WORST_CASE(Omega(0),?)

Initial ITS
Start location: l65
   0: l0 -> l1 : __disjvr_0^0'=__disjvr_0^post0, a_281^0'=a_281^post0, x_SLAM_f_24^0'=x_SLAM_f_24^post0, __disjvr_21^0'=__disjvr_21^post0, __disjvr_4^0'=__disjvr_4^post0, tail_14^0'=tail_14^post0, __disjvr_14^0'=__disjvr_14^post0, head_15^0'=head_15^post0, __disjvr_24^0'=__disjvr_24^post0, r_165^0'=r_165^post0, __disjvr_9^0'=__disjvr_9^post0, a_149^0'=a_149^post0, x_19^0'=x_19^post0, __disjvr_19^0'=__disjvr_19^post0, i_95^0'=i_95^post0, __disjvr_29^0'=__disjvr_29^post0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post0, __disjvr_11^0'=__disjvr_11^post0, a_342^0'=a_342^post0, y_25^0'=y_25^post0, length_28^0'=length_28^post0, __disjvr_6^0'=__disjvr_6^post0, temp0_31^0'=temp0_31^post0, __disjvr_16^0'=__disjvr_16^post0, head_SLAM_f_29^0'=head_SLAM_f_29^post0, __disjvr_26^0'=__disjvr_26^post0, rcd_59^0'=rcd_59^post0, a_225^0'=a_225^post0, x_SLAM_f_17^0'=x_SLAM_f_17^post0, __disjvr_20^0'=__disjvr_20^post0, len_187^0'=len_187^post0, __disjvr_3^0'=__disjvr_3^post0, t_22^0'=t_22^post0, __disjvr_13^0'=__disjvr_13^post0, f_171^0'=f_171^post0, __disjvr_23^0'=__disjvr_23^post0, r_126^0'=r_126^post0, __disjvr_8^0'=__disjvr_8^post0, tmp_34^0'=tmp_34^post0, x_176^0'=x_176^post0, __disjvr_18^0'=__disjvr_18^post0, i_30^0'=i_30^post0, __disjvr_28^0'=__disjvr_28^post0, result_11^0'=result_11^post0, __disjvr_10^0'=__disjvr_10^post0, a_289^0'=a_289^post0, y_18^0'=y_18^post0, __disjvr_22^0'=__disjvr_22^post0, __disjvr_5^0'=__disjvr_5^post0, temp0_16^0'=temp0_16^post0, __disjvr_15^0'=__disjvr_15^post0, head_32^0'=head_32^post0, __disjvr_25^0'=__disjvr_25^post0, r_39^0'=r_39^post0, a_118^0'=a_118^post0, a_188^0'=a_188^post0, x_26^0'=x_26^post0, __disjvr_1^0'=__disjvr_1^post0, len_134^0'=len_134^post0, __disjvr_2^0'=__disjvr_2^post0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post0, __disjvr_12^0'=__disjvr_12^post0, a_343^0'=a_343^post0, nondet_12^0'=nondet_12^post0, __disjvr_7^0'=__disjvr_7^post0, temp_35^0'=temp_35^post0, x_131^0'=x_131^post0, __disjvr_17^0'=__disjvr_17^post0, i_110^0'=i_110^post0, __disjvr_27^0'=__disjvr_27^post0, rcd_89^0'=rcd_89^post0, (0 == 0 /\ -__disjvr_1^post0+__disjvr_1^0 == 0 /\ __disjvr_16^0-__disjvr_16^post0 == 0 /\ y_18^0-y_18^post0 == 0 /\ -__disjvr_7^post0+__disjvr_7^0 == 0 /\ a_118^0-a_118^post0 == 0 /\ -nondet_12^post0+nondet_12^0 == 0 /\ -__disjvr_17^post0+__disjvr_17^0 == 0 /\ -__disjvr_27^post0+__disjvr_27^0 == 0 /\ r_165^0-r_165^post0 == 0 /\ r_126^0-r_126^post0 == 0 /\ -a_342^post0+a_342^0 == 0 /\ __disjvr_23^0-__disjvr_23^post0 == 0 /\ __disjvr_10^0-__disjvr_10^post0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 <= 0 /\ __disjvr_14^0-__disjvr_14^post0 == 0 /\ -head_15^post0+x_SLAM_f_24^post0 <= 0 /\ -head_15^post0+x_SLAM_f_24^post0 == 0 /\ x_SLAM_f_24^post0-x_26^post0 <= 0 /\ -i_30^post0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 <= 0 /\ -temp0_16^post0+temp0_16^0 == 0 /\ -len_187^post0+len_187^0 == 0 /\ i_95^0-i_95^post0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 <= 0 /\ -__disjvr_8^post0+__disjvr_8^0 == 0 /\ result_11^10-temp0_31^10 == 0 /\ __disjvr_4^0-__disjvr_4^post0 == 0 /\ a_149^0-a_149^post0 == 0 /\ -__disjvr_3^post0+__disjvr_3^0 == 0 /\ -f_171^post0+f_171^0 == 0 /\ __disjvr_21^0-__disjvr_21^post0 == 0 /\ -a_289^post0+a_289^0 == 0 /\ __disjvr_24^0-__disjvr_24^post0 == 0 /\ rcd_59^0-rcd_59^post0 == 0 /\ -x_19^post0+x_19^0 == 0 /\ __disjvr_28^0-__disjvr_28^post0 == 0 /\ -i_30^0 <= 0 /\ len_134^0-len_134^post0 == 0 /\ head_15^post0-x_SLAM_f_24^post0 <= 0 /\ -x_SLAM_f_24^post0+x_26^post0 <= 0 /\ -x_SLAM_f_24^post0+x_26^post0 == 0 /\ __disjvr_11^0-__disjvr_11^post0 == 0 /\ __disjvr_0^0-__disjvr_0^post0 == 0 /\ -__disjvr_19^post0+__disjvr_19^0 == 0 /\ -i_110^post0+i_110^0 == 0 /\ -__disjvr_18^post0+__disjvr_18^0 == 0 /\ tail_14^0-y_25^post0 <= 0 /\ -__disjvr_12^post0+__disjvr_12^0 == 0 /\ __disjvr_20^0-__disjvr_20^post0 == 0 /\ -x_131^post0+x_131^0 == 0 /\ -x_176^post0+x_176^0 == 0 /\ temp0_31^10-head_32^0 == 0 /\ -a_281^post0+a_281^0 == 0 /\ -__disjvr_5^post0+__disjvr_5^0 == 0 /\ -head_15^post0+x_26^post0 <= 0 /\ __disjvr_9^0-__disjvr_9^post0 == 0 /\ __disjvr_22^0-__disjvr_22^post0 == 0 /\ __disjvr_29^0-__disjvr_29^post0 == 0 /\ -__disjvr_26^post0+__disjvr_26^0 == 0 /\ -__disjvr_25^post0+__disjvr_25^0 == 0 /\ __disjvr_15^0-__disjvr_15^post0 == 0 /\ r_39^0-r_39^post0 == 0 /\ -__disjvr_2^post0+__disjvr_2^0 == 0 /\ -__disjvr_6^post0+__disjvr_6^0 == 0 /\ -t_22^post0+t_22^0 == 0 /\ -tail_14^post0+tail_14^0 == 0 /\ -rcd_89^post0+rcd_89^0 == 0 /\ -a_343^post0+a_343^0 == 0 /\ head_15^post0-result_11^10 == 0 /\ -tail_14^0+y_25^post0 <= 0 /\ -tail_14^0+y_25^post0 == 0 /\ length_28^0-i_30^0 <= 0 /\ -x_SLAM_f_17^post0+x_SLAM_f_17^0 == 0 /\ a_225^0-a_225^post0 == 0 /\ head_15^post0-x_26^post0 <= 0 /\ __disjvr_13^0-__disjvr_13^post0 == 0 /\ -a_188^post0+a_188^0 == 0), cost: 1
   1: l0 -> l2 : __disjvr_0^0'=__disjvr_0^post1, a_281^0'=a_281^post1, x_SLAM_f_24^0'=x_SLAM_f_24^post1, __disjvr_21^0'=__disjvr_21^post1, __disjvr_4^0'=__disjvr_4^post1, tail_14^0'=tail_14^post1, __disjvr_14^0'=__disjvr_14^post1, head_15^0'=head_15^post1, __disjvr_24^0'=__disjvr_24^post1, r_165^0'=r_165^post1, __disjvr_9^0'=__disjvr_9^post1, a_149^0'=a_149^post1, x_19^0'=x_19^post1, __disjvr_19^0'=__disjvr_19^post1, i_95^0'=i_95^post1, __disjvr_29^0'=__disjvr_29^post1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post1, __disjvr_11^0'=__disjvr_11^post1, a_342^0'=a_342^post1, y_25^0'=y_25^post1, length_28^0'=length_28^post1, __disjvr_6^0'=__disjvr_6^post1, temp0_31^0'=temp0_31^post1, __disjvr_16^0'=__disjvr_16^post1, head_SLAM_f_29^0'=head_SLAM_f_29^post1, __disjvr_26^0'=__disjvr_26^post1, rcd_59^0'=rcd_59^post1, a_225^0'=a_225^post1, x_SLAM_f_17^0'=x_SLAM_f_17^post1, __disjvr_20^0'=__disjvr_20^post1, len_187^0'=len_187^post1, __disjvr_3^0'=__disjvr_3^post1, t_22^0'=t_22^post1, __disjvr_13^0'=__disjvr_13^post1, f_171^0'=f_171^post1, __disjvr_23^0'=__disjvr_23^post1, r_126^0'=r_126^post1, __disjvr_8^0'=__disjvr_8^post1, tmp_34^0'=tmp_34^post1, x_176^0'=x_176^post1, __disjvr_18^0'=__disjvr_18^post1, i_30^0'=i_30^post1, __disjvr_28^0'=__disjvr_28^post1, result_11^0'=result_11^post1, __disjvr_10^0'=__disjvr_10^post1, a_289^0'=a_289^post1, y_18^0'=y_18^post1, __disjvr_22^0'=__disjvr_22^post1, __disjvr_5^0'=__disjvr_5^post1, temp0_16^0'=temp0_16^post1, __disjvr_15^0'=__disjvr_15^post1, head_32^0'=head_32^post1, __disjvr_25^0'=__disjvr_25^post1, r_39^0'=r_39^post1, a_118^0'=a_118^post1, a_188^0'=a_188^post1, x_26^0'=x_26^post1, __disjvr_1^0'=__disjvr_1^post1, len_134^0'=len_134^post1, __disjvr_2^0'=__disjvr_2^post1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, __disjvr_12^0'=__disjvr_12^post1, a_343^0'=a_343^post1, nondet_12^0'=nondet_12^post1, __disjvr_7^0'=__disjvr_7^post1, temp_35^0'=temp_35^post1, x_131^0'=x_131^post1, __disjvr_17^0'=__disjvr_17^post1, i_110^0'=i_110^post1, __disjvr_27^0'=__disjvr_27^post1, rcd_89^0'=rcd_89^post1, (0 == 0 /\ 1+i_95^post1-i_30^post1 <= 0 /\ -a_225^post1+a_225^0 == 0 /\ tail_14^0-tail_14^post1 == 0 /\ result_11^0-result_11^post1 == 0 /\ length_28^0-length_28^post1 == 0 /\ len_134^0-len_134^post1 == 0 /\ __disjvr_14^0-__disjvr_14^post1 == 0 /\ __disjvr_19^0-__disjvr_19^post1 == 0 /\ a_281^0-a_281^post1 == 0 /\ -__disjvr_22^post1+__disjvr_22^0 == 0 /\ -__disjvr_3^post1+__disjvr_3^0 == 0 /\ __disjvr_18^0-__disjvr_18^post1 == 0 /\ temp0_31^0-temp0_31^post1 == 0 /\ x_19^0-x_19^post1 == 0 /\ -rcd_59^post1+rcd_59^0 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post1 == 0 /\ -a_118^post1+a_118^0 == 0 /\ f_171^0-f_171^post1 == 0 /\ -__disjvr_1^post1+__disjvr_1^0 == 0 /\ a_289^0-a_289^post1 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ 1+i_95^post1-length_28^0 <= 0 /\ -__disjvr_28^post1+__disjvr_28^0 == 0 /\ __disjvr_24^0-__disjvr_24^post1 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post1 == 0 /\ -r_39^post1+r_39^0 == 0 /\ -i_110^post1+i_110^0 == 0 /\ -__disjvr_27^post1+__disjvr_27^0 == 0 /\ __disjvr_8^0-__disjvr_8^post1 == 0 /\ tmp_34^post1-temp_35^0 == 0 /\ -__disjvr_5^post1+__disjvr_5^0 == 0 /\ __disjvr_16^0-__disjvr_16^post1 == 0 /\ len_187^0-len_187^post1 == 0 /\ -x_26^post1+x_26^0 == 0 /\ -r_126^post1+r_126^0 == 0 /\ -i_30^0 <= 0 /\ __disjvr_21^0-__disjvr_21^post1 == 0 /\ -nondet_12^post1+nondet_12^0 == 0 /\ x_176^0-x_176^post1 == 0 /\ -__disjvr_13^post1+__disjvr_13^0 == 0 /\ -__disjvr_12^post1+__disjvr_12^0 == 0 /\ -1+i_30^post1-i_30^0 == 0 /\ -1-i_95^post1+i_30^post1 <= 0 /\ 1-length_28^0+i_30^0 <= 0 /\ -__disjvr_6^post1+__disjvr_6^0 == 0 /\ -head_SLAM_f_29^post1+head_SLAM_f_29^0 == 0 /\ __disjvr_11^0-__disjvr_11^post1 == 0 /\ __disjvr_29^0-__disjvr_29^post1 == 0 /\ -y_25^post1+y_25^0 == 0 /\ __disjvr_7^0-__disjvr_7^post1 == 0 /\ -a_149^post1+a_149^0 == 0 /\ __disjvr_0^0-__disjvr_0^post1 == 0 /\ -tmp_34^post1+head_32^post1 == 0 /\ __disjvr_25^0-__disjvr_25^post1 == 0 /\ -a_343^post1+a_343^0 == 0 /\ -__disjvr_9^post1+__disjvr_9^0 == 0 /\ -__disjvr_4^post1+__disjvr_4^0 == 0 /\ __disjvr_20^0-__disjvr_20^post1 == 0 /\ -__disjvr_2^post1+__disjvr_2^0 == 0 /\ a_342^0-a_342^post1 == 0 /\ -__disjvr_17^post1+__disjvr_17^0 == 0 /\ -y_18^post1+y_18^0 == 0 /\ -x_131^post1+x_131^0 == 0 /\ __disjvr_23^0-__disjvr_23^post1 == 0 /\ t_22^0-t_22^post1 == 0 /\ temp0_16^0-temp0_16^post1 == 0 /\ -__disjvr_15^post1+__disjvr_15^0 == 0 /\ -__disjvr_10^post1+__disjvr_10^0 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post1 == 0 /\ -head_15^post1+head_15^0 == 0 /\ __disjvr_26^0-__disjvr_26^post1 == 0 /\ r_165^0-r_165^post1 == 0 /\ -a_188^post1+a_188^0 == 0), cost: 1
  65: l1 -> l4 : __disjvr_0^0'=__disjvr_0^post65, a_281^0'=a_281^post65, x_SLAM_f_24^0'=x_SLAM_f_24^post65, __disjvr_21^0'=__disjvr_21^post65, __disjvr_4^0'=__disjvr_4^post65, tail_14^0'=tail_14^post65, __disjvr_14^0'=__disjvr_14^post65, head_15^0'=head_15^post65, __disjvr_24^0'=__disjvr_24^post65, r_165^0'=r_165^post65, __disjvr_9^0'=__disjvr_9^post65, a_149^0'=a_149^post65, x_19^0'=x_19^post65, __disjvr_19^0'=__disjvr_19^post65, i_95^0'=i_95^post65, __disjvr_29^0'=__disjvr_29^post65, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post65, __disjvr_11^0'=__disjvr_11^post65, a_342^0'=a_342^post65, y_25^0'=y_25^post65, length_28^0'=length_28^post65, __disjvr_6^0'=__disjvr_6^post65, temp0_31^0'=temp0_31^post65, __disjvr_16^0'=__disjvr_16^post65, head_SLAM_f_29^0'=head_SLAM_f_29^post65, __disjvr_26^0'=__disjvr_26^post65, rcd_59^0'=rcd_59^post65, a_225^0'=a_225^post65, x_SLAM_f_17^0'=x_SLAM_f_17^post65, __disjvr_20^0'=__disjvr_20^post65, len_187^0'=len_187^post65, __disjvr_3^0'=__disjvr_3^post65, t_22^0'=t_22^post65, __disjvr_13^0'=__disjvr_13^post65, f_171^0'=f_171^post65, __disjvr_23^0'=__disjvr_23^post65, r_126^0'=r_126^post65, __disjvr_8^0'=__disjvr_8^post65, tmp_34^0'=tmp_34^post65, x_176^0'=x_176^post65, __disjvr_18^0'=__disjvr_18^post65, i_30^0'=i_30^post65, __disjvr_28^0'=__disjvr_28^post65, result_11^0'=result_11^post65, __disjvr_10^0'=__disjvr_10^post65, a_289^0'=a_289^post65, y_18^0'=y_18^post65, __disjvr_22^0'=__disjvr_22^post65, __disjvr_5^0'=__disjvr_5^post65, temp0_16^0'=temp0_16^post65, __disjvr_15^0'=__disjvr_15^post65, head_32^0'=head_32^post65, __disjvr_25^0'=__disjvr_25^post65, r_39^0'=r_39^post65, a_118^0'=a_118^post65, a_188^0'=a_188^post65, x_26^0'=x_26^post65, __disjvr_1^0'=__disjvr_1^post65, len_134^0'=len_134^post65, __disjvr_2^0'=__disjvr_2^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, __disjvr_12^0'=__disjvr_12^post65, a_343^0'=a_343^post65, nondet_12^0'=nondet_12^post65, __disjvr_7^0'=__disjvr_7^post65, temp_35^0'=temp_35^post65, x_131^0'=x_131^post65, __disjvr_17^0'=__disjvr_17^post65, i_110^0'=i_110^post65, __disjvr_27^0'=__disjvr_27^post65, rcd_89^0'=rcd_89^post65, (0 == 0 /\ -tail_14^0+x_19^120 <= 0 /\ -__disjvr_28^post65+__disjvr_28^0 == 0 /\ y_18^120-x_19^120 <= 0 /\ __disjvr_24^0-__disjvr_24^post65 == 0 /\ a_342^0-a_342^post65 == 0 /\ __disjvr_0^0-__disjvr_0^post65 == 0 /\ -temp0_16^0+result_11^post65 == 0 /\ head_SLAM_f_29^0-head_SLAM_f_29^post65 == 0 /\ -__disjvr_6^post65+__disjvr_6^0 == 0 /\ -i_30^post65+i_30^0 == 0 /\ a_149^0-a_149^post65 == 0 /\ -__disjvr_27^post65+__disjvr_27^0 == 0 /\ tail_14^0-y_18^120 <= 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 <= 0 /\ -x_19^120+x_SLAM_f_17^120 <= 0 /\ __disjvr_8^0-__disjvr_8^post65 == 0 /\ -y_25^0+x_26^0 <= 0 /\ -nondet_12^post65+nondet_12^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post65 == 0 /\ r_126^0-r_126^post65 == 0 /\ __disjvr_23^0-__disjvr_23^post65 == 0 /\ a_289^0-a_289^post65 == 0 /\ tail_14^0-x_19^120 <= 0 /\ __disjvr_26^0-__disjvr_26^post65 == 0 /\ -y_18^120+x_19^120 <= 0 /\ -f_171^post65+f_171^0 == 0 /\ -x_131^post65+x_131^0 == 0 /\ i_95^0-i_95^post65 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 <= 0 /\ -__disjvr_1^post65+__disjvr_1^0 == 0 /\ __disjvr_4^0-__disjvr_4^post65 == 0 /\ -__disjvr_17^post65+__disjvr_17^0 == 0 /\ -i_30^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^11 <= 0 /\ a_281^0-a_281^post65 == 0 /\ -tail_14^0+y_18^120 <= 0 /\ -tail_14^0+y_18^120 == 0 /\ len_187^0-len_187^post65 == 0 /\ -__disjvr_3^post65+__disjvr_3^0 == 0 /\ x_19^120-x_SLAM_f_17^120 <= 0 /\ x_19^120-x_SLAM_f_17^120 == 0 /\ y_25^0-x_26^0 <= 0 /\ head_15^0-head_15^post65 == 0 /\ -temp0_16^post65+temp0_16^0 == 0 /\ -__disjvr_11^post65+__disjvr_11^0 == 0 /\ -i_30^0 <= 0 /\ temp0_31^0-temp0_31^post65 == 0 /\ -__disjvr_19^post65+__disjvr_19^0 == 0 /\ -head_15^0+x_SLAM_f_17^120 <= 0 /\ -head_15^0+x_SLAM_f_17^120 == 0 /\ tail_14^0-tail_14^post65 == 0 /\ a_225^0-a_225^post65 == 0 /\ -__disjvr_12^post65+__disjvr_12^0 == 0 /\ tail_14^0-head_15^0 <= 0 /\ -__disjvr_5^post65+__disjvr_5^0 == 0 /\ __disjvr_9^0-__disjvr_9^post65 == 0 /\ __disjvr_16^0-__disjvr_16^post65 == 0 /\ -__disjvr_18^post65+__disjvr_18^0 == 0 /\ -tail_14^0+x_SLAM_f_17^120 <= 0 /\ r_165^0-r_165^post65 == 0 /\ -__disjvr_21^post65+__disjvr_21^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^11 <= 0 /\ temp_35^0-temp_35^post65 == 0 /\ -rcd_59^post65+rcd_59^0 == 0 /\ -__disjvr_25^post65+__disjvr_25^0 == 0 /\ -tmp_34^post65+tmp_34^0 == 0 /\ __disjvr_20^0-__disjvr_20^post65 == 0 /\ -__disjvr_7^post65+__disjvr_7^0 == 0 /\ length_28^0-length_28^post65 == 0 /\ -x_176^post65+x_176^0 == 0 /\ __disjvr_14^0-__disjvr_14^post65 == 0 /\ head_15^0-x_SLAM_f_17^120 <= 0 /\ -a_343^post65+a_343^0 == 0 /\ r_39^0-r_39^post65 == 0 /\ -i_110^post65+i_110^0 == 0 /\ -a_188^post65+a_188^0 == 0 /\ -tail_14^0+head_15^0 <= 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^11 <= 0 /\ __disjvr_29^0-__disjvr_29^post65 == 0 /\ tail_14^0-x_SLAM_f_17^120 <= 0 /\ -head_32^post65+head_32^0 == 0 /\ __disjvr_13^0-__disjvr_13^post65 == 0 /\ -__disjvr_2^post65+__disjvr_2^0 == 0 /\ -__disjvr_10^post65+__disjvr_10^0 == 0 /\ -len_134^post65+len_134^0 == 0 /\ -rcd_89^post65+rcd_89^0 == 0 /\ -__disjvr_22^post65+__disjvr_22^0 == 0 /\ -a_118^post65+a_118^0 == 0 /\ -__disjvr_15^post65+__disjvr_15^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post65-i_30^0 <= 0), cost: 1
  66: l1 -> l61 : __disjvr_0^0'=__disjvr_0^post66, a_281^0'=a_281^post66, x_SLAM_f_24^0'=x_SLAM_f_24^post66, __disjvr_21^0'=__disjvr_21^post66, __disjvr_4^0'=__disjvr_4^post66, tail_14^0'=tail_14^post66, __disjvr_14^0'=__disjvr_14^post66, head_15^0'=head_15^post66, __disjvr_24^0'=__disjvr_24^post66, r_165^0'=r_165^post66, __disjvr_9^0'=__disjvr_9^post66, a_149^0'=a_149^post66, x_19^0'=x_19^post66, __disjvr_19^0'=__disjvr_19^post66, i_95^0'=i_95^post66, __disjvr_29^0'=__disjvr_29^post66, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post66, __disjvr_11^0'=__disjvr_11^post66, a_342^0'=a_342^post66, y_25^0'=y_25^post66, length_28^0'=length_28^post66, __disjvr_6^0'=__disjvr_6^post66, temp0_31^0'=temp0_31^post66, __disjvr_16^0'=__disjvr_16^post66, head_SLAM_f_29^0'=head_SLAM_f_29^post66, __disjvr_26^0'=__disjvr_26^post66, rcd_59^0'=rcd_59^post66, a_225^0'=a_225^post66, x_SLAM_f_17^0'=x_SLAM_f_17^post66, __disjvr_20^0'=__disjvr_20^post66, len_187^0'=len_187^post66, __disjvr_3^0'=__disjvr_3^post66, t_22^0'=t_22^post66, __disjvr_13^0'=__disjvr_13^post66, f_171^0'=f_171^post66, __disjvr_23^0'=__disjvr_23^post66, r_126^0'=r_126^post66, __disjvr_8^0'=__disjvr_8^post66, tmp_34^0'=tmp_34^post66, x_176^0'=x_176^post66, __disjvr_18^0'=__disjvr_18^post66, i_30^0'=i_30^post66, __disjvr_28^0'=__disjvr_28^post66, result_11^0'=result_11^post66, __disjvr_10^0'=__disjvr_10^post66, a_289^0'=a_289^post66, y_18^0'=y_18^post66, __disjvr_22^0'=__disjvr_22^post66, __disjvr_5^0'=__disjvr_5^post66, temp0_16^0'=temp0_16^post66, __disjvr_15^0'=__disjvr_15^post66, head_32^0'=head_32^post66, __disjvr_25^0'=__disjvr_25^post66, r_39^0'=r_39^post66, a_118^0'=a_118^post66, a_188^0'=a_188^post66, x_26^0'=x_26^post66, __disjvr_1^0'=__disjvr_1^post66, len_134^0'=len_134^post66, __disjvr_2^0'=__disjvr_2^post66, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post66, __disjvr_12^0'=__disjvr_12^post66, a_343^0'=a_343^post66, nondet_12^0'=nondet_12^post66, __disjvr_7^0'=__disjvr_7^post66, temp_35^0'=temp_35^post66, x_131^0'=x_131^post66, __disjvr_17^0'=__disjvr_17^post66, i_110^0'=i_110^post66, __disjvr_27^0'=__disjvr_27^post66, rcd_89^0'=rcd_89^post66, (0 == 0 /\ __disjvr_21^0-__disjvr_21^post66 == 0 /\ -__disjvr_10^post66+__disjvr_10^0 == 0 /\ a_289^0-a_289^post66 == 0 /\ __disjvr_13^0-__disjvr_13^post66 == 0 /\ result_11^0-result_11^post66 == 0 /\ __disjvr_19^0-__disjvr_19^post66 == 0 /\ -temp0_16^post66+temp0_16^0 == 0 /\ len_187^0-len_187^post66 == 0 /\ -a_225^post66+a_225^0 == 0 /\ __disjvr_3^0-__disjvr_3^post66 == 0 /\ -__disjvr_1^post66+__disjvr_1^0 == 0 /\ -i_30^post66+i_30^0 == 0 /\ -rcd_59^post66+rcd_59^0 == 0 /\ -rcd_89^post66+rcd_89^0 == 0 /\ -nondet_12^post66+nondet_12^0 == 0 /\ -a_118^post66+a_118^0 == 0 /\ __disjvr_14^0-__disjvr_14^post66 == 0 /\ x_19^0-x_19^post66 == 0 /\ __disjvr_0^0-__disjvr_0^post66 == 0 /\ -tmp_34^post66+tmp_34^0 == 0 /\ __disjvr_18^0-__disjvr_18^post66 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post66 == 0 /\ __disjvr_24^0-__disjvr_24^post66 == 0 /\ -x_26^post66+x_26^0 == 0 /\ -__disjvr_28^post66+__disjvr_28^0 == 0 /\ -__disjvr_27^post66+__disjvr_27^0 == 0 /\ __disjvr_16^0-__disjvr_16^post66 == 0 /\ len_134^0-len_134^post66 == 0 /\ __disjvr_8^0-__disjvr_8^post66 == 0 /\ head_SLAM_f_29^0-head_SLAM_f_29^post66 == 0 /\ -__disjvr_20^post66+__disjvr_20^0 == 0 /\ -i_30^0 <= 0 /\ -r_126^post66+r_126^0 == 0 /\ a_343^0-a_343^post66 == 0 /\ a_281^0-a_281^post66 == 0 /\ __disjvr_5^0-__disjvr_5^post66 == 0 /\ -temp_35^post66+temp_35^0 == 0 /\ -x_131^post66+x_131^0 == 0 /\ __disjvr_29^0-__disjvr_29^post66 == 0 /\ -a_149^post66+a_149^0 == 0 /\ -__disjvr_12^post66+__disjvr_12^0 == 0 /\ __disjvr_11^0-__disjvr_11^post66 == 0 /\ __disjvr_7^0-__disjvr_7^post66 == 0 /\ -y_18^post66+y_18^0 == 0 /\ -__disjvr_4^post66+__disjvr_4^0 == 0 /\ i_95^0-i_95^post66 == 0 /\ f_171^0-f_171^post66 == 0 /\ __disjvr_9^0-__disjvr_9^post66 == 0 /\ __disjvr_25^0-__disjvr_25^post66 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post66 == 0 /\ -__disjvr_23^post66+__disjvr_23^0 == 0 /\ a_342^0-a_342^post66 == 0 /\ -a_188^post66+a_188^0 == 0 /\ temp0_31^0-temp0_31^post66 == 0 /\ t_22^0-t_22^post66 == 0 /\ -head_32^post66+head_32^0 == 0 /\ -__disjvr_17^post66+__disjvr_17^0 == 0 /\ -y_25^post66+y_25^0 == 0 /\ -__disjvr_2^post66+__disjvr_2^0 == 0 /\ -__disjvr_22^post66+__disjvr_22^0 == 0 /\ -__disjvr_6^post66+__disjvr_6^0 == 0 /\ length_28^0-length_28^post66 == 0 /\ -__disjvr_15^post66+__disjvr_15^0 == 0 /\ __disjvr_26^0-__disjvr_26^post66 == 0 /\ -x_176^post66+x_176^0 == 0), cost: 1
   2: l2 -> l0 : __disjvr_0^0'=__disjvr_0^post2, a_281^0'=a_281^post2, x_SLAM_f_24^0'=x_SLAM_f_24^post2, __disjvr_21^0'=__disjvr_21^post2, __disjvr_4^0'=__disjvr_4^post2, tail_14^0'=tail_14^post2, __disjvr_14^0'=__disjvr_14^post2, head_15^0'=head_15^post2, __disjvr_24^0'=__disjvr_24^post2, r_165^0'=r_165^post2, __disjvr_9^0'=__disjvr_9^post2, a_149^0'=a_149^post2, x_19^0'=x_19^post2, __disjvr_19^0'=__disjvr_19^post2, i_95^0'=i_95^post2, __disjvr_29^0'=__disjvr_29^post2, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post2, __disjvr_11^0'=__disjvr_11^post2, a_342^0'=a_342^post2, y_25^0'=y_25^post2, length_28^0'=length_28^post2, __disjvr_6^0'=__disjvr_6^post2, temp0_31^0'=temp0_31^post2, __disjvr_16^0'=__disjvr_16^post2, head_SLAM_f_29^0'=head_SLAM_f_29^post2, __disjvr_26^0'=__disjvr_26^post2, rcd_59^0'=rcd_59^post2, a_225^0'=a_225^post2, x_SLAM_f_17^0'=x_SLAM_f_17^post2, __disjvr_20^0'=__disjvr_20^post2, len_187^0'=len_187^post2, __disjvr_3^0'=__disjvr_3^post2, t_22^0'=t_22^post2, __disjvr_13^0'=__disjvr_13^post2, f_171^0'=f_171^post2, __disjvr_23^0'=__disjvr_23^post2, r_126^0'=r_126^post2, __disjvr_8^0'=__disjvr_8^post2, tmp_34^0'=tmp_34^post2, x_176^0'=x_176^post2, __disjvr_18^0'=__disjvr_18^post2, i_30^0'=i_30^post2, __disjvr_28^0'=__disjvr_28^post2, result_11^0'=result_11^post2, __disjvr_10^0'=__disjvr_10^post2, a_289^0'=a_289^post2, y_18^0'=y_18^post2, __disjvr_22^0'=__disjvr_22^post2, __disjvr_5^0'=__disjvr_5^post2, temp0_16^0'=temp0_16^post2, __disjvr_15^0'=__disjvr_15^post2, head_32^0'=head_32^post2, __disjvr_25^0'=__disjvr_25^post2, r_39^0'=r_39^post2, a_118^0'=a_118^post2, a_188^0'=a_188^post2, x_26^0'=x_26^post2, __disjvr_1^0'=__disjvr_1^post2, len_134^0'=len_134^post2, __disjvr_2^0'=__disjvr_2^post2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, __disjvr_12^0'=__disjvr_12^post2, a_343^0'=a_343^post2, nondet_12^0'=nondet_12^post2, __disjvr_7^0'=__disjvr_7^post2, temp_35^0'=temp_35^post2, x_131^0'=x_131^post2, __disjvr_17^0'=__disjvr_17^post2, i_110^0'=i_110^post2, __disjvr_27^0'=__disjvr_27^post2, rcd_89^0'=rcd_89^post2, (-result_dot_nondet_sdv_special_RETURN_VALUE_13^post2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ temp0_31^0-temp0_31^post2 == 0 /\ f_171^0-f_171^post2 == 0 /\ -__disjvr_7^post2+__disjvr_7^0 == 0 /\ -__disjvr_28^post2+__disjvr_28^0 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post2 == 0 /\ -__disjvr_11^post2+__disjvr_11^0 == 0 /\ -y_18^post2+y_18^0 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post2 == 0 /\ -__disjvr_17^post2+__disjvr_17^0 == 0 /\ -x_131^post2+x_131^0 == 0 /\ x_19^0-x_19^post2 == 0 /\ rcd_59^0-rcd_59^post2 == 0 /\ r_165^0-r_165^post2 == 0 /\ __disjvr_2^0-__disjvr_2^post2 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post2 == 0 /\ -__disjvr_15^post2+__disjvr_15^0 == 0 /\ length_28^0-length_28^post2 == 0 /\ __disjvr_24^0-__disjvr_24^post2 == 0 /\ -r_126^post2+r_126^0 == 0 /\ -__disjvr_12^post2+__disjvr_12^0 == 0 /\ -len_134^post2+len_134^0 == 0 /\ a_281^0-a_281^post2 == 0 /\ -__disjvr_6^post2+__disjvr_6^0 == 0 /\ -head_32^post2+head_32^0 == 0 /\ len_187^0-len_187^post2 == 0 /\ -head_SLAM_f_29^post2+head_SLAM_f_29^0 == 0 /\ tail_14^0-tail_14^post2 == 0 /\ -rcd_89^post2+rcd_89^0 == 0 /\ -y_25^post2+y_25^0 == 0 /\ -__disjvr_22^post2+__disjvr_22^0 == 0 /\ -a_225^post2+a_225^0 == 0 /\ x_176^0-x_176^post2 == 0 /\ __disjvr_26^0-__disjvr_26^post2 == 0 /\ tmp_34^0-tmp_34^post2 == 0 /\ __disjvr_21^0-__disjvr_21^post2 == 0 /\ __disjvr_18^0-__disjvr_18^post2 == 0 /\ -a_343^post2+a_343^0 == 0 /\ -__disjvr_3^post2+__disjvr_3^0 == 0 /\ __disjvr_4^0-__disjvr_4^post2 == 0 /\ -__disjvr_27^post2+__disjvr_27^0 == 0 /\ -__disjvr_16^post2+__disjvr_16^0 == 0 /\ __disjvr_25^0-__disjvr_25^post2 == 0 /\ -a_289^post2+a_289^0 == 0 /\ -i_110^post2+i_110^0 == 0 /\ -__disjvr_5^post2+__disjvr_5^0 == 0 /\ __disjvr_20^0-__disjvr_20^post2 == 0 /\ -a_188^post2+a_188^0 == 0 /\ -__disjvr_8^post2+__disjvr_8^0 == 0 /\ -r_39^post2+r_39^0 == 0 /\ -head_15^post2+head_15^0 == 0 /\ __disjvr_29^0-__disjvr_29^post2 == 0 /\ -nondet_12^post2+nondet_12^0 == 0 /\ -__disjvr_13^post2+__disjvr_13^0 == 0 /\ __disjvr_23^0-__disjvr_23^post2 == 0 /\ -i_30^post2+i_30^0 == 0 /\ -x_26^post2+x_26^0 == 0 /\ __disjvr_0^0-__disjvr_0^post2 == 0 /\ -__disjvr_10^post2+__disjvr_10^0 == 0 /\ -temp_35^post2+temp_35^0 == 0 /\ -a_149^post2+a_149^0 == 0 /\ i_95^0-i_95^post2 == 0 /\ result_11^0-result_11^post2 == 0 /\ a_342^0-a_342^post2 == 0 /\ __disjvr_19^0-__disjvr_19^post2 == 0 /\ -a_118^post2+a_118^0 == 0 /\ __disjvr_14^0-__disjvr_14^post2 == 0 /\ -__disjvr_1^post2+__disjvr_1^0 == 0 /\ -__disjvr_9^post2+__disjvr_9^0 == 0 /\ temp0_16^0-temp0_16^post2 == 0 /\ t_22^0-t_22^post2 == 0), cost: 1
   3: l3 -> l4 : __disjvr_0^0'=__disjvr_0^post3, a_281^0'=a_281^post3, x_SLAM_f_24^0'=x_SLAM_f_24^post3, __disjvr_21^0'=__disjvr_21^post3, __disjvr_4^0'=__disjvr_4^post3, tail_14^0'=tail_14^post3, __disjvr_14^0'=__disjvr_14^post3, head_15^0'=head_15^post3, __disjvr_24^0'=__disjvr_24^post3, r_165^0'=r_165^post3, __disjvr_9^0'=__disjvr_9^post3, a_149^0'=a_149^post3, x_19^0'=x_19^post3, __disjvr_19^0'=__disjvr_19^post3, i_95^0'=i_95^post3, __disjvr_29^0'=__disjvr_29^post3, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post3, __disjvr_11^0'=__disjvr_11^post3, a_342^0'=a_342^post3, y_25^0'=y_25^post3, length_28^0'=length_28^post3, __disjvr_6^0'=__disjvr_6^post3, temp0_31^0'=temp0_31^post3, __disjvr_16^0'=__disjvr_16^post3, head_SLAM_f_29^0'=head_SLAM_f_29^post3, __disjvr_26^0'=__disjvr_26^post3, rcd_59^0'=rcd_59^post3, a_225^0'=a_225^post3, x_SLAM_f_17^0'=x_SLAM_f_17^post3, __disjvr_20^0'=__disjvr_20^post3, len_187^0'=len_187^post3, __disjvr_3^0'=__disjvr_3^post3, t_22^0'=t_22^post3, __disjvr_13^0'=__disjvr_13^post3, f_171^0'=f_171^post3, __disjvr_23^0'=__disjvr_23^post3, r_126^0'=r_126^post3, __disjvr_8^0'=__disjvr_8^post3, tmp_34^0'=tmp_34^post3, x_176^0'=x_176^post3, __disjvr_18^0'=__disjvr_18^post3, i_30^0'=i_30^post3, __disjvr_28^0'=__disjvr_28^post3, result_11^0'=result_11^post3, __disjvr_10^0'=__disjvr_10^post3, a_289^0'=a_289^post3, y_18^0'=y_18^post3, __disjvr_22^0'=__disjvr_22^post3, __disjvr_5^0'=__disjvr_5^post3, temp0_16^0'=temp0_16^post3, __disjvr_15^0'=__disjvr_15^post3, head_32^0'=head_32^post3, __disjvr_25^0'=__disjvr_25^post3, r_39^0'=r_39^post3, a_118^0'=a_118^post3, a_188^0'=a_188^post3, x_26^0'=x_26^post3, __disjvr_1^0'=__disjvr_1^post3, len_134^0'=len_134^post3, __disjvr_2^0'=__disjvr_2^post3, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post3, __disjvr_12^0'=__disjvr_12^post3, a_343^0'=a_343^post3, nondet_12^0'=nondet_12^post3, __disjvr_7^0'=__disjvr_7^post3, temp_35^0'=temp_35^post3, x_131^0'=x_131^post3, __disjvr_17^0'=__disjvr_17^post3, i_110^0'=i_110^post3, __disjvr_27^0'=__disjvr_27^post3, rcd_89^0'=rcd_89^post3, (0 == 0 /\ tail_14^0-x_SLAM_f_17^10 <= 0 /\ -__disjvr_16^post3+__disjvr_16^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^10 <= 0 /\ __disjvr_3^0-__disjvr_3^post3 == 0 /\ tail_14^0-tail_14^post3 == 0 /\ tail_14^0-y_18^10 <= 0 /\ -r_126^post3+r_126^0 == 0 /\ a_225^0-a_225^post3 == 0 /\ tail_14^0-x_19^10 <= 0 /\ x_SLAM_f_17^10-x_19^10 <= 0 /\ -len_134^post3+len_134^0 == 0 /\ a_342^0-a_342^post3 == 0 /\ -__disjvr_23^post3+__disjvr_23^0 == 0 /\ -head_15^post3+x_SLAM_f_17^10 <= 0 /\ -head_15^post3+x_SLAM_f_17^10 == 0 /\ x_19^10-y_18^10 <= 0 /\ __disjvr_24^0-__disjvr_24^post3 == 0 /\ -x_26^10+y_25^10 <= 0 /\ __disjvr_26^0-__disjvr_26^post3 == 0 /\ -a_289^post3+a_289^0 == 0 /\ -tail_14^0+y_25^10 <= 0 /\ -tail_14^0+y_25^10 == 0 /\ -nondet_12^post3+nondet_12^0 == 0 /\ -tail_14^0+x_SLAM_f_17^10 <= 0 /\ __disjvr_20^0-__disjvr_20^post3 == 0 /\ -__disjvr_6^post3+__disjvr_6^0 == 0 /\ -tail_14^0+y_18^10 <= 0 /\ -tail_14^0+y_18^10 == 0 /\ rcd_59^0-rcd_59^post3 == 0 /\ __disjvr_18^0-__disjvr_18^post3 == 0 /\ __disjvr_10^0-__disjvr_10^post3 == 0 /\ __disjvr_28^0-__disjvr_28^post3 == 0 /\ -tail_14^0+x_19^10 <= 0 /\ -x_SLAM_f_17^10+x_19^10 <= 0 /\ -x_SLAM_f_17^10+x_19^10 == 0 /\ __disjvr_0^0-__disjvr_0^post3 == 0 /\ head_15^post3-x_SLAM_f_17^10 <= 0 /\ -x_19^10+y_18^10 <= 0 /\ -__disjvr_29^post3+__disjvr_29^0 == 0 /\ -temp0_16^post3+temp0_16^0 == 0 /\ -i_110^post3+i_110^0 == 0 /\ a_149^0-a_149^post3 == 0 /\ x_26^10-y_25^10 <= 0 /\ tail_14^0-y_25^10 <= 0 /\ f_171^0-f_171^post3 == 0 /\ -__disjvr_1^post3+__disjvr_1^0 == 0 /\ tail_14^0-x_26^10 <= 0 /\ __disjvr_8^0-__disjvr_8^post3 == 0 /\ -__disjvr_11^post3+__disjvr_11^0 == 0 /\ result_11^post3-temp0_16^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post3 <= 0 /\ head_15^post3-result_11^11 == 0 /\ __disjvr_5^0-__disjvr_5^post3 == 0 /\ -r_39^post3+r_39^0 == 0 /\ -x_176^post3+x_176^0 == 0 /\ -rcd_89^post3+rcd_89^0 == 0 /\ -x_131^post3+x_131^0 == 0 /\ head_15^post3-x_SLAM_f_24^10 <= 0 /\ i_95^0-i_95^post3 == 0 /\ __disjvr_21^0-__disjvr_21^post3 == 0 /\ -a_188^post3+a_188^0 == 0 /\ -head_15^post3+tail_14^0 <= 0 /\ -head_32^0+temp0_31^110 == 0 /\ -tail_14^0+x_SLAM_f_24^10 <= 0 /\ result_11^11-temp0_31^110 == 0 /\ -__disjvr_12^post3+__disjvr_12^0 == 0 /\ __disjvr_9^0-__disjvr_9^post3 == 0 /\ -__disjvr_7^post3+__disjvr_7^0 == 0 /\ -x_26^10+x_SLAM_f_24^10 <= 0 /\ __disjvr_22^0-__disjvr_22^post3 == 0 /\ __disjvr_4^0-__disjvr_4^post3 == 0 /\ -tail_14^0+x_26^10 <= 0 /\ -a_118^post3+a_118^0 == 0 /\ -__disjvr_27^post3+__disjvr_27^0 == 0 /\ length_28^0-i_30^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^20 <= 0 /\ -head_15^post3+x_SLAM_f_24^10 <= 0 /\ -head_15^post3+x_SLAM_f_24^10 == 0 /\ a_281^0-a_281^post3 == 0 /\ -__disjvr_2^post3+__disjvr_2^0 == 0 /\ head_15^post3-tail_14^0 <= 0 /\ -a_343^post3+a_343^0 == 0 /\ r_165^0-r_165^post3 == 0 /\ tail_14^0-x_SLAM_f_24^10 <= 0 /\ -len_187^post3+len_187^0 == 0 /\ __disjvr_13^0-__disjvr_13^post3 == 0 /\ -__disjvr_15^post3+__disjvr_15^0 == 0 /\ __disjvr_25^0-__disjvr_25^post3 == 0 /\ __disjvr_19^0-__disjvr_19^post3 == 0 /\ __disjvr_14^0-__disjvr_14^post3 == 0 /\ -__disjvr_17^post3+__disjvr_17^0 == 0 /\ x_26^10-x_SLAM_f_24^10 <= 0 /\ x_26^10-x_SLAM_f_24^10 == 0), cost: 1
