 ], cost: 1 109: l33 -> l24 : a_289^0'=a_289^post_34, head_15^0'=head_15^post_34, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_34, tail_14^0'=tail_14^post_34, x_SLAM_f_17^0'=x_SLAM_f_17^post_34, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && 0<=a_149^0 && 0<=len_134^0 ], cost: 2 50: l35 -> l36 : [ 1+y_25^0<=x_26^0 ], cost: 1 51: l35 -> l36 : [ 1+x_26^0<=y_25^0 ], cost: 1 52: l36 -> l37 : a_188^0'=-1+a_149^0, len_187^0'=1+len_134^0, [ -y_25^0+tail_14^0==0 && head_15^0-x_SLAM_f_24^0==0 && x_26^0-f_171^0==0 ], cost: 1 53: l37 -> l38 : [ 1+head_15^0<=y_25^0 ], cost: 1 54: l37 -> l38 : [ 1+y_25^0<=head_15^0 ], cost: 1 55: l38 -> l39 : [ 1+y_25^0<=x_176^0 ], cost: 1 56: l38 -> l39 : [ 1+x_176^0<=y_25^0 ], cost: 1 111: l39 -> l31 : a_149^0'=a_188^0, len_134^0'=len_187^0, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 ], cost: 2 95: l61 -> l62 : [ 1+y_25^0<=x_26^0 ], cost: 1 96: l61 -> l62 : [ 1+x_26^0<=y_25^0 ], cost: 1 97: l62 -> l63 : a_118^0'=a_149^0, [ 1-len_134^0==0 && -y_25^0+tail_14^0==0 && head_15^0-x_SLAM_f_24^0==0 ], cost: 1 98: l63 -> l64 : [ 1+head_15^0<=y_25^0 ], cost: 1 99: l63 -> l64 : [ 1+y_25^0<=head_15^0 ], cost: 1 100: l64 -> l31 : i_110^0'=1+a_118^0, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0<=i_110^0 ], cost: 1 106: l65 -> l0 : head_32^0'=temp_35^post_5, head_SLAM_f_29^0'=tail_14^post_103, i_30^0'=2, length_28^0'=nondet_12^1_1, nondet_12^0'=nondet_12^post_45, rcd_59^0'=rcd_59^post_103, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post_5, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^1_1, tail_14^0'=tail_14^post_103, temp_35^0'=temp_35^post_103, tmp_34^0'=temp_35^post_5, [ 2<=nondet_12^1_1 ], cost: 4 Chained accelerated rules (with incoming rules): Start location: l65 107: l0 -> l61 : head_15^0'=head_15^post_95, head_32^0'=head_32^post_1, head_SLAM_f_29^0'=head_SLAM_f_29^post_1, i_110^0'=i_110^post_95, i_30^0'=i_30^post_1, length_28^0'=length_28^post_1, r_165^0'=r_165^post_95, r_39^0'=r_39^post_95, result_11^0'=result_11^post_1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95, tail_14^0'=tail_14^post_95, temp0_31^0'=temp0_31^post_1, temp_35^0'=temp_35^post_1, tmp_34^0'=tmp_34^post_1, x_26^0'=head_32^0, x_SLAM_f_24^0'=x_SLAM_f_24^post_95, y_25^0'=tail_14^0, [ 0<=i_30^0 && length_28^0<=i_30^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1<=i_30^post_1 && 0<=i_30^post_1 ], cost: 2 6: l6 -> l8 : head_15^0'=head_15^post_7, r_39^0'=r_39^post_7, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7, tail_14^0'=tail_14^post_7, x_SLAM_f_17^0'=x_SLAM_f_17^post_7, [ 0<=a_149^0 && 0<=a_281^0 ], cost: 1 7: l8 -> l9 : [ 1+y_18^0<=x_19^0 ], cost: 1 8: l8 -> l9 : [ 1+x_19^0<=y_18^0 ], cost: 1 9: l9 -> l10 : a_342^0'=0, a_343^0'=-1+a_281^0+a_149^0, t_22^0'=x_19^0, [ -y_18^0+tail_14^0==0 && -x_SLAM_f_17^0+head_15^0==0 ], cost: 1 10: l10 -> l11 : [ 1+tail_14^0<=head_15^0 ], cost: 1 11: l10 -> l11 : [ 1+head_15^0<=tail_14^0 ], cost: 1 12: l11 -> l12 : [ 1+head_15^0<=y_18^0 ], cost: 1 13: l11 -> l12 : [ 1+y_18^0<=head_15^0 ], cost: 1 14: l12 -> l13 : [ 1+y_18^0<=t_22^0 ], cost: 1 15: l12 -> l13 : [ 1+t_22^0<=y_18^0 ], cost: 1 110: l13 -> l6 : a_149^0'=a_342^0, a_281^0'=a_343^0, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 ], cost: 2 34: l24 -> l25 : [ 1+y_18^0<=x_19^0 ], cost: 1 35: l24 -> l25 : [ 1+x_19^0<=y_18^0 ], cost: 1 36: l25 -> l26 : a_225^0'=a_281^0-a_149^0, t_22^0'=x_19^0, [ -a_289^0==0 && -y_18^0+tail_14^0==0 && -x_SLAM_f_17^0+head_15^0==0 && head_15^0-x_19^0==0 ], cost: 1 37: l26 -> l27 : [ 1+tail_14^0<=head_15^0 ], cost: 1 38: l26 -> l27 : [ 1+head_15^0<=tail_14^0 ], cost: 1 39: l27 -> l28 : [ 1+head_15^0<=y_18^0 ], cost: 1 40: l27 -> l28 : [ 1+y_18^0<=head_15^0 ], cost: 1 41: l28 -> l29 : [ 1+y_18^0<=t_22^0 ], cost: 1 42: l28 -> l29 : [ 1+t_22^0<=y_18^0 ], cost: 1 43: l29 -> l6 : len_134^0'=1+a_225^0, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 ], cost: 1 45: l31 -> l32 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_46, x_19^0'=head_15^0, x_26^0'=x_26^post_46, x_SLAM_f_17^0'=head_15^0, x_SLAM_f_24^0'=x_SLAM_f_24^post_46, y_18^0'=tail_14^0, y_25^0'=y_25^post_46, [ 0<=len_134^0 && 0<=a_149^0 && -x_26^0+y_25^0==0 ], cost: 1 49: l31 -> l35 : f_171^0'=f_171^post_50, head_15^0'=head_15^post_50, r_39^0'=r_39^post_50, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50, tail_14^0'=tail_14^post_50, x_176^0'=x_176^post_50, x_SLAM_f_24^0'=x_SLAM_f_24^post_50, [ 0<=len_134^0 && 0<=a_149^0 ], cost: 1 46: l32 -> l33 : [ 1+tail_14^0<=head_15^0 ], cost: 1 47: l32 -> l33 : [ 1+head_15^0<=tail_14^0 ], cost: 1 109: l33 -> l24 : a_289^0'=a_289^post_34, head_15^0'=head_15^post_34, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_34, tail_14^0'=tail_14^post_34, x_SLAM_f_17^0'=x_SLAM_f_17^post_34, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && 0<=a_149^0 && 0<=len_134^0 ], cost: 2 50: l35 -> l36 : [ 1+y_25^0<=x_26^0 ], cost: 1 51: l35 -> l36 : [ 1+x_26^0<=y_25^0 ], cost: 1 52: l36 -> l37 : a_188^0'=-1+a_149^0, len_187^0'=1+len_134^0, [ -y_25^0+tail_14^0==0 && head_15^0-x_SLAM_f_24^0==0 && x_26^0-f_171^0==0 ], cost: 1 53: l37 -> l38 : [ 1+head_15^0<=y_25^0 ], cost: 1 54: l37 -> l38 : [ 1+y_25^0<=head_15^0 ], cost: 1 55: l38 -> l39 : [ 1+y_25^0<=x_176^0 ], cost: 1 56: l38 -> l39 : [ 1+x_176^0<=y_25^0 ], cost: 1 111: l39 -> l31 : a_149^0'=a_188^0, len_134^0'=len_187^0, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 ], cost: 2 95: l61 -> l62 : [ 1+y_25^0<=x_26^0 ], cost: 1 96: l61 -> l62 : [ 1+x_26^0<=y_25^0 ], cost: 1 97: l62 -> l63 : a_118^0'=a_149^0, [ 1-len_134^0==0 && -y_25^0+tail_14^0==0 && head_15^0-x_SLAM_f_24^0==0 ], cost: 1 98: l63 -> l64 : [ 1+head_15^0<=y_25^0 ], cost: 1 99: l63 -> l64 : [ 1+y_25^0<=head_15^0 ], cost: 1 100: l64 -> l31 : i_110^0'=1+a_118^0, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0<=i_110^0 ], cost: 1 106: l65 -> l0 : head_32^0'=temp_35^post_5, head_SLAM_f_29^0'=tail_14^post_103, i_30^0'=2, length_28^0'=nondet_12^1_1, nondet_12^0'=nondet_12^post_45, rcd_59^0'=rcd_59^post_103, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post_5, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^1_1, tail_14^0'=tail_14^post_103, temp_35^0'=temp_35^post_103, tmp_34^0'=temp_35^post_5, [ 2<=nondet_12^1_1 ], cost: 4 113: l65 -> l0 : head_32^0'=temp_35^post_2, head_SLAM_f_29^0'=tail_14^post_103, i_30^0'=nondet_12^1_1, i_95^0'=-1+nondet_12^1_1, length_28^0'=nondet_12^1_1, nondet_12^0'=nondet_12^post_45, rcd_59^0'=rcd_59^post_103, rcd_89^0'=rcd_89^post_2, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post_5, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^1_1, tail_14^0'=tail_14^post_103, temp_35^0'=temp_35^post_2, tmp_34^0'=temp_35^post_2, [ -2+nondet_12^1_1>=1 ], cost: 2*nondet_12^1_1 Eliminated locations (on tree-shaped paths): Start location: l65 132: l6 -> l9 : head_15^0'=head_15^post_7, r_39^0'=r_39^post_7, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7, tail_14^0'=tail_14^post_7, x_SLAM_f_17^0'=x_SLAM_f_17^post_7, [ 0<=a_149^0 && 0<=a_281^0 && 1+y_18^0<=x_19^0 ], cost: 2 133: l6 -> l9 : head_15^0'=head_15^post_7, r_39^0'=r_39^post_7, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7, tail_14^0'=tail_14^post_7, x_SLAM_f_17^0'=x_SLAM_f_17^post_7, [ 0<=a_149^0 && 0<=a_281^0 && 1+x_19^0<=y_18^0 ], cost: 2 134: l9 -> l11 : a_342^0'=0, a_343^0'=-1+a_281^0+a_149^0, t_22^0'=x_19^0, [ -y_18^0+tail_14^0==0 && -x_SLAM_f_17^0+head_15^0==0 && 1+tail_14^0<=head_15^0 ], cost: 2 135: l9 -> l11 : a_342^0'=0, a_343^0'=-1+a_281^0+a_149^0, t_22^0'=x_19^0, [ -y_18^0+tail_14^0==0 && -x_SLAM_f_17^0+head_15^0==0 && 1+head_15^0<=tail_14^0 ], cost: 2 136: l11 -> l13 : [ 1+head_15^0<=y_18^0 && 1+y_18^0<=t_22^0 ], cost: 2 137: l11 -> l13 : [ 1+head_15^0<=y_18^0 && 1+t_22^0<=y_18^0 ], cost: 2 138: l11 -> l13 : [ 1+y_18^0<=head_15^0 && 1+y_18^0<=t_22^0 ], cost: 2 139: l11 -> l13 : [ 1+y_18^0<=head_15^0 && 1+t_22^0<=y_18^0 ], cost: 2 110: l13 -> l6 : a_149^0'=a_342^0, a_281^0'=a_343^0, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 ], cost: 2 126: l25 -> l27 : a_225^0'=a_281^0-a_149^0, t_22^0'=x_19^0, [ -a_289^0==0 && -y_18^0+tail_14^0==0 && -x_SLAM_f_17^0+head_15^0==0 && head_15^0-x_19^0==0 && 1+tail_14^0<=head_15^0 ], cost: 2 127: l25 -> l27 : a_225^0'=a_281^0-a_149^0, t_22^0'=x_19^0, [ -a_289^0==0 && -y_18^0+tail_14^0==0 && -x_SLAM_f_17^0+head_15^0==0 && head_15^0-x_19^0==0 && 1+head_15^0<=tail_14^0 ], cost: 2 128: l27 -> l29 : [ 1+head_15^0<=y_18^0 && 1+y_18^0<=t_22^0 ], cost: 2 129: l27 -> l29 : [ 1+head_15^0<=y_18^0 && 1+t_22^0<=y_18^0 ], cost: 2 130: l27 -> l29 : [ 1+y_18^0<=head_15^0 && 1+y_18^0<=t_22^0 ], cost: 2 131: l27 -> l29 : [ 1+y_18^0<=head_15^0 && 1+t_22^0<=y_18^0 ], cost: 2 43: l29 -> l6 : len_134^0'=1+a_225^0, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 ], cost: 1 120: l31 -> l33 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_46, x_19^0'=head_15^0, x_26^0'=x_26^post_46, x_SLAM_f_17^0'=head_15^0, x_SLAM_f_24^0'=x_SLAM_f_24^post_46, y_18^0'=tail_14^0, y_25^0'=y_25^post_46, [ 0<=len_134^0 && 0<=a_149^0 && -x_26^0+y_25^0==0 && 1+tail_14^0<=head_15^0 ], cost: 2 121: l31 -> l33 : result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_46, x_19^0'=head_15^0, x_26^0'=x_26^post_46, x_SLAM_f_17^0'=head_15^0, x_SLAM_f_24^0'=x_SLAM_f_24^post_46, y_18^0'=tail_14^0, y_25^0'=y_25^post_46, [ 0<=len_134^0 && 0<=a_149^0 && -x_26^0+y_25^0==0 && 1+head_15^0<=tail_14^0 ], cost: 2 122: l31 -> l36 : f_171^0'=f_171^post_50, head_15^0'=head_15^post_50, r_39^0'=r_39^post_50, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50, tail_14^0'=tail_14^post_50, x_176^0'=x_176^post_50, x_SLAM_f_24^0'=x_SLAM_f_24^post_50, [ 0<=len_134^0 && 0<=a_149^0 && 1+y_25^0<=x_26^0 ], cost: 2 123: l31 -> l36 : f_171^0'=f_171^post_50, head_15^0'=head_15^post_50, r_39^0'=r_39^post_50, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50, tail_14^0'=tail_14^post_50, x_176^0'=x_176^post_50, x_SLAM_f_24^0'=x_SLAM_f_24^post_50, [ 0<=len_134^0 && 0<=a_149^0 && 1+x_26^0<=y_25^0 ], cost: 2 124: l33 -> l25 : a_289^0'=a_289^post_34, head_15^0'=head_15^post_34, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_34, tail_14^0'=tail_14^post_34, x_SLAM_f_17^0'=x_SLAM_f_17^post_34, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && 0<=a_149^0 && 0<=len_134^0 && 1+y_18^0<=x_19^0 ], cost: 3 125: l33 -> l25 : a_289^0'=a_289^post_34, head_15^0'=head_15^post_34, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_34, tail_14^0'=tail_14^post_34, x_SLAM_f_17^0'=x_SLAM_f_17^post_34, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && 0<=a_149^0 && 0<=len_134^0 && 1+x_19^0<=y_18^0 ], cost: 3 140: l36 -> l38 : a_188^0'=-1+a_149^0, len_187^0'=1+len_134^0, [ -y_25^0+tail_14^0==0 && head_15^0-x_SLAM_f_24^0==0 && x_26^0-f_171^0==0 && 1+head_15^0<=y_25^0 ], cost: 2 141: l36 -> l38 : a_188^0'=-1+a_149^0, len_187^0'=1+len_134^0, [ -y_25^0+tail_14^0==0 && head_15^0-x_SLAM_f_24^0==0 && x_26^0-f_171^0==0 && 1+y_25^0<=head_15^0 ], cost: 2 142: l38 -> l31 : a_149^0'=a_188^0, len_134^0'=len_187^0, [ 1+y_25^0<=x_176^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 ], cost: 3 143: l38 -> l31 : a_149^0'=a_188^0, len_134^0'=len_187^0, [ 1+x_176^0<=y_25^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 ], cost: 3 116: l61 -> l63 : a_118^0'=a_149^0, [ 1+y_25^0<=x_26^0 && 1-len_134^0==0 && -y_25^0+tail_14^0==0 && head_15^0-x_SLAM_f_24^0==0 ], cost: 2 117: l61 -> l63 : a_118^0'=a_149^0, [ 1+x_26^0<=y_25^0 && 1-len_134^0==0 && -y_25^0+tail_14^0==0 && head_15^0-x_SLAM_f_24^0==0 ], cost: 2 118: l63 -> l31 : i_110^0'=1+a_118^0, [ 1+head_15^0<=y_25^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0<=i_110^0 ], cost: 2 119: l63 -> l31 : i_110^0'=1+a_118^0, [ 1+y_25^0<=head_15^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0<=i_110^0 ], cost: 2 114: l65 -> l61 : head_15^0'=head_15^post_95, head_32^0'=head_32^post_1, head_SLAM_f_29^0'=head_SLAM_f_29^post_1, i_110^0'=i_110^post_95, i_30^0'=i_30^post_1, length_28^0'=length_28^post_1, nondet_12^0'=nondet_12^post_45, r_165^0'=r_165^post_95, r_39^0'=r_39^post_95, rcd_59^0'=rcd_59^post_103, result_11^0'=result_11^post_1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95, tail_14^0'=tail_14^post_95, temp0_31^0'=temp0_31^post_1, temp_35^0'=temp_35^post_1, tmp_34^0'=tmp_34^post_1, x_26^0'=temp_35^post_5, x_SLAM_f_24^0'=x_SLAM_f_24^post_95, y_25^0'=tail_14^post_103, [ 2<=nondet_12^1_1 && nondet_12^1_1<=2 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1<=i_30^post_1 && 0<=i_30^post_1 ], cost: 6 115: l65 -> l61 : head_15^0'=head_15^post_95, head_32^0'=head_32^post_1, head_SLAM_f_29^0'=head_SLAM_f_29^post_1, i_110^0'=i_110^post_95, i_30^0'=i_30^post_1, i_95^0'=-1+nondet_12^1_1, length_28^0'=length_28^post_1, nondet_12^0'=nondet_12^post_45, r_165^0'=r_165^post_95, r_39^0'=r_39^post_95, rcd_59^0'=rcd_59^post_103, rcd_89^0'=rcd_89^post_2, result_11^0'=result_11^post_1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95, tail_14^0'=tail_14^post_95, temp0_31^0'=temp0_31^post_1, temp_35^0'=temp_35^post_1, tmp_34^0'=tmp_34^post_1, x_26^0'=temp_35^post_2, x_SLAM_f_24^0'=x_SLAM_f_24^post_95, y_25^0'=tail_14^post_103, [ -2+nondet_12^1_1>=1 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1<=i_30^post_1 && 0<=i_30^post_1 ], cost: 2+2*nondet_12^1_1 Eliminated locations (on tree-shaped paths): Start location: l65 156: l6 -> l11 : a_342^0'=0, a_343^0'=-1+a_281^0+a_149^0, head_15^0'=head_15^post_7, r_39^0'=r_39^post_7, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7, t_22^0'=x_19^0, tail_14^0'=tail_14^post_7, x_SLAM_f_17^0'=x_SLAM_f_17^post_7, [ 0<=a_149^0 && 0<=a_281^0 && 1+y_18^0<=x_19^0 && -y_18^0+tail_14^post_7==0 && head_15^post_7-x_SLAM_f_17^post_7==0 && 1+tail_14^post_7<=head_15^post_7 ], cost: 4 157: l6 -> l11 : a_342^0'=0, a_343^0'=-1+a_281^0+a_149^0, head_15^0'=head_15^post_7, r_39^0'=r_39^post_7, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7, t_22^0'=x_19^0, tail_14^0'=tail_14^post_7, x_SLAM_f_17^0'=x_SLAM_f_17^post_7, [ 0<=a_149^0 && 0<=a_281^0 && 1+y_18^0<=x_19^0 && -y_18^0+tail_14^post_7==0 && head_15^post_7-x_SLAM_f_17^post_7==0 && 1+head_15^post_7<=tail_14^post_7 ], cost: 4 158: l6 -> l11 : a_342^0'=0, a_343^0'=-1+a_281^0+a_149^0, head_15^0'=head_15^post_7, r_39^0'=r_39^post_7, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7, t_22^0'=x_19^0, tail_14^0'=tail_14^post_7, x_SLAM_f_17^0'=x_SLAM_f_17^post_7, [ 0<=a_149^0 && 0<=a_281^0 && 1+x_19^0<=y_18^0 && -y_18^0+tail_14^post_7==0 && head_15^post_7-x_SLAM_f_17^post_7==0 && 1+tail_14^post_7<=head_15^post_7 ], cost: 4 159: l6 -> l11 : a_342^0'=0, a_343^0'=-1+a_281^0+a_149^0, head_15^0'=head_15^post_7, r_39^0'=r_39^post_7, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7, t_22^0'=x_19^0, tail_14^0'=tail_14^post_7, x_SLAM_f_17^0'=x_SLAM_f_17^post_7, [ 0<=a_149^0 && 0<=a_281^0 && 1+x_19^0<=y_18^0 && -y_18^0+tail_14^post_7==0 && head_15^post_7-x_SLAM_f_17^post_7==0 && 1+head_15^post_7<=tail_14^post_7 ], cost: 4 160: l11 -> l6 : a_149^0'=a_342^0, a_281^0'=a_343^0, [ 1+head_15^0<=y_18^0 && 1+y_18^0<=t_22^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 ], cost: 4 161: l11 -> l6 : a_149^0'=a_342^0, a_281^0'=a_343^0, [ 1+head_15^0<=y_18^0 && 1+t_22^0<=y_18^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 ], cost: 4 162: l11 -> l6 : a_149^0'=a_342^0, a_281^0'=a_343^0, [ 1+y_18^0<=head_15^0 && 1+y_18^0<=t_22^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 ], cost: 4 163: l11 -> l6 : a_149^0'=a_342^0, a_281^0'=a_343^0, [ 1+y_18^0<=head_15^0 && 1+t_22^0<=y_18^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 ], cost: 4 154: l25 -> l29 : a_225^0'=a_281^0-a_149^0, t_22^0'=x_19^0, [ -a_289^0==0 && -y_18^0+tail_14^0==0 && -x_SLAM_f_17^0+head_15^0==0 && head_15^0-x_19^0==0 && 1+tail_14^0<=head_15^0 && 1+y_18^0<=head_15^0 && 1+y_18^0<=x_19^0 ], cost: 4 155: l25 -> l29 : a_225^0'=a_281^0-a_149^0, t_22^0'=x_19^0, [ -a_289^0==0 && -y_18^0+tail_14^0==0 && -x_SLAM_f_17^0+head_15^0==0 && head_15^0-x_19^0==0 && 1+head_15^0<=tail_14^0 && 1+head_15^0<=y_18^0 && 1+x_19^0<=y_18^0 ], cost: 4 43: l29 -> l6 : len_134^0'=1+a_225^0, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 ], cost: 1 148: l31 -> l25 : a_289^0'=a_289^post_34, head_15^0'=head_15^post_34, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_34, tail_14^0'=tail_14^post_34, x_19^0'=head_15^0, x_26^0'=x_26^post_46, x_SLAM_f_17^0'=x_SLAM_f_17^post_34, x_SLAM_f_24^0'=x_SLAM_f_24^post_46, y_18^0'=tail_14^0, y_25^0'=y_25^post_46, [ 