   4: l3 -> l5 : __disjvr_0^0'=__disjvr_0^post4, a_281^0'=a_281^post4, x_SLAM_f_24^0'=x_SLAM_f_24^post4, __disjvr_21^0'=__disjvr_21^post4, __disjvr_4^0'=__disjvr_4^post4, tail_14^0'=tail_14^post4, __disjvr_14^0'=__disjvr_14^post4, head_15^0'=head_15^post4, __disjvr_24^0'=__disjvr_24^post4, r_165^0'=r_165^post4, __disjvr_9^0'=__disjvr_9^post4, a_149^0'=a_149^post4, x_19^0'=x_19^post4, __disjvr_19^0'=__disjvr_19^post4, i_95^0'=i_95^post4, __disjvr_29^0'=__disjvr_29^post4, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post4, __disjvr_11^0'=__disjvr_11^post4, a_342^0'=a_342^post4, y_25^0'=y_25^post4, length_28^0'=length_28^post4, __disjvr_6^0'=__disjvr_6^post4, temp0_31^0'=temp0_31^post4, __disjvr_16^0'=__disjvr_16^post4, head_SLAM_f_29^0'=head_SLAM_f_29^post4, __disjvr_26^0'=__disjvr_26^post4, rcd_59^0'=rcd_59^post4, a_225^0'=a_225^post4, x_SLAM_f_17^0'=x_SLAM_f_17^post4, __disjvr_20^0'=__disjvr_20^post4, len_187^0'=len_187^post4, __disjvr_3^0'=__disjvr_3^post4, t_22^0'=t_22^post4, __disjvr_13^0'=__disjvr_13^post4, f_171^0'=f_171^post4, __disjvr_23^0'=__disjvr_23^post4, r_126^0'=r_126^post4, __disjvr_8^0'=__disjvr_8^post4, tmp_34^0'=tmp_34^post4, x_176^0'=x_176^post4, __disjvr_18^0'=__disjvr_18^post4, i_30^0'=i_30^post4, __disjvr_28^0'=__disjvr_28^post4, result_11^0'=result_11^post4, __disjvr_10^0'=__disjvr_10^post4, a_289^0'=a_289^post4, y_18^0'=y_18^post4, __disjvr_22^0'=__disjvr_22^post4, __disjvr_5^0'=__disjvr_5^post4, temp0_16^0'=temp0_16^post4, __disjvr_15^0'=__disjvr_15^post4, head_32^0'=head_32^post4, __disjvr_25^0'=__disjvr_25^post4, r_39^0'=r_39^post4, a_118^0'=a_118^post4, a_188^0'=a_188^post4, x_26^0'=x_26^post4, __disjvr_1^0'=__disjvr_1^post4, len_134^0'=len_134^post4, __disjvr_2^0'=__disjvr_2^post4, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post4, __disjvr_12^0'=__disjvr_12^post4, a_343^0'=a_343^post4, nondet_12^0'=nondet_12^post4, __disjvr_7^0'=__disjvr_7^post4, temp_35^0'=temp_35^post4, x_131^0'=x_131^post4, __disjvr_17^0'=__disjvr_17^post4, i_110^0'=i_110^post4, __disjvr_27^0'=__disjvr_27^post4, rcd_89^0'=rcd_89^post4, (0 == 0 /\ tmp_34^post4-head_32^post4 <= 0 /\ __disjvr_8^0-__disjvr_8^post4 == 0 /\ -a_343^post4+a_343^0 == 0 /\ __disjvr_18^0-__disjvr_18^post4 == 0 /\ a_149^0-a_149^post4 == 0 /\ -tmp_34^post4+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post4 <= 0 /\ -a_188^post4+a_188^0 == 0 /\ r_165^0-r_165^post4 == 0 /\ -__disjvr_2^post4+__disjvr_2^0 == 0 /\ -x_176^post4+x_176^0 == 0 /\ __disjvr_26^0-__disjvr_26^post4 == 0 /\ __disjvr_21^0-__disjvr_21^post4 == 0 /\ -__disjvr_6^post4+__disjvr_6^0 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post4 == 0 /\ -i_110^post4+i_110^0 == 0 /\ -r_39^post4+r_39^0 == 0 /\ __disjvr_19^0-__disjvr_19^post4 == 0 /\ -__disjvr_20^post4+__disjvr_20^0 == 0 /\ __disjvr_28^0-__disjvr_28^post4 == 0 /\ len_187^0-len_187^post4 == 0 /\ __disjvr_13^0-__disjvr_13^post4 == 0 /\ result_11^0-result_11^post4 == 0 /\ -x_131^post4+x_131^0 == 0 /\ -tmp_34^post4+head_32^post4 <= 0 /\ -tmp_34^post4+head_32^post4 == 0 /\ -__disjvr_15^post4+__disjvr_15^0 == 0 /\ len_134^0-len_134^post4 == 0 /\ -x_SLAM_f_17^post4+x_SLAM_f_17^0 == 0 /\ __disjvr_14^0-__disjvr_14^post4 == 0 /\ -__disjvr_1^post4+__disjvr_1^0 == 0 /\ -__disjvr_10^post4+__disjvr_10^0 == 0 /\ a_118^0-a_118^post4 == 0 /\ tmp_34^post4-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post4 <= 0 /\ a_281^0-a_281^post4 == 0 /\ -t_22^post4+t_22^0 == 0 /\ -y_18^post4+y_18^0 == 0 /\ y_25^0-y_25^post4 == 0 /\ -__disjvr_7^post4+__disjvr_7^0 == 0 /\ __disjvr_3^0-__disjvr_3^post4 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post4+length_28^0 <= 0 /\ 1-length_28^0+i_30^0 <= 0 /\ -x_26^post4+x_26^0 == 0 /\ -__disjvr_23^post4+__disjvr_23^0 == 0 /\ -head_32^post4+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post4 <= 0 /\ -rcd_59^post4+rcd_59^0 == 0 /\ -rcd_89^post4+rcd_89^0 == 0 /\ __disjvr_24^0-__disjvr_24^post4 == 0 /\ i_95^0-i_95^post4 == 0 /\ __disjvr_9^0-__disjvr_9^post4 == 0 /\ a_342^0-a_342^post4 == 0 /\ -__disjvr_22^post4+__disjvr_22^0 == 0 /\ a_225^0-a_225^post4 == 0 /\ __disjvr_11^0-__disjvr_11^post4 == 0 /\ tail_14^post4-head_SLAM_f_29^post4 <= 0 /\ __disjvr_5^0-__disjvr_5^post4 == 0 /\ __disjvr_16^0-__disjvr_16^post4 == 0 /\ -__disjvr_17^post4+__disjvr_17^0 == 0 /\ 1-i_30^post4 <= 0 /\ -1+i_30^post4 <= 0 /\ x_19^0-x_19^post4 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post4-length_28^0 <= 0 /\ 1-length_28^0 <= 0 /\ f_171^0-f_171^post4 == 0 /\ head_32^post4-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post4 <= 0 /\ -__disjvr_27^post4+__disjvr_27^0 == 0 /\ length_28^0-length_28^post4 == 0 /\ __disjvr_25^0-__disjvr_25^post4 == 0 /\ __disjvr_4^0-__disjvr_4^post4 == 0 /\ head_15^0-head_15^post4 == 0 /\ -temp0_16^post4+temp0_16^0 == 0 /\ r_126^0-r_126^post4 == 0 /\ a_289^0-a_289^post4 == 0 /\ __disjvr_29^0-__disjvr_29^post4 == 0 /\ __disjvr_0^0-__disjvr_0^post4 == 0 /\ -tail_14^post4+head_SLAM_f_29^post4 <= 0 /\ -nondet_12^post4+nondet_12^0 == 0 /\ temp0_31^0-temp0_31^post4 == 0 /\ -__disjvr_12^post4+__disjvr_12^0 == 0 /\ tmp_34^post4-temp_35^0 == 0 /\ -1+i_30^post4-i_30^0 == 0), cost: 1
  71: l5 -> l40 : __disjvr_0^0'=__disjvr_0^post71, a_281^0'=a_281^post71, x_SLAM_f_24^0'=x_SLAM_f_24^post71, __disjvr_21^0'=__disjvr_21^post71, __disjvr_4^0'=__disjvr_4^post71, tail_14^0'=tail_14^post71, __disjvr_14^0'=__disjvr_14^post71, head_15^0'=head_15^post71, __disjvr_24^0'=__disjvr_24^post71, r_165^0'=r_165^post71, __disjvr_9^0'=__disjvr_9^post71, a_149^0'=a_149^post71, x_19^0'=x_19^post71, __disjvr_19^0'=__disjvr_19^post71, i_95^0'=i_95^post71, __disjvr_29^0'=__disjvr_29^post71, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post71, __disjvr_11^0'=__disjvr_11^post71, a_342^0'=a_342^post71, y_25^0'=y_25^post71, length_28^0'=length_28^post71, __disjvr_6^0'=__disjvr_6^post71, temp0_31^0'=temp0_31^post71, __disjvr_16^0'=__disjvr_16^post71, head_SLAM_f_29^0'=head_SLAM_f_29^post71, __disjvr_26^0'=__disjvr_26^post71, rcd_59^0'=rcd_59^post71, a_225^0'=a_225^post71, x_SLAM_f_17^0'=x_SLAM_f_17^post71, __disjvr_20^0'=__disjvr_20^post71, len_187^0'=len_187^post71, __disjvr_3^0'=__disjvr_3^post71, t_22^0'=t_22^post71, __disjvr_13^0'=__disjvr_13^post71, f_171^0'=f_171^post71, __disjvr_23^0'=__disjvr_23^post71, r_126^0'=r_126^post71, __disjvr_8^0'=__disjvr_8^post71, tmp_34^0'=tmp_34^post71, x_176^0'=x_176^post71, __disjvr_18^0'=__disjvr_18^post71, i_30^0'=i_30^post71, __disjvr_28^0'=__disjvr_28^post71, result_11^0'=result_11^post71, __disjvr_10^0'=__disjvr_10^post71, a_289^0'=a_289^post71, y_18^0'=y_18^post71, __disjvr_22^0'=__disjvr_22^post71, __disjvr_5^0'=__disjvr_5^post71, temp0_16^0'=temp0_16^post71, __disjvr_15^0'=__disjvr_15^post71, head_32^0'=head_32^post71, __disjvr_25^0'=__disjvr_25^post71, r_39^0'=r_39^post71, a_118^0'=a_118^post71, a_188^0'=a_188^post71, x_26^0'=x_26^post71, __disjvr_1^0'=__disjvr_1^post71, len_134^0'=len_134^post71, __disjvr_2^0'=__disjvr_2^post71, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post71, __disjvr_12^0'=__disjvr_12^post71, a_343^0'=a_343^post71, nondet_12^0'=nondet_12^post71, __disjvr_7^0'=__disjvr_7^post71, temp_35^0'=temp_35^post71, x_131^0'=x_131^post71, __disjvr_17^0'=__disjvr_17^post71, i_110^0'=i_110^post71, __disjvr_27^0'=__disjvr_27^post71, rcd_89^0'=rcd_89^post71, (0 == 0 /\ -result_11^12+head_15^post71 == 0 /\ head_15^post71-x_SLAM_f_24^post71 <= 0 /\ -__disjvr_25^post71+__disjvr_25^0 == 0 /\ temp0_31^120-head_32^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^post71 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^post71 <= 0 /\ __disjvr_9^0-__disjvr_9^post71 == 0 /\ -i_110^post71+i_110^0 == 0 /\ -a_289^post71+a_289^0 == 0 /\ __disjvr_4^0-__disjvr_4^post71 == 0 /\ head_15^post71-x_26^post71 <= 0 /\ -tail_14^0+y_25^post71 <= 0 /\ -tail_14^0+y_25^post71 == 0 /\ -x_176^post71+x_176^0 == 0 /\ -len_134^post71+len_134^0 == 0 /\ -a_343^post71+a_343^0 == 0 /\ -x_SLAM_f_17^post71+x_SLAM_f_17^0 == 0 /\ rcd_59^0-rcd_59^post71 == 0 /\ __disjvr_24^0-__disjvr_24^post71 == 0 /\ __disjvr_13^0-__disjvr_13^post71 == 0 /\ r_165^0-r_165^post71 == 0 /\ -__disjvr_2^post71+__disjvr_2^0 == 0 /\ a_281^0-a_281^post71 == 0 /\ -head_15^post71+x_SLAM_f_24^post71 <= 0 /\ -head_15^post71+x_SLAM_f_24^post71 == 0 /\ __disjvr_10^0-__disjvr_10^post71 == 0 /\ -__disjvr_29^post71+__disjvr_29^0 == 0 /\ __disjvr_3^0-__disjvr_3^post71 == 0 /\ a_342^0-a_342^post71 == 0 /\ __disjvr_20^0-__disjvr_20^post71 == 0 /\ -head_15^post71+x_26^post71 <= 0 /\ tail_14^0-y_25^post71 <= 0 /\ x_19^0-x_19^post71 == 0 /\ -x_131^post71+x_131^0 == 0 /\ r_126^0-r_126^post71 == 0 /\ -a_118^post71+a_118^0 == 0 /\ -a_188^post71+a_188^0 == 0 /\ a_149^0-a_149^post71 == 0 /\ -__disjvr_1^post71+__disjvr_1^0 == 0 /\ -x_26^post71+x_SLAM_f_24^post71 <= 0 /\ -__disjvr_22^post71+__disjvr_22^0 == 0 /\ -__disjvr_23^post71+__disjvr_23^0 == 0 /\ -__disjvr_28^post71+__disjvr_28^0 == 0 /\ -temp0_16^post71+temp0_16^0 == 0 /\ -__disjvr_7^post71+__disjvr_7^0 == 0 /\ __disjvr_21^0-__disjvr_21^post71 == 0 /\ __disjvr_26^0-__disjvr_26^post71 == 0 /\ -__disjvr_17^post71+__disjvr_17^0 == 0 /\ a_225^0-a_225^post71 == 0 /\ -__disjvr_27^post71+__disjvr_27^0 == 0 /\ -rcd_89^post71+rcd_89^0 == 0 /\ -__disjvr_15^post71+__disjvr_15^0 == 0 /\ t_22^0-t_22^post71 == 0 /\ -len_187^post71+len_187^0 == 0 /\ tail_14^0-tail_14^post71 == 0 /\ f_171^0-f_171^post71 == 0 /\ x_26^post71-x_SLAM_f_24^post71 <= 0 /\ x_26^post71-x_SLAM_f_24^post71 == 0 /\ -r_39^post71+r_39^0 == 0 /\ y_18^0-y_18^post71 == 0 /\ -nondet_12^post71+nondet_12^0 == 0 /\ __disjvr_19^0-__disjvr_19^post71 == 0 /\ length_28^0-i_30^0 <= 0 /\ __disjvr_18^0-__disjvr_18^post71 == 0 /\ -__disjvr_16^post71+__disjvr_16^0 == 0 /\ i_95^0-i_95^post71 == 0 /\ -temp0_31^120+result_11^12 == 0 /\ -__disjvr_12^post71+__disjvr_12^0 == 0 /\ -__disjvr_11^post71+__disjvr_11^0 == 0 /\ -__disjvr_5^post71+__disjvr_5^0 == 0 /\ __disjvr_6^0-__disjvr_6^post71 == 0 /\ __disjvr_0^0-__disjvr_0^post71 == 0 /\ __disjvr_8^0-__disjvr_8^post71 == 0 /\ __disjvr_14^0-__disjvr_14^post71 == 0), cost: 1
  72: l5 -> l0 : __disjvr_0^0'=__disjvr_0^post72, a_281^0'=a_281^post72, x_SLAM_f_24^0'=x_SLAM_f_24^post72, __disjvr_21^0'=__disjvr_21^post72, __disjvr_4^0'=__disjvr_4^post72, tail_14^0'=tail_14^post72, __disjvr_14^0'=__disjvr_14^post72, head_15^0'=head_15^post72, __disjvr_24^0'=__disjvr_24^post72, r_165^0'=r_165^post72, __disjvr_9^0'=__disjvr_9^post72, a_149^0'=a_149^post72, x_19^0'=x_19^post72, __disjvr_19^0'=__disjvr_19^post72, i_95^0'=i_95^post72, __disjvr_29^0'=__disjvr_29^post72, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post72, __disjvr_11^0'=__disjvr_11^post72, a_342^0'=a_342^post72, y_25^0'=y_25^post72, length_28^0'=length_28^post72, __disjvr_6^0'=__disjvr_6^post72, temp0_31^0'=temp0_31^post72, __disjvr_16^0'=__disjvr_16^post72, head_SLAM_f_29^0'=head_SLAM_f_29^post72, __disjvr_26^0'=__disjvr_26^post72, rcd_59^0'=rcd_59^post72, a_225^0'=a_225^post72, x_SLAM_f_17^0'=x_SLAM_f_17^post72, __disjvr_20^0'=__disjvr_20^post72, len_187^0'=len_187^post72, __disjvr_3^0'=__disjvr_3^post72, t_22^0'=t_22^post72, __disjvr_13^0'=__disjvr_13^post72, f_171^0'=f_171^post72, __disjvr_23^0'=__disjvr_23^post72, r_126^0'=r_126^post72, __disjvr_8^0'=__disjvr_8^post72, tmp_34^0'=tmp_34^post72, x_176^0'=x_176^post72, __disjvr_18^0'=__disjvr_18^post72, i_30^0'=i_30^post72, __disjvr_28^0'=__disjvr_28^post72, result_11^0'=result_11^post72, __disjvr_10^0'=__disjvr_10^post72, a_289^0'=a_289^post72, y_18^0'=y_18^post72, __disjvr_22^0'=__disjvr_22^post72, __disjvr_5^0'=__disjvr_5^post72, temp0_16^0'=temp0_16^post72, __disjvr_15^0'=__disjvr_15^post72, head_32^0'=head_32^post72, __disjvr_25^0'=__disjvr_25^post72, r_39^0'=r_39^post72, a_118^0'=a_118^post72, a_188^0'=a_188^post72, x_26^0'=x_26^post72, __disjvr_1^0'=__disjvr_1^post72, len_134^0'=len_134^post72, __disjvr_2^0'=__disjvr_2^post72, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post72, __disjvr_12^0'=__disjvr_12^post72, a_343^0'=a_343^post72, nondet_12^0'=nondet_12^post72, __disjvr_7^0'=__disjvr_7^post72, temp_35^0'=temp_35^post72, x_131^0'=x_131^post72, __disjvr_17^0'=__disjvr_17^post72, i_110^0'=i_110^post72, __disjvr_27^0'=__disjvr_27^post72, rcd_89^0'=rcd_89^post72, (0 == 0 /\ -__disjvr_2^post72+__disjvr_2^0 == 0 /\ -a_343^post72+a_343^0 == 0 /\ x_26^0-x_26^post72 == 0 /\ -a_289^post72+a_289^0 == 0 /\ __disjvr_0^0-__disjvr_0^post72 == 0 /\ __disjvr_24^0-__disjvr_24^post72 == 0 /\ -__disjvr_8^post72+__disjvr_8^0 == 0 /\ -head_32^post72+tmp_34^post72 <= 0 /\ a_225^0-a_225^post72 == 0 /\ -__disjvr_5^post72+__disjvr_5^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post72-tmp_34^post72 <= 0 /\ __disjvr_11^0-__disjvr_11^post72 == 0 /\ r_165^0-r_165^post72 == 0 /\ __disjvr_19^0-__disjvr_19^post72 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post72 == 0 /\ -__disjvr_10^post72+__disjvr_10^0 == 0 /\ __disjvr_16^0-__disjvr_16^post72 == 0 /\ length_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post72 <= 0 /\ a_342^0-a_342^post72 == 0 /\ -a_188^post72+a_188^0 == 0 /\ -__disjvr_13^post72+__disjvr_13^0 == 0 /\ -__disjvr_1^post72+__disjvr_1^0 == 0 /\ length_28^0-length_28^post72 == 0 /\ -x_131^post72+x_131^0 == 0 /\ -__disjvr_17^post72+__disjvr_17^0 == 0 /\ -__disjvr_26^post72+__disjvr_26^0 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post72 == 0 /\ head_32^post72-tmp_34^post72 <= 0 /\ head_32^post72-tmp_34^post72 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post72+tmp_34^post72 <= 0 /\ 2-i_30^post72 <= 0 /\ __disjvr_29^0-__disjvr_29^post72 == 0 /\ temp0_31^0-temp0_31^post72 == 0 /\ a_281^0-a_281^post72 == 0 /\ head_15^0-head_15^post72 == 0 /\ -a_118^post72+a_118^0 == 0 /\ -length_28^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post72 <= 0 /\ __disjvr_4^0-__disjvr_4^post72 == 0 /\ -__disjvr_25^post72+__disjvr_25^0 == 0 /\ -t_22^post72+t_22^0 == 0 /\ __disjvr_23^0-__disjvr_23^post72 == 0 /\ __disjvr_18^0-__disjvr_18^post72 == 0 /\ 1-length_28^0+i_30^0 <= 0 /\ -__disjvr_28^post72+__disjvr_28^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post72+head_32^post72 <= 0 /\ __disjvr_9^0-__disjvr_9^post72 == 0 /\ -y_18^post72+y_18^0 == 0 /\ i_95^0-i_95^post72 == 0 /\ x_176^0-x_176^post72 == 0 /\ -__disjvr_7^post72+__disjvr_7^0 == 0 /\ -rcd_89^post72+rcd_89^0 == 0 /\ a_149^0-a_149^post72 == 0 /\ -__disjvr_15^post72+__disjvr_15^0 == 0 /\ tail_14^post72-head_SLAM_f_29^post72 <= 0 /\ __disjvr_21^0-__disjvr_21^post72 == 0 /\ 2-length_28^0 <= 0 /\ -r_126^post72+r_126^0 == 0 /\ -x_19^post72+x_19^0 == 0 /\ temp0_16^0-temp0_16^post72 == 0 /\ -i_110^post72+i_110^0 == 0 /\ -__disjvr_12^post72+__disjvr_12^0 == 0 /\ 1-length_28^0 <= 0 /\ -f_171^post72+f_171^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post72-head_32^post72 <= 0 /\ tmp_34^post72-temp_35^0 == 0 /\ __disjvr_6^0-__disjvr_6^post72 == 0 /\ -result_11^post72+result_11^0 == 0 /\ __disjvr_20^0-__disjvr_20^post72 == 0 /\ -__disjvr_27^post72+__disjvr_27^0 == 0 /\ -2+i_30^post72 <= 0 /\ -1+i_30^post72-i_30^0 == 0 /\ __disjvr_14^0-__disjvr_14^post72 == 0 /\ -len_187^post72+len_187^0 == 0 /\ -len_134^post72+len_134^0 == 0 /\ -__disjvr_3^post72+__disjvr_3^0 == 0 /\ __disjvr_22^0-__disjvr_22^post72 == 0 /\ y_25^0-y_25^post72 == 0 /\ -tail_14^post72+head_SLAM_f_29^post72 <= 0 /\ -nondet_12^post72+nondet_12^0 == 0 /\ r_39^0-r_39^post72 == 0), cost: 1
   5: l6 -> l4 : __disjvr_0^0'=__disjvr_0^post5, a_281^0'=a_281^post5, x_SLAM_f_24^0'=x_SLAM_f_24^post5, __disjvr_21^0'=__disjvr_21^post5, __disjvr_4^0'=__disjvr_4^post5, tail_14^0'=tail_14^post5, __disjvr_14^0'=__disjvr_14^post5, head_15^0'=head_15^post5, __disjvr_24^0'=__disjvr_24^post5, r_165^0'=r_165^post5, __disjvr_9^0'=__disjvr_9^post5, a_149^0'=a_149^post5, x_19^0'=x_19^post5, __disjvr_19^0'=__disjvr_19^post5, i_95^0'=i_95^post5, __disjvr_29^0'=__disjvr_29^post5, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post5, __disjvr_11^0'=__disjvr_11^post5, a_342^0'=a_342^post5, y_25^0'=y_25^post5, length_28^0'=length_28^post5, __disjvr_6^0'=__disjvr_6^post5, temp0_31^0'=temp0_31^post5, __disjvr_16^0'=__disjvr_16^post5, head_SLAM_f_29^0'=head_SLAM_f_29^post5, __disjvr_26^0'=__disjvr_26^post5, rcd_59^0'=rcd_59^post5, a_225^0'=a_225^post5, x_SLAM_f_17^0'=x_SLAM_f_17^post5, __disjvr_20^0'=__disjvr_20^post5, len_187^0'=len_187^post5, __disjvr_3^0'=__disjvr_3^post5, t_22^0'=t_22^post5, __disjvr_13^0'=__disjvr_13^post5, f_171^0'=f_171^post5, __disjvr_23^0'=__disjvr_23^post5, r_126^0'=r_126^post5, __disjvr_8^0'=__disjvr_8^post5, tmp_34^0'=tmp_34^post5, x_176^0'=x_176^post5, __disjvr_18^0'=__disjvr_18^post5, i_30^0'=i_30^post5, __disjvr_28^0'=__disjvr_28^post5, result_11^0'=result_11^post5, __disjvr_10^0'=__disjvr_10^post5, a_289^0'=a_289^post5, y_18^0'=y_18^post5, __disjvr_22^0'=__disjvr_22^post5, __disjvr_5^0'=__disjvr_5^post5, temp0_16^0'=temp0_16^post5, __disjvr_15^0'=__disjvr_15^post5, head_32^0'=head_32^post5, __disjvr_25^0'=__disjvr_25^post5, r_39^0'=r_39^post5, a_118^0'=a_118^post5, a_188^0'=a_188^post5, x_26^0'=x_26^post5, __disjvr_1^0'=__disjvr_1^post5, len_134^0'=len_134^post5, __disjvr_2^0'=__disjvr_2^post5, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post5, __disjvr_12^0'=__disjvr_12^post5, a_343^0'=a_343^post5, nondet_12^0'=nondet_12^post5, __disjvr_7^0'=__disjvr_7^post5, temp_35^0'=temp_35^post5, x_131^0'=x_131^post5, __disjvr_17^0'=__disjvr_17^post5, i_110^0'=i_110^post5, __disjvr_27^0'=__disjvr_27^post5, rcd_89^0'=rcd_89^post5, (0 == 0 /\ __disjvr_26^0-__disjvr_26^post5 == 0 /\ __disjvr_21^0-__disjvr_21^post5 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^post5 <= 0 /\ a_289^0-a_289^post5 == 0 /\ __disjvr_19^0-__disjvr_19^post5 == 0 /\ -a_149^0 <= 0 /\ -__disjvr_10^post5+__disjvr_10^0 == 0 /\ a_281^0-a_281^post5 == 0 /\ __disjvr_3^0-__disjvr_3^post5 == 0 /\ -a_118^post5+a_118^0 == 0 /\ -__disjvr_1^post5+__disjvr_1^0 == 0 /\ tail_14^0-tail_14^post5 == 0 /\ x_19^0-y_18^0 <= 0 /\ len_187^0-len_187^post5 == 0 /\ __disjvr_13^0-__disjvr_13^post5 == 0 /\ -temp0_16^post5+temp0_16^0 == 0 /\ __disjvr_14^0-__disjvr_14^post5 == 0 /\ -rcd_89^post5+rcd_89^0 == 0 /\ -i_30^post5+i_30^0 == 0 /\ -tmp_34^post5+tmp_34^0 == 0 /\ __disjvr_18^0-__disjvr_18^post5 == 0 /\ -nondet_12^post5+nondet_12^0 == 0 /\ -x_26^post5+x_26^0 == 0 /\ -rcd_59^post5+rcd_59^0 == 0 /\ -r_126^post5+r_126^0 == 0 /\ -a_281^0 <= 0 /\ -x_19^0+y_18^0 <= 0 /\ __disjvr_16^0-__disjvr_16^post5 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post5 == 0 /\ f_171^0-f_171^post5 == 0 /\ -__disjvr_20^post5+__disjvr_20^0 == 0 /\ len_134^0-len_134^post5 == 0 /\ __disjvr_8^0-__disjvr_8^post5 == 0 /\ -__disjvr_28^post5+__disjvr_28^0 == 0 /\ x_176^0-x_176^post5 == 0 /\ -r_39^post5+r_39^0 == 0 /\ head_32^0-head_32^post5 == 0 /\ -i_110^post5+i_110^0 == 0 /\ -__disjvr_27^post5+__disjvr_27^0 == 0 /\ __disjvr_24^0-__disjvr_24^post5 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^post5 <= 0 /\ a_343^0-a_343^post5 == 0 /\ -temp_35^post5+temp_35^0 == 0 /\ -a_149^post5+a_149^0 == 0 /\ -__disjvr_15^post5+__disjvr_15^0 == 0 /\ __disjvr_11^0-__disjvr_11^post5 == 0 /\ __disjvr_29^0-__disjvr_29^post5 == 0 /\ __disjvr_5^0-__disjvr_5^post5 == 0 /\ -__disjvr_4^post5+__disjvr_4^0 == 0 /\ -x_131^post5+x_131^0 == 0 /\ -head_SLAM_f_29^post5+head_SLAM_f_29^0 == 0 /\ __disjvr_7^0-__disjvr_7^post5 == 0 /\ __disjvr_0^0-__disjvr_0^post5 == 0 /\ -__disjvr_12^post5+__disjvr_12^0 == 0 /\ __disjvr_9^0-__disjvr_9^post5 == 0 /\ i_95^0-i_95^post5 == 0 /\ __disjvr_25^0-__disjvr_25^post5 == 0 /\ head_15^0-head_15^post5 == 0 /\ __disjvr_23^0-__disjvr_23^post5 == 0 /\ r_165^0-r_165^post5 == 0 /\ temp0_31^0-temp0_31^post5 == 0 /\ -a_188^post5+a_188^0 == 0 /\ a_342^0-a_342^post5 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post5 == 0 /\ -a_225^post5+a_225^0 == 0 /\ -__disjvr_22^post5+__disjvr_22^0 == 0 /\ -__disjvr_2^post5+__disjvr_2^0 == 0 /\ -__disjvr_6^post5+__disjvr_6^0 == 0 /\ -__disjvr_17^post5+__disjvr_17^0 == 0 /\ length_28^0-length_28^post5 == 0 /\ -y_25^post5+y_25^0 == 0 /\ -temp0_16^0+result_11^post5 == 0), cost: 1
   6: l6 -> l8 : __disjvr_0^0'=__disjvr_0^post6, a_281^0'=a_281^post6, x_SLAM_f_24^0'=x_SLAM_f_24^post6, __disjvr_21^0'=__disjvr_21^post6, __disjvr_4^0'=__disjvr_4^post6, tail_14^0'=tail_14^post6, __disjvr_14^0'=__disjvr_14^post6, head_15^0'=head_15^post6, __disjvr_24^0'=__disjvr_24^post6, r_165^0'=r_165^post6, __disjvr_9^0'=__disjvr_9^post6, a_149^0'=a_149^post6, x_19^0'=x_19^post6, __disjvr_19^0'=__disjvr_19^post6, i_95^0'=i_95^post6, __disjvr_29^0'=__disjvr_29^post6, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post6, __disjvr_11^0'=__disjvr_11^post6, a_342^0'=a_342^post6, y_25^0'=y_25^post6, length_28^0'=length_28^post6, __disjvr_6^0'=__disjvr_6^post6, temp0_31^0'=temp0_31^post6, __disjvr_16^0'=__disjvr_16^post6, head_SLAM_f_29^0'=head_SLAM_f_29^post6, __disjvr_26^0'=__disjvr_26^post6, rcd_59^0'=rcd_59^post6, a_225^0'=a_225^post6, x_SLAM_f_17^0'=x_SLAM_f_17^post6, __disjvr_20^0'=__disjvr_20^post6, len_187^0'=len_187^post6, __disjvr_3^0'=__disjvr_3^post6, t_22^0'=t_22^post6, __disjvr_13^0'=__disjvr_13^post6, f_171^0'=f_171^post6, __disjvr_23^0'=__disjvr_23^post6, r_126^0'=r_126^post6, __disjvr_8^0'=__disjvr_8^post6, tmp_34^0'=tmp_34^post6, x_176^0'=x_176^post6, __disjvr_18^0'=__disjvr_18^post6, i_30^0'=i_30^post6, __disjvr_28^0'=__disjvr_28^post6, result_11^0'=result_11^post6, __disjvr_10^0'=__disjvr_10^post6, a_289^0'=a_289^post6, y_18^0'=y_18^post6, __disjvr_22^0'=__disjvr_22^post6, __disjvr_5^0'=__disjvr_5^post6, temp0_16^0'=temp0_16^post6, __disjvr_15^0'=__disjvr_15^post6, head_32^0'=head_32^post6, __disjvr_25^0'=__disjvr_25^post6, r_39^0'=r_39^post6, a_118^0'=a_118^post6, a_188^0'=a_188^post6, x_26^0'=x_26^post6, __disjvr_1^0'=__disjvr_1^post6, len_134^0'=len_134^post6, __disjvr_2^0'=__disjvr_2^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, __disjvr_12^0'=__disjvr_12^post6, a_343^0'=a_343^post6, nondet_12^0'=nondet_12^post6, __disjvr_7^0'=__disjvr_7^post6, temp_35^0'=temp_35^post6, x_131^0'=x_131^post6, __disjvr_17^0'=__disjvr_17^post6, i_110^0'=i_110^post6, __disjvr_27^0'=__disjvr_27^post6, rcd_89^0'=rcd_89^post6, (0 == 0 /\ len_134^0-len_134^post6 == 0 /\ x_19^0-x_19^post6 == 0 /\ __disjvr_14^0-__disjvr_14^post6 == 0 /\ -x_26^post6+x_26^0 == 0 /\ -a_149^0 <= 0 /\ -r_126^post6+r_126^0 == 0 /\ -rcd_59^post6+rcd_59^0 == 0 /\ length_28^0-length_28^post6 == 0 /\ -__disjvr_3^post6+__disjvr_3^0 == 0 /\ -a_225^post6+a_225^0 == 0 /\ __disjvr_4^0-__disjvr_4^post6 == 0 /\ a_289^0-a_289^post6 == 0 /\ a_281^0-a_281^post6 == 0 /\ -__disjvr_28^post6+__disjvr_28^0 == 0 /\ -__disjvr_11^post6+__disjvr_11^0 == 0 /\ -x_131^post6+x_131^0 == 0 /\ -__disjvr_17^post6+__disjvr_17^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post6 == 0 /\ temp0_31^0-temp0_31^post6 == 0 /\ f_171^0-f_171^post6 == 0 /\ -__disjvr_22^post6+__disjvr_22^0 == 0 /\ __disjvr_8^0-__disjvr_8^post6 == 0 /\ x_176^0-x_176^post6 == 0 /\ -__disjvr_12^post6+__disjvr_12^0 == 0 /\ -a_281^0 <= 0 /\ -__disjvr_13^post6+__disjvr_13^0 == 0 /\ __disjvr_24^0-__disjvr_24^post6 == 0 /\ -head_32^post6+head_32^0 == 0 /\ -head_SLAM_f_29^post6+head_SLAM_f_29^0 == 0 /\ -rcd_89^post6+rcd_89^0 == 0 /\ __disjvr_21^0-__disjvr_21^post6 == 0 /\ len_187^0-len_187^post6 == 0 /\ -__disjvr_5^post6+__disjvr_5^0 == 0 /\ __disjvr_16^0-__disjvr_16^post6 == 0 /\ -a_343^post6+a_343^0 == 0 /\ -nondet_12^post6+nondet_12^0 == 0 /\ __disjvr_19^0-__disjvr_19^post6 == 0 /\ -a_188^post6+a_188^0 == 0 /\ -__disjvr_6^post6+__disjvr_6^0 == 0 /\ __disjvr_25^0-__disjvr_25^post6 == 0 /\ __disjvr_29^0-__disjvr_29^post6 == 0 /\ __disjvr_20^0-__disjvr_20^post6 == 0 /\ __disjvr_23^0-__disjvr_23^post6 == 0 /\ -temp_35^post6+temp_35^0 == 0 /\ -__disjvr_2^post6+__disjvr_2^0 == 0 /\ -y_25^post6+y_25^0 == 0 /\ -a_149^post6+a_149^0 == 0 /\ temp0_16^0-temp0_16^post6 == 0 /\ -__disjvr_15^post6+__disjvr_15^0 == 0 /\ i_110^0-i_110^post6 == 0 /\ __disjvr_18^0-__disjvr_18^post6 == 0 /\ -__disjvr_1^post6+__disjvr_1^0 == 0 /\ -i_95^post6+i_95^0 == 0 /\ __disjvr_0^0-__disjvr_0^post6 == 0 /\ -a_118^post6+a_118^0 == 0 /\ -__disjvr_9^post6+__disjvr_9^0 == 0 /\ __disjvr_26^0-__disjvr_26^post6 == 0 /\ -tmp_34^post6+tmp_34^0 == 0 /\ t_22^0-t_22^post6 == 0 /\ -__disjvr_7^post6+__disjvr_7^0 == 0 /\ r_165^0-r_165^post6 == 0 /\ -i_30^post6+i_30^0 == 0 /\ -__disjvr_10^post6+__disjvr_10^0 == 0 /\ -y_18^post6+y_18^0 == 0 /\ __disjvr_27^0-__disjvr_27^post6 == 0 /\ result_11^0-result_11^post6 == 0 /\ a_342^0-a_342^post6 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post6 == 0), cost: 1
   7: l8 -> l9 : __disjvr_0^0'=__disjvr_0^post7, a_281^0'=a_281^post7, x_SLAM_f_24^0'=x_SLAM_f_24^post7, __disjvr_21^0'=__disjvr_21^post7, __disjvr_4^0'=__disjvr_4^post7, tail_14^0'=tail_14^post7, __disjvr_14^0'=__disjvr_14^post7, head_15^0'=head_15^post7, __disjvr_24^0'=__disjvr_24^post7, r_165^0'=r_165^post7, __disjvr_9^0'=__disjvr_9^post7, a_149^0'=a_149^post7, x_19^0'=x_19^post7, __disjvr_19^0'=__disjvr_19^post7, i_95^0'=i_95^post7, __disjvr_29^0'=__disjvr_29^post7, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post7, __disjvr_11^0'=__disjvr_11^post7, a_342^0'=a_342^post7, y_25^0'=y_25^post7, length_28^0'=length_28^post7, __disjvr_6^0'=__disjvr_6^post7, temp0_31^0'=temp0_31^post7, __disjvr_16^0'=__disjvr_16^post7, head_SLAM_f_29^0'=head_SLAM_f_29^post7, __disjvr_26^0'=__disjvr_26^post7, rcd_59^0'=rcd_59^post7, a_225^0'=a_225^post7, x_SLAM_f_17^0'=x_SLAM_f_17^post7, __disjvr_20^0'=__disjvr_20^post7, len_187^0'=len_187^post7, __disjvr_3^0'=__disjvr_3^post7, t_22^0'=t_22^post7, __disjvr_13^0'=__disjvr_13^post7, f_171^0'=f_171^post7, __disjvr_23^0'=__disjvr_23^post7, r_126^0'=r_126^post7, __disjvr_8^0'=__disjvr_8^post7, tmp_34^0'=tmp_34^post7, x_176^0'=x_176^post7, __disjvr_18^0'=__disjvr_18^post7, i_30^0'=i_30^post7, __disjvr_28^0'=__disjvr_28^post7, result_11^0'=result_11^post7, __disjvr_10^0'=__disjvr_10^post7, a_289^0'=a_289^post7, y_18^0'=y_18^post7, __disjvr_22^0'=__disjvr_22^post7, __disjvr_5^0'=__disjvr_5^post7, temp0_16^0'=temp0_16^post7, __disjvr_15^0'=__disjvr_15^post7, head_32^0'=head_32^post7, __disjvr_25^0'=__disjvr_25^post7, r_39^0'=r_39^post7, a_118^0'=a_118^post7, a_188^0'=a_188^post7, x_26^0'=x_26^post7, __disjvr_1^0'=__disjvr_1^post7, len_134^0'=len_134^post7, __disjvr_2^0'=__disjvr_2^post7, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post7, __disjvr_12^0'=__disjvr_12^post7, a_343^0'=a_343^post7, nondet_12^0'=nondet_12^post7, __disjvr_7^0'=__disjvr_7^post7, temp_35^0'=temp_35^post7, x_131^0'=x_131^post7, __disjvr_17^0'=__disjvr_17^post7, i_110^0'=i_110^post7, __disjvr_27^0'=__disjvr_27^post7, rcd_89^0'=rcd_89^post7, (x_SLAM_f_24^0-x_SLAM_f_24^post7 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post7 == 0 /\ r_165^0-r_165^post7 == 0 /\ -__disjvr_15^post7+__disjvr_15^0 == 0 /\ __disjvr_2^0-__disjvr_2^post7 == 0 /\ -len_134^post7+len_134^0 == 0 /\ -__disjvr_12^post7+__disjvr_12^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post7 == 0 /\ temp0_31^0-temp0_31^post7 == 0 /\ f_171^0-f_171^post7 == 0 /\ a_342^0-a_342^post7 == 0 /\ -__disjvr_7^post7+__disjvr_7^0 == 0 /\ -head_SLAM_f_29^post7+head_SLAM_f_29^0 == 0 /\ -y_18^post7+y_18^0 == 0 /\ __disjvr_24^0-__disjvr_24^post7 == 0 /\ -a_225^post7+a_225^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post7 == 0 /\ -a_188^post7+a_188^0 == 0 /\ __disjvr_29^0-__disjvr_29^post7 == 0 /\ a_281^0-a_281^post7 == 0 /\ -__disjvr_8^post7+__disjvr_8^0 == 0 /\ tail_14^0-tail_14^post7 == 0 /\ __disjvr_26^0-__disjvr_26^post7 == 0 /\ len_187^0-len_187^post7 == 0 /\ -a_343^post7+a_343^0 == 0 /\ tmp_34^0-tmp_34^post7 == 0 /\ __disjvr_21^0-__disjvr_21^post7 == 0 /\ -__disjvr_3^post7+__disjvr_3^0 == 0 /\ -__disjvr_6^post7+__disjvr_6^0 == 0 /\ x_19^0-x_19^post7 == 0 /\ -__disjvr_16^post7+__disjvr_16^0 == 0 /\ -__disjvr_17^post7+__disjvr_17^0 == 0 /\ -x_131^post7+x_131^0 == 0 /\ -y_25^post7+y_25^0 == 0 /\ -__disjvr_22^post7+__disjvr_22^0 == 0 /\ __disjvr_18^0-__disjvr_18^post7 == 0 /\ -__disjvr_11^post7+__disjvr_11^0 == 0 /\ __disjvr_25^0-__disjvr_25^post7 == 0 /\ t_22^0-t_22^post7 == 0 /\ -head_15^post7+head_15^0 == 0 /\ __disjvr_9^0-__disjvr_9^post7 == 0 /\ -a_289^post7+a_289^0 == 0 /\ __disjvr_20^0-__disjvr_20^post7 == 0 /\ -__disjvr_1^post7+__disjvr_1^0 == 0 /\ -length_28^post7+length_28^0 == 0 /\ -__disjvr_13^post7+__disjvr_13^0 == 0 /\ __disjvr_4^0-__disjvr_4^post7 == 0 /\ -a_118^post7+a_118^0 == 0 /\ -i_30^post7+i_30^0 == 0 /\ -__disjvr_5^post7+__disjvr_5^0 == 0 /\ -nondet_12^post7+nondet_12^0 == 0 /\ -rcd_89^post7+rcd_89^0 == 0 /\ -head_32^post7+head_32^0 == 0 /\ x_176^0-x_176^post7 == 0 /\ __disjvr_23^0-__disjvr_23^post7 == 0 /\ -__disjvr_10^post7+__disjvr_10^0 == 0 /\ -__disjvr_0^0+__disjvr_0^post7 == 0 /\ i_95^0-i_95^post7 == 0 /\ -r_126^post7+r_126^0 == 0 /\ result_11^0-result_11^post7 == 0 /\ __disjvr_14^0-__disjvr_14^post7 == 0 /\ -temp_35^post7+temp_35^0 == 0 /\ -x_26^post7+x_26^0 == 0 /\ rcd_59^0-rcd_59^post7 == 0 /\ temp0_16^0-temp0_16^post7 == 0 /\ -__disjvr_27^post7+__disjvr_27^0 == 0 /\ -__disjvr_28^post7+__disjvr_28^0 == 0 /\ -r_39^post7+r_39^0 == 0 /\ -i_110^post7+i_110^0 == 0 /\ __disjvr_19^0-__disjvr_19^post7 == 0 /\ __disjvr_0^0-__disjvr_0^post7 == 0 /\ -a_149^post7+a_149^0 == 0), cost: 1
   8: l9 -> l10 : __disjvr_0^0'=__disjvr_0^post8, a_281^0'=a_281^post8, x_SLAM_f_24^0'=x_SLAM_f_24^post8, __disjvr_21^0'=__disjvr_21^post8, __disjvr_4^0'=__disjvr_4^post8, tail_14^0'=tail_14^post8, __disjvr_14^0'=__disjvr_14^post8, head_15^0'=head_15^post8, __disjvr_24^0'=__disjvr_24^post8, r_165^0'=r_165^post8, __disjvr_9^0'=__disjvr_9^post8, a_149^0'=a_149^post8, x_19^0'=x_19^post8, __disjvr_19^0'=__disjvr_19^post8, i_95^0'=i_95^post8, __disjvr_29^0'=__disjvr_29^post8, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post8, __disjvr_11^0'=__disjvr_11^post8, a_342^0'=a_342^post8, y_25^0'=y_25^post8, length_28^0'=length_28^post8, __disjvr_6^0'=__disjvr_6^post8, temp0_31^0'=temp0_31^post8, __disjvr_16^0'=__disjvr_16^post8, head_SLAM_f_29^0'=head_SLAM_f_29^post8, __disjvr_26^0'=__disjvr_26^post8, rcd_59^0'=rcd_59^post8, a_225^0'=a_225^post8, x_SLAM_f_17^0'=x_SLAM_f_17^post8, __disjvr_20^0'=__disjvr_20^post8, len_187^0'=len_187^post8, __disjvr_3^0'=__disjvr_3^post8, t_22^0'=t_22^post8, __disjvr_13^0'=__disjvr_13^post8, f_171^0'=f_171^post8, __disjvr_23^0'=__disjvr_23^post8, r_126^0'=r_126^post8, __disjvr_8^0'=__disjvr_8^post8, tmp_34^0'=tmp_34^post8, x_176^0'=x_176^post8, __disjvr_18^0'=__disjvr_18^post8, i_30^0'=i_30^post8, __disjvr_28^0'=__disjvr_28^post8, result_11^0'=result_11^post8, __disjvr_10^0'=__disjvr_10^post8, a_289^0'=a_289^post8, y_18^0'=y_18^post8, __disjvr_22^0'=__disjvr_22^post8, __disjvr_5^0'=__disjvr_5^post8, temp0_16^0'=temp0_16^post8, __disjvr_15^0'=__disjvr_15^post8, head_32^0'=head_32^post8, __disjvr_25^0'=__disjvr_25^post8, r_39^0'=r_39^post8, a_118^0'=a_118^post8, a_188^0'=a_188^post8, x_26^0'=x_26^post8, __disjvr_1^0'=__disjvr_1^post8, len_134^0'=len_134^post8, __disjvr_2^0'=__disjvr_2^post8, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post8, __disjvr_12^0'=__disjvr_12^post8, a_343^0'=a_343^post8, nondet_12^0'=nondet_12^post8, __disjvr_7^0'=__disjvr_7^post8, temp_35^0'=temp_35^post8, x_131^0'=x_131^post8, __disjvr_17^0'=__disjvr_17^post8, i_110^0'=i_110^post8, __disjvr_27^0'=__disjvr_27^post8, rcd_89^0'=rcd_89^post8, (0 == 0 /\ -a_188^post8+a_188^0 == 0 /\ -__disjvr_8^post8+__disjvr_8^0 == 0 /\ len_187^0-len_187^post8 == 0 /\ -__disjvr_2^post8+__disjvr_2^0 == 0 /\ -head_15^0+x_SLAM_f_17^0 <= 0 /\ __disjvr_18^0-__disjvr_18^post8 == 0 /\ __disjvr_0^0-__disjvr_0^post8 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post8 == 0 /\ -__disjvr_6^post8+__disjvr_6^0 == 0 /\ r_165^0-r_165^post8 == 0 /\ -__disjvr_27^post8+__disjvr_27^0 == 0 /\ -__disjvr_16^post8+__disjvr_16^0 == 0 /\ a_342^post8 <= 0 /\ __disjvr_26^0-__disjvr_26^post8 == 0 /\ -i_110^post8+i_110^0 == 0 /\ -x_19^0+t_22^post8 == 0 /\ -__disjvr_20^post8+__disjvr_20^0 == 0 /\ -r_39^post8+r_39^0 == 0 /\ -a_342^post8 <= 0 /\ -temp_35^post8+temp_35^0 == 0 /\ x_19^0-x_19^post8 == 0 /\ 1+a_343^post8-a_281^0-a_149^0 <= 0 /\ -__disjvr_17^post8+__disjvr_17^0 == 0 /\ head_SLAM_f_29^0-head_SLAM_f_29^post8 == 0 /\ head_15^0-x_SLAM_f_17^0 <= 0 /\ -i_30^post8+i_30^0 == 0 /\ -length_28^post8+length_28^0 == 0 /\ -a_118^post8+a_118^0 == 0 /\ -__disjvr_1^post8+__disjvr_1^0 == 0 /\ y_25^0-y_25^post8 == 0 /\ -y_18^post8+y_18^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post8 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post8 == 0 /\ a_281^0-a_281^post8 == 0 /\ tail_14^0-tail_14^post8 == 0 /\ -__disjvr_10^post8+__disjvr_10^0 == 0 /\ temp0_31^0-temp0_31^post8 == 0 /\ a_225^0-a_225^post8 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post8 == 0 /\ x_176^0-x_176^post8 == 0 /\ temp0_16^0-temp0_16^post8 == 0 /\ __disjvr_23^0-__disjvr_23^post8 == 0 /\ __disjvr_9^0-__disjvr_9^post8 == 0 /\ -x_26^post8+x_26^0 == 0 /\ -__disjvr_3^post8+__disjvr_3^0 == 0 /\ -f_171^post8+f_171^0 == 0 /\ -tail_14^0+y_18^0 <= 0 /\ a_149^0-a_149^post8 == 0 /\ -__disjvr_15^post8+__disjvr_15^0 == 0 /\ -x_131^post8+x_131^0 == 0 /\ -__disjvr_28^post8+__disjvr_28^0 == 0 /\ __disjvr_7^0-__disjvr_7^post8 == 0 /\ -__disjvr_22^post8+__disjvr_22^0 == 0 /\ tmp_34^0-tmp_34^post8 == 0 /\ result_11^0-result_11^post8 == 0 /\ -__disjvr_24^post8+__disjvr_24^0 == 0 /\ __disjvr_19^0-__disjvr_19^post8 == 0 /\ __disjvr_14^0-__disjvr_14^post8 == 0 /\ -1-a_343^post8+a_281^0+a_149^0 <= 0 /\ __disjvr_21^0-__disjvr_21^post8 == 0 /\ rcd_59^0-rcd_59^post8 == 0 /\ -a_289^post8+a_289^0 == 0 /\ __disjvr_29^0-__disjvr_29^post8 == 0 /\ -__disjvr_12^post8+__disjvr_12^0 == 0 /\ __disjvr_25^0-__disjvr_25^post8 == 0 /\ -__disjvr_13^post8+__disjvr_13^0 == 0 /\ __disjvr_11^0-__disjvr_11^post8 == 0 /\ -nondet_12^post8+nondet_12^0 == 0 /\ -head_32^post8+head_32^0 == 0 /\ -__disjvr_5^post8+__disjvr_5^0 == 0 /\ i_95^0-i_95^post8 == 0 /\ tail_14^0-y_18^0 <= 0 /\ -r_126^post8+r_126^0 == 0 /\ -rcd_89^post8+rcd_89^0 == 0 /\ -len_134^post8+len_134^0 == 0 /\ head_15^0-head_15^post8 == 0 /\ __disjvr_4^0-__disjvr_4^post8 == 0), cost: 1
   9: l10 -> l11 : __disjvr_0^0'=__disjvr_0^post9, a_281^0'=a_281^post9, x_SLAM_f_24^0'=x_SLAM_f_24^post9, __disjvr_21^0'=__disjvr_21^post9, __disjvr_4^0'=__disjvr_4^post9, tail_14^0'=tail_14^post9, __disjvr_14^0'=__disjvr_14^post9, head_15^0'=head_15^post9, __disjvr_24^0'=__disjvr_24^post9, r_165^0'=r_165^post9, __disjvr_9^0'=__disjvr_9^post9, a_149^0'=a_149^post9, x_19^0'=x_19^post9, __disjvr_19^0'=__disjvr_19^post9, i_95^0'=i_95^post9, __disjvr_29^0'=__disjvr_29^post9, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post9, __disjvr_11^0'=__disjvr_11^post9, a_342^0'=a_342^post9, y_25^0'=y_25^post9, length_28^0'=length_28^post9, __disjvr_6^0'=__disjvr_6^post9, temp0_31^0'=temp0_31^post9, __disjvr_16^0'=__disjvr_16^post9, head_SLAM_f_29^0'=head_SLAM_f_29^post9, __disjvr_26^0'=__disjvr_26^post9, rcd_59^0'=rcd_59^post9, a_225^0'=a_225^post9, x_SLAM_f_17^0'=x_SLAM_f_17^post9, __disjvr_20^0'=__disjvr_20^post9, len_187^0'=len_187^post9, __disjvr_3^0'=__disjvr_3^post9, t_22^0'=t_22^post9, __disjvr_13^0'=__disjvr_13^post9, f_171^0'=f_171^post9, __disjvr_23^0'=__disjvr_23^post9, r_126^0'=r_126^post9, __disjvr_8^0'=__disjvr_8^post9, tmp_34^0'=tmp_34^post9, x_176^0'=x_176^post9, __disjvr_18^0'=__disjvr_18^post9, i_30^0'=i_30^post9, __disjvr_28^0'=__disjvr_28^post9, result_11^0'=result_11^post9, __disjvr_10^0'=__disjvr_10^post9, a_289^0'=a_289^post9, y_18^0'=y_18^post9, __disjvr_22^0'=__disjvr_22^post9, __disjvr_5^0'=__disjvr_5^post9, temp0_16^0'=temp0_16^post9, __disjvr_15^0'=__disjvr_15^post9, head_32^0'=head_32^post9, __disjvr_25^0'=__disjvr_25^post9, r_39^0'=r_39^post9, a_118^0'=a_118^post9, a_188^0'=a_188^post9, x_26^0'=x_26^post9, __disjvr_1^0'=__disjvr_1^post9, len_134^0'=len_134^post9, __disjvr_2^0'=__disjvr_2^post9, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post9, __disjvr_12^0'=__disjvr_12^post9, a_343^0'=a_343^post9, nondet_12^0'=nondet_12^post9, __disjvr_7^0'=__disjvr_7^post9, temp_35^0'=temp_35^post9, x_131^0'=x_131^post9, __disjvr_17^0'=__disjvr_17^post9, i_110^0'=i_110^post9, __disjvr_27^0'=__disjvr_27^post9, rcd_89^0'=rcd_89^post9, (a_289^0-a_289^post9 == 0 /\ result_11^0-result_11^post9 == 0 /\ -temp0_31^post9+temp0_31^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post9+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ tail_14^0-tail_14^post9 == 0 /\ -__disjvr_13^post9+__disjvr_13^0 == 0 /\ len_187^0-len_187^post9 == 0 /\ -i_110^post9+i_110^0 == 0 /\ a_149^0-a_149^post9 == 0 /\ -length_28^post9+length_28^0 == 0 /\ -__disjvr_10^post9+__disjvr_10^0 == 0 /\ -__disjvr_5^post9+__disjvr_5^0 == 0 /\ __disjvr_19^0-__disjvr_19^post9 == 0 /\ -nondet_12^post9+nondet_12^0 == 0 /\ -head_32^post9+head_32^0 == 0 /\ -i_30^post9+i_30^0 == 0 /\ __disjvr_21^0-__disjvr_21^post9 == 0 /\ -rcd_89^post9+rcd_89^0 == 0 /\ __disjvr_0^0-__disjvr_0^post9 == 0 /\ -__disjvr_26^post9+__disjvr_26^0 == 0 /\ __disjvr_14^0-__disjvr_14^post9 == 0 /\ t_22^0-t_22^post9 == 0 /\ -__disjvr_1^0+__disjvr_1^post9 == 0 /\ __disjvr_18^0-__disjvr_18^post9 == 0 /\ __disjvr_16^0-__disjvr_16^post9 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post9+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post9 == 0 /\ -__disjvr_28^post9+__disjvr_28^0 == 0 /\ -x_26^post9+x_26^0 == 0 /\ x_176^0-x_176^post9 == 0 /\ -__disjvr_27^post9+__disjvr_27^0 == 0 /\ -a_118^post9+a_118^0 == 0 /\ __disjvr_24^0-__disjvr_24^post9 == 0 /\ -__disjvr_20^post9+__disjvr_20^0 == 0 /\ __disjvr_23^0-__disjvr_23^post9 == 0 /\ a_343^0-a_343^post9 == 0 /\ __disjvr_1^0-__disjvr_1^post9 == 0 /\ -r_39^post9+r_39^0 == 0 /\ y_25^0-y_25^post9 == 0 /\ -__disjvr_12^post9+__disjvr_12^0 == 0 /\ i_95^0-i_95^post9 == 0 /\ -temp_35^post9+temp_35^0 == 0 /\ -x_131^post9+x_131^0 == 0 /\ __disjvr_7^0-__disjvr_7^post9 == 0 /\ tmp_34^0-tmp_34^post9 == 0 /\ -head_SLAM_f_29^post9+head_SLAM_f_29^0 == 0 /\ a_225^0-a_225^post9 == 0 /\ temp0_16^0-temp0_16^post9 == 0 /\ -y_18^post9+y_18^0 == 0 /\ -__disjvr_4^post9+__disjvr_4^0 == 0 /\ -r_126^post9+r_126^0 == 0 /\ -a_342^post9+a_342^0 == 0 /\ rcd_59^0-rcd_59^post9 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post9 == 0 /\ __disjvr_9^0-__disjvr_9^post9 == 0 /\ __disjvr_25^0-__disjvr_25^post9 == 0 /\ __disjvr_6^0-__disjvr_6^post9 == 0 /\ __disjvr_11^0-__disjvr_11^post9 == 0 /\ -__disjvr_8^post9+__disjvr_8^0 == 0 /\ -a_188^post9+a_188^0 == 0 /\ -len_134^post9+len_134^0 == 0 /\ __disjvr_17^0-__disjvr_17^post9 == 0 /\ -__disjvr_3^post9+__disjvr_3^0 == 0 /\ x_19^0-x_19^post9 == 0 /\ -__disjvr_2^post9+__disjvr_2^0 == 0 /\ head_15^0-head_15^post9 == 0 /\ -f_171^post9+f_171^0 == 0 /\ r_165^0-r_165^post9 == 0 /\ -__disjvr_22^post9+__disjvr_22^0 == 0 /\ -__disjvr_15^post9+__disjvr_15^0 == 0 /\ __disjvr_29^0-__disjvr_29^post9 == 0 /\ a_281^0-a_281^post9 == 0), cost: 1
  10: l11 -> l12 : __disjvr_0^0'=__disjvr_0^post10, a_281^0'=a_281^post10, x_SLAM_f_24^0'=x_SLAM_f_24^post10, __disjvr_21^0'=__disjvr_21^post10, __disjvr_4^0'=__disjvr_4^post10, tail_14^0'=tail_14^post10, __disjvr_14^0'=__disjvr_14^post10, head_15^0'=head_15^post10, __disjvr_24^0'=__disjvr_24^post10, r_165^0'=r_165^post10, __disjvr_9^0'=__disjvr_9^post10, a_149^0'=a_149^post10, x_19^0'=x_19^post10, __disjvr_19^0'=__disjvr_19^post10, i_95^0'=i_95^post10, __disjvr_29^0'=__disjvr_29^post10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post10, __disjvr_11^0'=__disjvr_11^post10, a_342^0'=a_342^post10, y_25^0'=y_25^post10, length_28^0'=length_28^post10, __disjvr_6^0'=__disjvr_6^post10, temp0_31^0'=temp0_31^post10, __disjvr_16^0'=__disjvr_16^post10, head_SLAM_f_29^0'=head_SLAM_f_29^post10, __disjvr_26^0'=__disjvr_26^post10, rcd_59^0'=rcd_59^post10, a_225^0'=a_225^post10, x_SLAM_f_17^0'=x_SLAM_f_17^post10, __disjvr_20^0'=__disjvr_20^post10, len_187^0'=len_187^post10, __disjvr_3^0'=__disjvr_3^post10, t_22^0'=t_22^post10, __disjvr_13^0'=__disjvr_13^post10, f_171^0'=f_171^post10, __disjvr_23^0'=__disjvr_23^post10, r_126^0'=r_126^post10, __disjvr_8^0'=__disjvr_8^post10, tmp_34^0'=tmp_34^post10, x_176^0'=x_176^post10, __disjvr_18^0'=__disjvr_18^post10, i_30^0'=i_30^post10, __disjvr_28^0'=__disjvr_28^post10, result_11^0'=result_11^post10, __disjvr_10^0'=__disjvr_10^post10, a_289^0'=a_289^post10, y_18^0'=y_18^post10, __disjvr_22^0'=__disjvr_22^post10, __disjvr_5^0'=__disjvr_5^post10, temp0_16^0'=temp0_16^post10, __disjvr_15^0'=__disjvr_15^post10, head_32^0'=head_32^post10, __disjvr_25^0'=__disjvr_25^post10, r_39^0'=r_39^post10, a_118^0'=a_118^post10, a_188^0'=a_188^post10, x_26^0'=x_26^post10, __disjvr_1^0'=__disjvr_1^post10, len_134^0'=len_134^post10, __disjvr_2^0'=__disjvr_2^post10, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post10, __disjvr_12^0'=__disjvr_12^post10, a_343^0'=a_343^post10, nondet_12^0'=nondet_12^post10, __disjvr_7^0'=__disjvr_7^post10, temp_35^0'=temp_35^post10, x_131^0'=x_131^post10, __disjvr_17^0'=__disjvr_17^post10, i_110^0'=i_110^post10, __disjvr_27^0'=__disjvr_27^post10, rcd_89^0'=rcd_89^post10, (-r_126^post10+r_126^0 == 0 /\ f_171^0-f_171^post10 == 0 /\ -head_32^post10+head_32^0 == 0 /\ length_28^0-length_28^post10 == 0 /\ __disjvr_21^0-__disjvr_21^post10 == 0 /\ -rcd_89^post10+rcd_89^0 == 0 /\ -__disjvr_3^post10+__disjvr_3^0 == 0 /\ __disjvr_14^0-__disjvr_14^post10 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post10+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ a_281^0-a_281^post10 == 0 /\ -x_26^post10+x_26^0 == 0 /\ -__disjvr_28^post10+__disjvr_28^0 == 0 /\ a_289^0-a_289^post10 == 0 /\ tail_14^0-tail_14^post10 == 0 /\ temp0_31^0-temp0_31^post10 == 0 /\ -__disjvr_22^post10+__disjvr_22^0 == 0 /\ x_19^0-x_19^post10 == 0 /\ -__disjvr_15^post10+__disjvr_15^0 == 0 /\ __disjvr_4^0-__disjvr_4^post10 == 0 /\ -__disjvr_1^post10+__disjvr_1^0 == 0 /\ -nondet_12^post10+nondet_12^0 == 0 /\ __disjvr_24^0-__disjvr_24^post10 == 0 /\ x_176^0-x_176^post10 == 0 /\ __disjvr_9^0-__disjvr_9^post10 == 0 /\ -__disjvr_27^post10+__disjvr_27^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post10+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -__disjvr_12^post10+__disjvr_12^0 == 0 /\ -__disjvr_19^post10+__disjvr_19^0 == 0 /\ a_343^0-a_343^post10 == 0 /\ -i_110^post10+i_110^0 == 0 /\ -head_SLAM_f_29^post10+head_SLAM_f_29^0 == 0 /\ -a_342^post10+a_342^0 == 0 /\ __disjvr_16^0-__disjvr_16^post10 == 0 /\ len_187^0-len_187^post10 == 0 /\ a_149^0-a_149^post10 == 0 /\ -__disjvr_8^post10+__disjvr_8^0 == 0 /\ -__disjvr_5^post10+__disjvr_5^0 == 0 /\ -len_134^post10+len_134^0 == 0 /\ rcd_59^0-rcd_59^post10 == 0 /\ -a_188^post10+a_188^0 == 0 /\ __disjvr_29^0-__disjvr_29^post10 == 0 /\ -t_22^post10+t_22^0 == 0 /\ __disjvr_25^0-__disjvr_25^post10 == 0 /\ __disjvr_11^0-__disjvr_11^post10 == 0 /\ y_25^0-y_25^post10 == 0 /\ __disjvr_6^0-__disjvr_6^post10 == 0 /\ -r_39^post10+r_39^0 == 0 /\ __disjvr_0^0-__disjvr_0^post10 == 0 /\ __disjvr_20^0-__disjvr_20^post10 == 0 /\ __disjvr_23^0-__disjvr_23^post10 == 0 /\ -__disjvr_13^post10+__disjvr_13^0 == 0 /\ i_95^0-i_95^post10 == 0 /\ -__disjvr_2^post10+__disjvr_2^0 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post10 == 0 /\ head_15^0-head_15^post10 == 0 /\ -a_118^post10+a_118^0 == 0 /\ a_225^0-a_225^post10 == 0 /\ -__disjvr_10^post10+__disjvr_10^0 == 0 /\ -temp_35^post10+temp_35^0 == 0 /\ -x_131^post10+x_131^0 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post10 == 0 /\ __disjvr_18^0-__disjvr_18^post10 == 0 /\ result_11^0-result_11^post10 == 0 /\ -i_30^post10+i_30^0 == 0 /\ -y_18^post10+y_18^0 == 0 /\ -__disjvr_17^post10+__disjvr_17^0 == 0 /\ -__disjvr_26^post10+__disjvr_26^0 == 0 /\ __disjvr_2^post10-__disjvr_2^0 == 0 /\ temp0_16^0-temp0_16^post10 == 0 /\ r_165^0-r_165^post10 == 0 /\ -__disjvr_7^post10+__disjvr_7^0 == 0 /\ tmp_34^0-tmp_34^post10 == 0), cost: 1
  11: l12 -> l13 : __disjvr_0^0'=__disjvr_0^post11, a_281^0'=a_281^post11, x_SLAM_f_24^0'=x_SLAM_f_24^post11, __disjvr_21^0'=__disjvr_21^post11, __disjvr_4^0'=__disjvr_4^post11, tail_14^0'=tail_14^post11, __disjvr_14^0'=__disjvr_14^post11, head_15^0'=head_15^post11, __disjvr_24^0'=__disjvr_24^post11, r_165^0'=r_165^post11, __disjvr_9^0'=__disjvr_9^post11, a_149^0'=a_149^post11, x_19^0'=x_19^post11, __disjvr_19^0'=__disjvr_19^post11, i_95^0'=i_95^post11, __disjvr_29^0'=__disjvr_29^post11, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post11, __disjvr_11^0'=__disjvr_11^post11, a_342^0'=a_342^post11, y_25^0'=y_25^post11, length_28^0'=length_28^post11, __disjvr_6^0'=__disjvr_6^post11, temp0_31^0'=temp0_31^post11, __disjvr_16^0'=__disjvr_16^post11, head_SLAM_f_29^0'=head_SLAM_f_29^post11, __disjvr_26^0'=__disjvr_26^post11, rcd_59^0'=rcd_59^post11, a_225^0'=a_225^post11, x_SLAM_f_17^0'=x_SLAM_f_17^post11, __disjvr_20^0'=__disjvr_20^post11, len_187^0'=len_187^post11, __disjvr_3^0'=__disjvr_3^post11, t_22^0'=t_22^post11, __disjvr_13^0'=__disjvr_13^post11, f_171^0'=f_171^post11, __disjvr_23^0'=__disjvr_23^post11, r_126^0'=r_126^post11, __disjvr_8^0'=__disjvr_8^post11, tmp_34^0'=tmp_34^post11, x_176^0'=x_176^post11, __disjvr_18^0'=__disjvr_18^post11, i_30^0'=i_30^post11, __disjvr_28^0'=__disjvr_28^post11, result_11^0'=result_11^post11, __disjvr_10^0'=__disjvr_10^post11, a_289^0'=a_289^post11, y_18^0'=y_18^post11, __disjvr_22^0'=__disjvr_22^post11, __disjvr_5^0'=__disjvr_5^post11, temp0_16^0'=temp0_16^post11, __disjvr_15^0'=__disjvr_15^post11, head_32^0'=head_32^post11, __disjvr_25^0'=__disjvr_25^post11, r_39^0'=r_39^post11, a_118^0'=a_118^post11, a_188^0'=a_188^post11, x_26^0'=x_26^post11, __disjvr_1^0'=__disjvr_1^post11, len_134^0'=len_134^post11, __disjvr_2^0'=__disjvr_2^post11, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post11, __disjvr_12^0'=__disjvr_12^post11, a_343^0'=a_343^post11, nondet_12^0'=nondet_12^post11, __disjvr_7^0'=__disjvr_7^post11, temp_35^0'=temp_35^post11, x_131^0'=x_131^post11, __disjvr_17^0'=__disjvr_17^post11, i_110^0'=i_110^post11, __disjvr_27^0'=__disjvr_27^post11, rcd_89^0'=rcd_89^post11, (__disjvr_16^0-__disjvr_16^post11 == 0 /\ -temp_35^post11+temp_35^0 == 0 /\ temp0_31^0-temp0_31^post11 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post11 == 0 /\ __disjvr_3^post11-__disjvr_3^0 == 0 /\ length_28^0-length_28^post11 == 0 /\ r_165^0-r_165^post11 == 0 /\ __disjvr_24^0-__disjvr_24^post11 == 0 /\ -head_SLAM_f_29^post11+head_SLAM_f_29^0 == 0 /\ -a_342^post11+a_342^0 == 0 /\ -y_18^post11+y_18^0 == 0 /\ -__disjvr_12^post11+__disjvr_12^0 == 0 /\ -__disjvr_17^post11+__disjvr_17^0 == 0 /\ -x_131^post11+x_131^0 == 0 /\ a_281^0-a_281^post11 == 0 /\ x_26^0-x_26^post11 == 0 /\ -__disjvr_7^post11+__disjvr_7^0 == 0 /\ -__disjvr_8^post11+__disjvr_8^0 == 0 /\ -head_32^post11+head_32^0 == 0 /\ -len_134^post11+len_134^0 == 0 /\ __disjvr_26^0-__disjvr_26^post11 == 0 /\ -__disjvr_3^post11+__disjvr_3^0 == 0 /\ -rcd_89^post11+rcd_89^0 == 0 /\ len_187^0-len_187^post11 == 0 /\ -a_188^post11+a_188^0 == 0 /\ -x_19^post11+x_19^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post11 == 0 /\ a_149^0-a_149^post11 == 0 /\ tail_14^0-tail_14^post11 == 0 /\ -a_343^post11+a_343^0 == 0 /\ __disjvr_9^0-__disjvr_9^post11 == 0 /\ __disjvr_21^0-__disjvr_21^post11 == 0 /\ __disjvr_11^0-__disjvr_11^post11 == 0 /\ -a_225^post11+a_225^0 == 0 /\ -__disjvr_2^post11+__disjvr_2^0 == 0 /\ -__disjvr_15^post11+__disjvr_15^0 == 0 /\ __disjvr_25^0-__disjvr_25^post11 == 0 /\ __disjvr_6^0-__disjvr_6^post11 == 0 /\ -__disjvr_27^post11+__disjvr_27^0 == 0 /\ -__disjvr_10^post11+__disjvr_10^0 == 0 /\ __disjvr_20^0-__disjvr_20^post11 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post11+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ __disjvr_23^0-__disjvr_23^post11 == 0 /\ -a_118^post11+a_118^0 == 0 /\ __disjvr_4^0-__disjvr_4^post11 == 0 /\ -nondet_12^post11+nondet_12^0 == 0 /\ temp0_16^0-temp0_16^post11 == 0 /\ __disjvr_22^0-__disjvr_22^post11 == 0 /\ head_15^0-head_15^post11 == 0 /\ -i_110^post11+i_110^0 == 0 /\ -f_171^post11+f_171^0 == 0 /\ x_176^0-x_176^post11 == 0 /\ -x_SLAM_f_24^post11+x_SLAM_f_24^0 == 0 /\ __disjvr_29^0-__disjvr_29^post11 == 0 /\ -a_289^post11+a_289^0 == 0 /\ y_25^0-y_25^post11 == 0 /\ __disjvr_0^0-__disjvr_0^post11 == 0 /\ -i_30^post11+i_30^0 == 0 /\ result_11^0-result_11^post11 == 0 /\ i_95^0-i_95^post11 == 0 /\ -r_126^post11+r_126^0 == 0 /\ -__disjvr_5^post11+__disjvr_5^0 == 0 /\ -t_22^post11+t_22^0 == 0 /\ tmp_34^0-tmp_34^post11 == 0 /\ -__disjvr_28^post11+__disjvr_28^0 == 0 /\ -__disjvr_13^post11+__disjvr_13^0 == 0 /\ -r_39^post11+r_39^0 == 0 /\ rcd_59^0-rcd_59^post11 == 0 /\ __disjvr_14^0-__disjvr_14^post11 == 0 /\ __disjvr_19^0-__disjvr_19^post11 == 0 /\ -__disjvr_1^post11+__disjvr_1^0 == 0 /\ __disjvr_18^0-__disjvr_18^post11 == 0), cost: 1
  12: l13 -> l7 : __disjvr_0^0'=__disjvr_0^post12, a_281^0'=a_281^post12, x_SLAM_f_24^0'=x_SLAM_f_24^post12, __disjvr_21^0'=__disjvr_21^post12, __disjvr_4^0'=__disjvr_4^post12, tail_14^0'=tail_14^post12, __disjvr_14^0'=__disjvr_14^post12, head_15^0'=head_15^post12, __disjvr_24^0'=__disjvr_24^post12, r_165^0'=r_165^post12, __disjvr_9^0'=__disjvr_9^post12, a_149^0'=a_149^post12, x_19^0'=x_19^post12, __disjvr_19^0'=__disjvr_19^post12, i_95^0'=i_95^post12, __disjvr_29^0'=__disjvr_29^post12, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post12, __disjvr_11^0'=__disjvr_11^post12, a_342^0'=a_342^post12, y_25^0'=y_25^post12, length_28^0'=length_28^post12, __disjvr_6^0'=__disjvr_6^post12, temp0_31^0'=temp0_31^post12, __disjvr_16^0'=__disjvr_16^post12, head_SLAM_f_29^0'=head_SLAM_f_29^post12, __disjvr_26^0'=__disjvr_26^post12, rcd_59^0'=rcd_59^post12, a_225^0'=a_225^post12, x_SLAM_f_17^0'=x_SLAM_f_17^post12, __disjvr_20^0'=__disjvr_20^post12, len_187^0'=len_187^post12, __disjvr_3^0'=__disjvr_3^post12, t_22^0'=t_22^post12, __disjvr_13^0'=__disjvr_13^post12, f_171^0'=f_171^post12, __disjvr_23^0'=__disjvr_23^post12, r_126^0'=r_126^post12, __disjvr_8^0'=__disjvr_8^post12, tmp_34^0'=tmp_34^post12, x_176^0'=x_176^post12, __disjvr_18^0'=__disjvr_18^post12, i_30^0'=i_30^post12, __disjvr_28^0'=__disjvr_28^post12, result_11^0'=result_11^post12, __disjvr_10^0'=__disjvr_10^post12, a_289^0'=a_289^post12, y_18^0'=y_18^post12, __disjvr_22^0'=__disjvr_22^post12, __disjvr_5^0'=__disjvr_5^post12, temp0_16^0'=temp0_16^post12, __disjvr_15^0'=__disjvr_15^post12, head_32^0'=head_32^post12, __disjvr_25^0'=__disjvr_25^post12, r_39^0'=r_39^post12, a_118^0'=a_118^post12, a_188^0'=a_188^post12, x_26^0'=x_26^post12, __disjvr_1^0'=__disjvr_1^post12, len_134^0'=len_134^post12, __disjvr_2^0'=__disjvr_2^post12, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post12, __disjvr_12^0'=__disjvr_12^post12, a_343^0'=a_343^post12, nondet_12^0'=nondet_12^post12, __disjvr_7^0'=__disjvr_7^post12, temp_35^0'=temp_35^post12, x_131^0'=x_131^post12, __disjvr_17^0'=__disjvr_17^post12, i_110^0'=i_110^post12, __disjvr_27^0'=__disjvr_27^post12, rcd_89^0'=rcd_89^post12, (0 == 0 /\ -__disjvr_18^post12+__disjvr_18^0 == 0 /\ a_281^post12-a_343^0 <= 0 /\ __disjvr_24^0-__disjvr_24^post12 == 0 /\ -len_134^post12+len_134^0 == 0 /\ -__disjvr_25^post12+__disjvr_25^0 == 0 /\ -t_22^post12+t_22^0 == 0 /\ temp0_31^0-temp0_31^post12 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post12 == 0 /\ -__disjvr_16^post12+__disjvr_16^0 == 0 /\ -__disjvr_8^post12+__disjvr_8^0 == 0 /\ a_342^0-a_149^post12 <= 0 /\ -a_343^post12+a_343^0 == 0 /\ -__disjvr_13^post12+__disjvr_13^0 == 0 /\ -temp_35^post12+temp_35^0 == 0 /\ __disjvr_21^0-__disjvr_21^post12 == 0 /\ r_165^0-r_165^post12 == 0 /\ -__disjvr_26^post12+__disjvr_26^0 == 0 /\ -a_281^post12+a_343^0 <= 0 /\ head_SLAM_f_29^0-head_SLAM_f_29^post12 == 0 /\ -__disjvr_10^post12+__disjvr_10^0 == 0 /\ -a_118^post12+a_118^0 == 0 /\ -length_28^post12+length_28^0 == 0 /\ -__disjvr_2^post12+__disjvr_2^0 == 0 /\ __disjvr_29^0-__disjvr_29^post12 == 0 /\ __disjvr_11^0-__disjvr_11^post12 == 0 /\ -__disjvr_15^post12+__disjvr_15^0 == 0 /\ -a_342^0+a_149^post12 <= 0 /\ -__disjvr_17^post12+__disjvr_17^0 == 0 /\ __disjvr_23^0-__disjvr_23^post12 == 0 /\ y_25^0-y_25^post12 == 0 /\ -x_131^post12+x_131^0 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post12 == 0 /\ -y_18^post12+y_18^0 == 0 /\ -a_188^post12+a_188^0 == 0 /\ tail_14^0-tail_14^post12 == 0 /\ -__disjvr_7^post12+__disjvr_7^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post12 == 0 /\ head_15^0-head_15^post12 == 0 /\ x_176^0-x_176^post12 == 0 /\ __disjvr_9^0-__disjvr_9^post12 == 0 /\ -rcd_89^post12+rcd_89^0 == 0 /\ -i_30^post12+i_30^0 == 0 /\ -__disjvr_3^post12+__disjvr_3^0 == 0 /\ -x_19^post12+x_19^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -r_126^post12+r_126^0 == 0 /\ -a_342^post12+a_342^0 == 0 /\ r_39^0-r_39^post12 == 0 /\ a_225^0-a_225^post12 == 0 /\ -__disjvr_28^post12+__disjvr_28^0 == 0 /\ tmp_34^0-tmp_34^post12 == 0 /\ temp0_16^0-temp0_16^post12 == 0 /\ len_187^0-len_187^post12 == 0 /\ -__disjvr_1^post12+__disjvr_1^0 == 0 /\ -head_32^post12+head_32^0 == 0 /\ -__disjvr_27^post12+__disjvr_27^0 == 0 /\ -result_11^post12+result_11^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post12+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -nondet_12^post12+nondet_12^0 == 0 /\ __disjvr_14^0-__disjvr_14^post12 == 0 /\ rcd_59^0-rcd_59^post12 == 0 /\ __disjvr_19^0-__disjvr_19^post12 == 0 /\ __disjvr_0^0-__disjvr_0^post12 == 0 /\ i_95^0-i_95^post12 == 0 /\ -i_110^post12+i_110^0 == 0 /\ -f_171^post12+f_171^0 == 0 /\ __disjvr_6^0-__disjvr_6^post12 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ __disjvr_20^0-__disjvr_20^post12 == 0 /\ __disjvr_4^0-__disjvr_4^post12 == 0 /\ -__disjvr_12^post12+__disjvr_12^0 == 0 /\ -x_26^post12+x_26^0 == 0 /\ -__disjvr_5^post12+__disjvr_5^0 == 0 /\ __disjvr_22^0-__disjvr_22^post12 == 0 /\ -a_289^post12+a_289^0 == 0), cost: 1
  13: l7 -> l6 : __disjvr_0^0'=__disjvr_0^post13, a_281^0'=a_281^post13, x_SLAM_f_24^0'=x_SLAM_f_24^post13, __disjvr_21^0'=__disjvr_21^post13, __disjvr_4^0'=__disjvr_4^post13, tail_14^0'=tail_14^post13, __disjvr_14^0'=__disjvr_14^post13, head_15^0'=head_15^post13, __disjvr_24^0'=__disjvr_24^post13, r_165^0'=r_165^post13, __disjvr_9^0'=__disjvr_9^post13, a_149^0'=a_149^post13, x_19^0'=x_19^post13, __disjvr_19^0'=__disjvr_19^post13, i_95^0'=i_95^post13, __disjvr_29^0'=__disjvr_29^post13, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post13, __disjvr_11^0'=__disjvr_11^post13, a_342^0'=a_342^post13, y_25^0'=y_25^post13, length_28^0'=length_28^post13, __disjvr_6^0'=__disjvr_6^post13, temp0_31^0'=temp0_31^post13, __disjvr_16^0'=__disjvr_16^post13, head_SLAM_f_29^0'=head_SLAM_f_29^post13, __disjvr_26^0'=__disjvr_26^post13, rcd_59^0'=rcd_59^post13, a_225^0'=a_225^post13, x_SLAM_f_17^0'=x_SLAM_f_17^post13, __disjvr_20^0'=__disjvr_20^post13, len_187^0'=len_187^post13, __disjvr_3^0'=__disjvr_3^post13, t_22^0'=t_22^post13, __disjvr_13^0'=__disjvr_13^post13, f_171^0'=f_171^post13, __disjvr_23^0'=__disjvr_23^post13, r_126^0'=r_126^post13, __disjvr_8^0'=__disjvr_8^post13, tmp_34^0'=tmp_34^post13, x_176^0'=x_176^post13, __disjvr_18^0'=__disjvr_18^post13, i_30^0'=i_30^post13, __disjvr_28^0'=__disjvr_28^post13, result_11^0'=result_11^post13, __disjvr_10^0'=__disjvr_10^post13, a_289^0'=a_289^post13, y_18^0'=y_18^post13, __disjvr_22^0'=__disjvr_22^post13, __disjvr_5^0'=__disjvr_5^post13, temp0_16^0'=temp0_16^post13, __disjvr_15^0'=__disjvr_15^post13, head_32^0'=head_32^post13, __disjvr_25^0'=__disjvr_25^post13, r_39^0'=r_39^post13, a_118^0'=a_118^post13, a_188^0'=a_188^post13, x_26^0'=x_26^post13, __disjvr_1^0'=__disjvr_1^post13, len_134^0'=len_134^post13, __disjvr_2^0'=__disjvr_2^post13, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post13, __disjvr_12^0'=__disjvr_12^post13, a_343^0'=a_343^post13, nondet_12^0'=nondet_12^post13, __disjvr_7^0'=__disjvr_7^post13, temp_35^0'=temp_35^post13, x_131^0'=x_131^post13, __disjvr_17^0'=__disjvr_17^post13, i_110^0'=i_110^post13, __disjvr_27^0'=__disjvr_27^post13, rcd_89^0'=rcd_89^post13, (-r_39^post13+r_39^0 == 0 /\ -__disjvr_26^post13+__disjvr_26^0 == 0 /\ __disjvr_0^0-__disjvr_0^post13 == 0 /\ -nondet_12^post13+nondet_12^0 == 0 /\ -a_118^post13+a_118^0 == 0 /\ -i_110^post13+i_110^0 == 0 /\ -__disjvr_2^post13+__disjvr_2^0 == 0 /\ -length_28^post13+length_28^0 == 0 /\ __disjvr_21^0-__disjvr_21^post13 == 0 /\ -a_289^post13+a_289^0 == 0 /\ -temp0_31^post13+temp0_31^0 == 0 /\ tail_14^0-tail_14^post13 == 0 /\ r_126^0-r_126^post13 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post13+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -f_171^post13+f_171^0 == 0 /\ -__disjvr_5^post13+__disjvr_5^0 == 0 /\ -a_188^post13+a_188^0 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post13 == 0 /\ __disjvr_19^0-__disjvr_19^post13 == 0 /\ __disjvr_14^0-__disjvr_14^post13 == 0 /\ -__disjvr_27^post13+__disjvr_27^0 == 0 /\ -__disjvr_25^post13+__disjvr_25^0 == 0 /\ __disjvr_10^0-__disjvr_10^post13 == 0 /\ __disjvr_23^0-__disjvr_23^post13 == 0 /\ __disjvr_16^0-__disjvr_16^post13 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post13 == 0 /\ -temp_35^post13+temp_35^0 == 0 /\ __disjvr_20^0-__disjvr_20^post13 == 0 /\ -a_342^post13+a_342^0 == 0 /\ i_30^0-i_30^post13 == 0 /\ -__disjvr_13^post13+__disjvr_13^0 == 0 /\ head_SLAM_f_29^0-head_SLAM_f_29^post13 == 0 /\ -__disjvr_28^post13+__disjvr_28^0 == 0 /\ -__disjvr_1^post13+__disjvr_1^0 == 0 /\ a_281^0-a_281^post13 == 0 /\ __disjvr_24^0-__disjvr_24^post13 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post13+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ i_95^0-i_95^post13 == 0 /\ __disjvr_11^0-__disjvr_11^post13 == 0 /\ y_25^0-y_25^post13 == 0 /\ tmp_34^0-tmp_34^post13 == 0 /\ -__disjvr_7^post13+__disjvr_7^0 == 0 /\ -r_165^post13+r_165^0 == 0 /\ -__disjvr_15^post13+__disjvr_15^0 == 0 /\ a_149^0-a_149^post13 == 0 /\ -__disjvr_12^post13+__disjvr_12^0 == 0 /\ __disjvr_9^0-__disjvr_9^post13 == 0 /\ -x_131^post13+x_131^0 == 0 /\ temp0_16^0-temp0_16^post13 == 0 /\ -x_26^post13+x_26^0 == 0 /\ __disjvr_6^0-__disjvr_6^post13 == 0 /\ rcd_59^0-rcd_59^post13 == 0 /\ a_225^0-a_225^post13 == 0 /\ -result_11^post13+result_11^0 == 0 /\ t_22^0-t_22^post13 == 0 /\ y_18^0-y_18^post13 == 0 /\ -__disjvr_18^post13+__disjvr_18^0 == 0 /\ -rcd_89^post13+rcd_89^0 == 0 /\ -len_134^post13+len_134^0 == 0 /\ -__disjvr_3^post13+__disjvr_3^0 == 0 /\ __disjvr_17^0-__disjvr_17^post13 == 0 /\ head_15^0-head_15^post13 == 0 /\ -len_187^post13+len_187^0 == 0 /\ __disjvr_22^0-__disjvr_22^post13 == 0 /\ -__disjvr_8^post13+__disjvr_8^0 == 0 /\ x_19^0-x_19^post13 == 0 /\ x_176^0-x_176^post13 == 0 /\ -a_343^post13+a_343^0 == 0 /\ __disjvr_4^0-__disjvr_4^post13 == 0 /\ -head_32^post13+head_32^0 == 0 /\ __disjvr_29^0-__disjvr_29^post13 == 0), cost: 1
  14: l14 -> l15 : __disjvr_0^0'=__disjvr_0^post14, a_281^0'=a_281^post14, x_SLAM_f_24^0'=x_SLAM_f_24^post14, __disjvr_21^0'=__disjvr_21^post14, __disjvr_4^0'=__disjvr_4^post14, tail_14^0'=tail_14^post14, __disjvr_14^0'=__disjvr_14^post14, head_15^0'=head_15^post14, __disjvr_24^0'=__disjvr_24^post14, r_165^0'=r_165^post14, __disjvr_9^0'=__disjvr_9^post14, a_149^0'=a_149^post14, x_19^0'=x_19^post14, __disjvr_19^0'=__disjvr_19^post14, i_95^0'=i_95^post14, __disjvr_29^0'=__disjvr_29^post14, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post14, __disjvr_11^0'=__disjvr_11^post14, a_342^0'=a_342^post14, y_25^0'=y_25^post14, length_28^0'=length_28^post14, __disjvr_6^0'=__disjvr_6^post14, temp0_31^0'=temp0_31^post14, __disjvr_16^0'=__disjvr_16^post14, head_SLAM_f_29^0'=head_SLAM_f_29^post14, __disjvr_26^0'=__disjvr_26^post14, rcd_59^0'=rcd_59^post14, a_225^0'=a_225^post14, x_SLAM_f_17^0'=x_SLAM_f_17^post14, __disjvr_20^0'=__disjvr_20^post14, len_187^0'=len_187^post14, __disjvr_3^0'=__disjvr_3^post14, t_22^0'=t_22^post14, __disjvr_13^0'=__disjvr_13^post14, f_171^0'=f_171^post14, __disjvr_23^0'=__disjvr_23^post14, r_126^0'=r_126^post14, __disjvr_8^0'=__disjvr_8^post14, tmp_34^0'=tmp_34^post14, x_176^0'=x_176^post14, __disjvr_18^0'=__disjvr_18^post14, i_30^0'=i_30^post14, __disjvr_28^0'=__disjvr_28^post14, result_11^0'=result_11^post14, __disjvr_10^0'=__disjvr_10^post14, a_289^0'=a_289^post14, y_18^0'=y_18^post14, __disjvr_22^0'=__disjvr_22^post14, __disjvr_5^0'=__disjvr_5^post14, temp0_16^0'=temp0_16^post14, __disjvr_15^0'=__disjvr_15^post14, head_32^0'=head_32^post14, __disjvr_25^0'=__disjvr_25^post14, r_39^0'=r_39^post14, a_118^0'=a_118^post14, a_188^0'=a_188^post14, x_26^0'=x_26^post14, __disjvr_1^0'=__disjvr_1^post14, len_134^0'=len_134^post14, __disjvr_2^0'=__disjvr_2^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, __disjvr_12^0'=__disjvr_12^post14, a_343^0'=a_343^post14, nondet_12^0'=nondet_12^post14, __disjvr_7^0'=__disjvr_7^post14, temp_35^0'=temp_35^post14, x_131^0'=x_131^post14, __disjvr_17^0'=__disjvr_17^post14, i_110^0'=i_110^post14, __disjvr_27^0'=__disjvr_27^post14, rcd_89^0'=rcd_89^post14, (0 == 0 /\ length_28^0-length_28^post14 == 0 /\ -__disjvr_3^post14+__disjvr_3^0 == 0 /\ -a_149^0 <= 0 /\ x_19^0-y_18^0 <= 0 /\ -a_342^post14+a_342^0 == 0 /\ a_188^0-a_188^post14 == 0 /\ -len_187^post14+len_187^0 == 0 /\ -rcd_89^post14+rcd_89^0 == 0 /\ __disjvr_14^0-__disjvr_14^post14 == 0 /\ a_281^0-a_281^post14 == 0 /\ temp0_31^0-temp0_31^post14 == 0 /\ -a_118^post14+a_118^0 == 0 /\ __disjvr_10^0-__disjvr_10^post14 == 0 /\ __disjvr_22^0-__disjvr_22^post14 == 0 /\ -i_110^post14+i_110^0 == 0 /\ -r_39^post14+r_39^0 == 0 /\ __disjvr_24^0-__disjvr_24^post14 == 0 /\ temp0_16^0-temp0_16^post14 == 0 /\ -x_19^0+y_18^0 <= 0 /\ -nondet_12^post14+nondet_12^0 == 0 /\ __disjvr_28^0-__disjvr_28^post14 == 0 /\ -__disjvr_27^post14+__disjvr_27^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post14+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -__disjvr_13^post14+__disjvr_13^0 == 0 /\ -a_289^post14+a_289^0 == 0 /\ a_149^0-a_149^post14 == 0 /\ __disjvr_11^0-__disjvr_11^post14 == 0 /\ -__disjvr_12^post14+__disjvr_12^0 == 0 /\ -__disjvr_19^post14+__disjvr_19^0 == 0 /\ -f_171^post14+f_171^0 == 0 /\ __disjvr_16^0-__disjvr_16^post14 == 0 /\ result_11^post14-temp0_16^0 == 0 /\ -__disjvr_5^post14+__disjvr_5^0 == 0 /\ __disjvr_21^0-__disjvr_21^post14 == 0 /\ -x_26^post14+x_26^0 == 0 /\ i_30^0-i_30^post14 == 0 /\ -len_134^post14+len_134^0 == 0 /\ -__disjvr_25^post14+__disjvr_25^0 == 0 /\ r_126^0-r_126^post14 == 0 /\ -a_225^0 <= 0 /\ -__disjvr_8^post14+__disjvr_8^0 == 0 /\ rcd_59^0-rcd_59^post14 == 0 /\ __disjvr_6^0-__disjvr_6^post14 == 0 /\ -temp_35^post14+temp_35^0 == 0 /\ __disjvr_29^0-__disjvr_29^post14 == 0 /\ -__disjvr_18^post14+__disjvr_18^0 == 0 /\ i_95^0-i_95^post14 == 0 /\ y_25^0-y_25^post14 == 0 /\ -a_343^post14+a_343^0 == 0 /\ __disjvr_0^0-__disjvr_0^post14 == 0 /\ __disjvr_20^0-__disjvr_20^post14 == 0 /\ __disjvr_9^0-__disjvr_9^post14 == 0 /\ -__disjvr_23^post14+__disjvr_23^0 == 0 /\ -__disjvr_1^post14+__disjvr_1^0 == 0 /\ -__disjvr_2^post14+__disjvr_2^0 == 0 /\ __disjvr_4^0-__disjvr_4^post14 == 0 /\ -__disjvr_17^post14+__disjvr_17^0 == 0 /\ -__disjvr_7^post14+__disjvr_7^0 == 0 /\ a_225^0-a_225^post14 == 0 /\ -__disjvr_15^post14+__disjvr_15^0 == 0 /\ r_165^0-r_165^post14 == 0 /\ -x_131^post14+x_131^0 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post14 == 0 /\ head_SLAM_f_29^0-head_SLAM_f_29^post14 == 0 /\ tmp_34^0-tmp_34^post14 == 0 /\ -x_176^post14+x_176^0 == 0 /\ head_32^0-head_32^post14 == 0 /\ -__disjvr_26^post14+__disjvr_26^0 == 0), cost: 1