0<=len_134^0 && 0<=a_149^0 && -x_26^0+y_25^0==0 && 1+tail_14^0<=head_15^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_46 ], cost: 5 149: l31 -> l25 : a_289^0'=a_289^post_34, head_15^0'=head_15^post_34, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_34, tail_14^0'=tail_14^post_34, x_19^0'=head_15^0, x_26^0'=x_26^post_46, x_SLAM_f_17^0'=x_SLAM_f_17^post_34, x_SLAM_f_24^0'=x_SLAM_f_24^post_46, y_18^0'=tail_14^0, y_25^0'=y_25^post_46, [ 0<=len_134^0 && 0<=a_149^0 && -x_26^0+y_25^0==0 && 1+head_15^0<=tail_14^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_46 ], cost: 5 150: l31 -> l38 : a_188^0'=-1+a_149^0, f_171^0'=f_171^post_50, head_15^0'=head_15^post_50, len_187^0'=1+len_134^0, r_39^0'=r_39^post_50, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50, tail_14^0'=tail_14^post_50, x_176^0'=x_176^post_50, x_SLAM_f_24^0'=x_SLAM_f_24^post_50, [ 0<=len_134^0 && 0<=a_149^0 && 1+y_25^0<=x_26^0 && -y_25^0+tail_14^post_50==0 && -x_SLAM_f_24^post_50+head_15^post_50==0 && x_26^0-f_171^post_50==0 && 1+head_15^post_50<=y_25^0 ], cost: 4 151: l31 -> l38 : a_188^0'=-1+a_149^0, f_171^0'=f_171^post_50, head_15^0'=head_15^post_50, len_187^0'=1+len_134^0, r_39^0'=r_39^post_50, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50, tail_14^0'=tail_14^post_50, x_176^0'=x_176^post_50, x_SLAM_f_24^0'=x_SLAM_f_24^post_50, [ 0<=len_134^0 && 0<=a_149^0 && 1+y_25^0<=x_26^0 && -y_25^0+tail_14^post_50==0 && -x_SLAM_f_24^post_50+head_15^post_50==0 && x_26^0-f_171^post_50==0 && 1+y_25^0<=head_15^post_50 ], cost: 4 152: l31 -> l38 : a_188^0'=-1+a_149^0, f_171^0'=f_171^post_50, head_15^0'=head_15^post_50, len_187^0'=1+len_134^0, r_39^0'=r_39^post_50, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50, tail_14^0'=tail_14^post_50, x_176^0'=x_176^post_50, x_SLAM_f_24^0'=x_SLAM_f_24^post_50, [ 0<=len_134^0 && 0<=a_149^0 && 1+x_26^0<=y_25^0 && -y_25^0+tail_14^post_50==0 && -x_SLAM_f_24^post_50+head_15^post_50==0 && x_26^0-f_171^post_50==0 && 1+head_15^post_50<=y_25^0 ], cost: 4 153: l31 -> l38 : a_188^0'=-1+a_149^0, f_171^0'=f_171^post_50, head_15^0'=head_15^post_50, len_187^0'=1+len_134^0, r_39^0'=r_39^post_50, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50, tail_14^0'=tail_14^post_50, x_176^0'=x_176^post_50, x_SLAM_f_24^0'=x_SLAM_f_24^post_50, [ 0<=len_134^0 && 0<=a_149^0 && 1+x_26^0<=y_25^0 && -y_25^0+tail_14^post_50==0 && -x_SLAM_f_24^post_50+head_15^post_50==0 && x_26^0-f_171^post_50==0 && 1+y_25^0<=head_15^post_50 ], cost: 4 142: l38 -> l31 : a_149^0'=a_188^0, len_134^0'=len_187^0, [ 1+y_25^0<=x_176^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 ], cost: 3 143: l38 -> l31 : a_149^0'=a_188^0, len_134^0'=len_187^0, [ 1+x_176^0<=y_25^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 ], cost: 3 118: l63 -> l31 : i_110^0'=1+a_118^0, [ 1+head_15^0<=y_25^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0<=i_110^0 ], cost: 2 119: l63 -> l31 : i_110^0'=1+a_118^0, [ 1+y_25^0<=head_15^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0<=i_110^0 ], cost: 2 144: l65 -> l63 : a_118^0'=a_149^0, head_15^0'=head_15^post_95, head_32^0'=head_32^post_1, head_SLAM_f_29^0'=head_SLAM_f_29^post_1, i_110^0'=i_110^post_95, i_30^0'=i_30^post_1, length_28^0'=length_28^post_1, nondet_12^0'=nondet_12^post_45, r_165^0'=r_165^post_95, r_39^0'=r_39^post_95, rcd_59^0'=rcd_59^post_103, result_11^0'=result_11^post_1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95, tail_14^0'=tail_14^post_95, temp0_31^0'=temp0_31^post_1, temp_35^0'=temp_35^post_1, tmp_34^0'=tmp_34^post_1, x_26^0'=temp_35^post_5, x_SLAM_f_24^0'=x_SLAM_f_24^post_95, y_25^0'=tail_14^post_103, [ 2<=nondet_12^1_1 && nondet_12^1_1<=2 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1<=i_30^post_1 && 0<=i_30^post_1 && 1+tail_14^post_103<=temp_35^post_5 && 1-len_134^0==0 && tail_14^post_95-tail_14^post_103==0 && head_15^post_95-x_SLAM_f_24^post_95==0 ], cost: 8 145: l65 -> l63 : a_118^0'=a_149^0, head_15^0'=head_15^post_95, head_32^0'=head_32^post_1, head_SLAM_f_29^0'=head_SLAM_f_29^post_1, i_110^0'=i_110^post_95, i_30^0'=i_30^post_1, length_28^0'=length_28^post_1, nondet_12^0'=nondet_12^post_45, r_165^0'=r_165^post_95, r_39^0'=r_39^post_95, rcd_59^0'=rcd_59^post_103, result_11^0'=result_11^post_1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95, tail_14^0'=tail_14^post_95, temp0_31^0'=temp0_31^post_1, temp_35^0'=temp_35^post_1, tmp_34^0'=tmp_34^post_1, x_26^0'=temp_35^post_5, x_SLAM_f_24^0'=x_SLAM_f_24^post_95, y_25^0'=tail_14^post_103, [ 2<=nondet_12^1_1 && nondet_12^1_1<=2 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1<=i_30^post_1 && 0<=i_30^post_1 && 1+temp_35^post_5<=tail_14^post_103 && 1-len_134^0==0 && tail_14^post_95-tail_14^post_103==0 && head_15^post_95-x_SLAM_f_24^post_95==0 ], cost: 8 146: l65 -> l63 : a_118^0'=a_149^0, head_15^0'=head_15^post_95, head_32^0'=head_32^post_1, head_SLAM_f_29^0'=head_SLAM_f_29^post_1, i_110^0'=i_110^post_95, i_30^0'=i_30^post_1, i_95^0'=-1+nondet_12^1_1, length_28^0'=length_28^post_1, nondet_12^0'=nondet_12^post_45, r_165^0'=r_165^post_95, r_39^0'=r_39^post_95, rcd_59^0'=rcd_59^post_103, rcd_89^0'=rcd_89^post_2, result_11^0'=result_11^post_1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95, tail_14^0'=tail_14^post_95, temp0_31^0'=temp0_31^post_1, temp_35^0'=temp_35^post_1, tmp_34^0'=tmp_34^post_1, x_26^0'=temp_35^post_2, x_SLAM_f_24^0'=x_SLAM_f_24^post_95, y_25^0'=tail_14^post_103, [ -2+nondet_12^1_1>=1 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1<=i_30^post_1 && 0<=i_30^post_1 && 1+tail_14^post_103<=temp_35^post_2 && 1-len_134^0==0 && tail_14^post_95-tail_14^post_103==0 && head_15^post_95-x_SLAM_f_24^post_95==0 ], cost: 4+2*nondet_12^1_1 147: l65 -> l63 : a_118^0'=a_149^0, head_15^0'=head_15^post_95, head_32^0'=head_32^post_1, head_SLAM_f_29^0'=head_SLAM_f_29^post_1, i_110^0'=i_110^post_95, i_30^0'=i_30^post_1, i_95^0'=-1+nondet_12^1_1, length_28^0'=length_28^post_1, nondet_12^0'=nondet_12^post_45, r_165^0'=r_165^post_95, r_39^0'=r_39^post_95, rcd_59^0'=rcd_59^post_103, rcd_89^0'=rcd_89^post_2, result_11^0'=result_11^post_1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95, tail_14^0'=tail_14^post_95, temp0_31^0'=temp0_31^post_1, temp_35^0'=temp_35^post_1, tmp_34^0'=tmp_34^post_1, x_26^0'=temp_35^post_2, x_SLAM_f_24^0'=x_SLAM_f_24^post_95, y_25^0'=tail_14^post_103, [ -2+nondet_12^1_1>=1 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1<=i_30^post_1 && 0<=i_30^post_1 && 1+temp_35^post_2<=tail_14^post_103 && 1-len_134^0==0 && tail_14^post_95-tail_14^post_103==0 && head_15^post_95-x_SLAM_f_24^post_95==0 ], cost: 4+2*nondet_12^1_1 Eliminated locations (on tree-shaped paths): Start location: l65 182: l6 -> l6 : a_149^0'=0, a_281^0'=-1+a_281^0+a_149^0, a_342^0'=0, a_343^0'=-1+a_281^0+a_149^0, head_15^0'=head_15^post_7, r_39^0'=r_39^post_7, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7, t_22^0'=x_19^0, tail_14^0'=tail_14^post_7, x_SLAM_f_17^0'=x_SLAM_f_17^post_7, [ 0<=a_149^0 && 0<=a_281^0 && 1+y_18^0<=x_19^0 && -y_18^0+tail_14^post_7==0 && head_15^post_7-x_SLAM_f_17^post_7==0 && 1+tail_14^post_7<=head_15^post_7 && 1+y_18^0<=head_15^post_7 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7 ], cost: 8 183: l6 -> l6 : a_149^0'=0, a_281^0'=-1+a_281^0+a_149^0, a_342^0'=0, a_343^0'=-1+a_281^0+a_149^0, head_15^0'=head_15^post_7, r_39^0'=r_39^post_7, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7, t_22^0'=x_19^0, tail_14^0'=tail_14^post_7, x_SLAM_f_17^0'=x_SLAM_f_17^post_7, [ 0<=a_149^0 && 0<=a_281^0 && 1+y_18^0<=x_19^0 && -y_18^0+tail_14^post_7==0 && head_15^post_7-x_SLAM_f_17^post_7==0 && 1+head_15^post_7<=tail_14^post_7 && 1+head_15^post_7<=y_18^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7 ], cost: 8 184: l6 -> l6 : a_149^0'=0, a_281^0'=-1+a_281^0+a_149^0, a_342^0'=0, a_343^0'=-1+a_281^0+a_149^0, head_15^0'=head_15^post_7, r_39^0'=r_39^post_7, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7, t_22^0'=x_19^0, tail_14^0'=tail_14^post_7, x_SLAM_f_17^0'=x_SLAM_f_17^post_7, [ 0<=a_149^0 && 0<=a_281^0 && 1+x_19^0<=y_18^0 && -y_18^0+tail_14^post_7==0 && head_15^post_7-x_SLAM_f_17^post_7==0 && 1+tail_14^post_7<=head_15^post_7 && 1+y_18^0<=head_15^post_7 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7 ], cost: 8 185: l6 -> l6 : a_149^0'=0, a_281^0'=-1+a_281^0+a_149^0, a_342^0'=0, a_343^0'=-1+a_281^0+a_149^0, head_15^0'=head_15^post_7, r_39^0'=r_39^post_7, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7, t_22^0'=x_19^0, tail_14^0'=tail_14^post_7, x_SLAM_f_17^0'=x_SLAM_f_17^post_7, [ 0<=a_149^0 && 0<=a_281^0 && 1+x_19^0<=y_18^0 && -y_18^0+tail_14^post_7==0 && head_15^post_7-x_SLAM_f_17^post_7==0 && 1+head_15^post_7<=tail_14^post_7 && 1+head_15^post_7<=y_18^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7 ], cost: 8 43: l29 -> l6 : len_134^0'=1+a_225^0, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 ], cost: 1 172: l31 -> l29 : a_225^0'=a_281^0-a_149^0, a_289^0'=a_289^post_34, head_15^0'=head_15^post_34, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_34, t_22^0'=head_15^0, tail_14^0'=tail_14^post_34, x_19^0'=head_15^0, x_26^0'=x_26^post_46, x_SLAM_f_17^0'=x_SLAM_f_17^post_34, x_SLAM_f_24^0'=x_SLAM_f_24^post_46, y_18^0'=tail_14^0, y_25^0'=y_25^post_46, [ 0<=len_134^0 && 0<=a_149^0 && -x_26^0+y_25^0==0 && 1+tail_14^0<=head_15^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_46 && -a_289^post_34==0 && tail_14^post_34-tail_14^0==0 && -x_SLAM_f_17^post_34+head_15^post_34==0 && -head_15^0+head_15^post_34==0 && 1+tail_14^post_34<=head_15^post_34 && 1+tail_14^0<=head_15^post_34 ], cost: 9 173: l31 -> l29 : a_225^0'=a_281^0-a_149^0, a_289^0'=a_289^post_34, head_15^0'=head_15^post_34, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_34, t_22^0'=head_15^0, tail_14^0'=tail_14^post_34, x_19^0'=head_15^0, x_26^0'=x_26^post_46, x_SLAM_f_17^0'=x_SLAM_f_17^post_34, x_SLAM_f_24^0'=x_SLAM_f_24^post_46, y_18^0'=tail_14^0, y_25^0'=y_25^post_46, [ 0<=len_134^0 && 0<=a_149^0 && -x_26^0+y_25^0==0 && 1+head_15^0<=tail_14^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_46 && -a_289^post_34==0 && tail_14^post_34-tail_14^0==0 && -x_SLAM_f_17^post_34+head_15^post_34==0 && -head_15^0+head_15^post_34==0 && 1+head_15^post_34<=tail_14^post_34 && 1+head_15^post_34<=tail_14^0 ], cost: 9 174: l31 -> l31 : a_149^0'=-1+a_149^0, a_188^0'=-1+a_149^0, f_171^0'=f_171^post_50, head_15^0'=head_15^post_50, len_134^0'=1+len_134^0, len_187^0'=1+len_134^0, r_39^0'=r_39^post_50, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50, tail_14^0'=tail_14^post_50, x_176^0'=x_176^post_50, x_SLAM_f_24^0'=x_SLAM_f_24^post_50, [ 0<=len_134^0 && 0<=a_149^0 && 1+y_25^0<=x_26^0 && -y_25^0+tail_14^post_50==0 && -x_SLAM_f_24^post_50+head_15^post_50==0 && x_26^0-f_171^post_50==0 && 1+head_15^post_50<=y_25^0 && 1+y_25^0<=x_176^post_50 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50 ], cost: 7 175: l31 -> l31 : a_149^0'=-1+a_149^0, a_188^0'=-1+a_149^0, f_171^0'=f_171^post_50, head_15^0'=head_15^post_50, len_134^0'=1+len_134^0, len_187^0'=1+len_134^0, r_39^0'=r_39^post_50, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50, tail_14^0'=tail_14^post_50, x_176^0'=x_176^post_50, x_SLAM_f_24^0'=x_SLAM_f_24^post_50, [ 0<=len_134^0 && 0<=a_149^0 && 1+y_25^0<=x_26^0 && -y_25^0+tail_14^post_50==0 && -x_SLAM_f_24^post_50+head_15^post_50==0 && x_26^0-f_171^post_50==0 && 1+head_15^post_50<=y_25^0 && 1+x_176^post_50<=y_25^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50 ], cost: 7 176: l31 -> l31 : a_149^0'=-1+a_149^0, a_188^0'=-1+a_149^0, f_171^0'=f_171^post_50, head_15^0'=head_15^post_50, len_134^0'=1+len_134^0, len_187^0'=1+len_134^0, r_39^0'=r_39^post_50, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50, tail_14^0'=tail_14^post_50, x_176^0'=x_176^post_50, x_SLAM_f_24^0'=x_SLAM_f_24^post_50, [ 0<=len_134^0 && 0<=a_149^0 && 1+y_25^0<=x_26^0 && -y_25^0+tail_14^post_50==0 && -x_SLAM_f_24^post_50+head_15^post_50==0 && x_26^0-f_171^post_50==0 && 1+y_25^0<=head_15^post_50 && 1+y_25^0<=x_176^post_50 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50 ], cost: 7 177: l31 -> l31 : a_149^0'=-1+a_149^0, a_188^0'=-1+a_149^0, f_171^0'=f_171^post_50, head_15^0'=head_15^post_50, len_134^0'=1+len_134^0, len_187^0'=1+len_134^0, r_39^0'=r_39^post_50, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50, tail_14^0'=tail_14^post_50, x_176^0'=x_176^post_50, x_SLAM_f_24^0'=x_SLAM_f_24^post_50, [ 0<=len_134^0 && 0<=a_149^0 && 1+y_25^0<=x_26^0 && -y_25^0+tail_14^post_50==0 && -x_SLAM_f_24^post_50+head_15^post_50==0 && x_26^0-f_171^post_50==0 && 1+y_25^0<=head_15^post_50 && 1+x_176^post_50<=y_25^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50 ], cost: 7 178: l31 -> l31 : a_149^0'=-1+a_149^0, a_188^0'=-1+a_149^0, f_171^0'=f_171^post_50, head_15^0'=head_15^post_50, len_134^0'=1+len_134^0, len_187^0'=1+len_134^0, r_39^0'=r_39^post_50, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50, tail_14^0'=tail_14^post_50, x_176^0'=x_176^post_50, x_SLAM_f_24^0'=x_SLAM_f_24^post_50, [ 0<=len_134^0 && 0<=a_149^0 && 1+x_26^0<=y_25^0 && -y_25^0+tail_14^post_50==0 && -x_SLAM_f_24^post_50+head_15^post_50==0 && x_26^0-f_171^post_50==0 && 1+head_15^post_50<=y_25^0 && 1+y_25^0<=x_176^post_50 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50 ], cost: 7 179: l31 -> l31 : a_149^0'=-1+a_149^0, a_188^0'=-1+a_149^0, f_171^0'=f_171^post_50, head_15^0'=head_15^post_50, len_134^0'=1+len_134^0, len_187^0'=1+len_134^0, r_39^0'=r_39^post_50, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50, tail_14^0'=tail_14^post_50, x_176^0'=x_176^post_50, x_SLAM_f_24^0'=x_SLAM_f_24^post_50, [ 0<=len_134^0 && 0<=a_149^0 && 1+x_26^0<=y_25^0 && -y_25^0+tail_14^post_50==0 && -x_SLAM_f_24^post_50+head_15^post_50==0 && x_26^0-f_171^post_50==0 && 1+head_15^post_50<=y_25^0 && 1+x_176^post_50<=y_25^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50 ], cost: 7 180: l31 -> l31 : a_149^0'=-1+a_149^0, a_188^0'=-1+a_149^0, f_171^0'=f_171^post_50, head_15^0'=head_15^post_50, len_134^0'=1+len_134^0, len_187^0'=1+len_134^0, r_39^0'=r_39^post_50, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50, tail_14^0'=tail_14^post_50, x_176^0'=x_176^post_50, x_SLAM_f_24^0'=x_SLAM_f_24^post_50, [ 0<=len_134^0 && 0<=a_149^0 && 1+x_26^0<=y_25^0 && -y_25^0+tail_14^post_50==0 && -x_SLAM_f_24^post_50+head_15^post_50==0 && x_26^0-f_171^post_50==0 && 1+y_25^0<=head_15^post_50 && 1+y_25^0<=x_176^post_50 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50 ], cost: 7 181: l31 -> l31 : a_149^0'=-1+a_149^0, a_188^0'=-1+a_149^0, f_171^0'=f_171^post_50, head_15^0'=head_15^post_50, len_134^0'=1+len_134^0, len_187^0'=1+len_134^0, r_39^0'=r_39^post_50, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50, tail_14^0'=tail_14^post_50, x_176^0'=x_176^post_50, x_SLAM_f_24^0'=x_SLAM_f_24^post_50, [ 0<=len_134^0 && 0<=a_149^0 && 1+x_26^0<=y_25^0 && -y_25^0+tail_14^post_50==0 && -x_SLAM_f_24^post_50+head_15^post_50==0 && x_26^0-f_171^post_50==0 && 1+y_25^0<=head_15^post_50 && 1+x_176^post_50<=y_25^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50 ], cost: 7 164: l65 -> l31 : a_118^0'=a_149^0, head_15^0'=head_15^post_95, head_32^0'=head_32^post_1, head_SLAM_f_29^0'=head_SLAM_f_29^post_1, i_110^0'=1+a_149^0, i_30^0'=i_30^post_1, length_28^0'=length_28^post_1, nondet_12^0'=nondet_12^post_45, r_165^0'=r_165^post_95, r_39^0'=r_39^post_95, rcd_59^0'=rcd_59^post_103, result_11^0'=result_11^post_1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95, tail_14^0'=tail_14^post_95, temp0_31^0'=temp0_31^post_1, temp_35^0'=temp_35^post_1, tmp_34^0'=tmp_34^post_1, x_26^0'=temp_35^post_5, x_SLAM_f_24^0'=x_SLAM_f_24^post_95, y_25^0'=tail_14^post_103, [ 2<=nondet_12^1_1 && nondet_12^1_1<=2 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1<=i_30^post_1 && 0<=i_30^post_1 && 1+tail_14^post_103<=temp_35^post_5 && 1-len_134^0==0 && tail_14^post_95-tail_14^post_103==0 && head_15^post_95-x_SLAM_f_24^post_95==0 && 1+head_15^post_95<=tail_14^post_103 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95<=i_110^post_95 ], cost: 10 165: l65 -> l31 : a_118^0'=a_149^0, head_15^0'=head_15^post_95, head_32^0'=head_32^post_1, head_SLAM_f_29^0'=head_SLAM_f_29^post_1, i_110^0'=1+a_149^0, i_30^0'=i_30^post_1, length_28^0'=length_28^post_1, nondet_12^0'=nondet_12^post_45, r_165^0'=r_165^post_95, r_39^0'=r_39^post_95, rcd_59^0'=rcd_59^post_103, result_11^0'=result_11^post_1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95, tail_14^0'=tail_14^post_95, temp0_31^0'=temp0_31^post_1, temp_35^0'=temp_35^post_1, tmp_34^0'=tmp_34^post_1, x_26^0'=temp_35^post_5, x_SLAM_f_24^0'=x_SLAM_f_24^post_95, y_25^0'=tail_14^post_103, [ 2<=nondet_12^1_1 && nondet_12^1_1<=2 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1<=i_30^post_1 && 0<=i_30^post_1 && 1+tail_14^post_103<=temp_35^post_5 && 1-len_134^0==0 && tail_14^post_95-tail_14^post_103==0 && head_15^post_95-x_SLAM_f_24^post_95==0 && 1+tail_14^post_103<=head_15^post_95 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95<=i_110^post_95 ], cost: 10 166: l65 -> l31 : a_118^0'=a_149^0, head_15^0'=head_15^post_95, head_32^0'=head_32^post_1, head_SLAM_f_29^0'=head_SLAM_f_29^post_1, i_110^0'=1+a_149^0, i_30^0'=i_30^post_1, length_28^0'=length_28^post_1, nondet_12^0'=nondet_12^post_45, r_165^0'=r_165^post_95, r_39^0'=r_39^post_95, rcd_59^0'=rcd_59^post_103, result_11^0'=result_11^post_1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95, tail_14^0'=tail_14^post_95, temp0_31^0'=temp0_31^post_1, temp_35^0'=temp_35^post_1, tmp_34^0'=tmp_34^post_1, x_26^0'=temp_35^post_5, x_SLAM_f_24^0'=x_SLAM_f_24^post_95, y_25^0'=tail_14^post_103, [ 2<=nondet_12^1_1 && nondet_12^1_1<=2 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1<=i_30^post_1 && 0<=i_30^post_1 && 1+temp_35^post_5<=tail_14^post_103 && 1-len_134^0==0 && tail_14^post_95-tail_14^post_103==0 && head_15^post_95-x_SLAM_f_24^post_95==0 && 1+head_15^post_95<=tail_14^post_103 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95<=i_110^post_95 ], cost: 10 167: l65 -> l31 : a_118^0'=a_149^0, head_15^0'=head_15^post_95, head_32^0'=head_32^post_1, head_SLAM_f_29^0'=head_SLAM_f_29^post_1, i_110^0'=1+a_149^0, i_30^0'=i_30^post_1, length_28^0'=length_28^post_1, nondet_12^0'=nondet_12^post_45, r_165^0'=r_165^post_95, r_39^0'=r_39^post_95, rcd_59^0'=rcd_59^post_103, result_11^0'=result_11^post_1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95, tail_14^0'=tail_14^post_95, temp0_31^0'=temp0_31^post_1, temp_35^0'=temp_35^post_1, tmp_34^0'=tmp_34^post_1, x_26^0'=temp_35^post_5, x_SLAM_f_24^0'=x_SLAM_f_24^post_95, y_25^0'=tail_14^post_103, [ 2<=nondet_12^1_1 && nondet_12^1_1<=2 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1<=i_30^post_1 && 0<=i_30^post_1 && 1+temp_35^post_5<=tail_14^post_103 && 1-len_134^0==0 && tail_14^post_95-tail_14^post_103==0 && head_15^post_95-x_SLAM_f_24^post_95==0 && 1+tail_14^post_103<=head_15^post_95 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95<=i_110^post_95 ], cost: 10 168: l65 -> l31 : a_118^0'=a_149^0, head_15^0'=head_15^post_95, head_32^0'=head_32^post_1, head_SLAM_f_29^0'=head_SLAM_f_29^post_1, i_110^0'=1+a_149^0, i_30^0'=i_30^post_1, i_95^0'=-1+nondet_12^1_1, length_28^0'=length_28^post_1, nondet_12^0'=nondet_12^post_45, r_165^0'=r_165^post_95, r_39^0'=r_39^post_95, rcd_59^0'=rcd_59^post_103, rcd_89^0'=rcd_89^post_2, result_11^0'=result_11^post_1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95, tail_14^0'=tail_14^post_95, temp0_31^0'=temp0_31^post_1, temp_35^0'=temp_35^post_1, tmp_34^0'=tmp_34^post_1, x_26^0'=temp_35^post_2, x_SLAM_f_24^0'=x_SLAM_f_24^post_95, y_25^0'=tail_14^post_103, [ -2+nondet_12^1_1>=1 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1<=i_30^post_1 && 0<=i_30^post_1 && 1+tail_14^post_103<=temp_35^post_2 && 1-len_134^0==0 && tail_14^post_95-tail_14^post_103==0 && head_15^post_95-x_SLAM_f_24^post_95==0 && 1+head_15^post_95<=tail_14^post_103 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95<=i_110^post_95 ], cost: 6+2*nondet_12^1_1 169: l65 -> l31 : a_118^0'=a_149^0, head_15^0'=head_15^post_95, head_32^0'=head_32^post_1, head_SLAM_f_29^0'=head_SLAM_f_29^post_1, i_110^0'=1+a_149^0, i_30^0'=i_30^post_1, i_95^0'=-1+nondet_12^1_1, length_28^0'=length_28^post_1, nondet_12^0'=nondet_12^post_45, r_165^0'=r_165^post_95, r_39^0'=r_39^post_95, rcd_59^0'=rcd_59^post_103, rcd_89^0'=rcd_89^post_2, result_11^0'=result_11^post_1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95, tail_14^0'=tail_14^post_95, temp0_31^0'=temp0_31^post_1, temp_35^0'=temp_35^post_1, tmp_34^0'=tmp_34^post_1, x_26^0'=temp_35^post_2, x_SLAM_f_24^0'=x_SLAM_f_24^post_95, y_25^0'=tail_14^post_103, [ -2+nondet_12^1_1>=1 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1<=i_30^post_1 && 0<=i_30^post_1 && 1+tail_14^post_103<=temp_35^post_2 && 1-len_134^0==0 && tail_14^post_95-tail_14^post_103==0 && head_15^post_95-x_SLAM_f_24^post_95==0 && 1+tail_14^post_103<=head_15^post_95 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95<=i_110^post_95 ], cost: 6+2*nondet_12^1_1 170: l65 -> l31 : a_118^0'=a_149^0, head_15^0'=head_15^post_95, head_32^0'=head_32^post_1, head_SLAM_f_29^0'=head_SLAM_f_29^post_1, i_110^0'=1+a_149^0, i_30^0'=i_30^post_1, i_95^0'=-1+nondet_12^1_1, length_28^0'=length_28^post_1, nondet_12^0'=nondet_12^post_45, r_165^0'=r_165^post_95, r_39^0'=r_39^post_95, rcd_59^0'=rcd_59^post_103, rcd_89^0'=rcd_89^post_2, result_11^0'=result_11^post_1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95, tail_14^0'=tail_14^post_95, temp0_31^0'=temp0_31^post_1, temp_35^0'=temp_35^post_1, tmp_34^0'=tmp_34^post_1, x_26^0'=temp_35^post_2, x_SLAM_f_24^0'=x_SLAM_f_24^post_95, y_25^0'=tail_14^post_103, [ -2+nondet_12^1_1>=1 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1<=i_30^post_1 && 0<=i_30^post_1 && 1+temp_35^post_2<=tail_14^post_103 && 1-len_134^0==0 && tail_14^post_95-tail_14^post_103==0 && head_15^post_95-x_SLAM_f_24^post_95==0 && 1+head_15^post_95<=tail_14^post_103 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95<=i_110^post_95 ], cost: 6+2*nondet_12^1_1 171: l65 -> l31 : a_118^0'=a_149^0, head_15^0'=head_15^post_95, head_32^0'=head_32^post_1, head_SLAM_f_29^0'=head_SLAM_f_29^post_1, i_110^0'=1+a_149^0, i_30^0'=i_30^post_1, i_95^0'=-1+nondet_12^1_1, length_28^0'=length_28^post_1, nondet_12^0'=nondet_12^post_45, r_165^0'=r_165^post_95, r_39^0'=r_39^post_95, rcd_59^0'=rcd_59^post_103, rcd_89^0'=rcd_89^post_2, result_11^0'=result_11^post_1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95, tail_14^0'=tail_14^post_95, temp0_31^0'=temp0_31^post_1, temp_35^0'=temp_35^post_1, tmp_34^0'=tmp_34^post_1, x_26^0'=temp_35^post_2, x_SLAM_f_24^0'=x_SLAM_f_24^post_95, y_25^0'=tail_14^post_103, [ -2+nondet_12^1_1>=1 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1<=i_30^post_1 && 0<=i_30^post_1 && 1+temp_35^post_2<=tail_14^post_103 && 1-len_134^0==0 && tail_14^post_95-tail_14^post_103==0 && head_15^post_95-x_SLAM_f_24^post_95==0 && 1+tail_14^post_103<=head_15^post_95 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95<=i_110^post_95 ], cost: 6+2*nondet_12^1_1 Applied pruning (of leafs and parallel rules): Start location: l65 182: l6 -> l6 : a_149^0'=0, a_281^0'=-1+a_281^0+a_149^0, a_342^0'=0, a_343^0'=-1+a_281^0+a_149^0, head_15^0'=head_15^post_7, r_39^0'=r_39^post_7, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7, t_22^0'=x_19^0, tail_14^0'=tail_14^post_7, x_SLAM_f_17^0'=x_SLAM_f_17^post_7, [ 0<=a_149^0 && 0<=a_281^0 && 1+y_18^0<=x_19^0 && -y_18^0+tail_14^post_7==0 && head_15^post_7-x_SLAM_f_17^post_7==0 && 1+tail_14^post_7<=head_15^post_7 && 1+y_18^0<=head_15^post_7 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7 ], cost: 8 183: l6 -> l6 : a_149^0'=0, a_281^0'=-1+a_281^0+a_149^0, a_342^0'=0, a_343^0'=-1+a_281^0+a_149^0, head_15^0'=head_15^post_7, r_39^0'=r_39^post_7, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7, t_22^0'=x_19^0, tail_14^0'=tail_14^post_7, x_SLAM_f_17^0'=x_SLAM_f_17^post_7, [ 0<=a_149^0 && 0<=a_281^0 && 1+y_18^0<=x_19^0 && -y_18^0+tail_14^post_7==0 && head_15^post_7-x_SLAM_f_17^post_7==0 && 1+head_15^post_7<=tail_14^post_7 && 1+head_15^post_7<=y_18^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7 ], cost: 8 184: l6 -> l6 : a_149^0'=0, a_281^0'=-1+a_281^0+a_149^0, a_342^0'=0, a_343^0'=-1+a_281^0+a_149^0, head_15^0'=head_15^post_7, r_39^0'=r_39^post_7, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7, t_22^0'=x_19^0, tail_14^0'=tail_14^post_7, x_SLAM_f_17^0'=x_SLAM_f_17^post_7, [ 0<=a_149^0 && 0<=a_281^0 && 1+x_19^0<=y_18^0 && -y_18^0+tail_14^post_7==0 && head_15^post_7-x_SLAM_f_17^post_7==0 && 1+tail_14^post_7<=head_15^post_7 && 1+y_18^0<=head_15^post_7 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7 ], cost: 8 185: l6 -> l6 : a_149^0'=0, a_281^0'=-1+a_281^0+a_149^0, a_342^0'=0, a_343^0'=-1+a_281^0+a_149^0, head_15^0'=head_15^post_7, r_39^0'=r_39^post_7, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7, t_22^0'=x_19^0, tail_14^0'=tail_14^post_7, x_SLAM_f_17^0'=x_SLAM_f_17^post_7, [ 0<=a_149^0 && 0<=a_281^0 && 1+x_19^0<=y_18^0 && -y_18^0+tail_14^post_7==0 && head_15^post_7-x_SLAM_f_17^post_7==0 && 1+head_15^post_7<=tail_14^post_7 && 1+head_15^post_7<=y_18^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7 ], cost: 8 43: l29 -> l6 : len_134^0'=1+a_225^0, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 ], cost: 1 172: l31 -> l29 : a_225^0'=a_281^0-a_149^0, a_289^0'=a_289^post_34, head_15^0'=head_15^post_34, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_34, t_22^0'=head_15^0, tail_14^0'=tail_14^post_34, x_19^0'=head_15^0, x_26^0'=x_26^post_46, x_SLAM_f_17^0'=x_SLAM_f_17^post_34, x_SLAM_f_24^0'=x_SLAM_f_24^post_46, y_18^0'=tail_14^0, y_25^0'=y_25^post_46, [ 0<=len_134^0 && 0<=a_149^0 && -x_26^0+y_25^0==0 && 1+tail_14^0<=head_15^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_46 && -a_289^post_34==0 && tail_14^post_34-tail_14^0==0 && -x_SLAM_f_17^post_34+head_15^post_34==0 && -head_15^0+head_15^post_34==0 && 1+tail_14^post_34<=head_15^post_34 && 1+tail_14^0<=head_15^post_34 ], cost: 9 173: l31 -> l29 : a_225^0'=a_281^0-a_149^0, a_289^0'=a_289^post_34, head_15^0'=head_15^post_34, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_34, t_22^0'=head_15^0, tail_14^0'=tail_14^post_34, x_19^0'=head_15^0, x_26^0'=x_26^post_46, x_SLAM_f_17^0'=x_SLAM_f_17^post_34, x_SLAM_f_24^0'=x_SLAM_f_24^post_46, y_18^0'=tail_14^0, y_25^0'=y_25^post_46, [ 0<=len_134^0 && 0<=a_149^0 && -x_26^0+y_25^0==0 && 1+head_15^0<=tail_14^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_46 && -a_289^post_34==0 && tail_14^post_34-tail_14^0==0 && -x_SLAM_f_17^post_34+head_15^post_34==0 && -head_15^0+head_15^post_34==0 && 1+head_15^post_34<=tail_14^post_34 && 1+head_15^post_34<=tail_14^0 ], cost: 9 174: l31 -> l31 : a_149^0'=-1+a_149^0, a_188^0'=-1+a_149^0, f_171^0'=f_171^post_50, head_15^0'=head_15^post_50, len_134^0'=1+len_134^0, len_187^0'=1+len_134^0, r_39^0'=r_39^post_50, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50, tail_14^0'=tail_14^post_50, x_176^0'=x_176^post_50, x_SLAM_f_24^0'=x_SLAM_f_24^post_50, [ 0<=len_134^0 && 0<=a_149^0 && 1+y_25^0<=x_26^0 && -y_25^0+tail_14^post_50==0 && -x_SLAM_f_24^post_50+head_15^post_50==0 && x_26^0-f_171^post_50==0 && 1+head_15^post_50<=y_25^0 && 1+y_25^0<=x_176^post_50 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50 ], cost: 7 175: l31 -> l31 : a_149^0'=-1+a_149^0, a_188^0'=-1+a_149^0, f_171^0'=f_171^post_50, head_15^0'=head_15^post_50, len_134^0'=1+len_134^0, len_187^0'=1+len_134^0, r_39^0'=r_39^post_50, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50, tail_14^0'=tail_14^post_50, x_176^0'=x_176^post_50, x_SLAM_f_24^0'=x_SLAM_f_24^post_50, [ 0<=len_134^0 && 0<=a_149^0 && 1+y_25^0<=x_26^0 && -y_25^0+tail_14^post_50==0 && -x_SLAM_f_24^post_50+head_15^post_50==0 && x_26^0-f_171^post_50==0 && 1+head_15^post_50<=y_25^0 && 1+x_176^post_50<=y_25^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50 ], cost: 7 177: l31 -> l31 : a_149^0'=-1+a_149^0, a_188^0'=-1+a_149^0, f_171^0'=f_171^post_50, head_15^0'=head_15^post_50, len_134^0'=1+len_134^0, len_187^0'=1+len_134^0, r_39^0'=r_39^post_50, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50, tail_14^0'=tail_14^post_50, x_176^0'=x_176^post_50, x_SLAM_f_24^0'=x_SLAM_f_24^post_50, [ 0<=len_134^0 && 0<=a_149^0 && 1+y_25^0<=x_26^0 && -y_25^0+tail_14^post_50==0 && -x_SLAM_f_24^post_50+head_15^post_50==0 && x_26^0-f_171^post_50==0 && 1+y_25^0<=head_15^post_50 && 1+x_176^post_50<=y_25^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50 ], cost: 7 178: l31 -> l31 : a_149^0'=-1+a_149^0, a_188^0'=-1+a_149^0, f_171^0'=f_171^post_50, head_15^0'=head_15^post_50, len_134^0'=1+len_134^0, len_187^0'=1+len_134^0, r_39^0'=r_39^post_50, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50, tail_14^0'=tail_14^post_50, x_176^0'=x_176^post_50, x_SLAM_f_24^0'=x_SLAM_f_24^post_50, [ 0<=len_134^0 && 0<=a_149^0 && 1+x_26^0<=y_25^0 && -y_25^0+tail_14^post_50==0 && -x_SLAM_f_24^post_50+head_15^post_50==0 && x_26^0-f_171^post_50==0 && 1+head_15^post_50<=y_25^0 && 1+y_25^0<=x_176^post_50 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50 ], cost: 7 179: l31 -> l31 : a_149^0'=-1+a_149^0, a_188^0'=-1+a_149^0, f_171^0'=f_171^post_50, head_15^0'=head_15^post_50, len_134^0'=1+len_134^0, len_187^0'=1+len_134^0, r_39^0'=r_39^post_50, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50, tail_14^0'=tail_14^post_50, x_176^0'=x_176^post_50, x_SLAM_f_24^0'=x_SLAM_f_24^post_50, [ 0<=len_134^0 && 0<=a_149^0 && 1+x_26^0<=y_25^0 && -y_25^0+tail_14^post_50==0 && -x_SLAM_f_24^post_50+head_15^post_50==0 && x_26^0-f_171^post_50==0 && 1+head_15^post_50<=y_25^0 && 1+x_176^post_50<=y_25^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50 ], cost: 7 167: l65 -> l31 : a_118^0'=a_149^0, head_15^0'=head_15^post_95, head_32^0'=head_32^post_1, head_SLAM_f_29^0'=head_SLAM_f_29^post_1, i_110^0'=1+a_149^0, i_30^0'=i_30^post_1, length_28^0'=length_28^post_1, nondet_12^0'=nondet_12^post_45, r_165^0'=r_165^post_95, r_39^0'=r_39^post_95, rcd_59^0'=rcd_59^post_103, result_11^0'=result_11^post_1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95, tail_14^0'=tail_14^post_95, temp0_31^0'=temp0_31^post_1, temp_35^0'=temp_35^post_1, tmp_34^0'=tmp_34^post_1, x_26^0'=temp_35^post_5, x_SLAM_f_24^0'=x_SLAM_f_24^post_95, y_25^0'=tail_14^post_103, [ 2<=nondet_12^1_1 && nondet_12^1_1<=2 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1<=i_30^post_1 && 0<=i_30^post_1 && 1+temp_35^post_5<=tail_14^post_103 && 1-len_134^0==0 && tail_14^post_95-tail_14^post_103==0 && head_15^post_95-x_SLAM_f_24^post_95==0 && 1+tail_14^post_103<=head_15^post_95 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95<=i_110^post_95 ], cost: 10 168: l65 -> l31 : a_118^0'=a_149^0, head_15^0'=head_15^post_95, head_32^0'=head_32^post_1, head_SLAM_f_29^0'=head_SLAM_f_29^post_1, i_110^0'=1+a_149^0, i_30^0'=i_30^post_1, i_95^0'=-1+nondet_12^1_1, length_28^0'=length_28^post_1, nondet_12^0'=nondet_12^post_45, r_165^0'=r_165^post_95, r_39^0'=r_39^post_95, rcd_59^0'=rcd_59^post_103, rcd_89^0'=rcd_89^post_2, result_11^0'=result_11^post_1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95, tail_14^0'=tail_14^post_95, temp0_31^0'=temp0_31^post_1, temp_35^0'=temp_35^post_1, tmp_34^0'=tmp_34^post_1, x_26^0'=temp_35^post_2, x_SLAM_f_24^0'=x_SLAM_f_24^post_95, y_25^0'=tail_14^post_103, [ -2+nondet_12^1_1>=1 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1<=i_30^post_1 && 0<=i_30^post_1 && 1+tail_14^post_103<=temp_35^post_2 && 1-len_134^0==0 && tail_14^post_95-tail_14^post_103==0 && head_15^post_95-x_SLAM_f_24^post_95==0 && 1+head_15^post_95<=tail_14^post_103 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95<=i_110^post_95 ], cost: 6+2*nondet_12^1_1 169: l65 -> l31 : a_118^0'=a_149^0, head_15^0'=head_15^post_95, head_32^0'=head_32^post_1, head_SLAM_f_29^0'=head_SLAM_f_29^post_1, i_110^0'=1+a_149^0, i_30^0'=i_30^post_1, i_95^0'=-1+nondet_12^1_1, length_28^0'=length_28^post_1, nondet_12^0'=nondet_12^post_45, r_165^0'=r_165^post_95, r_39^0'=r_39^post_95, rcd_59^0'=rcd_59^post_103, rcd_89^0'=rcd_89^post_2, result_11^0'=result_11^post_1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95, tail_14^0'=tail_14^post_95, temp0_31^0'=temp0_31^post_1, temp_35^0'=temp_35^post_1, tmp_34^0'=tmp_34^post_1, x_26^0'=temp_35^post_2, x_SLAM_f_24^0'=x_SLAM_f_24^post_95, y_25^0'=tail_14^post_103, [ -2+nondet_12^1_1>=1 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1<=i_30^post_1 && 0<=i_30^post_1 && 1+tail_14^post_103<=temp_35^post_2 && 1-len_134^0==0 && tail_14^post_95-tail_14^post_103==0 && head_15^post_95-x_SLAM_f_24^post_95==0 && 