  17: l14 -> l17 : __disjvr_0^0'=__disjvr_0^post17, a_281^0'=a_281^post17, x_SLAM_f_24^0'=x_SLAM_f_24^post17, __disjvr_21^0'=__disjvr_21^post17, __disjvr_4^0'=__disjvr_4^post17, tail_14^0'=tail_14^post17, __disjvr_14^0'=__disjvr_14^post17, head_15^0'=head_15^post17, __disjvr_24^0'=__disjvr_24^post17, r_165^0'=r_165^post17, __disjvr_9^0'=__disjvr_9^post17, a_149^0'=a_149^post17, x_19^0'=x_19^post17, __disjvr_19^0'=__disjvr_19^post17, i_95^0'=i_95^post17, __disjvr_29^0'=__disjvr_29^post17, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post17, __disjvr_11^0'=__disjvr_11^post17, a_342^0'=a_342^post17, y_25^0'=y_25^post17, length_28^0'=length_28^post17, __disjvr_6^0'=__disjvr_6^post17, temp0_31^0'=temp0_31^post17, __disjvr_16^0'=__disjvr_16^post17, head_SLAM_f_29^0'=head_SLAM_f_29^post17, __disjvr_26^0'=__disjvr_26^post17, rcd_59^0'=rcd_59^post17, a_225^0'=a_225^post17, x_SLAM_f_17^0'=x_SLAM_f_17^post17, __disjvr_20^0'=__disjvr_20^post17, len_187^0'=len_187^post17, __disjvr_3^0'=__disjvr_3^post17, t_22^0'=t_22^post17, __disjvr_13^0'=__disjvr_13^post17, f_171^0'=f_171^post17, __disjvr_23^0'=__disjvr_23^post17, r_126^0'=r_126^post17, __disjvr_8^0'=__disjvr_8^post17, tmp_34^0'=tmp_34^post17, x_176^0'=x_176^post17, __disjvr_18^0'=__disjvr_18^post17, i_30^0'=i_30^post17, __disjvr_28^0'=__disjvr_28^post17, result_11^0'=result_11^post17, __disjvr_10^0'=__disjvr_10^post17, a_289^0'=a_289^post17, y_18^0'=y_18^post17, __disjvr_22^0'=__disjvr_22^post17, __disjvr_5^0'=__disjvr_5^post17, temp0_16^0'=temp0_16^post17, __disjvr_15^0'=__disjvr_15^post17, head_32^0'=head_32^post17, __disjvr_25^0'=__disjvr_25^post17, r_39^0'=r_39^post17, a_118^0'=a_118^post17, a_188^0'=a_188^post17, x_26^0'=x_26^post17, __disjvr_1^0'=__disjvr_1^post17, len_134^0'=len_134^post17, __disjvr_2^0'=__disjvr_2^post17, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post17, __disjvr_12^0'=__disjvr_12^post17, a_343^0'=a_343^post17, nondet_12^0'=nondet_12^post17, __disjvr_7^0'=__disjvr_7^post17, temp_35^0'=temp_35^post17, x_131^0'=x_131^post17, __disjvr_17^0'=__disjvr_17^post17, i_110^0'=i_110^post17, __disjvr_27^0'=__disjvr_27^post17, rcd_89^0'=rcd_89^post17, (0 == 0 /\ __disjvr_8^0-__disjvr_8^post17 == 0 /\ -a_149^0 <= 0 /\ __disjvr_0^0-__disjvr_0^post17 == 0 /\ -__disjvr_27^post17+__disjvr_27^0 == 0 /\ -r_39^post17+r_39^0 == 0 /\ -i_110^post17+i_110^0 == 0 /\ -x_176^post17+x_176^0 == 0 /\ -a_188^post17+a_188^0 == 0 /\ __disjvr_21^0-__disjvr_21^post17 == 0 /\ __disjvr_26^0-__disjvr_26^post17 == 0 /\ __disjvr_19^0-__disjvr_19^post17 == 0 /\ __disjvr_28^0-__disjvr_28^post17 == 0 /\ -nondet_12^post17+nondet_12^0 == 0 /\ __disjvr_6^0-__disjvr_6^post17 == 0 /\ __disjvr_13^0-__disjvr_13^post17 == 0 /\ -__disjvr_20^post17+__disjvr_20^0 == 0 /\ -x_26^post17+x_26^0 == 0 /\ temp0_31^0-temp0_31^post17 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post17 == 0 /\ -__disjvr_25^post17+__disjvr_25^0 == 0 /\ a_118^0-a_118^post17 == 0 /\ head_SLAM_f_29^0-head_SLAM_f_29^post17 == 0 /\ -t_22^post17+t_22^0 == 0 /\ -temp_35^post17+temp_35^0 == 0 /\ i_30^0-i_30^post17 == 0 /\ y_25^0-y_25^post17 == 0 /\ -tmp_34^post17+tmp_34^0 == 0 /\ -__disjvr_1^post17+__disjvr_1^0 == 0 /\ __disjvr_29^0-__disjvr_29^post17 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post17 == 0 /\ __disjvr_3^0-__disjvr_3^post17 == 0 /\ a_281^0-a_281^post17 == 0 /\ a_149^0-a_149^post17 == 0 /\ -r_165^post17+r_165^0 == 0 /\ -__disjvr_23^post17+__disjvr_23^0 == 0 /\ -__disjvr_15^post17+__disjvr_15^0 == 0 /\ -a_225^0 <= 0 /\ -__disjvr_17^post17+__disjvr_17^0 == 0 /\ -rcd_59^post17+rcd_59^0 == 0 /\ -x_131^post17+x_131^0 == 0 /\ a_289^0-a_289^post17 == 0 /\ __disjvr_24^0-__disjvr_24^post17 == 0 /\ i_95^0-i_95^post17 == 0 /\ a_342^0-a_342^post17 == 0 /\ a_225^0-a_225^post17 == 0 /\ __disjvr_11^0-__disjvr_11^post17 == 0 /\ __disjvr_5^0-__disjvr_5^post17 == 0 /\ -__disjvr_7^post17+__disjvr_7^0 == 0 /\ -__disjvr_12^post17+__disjvr_12^0 == 0 /\ -__disjvr_18^post17+__disjvr_18^0 == 0 /\ -len_134^post17+len_134^0 == 0 /\ __disjvr_14^0-__disjvr_14^post17 == 0 /\ __disjvr_16^0-__disjvr_16^post17 == 0 /\ __disjvr_9^0-__disjvr_9^post17 == 0 /\ __disjvr_4^0-__disjvr_4^post17 == 0 /\ f_171^0-f_171^post17 == 0 /\ -head_32^post17+head_32^0 == 0 /\ -result_11^post17+result_11^0 == 0 /\ -rcd_89^post17+rcd_89^0 == 0 /\ y_18^0-y_18^post17 == 0 /\ __disjvr_22^0-__disjvr_22^post17 == 0 /\ length_28^0-length_28^post17 == 0 /\ -x_19^post17+x_19^0 == 0 /\ -temp0_16^post17+temp0_16^0 == 0 /\ -len_187^post17+len_187^0 == 0 /\ r_126^0-r_126^post17 == 0 /\ __disjvr_10^0-__disjvr_10^post17 == 0 /\ -a_343^post17+a_343^0 == 0 /\ -__disjvr_2^post17+__disjvr_2^0 == 0), cost: 1
  15: l15 -> l16 : __disjvr_0^0'=__disjvr_0^post15, a_281^0'=a_281^post15, x_SLAM_f_24^0'=x_SLAM_f_24^post15, __disjvr_21^0'=__disjvr_21^post15, __disjvr_4^0'=__disjvr_4^post15, tail_14^0'=tail_14^post15, __disjvr_14^0'=__disjvr_14^post15, head_15^0'=head_15^post15, __disjvr_24^0'=__disjvr_24^post15, r_165^0'=r_165^post15, __disjvr_9^0'=__disjvr_9^post15, a_149^0'=a_149^post15, x_19^0'=x_19^post15, __disjvr_19^0'=__disjvr_19^post15, i_95^0'=i_95^post15, __disjvr_29^0'=__disjvr_29^post15, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post15, __disjvr_11^0'=__disjvr_11^post15, a_342^0'=a_342^post15, y_25^0'=y_25^post15, length_28^0'=length_28^post15, __disjvr_6^0'=__disjvr_6^post15, temp0_31^0'=temp0_31^post15, __disjvr_16^0'=__disjvr_16^post15, head_SLAM_f_29^0'=head_SLAM_f_29^post15, __disjvr_26^0'=__disjvr_26^post15, rcd_59^0'=rcd_59^post15, a_225^0'=a_225^post15, x_SLAM_f_17^0'=x_SLAM_f_17^post15, __disjvr_20^0'=__disjvr_20^post15, len_187^0'=len_187^post15, __disjvr_3^0'=__disjvr_3^post15, t_22^0'=t_22^post15, __disjvr_13^0'=__disjvr_13^post15, f_171^0'=f_171^post15, __disjvr_23^0'=__disjvr_23^post15, r_126^0'=r_126^post15, __disjvr_8^0'=__disjvr_8^post15, tmp_34^0'=tmp_34^post15, x_176^0'=x_176^post15, __disjvr_18^0'=__disjvr_18^post15, i_30^0'=i_30^post15, __disjvr_28^0'=__disjvr_28^post15, result_11^0'=result_11^post15, __disjvr_10^0'=__disjvr_10^post15, a_289^0'=a_289^post15, y_18^0'=y_18^post15, __disjvr_22^0'=__disjvr_22^post15, __disjvr_5^0'=__disjvr_5^post15, temp0_16^0'=temp0_16^post15, __disjvr_15^0'=__disjvr_15^post15, head_32^0'=head_32^post15, __disjvr_25^0'=__disjvr_25^post15, r_39^0'=r_39^post15, a_118^0'=a_118^post15, a_188^0'=a_188^post15, x_26^0'=x_26^post15, __disjvr_1^0'=__disjvr_1^post15, len_134^0'=len_134^post15, __disjvr_2^0'=__disjvr_2^post15, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post15, __disjvr_12^0'=__disjvr_12^post15, a_343^0'=a_343^post15, nondet_12^0'=nondet_12^post15, __disjvr_7^0'=__disjvr_7^post15, temp_35^0'=temp_35^post15, x_131^0'=x_131^post15, __disjvr_17^0'=__disjvr_17^post15, i_110^0'=i_110^post15, __disjvr_27^0'=__disjvr_27^post15, rcd_89^0'=rcd_89^post15, (r_165^0-r_165^post15 == 0 /\ temp0_31^0-temp0_31^post15 == 0 /\ -__disjvr_23^post15+__disjvr_23^0 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post15 == 0 /\ __disjvr_16^0-__disjvr_16^post15 == 0 /\ __disjvr_10^0-__disjvr_10^post15 == 0 /\ y_18^0-y_18^post15 == 0 /\ a_342^0-a_342^post15 == 0 /\ a_118^0-a_118^post15 == 0 /\ -__disjvr_7^post15+__disjvr_7^0 == 0 /\ i_30^0-i_30^post15 == 0 /\ -x_131^post15+x_131^0 == 0 /\ -__disjvr_17^post15+__disjvr_17^0 == 0 /\ tail_14^0-tail_14^post15 == 0 /\ __disjvr_24^0-__disjvr_24^post15 == 0 /\ -x_26^post15+x_26^0 == 0 /\ length_28^0-length_28^post15 == 0 /\ __disjvr_4^0-__disjvr_4^post15 == 0 /\ -len_134^post15+len_134^0 == 0 /\ a_188^0-a_188^post15 == 0 /\ -__disjvr_12^post15+__disjvr_12^0 == 0 /\ a_281^0-a_281^post15 == 0 /\ a_149^0-a_149^post15 == 0 /\ -a_343^post15+a_343^0 == 0 /\ -f_171^post15+f_171^0 == 0 /\ -head_32^post15+head_32^0 == 0 /\ -__disjvr_8^post15+__disjvr_8^0 == 0 /\ __disjvr_21^0-__disjvr_21^post15 == 0 /\ -__disjvr_18^post15+__disjvr_18^0 == 0 /\ -len_187^post15+len_187^0 == 0 /\ -rcd_89^post15+rcd_89^0 == 0 /\ -result_11^post15+result_11^0 == 0 /\ __disjvr_13^0-__disjvr_13^post15 == 0 /\ -x_19^post15+x_19^0 == 0 /\ rcd_59^0-rcd_59^post15 == 0 /\ -temp0_16^post15+temp0_16^0 == 0 /\ -__disjvr_4^0+__disjvr_4^post15 == 0 /\ __disjvr_28^0-__disjvr_28^post15 == 0 /\ __disjvr_11^0-__disjvr_11^post15 == 0 /\ __disjvr_9^0-__disjvr_9^post15 == 0 /\ __disjvr_22^0-__disjvr_22^post15 == 0 /\ -__disjvr_2^post15+__disjvr_2^0 == 0 /\ -__disjvr_1^post15+__disjvr_1^0 == 0 /\ -r_39^post15+r_39^0 == 0 /\ -i_110^post15+i_110^0 == 0 /\ -tmp_34^post15+tmp_34^0 == 0 /\ head_15^0-head_15^post15 == 0 /\ -a_289^post15+a_289^0 == 0 /\ -__disjvr_5^post15+__disjvr_5^0 == 0 /\ head_SLAM_f_29^0-head_SLAM_f_29^post15 == 0 /\ -__disjvr_27^post15+__disjvr_27^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post15+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ __disjvr_20^0-__disjvr_20^post15 == 0 /\ -__disjvr_19^post15+__disjvr_19^0 == 0 /\ r_126^0-r_126^post15 == 0 /\ -__disjvr_26^post15+__disjvr_26^0 == 0 /\ __disjvr_29^0-__disjvr_29^post15 == 0 /\ -nondet_12^post15+nondet_12^0 == 0 /\ __disjvr_3^0-__disjvr_3^post15 == 0 /\ -x_176^post15+x_176^0 == 0 /\ -t_22^post15+t_22^0 == 0 /\ y_25^0-y_25^post15 == 0 /\ -__disjvr_25^post15+__disjvr_25^0 == 0 /\ __disjvr_15^0-__disjvr_15^post15 == 0 /\ __disjvr_0^0-__disjvr_0^post15 == 0 /\ -x_SLAM_f_17^post15+x_SLAM_f_17^0 == 0 /\ -temp_35^post15+temp_35^0 == 0 /\ i_95^0-i_95^post15 == 0 /\ a_225^0-a_225^post15 == 0 /\ __disjvr_6^0-__disjvr_6^post15 == 0 /\ __disjvr_14^0-__disjvr_14^post15 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post15+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0), cost: 1
  16: l16 -> l4 : __disjvr_0^0'=__disjvr_0^post16, a_281^0'=a_281^post16, x_SLAM_f_24^0'=x_SLAM_f_24^post16, __disjvr_21^0'=__disjvr_21^post16, __disjvr_4^0'=__disjvr_4^post16, tail_14^0'=tail_14^post16, __disjvr_14^0'=__disjvr_14^post16, head_15^0'=head_15^post16, __disjvr_24^0'=__disjvr_24^post16, r_165^0'=r_165^post16, __disjvr_9^0'=__disjvr_9^post16, a_149^0'=a_149^post16, x_19^0'=x_19^post16, __disjvr_19^0'=__disjvr_19^post16, i_95^0'=i_95^post16, __disjvr_29^0'=__disjvr_29^post16, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post16, __disjvr_11^0'=__disjvr_11^post16, a_342^0'=a_342^post16, y_25^0'=y_25^post16, length_28^0'=length_28^post16, __disjvr_6^0'=__disjvr_6^post16, temp0_31^0'=temp0_31^post16, __disjvr_16^0'=__disjvr_16^post16, head_SLAM_f_29^0'=head_SLAM_f_29^post16, __disjvr_26^0'=__disjvr_26^post16, rcd_59^0'=rcd_59^post16, a_225^0'=a_225^post16, x_SLAM_f_17^0'=x_SLAM_f_17^post16, __disjvr_20^0'=__disjvr_20^post16, len_187^0'=len_187^post16, __disjvr_3^0'=__disjvr_3^post16, t_22^0'=t_22^post16, __disjvr_13^0'=__disjvr_13^post16, f_171^0'=f_171^post16, __disjvr_23^0'=__disjvr_23^post16, r_126^0'=r_126^post16, __disjvr_8^0'=__disjvr_8^post16, tmp_34^0'=tmp_34^post16, x_176^0'=x_176^post16, __disjvr_18^0'=__disjvr_18^post16, i_30^0'=i_30^post16, __disjvr_28^0'=__disjvr_28^post16, result_11^0'=result_11^post16, __disjvr_10^0'=__disjvr_10^post16, a_289^0'=a_289^post16, y_18^0'=y_18^post16, __disjvr_22^0'=__disjvr_22^post16, __disjvr_5^0'=__disjvr_5^post16, temp0_16^0'=temp0_16^post16, __disjvr_15^0'=__disjvr_15^post16, head_32^0'=head_32^post16, __disjvr_25^0'=__disjvr_25^post16, r_39^0'=r_39^post16, a_118^0'=a_118^post16, a_188^0'=a_188^post16, x_26^0'=x_26^post16, __disjvr_1^0'=__disjvr_1^post16, len_134^0'=len_134^post16, __disjvr_2^0'=__disjvr_2^post16, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post16, __disjvr_12^0'=__disjvr_12^post16, a_343^0'=a_343^post16, nondet_12^0'=nondet_12^post16, __disjvr_7^0'=__disjvr_7^post16, temp_35^0'=temp_35^post16, x_131^0'=x_131^post16, __disjvr_17^0'=__disjvr_17^post16, i_110^0'=i_110^post16, __disjvr_27^0'=__disjvr_27^post16, rcd_89^0'=rcd_89^post16, (-t_22^post16+t_22^0 == 0 /\ __disjvr_24^0-__disjvr_24^post16 == 0 /\ -x_SLAM_f_17^post16+x_SLAM_f_17^0 == 0 /\ -__disjvr_20^post16+__disjvr_20^0 == 0 /\ __disjvr_28^0-__disjvr_28^post16 == 0 /\ -result_11^post16+result_11^0 == 0 /\ -temp_35^post16+temp_35^0 == 0 /\ -a_188^post16+a_188^0 == 0 /\ r_165^0-r_165^post16 == 0 /\ __disjvr_8^0-__disjvr_8^post16 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post16 == 0 /\ y_18^0-y_18^post16 == 0 /\ a_342^0-a_342^post16 == 0 /\ -a_343^post16+a_343^0 == 0 /\ a_118^0-a_118^post16 == 0 /\ -__disjvr_25^post16+__disjvr_25^0 == 0 /\ -__disjvr_2^post16+__disjvr_2^0 == 0 /\ i_30^0-i_30^post16 == 0 /\ __disjvr_26^0-__disjvr_26^post16 == 0 /\ -__disjvr_1^post16+__disjvr_1^0 == 0 /\ -__disjvr_23^post16+__disjvr_23^0 == 0 /\ length_28^0-length_28^post16 == 0 /\ -__disjvr_7^post16+__disjvr_7^0 == 0 /\ -__disjvr_17^post16+__disjvr_17^0 == 0 /\ __disjvr_13^0-__disjvr_13^post16 == 0 /\ -x_131^post16+x_131^0 == 0 /\ __disjvr_11^0-__disjvr_11^post16 == 0 /\ __disjvr_29^0-__disjvr_29^post16 == 0 /\ __disjvr_3^0-__disjvr_3^post16 == 0 /\ a_281^0-a_281^post16 == 0 /\ -x_176^post16+x_176^0 == 0 /\ temp0_31^0-temp0_31^post16 == 0 /\ tail_14^0-tail_14^post16 == 0 /\ head_15^0-head_15^post16 == 0 /\ a_225^0-a_225^post16 == 0 /\ -head_32^post16+head_32^0 == 0 /\ -x_26^post16+x_26^0 == 0 /\ -rcd_89^post16+rcd_89^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ __disjvr_9^0-__disjvr_9^post16 == 0 /\ __disjvr_16^0-__disjvr_16^post16 == 0 /\ -x_19^post16+x_19^0 == 0 /\ a_149^0-a_149^post16 == 0 /\ len_187^0-len_187^post16 == 0 /\ -rcd_59^post16+rcd_59^0 == 0 /\ -temp0_16^post16+temp0_16^0 == 0 /\ -tmp_34^post16+tmp_34^0 == 0 /\ __disjvr_21^0-__disjvr_21^post16 == 0 /\ head_SLAM_f_29^0-head_SLAM_f_29^post16 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post16+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ __disjvr_19^0-__disjvr_19^post16 == 0 /\ r_126^0-r_126^post16 == 0 /\ -r_39^post16+r_39^0 == 0 /\ -a_289^post16+a_289^0 == 0 /\ -i_110^post16+i_110^0 == 0 /\ -__disjvr_27^post16+__disjvr_27^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post16+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ __disjvr_14^0-__disjvr_14^post16 == 0 /\ __disjvr_6^0-__disjvr_6^post16 == 0 /\ -__disjvr_5^post16+__disjvr_5^0 == 0 /\ __disjvr_22^0-__disjvr_22^post16 == 0 /\ y_25^0-y_25^post16 == 0 /\ __disjvr_15^0-__disjvr_15^post16 == 0 /\ __disjvr_4^0-__disjvr_4^post16 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ __disjvr_0^0-__disjvr_0^post16 == 0 /\ __disjvr_10^0-__disjvr_10^post16 == 0 /\ f_171^0-f_171^post16 == 0 /\ -__disjvr_18^post16+__disjvr_18^0 == 0 /\ -len_134^post16+len_134^0 == 0 /\ -nondet_12^post16+nondet_12^0 == 0 /\ i_95^0-i_95^post16 == 0 /\ -__disjvr_12^post16+__disjvr_12^0 == 0), cost: 1
  18: l17 -> l18 : __disjvr_0^0'=__disjvr_0^post18, a_281^0'=a_281^post18, x_SLAM_f_24^0'=x_SLAM_f_24^post18, __disjvr_21^0'=__disjvr_21^post18, __disjvr_4^0'=__disjvr_4^post18, tail_14^0'=tail_14^post18, __disjvr_14^0'=__disjvr_14^post18, head_15^0'=head_15^post18, __disjvr_24^0'=__disjvr_24^post18, r_165^0'=r_165^post18, __disjvr_9^0'=__disjvr_9^post18, a_149^0'=a_149^post18, x_19^0'=x_19^post18, __disjvr_19^0'=__disjvr_19^post18, i_95^0'=i_95^post18, __disjvr_29^0'=__disjvr_29^post18, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post18, __disjvr_11^0'=__disjvr_11^post18, a_342^0'=a_342^post18, y_25^0'=y_25^post18, length_28^0'=length_28^post18, __disjvr_6^0'=__disjvr_6^post18, temp0_31^0'=temp0_31^post18, __disjvr_16^0'=__disjvr_16^post18, head_SLAM_f_29^0'=head_SLAM_f_29^post18, __disjvr_26^0'=__disjvr_26^post18, rcd_59^0'=rcd_59^post18, a_225^0'=a_225^post18, x_SLAM_f_17^0'=x_SLAM_f_17^post18, __disjvr_20^0'=__disjvr_20^post18, len_187^0'=len_187^post18, __disjvr_3^0'=__disjvr_3^post18, t_22^0'=t_22^post18, __disjvr_13^0'=__disjvr_13^post18, f_171^0'=f_171^post18, __disjvr_23^0'=__disjvr_23^post18, r_126^0'=r_126^post18, __disjvr_8^0'=__disjvr_8^post18, tmp_34^0'=tmp_34^post18, x_176^0'=x_176^post18, __disjvr_18^0'=__disjvr_18^post18, i_30^0'=i_30^post18, __disjvr_28^0'=__disjvr_28^post18, result_11^0'=result_11^post18, __disjvr_10^0'=__disjvr_10^post18, a_289^0'=a_289^post18, y_18^0'=y_18^post18, __disjvr_22^0'=__disjvr_22^post18, __disjvr_5^0'=__disjvr_5^post18, temp0_16^0'=temp0_16^post18, __disjvr_15^0'=__disjvr_15^post18, head_32^0'=head_32^post18, __disjvr_25^0'=__disjvr_25^post18, r_39^0'=r_39^post18, a_118^0'=a_118^post18, a_188^0'=a_188^post18, x_26^0'=x_26^post18, __disjvr_1^0'=__disjvr_1^post18, len_134^0'=len_134^post18, __disjvr_2^0'=__disjvr_2^post18, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post18, __disjvr_12^0'=__disjvr_12^post18, a_343^0'=a_343^post18, nondet_12^0'=nondet_12^post18, __disjvr_7^0'=__disjvr_7^post18, temp_35^0'=temp_35^post18, x_131^0'=x_131^post18, __disjvr_17^0'=__disjvr_17^post18, i_110^0'=i_110^post18, __disjvr_27^0'=__disjvr_27^post18, rcd_89^0'=rcd_89^post18, (i_30^0-i_30^post18 == 0 /\ -x_26^post18+x_26^0 == 0 /\ __disjvr_26^0-__disjvr_26^post18 == 0 /\ __disjvr_21^0-__disjvr_21^post18 == 0 /\ __disjvr_19^0-__disjvr_19^post18 == 0 /\ a_188^0-a_188^post18 == 0 /\ __disjvr_3^0-__disjvr_3^post18 == 0 /\ -__disjvr_1^post18+__disjvr_1^0 == 0 /\ -rcd_89^post18+rcd_89^0 == 0 /\ __disjvr_13^0-__disjvr_13^post18 == 0 /\ x_19^0-x_19^post18 == 0 /\ -temp0_16^post18+temp0_16^0 == 0 /\ __disjvr_10^0-__disjvr_10^post18 == 0 /\ __disjvr_14^0-__disjvr_14^post18 == 0 /\ -len_187^post18+len_187^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post18+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ __disjvr_4^0-__disjvr_4^post18 == 0 /\ __disjvr_0^0-__disjvr_0^post18 == 0 /\ tail_14^0-tail_14^post18 == 0 /\ -tmp_34^post18+tmp_34^0 == 0 /\ __disjvr_22^0-__disjvr_22^post18 == 0 /\ -nondet_12^post18+nondet_12^0 == 0 /\ -__disjvr_27^post18+__disjvr_27^0 == 0 /\ -a_289^post18+a_289^0 == 0 /\ -rcd_59^post18+rcd_59^0 == 0 /\ __disjvr_16^0-__disjvr_16^post18 == 0 /\ -r_39^post18+r_39^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post18 == 0 /\ len_134^0-len_134^post18 == 0 /\ __disjvr_8^0-__disjvr_8^post18 == 0 /\ __disjvr_28^0-__disjvr_28^post18 == 0 /\ a_118^0-a_118^post18 == 0 /\ -i_110^post18+i_110^0 == 0 /\ -result_11^post18+result_11^0 == 0 /\ -__disjvr_12^post18+__disjvr_12^0 == 0 /\ -r_126^post18+r_126^0 == 0 /\ __disjvr_24^0-__disjvr_24^post18 == 0 /\ -a_149^post18+a_149^0 == 0 /\ __disjvr_11^0-__disjvr_11^post18 == 0 /\ __disjvr_29^0-__disjvr_29^post18 == 0 /\ head_SLAM_f_29^0-head_SLAM_f_29^post18 == 0 /\ -__disjvr_18^post18+__disjvr_18^0 == 0 /\ __disjvr_5^0-__disjvr_5^post18 == 0 /\ -__disjvr_25^post18+__disjvr_25^0 == 0 /\ a_281^0-a_281^post18 == 0 /\ -temp_35^post18+temp_35^0 == 0 /\ f_171^0-f_171^post18 == 0 /\ __disjvr_20^0-__disjvr_20^post18 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post18 == 0 /\ -a_343^post18+a_343^0 == 0 /\ -__disjvr_2^post18+__disjvr_2^0 == 0 /\ i_95^0-i_95^post18 == 0 /\ head_15^0-head_15^post18 == 0 /\ -__disjvr_15^post18+__disjvr_15^0 == 0 /\ r_165^0-r_165^post18 == 0 /\ t_22^0-t_22^post18 == 0 /\ -__disjvr_5^0+__disjvr_5^post18 == 0 /\ -x_131^post18+x_131^0 == 0 /\ __disjvr_9^0-__disjvr_9^post18 == 0 /\ temp0_31^0-temp0_31^post18 == 0 /\ a_342^0-a_342^post18 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post18 == 0 /\ head_32^0-head_32^post18 == 0 /\ -a_225^post18+a_225^0 == 0 /\ -x_176^post18+x_176^0 == 0 /\ -__disjvr_7^post18+__disjvr_7^0 == 0 /\ -__disjvr_6^post18+__disjvr_6^0 == 0 /\ -__disjvr_23^post18+__disjvr_23^0 == 0 /\ -__disjvr_17^post18+__disjvr_17^0 == 0 /\ y_18^0-y_18^post18 == 0 /\ length_28^0-length_28^post18 == 0 /\ -y_25^post18+y_25^0 == 0), cost: 1
  19: l18 -> l19 : __disjvr_0^0'=__disjvr_0^post19, a_281^0'=a_281^post19, x_SLAM_f_24^0'=x_SLAM_f_24^post19, __disjvr_21^0'=__disjvr_21^post19, __disjvr_4^0'=__disjvr_4^post19, tail_14^0'=tail_14^post19, __disjvr_14^0'=__disjvr_14^post19, head_15^0'=head_15^post19, __disjvr_24^0'=__disjvr_24^post19, r_165^0'=r_165^post19, __disjvr_9^0'=__disjvr_9^post19, a_149^0'=a_149^post19, x_19^0'=x_19^post19, __disjvr_19^0'=__disjvr_19^post19, i_95^0'=i_95^post19, __disjvr_29^0'=__disjvr_29^post19, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post19, __disjvr_11^0'=__disjvr_11^post19, a_342^0'=a_342^post19, y_25^0'=y_25^post19, length_28^0'=length_28^post19, __disjvr_6^0'=__disjvr_6^post19, temp0_31^0'=temp0_31^post19, __disjvr_16^0'=__disjvr_16^post19, head_SLAM_f_29^0'=head_SLAM_f_29^post19, __disjvr_26^0'=__disjvr_26^post19, rcd_59^0'=rcd_59^post19, a_225^0'=a_225^post19, x_SLAM_f_17^0'=x_SLAM_f_17^post19, __disjvr_20^0'=__disjvr_20^post19, len_187^0'=len_187^post19, __disjvr_3^0'=__disjvr_3^post19, t_22^0'=t_22^post19, __disjvr_13^0'=__disjvr_13^post19, f_171^0'=f_171^post19, __disjvr_23^0'=__disjvr_23^post19, r_126^0'=r_126^post19, __disjvr_8^0'=__disjvr_8^post19, tmp_34^0'=tmp_34^post19, x_176^0'=x_176^post19, __disjvr_18^0'=__disjvr_18^post19, i_30^0'=i_30^post19, __disjvr_28^0'=__disjvr_28^post19, result_11^0'=result_11^post19, __disjvr_10^0'=__disjvr_10^post19, a_289^0'=a_289^post19, y_18^0'=y_18^post19, __disjvr_22^0'=__disjvr_22^post19, __disjvr_5^0'=__disjvr_5^post19, temp0_16^0'=temp0_16^post19, __disjvr_15^0'=__disjvr_15^post19, head_32^0'=head_32^post19, __disjvr_25^0'=__disjvr_25^post19, r_39^0'=r_39^post19, a_118^0'=a_118^post19, a_188^0'=a_188^post19, x_26^0'=x_26^post19, __disjvr_1^0'=__disjvr_1^post19, len_134^0'=len_134^post19, __disjvr_2^0'=__disjvr_2^post19, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post19, __disjvr_12^0'=__disjvr_12^post19, a_343^0'=a_343^post19, nondet_12^0'=nondet_12^post19, __disjvr_7^0'=__disjvr_7^post19, temp_35^0'=temp_35^post19, x_131^0'=x_131^post19, __disjvr_17^0'=__disjvr_17^post19, i_110^0'=i_110^post19, __disjvr_27^0'=__disjvr_27^post19, rcd_89^0'=rcd_89^post19, (len_134^0-len_134^post19 == 0 /\ x_19^0-x_19^post19 == 0 /\ __disjvr_14^0-__disjvr_14^post19 == 0 /\ y_18^0-y_18^post19 == 0 /\ __disjvr_10^0-__disjvr_10^post19 == 0 /\ __disjvr_4^0-__disjvr_4^post19 == 0 /\ __disjvr_28^0-__disjvr_28^post19 == 0 /\ -head_15^0+x_SLAM_f_17^0 <= 0 /\ -rcd_59^post19+rcd_59^0 == 0 /\ -__disjvr_23^post19+__disjvr_23^0 == 0 /\ length_28^0-length_28^post19 == 0 /\ __disjvr_22^0-__disjvr_22^post19 == 0 /\ a_118^0-a_118^post19 == 0 /\ -a_225^post19+a_225^0 == 0 /\ i_30^0-i_30^post19 == 0 /\ -__disjvr_7^post19+__disjvr_7^0 == 0 /\ a_281^0-a_281^post19 == 0 /\ -result_11^post19+result_11^0 == 0 /\ __disjvr_3^0-__disjvr_3^post19 == 0 /\ -__disjvr_11^post19+__disjvr_11^0 == 0 /\ a_188^0-a_188^post19 == 0 /\ -__disjvr_17^post19+__disjvr_17^0 == 0 /\ -__disjvr_12^post19+__disjvr_12^0 == 0 /\ -x_131^post19+x_131^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post19 == 0 /\ -x_26^post19+x_26^0 == 0 /\ temp0_31^0-temp0_31^post19 == 0 /\ __disjvr_8^0-__disjvr_8^post19 == 0 /\ -__disjvr_18^post19+__disjvr_18^0 == 0 /\ -x_176^post19+x_176^0 == 0 /\ head_15^0-x_SLAM_f_17^0 <= 0 /\ i_95^0-i_95^post19 == 0 /\ -temp0_16^post19+temp0_16^0 == 0 /\ __disjvr_24^0-__disjvr_24^post19 == 0 /\ -f_171^post19+f_171^0 == 0 /\ __disjvr_21^0-__disjvr_21^post19 == 0 /\ -head_32^post19+head_32^0 == 0 /\ __disjvr_19^0-__disjvr_19^post19 == 0 /\ -len_187^post19+len_187^0 == 0 /\ __disjvr_13^0-__disjvr_13^post19 == 0 /\ -__disjvr_2^post19+__disjvr_2^0 == 0 /\ -rcd_89^post19+rcd_89^0 == 0 /\ __disjvr_16^0-__disjvr_16^post19 == 0 /\ -a_343^post19+a_343^0 == 0 /\ nondet_12^0-nondet_12^post19 == 0 /\ -a_289^post19+a_289^0 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post19 == 0 /\ -r_39^post19+r_39^0 == 0 /\ -__disjvr_6^post19+__disjvr_6^0 == 0 /\ r_126^0-r_126^post19 == 0 /\ __disjvr_29^0-__disjvr_29^post19 == 0 /\ -tail_14^0+y_18^0 <= 0 /\ head_SLAM_f_29^0-head_SLAM_f_29^post19 == 0 /\ -y_25^post19+y_25^0 == 0 /\ -a_149^post19+a_149^0 == 0 /\ i_110^0-i_110^post19 == 0 /\ -x_19^0+t_22^post19 == 0 /\ -head_15^post19+head_15^0 == 0 /\ -__disjvr_25^post19+__disjvr_25^0 == 0 /\ -__disjvr_1^post19+__disjvr_1^0 == 0 /\ -__disjvr_9^post19+__disjvr_9^0 == 0 /\ -__disjvr_20^post19+__disjvr_20^0 == 0 /\ tail_14^0-tail_14^post19 == 0 /\ __disjvr_0^0-__disjvr_0^post19 == 0 /\ __disjvr_15^0-__disjvr_15^post19 == 0 /\ -temp_35^post19+temp_35^0 == 0 /\ __disjvr_5^0-__disjvr_5^post19 == 0 /\ __disjvr_26^0-__disjvr_26^post19 == 0 /\ -tmp_34^post19+tmp_34^0 == 0 /\ tail_14^0-y_18^0 <= 0 /\ r_165^0-r_165^post19 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post19+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ __disjvr_27^0-__disjvr_27^post19 == 0 /\ a_342^0-a_342^post19 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post19 == 0), cost: 1
  20: l19 -> l20 : __disjvr_0^0'=__disjvr_0^post20, a_281^0'=a_281^post20, x_SLAM_f_24^0'=x_SLAM_f_24^post20, __disjvr_21^0'=__disjvr_21^post20, __disjvr_4^0'=__disjvr_4^post20, tail_14^0'=tail_14^post20, __disjvr_14^0'=__disjvr_14^post20, head_15^0'=head_15^post20, __disjvr_24^0'=__disjvr_24^post20, r_165^0'=r_165^post20, __disjvr_9^0'=__disjvr_9^post20, a_149^0'=a_149^post20, x_19^0'=x_19^post20, __disjvr_19^0'=__disjvr_19^post20, i_95^0'=i_95^post20, __disjvr_29^0'=__disjvr_29^post20, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post20, __disjvr_11^0'=__disjvr_11^post20, a_342^0'=a_342^post20, y_25^0'=y_25^post20, length_28^0'=length_28^post20, __disjvr_6^0'=__disjvr_6^post20, temp0_31^0'=temp0_31^post20, __disjvr_16^0'=__disjvr_16^post20, head_SLAM_f_29^0'=head_SLAM_f_29^post20, __disjvr_26^0'=__disjvr_26^post20, rcd_59^0'=rcd_59^post20, a_225^0'=a_225^post20, x_SLAM_f_17^0'=x_SLAM_f_17^post20, __disjvr_20^0'=__disjvr_20^post20, len_187^0'=len_187^post20, __disjvr_3^0'=__disjvr_3^post20, t_22^0'=t_22^post20, __disjvr_13^0'=__disjvr_13^post20, f_171^0'=f_171^post20, __disjvr_23^0'=__disjvr_23^post20, r_126^0'=r_126^post20, __disjvr_8^0'=__disjvr_8^post20, tmp_34^0'=tmp_34^post20, x_176^0'=x_176^post20, __disjvr_18^0'=__disjvr_18^post20, i_30^0'=i_30^post20, __disjvr_28^0'=__disjvr_28^post20, result_11^0'=result_11^post20, __disjvr_10^0'=__disjvr_10^post20, a_289^0'=a_289^post20, y_18^0'=y_18^post20, __disjvr_22^0'=__disjvr_22^post20, __disjvr_5^0'=__disjvr_5^post20, temp0_16^0'=temp0_16^post20, __disjvr_15^0'=__disjvr_15^post20, head_32^0'=head_32^post20, __disjvr_25^0'=__disjvr_25^post20, r_39^0'=r_39^post20, a_118^0'=a_118^post20, a_188^0'=a_188^post20, x_26^0'=x_26^post20, __disjvr_1^0'=__disjvr_1^post20, len_134^0'=len_134^post20, __disjvr_2^0'=__disjvr_2^post20, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post20, __disjvr_12^0'=__disjvr_12^post20, a_343^0'=a_343^post20, nondet_12^0'=nondet_12^post20, __disjvr_7^0'=__disjvr_7^post20, temp_35^0'=temp_35^post20, x_131^0'=x_131^post20, __disjvr_17^0'=__disjvr_17^post20, i_110^0'=i_110^post20, __disjvr_27^0'=__disjvr_27^post20, rcd_89^0'=rcd_89^post20, (x_SLAM_f_24^0-x_SLAM_f_24^post20 == 0 /\ -__disjvr_25^post20+__disjvr_25^0 == 0 /\ -__disjvr_18^post20+__disjvr_18^0 == 0 /\ -x_176^post20+x_176^0 == 0 /\ r_165^0-r_165^post20 == 0 /\ __disjvr_2^0-__disjvr_2^post20 == 0 /\ -len_134^post20+len_134^0 == 0 /\ -__disjvr_12^post20+__disjvr_12^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post20 == 0 /\ temp0_31^0-temp0_31^post20 == 0 /\ -__disjvr_20^post20+__disjvr_20^0 == 0 /\ -x_SLAM_f_17^post20+x_SLAM_f_17^0 == 0 /\ a_342^0-a_342^post20 == 0 /\ __disjvr_6^post20-__disjvr_6^0 == 0 /\ y_18^0-y_18^post20 == 0 /\ __disjvr_28^0-__disjvr_28^post20 == 0 /\ -temp_35^post20+temp_35^0 == 0 /\ length_28^0-length_28^post20 == 0 /\ a_118^0-a_118^post20 == 0 /\ __disjvr_24^0-__disjvr_24^post20 == 0 /\ __disjvr_13^0-__disjvr_13^post20 == 0 /\ __disjvr_3^0-__disjvr_3^post20 == 0 /\ __disjvr_29^0-__disjvr_29^post20 == 0 /\ a_281^0-a_281^post20 == 0 /\ tail_14^0-tail_14^post20 == 0 /\ head_SLAM_f_29^0-head_SLAM_f_29^post20 == 0 /\ a_188^0-a_188^post20 == 0 /\ -__disjvr_16^post20+__disjvr_16^0 == 0 /\ -a_343^post20+a_343^0 == 0 /\ __disjvr_21^0-__disjvr_21^post20 == 0 /\ -__disjvr_23^post20+__disjvr_23^0 == 0 /\ -__disjvr_6^post20+__disjvr_6^0 == 0 /\ x_19^0-x_19^post20 == 0 /\ -__disjvr_7^post20+__disjvr_7^0 == 0 /\ -__disjvr_17^post20+__disjvr_17^0 == 0 /\ -x_131^post20+x_131^0 == 0 /\ -y_25^post20+y_25^0 == 0 /\ -__disjvr_22^post20+__disjvr_22^0 == 0 /\ -__disjvr_11^post20+__disjvr_11^0 == 0 /\ a_225^0-a_225^post20 == 0 /\ -head_15^post20+head_15^0 == 0 /\ t_22^0-t_22^post20 == 0 /\ __disjvr_9^0-__disjvr_9^post20 == 0 /\ -__disjvr_1^post20+__disjvr_1^0 == 0 /\ -temp0_16^post20+temp0_16^0 == 0 /\ __disjvr_4^0-__disjvr_4^post20 == 0 /\ -nondet_12^post20+nondet_12^0 == 0 /\ __disjvr_8^0-__disjvr_8^post20 == 0 /\ -rcd_89^post20+rcd_89^0 == 0 /\ -head_32^post20+head_32^0 == 0 /\ -tmp_34^post20+tmp_34^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post20+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -rcd_59^post20+rcd_59^0 == 0 /\ len_187^0-len_187^post20 == 0 /\ __disjvr_19^0-__disjvr_19^post20 == 0 /\ -a_289^post20+a_289^0 == 0 /\ __disjvr_26^0-__disjvr_26^post20 == 0 /\ i_30^0-i_30^post20 == 0 /\ r_126^0-r_126^post20 == 0 /\ -r_39^post20+r_39^0 == 0 /\ __disjvr_10^0-__disjvr_10^post20 == 0 /\ __disjvr_14^0-__disjvr_14^post20 == 0 /\ -result_11^post20+result_11^0 == 0 /\ i_95^0-i_95^post20 == 0 /\ -__disjvr_5^post20+__disjvr_5^0 == 0 /\ -__disjvr_27^post20+__disjvr_27^0 == 0 /\ -i_110^post20+i_110^0 == 0 /\ -x_26^post20+x_26^0 == 0 /\ f_171^0-f_171^post20 == 0 /\ __disjvr_15^0-__disjvr_15^post20 == 0 /\ __disjvr_0^0-__disjvr_0^post20 == 0 /\ -a_149^post20+a_149^0 == 0), cost: 1
  21: l20 -> l21 : __disjvr_0^0'=__disjvr_0^post21, a_281^0'=a_281^post21, x_SLAM_f_24^0'=x_SLAM_f_24^post21, __disjvr_21^0'=__disjvr_21^post21, __disjvr_4^0'=__disjvr_4^post21, tail_14^0'=tail_14^post21, __disjvr_14^0'=__disjvr_14^post21, head_15^0'=head_15^post21, __disjvr_24^0'=__disjvr_24^post21, r_165^0'=r_165^post21, __disjvr_9^0'=__disjvr_9^post21, a_149^0'=a_149^post21, x_19^0'=x_19^post21, __disjvr_19^0'=__disjvr_19^post21, i_95^0'=i_95^post21, __disjvr_29^0'=__disjvr_29^post21, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post21, __disjvr_11^0'=__disjvr_11^post21, a_342^0'=a_342^post21, y_25^0'=y_25^post21, length_28^0'=length_28^post21, __disjvr_6^0'=__disjvr_6^post21, temp0_31^0'=temp0_31^post21, __disjvr_16^0'=__disjvr_16^post21, head_SLAM_f_29^0'=head_SLAM_f_29^post21, __disjvr_26^0'=__disjvr_26^post21, rcd_59^0'=rcd_59^post21, a_225^0'=a_225^post21, x_SLAM_f_17^0'=x_SLAM_f_17^post21, __disjvr_20^0'=__disjvr_20^post21, len_187^0'=len_187^post21, __disjvr_3^0'=__disjvr_3^post21, t_22^0'=t_22^post21, __disjvr_13^0'=__disjvr_13^post21, f_171^0'=f_171^post21, __disjvr_23^0'=__disjvr_23^post21, r_126^0'=r_126^post21, __disjvr_8^0'=__disjvr_8^post21, tmp_34^0'=tmp_34^post21, x_176^0'=x_176^post21, __disjvr_18^0'=__disjvr_18^post21, i_30^0'=i_30^post21, __disjvr_28^0'=__disjvr_28^post21, result_11^0'=result_11^post21, __disjvr_10^0'=__disjvr_10^post21, a_289^0'=a_289^post21, y_18^0'=y_18^post21, __disjvr_22^0'=__disjvr_22^post21, __disjvr_5^0'=__disjvr_5^post21, temp0_16^0'=temp0_16^post21, __disjvr_15^0'=__disjvr_15^post21, head_32^0'=head_32^post21, __disjvr_25^0'=__disjvr_25^post21, r_39^0'=r_39^post21, a_118^0'=a_118^post21, a_188^0'=a_188^post21, x_26^0'=x_26^post21, __disjvr_1^0'=__disjvr_1^post21, len_134^0'=len_134^post21, __disjvr_2^0'=__disjvr_2^post21, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post21, __disjvr_12^0'=__disjvr_12^post21, a_343^0'=a_343^post21, nondet_12^0'=nondet_12^post21, __disjvr_7^0'=__disjvr_7^post21, temp_35^0'=temp_35^post21, x_131^0'=x_131^post21, __disjvr_17^0'=__disjvr_17^post21, i_110^0'=i_110^post21, __disjvr_27^0'=__disjvr_27^post21, rcd_89^0'=rcd_89^post21, (-tmp_34^post21+tmp_34^0 == 0 /\ -a_188^post21+a_188^0 == 0 /\ -__disjvr_2^post21+__disjvr_2^0 == 0 /\ __disjvr_18^0-__disjvr_18^post21 == 0 /\ __disjvr_0^0-__disjvr_0^post21 == 0 /\ __disjvr_26^0-__disjvr_26^post21 == 0 /\ -a_343^post21+a_343^0 == 0 /\ __disjvr_24^0-__disjvr_24^post21 == 0 /\ -y_25^post21+y_25^0 == 0 /\ __disjvr_13^0-__disjvr_13^post21 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post21 == 0 /\ -__disjvr_6^post21+__disjvr_6^0 == 0 /\ __disjvr_19^0-__disjvr_19^post21 == 0 /\ r_165^0-r_165^post21 == 0 /\ -__disjvr_27^post21+__disjvr_27^0 == 0 /\ __disjvr_21^0-__disjvr_21^post21 == 0 /\ -x_176^post21+x_176^0 == 0 /\ a_342^0-a_342^post21 == 0 /\ -i_110^post21+i_110^0 == 0 /\ -r_39^post21+r_39^0 == 0 /\ x_19^0-x_19^post21 == 0 /\ __disjvr_16^0-__disjvr_16^post21 == 0 /\ -__disjvr_17^post21+__disjvr_17^0 == 0 /\ -__disjvr_20^post21+__disjvr_20^0 == 0 /\ -x_SLAM_f_17^post21+x_SLAM_f_17^0 == 0 /\ -i_30^post21+i_30^0 == 0 /\ -__disjvr_1^post21+__disjvr_1^0 == 0 /\ a_118^0-a_118^post21 == 0 /\ __disjvr_3^0-__disjvr_3^post21 == 0 /\ -rcd_59^post21+rcd_59^0 == 0 /\ head_15^0-head_15^post21 == 0 /\ a_281^0-a_281^post21 == 0 /\ tail_14^0-tail_14^post21 == 0 /\ -temp_35^post21+temp_35^0 == 0 /\ head_SLAM_f_29^0-head_SLAM_f_29^post21 == 0 /\ __disjvr_8^0-__disjvr_8^post21 == 0 /\ -__disjvr_29^post21+__disjvr_29^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post21+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ temp0_31^0-temp0_31^post21 == 0 /\ len_187^0-len_187^post21 == 0 /\ -y_18^post21+y_18^0 == 0 /\ a_289^0-a_289^post21 == 0 /\ i_95^0-i_95^post21 == 0 /\ __disjvr_9^0-__disjvr_9^post21 == 0 /\ -x_26^post21+x_26^0 == 0 /\ -__disjvr_23^post21+__disjvr_23^0 == 0 /\ a_225^0-a_225^post21 == 0 /\ -__disjvr_7^post21+__disjvr_7^0 == 0 /\ -r_126^post21+r_126^0 == 0 /\ t_22^0-t_22^post21 == 0 /\ a_149^0-a_149^post21 == 0 /\ -result_11^post21+result_11^0 == 0 /\ -__disjvr_15^post21+__disjvr_15^0 == 0 /\ -x_131^post21+x_131^0 == 0 /\ __disjvr_5^0-__disjvr_5^post21 == 0 /\ -__disjvr_22^post21+__disjvr_22^0 == 0 /\ -__disjvr_11^post21+__disjvr_11^0 == 0 /\ __disjvr_14^0-__disjvr_14^post21 == 0 /\ __disjvr_10^0-__disjvr_10^post21 == 0 /\ __disjvr_28^0-__disjvr_28^post21 == 0 /\ f_171^0-f_171^post21 == 0 /\ -__disjvr_12^post21+__disjvr_12^0 == 0 /\ __disjvr_25^0-__disjvr_25^post21 == 0 /\ length_28^0-length_28^post21 == 0 /\ -temp0_16^post21+temp0_16^0 == 0 /\ -nondet_12^post21+nondet_12^0 == 0 /\ __disjvr_7^post21-__disjvr_7^0 == 0 /\ -head_32^post21+head_32^0 == 0 /\ -rcd_89^post21+rcd_89^0 == 0 /\ -len_134^post21+len_134^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post21 == 0 /\ __disjvr_4^0-__disjvr_4^post21 == 0), cost: 1
  22: l21 -> l22 : __disjvr_0^0'=__disjvr_0^post22, a_281^0'=a_281^post22, x_SLAM_f_24^0'=x_SLAM_f_24^post22, __disjvr_21^0'=__disjvr_21^post22, __disjvr_4^0'=__disjvr_4^post22, tail_14^0'=tail_14^post22, __disjvr_14^0'=__disjvr_14^post22, head_15^0'=head_15^post22, __disjvr_24^0'=__disjvr_24^post22, r_165^0'=r_165^post22, __disjvr_9^0'=__disjvr_9^post22, a_149^0'=a_149^post22, x_19^0'=x_19^post22, __disjvr_19^0'=__disjvr_19^post22, i_95^0'=i_95^post22, __disjvr_29^0'=__disjvr_29^post22, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post22, __disjvr_11^0'=__disjvr_11^post22, a_342^0'=a_342^post22, y_25^0'=y_25^post22, length_28^0'=length_28^post22, __disjvr_6^0'=__disjvr_6^post22, temp0_31^0'=temp0_31^post22, __disjvr_16^0'=__disjvr_16^post22, head_SLAM_f_29^0'=head_SLAM_f_29^post22, __disjvr_26^0'=__disjvr_26^post22, rcd_59^0'=rcd_59^post22, a_225^0'=a_225^post22, x_SLAM_f_17^0'=x_SLAM_f_17^post22, __disjvr_20^0'=__disjvr_20^post22, len_187^0'=len_187^post22, __disjvr_3^0'=__disjvr_3^post22, t_22^0'=t_22^post22, __disjvr_13^0'=__disjvr_13^post22, f_171^0'=f_171^post22, __disjvr_23^0'=__disjvr_23^post22, r_126^0'=r_126^post22, __disjvr_8^0'=__disjvr_8^post22, tmp_34^0'=tmp_34^post22, x_176^0'=x_176^post22, __disjvr_18^0'=__disjvr_18^post22, i_30^0'=i_30^post22, __disjvr_28^0'=__disjvr_28^post22, result_11^0'=result_11^post22, __disjvr_10^0'=__disjvr_10^post22, a_289^0'=a_289^post22, y_18^0'=y_18^post22, __disjvr_22^0'=__disjvr_22^post22, __disjvr_5^0'=__disjvr_5^post22, temp0_16^0'=temp0_16^post22, __disjvr_15^0'=__disjvr_15^post22, head_32^0'=head_32^post22, __disjvr_25^0'=__disjvr_25^post22, r_39^0'=r_39^post22, a_118^0'=a_118^post22, a_188^0'=a_188^post22, x_26^0'=x_26^post22, __disjvr_1^0'=__disjvr_1^post22, len_134^0'=len_134^post22, __disjvr_2^0'=__disjvr_2^post22, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post22, __disjvr_12^0'=__disjvr_12^post22, a_343^0'=a_343^post22, nondet_12^0'=nondet_12^post22, __disjvr_7^0'=__disjvr_7^post22, temp_35^0'=temp_35^post22, x_131^0'=x_131^post22, __disjvr_17^0'=__disjvr_17^post22, i_110^0'=i_110^post22, __disjvr_27^0'=__disjvr_27^post22, rcd_89^0'=rcd_89^post22, (a_289^0-a_289^post22 == 0 /\ __disjvr_13^0-__disjvr_13^post22 == 0 /\ __disjvr_19^0-__disjvr_19^post22 == 0 /\ -a_225^post22+a_225^0 == 0 /\ __disjvr_21^0-__disjvr_21^post22 == 0 /\ tail_14^0-tail_14^post22 == 0 /\ __disjvr_14^0-__disjvr_14^post22 == 0 /\ len_187^0-len_187^post22 == 0 /\ -temp0_16^post22+temp0_16^0 == 0 /\ __disjvr_3^0-__disjvr_3^post22 == 0 /\ -__disjvr_10^post22+__disjvr_10^0 == 0 /\ -__disjvr_1^post22+__disjvr_1^0 == 0 /\ -head_32^post22+head_32^0 == 0 /\ -nondet_12^post22+nondet_12^0 == 0 /\ -rcd_59^post22+rcd_59^0 == 0 /\ -i_30^post22+i_30^0 == 0 /\ x_19^0-x_19^post22 == 0 /\ -rcd_89^post22+rcd_89^0 == 0 /\ -a_118^post22+a_118^0 == 0 /\ -__disjvr_8^0+__disjvr_8^post22 == 0 /\ __disjvr_6^0-__disjvr_6^post22 == 0 /\ __disjvr_0^0-__disjvr_0^post22 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post22+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ __disjvr_18^0-__disjvr_18^post22 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post22 == 0 /\ __disjvr_24^0-__disjvr_24^post22 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post22 == 0 /\ r_165^0-r_165^post22 == 0 /\ -x_26^post22+x_26^0 == 0 /\ __disjvr_16^0-__disjvr_16^post22 == 0 /\ -i_110^post22+i_110^0 == 0 /\ -__disjvr_27^post22+__disjvr_27^0 == 0 /\ -r_126^post22+r_126^0 == 0 /\ __disjvr_8^0-__disjvr_8^post22 == 0 /\ head_SLAM_f_29^0-head_SLAM_f_29^post22 == 0 /\ a_343^0-a_343^post22 == 0 /\ result_11^0-result_11^post22 == 0 /\ -r_39^post22+r_39^0 == 0 /\ -__disjvr_20^post22+__disjvr_20^0 == 0 /\ a_281^0-a_281^post22 == 0 /\ -__disjvr_12^post22+__disjvr_12^0 == 0 /\ -temp_35^post22+temp_35^0 == 0 /\ a_149^0-a_149^post22 == 0 /\ -x_131^post22+x_131^0 == 0 /\ -__disjvr_17^post22+__disjvr_17^0 == 0 /\ __disjvr_29^0-__disjvr_29^post22 == 0 /\ __disjvr_11^0-__disjvr_11^post22 == 0 /\ __disjvr_5^0-__disjvr_5^post22 == 0 /\ __disjvr_7^0-__disjvr_7^post22 == 0 /\ -y_18^post22+y_18^0 == 0 /\ -__disjvr_4^post22+__disjvr_4^0 == 0 /\ -len_134^post22+len_134^0 == 0 /\ f_171^0-f_171^post22 == 0 /\ __disjvr_9^0-__disjvr_9^post22 == 0 /\ i_95^0-i_95^post22 == 0 /\ __disjvr_25^0-__disjvr_25^post22 == 0 /\ head_15^0-head_15^post22 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post22 == 0 /\ a_342^0-a_342^post22 == 0 /\ -tmp_34^post22+tmp_34^0 == 0 /\ -a_188^post22+a_188^0 == 0 /\ temp0_31^0-temp0_31^post22 == 0 /\ t_22^0-t_22^post22 == 0 /\ -__disjvr_2^post22+__disjvr_2^0 == 0 /\ -__disjvr_23^post22+__disjvr_23^0 == 0 /\ __disjvr_28^0-__disjvr_28^post22 == 0 /\ -y_25^post22+y_25^0 == 0 /\ length_28^0-length_28^post22 == 0 /\ -__disjvr_22^post22+__disjvr_22^0 == 0 /\ -__disjvr_15^post22+__disjvr_15^0 == 0 /\ -x_176^post22+x_176^0 == 0 /\ __disjvr_26^0-__disjvr_26^post22 == 0), cost: 1
  23: l22 -> l6 : __disjvr_0^0'=__disjvr_0^post23, a_281^0'=a_281^post23, x_SLAM_f_24^0'=x_SLAM_f_24^post23, __disjvr_21^0'=__disjvr_21^post23, __disjvr_4^0'=__disjvr_4^post23, tail_14^0'=tail_14^post23, __disjvr_14^0'=__disjvr_14^post23, head_15^0'=head_15^post23, __disjvr_24^0'=__disjvr_24^post23, r_165^0'=r_165^post23, __disjvr_9^0'=__disjvr_9^post23, a_149^0'=a_149^post23, x_19^0'=x_19^post23, __disjvr_19^0'=__disjvr_19^post23, i_95^0'=i_95^post23, __disjvr_29^0'=__disjvr_29^post23, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post23, __disjvr_11^0'=__disjvr_11^post23, a_342^0'=a_342^post23, y_25^0'=y_25^post23, length_28^0'=length_28^post23, __disjvr_6^0'=__disjvr_6^post23, temp0_31^0'=temp0_31^post23, __disjvr_16^0'=__disjvr_16^post23, head_SLAM_f_29^0'=head_SLAM_f_29^post23, __disjvr_26^0'=__disjvr_26^post23, rcd_59^0'=rcd_59^post23, a_225^0'=a_225^post23, x_SLAM_f_17^0'=x_SLAM_f_17^post23, __disjvr_20^0'=__disjvr_20^post23, len_187^0'=len_187^post23, __disjvr_3^0'=__disjvr_3^post23, t_22^0'=t_22^post23, __disjvr_13^0'=__disjvr_13^post23, f_171^0'=f_171^post23, __disjvr_23^0'=__disjvr_23^post23, r_126^0'=r_126^post23, __disjvr_8^0'=__disjvr_8^post23, tmp_34^0'=tmp_34^post23, x_176^0'=x_176^post23, __disjvr_18^0'=__disjvr_18^post23, i_30^0'=i_30^post23, __disjvr_28^0'=__disjvr_28^post23, result_11^0'=result_11^post23, __disjvr_10^0'=__disjvr_10^post23, a_289^0'=a_289^post23, y_18^0'=y_18^post23, __disjvr_22^0'=__disjvr_22^post23, __disjvr_5^0'=__disjvr_5^post23, temp0_16^0'=temp0_16^post23, __disjvr_15^0'=__disjvr_15^post23, head_32^0'=head_32^post23, __disjvr_25^0'=__disjvr_25^post23, r_39^0'=r_39^post23, a_118^0'=a_118^post23, a_188^0'=a_188^post23, x_26^0'=x_26^post23, __disjvr_1^0'=__disjvr_1^post23, len_134^0'=len_134^post23, __disjvr_2^0'=__disjvr_2^post23, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post23, __disjvr_12^0'=__disjvr_12^post23, a_343^0'=a_343^post23, nondet_12^0'=nondet_12^post23, __disjvr_7^0'=__disjvr_7^post23, temp_35^0'=temp_35^post23, x_131^0'=x_131^post23, __disjvr_17^0'=__disjvr_17^post23, i_110^0'=i_110^post23, __disjvr_27^0'=__disjvr_27^post23, rcd_89^0'=rcd_89^post23, (-r_126^post23+r_126^0 == 0 /\ -__disjvr_11^post23+__disjvr_11^0 == 0 /\ __disjvr_16^0-__disjvr_16^post23 == 0 /\ -__disjvr_7^post23+__disjvr_7^0 == 0 /\ -__disjvr_23^post23+__disjvr_23^0 == 0 /\ len_134^0-len_134^post23 == 0 /\ x_19^0-x_19^post23 == 0 /\ __disjvr_14^0-__disjvr_14^post23 == 0 /\ length_28^0-length_28^post23 == 0 /\ r_165^0-r_165^post23 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post23+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_26^post23+x_26^0 == 0 /\ -__disjvr_28^post23+__disjvr_28^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post23 == 0 /\ -__disjvr_17^post23+__disjvr_17^0 == 0 /\ a_289^0-a_289^post23 == 0 /\ __disjvr_24^0-__disjvr_24^post23 == 0 /\ tail_14^0-tail_14^post23 == 0 /\ -__disjvr_22^post23+__disjvr_22^0 == 0 /\ temp0_31^0-temp0_31^post23 == 0 /\ a_281^0-a_281^post23 == 0 /\ __disjvr_3^0-__disjvr_3^post23 == 0 /\ -__disjvr_15^post23+__disjvr_15^0 == 0 /\ __disjvr_4^0-__disjvr_4^post23 == 0 /\ -rcd_89^post23+rcd_89^0 == 0 /\ x_176^0-x_176^post23 == 0 /\ __disjvr_8^0-__disjvr_8^post23 == 0 /\ -__disjvr_12^post23+__disjvr_12^0 == 0 /\ -a_225^post23+a_225^0 == 0 /\ -temp0_16^post23+temp0_16^0 == 0 /\ i_95^0-i_95^post23 == 0 /\ a_343^0-a_343^post23 == 0 /\ -head_SLAM_f_29^post23+head_SLAM_f_29^0 == 0 /\ rcd_59^0-rcd_59^post23 == 0 /\ -head_32^post23+head_32^0 == 0 /\ __disjvr_19^0-__disjvr_19^post23 == 0 /\ -nondet_12^post23+nondet_12^0 == 0 /\ __disjvr_21^0-__disjvr_21^post23 == 0 /\ len_187^0-len_187^post23 == 0 /\ -__disjvr_13^post23+__disjvr_13^0 == 0 /\ -a_188^post23+a_188^0 == 0 /\ f_171^0-f_171^post23 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -__disjvr_2^post23+__disjvr_2^0 == 0 /\ __disjvr_25^0-__disjvr_25^post23 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post23 == 0 /\ -r_39^post23+r_39^0 == 0 /\ -__disjvr_27^post23+__disjvr_27^0 == 0 /\ -head_15^post23+head_15^0 == 0 /\ __disjvr_20^0-__disjvr_20^post23 == 0 /\ -y_25^post23+y_25^0 == 0 /\ __disjvr_29^0-__disjvr_29^post23 == 0 /\ -__disjvr_6^post23+__disjvr_6^0 == 0 /\ -__disjvr_10^post23+__disjvr_10^0 == 0 /\ -a_118^post23+a_118^0 == 0 /\ i_110^0-i_110^post23 == 0 /\ __disjvr_0^0-__disjvr_0^post23 == 0 /\ -temp_35^post23+temp_35^0 == 0 /\ -x_131^post23+x_131^0 == 0 /\ -a_149^post23+a_149^0 == 0 /\ __disjvr_9^0-__disjvr_9^post23 == 0 /\ __disjvr_26^0-__disjvr_26^post23 == 0 /\ __disjvr_18^0-__disjvr_18^post23 == 0 /\ -i_30^post23+i_30^0 == 0 /\ -y_18^post23+y_18^0 == 0 /\ result_11^0-result_11^post23 == 0 /\ a_342^0-a_342^post23 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -__disjvr_1^post23+__disjvr_1^0 == 0 /\ __disjvr_5^0-__disjvr_5^post23 == 0 /\ t_22^0-t_22^post23 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post23 == 0 /\ -tmp_34^post23+tmp_34^0 == 0), cost: 1
  24: l23 -> l24 : __disjvr_0^0'=__disjvr_0^post24, a_281^0'=a_281^post24, x_SLAM_f_24^0'=x_SLAM_f_24^post24, __disjvr_21^0'=__disjvr_21^post24, __disjvr_4^0'=__disjvr_4^post24, tail_14^0'=tail_14^post24, __disjvr_14^0'=__disjvr_14^post24, head_15^0'=head_15^post24, __disjvr_24^0'=__disjvr_24^post24, r_165^0'=r_165^post24, __disjvr_9^0'=__disjvr_9^post24, a_149^0'=a_149^post24, x_19^0'=x_19^post24, __disjvr_19^0'=__disjvr_19^post24, i_95^0'=i_95^post24, __disjvr_29^0'=__disjvr_29^post24, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post24, __disjvr_11^0'=__disjvr_11^post24, a_342^0'=a_342^post24, y_25^0'=y_25^post24, length_28^0'=length_28^post24, __disjvr_6^0'=__disjvr_6^post24, temp0_31^0'=temp0_31^post24, __disjvr_16^0'=__disjvr_16^post24, head_SLAM_f_29^0'=head_SLAM_f_29^post24, __disjvr_26^0'=__disjvr_26^post24, rcd_59^0'=rcd_59^post24, a_225^0'=a_225^post24, x_SLAM_f_17^0'=x_SLAM_f_17^post24, __disjvr_20^0'=__disjvr_20^post24, len_187^0'=len_187^post24, __disjvr_3^0'=__disjvr_3^post24, t_22^0'=t_22^post24, __disjvr_13^0'=__disjvr_13^post24, f_171^0'=f_171^post24, __disjvr_23^0'=__disjvr_23^post24, r_126^0'=r_126^post24, __disjvr_8^0'=__disjvr_8^post24, tmp_34^0'=tmp_34^post24, x_176^0'=x_176^post24, __disjvr_18^0'=__disjvr_18^post24, i_30^0'=i_30^post24, __disjvr_28^0'=__disjvr_28^post24, result_11^0'=result_11^post24, __disjvr_10^0'=__disjvr_10^post24, a_289^0'=a_289^post24, y_18^0'=y_18^post24, __disjvr_22^0'=__disjvr_22^post24, __disjvr_5^0'=__disjvr_5^post24, temp0_16^0'=temp0_16^post24, __disjvr_15^0'=__disjvr_15^post24, head_32^0'=head_32^post24, __disjvr_25^0'=__disjvr_25^post24, r_39^0'=r_39^post24, a_118^0'=a_118^post24, a_188^0'=a_188^post24, x_26^0'=x_26^post24, __disjvr_1^0'=__disjvr_1^post24, len_134^0'=len_134^post24, __disjvr_2^0'=__disjvr_2^post24, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post24, __disjvr_12^0'=__disjvr_12^post24, a_343^0'=a_343^post24, nondet_12^0'=nondet_12^post24, __disjvr_7^0'=__disjvr_7^post24, temp_35^0'=temp_35^post24, x_131^0'=x_131^post24, __disjvr_17^0'=__disjvr_17^post24, i_110^0'=i_110^post24, __disjvr_27^0'=__disjvr_27^post24, rcd_89^0'=rcd_89^post24, (0 == 0 /\ a_342^0-a_342^post24 == 0 /\ __disjvr_9^0-__disjvr_9^post24 == 0 /\ -a_149^0 <= 0 /\ -__disjvr_15^post24+__disjvr_15^0 == 0 /\ -len_134^post24+len_134^0 == 0 /\ -__disjvr_23^post24+__disjvr_23^0 == 0 /\ __disjvr_2^0-__disjvr_2^post24 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post24 == 0 /\ __disjvr_3^0-__disjvr_3^post24 == 0 /\ x_176^0-x_176^post24 == 0 /\ -__disjvr_7^post24+__disjvr_7^0 == 0 /\ -__disjvr_12^post24+__disjvr_12^0 == 0 /\ length_28^0-length_28^post24 == 0 /\ -head_SLAM_f_29^post24+head_SLAM_f_29^0 == 0 /\ r_165^0-r_165^post24 == 0 /\ -y_18^post24+y_18^0 == 0 /\ __disjvr_21^0-__disjvr_21^post24 == 0 /\ -temp0_16^post24+temp0_16^0 == 0 /\ -__disjvr_16^post24+__disjvr_16^0 == 0 /\ rcd_59^0-rcd_59^post24 == 0 /\ __disjvr_19^0-__disjvr_19^post24 == 0 /\ -__disjvr_11^post24+__disjvr_11^0 == 0 /\ __disjvr_29^0-__disjvr_29^post24 == 0 /\ i_95^0-i_95^post24 == 0 /\ -a_343^post24+a_343^0 == 0 /\ result_11^0-result_11^post24 == 0 /\ -__disjvr_17^post24+__disjvr_17^0 == 0 /\ __disjvr_14^0-__disjvr_14^post24 == 0 /\ -y_25^post24+y_25^0 == 0 /\ __disjvr_6^0-__disjvr_6^post24 == 0 /\ x_19^0-x_19^post24 == 0 /\ __disjvr_18^0-__disjvr_18^post24 == 0 /\ -x_131^post24+x_131^0 == 0 /\ -__disjvr_22^post24+__disjvr_22^0 == 0 /\ __disjvr_0^0-__disjvr_0^post24 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post24 == 0 /\ __disjvr_4^0-__disjvr_4^post24 == 0 /\ __disjvr_28^0-__disjvr_28^post24 == 0 /\ t_22^0-t_22^post24 == 0 /\ -__disjvr_1^post24+__disjvr_1^0 == 0 /\ -r_39^post24+r_39^0 == 0 /\ -__disjvr_13^post24+__disjvr_13^0 == 0 /\ -a_225^post24+a_225^0 == 0 /\ f_171^0-f_171^post24 == 0 /\ temp0_31^0-temp0_31^post24 == 0 /\ -a_118^post24+a_118^0 == 0 /\ nondet_12^0-nondet_12^post24 == 0 /\ -a_188^post24+a_188^0 == 0 /\ -rcd_89^post24+rcd_89^0 == 0 /\ __disjvr_8^0-__disjvr_8^post24 == 0 /\ a_149^0-a_149^post24 == 0 /\ -i_30^post24+i_30^0 == 0 /\ head_32^0-head_32^post24 == 0 /\ -__disjvr_10^post24+__disjvr_10^0 == 0 /\ __disjvr_26^0-__disjvr_26^post24 == 0 /\ -tmp_34^post24+tmp_34^0 == 0 /\ __disjvr_24^0-__disjvr_24^post24 == 0 /\ -x_26^post24+x_26^0 == 0 /\ a_281^0-a_281^post24 == 0 /\ -__disjvr_25^post24+__disjvr_25^0 == 0 /\ -r_126^post24+r_126^0 == 0 /\ len_187^0-len_187^post24 == 0 /\ -i_110^post24+i_110^0 == 0 /\ -__disjvr_20^post24+__disjvr_20^0 == 0 /\ -__disjvr_27^post24+__disjvr_27^0 == 0 /\ __disjvr_5^0-__disjvr_5^post24 == 0 /\ -temp_35^post24+temp_35^0 == 0 /\ -len_134^0 <= 0), cost: 1
  25: l24 -> l25 : __disjvr_0^0'=__disjvr_0^post25, a_281^0'=a_281^post25, x_SLAM_f_24^0'=x_SLAM_f_24^post25, __disjvr_21^0'=__disjvr_21^post25, __disjvr_4^0'=__disjvr_4^post25, tail_14^0'=tail_14^post25, __disjvr_14^0'=__disjvr_14^post25, head_15^0'=head_15^post25, __disjvr_24^0'=__disjvr_24^post25, r_165^0'=r_165^post25, __disjvr_9^0'=__disjvr_9^post25, a_149^0'=a_149^post25, x_19^0'=x_19^post25, __disjvr_19^0'=__disjvr_19^post25, i_95^0'=i_95^post25, __disjvr_29^0'=__disjvr_29^post25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post25, __disjvr_11^0'=__disjvr_11^post25, a_342^0'=a_342^post25, y_25^0'=y_25^post25, length_28^0'=length_28^post25, __disjvr_6^0'=__disjvr_6^post25, temp0_31^0'=temp0_31^post25, __disjvr_16^0'=__disjvr_16^post25, head_SLAM_f_29^0'=head_SLAM_f_29^post25, __disjvr_26^0'=__disjvr_26^post25, rcd_59^0'=rcd_59^post25, a_225^0'=a_225^post25, x_SLAM_f_17^0'=x_SLAM_f_17^post25, __disjvr_20^0'=__disjvr_20^post25, len_187^0'=len_187^post25, __disjvr_3^0'=__disjvr_3^post25, t_22^0'=t_22^post25, __disjvr_13^0'=__disjvr_13^post25, f_171^0'=f_171^post25, __disjvr_23^0'=__disjvr_23^post25, r_126^0'=r_126^post25, __disjvr_8^0'=__disjvr_8^post25, tmp_34^0'=tmp_34^post25, x_176^0'=x_176^post25, __disjvr_18^0'=__disjvr_18^post25, i_30^0'=i_30^post25, __disjvr_28^0'=__disjvr_28^post25, result_11^0'=result_11^post25, __disjvr_10^0'=__disjvr_10^post25, a_289^0'=a_289^post25, y_18^0'=y_18^post25, __disjvr_22^0'=__disjvr_22^post25, __disjvr_5^0'=__disjvr_5^post25, temp0_16^0'=temp0_16^post25, __disjvr_15^0'=__disjvr_15^post25, head_32^0'=head_32^post25, __disjvr_25^0'=__disjvr_25^post25, r_39^0'=r_39^post25, a_118^0'=a_118^post25, a_188^0'=a_188^post25, x_26^0'=x_26^post25, __disjvr_1^0'=__disjvr_1^post25, len_134^0'=len_134^post25, __disjvr_2^0'=__disjvr_2^post25, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post25, __disjvr_12^0'=__disjvr_12^post25, a_343^0'=a_343^post25, nondet_12^0'=nondet_12^post25, __disjvr_7^0'=__disjvr_7^post25, temp_35^0'=temp_35^post25, x_131^0'=x_131^post25, __disjvr_17^0'=__disjvr_17^post25, i_110^0'=i_110^post25, __disjvr_27^0'=__disjvr_27^post25, rcd_89^0'=rcd_89^post25, (__disjvr_8^0-__disjvr_8^post25 == 0 /\ x_176^0-x_176^post25 == 0 /\ -__disjvr_2^post25+__disjvr_2^0 == 0 /\ __disjvr_9^0-__disjvr_9^post25 == 0 /\ -__disjvr_20^post25+__disjvr_20^0 == 0 /\ -a_343^post25+a_343^0 == 0 /\ -__disjvr_6^post25+__disjvr_6^0 == 0 /\ -temp_35^post25+temp_35^0 == 0 /\ -__disjvr_27^post25+__disjvr_27^0 == 0 /\ -__disjvr_16^post25+__disjvr_16^0 == 0 /\ a_149^0-a_149^post25 == 0 /\ tmp_34^0-tmp_34^post25 == 0 /\ -i_110^post25+i_110^0 == 0 /\ __disjvr_21^0-__disjvr_21^post25 == 0 /\ len_187^0-len_187^post25 == 0 /\ result_11^0-result_11^post25 == 0 /\ __disjvr_19^0-__disjvr_19^post25 == 0 /\ __disjvr_14^0-__disjvr_14^post25 == 0 /\ -__disjvr_17^post25+__disjvr_17^0 == 0 /\ -__disjvr_15^post25+__disjvr_15^0 == 0 /\ rcd_59^0-rcd_59^post25 == 0 /\ -i_95^post25+i_95^0 == 0 /\ -__disjvr_23^post25+__disjvr_23^0 == 0 /\ -__disjvr_9^0+__disjvr_9^post25 == 0 /\ -a_118^post25+a_118^0 == 0 /\ len_134^0-len_134^post25 == 0 /\ -__disjvr_1^post25+__disjvr_1^0 == 0 /\ -a_188^post25+a_188^0 == 0 /\ __disjvr_12^0-__disjvr_12^post25 == 0 /\ -__disjvr_7^post25+__disjvr_7^0 == 0 /\ y_25^0-y_25^post25 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post25 == 0 /\ -t_22^post25+t_22^0 == 0 /\ -__disjvr_10^post25+__disjvr_10^0 == 0 /\ __disjvr_4^0-__disjvr_4^post25 == 0 /\ f_171^0-f_171^post25 == 0 /\ -y_18^post25+y_18^0 == 0 /\ -temp0_16^post25+temp0_16^0 == 0 /\ -a_225^post25+a_225^0 == 0 /\ head_32^0-head_32^post25 == 0 /\ -x_26^post25+x_26^0 == 0 /\ __disjvr_0^0-__disjvr_0^post25 == 0 /\ __disjvr_24^0-__disjvr_24^post25 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post25 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post25+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ r_165^0-r_165^post25 == 0 /\ __disjvr_11^0-__disjvr_11^post25 == 0 /\ -__disjvr_28^post25+__disjvr_28^0 == 0 /\ __disjvr_26^0-__disjvr_26^post25 == 0 /\ -x_131^post25+x_131^0 == 0 /\ -__disjvr_22^post25+__disjvr_22^0 == 0 /\ a_342^0-a_342^post25 == 0 /\ __disjvr_3^0-__disjvr_3^post25 == 0 /\ x_19^0-x_19^post25 == 0 /\ __disjvr_5^0-__disjvr_5^post25 == 0 /\ i_30^0-i_30^post25 == 0 /\ -__disjvr_13^post25+__disjvr_13^0 == 0 /\ length_28^0-length_28^post25 == 0 /\ -r_39^post25+r_39^0 == 0 /\ -nondet_12^post25+nondet_12^0 == 0 /\ __disjvr_25^0-__disjvr_25^post25 == 0 /\ __disjvr_29^0-__disjvr_29^post25 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post25 == 0 /\ head_15^0-head_15^post25 == 0 /\ a_281^0-a_281^post25 == 0 /\ -__disjvr_18^post25+__disjvr_18^0 == 0 /\ -rcd_89^post25+rcd_89^0 == 0 /\ -r_126^post25+r_126^0 == 0 /\ tail_14^0-tail_14^post25 == 0 /\ -head_SLAM_f_29^post25+head_SLAM_f_29^0 == 0 /\ a_289^0-a_289^post25 == 0 /\ temp0_31^0-temp0_31^post25 == 0), cost: 1
  26: l25 -> l26 : __disjvr_0^0'=__disjvr_0^post26, a_281^0'=a_281^post26, x_SLAM_f_24^0'=x_SLAM_f_24^post26, __disjvr_21^0'=__disjvr_21^post26, __disjvr_4^0'=__disjvr_4^post26, tail_14^0'=tail_14^post26, __disjvr_14^0'=__disjvr_14^post26, head_15^0'=head_15^post26, __disjvr_24^0'=__disjvr_24^post26, r_165^0'=r_165^post26, __disjvr_9^0'=__disjvr_9^post26, a_149^0'=a_149^post26, x_19^0'=x_19^post26, __disjvr_19^0'=__disjvr_19^post26, i_95^0'=i_95^post26, __disjvr_29^0'=__disjvr_29^post26, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post26, __disjvr_11^0'=__disjvr_11^post26, a_342^0'=a_342^post26, y_25^0'=y_25^post26, length_28^0'=length_28^post26, __disjvr_6^0'=__disjvr_6^post26, temp0_31^0'=temp0_31^post26, __disjvr_16^0'=__disjvr_16^post26, head_SLAM_f_29^0'=head_SLAM_f_29^post26, __disjvr_26^0'=__disjvr_26^post26, rcd_59^0'=rcd_59^post26, a_225^0'=a_225^post26, x_SLAM_f_17^0'=x_SLAM_f_17^post26, __disjvr_20^0'=__disjvr_20^post26, len_187^0'=len_187^post26, __disjvr_3^0'=__disjvr_3^post26, t_22^0'=t_22^post26, __disjvr_13^0'=__disjvr_13^post26, f_171^0'=f_171^post26, __disjvr_23^0'=__disjvr_23^post26, r_126^0'=r_126^post26, __disjvr_8^0'=__disjvr_8^post26, tmp_34^0'=tmp_34^post26, x_176^0'=x_176^post26, __disjvr_18^0'=__disjvr_18^post26, i_30^0'=i_30^post26, __disjvr_28^0'=__disjvr_28^post26, result_11^0'=result_11^post26, __disjvr_10^0'=__disjvr_10^post26, a_289^0'=a_289^post26, y_18^0'=y_18^post26, __disjvr_22^0'=__disjvr_22^post26, __disjvr_5^0'=__disjvr_5^post26, temp0_16^0'=temp0_16^post26, __disjvr_15^0'=__disjvr_15^post26, head_32^0'=head_32^post26, __disjvr_25^0'=__disjvr_25^post26, r_39^0'=r_39^post26, a_118^0'=a_118^post26, a_188^0'=a_188^post26, x_26^0'=x_26^post26, __disjvr_1^0'=__disjvr_1^post26, len_134^0'=len_134^post26, __disjvr_2^0'=__disjvr_2^post26, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post26, __disjvr_12^0'=__disjvr_12^post26, a_343^0'=a_343^post26, nondet_12^0'=nondet_12^post26, __disjvr_7^0'=__disjvr_7^post26, temp_35^0'=temp_35^post26, x_131^0'=x_131^post26, __disjvr_17^0'=__disjvr_17^post26, i_110^0'=i_110^post26, __disjvr_27^0'=__disjvr_27^post26, rcd_89^0'=rcd_89^post26, (0 == 0 /\ head_15^0-t_22^post26 <= 0 /\ a_281^0-a_281^post26 == 0 /\ result_11^0-result_11^post26 == 0 /\ -head_15^0+x_SLAM_f_17^0 <= 0 /\ -__disjvr_13^post26+__disjvr_13^0 == 0 /\ a_289^0-a_289^post26 == 0 /\ -a_289^0 <= 0 /\ tmp_34^0-tmp_34^post26 == 0 /\ -__disjvr_1^post26+__disjvr_1^0 == 0 /\ -nondet_12^post26+nondet_12^0 == 0 /\ __disjvr_14^0-__disjvr_14^post26 == 0 /\ -y_25^post26+y_25^0 == 0 /\ -rcd_89^post26+rcd_89^0 == 0 /\ a_342^0-a_342^post26 == 0 /\ rcd_59^0-rcd_59^post26 == 0 /\ __disjvr_5^0-__disjvr_5^post26 == 0 /\ -__disjvr_10^post26+__disjvr_10^0 == 0 /\ -head_15^0+t_22^post26 <= 0 /\ __disjvr_12^0-__disjvr_12^post26 == 0 /\ __disjvr_2^0-__disjvr_2^post26 == 0 /\ head_15^0-x_SLAM_f_17^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post26 == 0 /\ -__disjvr_20^post26+__disjvr_20^0 == 0 /\ -x_26^post26+x_26^0 == 0 /\ __disjvr_4^0-__disjvr_4^post26 == 0 /\ f_171^0-f_171^post26 == 0 /\ -__disjvr_27^post26+__disjvr_27^0 == 0 /\ -a_118^post26+a_118^0 == 0 /\ -__disjvr_9^post26+__disjvr_9^0 == 0 /\ length_28^0-length_28^post26 == 0 /\ x_176^0-x_176^post26 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post26+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ __disjvr_24^0-__disjvr_24^post26 == 0 /\ -a_149^post26+a_149^0 == 0 /\ -__disjvr_28^post26+__disjvr_28^0 == 0 /\ head_32^0-head_32^post26 == 0 /\ -i_110^post26+i_110^0 == 0 /\ len_134^0-len_134^post26 == 0 /\ -r_39^post26+r_39^0 == 0 /\ __disjvr_29^0-__disjvr_29^post26 == 0 /\ -y_18^post26+y_18^0 == 0 /\ -temp_35^post26+temp_35^0 == 0 /\ tail_14^0-tail_14^post26 == 0 /\ -x_131^post26+x_131^0 == 0 /\ -__disjvr_17^post26+__disjvr_17^0 == 0 /\ __disjvr_26^0-__disjvr_26^post26 == 0 /\ len_187^0-len_187^post26 == 0 /\ -i_95^post26+i_95^0 == 0 /\ -x_19^0+t_22^post26 == 0 /\ -__disjvr_11^post26+__disjvr_11^0 == 0 /\ -a_281^0+a_149^0+a_225^post26 <= 0 /\ a_289^0 <= 0 /\ __disjvr_19^0-__disjvr_19^post26 == 0 /\ -tail_14^0+y_18^0 <= 0 /\ -r_126^post26+r_126^0 == 0 /\ -__disjvr_18^post26+__disjvr_18^0 == 0 /\ -__disjvr_25^post26+__disjvr_25^0 == 0 /\ __disjvr_21^0-__disjvr_21^post26 == 0 /\ __disjvr_15^0-__disjvr_15^post26 == 0 /\ __disjvr_0^0-__disjvr_0^post26 == 0 /\ -head_SLAM_f_29^post26+head_SLAM_f_29^0 == 0 /\ -__disjvr_7^post26+__disjvr_7^0 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post26 == 0 /\ r_165^0-r_165^post26 == 0 /\ -a_188^post26+a_188^0 == 0 /\ head_15^0-head_15^post26 == 0 /\ -__disjvr_3^post26+__disjvr_3^0 == 0 /\ -__disjvr_6^post26+__disjvr_6^0 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post26 == 0 /\ x_19^0-x_19^post26 == 0 /\ -temp0_16^post26+temp0_16^0 == 0 /\ temp0_31^0-temp0_31^post26 == 0 /\ a_281^0-a_149^0-a_225^post26 <= 0 /\ -a_343^post26+a_343^0 == 0 /\ tail_14^0-y_18^0 <= 0 /\ i_30^0-i_30^post26 == 0 /\ __disjvr_23^0-__disjvr_23^post26 == 0 /\ __disjvr_8^0-__disjvr_8^post26 == 0 /\ -__disjvr_16^post26+__disjvr_16^0 == 0 /\ -__disjvr_22^post26+__disjvr_22^0 == 0), cost: 1
  27: l26 -> l27 : __disjvr_0^0'=__disjvr_0^post27, a_281^0'=a_281^post27, x_SLAM_f_24^0'=x_SLAM_f_24^post27, __disjvr_21^0'=__disjvr_21^post27, __disjvr_4^0'=__disjvr_4^post27, tail_14^0'=tail_14^post27, __disjvr_14^0'=__disjvr_14^post27, head_15^0'=head_15^post27, __disjvr_24^0'=__disjvr_24^post27, r_165^0'=r_165^post27, __disjvr_9^0'=__disjvr_9^post27, a_149^0'=a_149^post27, x_19^0'=x_19^post27, __disjvr_19^0'=__disjvr_19^post27, i_95^0'=i_95^post27, __disjvr_29^0'=__disjvr_29^post27, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post27, __disjvr_11^0'=__disjvr_11^post27, a_342^0'=a_342^post27, y_25^0'=y_25^post27, length_28^0'=length_28^post27, __disjvr_6^0'=__disjvr_6^post27, temp0_31^0'=temp0_31^post27, __disjvr_16^0'=__disjvr_16^post27, head_SLAM_f_29^0'=head_SLAM_f_29^post27, __disjvr_26^0'=__disjvr_26^post27, rcd_59^0'=rcd_59^post27, a_225^0'=a_225^post27, x_SLAM_f_17^0'=x_SLAM_f_17^post27, __disjvr_20^0'=__disjvr_20^post27, len_187^0'=len_187^post27, __disjvr_3^0'=__disjvr_3^post27, t_22^0'=t_22^post27, __disjvr_13^0'=__disjvr_13^post27, f_171^0'=f_171^post27, __disjvr_23^0'=__disjvr_23^post27, r_126^0'=r_126^post27, __disjvr_8^0'=__disjvr_8^post27, tmp_34^0'=tmp_34^post27, x_176^0'=x_176^post27, __disjvr_18^0'=__disjvr_18^post27, i_30^0'=i_30^post27, __disjvr_28^0'=__disjvr_28^post27, result_11^0'=result_11^post27, __disjvr_10^0'=__disjvr_10^post27, a_289^0'=a_289^post27, y_18^0'=y_18^post27, __disjvr_22^0'=__disjvr_22^post27, __disjvr_5^0'=__disjvr_5^post27, temp0_16^0'=temp0_16^post27, __disjvr_15^0'=__disjvr_15^post27, head_32^0'=head_32^post27, __disjvr_25^0'=__disjvr_25^post27, r_39^0'=r_39^post27, a_118^0'=a_118^post27, a_188^0'=a_188^post27, x_26^0'=x_26^post27, __disjvr_1^0'=__disjvr_1^post27, len_134^0'=len_134^post27, __disjvr_2^0'=__disjvr_2^post27, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post27, __disjvr_12^0'=__disjvr_12^post27, a_343^0'=a_343^post27, nondet_12^0'=nondet_12^post27, __disjvr_7^0'=__disjvr_7^post27, temp_35^0'=temp_35^post27, x_131^0'=x_131^post27, __disjvr_17^0'=__disjvr_17^post27, i_110^0'=i_110^post27, __disjvr_27^0'=__disjvr_27^post27, rcd_89^0'=rcd_89^post27, (-a_225^post27+a_225^0 == 0 /\ rcd_59^0-rcd_59^post27 == 0 /\ -__disjvr_3^post27+__disjvr_3^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post27+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_26^post27+x_26^0 == 0 /\ y_25^0-y_25^post27 == 0 /\ __disjvr_6^0-__disjvr_6^post27 == 0 /\ -a_118^post27+a_118^0 == 0 /\ a_281^0-a_281^post27 == 0 /\ -__disjvr_22^post27+__disjvr_22^0 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post27 == 0 /\ head_15^0-head_15^post27 == 0 /\ f_171^0-f_171^post27 == 0 /\ a_342^0-a_342^post27 == 0 /\ __disjvr_15^0-__disjvr_15^post27 == 0 /\ x_176^0-x_176^post27 == 0 /\ -__disjvr_13^post27+__disjvr_13^0 == 0 /\ -__disjvr_12^post27+__disjvr_12^0 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post27 == 0 /\ t_22^0-t_22^post27 == 0 /\ __disjvr_18^0-__disjvr_18^post27 == 0 /\ -i_110^post27+i_110^0 == 0 /\ -rcd_89^post27+rcd_89^0 == 0 /\ -head_32^post27+head_32^0 == 0 /\ result_11^0-result_11^post27 == 0 /\ -nondet_12^post27+nondet_12^0 == 0 /\ -r_126^post27+r_126^0 == 0 /\ -__disjvr_5^post27+__disjvr_5^0 == 0 /\ __disjvr_2^0-__disjvr_2^post27 == 0 /\ r_165^0-r_165^post27 == 0 /\ -head_SLAM_f_29^post27+head_SLAM_f_29^0 == 0 /\ tmp_34^0-tmp_34^post27 == 0 /\ __disjvr_26^0-__disjvr_26^post27 == 0 /\ -a_343^post27+a_343^0 == 0 /\ __disjvr_19^0-__disjvr_19^post27 == 0 /\ __disjvr_10^post27-__disjvr_10^0 == 0 /\ __disjvr_21^0-__disjvr_21^post27 == 0 /\ -len_134^post27+len_134^0 == 0 /\ -a_188^post27+a_188^0 == 0 /\ i_30^0-i_30^post27 == 0 /\ __disjvr_14^0-__disjvr_14^post27 == 0 /\ -__disjvr_29^post27+__disjvr_29^0 == 0 /\ -r_39^post27+r_39^0 == 0 /\ a_289^0-a_289^post27 == 0 /\ -__disjvr_9^post27+__disjvr_9^0 == 0 /\ tail_14^0-tail_14^post27 == 0 /\ -__disjvr_20^post27+__disjvr_20^0 == 0 /\ -__disjvr_16^post27+__disjvr_16^0 == 0 /\ x_19^0-x_19^post27 == 0 /\ __disjvr_4^0-__disjvr_4^post27 == 0 /\ -__disjvr_10^post27+__disjvr_10^0 == 0 /\ __disjvr_24^0-__disjvr_24^post27 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post27 == 0 /\ temp0_16^0-temp0_16^post27 == 0 /\ -temp_35^post27+temp_35^0 == 0 /\ -temp0_31^post27+temp0_31^0 == 0 /\ -x_131^post27+x_131^0 == 0 /\ __disjvr_8^0-__disjvr_8^post27 == 0 /\ __disjvr_0^0-__disjvr_0^post27 == 0 /\ -i_95^post27+i_95^0 == 0 /\ __disjvr_23^0-__disjvr_23^post27 == 0 /\ -__disjvr_11^post27+__disjvr_11^0 == 0 /\ -__disjvr_1^post27+__disjvr_1^0 == 0 /\ -length_28^post27+length_28^0 == 0 /\ -y_18^post27+y_18^0 == 0 /\ -__disjvr_17^post27+__disjvr_17^0 == 0 /\ -__disjvr_25^post27+__disjvr_25^0 == 0 /\ __disjvr_27^0-__disjvr_27^post27 == 0 /\ len_187^0-len_187^post27 == 0 /\ __disjvr_28^0-__disjvr_28^post27 == 0 /\ a_149^0-a_149^post27 == 0 /\ -__disjvr_7^post27+__disjvr_7^0 == 0), cost: 1