1+tail_14^post_103<=head_15^post_95 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95<=i_110^post_95 ], cost: 6+2*nondet_12^1_1 170: l65 -> l31 : a_118^0'=a_149^0, head_15^0'=head_15^post_95, head_32^0'=head_32^post_1, head_SLAM_f_29^0'=head_SLAM_f_29^post_1, i_110^0'=1+a_149^0, i_30^0'=i_30^post_1, i_95^0'=-1+nondet_12^1_1, length_28^0'=length_28^post_1, nondet_12^0'=nondet_12^post_45, r_165^0'=r_165^post_95, r_39^0'=r_39^post_95, rcd_59^0'=rcd_59^post_103, rcd_89^0'=rcd_89^post_2, result_11^0'=result_11^post_1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95, tail_14^0'=tail_14^post_95, temp0_31^0'=temp0_31^post_1, temp_35^0'=temp_35^post_1, tmp_34^0'=tmp_34^post_1, x_26^0'=temp_35^post_2, x_SLAM_f_24^0'=x_SLAM_f_24^post_95, y_25^0'=tail_14^post_103, [ -2+nondet_12^1_1>=1 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1<=i_30^post_1 && 0<=i_30^post_1 && 1+temp_35^post_2<=tail_14^post_103 && 1-len_134^0==0 && tail_14^post_95-tail_14^post_103==0 && head_15^post_95-x_SLAM_f_24^post_95==0 && 1+head_15^post_95<=tail_14^post_103 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95<=i_110^post_95 ], cost: 6+2*nondet_12^1_1 171: l65 -> l31 : a_118^0'=a_149^0, head_15^0'=head_15^post_95, head_32^0'=head_32^post_1, head_SLAM_f_29^0'=head_SLAM_f_29^post_1, i_110^0'=1+a_149^0, i_30^0'=i_30^post_1, i_95^0'=-1+nondet_12^1_1, length_28^0'=length_28^post_1, nondet_12^0'=nondet_12^post_45, r_165^0'=r_165^post_95, r_39^0'=r_39^post_95, rcd_59^0'=rcd_59^post_103, rcd_89^0'=rcd_89^post_2, result_11^0'=result_11^post_1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95, tail_14^0'=tail_14^post_95, temp0_31^0'=temp0_31^post_1, temp_35^0'=temp_35^post_1, tmp_34^0'=tmp_34^post_1, x_26^0'=temp_35^post_2, x_SLAM_f_24^0'=x_SLAM_f_24^post_95, y_25^0'=tail_14^post_103, [ -2+nondet_12^1_1>=1 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1<=i_30^post_1 && 0<=i_30^post_1 && 1+temp_35^post_2<=tail_14^post_103 && 1-len_134^0==0 && tail_14^post_95-tail_14^post_103==0 && head_15^post_95-x_SLAM_f_24^post_95==0 && 1+tail_14^post_103<=head_15^post_95 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95<=i_110^post_95 ], cost: 6+2*nondet_12^1_1 Accelerating simple loops of location 6. Simplified some of the simple loops (and removed duplicate rules). Accelerating the following rules: 182: l6 -> l6 : a_149^0'=0, a_281^0'=-1+a_281^0+a_149^0, a_342^0'=0, a_343^0'=-1+a_281^0+a_149^0, head_15^0'=x_SLAM_f_17^post_7, r_39^0'=r_39^post_7, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7, t_22^0'=x_19^0, tail_14^0'=y_18^0, x_SLAM_f_17^0'=x_SLAM_f_17^post_7, [ 0<=a_149^0 && 0<=a_281^0 && 1+y_18^0<=x_19^0 && 1+y_18^0<=x_SLAM_f_17^post_7 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7 ], cost: 8 183: l6 -> l6 : a_149^0'=0, a_281^0'=-1+a_281^0+a_149^0, a_342^0'=0, a_343^0'=-1+a_281^0+a_149^0, head_15^0'=x_SLAM_f_17^post_7, r_39^0'=r_39^post_7, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7, t_22^0'=x_19^0, tail_14^0'=y_18^0, x_SLAM_f_17^0'=x_SLAM_f_17^post_7, [ 0<=a_149^0 && 0<=a_281^0 && 1+y_18^0<=x_19^0 && 1+x_SLAM_f_17^post_7<=y_18^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7 ], cost: 8 184: l6 -> l6 : a_149^0'=0, a_281^0'=-1+a_281^0+a_149^0, a_342^0'=0, a_343^0'=-1+a_281^0+a_149^0, head_15^0'=x_SLAM_f_17^post_7, r_39^0'=r_39^post_7, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7, t_22^0'=x_19^0, tail_14^0'=y_18^0, x_SLAM_f_17^0'=x_SLAM_f_17^post_7, [ 0<=a_149^0 && 0<=a_281^0 && 1+x_19^0<=y_18^0 && 1+y_18^0<=x_SLAM_f_17^post_7 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7 ], cost: 8 185: l6 -> l6 : a_149^0'=0, a_281^0'=-1+a_281^0+a_149^0, a_342^0'=0, a_343^0'=-1+a_281^0+a_149^0, head_15^0'=x_SLAM_f_17^post_7, r_39^0'=r_39^post_7, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7, t_22^0'=x_19^0, tail_14^0'=y_18^0, x_SLAM_f_17^0'=x_SLAM_f_17^post_7, [ 0<=a_149^0 && 0<=a_281^0 && 1+x_19^0<=y_18^0 && 1+x_SLAM_f_17^post_7<=y_18^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7 ], cost: 8 [test] deduced pseudo-invariant a_149^0<=0, also trying -a_149^0<=-1 Accelerated rule 182 with backward acceleration, yielding the new rule 186. [test] deduced pseudo-invariant a_281^0+2*a_149^0<=0, also trying -a_281^0-2*a_149^0<=-1 Accelerated rule 183 with backward acceleration, yielding the new rule 187. [test] deduced pseudo-invariant a_281^0+2*a_149^0<=0, also trying -a_281^0-2*a_149^0<=-1 Accelerated rule 184 with backward acceleration, yielding the new rule 188. [test] deduced pseudo-invariant a_281^0+2*a_149^0<=0, also trying -a_281^0-2*a_149^0<=-1 Accelerated rule 185 with backward acceleration, yielding the new rule 189. [accelerate] Nesting with 4 inner and 4 outer candidates Accelerating simple loops of location 31. Simplified some of the simple loops (and removed duplicate rules). Accelerating the following rules: 174: l31 -> l31 : a_149^0'=-1+a_149^0, a_188^0'=-1+a_149^0, f_171^0'=x_26^0, head_15^0'=head_15^post_50, len_134^0'=1+len_134^0, len_187^0'=1+len_134^0, r_39^0'=r_39^post_50, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50, tail_14^0'=y_25^0, x_176^0'=x_176^post_50, x_SLAM_f_24^0'=head_15^post_50, [ 0<=len_134^0 && 0<=a_149^0 && 1+y_25^0<=x_26^0 && 1+head_15^post_50<=y_25^0 && 1+y_25^0<=x_176^post_50 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50 ], cost: 7 175: l31 -> l31 : a_149^0'=-1+a_149^0, a_188^0'=-1+a_149^0, f_171^0'=x_26^0, head_15^0'=head_15^post_50, len_134^0'=1+len_134^0, len_187^0'=1+len_134^0, r_39^0'=r_39^post_50, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50, tail_14^0'=y_25^0, x_176^0'=x_176^post_50, x_SLAM_f_24^0'=head_15^post_50, [ 0<=len_134^0 && 0<=a_149^0 && 1+y_25^0<=x_26^0 && 1+head_15^post_50<=y_25^0 && 1+x_176^post_50<=y_25^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50 ], cost: 7 177: l31 -> l31 : a_149^0'=-1+a_149^0, a_188^0'=-1+a_149^0, f_171^0'=x_26^0, head_15^0'=head_15^post_50, len_134^0'=1+len_134^0, len_187^0'=1+len_134^0, r_39^0'=r_39^post_50, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50, tail_14^0'=y_25^0, x_176^0'=x_176^post_50, x_SLAM_f_24^0'=head_15^post_50, [ 0<=len_134^0 && 0<=a_149^0 && 1+y_25^0<=x_26^0 && 1+y_25^0<=head_15^post_50 && 1+x_176^post_50<=y_25^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50 ], cost: 7 178: l31 -> l31 : a_149^0'=-1+a_149^0, a_188^0'=-1+a_149^0, f_171^0'=x_26^0, head_15^0'=head_15^post_50, len_134^0'=1+len_134^0, len_187^0'=1+len_134^0, r_39^0'=r_39^post_50, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50, tail_14^0'=y_25^0, x_176^0'=x_176^post_50, x_SLAM_f_24^0'=head_15^post_50, [ 0<=len_134^0 && 0<=a_149^0 && 1+x_26^0<=y_25^0 && 1+head_15^post_50<=y_25^0 && 1+y_25^0<=x_176^post_50 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50 ], cost: 7 179: l31 -> l31 : a_149^0'=-1+a_149^0, a_188^0'=-1+a_149^0, f_171^0'=x_26^0, head_15^0'=head_15^post_50, len_134^0'=1+len_134^0, len_187^0'=1+len_134^0, r_39^0'=r_39^post_50, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50, tail_14^0'=y_25^0, x_176^0'=x_176^post_50, x_SLAM_f_24^0'=head_15^post_50, [ 0<=len_134^0 && 0<=a_149^0 && 1+x_26^0<=y_25^0 && 1+head_15^post_50<=y_25^0 && 1+x_176^post_50<=y_25^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50 ], cost: 7 Accelerated rule 174 with backward acceleration, yielding the new rule 190. Accelerated rule 175 with backward acceleration, yielding the new rule 191. Accelerated rule 177 with backward acceleration, yielding the new rule 192. Accelerated rule 178 with backward acceleration, yielding the new rule 193. Accelerated rule 179 with backward acceleration, yielding the new rule 194. [accelerate] Nesting with 5 inner and 5 outer candidates Removing the simple loops: 174 175 177 178 179. Accelerated all simple loops using metering functions (where possible): Start location: l65 182: l6 -> l6 : a_149^0'=0, a_281^0'=-1+a_281^0+a_149^0, a_342^0'=0, a_343^0'=-1+a_281^0+a_149^0, head_15^0'=x_SLAM_f_17^post_7, r_39^0'=r_39^post_7, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7, t_22^0'=x_19^0, tail_14^0'=y_18^0, x_SLAM_f_17^0'=x_SLAM_f_17^post_7, [ 0<=a_149^0 && 0<=a_281^0 && 1+y_18^0<=x_19^0 && 1+y_18^0<=x_SLAM_f_17^post_7 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7 ], cost: 8 183: l6 -> l6 : a_149^0'=0, a_281^0'=-1+a_281^0+a_149^0, a_342^0'=0, a_343^0'=-1+a_281^0+a_149^0, head_15^0'=x_SLAM_f_17^post_7, r_39^0'=r_39^post_7, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7, t_22^0'=x_19^0, tail_14^0'=y_18^0, x_SLAM_f_17^0'=x_SLAM_f_17^post_7, [ 0<=a_149^0 && 0<=a_281^0 && 1+y_18^0<=x_19^0 && 1+x_SLAM_f_17^post_7<=y_18^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7 ], cost: 8 184: l6 -> l6 : a_149^0'=0, a_281^0'=-1+a_281^0+a_149^0, a_342^0'=0, a_343^0'=-1+a_281^0+a_149^0, head_15^0'=x_SLAM_f_17^post_7, r_39^0'=r_39^post_7, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7, t_22^0'=x_19^0, tail_14^0'=y_18^0, x_SLAM_f_17^0'=x_SLAM_f_17^post_7, [ 0<=a_149^0 && 0<=a_281^0 && 1+x_19^0<=y_18^0 && 1+y_18^0<=x_SLAM_f_17^post_7 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7 ], cost: 8 185: l6 -> l6 : a_149^0'=0, a_281^0'=-1+a_281^0+a_149^0, a_342^0'=0, a_343^0'=-1+a_281^0+a_149^0, head_15^0'=x_SLAM_f_17^post_7, r_39^0'=r_39^post_7, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7, t_22^0'=x_19^0, tail_14^0'=y_18^0, x_SLAM_f_17^0'=x_SLAM_f_17^post_7, [ 0<=a_149^0 && 0<=a_281^0 && 1+x_19^0<=y_18^0 && 1+x_SLAM_f_17^post_7<=y_18^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7 ], cost: 8 186: l6 -> l6 : a_149^0'=0, a_281^0'=-1, a_342^0'=0, a_343^0'=-1, head_15^0'=x_SLAM_f_17^post_7, r_39^0'=r_39^post_7, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7, t_22^0'=x_19^0, tail_14^0'=y_18^0, x_SLAM_f_17^0'=x_SLAM_f_17^post_7, [ 0<=a_149^0 && 1+y_18^0<=x_19^0 && 1+y_18^0<=x_SLAM_f_17^post_7 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7 && a_149^0<=0 && 1+a_281^0>=1 ], cost: 8+8*a_281^0 187: l6 -> l6 : a_149^0'=0, a_281^0'=0, a_342^0'=0, a_343^0'=0, head_15^0'=x_SLAM_f_17^post_7, r_39^0'=r_39^post_7, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7, t_22^0'=x_19^0, tail_14^0'=y_18^0, x_SLAM_f_17^0'=x_SLAM_f_17^post_7, [ 0<=a_149^0 && 1+y_18^0<=x_19^0 && 1+x_SLAM_f_17^post_7<=y_18^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7 && a_281^0>=1 ], cost: 8*a_281^0 188: l6 -> l6 : a_149^0'=0, a_281^0'=0, a_342^0'=0, a_343^0'=0, head_15^0'=x_SLAM_f_17^post_7, r_39^0'=r_39^post_7, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7, t_22^0'=x_19^0, tail_14^0'=y_18^0, x_SLAM_f_17^0'=x_SLAM_f_17^post_7, [ 0<=a_149^0 && 1+x_19^0<=y_18^0 && 1+y_18^0<=x_SLAM_f_17^post_7 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7 && a_281^0>=1 ], cost: 8*a_281^0 189: l6 -> l6 : a_149^0'=0, a_281^0'=0, a_342^0'=0, a_343^0'=0, head_15^0'=x_SLAM_f_17^post_7, r_39^0'=r_39^post_7, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7, t_22^0'=x_19^0, tail_14^0'=y_18^0, x_SLAM_f_17^0'=x_SLAM_f_17^post_7, [ 0<=a_149^0 && 1+x_19^0<=y_18^0 && 1+x_SLAM_f_17^post_7<=y_18^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7 && a_281^0>=1 ], cost: 8*a_281^0 43: l29 -> l6 : len_134^0'=1+a_225^0, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 ], cost: 1 172: l31 -> l29 : a_225^0'=a_281^0-a_149^0, a_289^0'=a_289^post_34, head_15^0'=head_15^post_34, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_34, t_22^0'=head_15^0, tail_14^0'=tail_14^post_34, x_19^0'=head_15^0, x_26^0'=x_26^post_46, x_SLAM_f_17^0'=x_SLAM_f_17^post_34, x_SLAM_f_24^0'=x_SLAM_f_24^post_46, y_18^0'=tail_14^0, y_25^0'=y_25^post_46, [ 0<=len_134^0 && 0<=a_149^0 && -x_26^0+y_25^0==0 && 1+tail_14^0<=head_15^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_46 && -a_289^post_34==0 && tail_14^post_34-tail_14^0==0 && -x_SLAM_f_17^post_34+head_15^post_34==0 && -head_15^0+head_15^post_34==0 && 1+tail_14^post_34<=head_15^post_34 && 1+tail_14^0<=head_15^post_34 ], cost: 9 173: l31 -> l29 : a_225^0'=a_281^0-a_149^0, a_289^0'=a_289^post_34, head_15^0'=head_15^post_34, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_34, t_22^0'=head_15^0, tail_14^0'=tail_14^post_34, x_19^0'=head_15^0, x_26^0'=x_26^post_46, x_SLAM_f_17^0'=x_SLAM_f_17^post_34, x_SLAM_f_24^0'=x_SLAM_f_24^post_46, y_18^0'=tail_14^0, y_25^0'=y_25^post_46, [ 0<=len_134^0 && 0<=a_149^0 && -x_26^0+y_25^0==0 && 1+head_15^0<=tail_14^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_46 && -a_289^post_34==0 && tail_14^post_34-tail_14^0==0 && -x_SLAM_f_17^post_34+head_15^post_34==0 && -head_15^0+head_15^post_34==0 && 1+head_15^post_34<=tail_14^post_34 && 1+head_15^post_34<=tail_14^0 ], cost: 9 190: l31 -> l31 : a_149^0'=-1, a_188^0'=-1, f_171^0'=x_26^0, head_15^0'=head_15^post_50, len_134^0'=1+a_149^0+len_134^0, len_187^0'=1+a_149^0+len_134^0, r_39^0'=r_39^post_50, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50, tail_14^0'=y_25^0, x_176^0'=x_176^post_50, x_SLAM_f_24^0'=head_15^post_50, [ 0<=len_134^0 && 1+y_25^0<=x_26^0 && 1+head_15^post_50<=y_25^0 && 1+y_25^0<=x_176^post_50 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50 && 1+a_149^0>=1 ], cost: 7+7*a_149^0 191: l31 -> l31 : a_149^0'=-1, a_188^0'=-1, f_171^0'=x_26^0, head_15^0'=head_15^post_50, len_134^0'=1+a_149^0+len_134^0, len_187^0'=1+a_149^0+len_134^0, r_39^0'=r_39^post_50, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50, tail_14^0'=y_25^0, x_176^0'=x_176^post_50, x_SLAM_f_24^0'=head_15^post_50, [ 0<=len_134^0 && 1+y_25^0<=x_26^0 && 1+head_15^post_50<=y_25^0 && 1+x_176^post_50<=y_25^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50 && 1+a_149^0>=1 ], cost: 7+7*a_149^0 192: l31 -> l31 : a_149^0'=-1, a_188^0'=-1, f_171^0'=x_26^0, head_15^0'=head_15^post_50, len_134^0'=1+a_149^0+len_134^0, len_187^0'=1+a_149^0+len_134^0, r_39^0'=r_39^post_50, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50, tail_14^0'=y_25^0, x_176^0'=x_176^post_50, x_SLAM_f_24^0'=head_15^post_50, [ 0<=len_134^0 && 1+y_25^0<=x_26^0 && 1+y_25^0<=head_15^post_50 && 1+x_176^post_50<=y_25^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50 && 1+a_149^0>=1 ], cost: 7+7*a_149^0 193: l31 -> l31 : a_149^0'=-1, a_188^0'=-1, f_171^0'=x_26^0, head_15^0'=head_15^post_50, len_134^0'=1+a_149^0+len_134^0, len_187^0'=1+a_149^0+len_134^0, r_39^0'=r_39^post_50, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50, tail_14^0'=y_25^0, x_176^0'=x_176^post_50, x_SLAM_f_24^0'=head_15^post_50, [ 0<=len_134^0 && 1+x_26^0<=y_25^0 && 1+head_15^post_50<=y_25^0 && 1+y_25^0<=x_176^post_50 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50 && 1+a_149^0>=1 ], cost: 7+7*a_149^0 194: l31 -> l31 : a_149^0'=-1, a_188^0'=-1, f_171^0'=x_26^0, head_15^0'=head_15^post_50, len_134^0'=1+a_149^0+len_134^0, len_187^0'=1+a_149^0+len_134^0, r_39^0'=r_39^post_50, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50, tail_14^0'=y_25^0, x_176^0'=x_176^post_50, x_SLAM_f_24^0'=head_15^post_50, [ 0<=len_134^0 && 1+x_26^0<=y_25^0 && 1+head_15^post_50<=y_25^0 && 1+x_176^post_50<=y_25^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50 && 1+a_149^0>=1 ], cost: 7+7*a_149^0 167: l65 -> l31 : a_118^0'=a_149^0, head_15^0'=head_15^post_95, head_32^0'=head_32^post_1, head_SLAM_f_29^0'=head_SLAM_f_29^post_1, i_110^0'=1+a_149^0, i_30^0'=i_30^post_1, length_28^0'=length_28^post_1, nondet_12^0'=nondet_12^post_45, r_165^0'=r_165^post_95, r_39^0'=r_39^post_95, rcd_59^0'=rcd_59^post_103, result_11^0'=result_11^post_1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95, tail_14^0'=tail_14^post_95, temp0_31^0'=temp0_31^post_1, temp_35^0'=temp_35^post_1, tmp_34^0'=tmp_34^post_1, x_26^0'=temp_35^post_5, x_SLAM_f_24^0'=x_SLAM_f_24^post_95, y_25^0'=tail_14^post_103, [ 2<=nondet_12^1_1 && nondet_12^1_1<=2 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1<=i_30^post_1 && 0<=i_30^post_1 && 1+temp_35^post_5<=tail_14^post_103 && 1-len_134^0==0 && tail_14^post_95-tail_14^post_103==0 && head_15^post_95-x_SLAM_f_24^post_95==0 && 1+tail_14^post_103<=head_15^post_95 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95<=i_110^post_95 ], cost: 10 168: l65 -> l31 : a_118^0'=a_149^0, head_15^0'=head_15^post_95, head_32^0'=head_32^post_1, head_SLAM_f_29^0'=head_SLAM_f_29^post_1, i_110^0'=1+a_149^0, i_30^0'=i_30^post_1, i_95^0'=-1+nondet_12^1_1, length_28^0'=length_28^post_1, nondet_12^0'=nondet_12^post_45, r_165^0'=r_165^post_95, r_39^0'=r_39^post_95, rcd_59^0'=rcd_59^post_103, rcd_89^0'=rcd_89^post_2, result_11^0'=result_11^post_1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95, tail_14^0'=tail_14^post_95, temp0_31^0'=temp0_31^post_1, temp_35^0'=temp_35^post_1, tmp_34^0'=tmp_34^post_1, x_26^0'=temp_35^post_2, x_SLAM_f_24^0'=x_SLAM_f_24^post_95, y_25^0'=tail_14^post_103, [ -2+nondet_12^1_1>=1 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1<=i_30^post_1 && 0<=i_30^post_1 && 1+tail_14^post_103<=temp_35^post_2 && 1-len_134^0==0 && tail_14^post_95-tail_14^post_103==0 && head_15^post_95-x_SLAM_f_24^post_95==0 && 1+head_15^post_95<=tail_14^post_103 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95<=i_110^post_95 ], cost: 6+2*nondet_12^1_1 169: l65 -> l31 : a_118^0'=a_149^0, head_15^0'=head_15^post_95, head_32^0'=head_32^post_1, head_SLAM_f_29^0'=head_SLAM_f_29^post_1, i_110^0'=1+a_149^0, i_30^0'=i_30^post_1, i_95^0'=-1+nondet_12^1_1, length_28^0'=length_28^post_1, nondet_12^0'=nondet_12^post_45, r_165^0'=r_165^post_95, r_39^0'=r_39^post_95, rcd_59^0'=rcd_59^post_103, rcd_89^0'=rcd_89^post_2, result_11^0'=result_11^post_1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95, tail_14^0'=tail_14^post_95, temp0_31^0'=temp0_31^post_1, temp_35^0'=temp_35^post_1, tmp_34^0'=tmp_34^post_1, x_26^0'=temp_35^post_2, x_SLAM_f_24^0'=x_SLAM_f_24^post_95, y_25^0'=tail_14^post_103, [ -2+nondet_12^1_1>=1 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1<=i_30^post_1 && 0<=i_30^post_1 && 1+tail_14^post_103<=temp_35^post_2 && 1-len_134^0==0 && tail_14^post_95-tail_14^post_103==0 && head_15^post_95-x_SLAM_f_24^post_95==0 && 1+tail_14^post_103<=head_15^post_95 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95<=i_110^post_95 ], cost: 6+2*nondet_12^1_1 170: l65 -> l31 : a_118^0'=a_149^0, head_15^0'=head_15^post_95, head_32^0'=head_32^post_1, head_SLAM_f_29^0'=head_SLAM_f_29^post_1, i_110^0'=1+a_149^0, i_30^0'=i_30^post_1, i_95^0'=-1+nondet_12^1_1, length_28^0'=length_28^post_1, nondet_12^0'=nondet_12^post_45, r_165^0'=r_165^post_95, r_39^0'=r_39^post_95, rcd_59^0'=rcd_59^post_103, rcd_89^0'=rcd_89^post_2, result_11^0'=result_11^post_1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95, tail_14^0'=tail_14^post_95, temp0_31^0'=temp0_31^post_1, temp_35^0'=temp_35^post_1, tmp_34^0'=tmp_34^post_1, x_26^0'=temp_35^post_2, x_SLAM_f_24^0'=x_SLAM_f_24^post_95, y_25^0'=tail_14^post_103, [ -2+nondet_12^1_1>=1 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1<=i_30^post_1 && 0<=i_30^post_1 && 1+temp_35^post_2<=tail_14^post_103 && 1-len_134^0==0 && tail_14^post_95-tail_14^post_103==0 && head_15^post_95-x_SLAM_f_24^post_95==0 && 1+head_15^post_95<=tail_14^post_103 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95<=i_110^post_95 ], cost: 6+2*nondet_12^1_1 171: l65 -> l31 : a_118^0'=a_149^0, head_15^0'=head_15^post_95, head_32^0'=head_32^post_1, head_SLAM_f_29^0'=head_SLAM_f_29^post_1, i_110^0'=1+a_149^0, i_30^0'=i_30^post_1, i_95^0'=-1+nondet_12^1_1, length_28^0'=length_28^post_1, nondet_12^0'=nondet_12^post_45, r_165^0'=r_165^post_95, r_39^0'=r_39^post_95, rcd_59^0'=rcd_59^post_103, rcd_89^0'=rcd_89^post_2, result_11^0'=result_11^post_1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95, tail_14^0'=tail_14^post_95, temp0_31^0'=temp0_31^post_1, temp_35^0'=temp_35^post_1, tmp_34^0'=tmp_34^post_1, x_26^0'=temp_35^post_2, x_SLAM_f_24^0'=x_SLAM_f_24^post_95, y_25^0'=tail_14^post_103, [ -2+nondet_12^1_1>=1 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1<=i_30^post_1 && 0<=i_30^post_1 && 1+temp_35^post_2<=tail_14^post_103 && 1-len_134^0==0 && tail_14^post_95-tail_14^post_103==0 && head_15^post_95-x_SLAM_f_24^post_95==0 && 1+tail_14^post_103<=head_15^post_95 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95<=i_110^post_95 ], cost: 6+2*nondet_12^1_1 Chained accelerated rules (with incoming rules): Start location: l65 43: l29 -> l6 : len_134^0'=1+a_225^0, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 ], cost: 1 195: l29 -> l6 : a_149^0'=0, a_281^0'=-1+a_281^0+a_149^0, a_342^0'=0, a_343^0'=-1+a_281^0+a_149^0, head_15^0'=x_SLAM_f_17^post_7, len_134^0'=1+a_225^0, r_39^0'=r_39^post_7, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7, t_22^0'=x_19^0, tail_14^0'=y_18^0, x_SLAM_f_17^0'=x_SLAM_f_17^post_7, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && 0<=a_149^0 && 0<=a_281^0 && 1+y_18^0<=x_19^0 && 1+y_18^0<=x_SLAM_f_17^post_7 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7 ], cost: 9 196: l29 -> l6 : a_149^0'=0, a_281^0'=-1+a_281^0+a_149^0, a_342^0'=0, a_343^0'=-1+a_281^0+a_149^0, head_15^0'=x_SLAM_f_17^post_7, len_134^0'=1+a_225^0, r_39^0'=r_39^post_7, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7, t_22^0'=x_19^0, tail_14^0'=y_18^0, x_SLAM_f_17^0'=x_SLAM_f_17^post_7, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && 0<=a_149^0 && 0<=a_281^0 && 1+y_18^0<=x_19^0 && 1+x_SLAM_f_17^post_7<=y_18^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7 ], cost: 9 197: l29 -> l6 : a_149^0'=0, a_281^0'=-1+a_281^0+a_149^0, a_342^0'=0, a_343^0'=-1+a_281^0+a_149^0, head_15^0'=x_SLAM_f_17^post_7, len_134^0'=1+a_225^0, r_39^0'=r_39^post_7, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7, t_22^0'=x_19^0, tail_14^0'=y_18^0, x_SLAM_f_17^0'=x_SLAM_f_17^post_7, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && 0<=a_149^0 && 0<=a_281^0 && 1+x_19^0<=y_18^0 && 1+y_18^0<=x_SLAM_f_17^post_7 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7 ], cost: 9 198: l29 -> l6 : a_149^0'=0, a_281^0'=-1+a_281^0+a_149^0, a_342^0'=0, a_343^0'=-1+a_281^0+a_149^0, head_15^0'=x_SLAM_f_17^post_7, len_134^0'=1+a_225^0, r_39^0'=r_39^post_7, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7, t_22^0'=x_19^0, tail_14^0'=y_18^0, x_SLAM_f_17^0'=x_SLAM_f_17^post_7, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && 0<=a_149^0 && 0<=a_281^0 && 1+x_19^0<=y_18^0 && 1+x_SLAM_f_17^post_7<=y_18^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7 ], cost: 9 199: l29 -> l6 : a_149^0'=0, a_281^0'=-1, a_342^0'=0, a_343^0'=-1, head_15^0'=x_SLAM_f_17^post_7, len_134^0'=1+a_225^0, r_39^0'=r_39^post_7, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7, t_22^0'=x_19^0, tail_14^0'=y_18^0, x_SLAM_f_17^0'=x_SLAM_f_17^post_7, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && -a_149^0==0 && 1+y_18^0<=x_19^0 && 1+y_18^0<=x_SLAM_f_17^post_7 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7 && 1+a_281^0>=1 ], cost: 9+8*a_281^0 200: l29 -> l6 : a_149^0'=0, a_281^0'=0, a_342^0'=0, a_343^0'=0, head_15^0'=x_SLAM_f_17^post_7, len_134^0'=1+a_225^0, r_39^0'=r_39^post_7, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7, t_22^0'=x_19^0, tail_14^0'=y_18^0, x_SLAM_f_17^0'=x_SLAM_f_17^post_7, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && 0<=a_149^0 && 1+y_18^0<=x_19^0 && 1+x_SLAM_f_17^post_7<=y_18^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7 && a_281^0>=1 ], cost: 1+8*a_281^0 201: l29 -> l6 : a_149^0'=0, a_281^0'=0, a_342^0'=0, a_343^0'=0, head_15^0'=x_SLAM_f_17^post_7, len_134^0'=1+a_225^0, r_39^0'=r_39^post_7, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7, t_22^0'=x_19^0, tail_14^0'=y_18^0, x_SLAM_f_17^0'=x_SLAM_f_17^post_7, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && 0<=a_149^0 && 1+x_19^0<=y_18^0 && 1+y_18^0<=x_SLAM_f_17^post_7 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7 && a_281^0>=1 ], cost: 1+8*a_281^0 202: l29 -> l6 : a_149^0'=0, a_281^0'=0, a_342^0'=0, a_343^0'=0, head_15^0'=x_SLAM_f_17^post_7, len_134^0'=1+a_225^0, r_39^0'=r_39^post_7, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7, t_22^0'=x_19^0, tail_14^0'=y_18^0, x_SLAM_f_17^0'=x_SLAM_f_17^post_7, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && 0<=a_149^0 && 1+x_19^0<=y_18^0 && 1+x_SLAM_f_17^post_7<=y_18^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7 && a_281^0>=1 ], cost: 1+8*a_281^0 172: l31 -> l29 : a_225^0'=a_281^0-a_149^0, a_289^0'=a_289^post_34, head_15^0'=head_15^post_34, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_34, t_22^0'=head_15^0, tail_14^0'=tail_14^post_34, x_19^0'=head_15^0, x_26^0'=x_26^post_46, x_SLAM_f_17^0'=x_SLAM_f_17^post_34, x_SLAM_f_24^0'=x_SLAM_f_24^post_46, y_18^0'=tail_14^0, y_25^0'=y_25^post_46, [ 0<=len_134^0 && 0<=a_149^0 && -x_26^0+y_25^0==0 && 1+tail_14^0<=head_15^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_46 && -a_289^post_34==0 && tail_14^post_34-tail_14^0==0 && -x_SLAM_f_17^post_34+head_15^post_34==0 && -head_15^0+head_15^post_34==0 && 1+tail_14^post_34<=head_15^post_34 && 1+tail_14^0<=head_15^post_34 ], cost: 9 173: l31 -> l29 : a_225^0'=a_281^0-a_149^0, a_289^0'=a_289^post_34, head_15^0'=head_15^post_34, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_34, t_22^0'=head_15^0, tail_14^0'=tail_14^post_34, x_19^0'=head_15^0, x_26^0'=x_26^post_46, x_SLAM_f_17^0'=x_SLAM_f_17^post_34, x_SLAM_f_24^0'=x_SLAM_f_24^post_46, y_18^0'=tail_14^0, y_25^0'=y_25^post_46, [ 0<=len_134^0 && 0<=a_149^0 && -x_26^0+y_25^0==0 && 1+head_15^0<=tail_14^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_46 && -a_289^post_34==0 && tail_14^post_34-tail_14^0==0 && -x_SLAM_f_17^post_34+head_15^post_34==0 && -head_15^0+head_15^post_34==0 && 1+head_15^post_34<=tail_14^post_34 && 1+head_15^post_34<=tail_14^0 ], cost: 9 167: l65 -> l31 : a_118^0'=a_149^0, head_15^0'=head_15^post_95, head_32^0'=head_32^post_1, head_SLAM_f_29^0'=head_SLAM_f_29^post_1, i_110^0'=1+a_149^0, i_30^0'=i_30^post_1, length_28^0'=length_28^post_1, nondet_12^0'=nondet_12^post_45, r_165^0'=r_165^post_95, r_39^0'=r_39^post_95, rcd_59^0'=rcd_59^post_103, result_11^0'=result_11^post_1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95, tail_14^0'=tail_14^post_95, temp0_31^0'=temp0_31^post_1, temp_35^0'=temp_35^post_1, tmp_34^0'=tmp_34^post_1, x_26^0'=temp_35^post_5, x_SLAM_f_24^0'=x_SLAM_f_24^post_95, y_25^0'=tail_14^post_103, [ 2<=nondet_12^1_1 && nondet_12^1_1<=2 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1<=i_30^post_1 && 0<=i_30^post_1 && 1+temp_35^post_5<=tail_14^post_103 && 1-len_134^0==0 && tail_14^post_95-tail_14^post_103==0 && head_15^post_95-x_SLAM_f_24^post_95==0 && 1+tail_14^post_103<=head_15^post_95 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95<=i_110^post_95 ], cost: 10 168: l65 -> l31 : a_118^0'=a_149^0, head_15^0'=head_15^post_95, head_32^0'=head_32^post_1, head_SLAM_f_29^0'=head_SLAM_f_29^post_1, i_110^0'=1+a_149^0, i_30^0'=i_30^post_1, i_95^0'=-1+nondet_12^1_1, length_28^0'=length_28^post_1, nondet_12^0'=nondet_12^post_45, r_165^0'=r_165^post_95, r_39^0'=r_39^post_95, rcd_59^0'=rcd_59^post_103, rcd_89^0'=rcd_89^post_2, result_11^0'=result_11^post_1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95, tail_14^0'=tail_14^post_95, temp0_31^0'=temp0_31^post_1, temp_35^0'=temp_35^post_1, tmp_34^0'=tmp_34^post_1, x_26^0'=temp_35^post_2, x_SLAM_f_24^0'=x_SLAM_f_24^post_95, y_25^0'=tail_14^post_103, [ -2+nondet_12^1_1>=1 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1<=i_30^post_1 && 0<=i_30^post_1 && 1+tail_14^post_103<=temp_35^post_2 && 1-len_134^0==0 && tail_14^post_95-tail_14^post_103==0 && head_15^post_95-x_SLAM_f_24^post_95==0 && 1+head_15^post_95<=tail_14^post_103 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95<=i_110^post_95 ], cost: 6+2*nondet_12^1_1 169: l65 -> l31 : a_118^0'=a_149^0, head_15^0'=head_15^post_95, head_32^0'=head_32^post_1, head_SLAM_f_29^0'=head_SLAM_f_29^post_1, i_110^0'=1+a_149^0, i_30^0'=i_30^post_1, i_95^0'=-1+nondet_12^1_1, length_28^0'=length_28^post_1, nondet_12^0'=nondet_12^post_45, r_165^0'=r_165^post_95, r_39^0'=r_39^post_95, rcd_59^0'=rcd_59^post_103, rcd_89^0'=rcd_89^post_2, result_11^0'=result_11^post_1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95, tail_14^0'=tail_14^post_95, temp0_31^0'=temp0_31^post_1, temp_35^0'=temp_35^post_1, tmp_34^0'=tmp_34^post_1, x_26^0'=temp_35^post_2, x_SLAM_f_24^0'=x_SLAM_f_24^post_95, y_25^0'=tail_14^post_103, [ -2+nondet_12^1_1>=1 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1<=i_30^post_1 && 0<=i_30^post_1 && 1+tail_14^post_103<=temp_35^post_2 && 1-len_134^0==0 && tail_14^post_95-tail_14^post_103==0 && head_15^post_95-x_SLAM_f_24^post_95==0 && 1+tail_14^post_103<=head_15^post_95 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95<=i_110^post_95 ], cost: 6+2*nondet_12^1_1 170: l65 -> l31 : a_118^0'=a_149^0, head_15^0'=head_15^post_95, head_32^0'=head_32^post_1, head_SLAM_f_29^0'=head_SLAM_f_29^post_1, i_110^0'=1+a_149^0, i_30^0'=i_30^post_1, i_95^0'=-1+nondet_12^1_1, length_28^0'=length_28^post_1, nondet_12^0'=nondet_12^post_45, r_165^0'=r_165^post_95, r_39^0'=r_39^post_95, rcd_59^0'=rcd_59^post_103, rcd_89^0'=rcd_89^post_2, result_11^0'=result_11^post_1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95, tail_14^0'=tail_14^post_95, temp0_31^0'=temp0_31^post_1, temp_35^0'=temp_35^post_1, tmp_34^0'=tmp_34^post_1, x_26^0'=temp_35^post_2, x_SLAM_f_24^0'=x_SLAM_f_24^post_95, y_25^0'=tail_14^post_103, [ -2+nondet_12^1_1>=1 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1<=i_30^post_1 && 0<=i_30^post_1 && 1+temp_35^post_2<=tail_14^post_103 && 1-len_134^0==0 && tail_14^post_95-tail_14^post_103==0 && head_15^post_95-x_SLAM_f_24^post_95==0 && 1+head_15^post_95<=tail_14^post_103 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95<=i_110^post_95 ], cost: 6+2*nondet_12^1_1 171: l65 -> l31 : a_118^0'=a_149^0, head_15^0'=head_15^post_95, head_32^0'=head_32^post_1, head_SLAM_f_29^0'=head_SLAM_f_29^post_1, i_110^0'=1+a_149^0, i_30^0'=i_30^post_1, i_95^0'=-1+nondet_12^1_1, length_28^0'=length_28^post_1, nondet_12^0'=nondet_12^post_45, r_165^0'=r_165^post_95, r_39^0'=r_39^post_95, rcd_59^0'=rcd_59^post_103, rcd_89^0'=rcd_89^post_2, result_11^0'=result_11^post_1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95, tail_14^0'=tail_14^post_95, temp0_31^0'=temp0_31^post_1, temp_35^0'=temp_35^post_1, tmp_34^0'=tmp_34^post_1, x_26^0'=temp_35^post_2, x_SLAM_f_24^0'=x_SLAM_f_24^post_95, y_25^0'=tail_14^post_103, [ -2+nondet_12^1_1>=1 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1<=i_30^post_1 && 0<=i_30^post_1 && 1+temp_35^post_2<=tail_14^post_103 && 1-len_134^0==0 && tail_14^post_95-tail_14^post_103==0 && head_15^post_95-x_SLAM_f_24^post_95==0 && 1+tail_14^post_103<=head_15^post_95 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95<=i_110^post_95 ], cost: 6+2*nondet_12^1_1 203: l65 -> l31 : a_118^0'=a_149^0, a_149^0'=-1, a_188^0'=-1, f_171^0'=temp_35^post_2, head_15^0'=head_15^post_50, head_32^0'=head_32^post_1, head_SLAM_f_29^0'=head_SLAM_f_29^post_1, i_110^0'=1+a_149^0, i_30^0'=i_30^post_1, i_95^0'=-1+nondet_12^1_1, len_134^0'=1+a_149^0+len_134^0, len_187^0'=1+a_149^0+len_134^0, length_28^0'=length_28^post_1, nondet_12^0'=nondet_12^post_45, r_165^0'=r_165^post_95, r_39^0'=r_39^post_50, rcd_59^0'=rcd_59^post_103, rcd_89^0'=rcd_89^post_2, result_11^0'=result_11^post_1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50, tail_14^0'=tail_14^post_95, temp0_31^0'=temp0_31^post_1, temp_35^0'=temp_35^post_1, tmp_34^0'=tmp_34^post_1, x_176^0'=x_176^post_50, x_26^0'=temp_35^post_2, x_SLAM_f_24^0'=head_15^post_50, y_25^0'=tail_14^post_95, [ -2+nondet_12^1_1>=1 && 1+tail_14^post_95<=temp_35^post_2 && 1-len_134^0==0 && 1+head_15^post_50<=tail_14^post_95 && 1+tail_14^post_95<=x_176^post_50 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50 && 1+a_149^0>=1 && 2<=i_30^post_1 ], cost: 13+7*a_149^0+2*nondet_12^1_1 204: l65 -> l31 : a_118^0'=a_149^0, a_149^0'=-1, a_188^0'=-1, f_171^0'=temp_35^post_2, head_15^0'=head_15^post_50, head_32^0'=head_32^post_1, head_SLAM_f_29^0'=head_SLAM_f_29^post_1, i_110^0'=1+a_149^0, i_30^0'=i_30^post_1, i_95^0'=-1+nondet_12^1_1, len_134^0'=1+a_149^0+len_134^0, len_187^0'=1+a_149^0+len_134^0, length_28^0'=length_28^post_1, nondet_12^0'=nondet_12^post_45, r_165^0'=r_165^post_95, r_39^0'=r_39^post_50, rcd_59^0'=rcd_59^post_103, rcd_89^0'=rcd_89^post_2, result_11^0'=result_11^post_1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50, tail_14^0'=tail_14^post_95, temp0_31^0'=temp0_31^post_1, temp_35^0'=temp_35^post_1, tmp_34^0'=tmp_34^post_1, x_176^0'=x_176^post_50, x_26^0'=temp_35^post_2, x_SLAM_f_24^0'=head_15^post_50, y_25^0'=tail_14^post_95, [ -2+nondet_12^1_1>=1 && 1+tail_14^post_95<=temp_35^post_2 && 1-len_134^0==0 && 1+head_15^post_50<=tail_14^post_95 && 1+tail_14^post_95<=x_176^post_50 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50 && 1+a_149^0>=1 && 2<=i_30^post_1 ], cost: 13+7*a_149^0+2*nondet_12^1_1 205: l65 -> l31 : a_118^0'=a_149^0, a_149^0'=-1, a_188^0'=-1, f_171^0'=temp_35^post_2, head_15^0'=head_15^post_50, head_32^0'=head_32^post_1, head_SLAM_f_29^0'=head_SLAM_f_29^post_1, i_110^0'=1+a_149^0, i_30^0'=i_30^post_1, i_95^0'=-1+nondet_12^1_1, len_134^0'=1+a_149^0+len_134^0, len_187^0'=1+a_149^0+len_134^0, length_28^0'=length_28^post_1, nondet_12^0'=nondet_12^post_45, r_165^0'=r_165^post_95, r_39^0'=r_39^post_50, rcd_59^0'=rcd_59^post_103, rcd_89^0'=rcd_89^post_2, result_11^0'=result_11^post_1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50, tail_14^0'=tail_14^post_95, temp0_31^0'=temp0_31^post_1, temp_35^0'=temp_35^post_1, tmp_34^0'=tmp_34^post_1, x_176^0'=x_176^post_50, x_26^0'=temp_35^post_2, x_SLAM_f_24^0'=head_15^post_50, y_25^0'=tail_14^post_95, [ -2+nondet_12^1_1>=1 && 1+tail_14^post_95<=temp_35^post_2 && 1-len_134^0==0 && 1+head_15^post_50<=tail_14^post_95 && 1+x_176^post_50<=tail_14^post_95 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50 && 1+a_149^0>=1 && 2<=i_30^post_1 ], cost: 13+7*a_149^0+2*nondet_12^1_1 206: l65 -> l31 : a_118^0'=a_149^0, a_149^0'=-1, a_188^0'=-1, f_171^0'=temp_35^post_2, head_15^0'=head_15^post_50, head_32^0'=head_32^post_1, head_SLAM_f_29^0'=head_SLAM_f_29^post_1, i_110^0'=1+a_149^0, i_30^0'=i_30^post_1, i_95^0'=-1+nondet_12^1_1, len_134^0'=1+a_149^0+len_134^0, len_187^0'=1+a_149^0+len_134^0, length_28^0'=length_28^post_1, nondet_12^0'=nondet_12^post_45, r_165^0'=r_165^post_95, r_39^0'=r_39^post_50, rcd_59^0'=rcd_59^post_103, rcd_89^0'=rcd_89^post_2, result_11^0'=result_11^post_1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50, tail_14^0'=tail_14^post_95, temp0_31^0'=temp0_31^post_1, temp_35^0'=temp_35^post_1, tmp_34^0'=tmp_34^post_1, x_176^0'=x_176^post_50, x_26^0'=temp_35^post_2, x_SLAM_f_24^0'=head_15^post_50, y_25^0'=tail_14^post_95, [ -2+nondet_12^1_1>=1 && 1+tail_14^post_95<=temp_35^post_2 && 1-len_134^0==0 && 1+head_15^post_50<=tail_14^post_95 && 1+x_176^post_50<=tail_14^post_95 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50 && 1+a_149^0>=1 && 2<=i_30^post_1 ], cost: 13+7*a_149^0+2*nondet_12^1_1 207: l65 -> l31 : a_118^0'=a_149^0, a_149^0'=-1, a_188^0'=-1, f_171^0'=temp_35^post_2, head_15^0'=head_15^post_50, head_32^0'=head_32^post_1, head_SLAM_f_29^0'=head_SLAM_f_29^post_1, i_110^0'=1+a_149^0, i_30^0'=i_30^post_1, i_95^0'=-1+nondet_12^1_1, len_134^0'=1+a_149^0+len_134^0, len_187^0'=1+a_149^0+len_134^0, length_28^0'=length_28^post_1, nondet_12^0'=nondet_12^post_45, r_165^0'=r_165^post_95, r_39^0'=r_39^post_50, rcd_59^0'=rcd_59^post_103, rcd_89^0'=rcd_89^post_2, result_11^0'=result_11^post_1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50, tail_14^0'=tail_14^post_95, temp0_31^0'=temp0_31^post_1, temp_35^0'=temp_35^post_1, tmp_34^0'=tmp_34^post_1, x_176^0'=x_176^post_50, x_26^0'=temp_35^post_2, x_SLAM_f_24^0'=head_15^post_50, y_25^0'=tail_14^post_95, [ -2+nondet_12^1_1>=1 && 1+tail_14^post_95<=temp_35^post_2 && 1-len_134^0==0 && 1+tail_14^post_95<=head_15^post_50 && 1+x_176^post_50<=tail_14^post_95 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50 && 1+a_149^0>=1 && 2<=i_30^post_1 ], cost: 13+7*a_149^0+2*nondet_12^1_1 208: l65 -> l31 : a_118^0'=a_149^0, a_149^0'=-1, a_188^0'=-1, f_171^0'=temp_35^post_2, head_15^0'=head_15^post_50, head_32^0'=head_32^post_1, head_SLAM_f_29^0'=head_SLAM_f_29^post_1, i_110^0'=1+a_149^0, i_30^0'=i_30^post_1, i_95^0'=-1+nondet_12^1_1, len_134^0'=1+a_149^0+len_134^0, len_187^0'=1+a_149^0+len_134^0, length_28^0'=length_28^post_1, nondet_12^0'=nondet_12^post_45, r_165^0'=r_165^post_95, r_39^0'=r_39^post_50, rcd_59^0'=rcd_59^post_103, rcd_89^0'=rcd_89^post_2, result_11^0'=result_11^post_1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50, tail_14^0'=tail_14^post_95, temp0_31^0'=temp0_31^post_1, temp_35^0'=temp_35^post_1, tmp_34^0'=tmp_34^post_1, x_176^0'=x_176^post_50, x_26^0'=temp_35^post_2, x_SLAM_f_24^0'=head_15^post_50, y_25^0'=tail_14^post_95, [ -2+nondet_12^1_1>=1 && 1+tail_14^post_95<=temp_35^post_2 && 1-len_134^0==0 && 1+tail_14^post_95<=head_15^post_50 && 1+x_176^post_50<=tail_14^post_95 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50 && 1+a_149^0>=1 && 2<=i_30^post_1 ], cost: 13+7*a_149^0+2*nondet_12^1_1 209: l65 -> l31 : a_118^0'=a_149^0, a_149^0'=-1, a_188^0'=-1, f_171^0'=temp_35^post_5, head_15^0'=head_15^post_50, head_32^0'=head_32^post_1, head_SLAM_f_29^0'=head_SLAM_f_29^post_1, i_110^0'=1+a_149^0, i_30^0'=i_30^post_1, len_134^0'=1+a_149^0+len_134^0, len_187^0'=1+a_149^0+len_134^0, length_28^0'=length_28^post_1, nondet_12^0'=nondet_12^post_45, r_165^0'=r_165^post_95, r_39^0'=r_39^post_50, rcd_59^0'=rcd_59^post_103, result_11^0'=result_11^post_1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50, tail_14^0'=tail_14^post_95, temp0_31^0'=temp0_31^post_1, temp_35^0'=temp_35^post_1, tmp_34^0'=tmp_34^post_1, x_176^0'=x_176^post_50, x_26^0'=temp_35^post_5, x_SLAM_f_24^0'=head_15^post_50, y_25^0'=tail_14^post_95, [ 1+temp_35^post_5<=tail_14^post_95 && 1-len_134^0==0 && 1+head_15^post_50<=tail_14^post_95 && 1+tail_14^post_95<=x_176^post_50 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50 && 1+a_149^0>=1 && 2<=i_30^post_1 ], cost: 17+7*a_149^0 210: l65 -> l31 : a_118^0'=a_149^0, a_149^0'=-1, a_188^0'=-1, f_171^0'=temp_35^post_2, head_15^0'=head_15^post_50, head_32^0'=head_32^post_1, head_SLAM_f_29^0'=head_SLAM_f_29^post_1, i_110^0'=1+a_149^0, i_30^0'=i_30^post_1, i_95^0'=-1+nondet_12^1_1, len_134^0'=1+a_149^0+len_134^0, len_187^0'=1+a_149^0+len_134^0, length_28^0'=length_28^post_1, nondet_12^0'=nondet_12^post_45, r_165^0'=r_165^post_95, r_39^0'=r_39^post_50, rcd_59^0'=rcd_59^post_103, rcd_89^0'=rcd_89^post_2, result_11^0'=result_11^post_1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50, tail_14^0'=tail_14^post_95, temp0_31^0'=temp0_31^post_1, temp_35^0'=temp_35^post_1, tmp_34^0'=tmp_34^post_1, x_176^0'=x_176^post_50, x_26^0'=temp_35^post_2, x_SLAM_f_24^0'=head_15^post_50, y_25^0'=tail_14^post_95, [ -2+nondet_12^1_1>=1 && 1+temp_35^post_2<=tail_14^post_95 && 1-len_134^0==0 && 1+head_15^post_50<=tail_14^post_95 && 1+tail_14^post_95<=x_176^post_50 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50 && 1+a_149^0>=1 && 2<=i_30^post_1 ], cost: 13+7*a_149^0+2*nondet_12^1_1 211: l65 -> l31 : a_118^0'=a_149^0, a_149^0'=-1, a_188^0'=-1, f_171^0'=temp_35^post_2, head_15^0'=head_15^post_50, head_32^0'=head_32^post_1, head_SLAM_f_29^0'=head_SLAM_f_29^post_1, i_110^0'=1+a_149^0, i_30^0'=i_30^post_1, i_95^0'=-1+nondet_12^1_1, len_134^0'=1+a_149^0+len_134^0, len_187^0'=1+a_149^0+len_134^0, length_28^0'=length_28^post_1, nondet_12^0'=nondet_12^post_45, r_165^0'=r_165^post_95, r_39^0'=r_39^post_50, rcd_59^0'=rcd_59^post_103, rcd_89^0'=rcd_89^post_2, result_11^0'=result_11^post_1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50, tail_14^0'=tail_14^post_95, temp0_31^0'=temp0_31^post_1, temp_35^0'=temp_35^post_1, tmp_34^0'=tmp_34^post_1, x_176^0'=x_176^post_50, x_26^0'=temp_35^post_2, x_SLAM_f_24^0'=head_15^post_50, y_25^0'=tail_14^post_95, [ -2+nondet_12^1_1>=1 && 1+temp_35^post_2<=tail_14^post_95 && 1-len_134^0==0 && 1+head_15^post_50<=tail_14^post_95 && 1+tail_14^post_95<=x_176^post_50 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50 && 1+a_149^0>=1 && 2<=i_30^post_1 ], cost: 13+7*a_149^0+2*nondet_12^1_1 212: l65 -> l31 : a_118^0'=a_149^0, a_149^0'=-1, a_188^0'=-1, f_171^0'=temp_35^post_5, head_15^0'=head_15^post_50, head_32^0'=head_32^post_1, head_SLAM_f_29^0'=head_SLAM_f_29^post_1, i_110^0'=1+a_149^0, i_30^0'=i_30^post_1, len_134^0'=1+a_149^0+len_134^0, len_187^0'=1+a_149^0+len_134^0, length_28^0'=length_28^post_1, nondet_12^0'=nondet_12^post_45, r_165^0'=r_165^post_95, r_39^0'=r_39^post_50, rcd_59^0'=rcd_59^post_103, result_11^0'=result_11^post_1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50, tail_14^0'=tail_14^post_95, temp0_31^0'=temp0_31^post_1, temp_35^0'=temp_35^post_1, tmp_34^0'=tmp_34^post_1, x_176^0'=x_176^post_50, x_26^0'=temp_35^post_5, x_SLAM_f_24^0'=head_15^post_50, y_25^0'=tail_14^post_95, [ 1+temp_35^post_5<=tail_14^post_95 && 1-len_134^0==0 && 1+head_15^post_50<=tail_14^post_95 && 1+x_176^post_50<=tail_14^post_95 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50 && 1+a_149^0>=1 && 2<=i_30^post_1 ], cost: 17+7*a_149^0 213: l65 -> l31 : a_118^0'=a_149^0, a_149^0'=-1, a_188^0'=-1, f_171^0'=temp_35^post_2, head_15^0'=head_15^post_50, head_32^0'=head_32^post_1, head_SLAM_f_29^0'=head_SLAM_f_29^post_1, i_110^0'=1+a_149^0, i_30^0'=i_30^post_1, i_95^0'=-1+nondet_12^1_1, len_134^0'=1+a_149^0+len_134^0, len_187^0'=1+a_149^0+len_134^0, length_28^0'=length_28^post_1, nondet_12^0'=nondet_12^post_45, r_165^0'=r_165^post_95, r_39^0'=r_39^post_50, rcd_59^0'=rcd_59^post_103, rcd_89^0'=rcd_89^post_2, result_11^0'=result_11^post_1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50, tail_14^0'=tail_14^post_95, temp0_31^0'=temp0_31^post_1, temp_35^0'=temp_35^post_1, tmp_34^0'=tmp_34^post_1, x_176^0'=x_176^post_50, x_26^0'=temp_35^post_2, x_SLAM_f_24^0'=head_15^post_50, y_25^0'=tail_14^post_95, [ -2+nondet_12^1_1>=1 && 1+temp_35^post_2<=tail_14^post_95 && 1-len_134^0==0 && 1+head_15^post_50<=tail_14^post_95 && 1+x_176^post_50<=tail_14^post_95 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50 && 1+a_149^0>=1 && 2<=i_30^post_1 ], cost: 13+7*a_149^0+2*nondet_12^1_1 214: l65 -> l31 : a_118^0'=a_149^0, a_149^0'=-1, a_188^0'=-1, f_171^0'=temp_35^post_2, head_15^0'=head_15^post_50, head_32^0'=head_32^post_1, head_SLAM_f_29^0'=head_SLAM_f_29^post_1, i_110^0'=1+a_149^0, i_30^0'=i_30^post_1, i_95^0'=-1+nondet_12^1_1, len_134^0'=1+a_149^0+len_134^0, len_187^0'=1+a_149^0+len_134^0, length_28^0'=length_28^post_1, nondet_12^0'=nondet_12^post_45, r_165^0'=r_165^post_95, r_39^0'=r_39^post_50, rcd_59^0'=rcd_59^post_103, rcd_89^0'=rcd_89^post_2, result_11^0'=result_11^post_1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50, tail_14^0'=tail_14^post_95, temp0_31^0'=temp0_31^post_1, temp_35^0'=temp_35^post_1, tmp_34^0'=tmp_34^post_1, x_176^0'=x_176^post_50, x_26^0'=temp_35^post_2, x_SLAM_f_24^0'=head_15^post_50, y_25^0'=tail_14^post_95, [ -2+nondet_12^1_1>=1 && 1+temp_35^post_2<=tail_14^post_95 && 1-len_134^0==0 && 1+head_15^post_50<=tail_14^post_95 && 1+x_176^post_50<=tail_14^post_95 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50 && 1+a_149^0>=1 && 2<=i_30^post_1 ], cost: 13+7*a_149^0+2*nondet_12^1_1 Removed unreachable locations (and leaf rules with constant cost): Start location: l65 199: l29 -> l6 : a_149^0'=0, a_281^0'=-1, a_342^0'=0, a_343^0'=-1, head_15^0'=x_SLAM_f_17^post_7, len_134^0'=1+a_225^0, r_39^0'=r_39^post_7, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7, t_22^0'=x_19^0, tail_14^0'=y_18^0, x_SLAM_f_17^0'=x_SLAM_f_17^post_7, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && -a_149^0==0 && 1+y_18^0<=x_19^0 && 1+y_18^0<=x_SLAM_f_17^post_7 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7 && 1+a_281^0>=1 ], cost: 9+8*a_281^0 200: l29 -> l6 : a_149^0'=0, a_281^0'=0, a_342^0'=0, a_343^0'=0, head_15^0'=x_SLAM_f_17^post_7, len_134^0'=1+a_225^0, r_39^0'=r_39^post_7, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7, t_22^0'=x_19^0, tail_14^0'=y_18^0, x_SLAM_f_17^0'=x_SLAM_f_17^post_7, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && 0<=a_149^0 && 1+y_18^0<=x_19^0 && 1+x_SLAM_f_17^post_7<=y_18^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7 && a_281^0>=1 ], cost: 1+8*a_281^0 201: l29 -> l6 : a_149^0'=0, a_281^0'=0, a_342^0'=0, a_343^0'=0, head_15^0'=x_SLAM_f_17^post_7, len_134^0'=1+a_225^0, r_39^0'=r_39^post_7, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7, t_22^0'=x_19^0, tail_14^0'=y_18^0, x_SLAM_f_17^0'=x_SLAM_f_17^post_7, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && 0<=a_149^0 && 1+x_19^0<=y_18^0 && 1+y_18^0<=x_SLAM_f_17^post_7 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7 && a_281^0>=1 ], cost: 1+8*a_281^0 202: l29 -> l6 : a_149^0'=0, a_281^0'=0, a_342^0'=0, a_343^0'=0, head_15^0'=x_SLAM_f_17^post_7, len_134^0'=1+a_225^0, r_39^0'=r_39^post_7, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7, t_22^0'=x_19^0, tail_14^0'=y_18^0, x_SLAM_f_17^0'=x_SLAM_f_17^post_7, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && 0<=a_149^0 && 1+x_19^0<=y_18^0 && 1+x_SLAM_f_17^post_7<=y_18^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7 && a_281^0>=1 ], cost: 1+8*a_281^0 172: l31 -> l29 : a_225^0'=a_281^0-a_149^0, a_289^0'=a_289^post_34, head_15^0'=head_15^post_34, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_34, t_22^0'=head_15^0, tail_14^0'=tail_14^post_34, x_19^0'=head_15^0, x_26^0'=x_26^post_46, x_SLAM_f_17^0'=x_SLAM_f_17^post_34, x_SLAM_f_24^0'=x_SLAM_f_24^post_46, y_18^0'=tail_14^0, y_25^0'=y_25^post_46, [ 0<=len_134^0 && 0<=a_149^0 && -x_26^0+y_25^0==0 && 1+tail_14^0<=head_15^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_46 && -a_289^post_34==0 && tail_14^post_34-tail_14^0==0 && -x_SLAM_f_17^post_34+head_15^post_34==0 && -head_15^0+head_15^post_34==0 && 1+tail_14^post_34<=head_15^post_34 && 1+tail_14^0<=head_15^post_34 ], cost: 9 173: l31 -> l29 : a_225^0'=a_281^0-a_149^0, a_289^0'=a_289^post_34, head_15^0'=head_15^post_34, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_34, t_22^0'=head_15^0, tail_14^0'=tail_14^post_34, x_19^0'=head_15^0, x_26^0'=x_26^post_46, x_SLAM_f_17^0'=x_SLAM_f_17^post_34, x_SLAM_f_24^0'=x_SLAM_f_24^post_46, y_18^0'=tail_14^0, y_25^0'=y_25^post_46, [ 0<=len_134^0 && 0<=a_149^0 && -x_26^0+y_25^0==0 && 1+head_15^0<=tail_14^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_46 && -a_289^post_34==0 && tail_14^post_34-tail_14^0==0 && -x_SLAM_f_17^post_34+head_15^post_34==0 && -head_15^0+head_15^post_34==0 && 1+head_15^post_34<=tail_14^post_34 && 1+head_15^post_34<=tail_14^0 ], cost: 9 167: l65 -> l31 : a_118^0'=a_149^0, head_15^0'=head_15^post_95, head_32^0'=head_32^post_1, head_SLAM_f_29^0'=head_SLAM_f_29^post_1, i_110^0'=1+a_149^0, i_30^0'=i_30^post_1, length_28^0'=length_28^post_1, nondet_12^0'=nondet_12^post_45, r_165^0'=r_165^post_95, r_39^0'=r_39^post_95, rcd_59^0'=rcd_59^post_103, result_11^0'=result_11^post_1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95, tail_14^0'=tail_14^post_95, temp0_31^0'=temp0_31^post_1, temp_35^0'=temp_35^post_1, tmp_34^0'=tmp_34^post_1, x_26^0'=temp_35^post_5, x_SLAM_f_24^0'=x_SLAM_f_24^post_95, y_25^0'=tail_14^post_103, [ 2<=nondet_12^1_1 && nondet_12^1_1<=2 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1<=i_30^post_1 && 0<=i_30^post_1 && 1+temp_35^post_5<=tail_14^post_103 && 1-len_134^0==0 && tail_14^post_95-tail_14^post_103==0 && head_15^post_95-x_SLAM_f_24^post_95==0 && 1+tail_14^post_103<=head_15^post_95 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95<=i_110^post_95 ], cost: 10 168: l65 -> l31 : a_118^0'=a_149^0, head_15^0'=head_15^post_95, head_32^0'=head_32^post_1, head_SLAM_f_29^0'=head_SLAM_f_29^post_1, i_110^0'=1+a_149^0, i_30^0'=i_30^post_1, i_95^0'=-1+nondet_12^1_1, length_28^0'=length_28^post_1, nondet_12^0'=nondet_12^post_45, r_165^0'=r_165^post_95, r_39^0'=r_39^post_95, rcd_59^0'=rcd_59^post_103, rcd_89^0'=rcd_89^post_2, result_11^0'=result_11^post_1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95, tail_14^0'=tail_14^post_95, temp0_31^0'=temp0_31^post_1, temp_35^0'=temp_35^post_1, tmp_34^0'=tmp_34^post_1, x_26^0'=temp_35^post_2, x_SLAM_f_24^0'=x_SLAM_f_24^post_95, y_25^0'=tail_14^post_103, [ -2+nondet_12^1_1>=1 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1<=i_30^post_1 && 0<=i_30^post_1 && 1+tail_14^post_103<=temp_35^post_2 && 1-len_134^0==0 && tail_14^post_95-tail_14^post_103==0 && head_15^post_95-x_SLAM_f_24^post_95==0 && 1+head_15^post_95<=tail_14^post_103 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95<=i_110^post_95 ], cost: 6+2*nondet_12^1_1 169: l65 -> l31 : a_118^0'=a_149^0, head_15^0'=head_15^post_95, head_32^0'=head_32^post_1, head_SLAM_f_29^0'=head_SLAM_f_29^post_1, i_110^0'=1+a_149^0, i_30^0'=i_30^post_1, i_95^0'=-1+nondet_12^1_1, length_28^0'=length_28^post_1, nondet_12^0'=nondet_12^post_45, r_165^0'=r_165^post_95, r_39^0'=r_39^post_95, rcd_59^0'=rcd_59^post_103, rcd_89^0'=rcd_89^post_2, result_11^0'=result_11^post_1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95, tail_14^0'=tail_14^post_95, temp0_31^0'=temp0_31^post_1, temp_35^0'=temp_35^post_1, tmp_34^0'=tmp_34^post_1, x_26^0'=temp_35^post_2, x_SLAM_f_24^0'=x_SLAM_f_24^post_95, y_25^0'=tail_14^post_103, [ -2+nondet_12^1_1>=1 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1<=i_30^post_1 && 0<=i_30^post_1 && 1+tail_14^post_103<=temp_35^post_2 && 1-len_134^0==0 && tail_14^post_95-tail_14^post_103==0 && head_15^post_95-x_SLAM_f_24^post_95==0 && 1+tail_14^post_103<=head_15^post_95 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95<=i_110^post_95 ], cost: 6+2*nondet_12^1_1 170: l65 -> l31 : a_118^0'=a_149^0, head_15^0'=head_15^post_95, head_32^0'=head_32^post_1, head_SLAM_f_29^0'=head_SLAM_f_29^post_1, i_110^0'=1+a_149^0, i_30^0'=i_30^post_1, i_95^0'=-1+nondet_12^1_1, length_28^0'=length_28^post_1, nondet_12^0'=nondet_12^post_45, r_165^0'=r_165^post_95, r_39^0'=r_39^post_95, rcd_59^0'=rcd_59^post_103, rcd_89^0'=rcd_89^post_2, result_11^0'=result_11^post_1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95, tail_14^0'=tail_14^post_95, temp0_31^0'=temp0_31^post_1, temp_35^0'=temp_35^post_1, tmp_34^0'=tmp_34^post_1, x_26^0'=temp_35^post_2, x_SLAM_f_24^0'=x_SLAM_f_24^post_95, y_25^0'=tail_14^post_103, [ -2+nondet_12^1_1>=1 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1<=i_30^post_1 && 0<=i_30^post_1 && 1+temp_35^post_2<=tail_14^post_103 && 1-len_134^0==0 && tail_14^post_95-tail_14^post_103==0 && head_15^post_95-x_SLAM_f_24^post_95==0 && 1+head_15^post_95<=tail_14^post_103 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95<=i_110^post_95 ], cost: 6+2*nondet_12^1_1 171: l65 -> l31 : a_118^0'=a_149^0, head_15^0'=head_15^post_95, head_32^0'=head_32^post_1, head_SLAM_f_29^0'=head_SLAM_f_29^post_1, i_110^0'=1+a_149^0, i_30^0'=i_30^post_1, i_95^0'=-1+nondet_12^1_1, length_28^0'=length_28^post_1, nondet_12^0'=nondet_12^post_45, r_165^0'=r_165^post_95, r_39^0'=r_39^post_95, rcd_59^0'=rcd_59^post_103, rcd_89^0'=rcd_89^post_2, result_11^0'=result_11^post_1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95, tail_14^0'=tail_14^post_95, temp0_31^0'=temp0_31^post_1, temp_35^0'=temp_35^post_1, tmp_34^0'=tmp_34^post_1, x_26^0'=temp_35^post_2, x_SLAM_f_24^0'=x_SLAM_f_24^post_95, y_25^0'=tail_14^post_103, [ -2+nondet_12^1_1>=1 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1<=i_30^post_1 && 0<=i_30^post_1 && 1+temp_35^post_2<=tail_14^post_103 && 1-len_134^0==0 && tail_14^post_95-tail_14^post_103==0 && head_15^post_95-x_SLAM_f_24^post_95==0 && 1+tail_14^post_103<=head_15^post_95 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95<=i_110^post_95 ], cost: 6+2*nondet_12^1_1 203: l65 -> l31 : a_118^0'=a_149^0, a_149^0'=-1, a_188^0'=-1, f_171^0'=temp_35^post_2, head_15^0'=head_15^post_50, head_32^0'=head_32^post_1, head_SLAM_f_29^0'=head_SLAM_f_29^post_1, i_110^0'=1+a_149^0, i_30^0'=i_30^post_1, i_95^0'=-1+nondet_12^1_1, len_134^0'=1+a_149^0+len_134^0, len_187^0'=1+a_149^0+len_134^0, length_28^0'=length_28^post_1, nondet_12^0'=nondet_12^post_45, r_165^0'=r_165^post_95, r_39^0'=r_39^post_50, rcd_59^0'=rcd_59^post_103, rcd_89^0'=rcd_89^post_2, result_11^0'=result_11^post_1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50, tail_14^0'=tail_14^post_95, temp0_31^0'=temp0_31^post_1, temp_35^0'=temp_35^post_1, tmp_34^0'=tmp_34^post_1, x_176^0'=x_176^post_50, x_26^0'=temp_35^post_2, x_SLAM_f_24^0'=head_15^post_50, y_25^0'=tail_14^post_95, [ -2+nondet_12^1_1>=1 && 1+tail_14^post_95<=temp_35^post_2 && 1-len_134^0==0 && 1+head_15^post_50<=tail_14^post_95 && 1+tail_14^post_95<=x_176^post_50 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50 && 1+a_149^0>=1 && 2<=i_30^post_1 ], cost: 13+7*a_149^0+2*nondet_12^1_1 204: l65 -> l31 : a_118^0'=a_149^0, a_149^0'=-1, a_188^0'=-1, f_171^0'=temp_35^post_2, head_15^0'=head_15^post_50, head_32^0'=head_32^post_1, head_SLAM_f_29^0'=head_SLAM_f_29^post_1, i_110^0'=1+a_149^0, i_30^0'=i_30^post_1, i_95^0'=-1+nondet_12^1_1, len_134^0'=1+a_149^0+len_134^0, len_187^0'=1+a_149^0+len_134^0, length_28^0'=length_28^post_1, nondet_12^0'=nondet_12^post_45, r_165^0'=r_165^post_95, r_39^0'=r_39^post_50, rcd_59^0'=rcd_59^post_103, rcd_89^0'=rcd_89^post_2, result_11^0'=result_11^post_1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50, tail_14^0'=tail_14^post_95, temp0_31^0'=temp0_31^post_1, temp_35^0'=temp_35^post_1, tmp_34^0'=tmp_34^post_1, x_176^0'=x_176^post_50, x_26^0'=temp_35^post_2, x_SLAM_f_24^0'=head_15^post_50, y_25^0'=tail_14^post_95, [ -2+nondet_12^1_1>=1 && 1+tail_14^post_95<=temp_35^post_2 && 1-len_134^0==0 && 1+head_15^post_50<=tail_14^post_95 && 1+tail_14^post_95<=x_176^post_50 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50 && 1+a_149^0>=1 && 2<=i_30^post_1 ], cost: 13+7*a_149^0+2*nondet_12^1_1 205: l65 -> l31 : a_118^0'=a_149^0, a_149^0'=-1, a_188^0'=-1, f_171^0'=temp_35^post_2, head_15^0'=head_15^post_50, head_32^0'=head_32^post_1, head_SLAM_f_29^0'=head_SLAM_f_29^post_1, i_110^0'=1+a_149^0, i_30^0'=i_30^post_1, i_95^0'=-1+nondet_12^1_1, len_134^0'=1+a_149^0+len_134^0, len_187^0'=1+a_149^0+len_134^0, length_28^0'=length_28^post_1, nondet_12^0'=nondet_12^post_45, r_165^0'=r_165^post_95, r_39^0'=r_39^post_50, rcd_59^0'=rcd_59^post_103, rcd_89^0'=rcd_89^post_2, result_11^0'=result_11^post_1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50, tail_14^0'=tail_14^post_95, temp0_31^0'=temp0_31^post_1, temp_35^0'=temp_35^post_1, tmp_34^0'=tmp_34^post_1, x_176^0'=x_176^post_50, x_26^0'=temp_35^post_2, x_SLAM_f_24^0'=head_15^post_50, y_25^0'=tail_14^post_95, [ -2+nondet_12^1_1>=1 && 1+tail_14^post_95<=temp_35^post_2 && 1-len_134^0==0 && 1+head_15^post_50<=tail_14^post_95 && 1+x_176^post_50<=tail_14^post_95 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50 && 1+a_149^0>=1 && 2<=i_30^post_1 ], cost: 13+7*a_149^0+2*nondet_12^1_1 206: l65 -> l31 : a_118^0'=a_149^0, a_149^0'=-1, a_188^0'=-1, f_171^0'=temp_35^post_2, head_15^0'=head_15^post_50, head_32^0'=head_32^post_1, head_SLAM_f_29^0'=head_SLAM_f_29^post_1, i_110^0'=1+a_149^0, i_30^0'=i_30^post_1, i_95^0'=-1+nondet_12^1_1, len_134^0'=1+a_149^0+len_134^0, len_187^0'=1+a_149^0+len_134^0, length_28^0'=length_28^post_1, nondet_12^0'=nondet_12^post_45, r_165^0'=r_165^post_95, r_39^0'=r_39^post_50, rcd_59^0'=rcd_59^post_103, rcd_89^0'=rcd_89^post_2, result_11^0'=result_11^post_1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50, tail_14^0'=tail_14^post_95, temp0_31^0'=temp0_31^post_1, temp_35^0'=temp_35^post_1, tmp_34^0'=tmp_34^post_1, x_176^0'=x_176^post_50, x_26^0'=temp_35^post_2, x_SLAM_f_24^0'=head_15^post_50, y_25^0'=tail_14^post_95, [ -2+nondet_12^1_1>=1 && 1+tail_14^post_95<=temp_35^post_2 && 1-len_134^0==0 && 1+head_15^post_50<=tail_14^post_95 && 1+x_176^post_50<=tail_14^post_95 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50 && 1+a_149^0>=1 && 2<=i_30^post_1 ], cost: 13+7*a_149^0+2*nondet_12^1_1 207: l65 -> l31 : a_118^0'=a_149^0, a_149^0'=-1, a_188^0'=-1, f_171^0'=temp_35^post_2, head_15^0'=head_15^post_50, head_32^0'=head_32^post_1, head_SLAM_f_29^0'=head_SLAM_f_29^post_1, i_110^0'=1+a_149^0, i_30^0'=i_30^post_1, i_95^0'=-1+nondet_12^1_1, len_134^0'=1+a_149^0+len_134^0, len_187^0'=1+a_149^0+len_134^0, length_28^0'=length_28^post_1, nondet_12^0'=nondet_12^post_45, r_165^0'=r_165^post_95, r_39^0'=r_39^post_50, rcd_59^0'=rcd_59^post_103, rcd_89^0'=rcd_89^post_2, result_11^0'=result_11^post_1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50, tail_14^0'=tail_14^post_95, temp0_31^0'=temp0_31^post_1, temp_35^0'=temp_35^post_1, tmp_34^0'=tmp_34^post_1, x_176^0'=x_176^post_50, x_26^0'=temp_35^post_2, x_SLAM_f_24^0'=head_15^post_50, y_25^0'=tail_14^post_95, [ -2+nondet_12^1_1>=1 && 1+tail_14^post_95<=temp_35^post_2 && 1-len_134^0==0 && 1+tail_14^post_95<=head_15^post_50 && 1+x_176^post_50<=tail_14^post_95 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50 && 1+a_149^0>=1 && 2<=i_30^post_1 ], cost: 13+7*a_149^0+2*nondet_12^1_1 208: l65 -> l31 : a_118^0'=a_149^0, a_149^0'=-1, a_188^0'=-1, f_171^0'=temp_35^post_2, head_15^0'=head_15^post_50, head_32^0'=head_32^post_1, head_SLAM_f_29^0'=head_SLAM_f_29^post_1, i_110^0'=1+a_149^0, i_30^0'=i_30^post_1, i_95^0'=-1+nondet_12^1_1, len_134^0'=1+a_149^0+len_134^0, len_187^0'=1+a_149^0+len_134^0, length_28^0'=length_28^post_1, nondet_12^0'=nondet_12^post_45, r_165^0'=r_165^post_95, r_39^0'=r_39^post_50, rcd_59^0'=rcd_59^post_103, rcd_89^0'=rcd_89^post_2, result_11^0'=result_11^post_1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50, tail_14^0'=tail_14^post_95, temp0_31^0'=temp0_31^post_1, temp_35^0'=temp_35^post_1, tmp_34^0'=tmp_34^post_1, x_176^0'=x_176^post_50, x_26^0'=temp_35^post_2, x_SLAM_f_24^0'=head_15^post_50, y_25^0'=tail_14^post_95, [ -2+nondet_12^1_1>=1 && 1+tail_14^post_95<=temp_35^post_2 && 1-len_134^0==0 && 1+tail_14^post_95<=head_15^post_50 && 1+x_176^post_50<=tail_14^post_95 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50 && 1+a_149^0>=1 && 2<=i_30^post_1 ], cost: 13+7*a_149^0+2*nondet_12^1_1 209: l65 -> l31 : a_118^0'=a_149^0, a_149^0'=-1, a_188^0'=-1, f_171^0'=temp_35^post_5, head_15^0'=head_15^post_50, head_32^0'=head_32^post_1, head_SLAM_f_29^0'=head_SLAM_f_29^post_1, i_110^0'=1+a_149^0, i_30^0'=i_30^post_1, len_134^0'=1+a_149^0+len_134^0, len_187^0'=1+a_149^0+len_134^0, length_28^0'=length_28^post_1, nondet_12^0'=nondet_12^post_45, r_165^0'=r_165^post_95, r_39^0'=r_39^post_50, rcd_59^0'=rcd_59^post_103, result_11^0'=result_11^post_1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50, tail_14^0'=tail_14^post_95, temp0_31^0'=temp0_31^post_1, temp_35^0'=temp_35^post_1, tmp_34^0'=tmp_34^post_1, x_176^0'=x_176^post_50, x_26^0'=temp_35^post_5, x_SLAM_f_24^0'=head_15^post_50, y_25^0'=tail_14^post_95, [ 1+temp_35^post_5<=tail_14^post_95 && 1-len_134^0==0 && 1+head_15^post_50<=tail_14^post_95 && 1+tail_14^post_95<=x_176^post_50 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50 && 1+a_149^0>=1 && 2<=i_30^post_1 ], cost: 17+7*a_149^0 210: l65 -> l31 : a_118^0'=a_149^0, a_149^0'=-1, a_188^0'=-1, f_171^0'=temp_35^post_2, head_15^0'=head_15^post_50, head_32^0'=head_32^post_1, head_SLAM_f_29^0'=head_SLAM_f_29^post_1, i_110^0'=1+a_149^0, i_30^0'=i_30^post_1, i_95^0'=-1+nondet_12^1_1, len_134^0'=1+a_149^0+len_134^0, len_187^0'=1+a_149^0+len_134^0, length_28^0'=length_28^post_1, nondet_12^0'=nondet_12^post_45, r_165^0'=r_165^post_95, r_39^0'=r_39^post_50, rcd_59^0'=rcd_59^post_103, rcd_89^0'=rcd_89^post_2, result_11^0'=result_11^post_1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50, tail_14^0'=tail_14^post_95, temp0_31^0'=temp0_31^post_1, temp_35^0'=temp_35^post_1, tmp_34^0'=tmp_34^post_1, x_176^0'=x_176^post_50, x_26^0'=temp_35^post_2, x_SLAM_f_24^0'=head_15^post_50, y_25^0'=tail_14^post_95, [ -2+nondet_12^1_1>=1 && 1+temp_35^post_2<=tail_14^post_95 && 1-len_134^0==0 && 1+head_15^post_50<=tail_14^post_95 && 1+tail_14^post_95<=x_176^post_50 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50 && 1+a_149^0>=1 && 2<=i_30^post_1 ], cost: 13+7*a_149^0+2*nondet_12^1_1 211: l65 -> l31 : a_118^0'=a_149^0, a_149^0'=-1, a_188^0'=-1, f_171^0'=temp_35^post_2, head_15^0'=head_15^post_50, head_32^0'=head_32^post_1, head_SLAM_f_29^0'=head_SLAM_f_29^post_1, i_110^0'=1+a_149^0, i_30^0'=i_30^post_1, i_95^0'=-1+nondet_12^1_1, len_134^0'=1+a_149^0+len_134^0, len_187^0'=1+a_149^0+len_134^0, length_28^0'=length_28^post_1, nondet_12^0'=nondet_12^post_45, r_165^0'=r_165^post_95, r_39^0'=r_39^post_50, rcd_59^0'=rcd_59^post_103, rcd_89^0'=rcd_89^post_2, result_11^0'=result_11^post_1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50, tail_14^0'=tail_14^post_95, temp0_31^0'=temp0_31^post_1, temp_35^0'=temp_35^post_1, tmp_34^0'=tmp_34^post_1, x_176^0'=x_176^post_50, x_26^0'=temp_35^post_2, x_SLAM_f_24^0'=head_15^post_50, y_25^0'=tail_14^post_95, [ -2+nondet_12^1_1>=1 && 1+temp_35^post_2<=tail_14^post_95 && 1-len_134^0==0 && 1+head_15^post_50<=tail_14^post_95 && 1+tail_14^post_95<=x_176^post_50 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50 && 1+a_149^0>=1 && 2<=i_30^post_1 ], cost: 13+7*a_149^0+2*nondet_12^1_1 212: l65 -> l31 : a_118^0'=a_149^0, a_149^0'=-1, a_188^0'=-1, f_171^0'=temp_35^post_5, head_15^0'=head_15^post_50, head_32^0'=head_32^post_1, head_SLAM_f_29^0'=head_SLAM_f_29^post_1, i_110^0'=1+a_149^0, i_30^0'=i_30^post_1, len_134^0'=1+a_149^0+len_134^0, len_187^0'=1+a_149^0+len_134^0, length_28^0'=length_28^post_1, nondet_12^0'=nondet_12^post_45, r_165^0'=r_165^post_95, r_39^0'=r_39^post_50, rcd_59^0'=rcd_59^post_103, result_11^0'=result_11^post_1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50, tail_14^0'=tail_14^post_95, temp0_31^0'=temp0_31^post_1, temp_35^0'=temp_35^post_1, tmp_34^0'=tmp_34^post_1, x_176^0'=x_176^post_50, x_26^0'=temp_35^post_5, x_SLAM_f_24^0'=head_15^post_50, y_25^0'=tail_14^post_95, [ 1+temp_35^post_5<=tail_14^post_95 && 1-len_134^0==0 && 1+head_15^post_50<=tail_14^post_95 && 1+x_176^post_50<=tail_14^post_95 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50 && 1+a_149^0>=1 && 2<=i_30^post_1 ], cost: 17+7*a_149^0 213: l65 -> l31 : a_118^0'=a_149^0, a_149^0'=-1, a_188^0'=-1, f_171^0'=temp_35^post_2, head_15^0'=head_15^post_50, head_32^0'=head_32^post_1, head_SLAM_f_29^0'=head_SLAM_f_29^post_1, i_110^0'=1+a_149^0, i_30^0'=i_30^post_1, i_95^0'=-1+nondet_12^1_1, len_134^0'=1+a_149^0+len_134^0, len_187^0'=1+a_149^0+len_134^0, length_28^0'=length_28^post_1, nondet_12^0'=nondet_12^post_45, r_165^0'=r_165^post_95, r_39^0'=r_39^post_50, rcd_59^0'=rcd_59^post_103, rcd_89^0'=rcd_89^post_2, result_11^0'=result_11^post_1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50, tail_14^0'=tail_14^post_95, temp0_31^0'=temp0_31^post_1, temp_35^0'=temp_35^post_1, tmp_34^0'=tmp_34^post_1, x_176^0'=x_176^post_50, x_26^0'=temp_35^post_2, x_SLAM_f_24^0'=head_15^post_50, y_25^0'=tail_14^post_95, [ -2+nondet_12^1_1>=1 && 1+temp_35^post_2<=tail_14^post_95 && 1-len_134^0==0 && 1+head_15^post_50<=tail_14^post_95 && 1+x_176^post_50<=tail_14^post_95 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50 && 1+a_149^0>=1 && 2<=i_30^post_1 ], cost: 13+7*a_149^0+2*nondet_12^1_1 214: l65 -> l31 : a_118^0'=a_149^0, a_149^0'=-1, a_188^0'=-1, f_171^0'=temp_35^post_2, head_15^0'=head_15^post_50, head_32^0'=head_32^post_1, head_SLAM_f_29^0'=head_SLAM_f_29^post_1, i_110^0'=1+a_149^0, i_30^0'=i_30^post_1, i_95^0'=-1+nondet_12^1_1, len_134^0'=1+a_149^0+len_134^0, len_187^0'=1+a_149^0+len_134^0, length_28^0'=length_28^post_1, nondet_12^0'=nondet_12^post_45, r_165^0'=r_165^post_95, r_39^0'=r_39^post_50, rcd_59^0'=rcd_59^post_103, rcd_89^0'=rcd_89^post_2, result_11^0'=result_11^post_1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50, tail_14^0'=tail_14^post_95, temp0_31^0'=temp0_31^post_1, temp_35^0'=temp_35^post_1, tmp_34^0'=tmp_34^post_1, x_176^0'=x_176^post_50, x_26^0'=temp_35^post_2, x_SLAM_f_24^0'=head_15^post_50, y_25^0'=tail_14^post_95, [ -2+nondet_12^1_1>=1 && 1+temp_35^post_2<=tail_14^post_95 && 1-len_134^0==0 && 1+head_15^post_50<=tail_14^post_95 && 1+x_176^post_50<=tail_14^post_95 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50 && 1+a_149^0>=1 && 2<=i_30^post_1 ], cost: 13+7*a_149^0+2*nondet_12^1_1 Eliminated locations (on tree-shaped paths): Start location: l65 199: l29 -> l6 : a_149^0'=0, a_281^0'=-1, a_342^0'=0, a_343^0'=-1, head_15^0'=x_SLAM_f_17^post_7, len_134^0'=1+a_225^0, r_39^0'=r_39^post_7, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7, t_22^0'=x_19^0, tail_14^0'=y_18^0, x_SLAM_f_17^0'=x_SLAM_f_17^post_7, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && -a_149^0==0 && 1+y_18^0<=x_19^0 && 1+y_18^0<=x_SLAM_f_17^post_7 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7 && 1+a_281^0>=1 ], cost: 9+8*a_281^0 200: l29 -> l6 : a_149^0'=0, a_281^0'=0, a_342^0'=0, a_343^0'=0, head_15^0'=x_SLAM_f_17^post_7, len_134^0'=1+a_225^0, r_39^0'=r_39^post_7, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7, t_22^0'=x_19^0, tail_14^0'=y_18^0, x_SLAM_f_17^0'=x_SLAM_f_17^post_7, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && 0<=a_149^0 && 1+y_18^0<=x_19^0 && 1+x_SLAM_f_17^post_7<=y_18^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7 && a_281^0>=1 ], cost: 1+8*a_281^0 201: l29 -> l6 : a_149^0'=0, a_281^0'=0, a_342^0'=0, a_343^0'=0, head_15^0'=x_SLAM_f_17^post_7, len_134^0'=1+a_225^0, r_39^0'=r_39^post_7, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7, t_22^0'=x_19^0, tail_14^0'=y_18^0, x_SLAM_f_17^0'=x_SLAM_f_17^post_7, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && 0<=a_149^0 && 1+x_19^0<=y_18^0 && 1+y_18^0<=x_SLAM_f_17^post_7 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7 && a_281^0>=1 ], cost: 1+8*a_281^0 202: l29 -> l6 : a_149^0'=0, a_281^0'=0, a_342^0'=0, a_343^0'=0, head_15^0'=x_SLAM_f_17^post_7, len_134^0'=1+a_225^0, r_39^0'=r_39^post_7, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7, t_22^0'=x_19^0, tail_14^0'=y_18^0, x_SLAM_f_17^0'=x_SLAM_f_17^post_7, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && 0<=a_149^0 && 1+x_19^0<=y_18^0 && 1+x_SLAM_f_17^post_7<=y_18^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7 && a_281^0>=1 ], cost: 1+8*a_281^0 215: l65 -> [69] : [ -2+nondet_12^1_1>=1 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1<=i_30^post_1 && 0<=i_30^post_1 && 1+tail_14^post_103<=temp_35^post_2 && 1-len_134^0==0 && tail_14^post_95-tail_14^post_103==0 && head_15^post_95-x_SLAM_f_24^post_95==0 && 1+head_15^post_95<=tail_14^post_103 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95<=i_110^post_95 ], cost: 6+2*nondet_12^1_1 216: l65 -> [69] : [ -2+nondet_12^1_1>=1 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1<=i_30^post_1 && 0<=i_30^post_1 && 1+tail_14^post_103<=temp_35^post_2 && 1-len_134^0==0 && tail_14^post_95-tail_14^post_103==0 && head_15^post_95-x_SLAM_f_24^post_95==0 && 1+tail_14^post_103<=head_15^post_95 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95<=i_110^post_95 ], cost: 6+2*nondet_12^1_1 217: l65 -> [69] : [ -2+nondet_12^1_1>=1 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1<=i_30^post_1 && 0<=i_30^post_1 && 1+temp_35^post_2<=tail_14^post_103 && 1-len_134^0==0 && tail_14^post_95-tail_14^post_103==0 && head_15^post_95-x_SLAM_f_24^post_95==0 && 1+head_15^post_95<=tail_14^post_103 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95<=i_110^post_95 ], cost: 6+2*nondet_12^1_1 218: l65 -> [69] : [ -2+nondet_12^1_1>=1 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1<=i_30^post_1 && 0<=i_30^post_1 && 1+temp_35^post_2<=tail_14^post_103 && 1-len_134^0==0 && tail_14^post_95-tail_14^post_103==0 && head_15^post_95-x_SLAM_f_24^post_95==0 && 1+tail_14^post_103<=head_15^post_95 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95<=i_110^post_95 ], cost: 6+2*nondet_12^1_1 219: l65 -> [69] : [ -2+nondet_12^1_1>=1 && 1+tail_14^post_95<=temp_35^post_2 && 1-len_134^0==0 && 1+head_15^post_50<=tail_14^post_95 && 1+tail_14^post_95<=x_176^post_50 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50 && 1+a_149^0>=1 && 2<=i_30^post_1 ], cost: 13+7*a_149^0+2*nondet_12^1_1 220: l65 -> [69] : [ -2+nondet_12^1_1>=1 && 1+tail_14^post_95<=temp_35^post_2 && 1-len_134^0==0 && 1+head_15^post_50<=tail_14^post_95 && 1+tail_14^post_95<=x_176^post_50 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50 && 1+a_149^0>=1 && 2<=i_30^post_1 ], cost: 13+7*a_149^0+2*nondet_12^1_1 221: l65 -> [69] : [ -2+nondet_12^1_1>=1 && 1+tail_14^post_95<=temp_35^post_2 && 1-len_134^0==0 && 1+head_15^post_50<=tail_14^post_95 && 1+x_176^post_50<=tail_14^post_95 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50 && 1+a_149^0>=1 && 2<=i_30^post_1 ], cost: 13+7*a_149^0+2*nondet_12^1_1 222: l65 -> [69] : [ -2+nondet_12^1_1>=1 && 1+tail_14^post_95<=temp_35^post_2 && 1-len_134^0==0 && 1+head_15^post_50<=tail_14^post_95 && 1+x_176^post_50<=tail_14^post_95 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50 && 1+a_149^0>=1 && 2<=i_30^post_1 ], cost: 13+7*a_149^0+2*nondet_12^1_1 223: l65 -> [69] : [ -2+nondet_12^1_1>=1 && 1+tail_14^post_95<=temp_35^post_2 && 1-len_134^0==0 && 1+tail_14^post_95<=head_15^post_50 && 1+x_176^post_50<=tail_14^post_95 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50 && 1+a_149^0>=1 && 2<=i_30^post_1 ], cost: 13+7*a_149^0+2*nondet_12^1_1 224: l65 -> [69] : [ -2+nondet_12^1_1>=1 && 1+tail_14^post_95<=temp_35^post_2 && 1-len_134^0==0 && 1+tail_14^post_95<=head_15^post_50 && 1+x_176^post_50<=tail_14^post_95 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50 && 1+a_149^0>=1 && 2<=i_30^post_1 ], cost: 13+7*a_149^0+2*nondet_12^1_1 225: l65 -> [69] : [ 1+temp_35^post_5<=tail_14^post_95 && 1-len_134^0==0 && 1+head_15^post_50<=tail_14^post_95 && 1+tail_14^post_95<=x_176^post_50 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50 && 1+a_149^0>=1 && 2<=i_30^post_1 ], cost: 17+7*a_149^0 226: l65 -> [69] : [ -2+nondet_12^1_1>=1 && 1+temp_35^post_2<=tail_14^post_95 && 1-len_134^0==0 && 1+head_15^post_50<=tail_14^post_95 && 1+tail_14^post_95<=x_176^post_50 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50 && 1+a_149^0>=1 && 2<=i_30^post_1 ], cost: 13+7*a_149^0+2*nondet_12^1_1 227: l65 -> [69] : [ -2+nondet_12^1_1>=1 && 1+temp_35^post_2<=tail_14^post_95 && 1-len_134^0==0 && 1+head_15^post_50<=tail_14^post_95 && 1+tail_14^post_95<=x_176^post_50 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50 && 1+a_149^0>=1 && 2<=i_30^post_1 ], cost: 13+7*a_149^0+2*nondet_12^1_1 228: l65 -> [69] : [ 1+temp_35^post_5<=tail_14^post_95 && 1-len_134^0==0 && 1+head_15^post_50<=tail_14^post_95 && 1+x_176^post_50<=tail_14^post_95 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50 && 1+a_149^0>=1 && 2<=i_30^post_1 ], cost: 17+7*a_149^0 229: l65 -> [69] : [ -2+nondet_12^1_1>=1 && 1+temp_35^post_2<=tail_14^post_95 && 1-len_134^0==0 && 1+head_15^post_50<=tail_14^post_95 && 1+x_176^post_50<=tail_14^post_95 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50 && 1+a_149^0>=1 && 2<=i_30^post_1 ], cost: 13+7*a_149^0+2*nondet_12^1_1 230: l65 -> [69] : [ -2+nondet_12^1_1>=1 && 1+temp_35^post_2<=tail_14^post_95 && 1-len_134^0==0 && 1+head_15^post_50<=tail_14^post_95 && 1+x_176^post_50<=tail_14^post_95 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50 && 1+a_149^0>=1 && 2<=i_30^post_1 ], cost: 13+7*a_149^0+2*nondet_12^1_1 Merged rules: Start location: l65 199: l29 -> l6 : a_149^0'=0, a_281^0'=-1, a_342^0'=0, a_343^0'=-1, head_15^0'=x_SLAM_f_17^post_7, len_134^0'=1+a_225^0, r_39^0'=r_39^post_7, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7, t_22^0'=x_19^0, tail_14^0'=y_18^0, x_SLAM_f_17^0'=x_SLAM_f_17^post_7, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && -a_149^0==0 && 1+y_18^0<=x_19^0 && 1+y_18^0<=x_SLAM_f_17^post_7 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7 && 1+a_281^0>=1 ], cost: 9+8*a_281^0 200: l29 -> l6 : a_149^0'=0, a_281^0'=0, a_342^0'=0, a_343^0'=0, head_15^0'=x_SLAM_f_17^post_7, len_134^0'=1+a_225^0, r_39^0'=r_39^post_7, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7, t_22^0'=x_19^0, tail_14^0'=y_18^0, x_SLAM_f_17^0'=x_SLAM_f_17^post_7, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && 0<=a_149^0 && 1+y_18^0<=x_19^0 && 1+x_SLAM_f_17^post_7<=y_18^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7 && a_281^0>=1 ], cost: 1+8*a_281^0 201: l29 -> l6 : a_149^0'=0, a_281^0'=0, a_342^0'=0, a_343^0'=0, head_15^0'=x_SLAM_f_17^post_7, len_134^0'=1+a_225^0, r_39^0'=r_39^post_7, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7, t_22^0'=x_19^0, tail_14^0'=y_18^0, x_SLAM_f_17^0'=x_SLAM_f_17^post_7, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && 0<=a_149^0 && 1+x_19^0<=y_18^0 && 1+y_18^0<=x_SLAM_f_17^post_7 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7 && a_281^0>=1 ], cost: 1+8*a_281^0 202: l29 -> l6 : a_149^0'=0, a_281^0'=0, a_342^0'=0, a_343^0'=0, head_15^0'=x_SLAM_f_17^post_7, len_134^0'=1+a_225^0, r_39^0'=r_39^post_7, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7, t_22^0'=x_19^0, tail_14^0'=y_18^0, x_SLAM_f_17^0'=x_SLAM_f_17^post_7, [ 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^0 && 0<=a_149^0 && 1+x_19^0<=y_18^0 && 1+x_SLAM_f_17^post_7<=y_18^0 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_7 && a_281^0>=1 ], cost: 1+8*a_281^0 215: l65 -> [69] : [ -2+nondet_12^1_1>=1 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1<=i_30^post_1 && 0<=i_30^post_1 && 1+tail_14^post_103<=temp_35^post_2 && 1-len_134^0==0 && tail_14^post_95-tail_14^post_103==0 && head_15^post_95-x_SLAM_f_24^post_95==0 && 1+head_15^post_95<=tail_14^post_103 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95<=i_110^post_95 ], cost: 6+2*nondet_12^1_1 216: l65 -> [69] : [ -2+nondet_12^1_1>=1 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1<=i_30^post_1 && 0<=i_30^post_1 && 1+tail_14^post_103<=temp_35^post_2 && 1-len_134^0==0 && tail_14^post_95-tail_14^post_103==0 && head_15^post_95-x_SLAM_f_24^post_95==0 && 1+tail_14^post_103<=head_15^post_95 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95<=i_110^post_95 ], cost: 6+2*nondet_12^1_1 217: l65 -> [69] : [ -2+nondet_12^1_1>=1 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1<=i_30^post_1 && 0<=i_30^post_1 && 1+temp_35^post_2<=tail_14^post_103 && 1-len_134^0==0 && tail_14^post_95-tail_14^post_103==0 && head_15^post_95-x_SLAM_f_24^post_95==0 && 1+head_15^post_95<=tail_14^post_103 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95<=i_110^post_95 ], cost: 6+2*nondet_12^1_1 218: l65 -> [69] : [ -2+nondet_12^1_1>=1 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_1<=i_30^post_1 && 0<=i_30^post_1 && 1+temp_35^post_2<=tail_14^post_103 && 1-len_134^0==0 && tail_14^post_95-tail_14^post_103==0 && head_15^post_95-x_SLAM_f_24^post_95==0 && 1+tail_14^post_103<=head_15^post_95 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95 && result_dot_nondet_sdv_special_RETURN_VALUE_13^post_95<=i_110^post_95 ], cost: 6+2*nondet_12^1_1 225: l65 -> [69] : [ 1+temp_35^post_5<=tail_14^post_95 && 1-len_134^0==0 && 1+head_15^post_50<=tail_14^post_95 && 1+tail_14^post_95<=x_176^post_50 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50 && 1+a_149^0>=1 && 2<=i_30^post_1 ], cost: 17+7*a_149^0 228: l65 -> [69] : [ 1+temp_35^post_5<=tail_14^post_95 && 1-len_134^0==0 && 1+head_15^post_50<=tail_14^post_95 && 1+x_176^post_50<=tail_14^post_95 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50 && 1+a_149^0>=1 && 2<=i_30^post_1 ], cost: 17+7*a_149^0 231: l65 -> [69] : [ -2+nondet_12^1_1>=1 && 1+tail_14^post_95<=temp_35^post_2 && 1-len_134^0==0 && 1+head_15^post_50<=tail_14^post_95 && 1+tail_14^post_95<=x_176^post_50 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50 && 1+a_149^0>=1 && 2<=i_30^post_1 ], cost: 13+7*a_149^0+2*nondet_12^1_1 232: l65 -> [69] : [ -2+nondet_12^1_1>=1 && 1+tail_14^post_95<=temp_35^post_2 && 1-len_134^0==0 && 1+head_15^post_50<=tail_14^post_95 && 1+x_176^post_50<=tail_14^post_95 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50 && 1+a_149^0>=1 && 2<=i_30^post_1 ], cost: 13+7*a_149^0+2*nondet_12^1_1 233: l65 -> [69] : [ -2+nondet_12^1_1>=1 && 1+tail_14^post_95<=temp_35^post_2 && 1-len_134^0==0 && 1+tail_14^post_95<=head_15^post_50 && 1+x_176^post_50<=tail_14^post_95 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50 && 1+a_149^0>=1 && 2<=i_30^post_1 ], cost: 13+7*a_149^0+2*nondet_12^1_1 234: l65 -> [69] : [ -2+nondet_12^1_1>=1 && 1+temp_35^post_2<=tail_14^post_95 && 1-len_134^0==0 && 1+head_15^post_50<=tail_14^post_95 && 1+tail_14^post_95<=x_176^post_50 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50 && 1+a_149^0>=1 && 2<=i_30^post_1 ], cost: 13+7*a_149^0+2*nondet_12^1_1 235: l65 -> [69] : [ -2+nondet_12^1_1>=1 && 1+temp_35^post_2<=tail_14^post_95 && 1-len_134^0==0 && 1+head_15^post_50<=tail_14^post_95 && 1+x_176^post_50<=tail_14^post_95 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50 && 1+a_149^0>=1 && 2<=i_30^post_1 ], cost: 13+7*a_149^0+2*nondet_12^1_1 Applied pruning (of leafs and parallel rules): Start location: l65 231: l65 -> [69] : [ -2+nondet_12^1_1>=1 && 1+tail_14^post_95<=temp_35^post_2 && 1-len_134^0==0 && 1+head_15^post_50<=tail_14^post_95 && 1+tail_14^post_95<=x_176^post_50 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50 && 1+a_149^0>=1 && 2<=i_30^post_1 ], cost: 13+7*a_149^0+2*nondet_12^1_1 232: l65 -> [69] : [ -2+nondet_12^1_1>=1 && 1+tail_14^post_95<=temp_35^post_2 && 1-len_134^0==0 && 1+head_15^post_50<=tail_14^post_95 && 1+x_176^post_50<=tail_14^post_95 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50 && 1+a_149^0>=1 && 2<=i_30^post_1 ], cost: 13+7*a_149^0+2*nondet_12^1_1 233: l65 -> [69] : [ -2+nondet_12^1_1>=1 && 1+tail_14^post_95<=temp_35^post_2 && 1-len_134^0==0 && 1+tail_14^post_95<=head_15^post_50 && 1+x_176^post_50<=tail_14^post_95 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50 && 1+a_149^0>=1 && 2<=i_30^post_1 ], cost: 13+7*a_149^0+2*nondet_12^1_1 234: l65 -> [69] : [ -2+nondet_12^1_1>=1 && 1+temp_35^post_2<=tail_14^post_95 && 1-len_134^0==0 && 1+head_15^post_50<=tail_14^post_95 && 1+tail_14^post_95<=x_176^post_50 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50 && 1+a_149^0>=1 && 2<=i_30^post_1 ], cost: 13+7*a_149^0+2*nondet_12^1_1 235: l65 -> [69] : [ -2+nondet_12^1_1>=1 && 1+temp_35^post_2<=tail_14^post_95 && 1-len_134^0==0 && 1+head_15^post_50<=tail_14^post_95 && 1+x_176^post_50<=tail_14^post_95 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50 && 1+a_149^0>=1 && 2<=i_30^post_1 ], cost: 13+7*a_149^0+2*nondet_12^1_1 ### Computing asymptotic complexity ### Fully simplified ITS problem Start location: l65 231: l65 -> [69] : [ -2+nondet_12^1_1>=1 && 1+tail_14^post_95<=temp_35^post_2 && 1-len_134^0==0 && 1+head_15^post_50<=tail_14^post_95 && 1+tail_14^post_95<=x_176^post_50 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50 && 1+a_149^0>=1 && 2<=i_30^post_1 ], cost: 13+7*a_149^0+2*nondet_12^1_1 232: l65 -> [69] : [ -2+nondet_12^1_1>=1 && 1+tail_14^post_95<=temp_35^post_2 && 1-len_134^0==0 && 1+head_15^post_50<=tail_14^post_95 && 1+x_176^post_50<=tail_14^post_95 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50 && 1+a_149^0>=1 && 2<=i_30^post_1 ], cost: 13+7*a_149^0+2*nondet_12^1_1 233: l65 -> [69] : [ -2+nondet_12^1_1>=1 && 1+tail_14^post_95<=temp_35^post_2 && 1-len_134^0==0 && 1+tail_14^post_95<=head_15^post_50 && 1+x_176^post_50<=tail_14^post_95 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50 && 1+a_149^0>=1 && 2<=i_30^post_1 ], cost: 13+7*a_149^0+2*nondet_12^1_1 234: l65 -> [69] : [ -2+nondet_12^1_1>=1 && 1+temp_35^post_2<=tail_14^post_95 && 1-len_134^0==0 && 1+head_15^post_50<=tail_14^post_95 && 1+tail_14^post_95<=x_176^post_50 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50 && 1+a_149^0>=1 && 2<=i_30^post_1 ], cost: 13+7*a_149^0+2*nondet_12^1_1 235: l65 -> [69] : [ -2+nondet_12^1_1>=1 && 1+temp_35^post_2<=tail_14^post_95 && 1-len_134^0==0 && 1+head_15^post_50<=tail_14^post_95 && 1+x_176^post_50<=tail_14^post_95 && 2<=result_dot_nondet_sdv_special_RETURN_VALUE_13^post_50 && 1+a_149^0>=1 && 2<=i_30^post_1 ], cost: 13+7*a_149^0+2*nondet_12^1_1 Computing asymptotic complexity for rule 231 Resulting cost 0 has complexity: Unknown Computing asymptotic complexity for rule 232 Resulting cost 0 has complexity: Unknown Computing asymptotic complexity for rule 233 Resulting cost 0 has complexity: Unknown Computing asymptotic complexity for rule 234 Resulting cost 0 has complexity: Unknown Computing asymptotic complexity for rule 235 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_118^0==a_118^post_104 && a_149^0==a_149^post_104 && a_188^0==a_188^post_104 && a_225^0==a_225^post_104 && a_281^0==a_281^post_104 && a_289^0==a_289^post_104 && a_342^0==a_342^post_104 && a_343^0==a_343^post_104 && f_171^0==f_171^post_104 && head_15^0==head_15^post_104 && head_32^0==head_32^post_104 && head_SLAM_f_29^0==head_SLAM_f_29^post_104 && i_110^0==i_110^post_104 && i_30^0==i_30^post_104 && i_95^0==i_95^post_104 && len_134^0==len_134^post_104 && len_187^0==len_187^post_104 && length_28^0==length_28^post_104 && nondet_12^0==nondet_12^post_104 && r_126^0==r_126^post_104 && r_165^0==r_165^post_104 && r_39^0==r_39^post_104 && rcd_59^0==rcd_59^post_104 && rcd_89^0==rcd_89^post_104 && result_11^0==result_11^post_104 && result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0==result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post_104 && result_dot_nondet_sdv_special_RETURN_VALUE_13^0==result_dot_nondet_sdv_special_RETURN_VALUE_13^post_104 && t_22^0==t_22^post_104 && tail_14^0==tail_14^post_104 && temp0_16^0==temp0_16^post_104 && temp0_31^0==temp0_31^post_104 && temp_35^0==temp_35^post_104 && tmp_34^0==tmp_34^post_104 && x_131^0==x_131^post_104 && x_176^0==x_176^post_104 && x_19^0==x_19^post_104 && x_26^0==x_26^post_104 && x_SLAM_f_17^0==x_SLAM_f_17^post_104 && x_SLAM_f_24^0==x_SLAM_f_24^post_104 && y_18^0==y_18^post_104 && y_25^0==y_25^post_104 ] WORST_CASE(Omega(1),?)