  28: l27 -> l28 : __disjvr_0^0'=__disjvr_0^post28, a_281^0'=a_281^post28, x_SLAM_f_24^0'=x_SLAM_f_24^post28, __disjvr_21^0'=__disjvr_21^post28, __disjvr_4^0'=__disjvr_4^post28, tail_14^0'=tail_14^post28, __disjvr_14^0'=__disjvr_14^post28, head_15^0'=head_15^post28, __disjvr_24^0'=__disjvr_24^post28, r_165^0'=r_165^post28, __disjvr_9^0'=__disjvr_9^post28, a_149^0'=a_149^post28, x_19^0'=x_19^post28, __disjvr_19^0'=__disjvr_19^post28, i_95^0'=i_95^post28, __disjvr_29^0'=__disjvr_29^post28, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post28, __disjvr_11^0'=__disjvr_11^post28, a_342^0'=a_342^post28, y_25^0'=y_25^post28, length_28^0'=length_28^post28, __disjvr_6^0'=__disjvr_6^post28, temp0_31^0'=temp0_31^post28, __disjvr_16^0'=__disjvr_16^post28, head_SLAM_f_29^0'=head_SLAM_f_29^post28, __disjvr_26^0'=__disjvr_26^post28, rcd_59^0'=rcd_59^post28, a_225^0'=a_225^post28, x_SLAM_f_17^0'=x_SLAM_f_17^post28, __disjvr_20^0'=__disjvr_20^post28, len_187^0'=len_187^post28, __disjvr_3^0'=__disjvr_3^post28, t_22^0'=t_22^post28, __disjvr_13^0'=__disjvr_13^post28, f_171^0'=f_171^post28, __disjvr_23^0'=__disjvr_23^post28, r_126^0'=r_126^post28, __disjvr_8^0'=__disjvr_8^post28, tmp_34^0'=tmp_34^post28, x_176^0'=x_176^post28, __disjvr_18^0'=__disjvr_18^post28, i_30^0'=i_30^post28, __disjvr_28^0'=__disjvr_28^post28, result_11^0'=result_11^post28, __disjvr_10^0'=__disjvr_10^post28, a_289^0'=a_289^post28, y_18^0'=y_18^post28, __disjvr_22^0'=__disjvr_22^post28, __disjvr_5^0'=__disjvr_5^post28, temp0_16^0'=temp0_16^post28, __disjvr_15^0'=__disjvr_15^post28, head_32^0'=head_32^post28, __disjvr_25^0'=__disjvr_25^post28, r_39^0'=r_39^post28, a_118^0'=a_118^post28, a_188^0'=a_188^post28, x_26^0'=x_26^post28, __disjvr_1^0'=__disjvr_1^post28, len_134^0'=len_134^post28, __disjvr_2^0'=__disjvr_2^post28, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post28, __disjvr_12^0'=__disjvr_12^post28, a_343^0'=a_343^post28, nondet_12^0'=nondet_12^post28, __disjvr_7^0'=__disjvr_7^post28, temp_35^0'=temp_35^post28, x_131^0'=x_131^post28, __disjvr_17^0'=__disjvr_17^post28, i_110^0'=i_110^post28, __disjvr_27^0'=__disjvr_27^post28, rcd_89^0'=rcd_89^post28, (-__disjvr_12^post28+__disjvr_12^0 == 0 /\ __disjvr_6^0-__disjvr_6^post28 == 0 /\ -temp_35^post28+temp_35^0 == 0 /\ __disjvr_2^0-__disjvr_2^post28 == 0 /\ head_15^0-head_15^post28 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post28 == 0 /\ -head_SLAM_f_29^post28+head_SLAM_f_29^0 == 0 /\ x_176^0-x_176^post28 == 0 /\ -y_18^post28+y_18^0 == 0 /\ -__disjvr_17^post28+__disjvr_17^0 == 0 /\ -x_131^post28+x_131^0 == 0 /\ __disjvr_1^0-__disjvr_1^post28 == 0 /\ y_25^0-y_25^post28 == 0 /\ -__disjvr_7^post28+__disjvr_7^0 == 0 /\ -__disjvr_8^post28+__disjvr_8^0 == 0 /\ __disjvr_0^0-__disjvr_0^post28 == 0 /\ -head_32^post28+head_32^0 == 0 /\ result_11^0-result_11^post28 == 0 /\ -a_343^post28+a_343^0 == 0 /\ tail_14^0-tail_14^post28 == 0 /\ -len_134^post28+len_134^0 == 0 /\ -a_225^post28+a_225^0 == 0 /\ -rcd_89^post28+rcd_89^0 == 0 /\ -a_188^post28+a_188^0 == 0 /\ -__disjvr_3^post28+__disjvr_3^0 == 0 /\ tmp_34^0-tmp_34^post28 == 0 /\ __disjvr_26^0-__disjvr_26^post28 == 0 /\ -__disjvr_23^post28+__disjvr_23^0 == 0 /\ f_171^0-f_171^post28 == 0 /\ a_342^0-a_342^post28 == 0 /\ -__disjvr_22^post28+__disjvr_22^0 == 0 /\ -__disjvr_16^post28+__disjvr_16^0 == 0 /\ __disjvr_14^0-__disjvr_14^post28 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post28 == 0 /\ t_22^0-t_22^post28 == 0 /\ -__disjvr_15^post28+__disjvr_15^0 == 0 /\ __disjvr_18^0-__disjvr_18^post28 == 0 /\ -__disjvr_27^post28+__disjvr_27^0 == 0 /\ -__disjvr_10^post28+__disjvr_10^0 == 0 /\ x_19^0-x_19^post28 == 0 /\ -a_118^post28+a_118^0 == 0 /\ -temp0_31^post28+temp0_31^0 == 0 /\ __disjvr_28^0-__disjvr_28^post28 == 0 /\ r_165^0-r_165^post28 == 0 /\ -i_110^post28+i_110^0 == 0 /\ __disjvr_4^0-__disjvr_4^post28 == 0 /\ -i_30^post28+i_30^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post28 == 0 /\ -nondet_12^post28+nondet_12^0 == 0 /\ -__disjvr_5^post28+__disjvr_5^0 == 0 /\ -__disjvr_11^0+__disjvr_11^post28 == 0 /\ a_281^0-a_281^post28 == 0 /\ -r_126^post28+r_126^0 == 0 /\ a_289^0-a_289^post28 == 0 /\ len_187^0-len_187^post28 == 0 /\ -x_26^post28+x_26^0 == 0 /\ i_95^0-i_95^post28 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post28+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ a_149^0-a_149^post28 == 0 /\ -__disjvr_29^post28+__disjvr_29^0 == 0 /\ -length_28^post28+length_28^0 == 0 /\ rcd_59^0-rcd_59^post28 == 0 /\ -__disjvr_13^post28+__disjvr_13^0 == 0 /\ -r_39^post28+r_39^0 == 0 /\ -__disjvr_24^post28+__disjvr_24^0 == 0 /\ __disjvr_19^0-__disjvr_19^post28 == 0 /\ temp0_16^0-temp0_16^post28 == 0 /\ -__disjvr_9^post28+__disjvr_9^0 == 0 /\ __disjvr_21^0-__disjvr_21^post28 == 0 /\ __disjvr_11^0-__disjvr_11^post28 == 0 /\ -__disjvr_20^post28+__disjvr_20^0 == 0 /\ __disjvr_25^0-__disjvr_25^post28 == 0), cost: 1
  29: l28 -> l29 : __disjvr_0^0'=__disjvr_0^post29, a_281^0'=a_281^post29, x_SLAM_f_24^0'=x_SLAM_f_24^post29, __disjvr_21^0'=__disjvr_21^post29, __disjvr_4^0'=__disjvr_4^post29, tail_14^0'=tail_14^post29, __disjvr_14^0'=__disjvr_14^post29, head_15^0'=head_15^post29, __disjvr_24^0'=__disjvr_24^post29, r_165^0'=r_165^post29, __disjvr_9^0'=__disjvr_9^post29, a_149^0'=a_149^post29, x_19^0'=x_19^post29, __disjvr_19^0'=__disjvr_19^post29, i_95^0'=i_95^post29, __disjvr_29^0'=__disjvr_29^post29, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post29, __disjvr_11^0'=__disjvr_11^post29, a_342^0'=a_342^post29, y_25^0'=y_25^post29, length_28^0'=length_28^post29, __disjvr_6^0'=__disjvr_6^post29, temp0_31^0'=temp0_31^post29, __disjvr_16^0'=__disjvr_16^post29, head_SLAM_f_29^0'=head_SLAM_f_29^post29, __disjvr_26^0'=__disjvr_26^post29, rcd_59^0'=rcd_59^post29, a_225^0'=a_225^post29, x_SLAM_f_17^0'=x_SLAM_f_17^post29, __disjvr_20^0'=__disjvr_20^post29, len_187^0'=len_187^post29, __disjvr_3^0'=__disjvr_3^post29, t_22^0'=t_22^post29, __disjvr_13^0'=__disjvr_13^post29, f_171^0'=f_171^post29, __disjvr_23^0'=__disjvr_23^post29, r_126^0'=r_126^post29, __disjvr_8^0'=__disjvr_8^post29, tmp_34^0'=tmp_34^post29, x_176^0'=x_176^post29, __disjvr_18^0'=__disjvr_18^post29, i_30^0'=i_30^post29, __disjvr_28^0'=__disjvr_28^post29, result_11^0'=result_11^post29, __disjvr_10^0'=__disjvr_10^post29, a_289^0'=a_289^post29, y_18^0'=y_18^post29, __disjvr_22^0'=__disjvr_22^post29, __disjvr_5^0'=__disjvr_5^post29, temp0_16^0'=temp0_16^post29, __disjvr_15^0'=__disjvr_15^post29, head_32^0'=head_32^post29, __disjvr_25^0'=__disjvr_25^post29, r_39^0'=r_39^post29, a_118^0'=a_118^post29, a_188^0'=a_188^post29, x_26^0'=x_26^post29, __disjvr_1^0'=__disjvr_1^post29, len_134^0'=len_134^post29, __disjvr_2^0'=__disjvr_2^post29, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post29, __disjvr_12^0'=__disjvr_12^post29, a_343^0'=a_343^post29, nondet_12^0'=nondet_12^post29, __disjvr_7^0'=__disjvr_7^post29, temp_35^0'=temp_35^post29, x_131^0'=x_131^post29, __disjvr_17^0'=__disjvr_17^post29, i_110^0'=i_110^post29, __disjvr_27^0'=__disjvr_27^post29, rcd_89^0'=rcd_89^post29, (x_176^0-x_176^post29 == 0 /\ __disjvr_9^0-__disjvr_9^post29 == 0 /\ -len_134^post29+len_134^0 == 0 /\ __disjvr_18^0-__disjvr_18^post29 == 0 /\ -a_188^post29+a_188^0 == 0 /\ t_22^0-t_22^post29 == 0 /\ __disjvr_1^0-__disjvr_1^post29 == 0 /\ -a_343^post29+a_343^0 == 0 /\ -r_39^post29+r_39^0 == 0 /\ -__disjvr_13^post29+__disjvr_13^0 == 0 /\ result_11^0-result_11^post29 == 0 /\ -__disjvr_20^post29+__disjvr_20^0 == 0 /\ -__disjvr_2^post29+__disjvr_2^0 == 0 /\ len_187^0-len_187^post29 == 0 /\ -temp_35^post29+temp_35^0 == 0 /\ -__disjvr_16^post29+__disjvr_16^0 == 0 /\ __disjvr_26^0-__disjvr_26^post29 == 0 /\ a_149^0-a_149^post29 == 0 /\ f_171^0-f_171^post29 == 0 /\ -i_95^post29+i_95^0 == 0 /\ -__disjvr_10^post29+__disjvr_10^0 == 0 /\ -a_118^post29+a_118^0 == 0 /\ __disjvr_14^0-__disjvr_14^post29 == 0 /\ __disjvr_19^0-__disjvr_19^post29 == 0 /\ y_25^0-y_25^post29 == 0 /\ __disjvr_0^0-__disjvr_0^post29 == 0 /\ -__disjvr_17^post29+__disjvr_17^0 == 0 /\ __disjvr_6^0-__disjvr_6^post29 == 0 /\ -x_131^post29+x_131^0 == 0 /\ __disjvr_4^0-__disjvr_4^post29 == 0 /\ -i_30^post29+i_30^0 == 0 /\ -y_18^post29+y_18^0 == 0 /\ -__disjvr_7^post29+__disjvr_7^0 == 0 /\ -__disjvr_8^post29+__disjvr_8^0 == 0 /\ -rcd_89^post29+rcd_89^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post29 == 0 /\ -__disjvr_22^post29+__disjvr_22^0 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post29 == 0 /\ -x_26^post29+x_26^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post29+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -r_126^post29+r_126^0 == 0 /\ -__disjvr_28^post29+__disjvr_28^0 == 0 /\ -__disjvr_24^post29+__disjvr_24^0 == 0 /\ -length_28^post29+length_28^0 == 0 /\ __disjvr_12^post29-__disjvr_12^0 == 0 /\ -temp0_31^post29+temp0_31^0 == 0 /\ r_165^0-r_165^post29 == 0 /\ -a_225^post29+a_225^0 == 0 /\ -__disjvr_15^post29+__disjvr_15^0 == 0 /\ -head_32^post29+head_32^0 == 0 /\ tmp_34^0-tmp_34^post29 == 0 /\ -__disjvr_27^post29+__disjvr_27^0 == 0 /\ rcd_59^0-rcd_59^post29 == 0 /\ __disjvr_3^0-__disjvr_3^post29 == 0 /\ -nondet_12^post29+nondet_12^0 == 0 /\ __disjvr_21^0-__disjvr_21^post29 == 0 /\ __disjvr_29^0-__disjvr_29^post29 == 0 /\ __disjvr_11^0-__disjvr_11^post29 == 0 /\ a_281^0-a_281^post29 == 0 /\ __disjvr_5^0-__disjvr_5^post29 == 0 /\ __disjvr_25^0-__disjvr_25^post29 == 0 /\ -a_342^post29+a_342^0 == 0 /\ -i_110^post29+i_110^0 == 0 /\ -head_SLAM_f_29^post29+head_SLAM_f_29^0 == 0 /\ __disjvr_23^0-__disjvr_23^post29 == 0 /\ x_19^0-x_19^post29 == 0 /\ a_289^0-a_289^post29 == 0 /\ -__disjvr_12^post29+__disjvr_12^0 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post29 == 0 /\ -temp0_16^post29+temp0_16^0 == 0 /\ tail_14^0-tail_14^post29 == 0 /\ head_15^0-head_15^post29 == 0), cost: 1
  30: l29 -> l6 : __disjvr_0^0'=__disjvr_0^post30, a_281^0'=a_281^post30, x_SLAM_f_24^0'=x_SLAM_f_24^post30, __disjvr_21^0'=__disjvr_21^post30, __disjvr_4^0'=__disjvr_4^post30, tail_14^0'=tail_14^post30, __disjvr_14^0'=__disjvr_14^post30, head_15^0'=head_15^post30, __disjvr_24^0'=__disjvr_24^post30, r_165^0'=r_165^post30, __disjvr_9^0'=__disjvr_9^post30, a_149^0'=a_149^post30, x_19^0'=x_19^post30, __disjvr_19^0'=__disjvr_19^post30, i_95^0'=i_95^post30, __disjvr_29^0'=__disjvr_29^post30, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post30, __disjvr_11^0'=__disjvr_11^post30, a_342^0'=a_342^post30, y_25^0'=y_25^post30, length_28^0'=length_28^post30, __disjvr_6^0'=__disjvr_6^post30, temp0_31^0'=temp0_31^post30, __disjvr_16^0'=__disjvr_16^post30, head_SLAM_f_29^0'=head_SLAM_f_29^post30, __disjvr_26^0'=__disjvr_26^post30, rcd_59^0'=rcd_59^post30, a_225^0'=a_225^post30, x_SLAM_f_17^0'=x_SLAM_f_17^post30, __disjvr_20^0'=__disjvr_20^post30, len_187^0'=len_187^post30, __disjvr_3^0'=__disjvr_3^post30, t_22^0'=t_22^post30, __disjvr_13^0'=__disjvr_13^post30, f_171^0'=f_171^post30, __disjvr_23^0'=__disjvr_23^post30, r_126^0'=r_126^post30, __disjvr_8^0'=__disjvr_8^post30, tmp_34^0'=tmp_34^post30, x_176^0'=x_176^post30, __disjvr_18^0'=__disjvr_18^post30, i_30^0'=i_30^post30, __disjvr_28^0'=__disjvr_28^post30, result_11^0'=result_11^post30, __disjvr_10^0'=__disjvr_10^post30, a_289^0'=a_289^post30, y_18^0'=y_18^post30, __disjvr_22^0'=__disjvr_22^post30, __disjvr_5^0'=__disjvr_5^post30, temp0_16^0'=temp0_16^post30, __disjvr_15^0'=__disjvr_15^post30, head_32^0'=head_32^post30, __disjvr_25^0'=__disjvr_25^post30, r_39^0'=r_39^post30, a_118^0'=a_118^post30, a_188^0'=a_188^post30, x_26^0'=x_26^post30, __disjvr_1^0'=__disjvr_1^post30, len_134^0'=len_134^post30, __disjvr_2^0'=__disjvr_2^post30, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post30, __disjvr_12^0'=__disjvr_12^post30, a_343^0'=a_343^post30, nondet_12^0'=nondet_12^post30, __disjvr_7^0'=__disjvr_7^post30, temp_35^0'=temp_35^post30, x_131^0'=x_131^post30, __disjvr_17^0'=__disjvr_17^post30, i_110^0'=i_110^post30, __disjvr_27^0'=__disjvr_27^post30, rcd_89^0'=rcd_89^post30, (0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post30+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -1-a_225^0+len_134^post30 <= 0 /\ x_26^0-x_26^post30 == 0 /\ -nondet_12^post30+nondet_12^0 == 0 /\ y_25^0-y_25^post30 == 0 /\ -a_118^post30+a_118^0 == 0 /\ -__disjvr_10^post30+__disjvr_10^0 == 0 /\ a_289^0-a_289^post30 == 0 /\ -__disjvr_2^post30+__disjvr_2^0 == 0 /\ tmp_34^0-tmp_34^post30 == 0 /\ len_187^0-len_187^post30 == 0 /\ result_11^0-result_11^post30 == 0 /\ a_149^0-a_149^post30 == 0 /\ __disjvr_9^0-__disjvr_9^post30 == 0 /\ -i_110^post30+i_110^0 == 0 /\ f_171^0-f_171^post30 == 0 /\ __disjvr_21^0-__disjvr_21^post30 == 0 /\ -a_188^post30+a_188^0 == 0 /\ t_22^0-t_22^post30 == 0 /\ rcd_59^0-rcd_59^post30 == 0 /\ __disjvr_5^0-__disjvr_5^post30 == 0 /\ -__disjvr_27^post30+__disjvr_27^0 == 0 /\ -i_30^post30+i_30^0 == 0 /\ -__disjvr_25^post30+__disjvr_25^0 == 0 /\ __disjvr_6^0-__disjvr_6^post30 == 0 /\ __disjvr_14^0-__disjvr_14^post30 == 0 /\ -r_126^post30+r_126^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post30+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ length_28^0-length_28^post30 == 0 /\ -__disjvr_13^post30+__disjvr_13^0 == 0 /\ x_176^0-x_176^post30 == 0 /\ __disjvr_24^0-__disjvr_24^post30 == 0 /\ -__disjvr_28^post30+__disjvr_28^0 == 0 /\ -__disjvr_20^post30+__disjvr_20^0 == 0 /\ -temp_35^post30+temp_35^0 == 0 /\ -temp0_31^post30+temp0_31^0 == 0 /\ __disjvr_4^0-__disjvr_4^post30 == 0 /\ __disjvr_1^0-__disjvr_1^post30 == 0 /\ -__disjvr_15^post30+__disjvr_15^0 == 0 /\ 1+a_225^0-len_134^post30 <= 0 /\ -i_95^post30+i_95^0 == 0 /\ __disjvr_0^0-__disjvr_0^post30 == 0 /\ __disjvr_26^0-__disjvr_26^post30 == 0 /\ __disjvr_18^0-__disjvr_18^post30 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ tail_14^0-tail_14^post30 == 0 /\ -__disjvr_12^post30+__disjvr_12^0 == 0 /\ -head_SLAM_f_29^post30+head_SLAM_f_29^0 == 0 /\ -y_18^post30+y_18^0 == 0 /\ __disjvr_7^0-__disjvr_7^post30 == 0 /\ __disjvr_11^0-__disjvr_11^post30 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post30 == 0 /\ __disjvr_19^0-__disjvr_19^post30 == 0 /\ -a_342^post30+a_342^0 == 0 /\ -rcd_89^post30+rcd_89^0 == 0 /\ -__disjvr_3^post30+__disjvr_3^0 == 0 /\ __disjvr_23^0-__disjvr_23^post30 == 0 /\ -__disjvr_22^post30+__disjvr_22^0 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post30 == 0 /\ x_19^0-x_19^post30 == 0 /\ -temp0_16^post30+temp0_16^0 == 0 /\ __disjvr_17^0-__disjvr_17^post30 == 0 /\ r_165^0-r_165^post30 == 0 /\ x_131^0-x_131^post30 == 0 /\ head_15^0-head_15^post30 == 0 /\ -a_343^post30+a_343^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -__disjvr_16^post30+__disjvr_16^0 == 0 /\ __disjvr_29^0-__disjvr_29^post30 == 0 /\ a_281^0-a_281^post30 == 0 /\ -a_225^post30+a_225^0 == 0 /\ r_39^0-r_39^post30 == 0 /\ __disjvr_8^0-__disjvr_8^post30 == 0 /\ -head_32^post30+head_32^0 == 0), cost: 1
  31: l30 -> l3 : __disjvr_0^0'=__disjvr_0^post31, a_281^0'=a_281^post31, x_SLAM_f_24^0'=x_SLAM_f_24^post31, __disjvr_21^0'=__disjvr_21^post31, __disjvr_4^0'=__disjvr_4^post31, tail_14^0'=tail_14^post31, __disjvr_14^0'=__disjvr_14^post31, head_15^0'=head_15^post31, __disjvr_24^0'=__disjvr_24^post31, r_165^0'=r_165^post31, __disjvr_9^0'=__disjvr_9^post31, a_149^0'=a_149^post31, x_19^0'=x_19^post31, __disjvr_19^0'=__disjvr_19^post31, i_95^0'=i_95^post31, __disjvr_29^0'=__disjvr_29^post31, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post31, __disjvr_11^0'=__disjvr_11^post31, a_342^0'=a_342^post31, y_25^0'=y_25^post31, length_28^0'=length_28^post31, __disjvr_6^0'=__disjvr_6^post31, temp0_31^0'=temp0_31^post31, __disjvr_16^0'=__disjvr_16^post31, head_SLAM_f_29^0'=head_SLAM_f_29^post31, __disjvr_26^0'=__disjvr_26^post31, rcd_59^0'=rcd_59^post31, a_225^0'=a_225^post31, x_SLAM_f_17^0'=x_SLAM_f_17^post31, __disjvr_20^0'=__disjvr_20^post31, len_187^0'=len_187^post31, __disjvr_3^0'=__disjvr_3^post31, t_22^0'=t_22^post31, __disjvr_13^0'=__disjvr_13^post31, f_171^0'=f_171^post31, __disjvr_23^0'=__disjvr_23^post31, r_126^0'=r_126^post31, __disjvr_8^0'=__disjvr_8^post31, tmp_34^0'=tmp_34^post31, x_176^0'=x_176^post31, __disjvr_18^0'=__disjvr_18^post31, i_30^0'=i_30^post31, __disjvr_28^0'=__disjvr_28^post31, result_11^0'=result_11^post31, __disjvr_10^0'=__disjvr_10^post31, a_289^0'=a_289^post31, y_18^0'=y_18^post31, __disjvr_22^0'=__disjvr_22^post31, __disjvr_5^0'=__disjvr_5^post31, temp0_16^0'=temp0_16^post31, __disjvr_15^0'=__disjvr_15^post31, head_32^0'=head_32^post31, __disjvr_25^0'=__disjvr_25^post31, r_39^0'=r_39^post31, a_118^0'=a_118^post31, a_188^0'=a_188^post31, x_26^0'=x_26^post31, __disjvr_1^0'=__disjvr_1^post31, len_134^0'=len_134^post31, __disjvr_2^0'=__disjvr_2^post31, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post31, __disjvr_12^0'=__disjvr_12^post31, a_343^0'=a_343^post31, nondet_12^0'=nondet_12^post31, __disjvr_7^0'=__disjvr_7^post31, temp_35^0'=temp_35^post31, x_131^0'=x_131^post31, __disjvr_17^0'=__disjvr_17^post31, i_110^0'=i_110^post31, __disjvr_27^0'=__disjvr_27^post31, rcd_89^0'=rcd_89^post31, (0 == 0 /\ head_15^0-head_15^post31 == 0 /\ i_30^post31 <= 0 /\ i_30^post31 == 0 /\ -x_131^post31+x_131^0 == 0 /\ __disjvr_20^0-__disjvr_20^post31 == 0 /\ -__disjvr_15^post31+__disjvr_15^0 == 0 /\ -__disjvr_8^post31+__disjvr_8^0 == 0 /\ a_225^0-a_225^post31 == 0 /\ -__disjvr_7^post31+__disjvr_7^0 == 0 /\ __disjvr_11^0-__disjvr_11^post31 == 0 /\ -result_11^post31+result_11^0 == 0 /\ -len_134^post31+len_134^0 == 0 /\ -__disjvr_12^post31+__disjvr_12^0 == 0 /\ __disjvr_16^0-__disjvr_16^post31 == 0 /\ a_342^0-a_342^post31 == 0 /\ -x_SLAM_f_17^post31+x_SLAM_f_17^0 == 0 /\ a_281^0-a_281^post31 == 0 /\ -x_26^post31+x_26^0 == 0 /\ a_149^0-a_149^post31 == 0 /\ -__disjvr_17^post31+__disjvr_17^0 == 0 /\ -__disjvr_26^post31+__disjvr_26^0 == 0 /\ -i_30^post31 <= 0 /\ -__disjvr_18^post31+__disjvr_18^0 == 0 /\ -rcd_89^post31+rcd_89^0 == 0 /\ -__disjvr_3^post31+__disjvr_3^0 == 0 /\ rcd_59^0-rcd_59^post31 == 0 /\ -tmp_34^post31+tmp_34^0 == 0 /\ __disjvr_29^0-__disjvr_29^post31 == 0 /\ tail_14^0-tail_14^post31 == 0 /\ __disjvr_14^0-__disjvr_14^post31 == 0 /\ i_95^0-i_95^post31 == 0 /\ __disjvr_9^0-__disjvr_9^post31 == 0 /\ -len_187^post31+len_187^0 == 0 /\ __disjvr_6^0-__disjvr_6^post31 == 0 /\ -__disjvr_2^post31+__disjvr_2^0 == 0 /\ -a_343^post31+a_343^0 == 0 /\ -t_22^post31+t_22^0 == 0 /\ -a_289^post31+a_289^0 == 0 /\ head_SLAM_f_29^post31-head_32^post31 <= 0 /\ -a_118^post31+a_118^0 == 0 /\ __disjvr_23^0-__disjvr_23^post31 == 0 /\ y_18^0-y_18^post31 == 0 /\ -__disjvr_27^post31+__disjvr_27^0 == 0 /\ __disjvr_4^0-__disjvr_4^post31 == 0 /\ temp0_16^0-temp0_16^post31 == 0 /\ -temp0_31^post31+temp0_31^0 == 0 /\ __disjvr_22^0-__disjvr_22^post31 == 0 /\ x_176^0-x_176^post31 == 0 /\ -x_SLAM_f_24^post31+x_SLAM_f_24^0 == 0 /\ -f_171^post31+f_171^0 == 0 /\ -a_188^post31+a_188^0 == 0 /\ -head_SLAM_f_29^post31+tail_14^0 <= 0 /\ -tail_14^0+head_32^post31 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post31-length_28^post31 <= 0 /\ r_39^0-r_39^post31 == 0 /\ r_165^0-r_165^post31 == 0 /\ -x_19^post31+x_19^0 == 0 /\ -__disjvr_10^post31+__disjvr_10^0 == 0 /\ __disjvr_21^0-__disjvr_21^post31 == 0 /\ -head_SLAM_f_29^post31+head_32^post31 <= 0 /\ -head_SLAM_f_29^post31+head_32^post31 == 0 /\ -r_126^post31+r_126^0 == 0 /\ -__disjvr_24^post31+__disjvr_24^0 == 0 /\ __disjvr_0^0-__disjvr_0^post31 == 0 /\ -i_110^post31+i_110^0 == 0 /\ -__disjvr_25^post31+__disjvr_25^0 == 0 /\ -__disjvr_5^post31+__disjvr_5^0 == 0 /\ -__disjvr_28^post31+__disjvr_28^0 == 0 /\ -__disjvr_13^post31+__disjvr_13^0 == 0 /\ head_SLAM_f_29^post31-tail_14^0 <= 0 /\ head_SLAM_f_29^post31-tail_14^0 == 0 /\ y_25^0-y_25^post31 == 0 /\ tail_14^0-head_32^post31 <= 0 /\ -temp_35^post31+temp_35^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post31+length_28^post31 <= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post31+length_28^post31 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post31 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post31-nondet_12^10 == 0 /\ -__disjvr_19^post31+__disjvr_19^0 == 0 /\ -__disjvr_1^post31+__disjvr_1^0 == 0), cost: 1
  32: l31 -> l32 : __disjvr_0^0'=__disjvr_0^post32, a_281^0'=a_281^post32, x_SLAM_f_24^0'=x_SLAM_f_24^post32, __disjvr_21^0'=__disjvr_21^post32, __disjvr_4^0'=__disjvr_4^post32, tail_14^0'=tail_14^post32, __disjvr_14^0'=__disjvr_14^post32, head_15^0'=head_15^post32, __disjvr_24^0'=__disjvr_24^post32, r_165^0'=r_165^post32, __disjvr_9^0'=__disjvr_9^post32, a_149^0'=a_149^post32, x_19^0'=x_19^post32, __disjvr_19^0'=__disjvr_19^post32, i_95^0'=i_95^post32, __disjvr_29^0'=__disjvr_29^post32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post32, __disjvr_11^0'=__disjvr_11^post32, a_342^0'=a_342^post32, y_25^0'=y_25^post32, length_28^0'=length_28^post32, __disjvr_6^0'=__disjvr_6^post32, temp0_31^0'=temp0_31^post32, __disjvr_16^0'=__disjvr_16^post32, head_SLAM_f_29^0'=head_SLAM_f_29^post32, __disjvr_26^0'=__disjvr_26^post32, rcd_59^0'=rcd_59^post32, a_225^0'=a_225^post32, x_SLAM_f_17^0'=x_SLAM_f_17^post32, __disjvr_20^0'=__disjvr_20^post32, len_187^0'=len_187^post32, __disjvr_3^0'=__disjvr_3^post32, t_22^0'=t_22^post32, __disjvr_13^0'=__disjvr_13^post32, f_171^0'=f_171^post32, __disjvr_23^0'=__disjvr_23^post32, r_126^0'=r_126^post32, __disjvr_8^0'=__disjvr_8^post32, tmp_34^0'=tmp_34^post32, x_176^0'=x_176^post32, __disjvr_18^0'=__disjvr_18^post32, i_30^0'=i_30^post32, __disjvr_28^0'=__disjvr_28^post32, result_11^0'=result_11^post32, __disjvr_10^0'=__disjvr_10^post32, a_289^0'=a_289^post32, y_18^0'=y_18^post32, __disjvr_22^0'=__disjvr_22^post32, __disjvr_5^0'=__disjvr_5^post32, temp0_16^0'=temp0_16^post32, __disjvr_15^0'=__disjvr_15^post32, head_32^0'=head_32^post32, __disjvr_25^0'=__disjvr_25^post32, r_39^0'=r_39^post32, a_118^0'=a_118^post32, a_188^0'=a_188^post32, x_26^0'=x_26^post32, __disjvr_1^0'=__disjvr_1^post32, len_134^0'=len_134^post32, __disjvr_2^0'=__disjvr_2^post32, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post32, __disjvr_12^0'=__disjvr_12^post32, a_343^0'=a_343^post32, nondet_12^0'=nondet_12^post32, __disjvr_7^0'=__disjvr_7^post32, temp_35^0'=temp_35^post32, x_131^0'=x_131^post32, __disjvr_17^0'=__disjvr_17^post32, i_110^0'=i_110^post32, __disjvr_27^0'=__disjvr_27^post32, rcd_89^0'=rcd_89^post32, (0 == 0 /\ -__disjvr_18^post32+__disjvr_18^0 == 0 /\ -__disjvr_5^post32+__disjvr_5^0 == 0 /\ -__disjvr_25^post32+__disjvr_25^0 == 0 /\ -a_149^0 <= 0 /\ __disjvr_23^0-__disjvr_23^post32 == 0 /\ -__disjvr_16^post32+__disjvr_16^0 == 0 /\ -__disjvr_8^post32+__disjvr_8^0 == 0 /\ -__disjvr_27^post32+__disjvr_27^0 == 0 /\ -a_343^post32+a_343^0 == 0 /\ head_15^0-x_19^post32 <= 0 /\ t_22^0-t_22^post32 == 0 /\ -__disjvr_13^post32+__disjvr_13^0 == 0 /\ -y_25^0+x_26^0 <= 0 /\ -temp_35^post32+temp_35^0 == 0 /\ a_149^0-a_149^post32 == 0 /\ -__disjvr_2^post32+__disjvr_2^0 == 0 /\ -tail_14^0+y_18^post32 <= 0 /\ -tail_14^0+y_18^post32 == 0 /\ __disjvr_21^0-__disjvr_21^post32 == 0 /\ __disjvr_14^0-__disjvr_14^post32 == 0 /\ -__disjvr_17^post32+__disjvr_17^0 == 0 /\ r_126^0-r_126^post32 == 0 /\ -__disjvr_26^post32+__disjvr_26^0 == 0 /\ -length_28^post32+length_28^0 == 0 /\ __disjvr_6^0-__disjvr_6^post32 == 0 /\ -temp0_31^post32+temp0_31^0 == 0 /\ -__disjvr_15^post32+__disjvr_15^0 == 0 /\ -head_15^0+x_19^post32 <= 0 /\ -__disjvr_7^post32+__disjvr_7^0 == 0 /\ __disjvr_1^0-__disjvr_1^post32 == 0 /\ y_25^0-x_26^0 <= 0 /\ __disjvr_10^0-__disjvr_10^post32 == 0 /\ -x_131^post32+x_131^0 == 0 /\ -a_188^post32+a_188^0 == 0 /\ -x_176^post32+x_176^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post32 == 0 /\ __disjvr_20^0-__disjvr_20^post32 == 0 /\ tail_14^0-y_18^post32 <= 0 /\ tail_14^0-tail_14^post32 == 0 /\ __disjvr_9^0-__disjvr_9^post32 == 0 /\ -i_30^post32+i_30^0 == 0 /\ -f_171^post32+f_171^0 == 0 /\ -__disjvr_24^post32+__disjvr_24^0 == 0 /\ x_19^post32-x_SLAM_f_17^post32 <= 0 /\ x_19^post32-x_SLAM_f_17^post32 == 0 /\ -__disjvr_3^post32+__disjvr_3^0 == 0 /\ -len_187^post32+len_187^0 == 0 /\ __disjvr_0^0-__disjvr_0^post32 == 0 /\ r_39^0-r_39^post32 == 0 /\ a_225^0-a_225^post32 == 0 /\ -head_32^post32+head_32^0 == 0 /\ -a_342^post32+a_342^0 == 0 /\ -a_118^post32+a_118^0 == 0 /\ __disjvr_11^0-__disjvr_11^post32 == 0 /\ r_165^0-r_165^post32 == 0 /\ head_15^0-x_SLAM_f_17^post32 <= 0 /\ tmp_34^0-tmp_34^post32 == 0 /\ temp0_16^0-temp0_16^post32 == 0 /\ -__disjvr_28^post32+__disjvr_28^0 == 0 /\ -i_110^post32+i_110^0 == 0 /\ -a_289^post32+a_289^0 == 0 /\ -x_19^post32+x_SLAM_f_17^post32 <= 0 /\ head_SLAM_f_29^0-head_SLAM_f_29^post32 == 0 /\ -nondet_12^post32+nondet_12^0 == 0 /\ rcd_59^0-rcd_59^post32 == 0 /\ __disjvr_19^0-__disjvr_19^post32 == 0 /\ __disjvr_29^0-__disjvr_29^post32 == 0 /\ -rcd_89^post32+rcd_89^0 == 0 /\ -len_134^post32+len_134^0 == 0 /\ a_281^0-a_281^post32 == 0 /\ -head_15^0+x_SLAM_f_17^post32 <= 0 /\ -head_15^0+x_SLAM_f_17^post32 == 0 /\ i_95^0-i_95^post32 == 0 /\ -result_11^post32+result_11^0 == 0 /\ head_15^0-head_15^post32 == 0 /\ -__disjvr_12^post32+__disjvr_12^0 == 0 /\ __disjvr_4^0-__disjvr_4^post32 == 0 /\ __disjvr_22^0-__disjvr_22^post32 == 0 /\ -len_134^0 <= 0), cost: 1
  35: l31 -> l35 : __disjvr_0^0'=__disjvr_0^post35, a_281^0'=a_281^post35, x_SLAM_f_24^0'=x_SLAM_f_24^post35, __disjvr_21^0'=__disjvr_21^post35, __disjvr_4^0'=__disjvr_4^post35, tail_14^0'=tail_14^post35, __disjvr_14^0'=__disjvr_14^post35, head_15^0'=head_15^post35, __disjvr_24^0'=__disjvr_24^post35, r_165^0'=r_165^post35, __disjvr_9^0'=__disjvr_9^post35, a_149^0'=a_149^post35, x_19^0'=x_19^post35, __disjvr_19^0'=__disjvr_19^post35, i_95^0'=i_95^post35, __disjvr_29^0'=__disjvr_29^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post35, __disjvr_11^0'=__disjvr_11^post35, a_342^0'=a_342^post35, y_25^0'=y_25^post35, length_28^0'=length_28^post35, __disjvr_6^0'=__disjvr_6^post35, temp0_31^0'=temp0_31^post35, __disjvr_16^0'=__disjvr_16^post35, head_SLAM_f_29^0'=head_SLAM_f_29^post35, __disjvr_26^0'=__disjvr_26^post35, rcd_59^0'=rcd_59^post35, a_225^0'=a_225^post35, x_SLAM_f_17^0'=x_SLAM_f_17^post35, __disjvr_20^0'=__disjvr_20^post35, len_187^0'=len_187^post35, __disjvr_3^0'=__disjvr_3^post35, t_22^0'=t_22^post35, __disjvr_13^0'=__disjvr_13^post35, f_171^0'=f_171^post35, __disjvr_23^0'=__disjvr_23^post35, r_126^0'=r_126^post35, __disjvr_8^0'=__disjvr_8^post35, tmp_34^0'=tmp_34^post35, x_176^0'=x_176^post35, __disjvr_18^0'=__disjvr_18^post35, i_30^0'=i_30^post35, __disjvr_28^0'=__disjvr_28^post35, result_11^0'=result_11^post35, __disjvr_10^0'=__disjvr_10^post35, a_289^0'=a_289^post35, y_18^0'=y_18^post35, __disjvr_22^0'=__disjvr_22^post35, __disjvr_5^0'=__disjvr_5^post35, temp0_16^0'=temp0_16^post35, __disjvr_15^0'=__disjvr_15^post35, head_32^0'=head_32^post35, __disjvr_25^0'=__disjvr_25^post35, r_39^0'=r_39^post35, a_118^0'=a_118^post35, a_188^0'=a_188^post35, x_26^0'=x_26^post35, __disjvr_1^0'=__disjvr_1^post35, len_134^0'=len_134^post35, __disjvr_2^0'=__disjvr_2^post35, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post35, __disjvr_12^0'=__disjvr_12^post35, a_343^0'=a_343^post35, nondet_12^0'=nondet_12^post35, __disjvr_7^0'=__disjvr_7^post35, temp_35^0'=temp_35^post35, x_131^0'=x_131^post35, __disjvr_17^0'=__disjvr_17^post35, i_110^0'=i_110^post35, __disjvr_27^0'=__disjvr_27^post35, rcd_89^0'=rcd_89^post35, (0 == 0 /\ -x_131^post35+x_131^0 == 0 /\ r_165^0-r_165^post35 == 0 /\ -__disjvr_23^post35+__disjvr_23^0 == 0 /\ temp0_31^0-temp0_31^post35 == 0 /\ -__disjvr_15^post35+__disjvr_15^0 == 0 /\ __disjvr_20^0-__disjvr_20^post35 == 0 /\ __disjvr_10^0-__disjvr_10^post35 == 0 /\ -a_149^0 <= 0 /\ -__disjvr_17^post35+__disjvr_17^0 == 0 /\ a_118^0-a_118^post35 == 0 /\ __disjvr_29^0-__disjvr_29^post35 == 0 /\ -__disjvr_7^post35+__disjvr_7^0 == 0 /\ y_25^0-y_25^post35 == 0 /\ -__disjvr_12^post35+__disjvr_12^0 == 0 /\ -__disjvr_18^post35+__disjvr_18^0 == 0 /\ -len_134^post35+len_134^0 == 0 /\ a_281^0-a_281^post35 == 0 /\ a_149^0-a_149^post35 == 0 /\ -a_343^post35+a_343^0 == 0 /\ -head_32^post35+head_32^0 == 0 /\ -a_188^post35+a_188^0 == 0 /\ __disjvr_26^0-__disjvr_26^post35 == 0 /\ -result_11^post35+result_11^0 == 0 /\ -rcd_89^post35+rcd_89^0 == 0 /\ -__disjvr_2^post35+__disjvr_2^0 == 0 /\ a_342^0-a_342^post35 == 0 /\ __disjvr_13^0-__disjvr_13^post35 == 0 /\ a_225^0-a_225^post35 == 0 /\ -temp0_16^post35+temp0_16^0 == 0 /\ __disjvr_28^0-__disjvr_28^post35 == 0 /\ -x_19^post35+x_19^0 == 0 /\ -len_187^post35+len_187^0 == 0 /\ __disjvr_9^0-__disjvr_9^post35 == 0 /\ __disjvr_4^0-__disjvr_4^post35 == 0 /\ __disjvr_22^0-__disjvr_22^post35 == 0 /\ -i_110^post35+i_110^0 == 0 /\ -__disjvr_1^post35+__disjvr_1^0 == 0 /\ length_28^0-length_28^post35 == 0 /\ head_SLAM_f_29^0-head_SLAM_f_29^post35 == 0 /\ -__disjvr_5^post35+__disjvr_5^0 == 0 /\ -__disjvr_27^post35+__disjvr_27^0 == 0 /\ y_18^0-y_18^post35 == 0 /\ -a_289^post35+a_289^0 == 0 /\ __disjvr_24^0-__disjvr_24^post35 == 0 /\ -i_30^post35+i_30^0 == 0 /\ r_126^0-r_126^post35 == 0 /\ -nondet_12^post35+nondet_12^0 == 0 /\ __disjvr_3^0-__disjvr_3^post35 == 0 /\ -__disjvr_8^post35+__disjvr_8^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post35 == 0 /\ -x_26^post35+x_26^0 == 0 /\ __disjvr_0^0-__disjvr_0^post35 == 0 /\ i_95^0-i_95^post35 == 0 /\ -x_SLAM_f_17^post35+x_SLAM_f_17^0 == 0 /\ -__disjvr_25^post35+__disjvr_25^0 == 0 /\ -t_22^post35+t_22^0 == 0 /\ __disjvr_21^0-__disjvr_21^post35 == 0 /\ __disjvr_19^0-__disjvr_19^post35 == 0 /\ -rcd_59^post35+rcd_59^0 == 0 /\ __disjvr_6^0-__disjvr_6^post35 == 0 /\ __disjvr_11^0-__disjvr_11^post35 == 0 /\ -tmp_34^post35+tmp_34^0 == 0 /\ __disjvr_14^0-__disjvr_14^post35 == 0 /\ -len_134^0 <= 0 /\ -temp_35^post35+temp_35^0 == 0 /\ __disjvr_16^0-__disjvr_16^post35 == 0), cost: 1
  33: l32 -> l33 : __disjvr_0^0'=__disjvr_0^post33, a_281^0'=a_281^post33, x_SLAM_f_24^0'=x_SLAM_f_24^post33, __disjvr_21^0'=__disjvr_21^post33, __disjvr_4^0'=__disjvr_4^post33, tail_14^0'=tail_14^post33, __disjvr_14^0'=__disjvr_14^post33, head_15^0'=head_15^post33, __disjvr_24^0'=__disjvr_24^post33, r_165^0'=r_165^post33, __disjvr_9^0'=__disjvr_9^post33, a_149^0'=a_149^post33, x_19^0'=x_19^post33, __disjvr_19^0'=__disjvr_19^post33, i_95^0'=i_95^post33, __disjvr_29^0'=__disjvr_29^post33, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post33, __disjvr_11^0'=__disjvr_11^post33, a_342^0'=a_342^post33, y_25^0'=y_25^post33, length_28^0'=length_28^post33, __disjvr_6^0'=__disjvr_6^post33, temp0_31^0'=temp0_31^post33, __disjvr_16^0'=__disjvr_16^post33, head_SLAM_f_29^0'=head_SLAM_f_29^post33, __disjvr_26^0'=__disjvr_26^post33, rcd_59^0'=rcd_59^post33, a_225^0'=a_225^post33, x_SLAM_f_17^0'=x_SLAM_f_17^post33, __disjvr_20^0'=__disjvr_20^post33, len_187^0'=len_187^post33, __disjvr_3^0'=__disjvr_3^post33, t_22^0'=t_22^post33, __disjvr_13^0'=__disjvr_13^post33, f_171^0'=f_171^post33, __disjvr_23^0'=__disjvr_23^post33, r_126^0'=r_126^post33, __disjvr_8^0'=__disjvr_8^post33, tmp_34^0'=tmp_34^post33, x_176^0'=x_176^post33, __disjvr_18^0'=__disjvr_18^post33, i_30^0'=i_30^post33, __disjvr_28^0'=__disjvr_28^post33, result_11^0'=result_11^post33, __disjvr_10^0'=__disjvr_10^post33, a_289^0'=a_289^post33, y_18^0'=y_18^post33, __disjvr_22^0'=__disjvr_22^post33, __disjvr_5^0'=__disjvr_5^post33, temp0_16^0'=temp0_16^post33, __disjvr_15^0'=__disjvr_15^post33, head_32^0'=head_32^post33, __disjvr_25^0'=__disjvr_25^post33, r_39^0'=r_39^post33, a_118^0'=a_118^post33, a_188^0'=a_188^post33, x_26^0'=x_26^post33, __disjvr_1^0'=__disjvr_1^post33, len_134^0'=len_134^post33, __disjvr_2^0'=__disjvr_2^post33, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, __disjvr_12^0'=__disjvr_12^post33, a_343^0'=a_343^post33, nondet_12^0'=nondet_12^post33, __disjvr_7^0'=__disjvr_7^post33, temp_35^0'=temp_35^post33, x_131^0'=x_131^post33, __disjvr_17^0'=__disjvr_17^post33, i_110^0'=i_110^post33, __disjvr_27^0'=__disjvr_27^post33, rcd_89^0'=rcd_89^post33, (a_149^0-a_149^post33 == 0 /\ -__disjvr_26^post33+__disjvr_26^0 == 0 /\ -__disjvr_1^post33+__disjvr_1^0 == 0 /\ -r_39^post33+r_39^0 == 0 /\ -i_110^post33+i_110^0 == 0 /\ a_281^0-a_281^post33 == 0 /\ -length_28^post33+length_28^0 == 0 /\ -__disjvr_2^post33+__disjvr_2^0 == 0 /\ __disjvr_21^0-__disjvr_21^post33 == 0 /\ -temp0_31^post33+temp0_31^0 == 0 /\ i_95^0-i_95^post33 == 0 /\ -a_289^post33+a_289^0 == 0 /\ -__disjvr_27^post33+__disjvr_27^0 == 0 /\ -rcd_89^post33+rcd_89^0 == 0 /\ -__disjvr_5^post33+__disjvr_5^0 == 0 /\ -a_188^post33+a_188^0 == 0 /\ __disjvr_9^0-__disjvr_9^post33 == 0 /\ -nondet_12^post33+nondet_12^0 == 0 /\ -x_176^post33+x_176^0 == 0 /\ __disjvr_14^0-__disjvr_14^post33 == 0 /\ __disjvr_28^0-__disjvr_28^post33 == 0 /\ __disjvr_10^0-__disjvr_10^post33 == 0 /\ -__disjvr_25^post33+__disjvr_25^0 == 0 /\ __disjvr_16^0-__disjvr_16^post33 == 0 /\ -x_SLAM_f_17^post33+x_SLAM_f_17^0 == 0 /\ __disjvr_20^0-__disjvr_20^post33 == 0 /\ -a_342^post33+a_342^0 == 0 /\ i_30^0-i_30^post33 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post33+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ r_126^0-r_126^post33 == 0 /\ -temp_35^post33+temp_35^0 == 0 /\ -a_118^post33+a_118^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post33+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ __disjvr_24^0-__disjvr_24^post33 == 0 /\ -__disjvr_23^post33+__disjvr_23^0 == 0 /\ -__disjvr_12^post33+__disjvr_12^0 == 0 /\ __disjvr_11^0-__disjvr_11^post33 == 0 /\ y_25^0-y_25^post33 == 0 /\ tail_14^0-tail_14^post33 == 0 /\ tmp_34^0-tmp_34^post33 == 0 /\ -__disjvr_15^post33+__disjvr_15^0 == 0 /\ -__disjvr_7^post33+__disjvr_7^0 == 0 /\ -len_134^post33+len_134^0 == 0 /\ __disjvr_13^0-__disjvr_13^post33 == 0 /\ __disjvr_19^0-__disjvr_19^post33 == 0 /\ -result_11^post33+result_11^0 == 0 /\ -x_26^post33+x_26^0 == 0 /\ __disjvr_6^0-__disjvr_6^post33 == 0 /\ rcd_59^0-rcd_59^post33 == 0 /\ __disjvr_0^0-__disjvr_0^post33 == 0 /\ a_225^0-a_225^post33 == 0 /\ -__disjvr_18^post33+__disjvr_18^0 == 0 /\ __disjvr_17^0-__disjvr_17^post33 == 0 /\ t_22^0-t_22^post33 == 0 /\ y_18^0-y_18^post33 == 0 /\ r_165^0-r_165^post33 == 0 /\ -a_343^post33+a_343^0 == 0 /\ -f_171^post33+f_171^0 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post33 == 0 /\ x_131^0-x_131^post33 == 0 /\ __disjvr_4^0-__disjvr_4^post33 == 0 /\ head_15^0-head_15^post33 == 0 /\ head_SLAM_f_29^0-head_SLAM_f_29^post33 == 0 /\ -temp0_16^post33+temp0_16^0 == 0 /\ -len_187^post33+len_187^0 == 0 /\ -head_32^post33+head_32^0 == 0 /\ -__disjvr_8^post33+__disjvr_8^0 == 0 /\ x_19^0-x_19^post33 == 0 /\ -__disjvr_13^0+__disjvr_13^post33 == 0 /\ -__disjvr_22^post33+__disjvr_22^0 == 0 /\ __disjvr_3^0-__disjvr_3^post33 == 0 /\ __disjvr_29^0-__disjvr_29^post33 == 0), cost: 1
  34: l33 -> l23 : __disjvr_0^0'=__disjvr_0^post34, a_281^0'=a_281^post34, x_SLAM_f_24^0'=x_SLAM_f_24^post34, __disjvr_21^0'=__disjvr_21^post34, __disjvr_4^0'=__disjvr_4^post34, tail_14^0'=tail_14^post34, __disjvr_14^0'=__disjvr_14^post34, head_15^0'=head_15^post34, __disjvr_24^0'=__disjvr_24^post34, r_165^0'=r_165^post34, __disjvr_9^0'=__disjvr_9^post34, a_149^0'=a_149^post34, x_19^0'=x_19^post34, __disjvr_19^0'=__disjvr_19^post34, i_95^0'=i_95^post34, __disjvr_29^0'=__disjvr_29^post34, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post34, __disjvr_11^0'=__disjvr_11^post34, a_342^0'=a_342^post34, y_25^0'=y_25^post34, length_28^0'=length_28^post34, __disjvr_6^0'=__disjvr_6^post34, temp0_31^0'=temp0_31^post34, __disjvr_16^0'=__disjvr_16^post34, head_SLAM_f_29^0'=head_SLAM_f_29^post34, __disjvr_26^0'=__disjvr_26^post34, rcd_59^0'=rcd_59^post34, a_225^0'=a_225^post34, x_SLAM_f_17^0'=x_SLAM_f_17^post34, __disjvr_20^0'=__disjvr_20^post34, len_187^0'=len_187^post34, __disjvr_3^0'=__disjvr_3^post34, t_22^0'=t_22^post34, __disjvr_13^0'=__disjvr_13^post34, f_171^0'=f_171^post34, __disjvr_23^0'=__disjvr_23^post34, r_126^0'=r_126^post34, __disjvr_8^0'=__disjvr_8^post34, tmp_34^0'=tmp_34^post34, x_176^0'=x_176^post34, __disjvr_18^0'=__disjvr_18^post34, i_30^0'=i_30^post34, __disjvr_28^0'=__disjvr_28^post34, result_11^0'=result_11^post34, __disjvr_10^0'=__disjvr_10^post34, a_289^0'=a_289^post34, y_18^0'=y_18^post34, __disjvr_22^0'=__disjvr_22^post34, __disjvr_5^0'=__disjvr_5^post34, temp0_16^0'=temp0_16^post34, __disjvr_15^0'=__disjvr_15^post34, head_32^0'=head_32^post34, __disjvr_25^0'=__disjvr_25^post34, r_39^0'=r_39^post34, a_118^0'=a_118^post34, a_188^0'=a_188^post34, x_26^0'=x_26^post34, __disjvr_1^0'=__disjvr_1^post34, len_134^0'=len_134^post34, __disjvr_2^0'=__disjvr_2^post34, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post34, __disjvr_12^0'=__disjvr_12^post34, a_343^0'=a_343^post34, nondet_12^0'=nondet_12^post34, __disjvr_7^0'=__disjvr_7^post34, temp_35^0'=temp_35^post34, x_131^0'=x_131^post34, __disjvr_17^0'=__disjvr_17^post34, i_110^0'=i_110^post34, __disjvr_27^0'=__disjvr_27^post34, rcd_89^0'=rcd_89^post34, (-f_171^post34+f_171^0 == 0 /\ -temp0_16^post34+temp0_16^0 == 0 /\ -head_32^post34+head_32^0 == 0 /\ -a_342^post34+a_342^0 == 0 /\ -len_187^post34+len_187^0 == 0 /\ -rcd_89^post34+rcd_89^0 == 0 /\ __disjvr_14^0-__disjvr_14^post34 == 0 /\ a_281^0-a_281^post34 == 0 /\ -rcd_59^post34+rcd_59^0 == 0 /\ temp0_31^0-temp0_31^post34 == 0 /\ __disjvr_10^0-__disjvr_10^post34 == 0 /\ -a_118^post34+a_118^0 == 0 /\ i_95^0-i_95^post34 == 0 /\ -tmp_34^post34+tmp_34^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post34+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ x_19^0-x_19^post34 == 0 /\ -__disjvr_12^post34+__disjvr_12^0 == 0 /\ -i_110^post34+i_110^0 == 0 /\ a_225^0-a_225^post34 == 0 /\ __disjvr_9^0-__disjvr_9^post34 == 0 /\ x_26^0-x_26^post34 == 0 /\ -__disjvr_5^post34+__disjvr_5^0 == 0 /\ __disjvr_28^0-__disjvr_28^post34 == 0 /\ __disjvr_24^0-__disjvr_24^post34 == 0 /\ -a_289^post34+a_289^0 == 0 /\ -__disjvr_27^post34+__disjvr_27^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post34+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ a_149^0-a_149^post34 == 0 /\ -len_134^post34+len_134^0 == 0 /\ -result_11^post34+result_11^0 == 0 /\ __disjvr_11^0-__disjvr_11^post34 == 0 /\ __disjvr_21^0-__disjvr_21^post34 == 0 /\ length_28^0-length_28^post34 == 0 /\ -nondet_12^post34+nondet_12^0 == 0 /\ __disjvr_26^0-__disjvr_26^post34 == 0 /\ -__disjvr_18^post34+__disjvr_18^0 == 0 /\ -__disjvr_25^post34+__disjvr_25^0 == 0 /\ r_126^0-r_126^post34 == 0 /\ __disjvr_19^0-__disjvr_19^post34 == 0 /\ __disjvr_13^0-__disjvr_13^post34 == 0 /\ -a_343^post34+a_343^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -temp_35^post34+temp_35^0 == 0 /\ -a_188^post34+a_188^0 == 0 /\ -x_SLAM_f_17^post34+x_SLAM_f_17^0 == 0 /\ __disjvr_6^0-__disjvr_6^post34 == 0 /\ __disjvr_3^0-__disjvr_3^post34 == 0 /\ __disjvr_29^0-__disjvr_29^post34 == 0 /\ __disjvr_4^0-__disjvr_4^post34 == 0 /\ -__disjvr_2^post34+__disjvr_2^0 == 0 /\ __disjvr_22^0-__disjvr_22^post34 == 0 /\ y_25^0-y_25^post34 == 0 /\ -tail_14^post34+tail_14^0 == 0 /\ r_39^0-r_39^post34 == 0 /\ head_15^0-head_15^post34 == 0 /\ __disjvr_20^0-__disjvr_20^post34 == 0 /\ -x_131^post34+x_131^0 == 0 /\ -__disjvr_1^post34+__disjvr_1^0 == 0 /\ -__disjvr_23^post34+__disjvr_23^0 == 0 /\ __disjvr_0^0-__disjvr_0^post34 == 0 /\ -__disjvr_7^post34+__disjvr_7^0 == 0 /\ -__disjvr_17^post34+__disjvr_17^0 == 0 /\ -__disjvr_15^post34+__disjvr_15^0 == 0 /\ y_18^0-y_18^post34 == 0 /\ __disjvr_16^0-__disjvr_16^post34 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ r_165^0-r_165^post34 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post34 == 0 /\ -i_30^post34+i_30^0 == 0 /\ head_SLAM_f_29^0-head_SLAM_f_29^post34 == 0 /\ -t_22^post34+t_22^0 == 0 /\ -x_176^post34+x_176^0 == 0 /\ -__disjvr_8^post34+__disjvr_8^0 == 0), cost: 1
  36: l35 -> l36 : __disjvr_0^0'=__disjvr_0^post36, a_281^0'=a_281^post36, x_SLAM_f_24^0'=x_SLAM_f_24^post36, __disjvr_21^0'=__disjvr_21^post36, __disjvr_4^0'=__disjvr_4^post36, tail_14^0'=tail_14^post36, __disjvr_14^0'=__disjvr_14^post36, head_15^0'=head_15^post36, __disjvr_24^0'=__disjvr_24^post36, r_165^0'=r_165^post36, __disjvr_9^0'=__disjvr_9^post36, a_149^0'=a_149^post36, x_19^0'=x_19^post36, __disjvr_19^0'=__disjvr_19^post36, i_95^0'=i_95^post36, __disjvr_29^0'=__disjvr_29^post36, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post36, __disjvr_11^0'=__disjvr_11^post36, a_342^0'=a_342^post36, y_25^0'=y_25^post36, length_28^0'=length_28^post36, __disjvr_6^0'=__disjvr_6^post36, temp0_31^0'=temp0_31^post36, __disjvr_16^0'=__disjvr_16^post36, head_SLAM_f_29^0'=head_SLAM_f_29^post36, __disjvr_26^0'=__disjvr_26^post36, rcd_59^0'=rcd_59^post36, a_225^0'=a_225^post36, x_SLAM_f_17^0'=x_SLAM_f_17^post36, __disjvr_20^0'=__disjvr_20^post36, len_187^0'=len_187^post36, __disjvr_3^0'=__disjvr_3^post36, t_22^0'=t_22^post36, __disjvr_13^0'=__disjvr_13^post36, f_171^0'=f_171^post36, __disjvr_23^0'=__disjvr_23^post36, r_126^0'=r_126^post36, __disjvr_8^0'=__disjvr_8^post36, tmp_34^0'=tmp_34^post36, x_176^0'=x_176^post36, __disjvr_18^0'=__disjvr_18^post36, i_30^0'=i_30^post36, __disjvr_28^0'=__disjvr_28^post36, result_11^0'=result_11^post36, __disjvr_10^0'=__disjvr_10^post36, a_289^0'=a_289^post36, y_18^0'=y_18^post36, __disjvr_22^0'=__disjvr_22^post36, __disjvr_5^0'=__disjvr_5^post36, temp0_16^0'=temp0_16^post36, __disjvr_15^0'=__disjvr_15^post36, head_32^0'=head_32^post36, __disjvr_25^0'=__disjvr_25^post36, r_39^0'=r_39^post36, a_118^0'=a_118^post36, a_188^0'=a_188^post36, x_26^0'=x_26^post36, __disjvr_1^0'=__disjvr_1^post36, len_134^0'=len_134^post36, __disjvr_2^0'=__disjvr_2^post36, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post36, __disjvr_12^0'=__disjvr_12^post36, a_343^0'=a_343^post36, nondet_12^0'=nondet_12^post36, __disjvr_7^0'=__disjvr_7^post36, temp_35^0'=temp_35^post36, x_131^0'=x_131^post36, __disjvr_17^0'=__disjvr_17^post36, i_110^0'=i_110^post36, __disjvr_27^0'=__disjvr_27^post36, rcd_89^0'=rcd_89^post36, (-x_176^post36+x_176^0 == 0 /\ head_15^0-head_15^post36 == 0 /\ -x_SLAM_f_17^post36+x_SLAM_f_17^0 == 0 /\ -a_343^post36+a_343^0 == 0 /\ -t_22^post36+t_22^0 == 0 /\ -__disjvr_25^post36+__disjvr_25^0 == 0 /\ -a_188^post36+a_188^0 == 0 /\ -len_134^post36+len_134^0 == 0 /\ -__disjvr_2^post36+__disjvr_2^0 == 0 /\ __disjvr_8^0-__disjvr_8^post36 == 0 /\ -__disjvr_14^0+__disjvr_14^post36 == 0 /\ a_149^0-a_149^post36 == 0 /\ a_118^0-a_118^post36 == 0 /\ __disjvr_26^0-__disjvr_26^post36 == 0 /\ -temp_35^post36+temp_35^0 == 0 /\ -__disjvr_15^post36+__disjvr_15^0 == 0 /\ i_30^0-i_30^post36 == 0 /\ __disjvr_13^0-__disjvr_13^post36 == 0 /\ -__disjvr_23^post36+__disjvr_23^0 == 0 /\ y_25^0-y_25^post36 == 0 /\ __disjvr_3^0-__disjvr_3^post36 == 0 /\ -x_131^post36+x_131^0 == 0 /\ __disjvr_10^0-__disjvr_10^post36 == 0 /\ __disjvr_6^0-__disjvr_6^post36 == 0 /\ __disjvr_14^0-__disjvr_14^post36 == 0 /\ __disjvr_20^0-__disjvr_20^post36 == 0 /\ -__disjvr_7^post36+__disjvr_7^0 == 0 /\ tail_14^0-tail_14^post36 == 0 /\ -__disjvr_17^post36+__disjvr_17^0 == 0 /\ a_342^0-a_342^post36 == 0 /\ __disjvr_24^0-__disjvr_24^post36 == 0 /\ a_225^0-a_225^post36 == 0 /\ -x_26^post36+x_26^0 == 0 /\ -head_32^post36+head_32^0 == 0 /\ r_39^0-r_39^post36 == 0 /\ temp0_31^0-temp0_31^post36 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post36 == 0 /\ __disjvr_16^0-__disjvr_16^post36 == 0 /\ __disjvr_9^0-__disjvr_9^post36 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post36 == 0 /\ -rcd_89^post36+rcd_89^0 == 0 /\ -len_187^post36+len_187^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post36+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -__disjvr_21^post36+__disjvr_21^0 == 0 /\ -rcd_59^post36+rcd_59^0 == 0 /\ -__disjvr_28^post36+__disjvr_28^0 == 0 /\ -__disjvr_1^post36+__disjvr_1^0 == 0 /\ -temp0_16^post36+temp0_16^0 == 0 /\ -__disjvr_0^post36+__disjvr_0^0 == 0 /\ r_165^0-r_165^post36 == 0 /\ length_28^0-length_28^post36 == 0 /\ y_18^0-y_18^post36 == 0 /\ -tmp_34^post36+tmp_34^0 == 0 /\ head_SLAM_f_29^0-head_SLAM_f_29^post36 == 0 /\ __disjvr_19^0-__disjvr_19^post36 == 0 /\ __disjvr_29^0-__disjvr_29^post36 == 0 /\ r_126^0-r_126^post36 == 0 /\ -__disjvr_5^post36+__disjvr_5^0 == 0 /\ a_281^0-a_281^post36 == 0 /\ __disjvr_11^0-__disjvr_11^post36 == 0 /\ -__disjvr_27^post36+__disjvr_27^0 == 0 /\ __disjvr_22^0-__disjvr_22^post36 == 0 /\ __disjvr_4^0-__disjvr_4^post36 == 0 /\ -i_110^post36+i_110^0 == 0 /\ x_19^0-x_19^post36 == 0 /\ i_95^0-i_95^post36 == 0 /\ f_171^0-f_171^post36 == 0 /\ -__disjvr_18^post36+__disjvr_18^0 == 0 /\ -a_289^post36+a_289^0 == 0 /\ -result_11^post36+result_11^0 == 0 /\ -__disjvr_12^post36+__disjvr_12^0 == 0 /\ -nondet_12^post36+nondet_12^0 == 0), cost: 1
  37: l36 -> l37 : __disjvr_0^0'=__disjvr_0^post37, a_281^0'=a_281^post37, x_SLAM_f_24^0'=x_SLAM_f_24^post37, __disjvr_21^0'=__disjvr_21^post37, __disjvr_4^0'=__disjvr_4^post37, tail_14^0'=tail_14^post37, __disjvr_14^0'=__disjvr_14^post37, head_15^0'=head_15^post37, __disjvr_24^0'=__disjvr_24^post37, r_165^0'=r_165^post37, __disjvr_9^0'=__disjvr_9^post37, a_149^0'=a_149^post37, x_19^0'=x_19^post37, __disjvr_19^0'=__disjvr_19^post37, i_95^0'=i_95^post37, __disjvr_29^0'=__disjvr_29^post37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post37, __disjvr_11^0'=__disjvr_11^post37, a_342^0'=a_342^post37, y_25^0'=y_25^post37, length_28^0'=length_28^post37, __disjvr_6^0'=__disjvr_6^post37, temp0_31^0'=temp0_31^post37, __disjvr_16^0'=__disjvr_16^post37, head_SLAM_f_29^0'=head_SLAM_f_29^post37, __disjvr_26^0'=__disjvr_26^post37, rcd_59^0'=rcd_59^post37, a_225^0'=a_225^post37, x_SLAM_f_17^0'=x_SLAM_f_17^post37, __disjvr_20^0'=__disjvr_20^post37, len_187^0'=len_187^post37, __disjvr_3^0'=__disjvr_3^post37, t_22^0'=t_22^post37, __disjvr_13^0'=__disjvr_13^post37, f_171^0'=f_171^post37, __disjvr_23^0'=__disjvr_23^post37, r_126^0'=r_126^post37, __disjvr_8^0'=__disjvr_8^post37, tmp_34^0'=tmp_34^post37, x_176^0'=x_176^post37, __disjvr_18^0'=__disjvr_18^post37, i_30^0'=i_30^post37, __disjvr_28^0'=__disjvr_28^post37, result_11^0'=result_11^post37, __disjvr_10^0'=__disjvr_10^post37, a_289^0'=a_289^post37, y_18^0'=y_18^post37, __disjvr_22^0'=__disjvr_22^post37, __disjvr_5^0'=__disjvr_5^post37, temp0_16^0'=temp0_16^post37, __disjvr_15^0'=__disjvr_15^post37, head_32^0'=head_32^post37, __disjvr_25^0'=__disjvr_25^post37, r_39^0'=r_39^post37, a_118^0'=a_118^post37, a_188^0'=a_188^post37, x_26^0'=x_26^post37, __disjvr_1^0'=__disjvr_1^post37, len_134^0'=len_134^post37, __disjvr_2^0'=__disjvr_2^post37, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post37, __disjvr_12^0'=__disjvr_12^post37, a_343^0'=a_343^post37, nondet_12^0'=nondet_12^post37, __disjvr_7^0'=__disjvr_7^post37, temp_35^0'=temp_35^post37, x_131^0'=x_131^post37, __disjvr_17^0'=__disjvr_17^post37, i_110^0'=i_110^post37, __disjvr_27^0'=__disjvr_27^post37, rcd_89^0'=rcd_89^post37, (0 == 0 /\ __disjvr_8^0-__disjvr_8^post37 == 0 /\ -1+len_187^post37-len_134^0 <= 0 /\ -nondet_12^post37+nondet_12^0 == 0 /\ tail_14^0-tail_14^post37 == 0 /\ -r_39^post37+r_39^0 == 0 /\ a_149^0-a_149^post37 == 0 /\ -a_118^post37+a_118^0 == 0 /\ __disjvr_21^0-__disjvr_21^post37 == 0 /\ __disjvr_26^0-__disjvr_26^post37 == 0 /\ __disjvr_19^0-__disjvr_19^post37 == 0 /\ -__disjvr_6^post37+__disjvr_6^0 == 0 /\ tail_14^0-y_25^0 <= 0 /\ -i_110^post37+i_110^0 == 0 /\ __disjvr_9^0-__disjvr_9^post37 == 0 /\ -a_289^post37+a_289^0 == 0 /\ -__disjvr_27^post37+__disjvr_27^0 == 0 /\ -__disjvr_5^post37+__disjvr_5^0 == 0 /\ __disjvr_28^0-__disjvr_28^post37 == 0 /\ -x_26^post37+x_26^0 == 0 /\ __disjvr_10^0-__disjvr_10^post37 == 0 /\ len_134^0-len_134^post37 == 0 /\ -x_SLAM_f_17^post37+x_SLAM_f_17^0 == 0 /\ __disjvr_14^0-__disjvr_14^post37 == 0 /\ __disjvr_20^0-__disjvr_20^post37 == 0 /\ -__disjvr_25^post37+__disjvr_25^0 == 0 /\ -1+a_149^0-a_188^post37 <= 0 /\ i_30^0-i_30^post37 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post37+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -t_22^post37+t_22^0 == 0 /\ -rcd_59^post37+rcd_59^0 == 0 /\ -tail_14^0+y_25^0 <= 0 /\ -__disjvr_1^post37+__disjvr_1^0 == 0 /\ -tmp_34^post37+tmp_34^0 == 0 /\ y_25^0-y_25^post37 == 0 /\ -temp_35^post37+temp_35^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post37 == 0 /\ __disjvr_3^0-__disjvr_3^post37 == 0 /\ -x_SLAM_f_24^0+head_15^0 <= 0 /\ -__disjvr_15^post37+__disjvr_15^0 == 0 /\ f_171^0-x_26^0 <= 0 /\ 1-len_187^post37+len_134^0 <= 0 /\ r_126^0-r_126^post37 == 0 /\ __disjvr_24^0-__disjvr_24^post37 == 0 /\ __disjvr_0^0-__disjvr_0^post37 == 0 /\ i_95^0-i_95^post37 == 0 /\ head_32^0-head_32^post37 == 0 /\ a_342^0-a_342^post37 == 0 /\ a_225^0-a_225^post37 == 0 /\ __disjvr_13^0-__disjvr_13^post37 == 0 /\ -__disjvr_7^post37+__disjvr_7^0 == 0 /\ __disjvr_11^0-__disjvr_11^post37 == 0 /\ -result_11^post37+result_11^0 == 0 /\ -__disjvr_18^post37+__disjvr_18^0 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post37 == 0 /\ -__disjvr_17^post37+__disjvr_17^0 == 0 /\ -__disjvr_12^post37+__disjvr_12^0 == 0 /\ -x_131^post37+x_131^0 == 0 /\ __disjvr_16^0-__disjvr_16^post37 == 0 /\ __disjvr_22^0-__disjvr_22^post37 == 0 /\ x_19^0-x_19^post37 == 0 /\ __disjvr_4^0-__disjvr_4^post37 == 0 /\ -temp0_16^post37+temp0_16^0 == 0 /\ -x_176^post37+x_176^0 == 0 /\ x_SLAM_f_24^0-head_15^0 <= 0 /\ -f_171^0+x_26^0 <= 0 /\ r_165^0-r_165^post37 == 0 /\ -f_171^post37+f_171^0 == 0 /\ y_18^0-y_18^post37 == 0 /\ length_28^0-length_28^post37 == 0 /\ 1-a_149^0+a_188^post37 <= 0 /\ head_15^0-head_15^post37 == 0 /\ head_SLAM_f_29^0-head_SLAM_f_29^post37 == 0 /\ __disjvr_29^0-__disjvr_29^post37 == 0 /\ -__disjvr_23^post37+__disjvr_23^0 == 0 /\ a_281^0-a_281^post37 == 0 /\ -a_343^post37+a_343^0 == 0 /\ temp0_31^0-temp0_31^post37 == 0 /\ -__disjvr_2^post37+__disjvr_2^0 == 0 /\ -rcd_89^post37+rcd_89^0 == 0), cost: 1
  38: l37 -> l38 : __disjvr_0^0'=__disjvr_0^post38, a_281^0'=a_281^post38, x_SLAM_f_24^0'=x_SLAM_f_24^post38, __disjvr_21^0'=__disjvr_21^post38, __disjvr_4^0'=__disjvr_4^post38, tail_14^0'=tail_14^post38, __disjvr_14^0'=__disjvr_14^post38, head_15^0'=head_15^post38, __disjvr_24^0'=__disjvr_24^post38, r_165^0'=r_165^post38, __disjvr_9^0'=__disjvr_9^post38, a_149^0'=a_149^post38, x_19^0'=x_19^post38, __disjvr_19^0'=__disjvr_19^post38, i_95^0'=i_95^post38, __disjvr_29^0'=__disjvr_29^post38, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post38, __disjvr_11^0'=__disjvr_11^post38, a_342^0'=a_342^post38, y_25^0'=y_25^post38, length_28^0'=length_28^post38, __disjvr_6^0'=__disjvr_6^post38, temp0_31^0'=temp0_31^post38, __disjvr_16^0'=__disjvr_16^post38, head_SLAM_f_29^0'=head_SLAM_f_29^post38, __disjvr_26^0'=__disjvr_26^post38, rcd_59^0'=rcd_59^post38, a_225^0'=a_225^post38, x_SLAM_f_17^0'=x_SLAM_f_17^post38, __disjvr_20^0'=__disjvr_20^post38, len_187^0'=len_187^post38, __disjvr_3^0'=__disjvr_3^post38, t_22^0'=t_22^post38, __disjvr_13^0'=__disjvr_13^post38, f_171^0'=f_171^post38, __disjvr_23^0'=__disjvr_23^post38, r_126^0'=r_126^post38, __disjvr_8^0'=__disjvr_8^post38, tmp_34^0'=tmp_34^post38, x_176^0'=x_176^post38, __disjvr_18^0'=__disjvr_18^post38, i_30^0'=i_30^post38, __disjvr_28^0'=__disjvr_28^post38, result_11^0'=result_11^post38, __disjvr_10^0'=__disjvr_10^post38, a_289^0'=a_289^post38, y_18^0'=y_18^post38, __disjvr_22^0'=__disjvr_22^post38, __disjvr_5^0'=__disjvr_5^post38, temp0_16^0'=temp0_16^post38, __disjvr_15^0'=__disjvr_15^post38, head_32^0'=head_32^post38, __disjvr_25^0'=__disjvr_25^post38, r_39^0'=r_39^post38, a_118^0'=a_118^post38, a_188^0'=a_188^post38, x_26^0'=x_26^post38, __disjvr_1^0'=__disjvr_1^post38, len_134^0'=len_134^post38, __disjvr_2^0'=__disjvr_2^post38, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post38, __disjvr_12^0'=__disjvr_12^post38, a_343^0'=a_343^post38, nondet_12^0'=nondet_12^post38, __disjvr_7^0'=__disjvr_7^post38, temp_35^0'=temp_35^post38, x_131^0'=x_131^post38, __disjvr_17^0'=__disjvr_17^post38, i_110^0'=i_110^post38, __disjvr_27^0'=__disjvr_27^post38, rcd_89^0'=rcd_89^post38, (a_118^0-a_118^post38 == 0 /\ -__disjvr_22^post38+__disjvr_22^0 == 0 /\ -temp0_16^post38+temp0_16^0 == 0 /\ -x_26^post38+x_26^0 == 0 /\ __disjvr_21^0-__disjvr_21^post38 == 0 /\ a_281^0-a_281^post38 == 0 /\ -f_171^post38+f_171^0 == 0 /\ a_188^0-a_188^post38 == 0 /\ __disjvr_10^0-__disjvr_10^post38 == 0 /\ x_19^0-x_19^post38 == 0 /\ -len_187^post38+len_187^0 == 0 /\ -__disjvr_1^post38+__disjvr_1^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post38+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ __disjvr_14^0-__disjvr_14^post38 == 0 /\ i_95^0-i_95^post38 == 0 /\ -rcd_59^post38+rcd_59^0 == 0 /\ -rcd_89^post38+rcd_89^0 == 0 /\ -tmp_34^post38+tmp_34^0 == 0 /\ __disjvr_12^0-__disjvr_12^post38 == 0 /\ __disjvr_2^0-__disjvr_2^post38 == 0 /\ a_225^0-a_225^post38 == 0 /\ -a_289^post38+a_289^0 == 0 /\ -r_39^post38+r_39^0 == 0 /\ __disjvr_4^0-__disjvr_4^post38 == 0 /\ __disjvr_16^0-__disjvr_16^post38 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post38 == 0 /\ -nondet_12^post38+nondet_12^0 == 0 /\ -__disjvr_5^post38+__disjvr_5^0 == 0 /\ len_134^0-len_134^post38 == 0 /\ __disjvr_8^0-__disjvr_8^post38 == 0 /\ __disjvr_28^0-__disjvr_28^post38 == 0 /\ -result_11^post38+result_11^0 == 0 /\ __disjvr_26^0-__disjvr_26^post38 == 0 /\ -i_110^post38+i_110^0 == 0 /\ -__disjvr_18^post38+__disjvr_18^0 == 0 /\ -__disjvr_27^post38+__disjvr_27^0 == 0 /\ __disjvr_24^0-__disjvr_24^post38 == 0 /\ head_32^0-head_32^post38 == 0 /\ tail_14^0-tail_14^post38 == 0 /\ __disjvr_3^0-__disjvr_3^post38 == 0 /\ -x_176^post38+x_176^0 == 0 /\ -a_149^post38+a_149^0 == 0 /\ head_SLAM_f_29^0-head_SLAM_f_29^post38 == 0 /\ __disjvr_11^0-__disjvr_11^post38 == 0 /\ __disjvr_29^0-__disjvr_29^post38 == 0 /\ __disjvr_13^0-__disjvr_13^post38 == 0 /\ __disjvr_15^post38-__disjvr_15^0 == 0 /\ -__disjvr_25^post38+__disjvr_25^0 == 0 /\ -__disjvr_9^post38+__disjvr_9^0 == 0 /\ __disjvr_19^0-__disjvr_19^post38 == 0 /\ -temp_35^post38+temp_35^0 == 0 /\ -x_SLAM_f_17^post38+x_SLAM_f_17^0 == 0 /\ __disjvr_20^0-__disjvr_20^post38 == 0 /\ __disjvr_0^0-__disjvr_0^post38 == 0 /\ r_126^0-r_126^post38 == 0 /\ a_342^0-a_342^post38 == 0 /\ head_15^0-head_15^post38 == 0 /\ t_22^0-t_22^post38 == 0 /\ -__disjvr_15^post38+__disjvr_15^0 == 0 /\ -a_343^post38+a_343^0 == 0 /\ -__disjvr_23^post38+__disjvr_23^0 == 0 /\ temp0_31^0-temp0_31^post38 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post38 == 0 /\ -__disjvr_6^post38+__disjvr_6^0 == 0 /\ -__disjvr_7^post38+__disjvr_7^0 == 0 /\ -y_25^post38+y_25^0 == 0 /\ r_165^0-r_165^post38 == 0 /\ i_30^0-i_30^post38 == 0 /\ y_18^0-y_18^post38 == 0 /\ -x_131^post38+x_131^0 == 0 /\ -__disjvr_17^post38+__disjvr_17^0 == 0 /\ length_28^0-length_28^post38 == 0), cost: 1
  39: l38 -> l39 : __disjvr_0^0'=__disjvr_0^post39, a_281^0'=a_281^post39, x_SLAM_f_24^0'=x_SLAM_f_24^post39, __disjvr_21^0'=__disjvr_21^post39, __disjvr_4^0'=__disjvr_4^post39, tail_14^0'=tail_14^post39, __disjvr_14^0'=__disjvr_14^post39, head_15^0'=head_15^post39, __disjvr_24^0'=__disjvr_24^post39, r_165^0'=r_165^post39, __disjvr_9^0'=__disjvr_9^post39, a_149^0'=a_149^post39, x_19^0'=x_19^post39, __disjvr_19^0'=__disjvr_19^post39, i_95^0'=i_95^post39, __disjvr_29^0'=__disjvr_29^post39, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post39, __disjvr_11^0'=__disjvr_11^post39, a_342^0'=a_342^post39, y_25^0'=y_25^post39, length_28^0'=length_28^post39, __disjvr_6^0'=__disjvr_6^post39, temp0_31^0'=temp0_31^post39, __disjvr_16^0'=__disjvr_16^post39, head_SLAM_f_29^0'=head_SLAM_f_29^post39, __disjvr_26^0'=__disjvr_26^post39, rcd_59^0'=rcd_59^post39, a_225^0'=a_225^post39, x_SLAM_f_17^0'=x_SLAM_f_17^post39, __disjvr_20^0'=__disjvr_20^post39, len_187^0'=len_187^post39, __disjvr_3^0'=__disjvr_3^post39, t_22^0'=t_22^post39, __disjvr_13^0'=__disjvr_13^post39, f_171^0'=f_171^post39, __disjvr_23^0'=__disjvr_23^post39, r_126^0'=r_126^post39, __disjvr_8^0'=__disjvr_8^post39, tmp_34^0'=tmp_34^post39, x_176^0'=x_176^post39, __disjvr_18^0'=__disjvr_18^post39, i_30^0'=i_30^post39, __disjvr_28^0'=__disjvr_28^post39, result_11^0'=result_11^post39, __disjvr_10^0'=__disjvr_10^post39, a_289^0'=a_289^post39, y_18^0'=y_18^post39, __disjvr_22^0'=__disjvr_22^post39, __disjvr_5^0'=__disjvr_5^post39, temp0_16^0'=temp0_16^post39, __disjvr_15^0'=__disjvr_15^post39, head_32^0'=head_32^post39, __disjvr_25^0'=__disjvr_25^post39, r_39^0'=r_39^post39, a_118^0'=a_118^post39, a_188^0'=a_188^post39, x_26^0'=x_26^post39, __disjvr_1^0'=__disjvr_1^post39, len_134^0'=len_134^post39, __disjvr_2^0'=__disjvr_2^post39, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post39, __disjvr_12^0'=__disjvr_12^post39, a_343^0'=a_343^post39, nondet_12^0'=nondet_12^post39, __disjvr_7^0'=__disjvr_7^post39, temp_35^0'=temp_35^post39, x_131^0'=x_131^post39, __disjvr_17^0'=__disjvr_17^post39, i_110^0'=i_110^post39, __disjvr_27^0'=__disjvr_27^post39, rcd_89^0'=rcd_89^post39, (len_134^0-len_134^post39 == 0 /\ x_19^0-x_19^post39 == 0 /\ __disjvr_10^0-__disjvr_10^post39 == 0 /\ __disjvr_14^0-__disjvr_14^post39 == 0 /\ __disjvr_28^0-__disjvr_28^post39 == 0 /\ -__disjvr_23^post39+__disjvr_23^0 == 0 /\ y_18^0-y_18^post39 == 0 /\ -x_26^post39+x_26^0 == 0 /\ a_118^0-a_118^post39 == 0 /\ -__disjvr_7^post39+__disjvr_7^0 == 0 /\ a_281^0-a_281^post39 == 0 /\ -__disjvr_11^post39+__disjvr_11^0 == 0 /\ -result_11^post39+result_11^0 == 0 /\ -__disjvr_17^post39+__disjvr_17^0 == 0 /\ __disjvr_8^0-__disjvr_8^post39 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post39 == 0 /\ temp0_31^0-temp0_31^post39 == 0 /\ -x_131^post39+x_131^0 == 0 /\ -__disjvr_22^post39+__disjvr_22^0 == 0 /\ y_25^0-y_25^post39 == 0 /\ -temp0_16^post39+temp0_16^0 == 0 /\ __disjvr_15^0-__disjvr_15^post39 == 0 /\ __disjvr_18^0-__disjvr_18^post39 == 0 /\ -x_176^post39+x_176^0 == 0 /\ __disjvr_26^0-__disjvr_26^post39 == 0 /\ __disjvr_24^0-__disjvr_24^post39 == 0 /\ -f_171^post39+f_171^0 == 0 /\ -__disjvr_12^post39+__disjvr_12^0 == 0 /\ a_225^0-a_225^post39 == 0 /\ -len_187^post39+len_187^0 == 0 /\ __disjvr_2^0-__disjvr_2^post39 == 0 /\ __disjvr_13^0-__disjvr_13^post39 == 0 /\ a_342^0-a_342^post39 == 0 /\ -head_32^post39+head_32^0 == 0 /\ -rcd_89^post39+rcd_89^0 == 0 /\ -a_188^post39+a_188^0 == 0 /\ __disjvr_16^0-__disjvr_16^post39 == 0 /\ -tmp_34^post39+tmp_34^0 == 0 /\ -a_289^post39+a_289^0 == 0 /\ i_30^0-i_30^post39 == 0 /\ -a_343^post39+a_343^0 == 0 /\ -nondet_12^post39+nondet_12^0 == 0 /\ __disjvr_3^0-__disjvr_3^post39 == 0 /\ tail_14^0-tail_14^post39 == 0 /\ r_126^0-r_126^post39 == 0 /\ -__disjvr_5^post39+__disjvr_5^0 == 0 /\ __disjvr_29^0-__disjvr_29^post39 == 0 /\ head_SLAM_f_29^0-head_SLAM_f_29^post39 == 0 /\ length_28^0-length_28^post39 == 0 /\ -__disjvr_6^post39+__disjvr_6^0 == 0 /\ __disjvr_4^0-__disjvr_4^post39 == 0 /\ -r_39^post39+r_39^0 == 0 /\ -a_149^post39+a_149^0 == 0 /\ i_95^0-i_95^post39 == 0 /\ -__disjvr_16^0+__disjvr_16^post39 == 0 /\ i_110^0-i_110^post39 == 0 /\ -head_15^post39+head_15^0 == 0 /\ -__disjvr_1^post39+__disjvr_1^0 == 0 /\ __disjvr_0^0-__disjvr_0^post39 == 0 /\ -__disjvr_20^post39+__disjvr_20^0 == 0 /\ -__disjvr_9^post39+__disjvr_9^0 == 0 /\ -temp_35^post39+temp_35^0 == 0 /\ -x_SLAM_f_17^post39+x_SLAM_f_17^0 == 0 /\ __disjvr_19^0-__disjvr_19^post39 == 0 /\ __disjvr_21^0-__disjvr_21^post39 == 0 /\ t_22^0-t_22^post39 == 0 /\ r_165^0-r_165^post39 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post39+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ __disjvr_27^0-__disjvr_27^post39 == 0 /\ -rcd_59^post39+rcd_59^0 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post39 == 0 /\ -__disjvr_25^post39+__disjvr_25^0 == 0), cost: 1
  40: l39 -> l34 : __disjvr_0^0'=__disjvr_0^post40, a_281^0'=a_281^post40, x_SLAM_f_24^0'=x_SLAM_f_24^post40, __disjvr_21^0'=__disjvr_21^post40, __disjvr_4^0'=__disjvr_4^post40, tail_14^0'=tail_14^post40, __disjvr_14^0'=__disjvr_14^post40, head_15^0'=head_15^post40, __disjvr_24^0'=__disjvr_24^post40, r_165^0'=r_165^post40, __disjvr_9^0'=__disjvr_9^post40, a_149^0'=a_149^post40, x_19^0'=x_19^post40, __disjvr_19^0'=__disjvr_19^post40, i_95^0'=i_95^post40, __disjvr_29^0'=__disjvr_29^post40, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post40, __disjvr_11^0'=__disjvr_11^post40, a_342^0'=a_342^post40, y_25^0'=y_25^post40, length_28^0'=length_28^post40, __disjvr_6^0'=__disjvr_6^post40, temp0_31^0'=temp0_31^post40, __disjvr_16^0'=__disjvr_16^post40, head_SLAM_f_29^0'=head_SLAM_f_29^post40, __disjvr_26^0'=__disjvr_26^post40, rcd_59^0'=rcd_59^post40, a_225^0'=a_225^post40, x_SLAM_f_17^0'=x_SLAM_f_17^post40, __disjvr_20^0'=__disjvr_20^post40, len_187^0'=len_187^post40, __disjvr_3^0'=__disjvr_3^post40, t_22^0'=t_22^post40, __disjvr_13^0'=__disjvr_13^post40, f_171^0'=f_171^post40, __disjvr_23^0'=__disjvr_23^post40, r_126^0'=r_126^post40, __disjvr_8^0'=__disjvr_8^post40, tmp_34^0'=tmp_34^post40, x_176^0'=x_176^post40, __disjvr_18^0'=__disjvr_18^post40, i_30^0'=i_30^post40, __disjvr_28^0'=__disjvr_28^post40, result_11^0'=result_11^post40, __disjvr_10^0'=__disjvr_10^post40, a_289^0'=a_289^post40, y_18^0'=y_18^post40, __disjvr_22^0'=__disjvr_22^post40, __disjvr_5^0'=__disjvr_5^post40, temp0_16^0'=temp0_16^post40, __disjvr_15^0'=__disjvr_15^post40, head_32^0'=head_32^post40, __disjvr_25^0'=__disjvr_25^post40, r_39^0'=r_39^post40, a_118^0'=a_118^post40, a_188^0'=a_188^post40, x_26^0'=x_26^post40, __disjvr_1^0'=__disjvr_1^post40, len_134^0'=len_134^post40, __disjvr_2^0'=__disjvr_2^post40, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post40, __disjvr_12^0'=__disjvr_12^post40, a_343^0'=a_343^post40, nondet_12^0'=nondet_12^post40, __disjvr_7^0'=__disjvr_7^post40, temp_35^0'=temp_35^post40, x_131^0'=x_131^post40, __disjvr_17^0'=__disjvr_17^post40, i_110^0'=i_110^post40, __disjvr_27^0'=__disjvr_27^post40, rcd_89^0'=rcd_89^post40, (0 == 0 /\ -temp_35^post40+temp_35^0 == 0 /\ -__disjvr_20^post40+__disjvr_20^0 == 0 /\ -t_22^post40+t_22^0 == 0 /\ r_165^0-r_165^post40 == 0 /\ __disjvr_2^0-__disjvr_2^post40 == 0 /\ -x_176^post40+x_176^0 == 0 /\ -__disjvr_12^post40+__disjvr_12^0 == 0 /\ __disjvr_8^0-__disjvr_8^post40 == 0 /\ -x_SLAM_f_17^post40+x_SLAM_f_17^0 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post40 == 0 /\ -a_149^post40+a_188^0 <= 0 /\ __disjvr_28^0-__disjvr_28^post40 == 0 /\ len_187^0-len_187^post40 == 0 /\ __disjvr_26^0-__disjvr_26^post40 == 0 /\ a_118^0-a_118^post40 == 0 /\ -a_188^post40+a_188^0 == 0 /\ tail_14^0-tail_14^post40 == 0 /\ __disjvr_3^0-__disjvr_3^post40 == 0 /\ -__disjvr_7^post40+__disjvr_7^0 == 0 /\ head_SLAM_f_29^0-head_SLAM_f_29^post40 == 0 /\ a_281^0-a_281^post40 == 0 /\ -tmp_34^post40+tmp_34^0 == 0 /\ __disjvr_13^0-__disjvr_13^post40 == 0 /\ __disjvr_14^0-__disjvr_14^post40 == 0 /\ -__disjvr_23^post40+__disjvr_23^0 == 0 /\ -a_343^post40+a_343^0 == 0 /\ y_25^0-y_25^post40 == 0 /\ __disjvr_6^0-__disjvr_6^post40 == 0 /\ -y_18^post40+y_18^0 == 0 /\ a_149^post40-a_188^0 <= 0 /\ __disjvr_18^0-__disjvr_18^post40 == 0 /\ -__disjvr_17^post40+__disjvr_17^0 == 0 /\ -__disjvr_15^post40+__disjvr_15^0 == 0 /\ -x_131^post40+x_131^0 == 0 /\ -__disjvr_22^post40+__disjvr_22^0 == 0 /\ a_225^0-a_225^post40 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post40 == 0 /\ __disjvr_9^0-__disjvr_9^post40 == 0 /\ __disjvr_24^0-__disjvr_24^post40 == 0 /\ a_342^0-a_342^post40 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -__disjvr_10^post40+__disjvr_10^0 == 0 /\ -__disjvr_1^post40+__disjvr_1^0 == 0 /\ __disjvr_4^0-__disjvr_4^post40 == 0 /\ -temp0_16^post40+temp0_16^0 == 0 /\ -len_187^0+len_134^post40 <= 0 /\ -i_30^post40+i_30^0 == 0 /\ __disjvr_16^0-__disjvr_16^post40 == 0 /\ -head_32^post40+head_32^0 == 0 /\ -rcd_89^post40+rcd_89^0 == 0 /\ -__disjvr_21^post40+__disjvr_21^0 == 0 /\ -rcd_59^post40+rcd_59^0 == 0 /\ __disjvr_19^0-__disjvr_19^post40 == 0 /\ a_289^0-a_289^post40 == 0 /\ r_126^0-r_126^post40 == 0 /\ length_28^0-length_28^post40 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post40+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ __disjvr_29^0-__disjvr_29^post40 == 0 /\ -nondet_12^post40+nondet_12^0 == 0 /\ -i_110^post40+i_110^0 == 0 /\ len_187^0-len_134^post40 <= 0 /\ __disjvr_11^0-__disjvr_11^post40 == 0 /\ -__disjvr_5^post40+__disjvr_5^0 == 0 /\ -x_26^post40+x_26^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ i_95^0-i_95^post40 == 0 /\ -result_11^post40+result_11^0 == 0 /\ -__disjvr_27^post40+__disjvr_27^0 == 0 /\ temp0_31^0-temp0_31^post40 == 0 /\ __disjvr_25^0-__disjvr_25^post40 == 0 /\ x_19^0-x_19^post40 == 0 /\ -r_39^post40+r_39^0 == 0 /\ head_15^0-head_15^post40 == 0 /\ __disjvr_0^0-__disjvr_0^post40 == 0 /\ f_171^0-f_171^post40 == 0), cost: 1
  41: l34 -> l31 : __disjvr_0^0'=__disjvr_0^post41, a_281^0'=a_281^post41, x_SLAM_f_24^0'=x_SLAM_f_24^post41, __disjvr_21^0'=__disjvr_21^post41, __disjvr_4^0'=__disjvr_4^post41, tail_14^0'=tail_14^post41, __disjvr_14^0'=__disjvr_14^post41, head_15^0'=head_15^post41, __disjvr_24^0'=__disjvr_24^post41, r_165^0'=r_165^post41, __disjvr_9^0'=__disjvr_9^post41, a_149^0'=a_149^post41, x_19^0'=x_19^post41, __disjvr_19^0'=__disjvr_19^post41, i_95^0'=i_95^post41, __disjvr_29^0'=__disjvr_29^post41, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post41, __disjvr_11^0'=__disjvr_11^post41, a_342^0'=a_342^post41, y_25^0'=y_25^post41, length_28^0'=length_28^post41, __disjvr_6^0'=__disjvr_6^post41, temp0_31^0'=temp0_31^post41, __disjvr_16^0'=__disjvr_16^post41, head_SLAM_f_29^0'=head_SLAM_f_29^post41, __disjvr_26^0'=__disjvr_26^post41, rcd_59^0'=rcd_59^post41, a_225^0'=a_225^post41, x_SLAM_f_17^0'=x_SLAM_f_17^post41, __disjvr_20^0'=__disjvr_20^post41, len_187^0'=len_187^post41, __disjvr_3^0'=__disjvr_3^post41, t_22^0'=t_22^post41, __disjvr_13^0'=__disjvr_13^post41, f_171^0'=f_171^post41, __disjvr_23^0'=__disjvr_23^post41, r_126^0'=r_126^post41, __disjvr_8^0'=__disjvr_8^post41, tmp_34^0'=tmp_34^post41, x_176^0'=x_176^post41, __disjvr_18^0'=__disjvr_18^post41, i_30^0'=i_30^post41, __disjvr_28^0'=__disjvr_28^post41, result_11^0'=result_11^post41, __disjvr_10^0'=__disjvr_10^post41, a_289^0'=a_289^post41, y_18^0'=y_18^post41, __disjvr_22^0'=__disjvr_22^post41, __disjvr_5^0'=__disjvr_5^post41, temp0_16^0'=temp0_16^post41, __disjvr_15^0'=__disjvr_15^post41, head_32^0'=head_32^post41, __disjvr_25^0'=__disjvr_25^post41, r_39^0'=r_39^post41, a_118^0'=a_118^post41, a_188^0'=a_188^post41, x_26^0'=x_26^post41, __disjvr_1^0'=__disjvr_1^post41, len_134^0'=len_134^post41, __disjvr_2^0'=__disjvr_2^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, __disjvr_12^0'=__disjvr_12^post41, a_343^0'=a_343^post41, nondet_12^0'=nondet_12^post41, __disjvr_7^0'=__disjvr_7^post41, temp_35^0'=temp_35^post41, x_131^0'=x_131^post41, __disjvr_17^0'=__disjvr_17^post41, i_110^0'=i_110^post41, __disjvr_27^0'=__disjvr_27^post41, rcd_89^0'=rcd_89^post41, (-tmp_34^post41+tmp_34^0 == 0 /\ -a_188^post41+a_188^0 == 0 /\ -__disjvr_27^post41+__disjvr_27^0 == 0 /\ len_187^0-len_187^post41 == 0 /\ -a_343^post41+a_343^0 == 0 /\ x_176^0-x_176^post41 == 0 /\ __disjvr_18^0-__disjvr_18^post41 == 0 /\ a_149^0-a_149^post41 == 0 /\ -__disjvr_2^post41+__disjvr_2^0 == 0 /\ -i_110^post41+i_110^0 == 0 /\ __disjvr_26^0-__disjvr_26^post41 == 0 /\ result_11^0-result_11^post41 == 0 /\ __disjvr_19^0-__disjvr_19^post41 == 0 /\ __disjvr_13^0-__disjvr_13^post41 == 0 /\ -y_25^post41+y_25^0 == 0 /\ __disjvr_21^0-__disjvr_21^post41 == 0 /\ __disjvr_14^0-__disjvr_14^post41 == 0 /\ -r_39^post41+r_39^0 == 0 /\ -__disjvr_20^post41+__disjvr_20^0 == 0 /\ -temp_35^post41+temp_35^0 == 0 /\ __disjvr_16^0-__disjvr_16^post41 == 0 /\ len_134^0-len_134^post41 == 0 /\ -t_22^post41+t_22^0 == 0 /\ -__disjvr_10^post41+__disjvr_10^0 == 0 /\ -i_30^post41+i_30^0 == 0 /\ -x_SLAM_f_17^post41+x_SLAM_f_17^0 == 0 /\ __disjvr_24^0-__disjvr_24^post41 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post41 == 0 /\ __disjvr_3^0-__disjvr_3^post41 == 0 /\ tail_14^0-tail_14^post41 == 0 /\ __disjvr_8^0-__disjvr_8^post41 == 0 /\ -a_118^post41+a_118^0 == 0 /\ -rcd_59^post41+rcd_59^0 == 0 /\ -__disjvr_1^post41+__disjvr_1^0 == 0 /\ __disjvr_0^0-__disjvr_0^post41 == 0 /\ -r_126^post41+r_126^0 == 0 /\ i_95^0-i_95^post41 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post41+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -__disjvr_28^post41+__disjvr_28^0 == 0 /\ -y_18^post41+y_18^0 == 0 /\ a_225^0-a_225^post41 == 0 /\ -x_26^post41+x_26^0 == 0 /\ __disjvr_9^0-__disjvr_9^post41 == 0 /\ a_342^0-a_342^post41 == 0 /\ -__disjvr_17^post41+__disjvr_17^0 == 0 /\ -a_281^post41+a_281^0 == 0 /\ __disjvr_7^0-__disjvr_7^post41 == 0 /\ -__disjvr_15^post41+__disjvr_15^0 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post41 == 0 /\ -x_131^post41+x_131^0 == 0 /\ __disjvr_5^0-__disjvr_5^post41 == 0 /\ -__disjvr_22^post41+__disjvr_22^0 == 0 /\ __disjvr_11^0-__disjvr_11^post41 == 0 /\ -__disjvr_6^post41+__disjvr_6^0 == 0 /\ x_19^0-x_19^post41 == 0 /\ -rcd_89^post41+rcd_89^0 == 0 /\ temp0_31^0-temp0_31^post41 == 0 /\ -__disjvr_12^post41+__disjvr_12^0 == 0 /\ __disjvr_25^0-__disjvr_25^post41 == 0 /\ length_28^0-length_28^post41 == 0 /\ -head_SLAM_f_29^post41+head_SLAM_f_29^0 == 0 /\ r_165^0-r_165^post41 == 0 /\ -temp0_16^post41+temp0_16^0 == 0 /\ head_15^0-head_15^post41 == 0 /\ f_171^0-f_171^post41 == 0 /\ __disjvr_23^0-__disjvr_23^post41 == 0 /\ -nondet_12^post41+nondet_12^0 == 0 /\ a_289^0-a_289^post41 == 0 /\ -head_32^post41+head_32^0 == 0 /\ __disjvr_29^0-__disjvr_29^post41 == 0 /\ __disjvr_4^0-__disjvr_4^post41 == 0), cost: 1
  42: l40 -> l4 : __disjvr_0^0'=__disjvr_0^post42, a_281^0'=a_281^post42, x_SLAM_f_24^0'=x_SLAM_f_24^post42, __disjvr_21^0'=__disjvr_21^post42, __disjvr_4^0'=__disjvr_4^post42, tail_14^0'=tail_14^post42, __disjvr_14^0'=__disjvr_14^post42, head_15^0'=head_15^post42, __disjvr_24^0'=__disjvr_24^post42, r_165^0'=r_165^post42, __disjvr_9^0'=__disjvr_9^post42, a_149^0'=a_149^post42, x_19^0'=x_19^post42, __disjvr_19^0'=__disjvr_19^post42, i_95^0'=i_95^post42, __disjvr_29^0'=__disjvr_29^post42, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post42, __disjvr_11^0'=__disjvr_11^post42, a_342^0'=a_342^post42, y_25^0'=y_25^post42, length_28^0'=length_28^post42, __disjvr_6^0'=__disjvr_6^post42, temp0_31^0'=temp0_31^post42, __disjvr_16^0'=__disjvr_16^post42, head_SLAM_f_29^0'=head_SLAM_f_29^post42, __disjvr_26^0'=__disjvr_26^post42, rcd_59^0'=rcd_59^post42, a_225^0'=a_225^post42, x_SLAM_f_17^0'=x_SLAM_f_17^post42, __disjvr_20^0'=__disjvr_20^post42, len_187^0'=len_187^post42, __disjvr_3^0'=__disjvr_3^post42, t_22^0'=t_22^post42, __disjvr_13^0'=__disjvr_13^post42, f_171^0'=f_171^post42, __disjvr_23^0'=__disjvr_23^post42, r_126^0'=r_126^post42, __disjvr_8^0'=__disjvr_8^post42, tmp_34^0'=tmp_34^post42, x_176^0'=x_176^post42, __disjvr_18^0'=__disjvr_18^post42, i_30^0'=i_30^post42, __disjvr_28^0'=__disjvr_28^post42, result_11^0'=result_11^post42, __disjvr_10^0'=__disjvr_10^post42, a_289^0'=a_289^post42, y_18^0'=y_18^post42, __disjvr_22^0'=__disjvr_22^post42, __disjvr_5^0'=__disjvr_5^post42, temp0_16^0'=temp0_16^post42, __disjvr_15^0'=__disjvr_15^post42, head_32^0'=head_32^post42, __disjvr_25^0'=__disjvr_25^post42, r_39^0'=r_39^post42, a_118^0'=a_118^post42, a_188^0'=a_188^post42, x_26^0'=x_26^post42, __disjvr_1^0'=__disjvr_1^post42, len_134^0'=len_134^post42, __disjvr_2^0'=__disjvr_2^post42, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post42, __disjvr_12^0'=__disjvr_12^post42, a_343^0'=a_343^post42, nondet_12^0'=nondet_12^post42, __disjvr_7^0'=__disjvr_7^post42, temp_35^0'=temp_35^post42, x_131^0'=x_131^post42, __disjvr_17^0'=__disjvr_17^post42, i_110^0'=i_110^post42, __disjvr_27^0'=__disjvr_27^post42, rcd_89^0'=rcd_89^post42, (0 == 0 /\ a_281^0-a_281^post42 == 0 /\ i_30^0-i_30^post42 == 0 /\ -temp0_16^0+result_11^post42 == 0 /\ f_171^0-f_171^post42 == 0 /\ __disjvr_16^0-__disjvr_16^post42 == 0 /\ -__disjvr_7^post42+__disjvr_7^0 == 0 /\ tail_14^0-x_SLAM_f_17^110 <= 0 /\ -__disjvr_28^post42+__disjvr_28^0 == 0 /\ -__disjvr_11^post42+__disjvr_11^0 == 0 /\ -__disjvr_27^post42+__disjvr_27^0 == 0 /\ rcd_59^0-rcd_59^post42 == 0 /\ -temp0_31^post42+temp0_31^0 == 0 /\ __disjvr_22^0-__disjvr_22^post42 == 0 /\ __disjvr_4^0-__disjvr_4^post42 == 0 /\ -y_25^0+x_26^0 <= 0 /\ head_15^0-x_SLAM_f_17^110 <= 0 /\ x_SLAM_f_17^110-x_19^11 <= 0 /\ length_28^0-length_28^post42 == 0 /\ -__disjvr_15^post42+__disjvr_15^0 == 0 /\ -r_126^post42+r_126^0 == 0 /\ y_18^110-x_19^11 <= 0 /\ tail_14^0-tail_14^post42 == 0 /\ tail_14^0-x_19^11 <= 0 /\ a_149^0-a_149^post42 == 0 /\ __disjvr_14^0-__disjvr_14^post42 == 0 /\ __disjvr_9^0-__disjvr_9^post42 == 0 /\ __disjvr_1^0-__disjvr_1^post42 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^post42 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^post42 <= 0 /\ len_187^0-len_187^post42 == 0 /\ -tail_14^0+x_SLAM_f_17^110 <= 0 /\ -r_39^post42+r_39^0 == 0 /\ -head_SLAM_f_29^post42+head_SLAM_f_29^0 == 0 /\ -__disjvr_17^post42+__disjvr_17^0 == 0 /\ __disjvr_21^0-__disjvr_21^post42 == 0 /\ -a_225^post42+a_225^0 == 0 /\ x_176^0-x_176^post42 == 0 /\ __disjvr_24^0-__disjvr_24^post42 == 0 /\ y_25^0-x_26^0 <= 0 /\ -head_15^0+x_SLAM_f_17^110 <= 0 /\ -head_15^0+x_SLAM_f_17^110 == 0 /\ -x_SLAM_f_17^110+x_19^11 <= 0 /\ -x_SLAM_f_17^110+x_19^11 == 0 /\ -y_18^110+x_19^11 <= 0 /\ -tail_14^0+x_19^11 <= 0 /\ -__disjvr_12^post42+__disjvr_12^0 == 0 /\ -__disjvr_3^post42+__disjvr_3^0 == 0 /\ -nondet_12^post42+nondet_12^0 == 0 /\ tail_14^0-y_18^110 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post42 == 0 /\ -tmp_34^post42+tmp_34^0 == 0 /\ __disjvr_0^0-__disjvr_0^post42 == 0 /\ tail_14^0-head_15^0 <= 0 /\ -a_289^post42+a_289^0 == 0 /\ -__disjvr_5^post42+__disjvr_5^0 == 0 /\ -__disjvr_18^post42+__disjvr_18^0 == 0 /\ __disjvr_20^0-__disjvr_20^post42 == 0 /\ -a_343^post42+a_343^0 == 0 /\ __disjvr_8^0-__disjvr_8^post42 == 0 /\ __disjvr_6^0-__disjvr_6^post42 == 0 /\ -__disjvr_25^post42+__disjvr_25^0 == 0 /\ -__disjvr_13^post42+__disjvr_13^0 == 0 /\ -__disjvr_2^post42+__disjvr_2^0 == 0 /\ __disjvr_23^0-__disjvr_23^post42 == 0 /\ -len_134^post42+len_134^0 == 0 /\ r_165^0-r_165^post42 == 0 /\ -tail_14^0+y_18^110 <= 0 /\ -tail_14^0+y_18^110 == 0 /\ x_131^0-x_131^post42 == 0 /\ -head_32^post42+head_32^0 == 0 /\ -__disjvr_10^post42+__disjvr_10^0 == 0 /\ -tail_14^0+head_15^0 <= 0 /\ head_15^0-head_15^post42 == 0 /\ __disjvr_26^0-__disjvr_26^post42 == 0 /\ __disjvr_29^0-__disjvr_29^post42 == 0 /\ -temp_35^post42+temp_35^0 == 0 /\ -i_110^post42+i_110^0 == 0 /\ i_95^0-i_95^post42 == 0 /\ -rcd_89^post42+rcd_89^0 == 0 /\ a_342^0-a_342^post42 == 0 /\ __disjvr_19^0-__disjvr_19^post42 == 0 /\ -a_118^post42+a_118^0 == 0 /\ temp0_16^0-temp0_16^post42 == 0 /\ -a_188^post42+a_188^0 == 0), cost: 1
  43: l40 -> l41 : __disjvr_0^0'=__disjvr_0^post43, a_281^0'=a_281^post43, x_SLAM_f_24^0'=x_SLAM_f_24^post43, __disjvr_21^0'=__disjvr_21^post43, __disjvr_4^0'=__disjvr_4^post43, tail_14^0'=tail_14^post43, __disjvr_14^0'=__disjvr_14^post43, head_15^0'=head_15^post43, __disjvr_24^0'=__disjvr_24^post43, r_165^0'=r_165^post43, __disjvr_9^0'=__disjvr_9^post43, a_149^0'=a_149^post43, x_19^0'=x_19^post43, __disjvr_19^0'=__disjvr_19^post43, i_95^0'=i_95^post43, __disjvr_29^0'=__disjvr_29^post43, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post43, __disjvr_11^0'=__disjvr_11^post43, a_342^0'=a_342^post43, y_25^0'=y_25^post43, length_28^0'=length_28^post43, __disjvr_6^0'=__disjvr_6^post43, temp0_31^0'=temp0_31^post43, __disjvr_16^0'=__disjvr_16^post43, head_SLAM_f_29^0'=head_SLAM_f_29^post43, __disjvr_26^0'=__disjvr_26^post43, rcd_59^0'=rcd_59^post43, a_225^0'=a_225^post43, x_SLAM_f_17^0'=x_SLAM_f_17^post43, __disjvr_20^0'=__disjvr_20^post43, len_187^0'=len_187^post43, __disjvr_3^0'=__disjvr_3^post43, t_22^0'=t_22^post43, __disjvr_13^0'=__disjvr_13^post43, f_171^0'=f_171^post43, __disjvr_23^0'=__disjvr_23^post43, r_126^0'=r_126^post43, __disjvr_8^0'=__disjvr_8^post43, tmp_34^0'=tmp_34^post43, x_176^0'=x_176^post43, __disjvr_18^0'=__disjvr_18^post43, i_30^0'=i_30^post43, __disjvr_28^0'=__disjvr_28^post43, result_11^0'=result_11^post43, __disjvr_10^0'=__disjvr_10^post43, a_289^0'=a_289^post43, y_18^0'=y_18^post43, __disjvr_22^0'=__disjvr_22^post43, __disjvr_5^0'=__disjvr_5^post43, temp0_16^0'=temp0_16^post43, __disjvr_15^0'=__disjvr_15^post43, head_32^0'=head_32^post43, __disjvr_25^0'=__disjvr_25^post43, r_39^0'=r_39^post43, a_118^0'=a_118^post43, a_188^0'=a_188^post43, x_26^0'=x_26^post43, __disjvr_1^0'=__disjvr_1^post43, len_134^0'=len_134^post43, __disjvr_2^0'=__disjvr_2^post43, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post43, __disjvr_12^0'=__disjvr_12^post43, a_343^0'=a_343^post43, nondet_12^0'=nondet_12^post43, __disjvr_7^0'=__disjvr_7^post43, temp_35^0'=temp_35^post43, x_131^0'=x_131^post43, __disjvr_17^0'=__disjvr_17^post43, i_110^0'=i_110^post43, __disjvr_27^0'=__disjvr_27^post43, rcd_89^0'=rcd_89^post43, (0 == 0 /\ -f_171^post43+f_171^0 == 0 /\ -rcd_89^post43+rcd_89^0 == 0 /\ -head_32^post43+head_32^0 == 0 /\ __disjvr_11^0-__disjvr_11^post43 == 0 /\ y_25^0-y_25^post43 == 0 /\ __disjvr_14^0-__disjvr_14^post43 == 0 /\ -__disjvr_26^post43+__disjvr_26^0 == 0 /\ a_281^0-a_281^post43 == 0 /\ -len_187^post43+len_187^0 == 0 /\ temp0_31^0-temp0_31^post43 == 0 /\ -rcd_59^post43+rcd_59^0 == 0 /\ -temp0_16^post43+temp0_16^0 == 0 /\ __disjvr_10^0-__disjvr_10^post43 == 0 /\ -tmp_34^post43+tmp_34^0 == 0 /\ i_95^0-i_95^post43 == 0 /\ x_19^0-x_19^post43 == 0 /\ -a_118^post43+a_118^0 == 0 /\ a_342^0-a_342^post43 == 0 /\ a_225^0-a_225^post43 == 0 /\ __disjvr_24^0-__disjvr_24^post43 == 0 /\ __disjvr_28^0-__disjvr_28^post43 == 0 /\ -a_289^post43+a_289^0 == 0 /\ -i_110^post43+i_110^0 == 0 /\ -__disjvr_27^post43+__disjvr_27^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post43+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ x_26^0-x_26^post43 == 0 /\ -__disjvr_5^post43+__disjvr_5^0 == 0 /\ __disjvr_9^0-__disjvr_9^post43 == 0 /\ a_149^0-a_149^post43 == 0 /\ length_28^0-length_28^post43 == 0 /\ -__disjvr_18^post43+__disjvr_18^0 == 0 /\ -len_134^post43+len_134^0 == 0 /\ -nondet_12^post43+nondet_12^0 == 0 /\ -__disjvr_12^post43+__disjvr_12^0 == 0 /\ -t_22^post43+t_22^0 == 0 /\ __disjvr_21^0-__disjvr_21^post43 == 0 /\ __disjvr_19^0-__disjvr_19^post43 == 0 /\ -x_SLAM_f_17^post43+x_SLAM_f_17^0 == 0 /\ r_126^0-r_126^post43 == 0 /\ __disjvr_13^0-__disjvr_13^post43 == 0 /\ -result_11^post43+result_11^0 == 0 /\ __disjvr_6^0-__disjvr_6^post43 == 0 /\ __disjvr_29^0-__disjvr_29^post43 == 0 /\ -__disjvr_25^post43+__disjvr_25^0 == 0 /\ __disjvr_3^0-__disjvr_3^post43 == 0 /\ -a_188^post43+a_188^0 == 0 /\ __disjvr_22^0-__disjvr_22^post43 == 0 /\ __disjvr_4^0-__disjvr_4^post43 == 0 /\ -__disjvr_2^post43+__disjvr_2^0 == 0 /\ __disjvr_0^0-__disjvr_0^post43 == 0 /\ -a_343^post43+a_343^0 == 0 /\ __disjvr_20^0-__disjvr_20^post43 == 0 /\ temp_35^0-temp_35^post43 == 0 /\ -__disjvr_1^post43+__disjvr_1^0 == 0 /\ -__disjvr_23^post43+__disjvr_23^0 == 0 /\ -__disjvr_15^post43+__disjvr_15^0 == 0 /\ r_39^0-r_39^post43 == 0 /\ -__disjvr_17^post43+__disjvr_17^0 == 0 /\ -x_131^post43+x_131^0 == 0 /\ __disjvr_16^0-__disjvr_16^post43 == 0 /\ r_165^0-r_165^post43 == 0 /\ y_18^0-y_18^post43 == 0 /\ -__disjvr_7^post43+__disjvr_7^0 == 0 /\ -__disjvr_8^post43+__disjvr_8^0 == 0 /\ -i_30^post43+i_30^0 == 0 /\ head_SLAM_f_29^0-head_SLAM_f_29^post43 == 0 /\ -x_176^post43+x_176^0 == 0), cost: 1
  44: l41 -> l42 : __disjvr_0^0'=__disjvr_0^post44, a_281^0'=a_281^post44, x_SLAM_f_24^0'=x_SLAM_f_24^post44, __disjvr_21^0'=__disjvr_21^post44, __disjvr_4^0'=__disjvr_4^post44, tail_14^0'=tail_14^post44, __disjvr_14^0'=__disjvr_14^post44, head_15^0'=head_15^post44, __disjvr_24^0'=__disjvr_24^post44, r_165^0'=r_165^post44, __disjvr_9^0'=__disjvr_9^post44, a_149^0'=a_149^post44, x_19^0'=x_19^post44, __disjvr_19^0'=__disjvr_19^post44, i_95^0'=i_95^post44, __disjvr_29^0'=__disjvr_29^post44, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post44, __disjvr_11^0'=__disjvr_11^post44, a_342^0'=a_342^post44, y_25^0'=y_25^post44, length_28^0'=length_28^post44, __disjvr_6^0'=__disjvr_6^post44, temp0_31^0'=temp0_31^post44, __disjvr_16^0'=__disjvr_16^post44, head_SLAM_f_29^0'=head_SLAM_f_29^post44, __disjvr_26^0'=__disjvr_26^post44, rcd_59^0'=rcd_59^post44, a_225^0'=a_225^post44, x_SLAM_f_17^0'=x_SLAM_f_17^post44, __disjvr_20^0'=__disjvr_20^post44, len_187^0'=len_187^post44, __disjvr_3^0'=__disjvr_3^post44, t_22^0'=t_22^post44, __disjvr_13^0'=__disjvr_13^post44, f_171^0'=f_171^post44, __disjvr_23^0'=__disjvr_23^post44, r_126^0'=r_126^post44, __disjvr_8^0'=__disjvr_8^post44, tmp_34^0'=tmp_34^post44, x_176^0'=x_176^post44, __disjvr_18^0'=__disjvr_18^post44, i_30^0'=i_30^post44, __disjvr_28^0'=__disjvr_28^post44, result_11^0'=result_11^post44, __disjvr_10^0'=__disjvr_10^post44, a_289^0'=a_289^post44, y_18^0'=y_18^post44, __disjvr_22^0'=__disjvr_22^post44, __disjvr_5^0'=__disjvr_5^post44, temp0_16^0'=temp0_16^post44, __disjvr_15^0'=__disjvr_15^post44, head_32^0'=head_32^post44, __disjvr_25^0'=__disjvr_25^post44, r_39^0'=r_39^post44, a_118^0'=a_118^post44, a_188^0'=a_188^post44, x_26^0'=x_26^post44, __disjvr_1^0'=__disjvr_1^post44, len_134^0'=len_134^post44, __disjvr_2^0'=__disjvr_2^post44, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, __disjvr_12^0'=__disjvr_12^post44, a_343^0'=a_343^post44, nondet_12^0'=nondet_12^post44, __disjvr_7^0'=__disjvr_7^post44, temp_35^0'=temp_35^post44, x_131^0'=x_131^post44, __disjvr_17^0'=__disjvr_17^post44, i_110^0'=i_110^post44, __disjvr_27^0'=__disjvr_27^post44, rcd_89^0'=rcd_89^post44, (-__disjvr_15^post44+__disjvr_15^0 == 0 /\ __disjvr_6^0-__disjvr_6^post44 == 0 /\ -__disjvr_23^post44+__disjvr_23^0 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post44 == 0 /\ __disjvr_20^0-__disjvr_20^post44 == 0 /\ -rcd_59^post44+rcd_59^0 == 0 /\ a_118^0-a_118^post44 == 0 /\ -x_131^post44+x_131^0 == 0 /\ r_165^0-r_165^post44 == 0 /\ head_15^0-head_15^post44 == 0 /\ __disjvr_29^0-__disjvr_29^post44 == 0 /\ -__disjvr_7^post44+__disjvr_7^0 == 0 /\ -__disjvr_18^post44+__disjvr_18^0 == 0 /\ y_25^0-y_25^post44 == 0 /\ -result_11^post44+result_11^0 == 0 /\ a_281^0-a_281^post44 == 0 /\ -__disjvr_12^post44+__disjvr_12^0 == 0 /\ -__disjvr_17^post44+__disjvr_17^0 == 0 /\ -head_32^post44+head_32^0 == 0 /\ tail_14^0-tail_14^post44 == 0 /\ -rcd_89^post44+rcd_89^0 == 0 /\ -len_134^post44+len_134^0 == 0 /\ a_342^0-a_342^post44 == 0 /\ __disjvr_26^0-__disjvr_26^post44 == 0 /\ -len_187^post44+len_187^0 == 0 /\ a_225^0-a_225^post44 == 0 /\ -temp0_16^post44+temp0_16^0 == 0 /\ __disjvr_28^0-__disjvr_28^post44 == 0 /\ -f_171^post44+f_171^0 == 0 /\ -a_343^post44+a_343^0 == 0 /\ -__disjvr_2^post44+__disjvr_2^0 == 0 /\ __disjvr_13^0-__disjvr_13^post44 == 0 /\ __disjvr_9^0-__disjvr_9^post44 == 0 /\ __disjvr_17^post44-__disjvr_17^0 == 0 /\ x_19^0-x_19^post44 == 0 /\ __disjvr_4^0-__disjvr_4^post44 == 0 /\ -a_289^post44+a_289^0 == 0 /\ -__disjvr_27^post44+__disjvr_27^0 == 0 /\ -__disjvr_14^post44+__disjvr_14^0 == 0 /\ head_SLAM_f_29^0-head_SLAM_f_29^post44 == 0 /\ y_18^0-y_18^post44 == 0 /\ -__disjvr_5^post44+__disjvr_5^0 == 0 /\ length_28^0-length_28^post44 == 0 /\ __disjvr_22^0-__disjvr_22^post44 == 0 /\ -x_176^post44+x_176^0 == 0 /\ -a_188^post44+a_188^0 == 0 /\ r_126^0-r_126^post44 == 0 /\ -i_110^post44+i_110^0 == 0 /\ -i_30^post44+i_30^0 == 0 /\ r_39^0-r_39^post44 == 0 /\ -__disjvr_8^post44+__disjvr_8^0 == 0 /\ temp0_31^0-temp0_31^post44 == 0 /\ -__disjvr_10^post44+__disjvr_10^0 == 0 /\ -nondet_12^post44+nondet_12^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post44 == 0 /\ __disjvr_3^0-__disjvr_3^post44 == 0 /\ -x_26^post44+x_26^0 == 0 /\ __disjvr_0^0-__disjvr_0^post44 == 0 /\ -x_SLAM_f_17^post44+x_SLAM_f_17^0 == 0 /\ a_149^0-a_149^post44 == 0 /\ __disjvr_24^0-__disjvr_24^post44 == 0 /\ i_95^0-i_95^post44 == 0 /\ -__disjvr_25^post44+__disjvr_25^0 == 0 /\ -t_22^post44+t_22^0 == 0 /\ __disjvr_21^0-__disjvr_21^post44 == 0 /\ __disjvr_11^0-__disjvr_11^post44 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post44+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ __disjvr_19^0-__disjvr_19^post44 == 0 /\ -tmp_34^post44+tmp_34^0 == 0 /\ -__disjvr_1^post44+__disjvr_1^0 == 0 /\ -temp_35^post44+temp_35^0 == 0 /\ __disjvr_16^0-__disjvr_16^post44 == 0), cost: 1
  45: l42 -> l43 : __disjvr_0^0'=__disjvr_0^post45, a_281^0'=a_281^post45, x_SLAM_f_24^0'=x_SLAM_f_24^post45, __disjvr_21^0'=__disjvr_21^post45, __disjvr_4^0'=__disjvr_4^post45, tail_14^0'=tail_14^post45, __disjvr_14^0'=__disjvr_14^post45, head_15^0'=head_15^post45, __disjvr_24^0'=__disjvr_24^post45, r_165^0'=r_165^post45, __disjvr_9^0'=__disjvr_9^post45, a_149^0'=a_149^post45, x_19^0'=x_19^post45, __disjvr_19^0'=__disjvr_19^post45, i_95^0'=i_95^post45, __disjvr_29^0'=__disjvr_29^post45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post45, __disjvr_11^0'=__disjvr_11^post45, a_342^0'=a_342^post45, y_25^0'=y_25^post45, length_28^0'=length_28^post45, __disjvr_6^0'=__disjvr_6^post45, temp0_31^0'=temp0_31^post45, __disjvr_16^0'=__disjvr_16^post45, head_SLAM_f_29^0'=head_SLAM_f_29^post45, __disjvr_26^0'=__disjvr_26^post45, rcd_59^0'=rcd_59^post45, a_225^0'=a_225^post45, x_SLAM_f_17^0'=x_SLAM_f_17^post45, __disjvr_20^0'=__disjvr_20^post45, len_187^0'=len_187^post45, __disjvr_3^0'=__disjvr_3^post45, t_22^0'=t_22^post45, __disjvr_13^0'=__disjvr_13^post45, f_171^0'=f_171^post45, __disjvr_23^0'=__disjvr_23^post45, r_126^0'=r_126^post45, __disjvr_8^0'=__disjvr_8^post45, tmp_34^0'=tmp_34^post45, x_176^0'=x_176^post45, __disjvr_18^0'=__disjvr_18^post45, i_30^0'=i_30^post45, __disjvr_28^0'=__disjvr_28^post45, result_11^0'=result_11^post45, __disjvr_10^0'=__disjvr_10^post45, a_289^0'=a_289^post45, y_18^0'=y_18^post45, __disjvr_22^0'=__disjvr_22^post45, __disjvr_5^0'=__disjvr_5^post45, temp0_16^0'=temp0_16^post45, __disjvr_15^0'=__disjvr_15^post45, head_32^0'=head_32^post45, __disjvr_25^0'=__disjvr_25^post45, r_39^0'=r_39^post45, a_118^0'=a_118^post45, a_188^0'=a_188^post45, x_26^0'=x_26^post45, __disjvr_1^0'=__disjvr_1^post45, len_134^0'=len_134^post45, __disjvr_2^0'=__disjvr_2^post45, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post45, __disjvr_12^0'=__disjvr_12^post45, a_343^0'=a_343^post45, nondet_12^0'=nondet_12^post45, __disjvr_7^0'=__disjvr_7^post45, temp_35^0'=temp_35^post45, x_131^0'=x_131^post45, __disjvr_17^0'=__disjvr_17^post45, i_110^0'=i_110^post45, __disjvr_27^0'=__disjvr_27^post45, rcd_89^0'=rcd_89^post45, (-x_SLAM_f_17^post45+x_SLAM_f_17^0 == 0 /\ head_15^0-head_15^post45 == 0 /\ -x_176^post45+x_176^0 == 0 /\ -__disjvr_18^post45+__disjvr_18^0 == 0 /\ -__disjvr_25^post45+__disjvr_25^0 == 0 /\ __disjvr_23^0-__disjvr_23^post45 == 0 /\ -len_134^post45+len_134^0 == 0 /\ -t_22^post45+t_22^0 == 0 /\ -temp_35^post45+temp_35^0 == 0 /\ __disjvr_8^0-__disjvr_8^post45 == 0 /\ tail_14^0-y_25^0 <= 0 /\ tail_14^0-x_26^0 <= 0 /\ a_149^0-a_149^post45 == 0 /\ -a_343^post45+a_343^0 == 0 /\ -__disjvr_2^post45+__disjvr_2^0 == 0 /\ i_30^0-i_30^post45 == 0 /\ __disjvr_26^0-__disjvr_26^post45 == 0 /\ r_126^0-r_126^post45 == 0 /\ -__disjvr_15^post45+__disjvr_15^0 == 0 /\ y_25^0-y_25^post45 == 0 /\ __disjvr_3^0-__disjvr_3^post45 == 0 /\ -x_131^post45+x_131^0 == 0 /\ -a_118^post45+a_118^0 == 0 /\ __disjvr_13^0-__disjvr_13^post45 == 0 /\ __disjvr_10^0-__disjvr_10^post45 == 0 /\ -a_188^post45+a_188^0 == 0 /\ -__disjvr_7^post45+__disjvr_7^0 == 0 /\ __disjvr_14^0-__disjvr_14^post45 == 0 /\ __disjvr_6^0-__disjvr_6^post45 == 0 /\ -tail_14^0+y_25^0 <= 0 /\ __disjvr_20^0-__disjvr_20^post45 == 0 /\ tail_14^0-tail_14^post45 == 0 /\ -__disjvr_17^post45+__disjvr_17^0 == 0 /\ -tail_14^0+x_26^0 <= 0 /\ __disjvr_0^0-__disjvr_0^post45 == 0 /\ a_342^0-a_342^post45 == 0 /\ -x_26^post45+x_26^0 == 0 /\ -x_SLAM_f_24^0+head_15^0 <= 0 /\ a_225^0-a_225^post45 == 0 /\ r_39^0-r_39^post45 == 0 /\ -f_171^post45+f_171^0 == 0 /\ __disjvr_9^0-__disjvr_9^post45 == 0 /\ __disjvr_16^0-__disjvr_16^post45 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post45 == 0 /\ temp0_31^0-temp0_31^post45 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post45 == 0 /\ -__disjvr_21^post45+__disjvr_21^0 == 0 /\ -temp0_16^post45+temp0_16^0 == 0 /\ -len_187^post45+len_187^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post45+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -__disjvr_1^post45+__disjvr_1^0 == 0 /\ head_32^0-head_32^post45 == 0 /\ -rcd_89^post45+rcd_89^0 == 0 /\ -__disjvr_28^post45+__disjvr_28^0 == 0 /\ r_165^0-r_165^post45 == 0 /\ -tmp_34^post45+tmp_34^0 == 0 /\ y_18^0-y_18^post45 == 0 /\ __disjvr_24^0-__disjvr_24^post45 == 0 /\ length_28^0-length_28^post45 == 0 /\ x_SLAM_f_24^0-head_15^0 <= 0 /\ -a_289^post45+a_289^0 == 0 /\ __disjvr_29^0-__disjvr_29^post45 == 0 /\ head_SLAM_f_29^0-head_SLAM_f_29^post45 == 0 /\ __disjvr_11^0-__disjvr_11^post45 == 0 /\ __disjvr_19^0-__disjvr_19^post45 == 0 /\ a_281^0-a_281^post45 == 0 /\ -rcd_59^post45+rcd_59^0 == 0 /\ -__disjvr_5^post45+__disjvr_5^0 == 0 /\ x_19^0-x_19^post45 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ __disjvr_4^0-__disjvr_4^post45 == 0 /\ -i_110^post45+i_110^0 == 0 /\ -result_11^post45+result_11^0 == 0 /\ -__disjvr_12^post45+__disjvr_12^0 == 0 /\ -__disjvr_27^post45+__disjvr_27^0 == 0 /\ -nondet_12^post45+nondet_12^0 == 0 /\ __disjvr_22^0-__disjvr_22^post45 == 0 /\ i_95^0-i_95^post45 == 0), cost: 1
  46: l43 -> l44 : __disjvr_0^0'=__disjvr_0^post46, a_281^0'=a_281^post46, x_SLAM_f_24^0'=x_SLAM_f_24^post46, __disjvr_21^0'=__disjvr_21^post46, __disjvr_4^0'=__disjvr_4^post46, tail_14^0'=tail_14^post46, __disjvr_14^0'=__disjvr_14^post46, head_15^0'=head_15^post46, __disjvr_24^0'=__disjvr_24^post46, r_165^0'=r_165^post46, __disjvr_9^0'=__disjvr_9^post46, a_149^0'=a_149^post46, x_19^0'=x_19^post46, __disjvr_19^0'=__disjvr_19^post46, i_95^0'=i_95^post46, __disjvr_29^0'=__disjvr_29^post46, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post46, __disjvr_11^0'=__disjvr_11^post46, a_342^0'=a_342^post46, y_25^0'=y_25^post46, length_28^0'=length_28^post46, __disjvr_6^0'=__disjvr_6^post46, temp0_31^0'=temp0_31^post46, __disjvr_16^0'=__disjvr_16^post46, head_SLAM_f_29^0'=head_SLAM_f_29^post46, __disjvr_26^0'=__disjvr_26^post46, rcd_59^0'=rcd_59^post46, a_225^0'=a_225^post46, x_SLAM_f_17^0'=x_SLAM_f_17^post46, __disjvr_20^0'=__disjvr_20^post46, len_187^0'=len_187^post46, __disjvr_3^0'=__disjvr_3^post46, t_22^0'=t_22^post46, __disjvr_13^0'=__disjvr_13^post46, f_171^0'=f_171^post46, __disjvr_23^0'=__disjvr_23^post46, r_126^0'=r_126^post46, __disjvr_8^0'=__disjvr_8^post46, tmp_34^0'=tmp_34^post46, x_176^0'=x_176^post46, __disjvr_18^0'=__disjvr_18^post46, i_30^0'=i_30^post46, __disjvr_28^0'=__disjvr_28^post46, result_11^0'=result_11^post46, __disjvr_10^0'=__disjvr_10^post46, a_289^0'=a_289^post46, y_18^0'=y_18^post46, __disjvr_22^0'=__disjvr_22^post46, __disjvr_5^0'=__disjvr_5^post46, temp0_16^0'=temp0_16^post46, __disjvr_15^0'=__disjvr_15^post46, head_32^0'=head_32^post46, __disjvr_25^0'=__disjvr_25^post46, r_39^0'=r_39^post46, a_118^0'=a_118^post46, a_188^0'=a_188^post46, x_26^0'=x_26^post46, __disjvr_1^0'=__disjvr_1^post46, len_134^0'=len_134^post46, __disjvr_2^0'=__disjvr_2^post46, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post46, __disjvr_12^0'=__disjvr_12^post46, a_343^0'=a_343^post46, nondet_12^0'=nondet_12^post46, __disjvr_7^0'=__disjvr_7^post46, temp_35^0'=temp_35^post46, x_131^0'=x_131^post46, __disjvr_17^0'=__disjvr_17^post46, i_110^0'=i_110^post46, __disjvr_27^0'=__disjvr_27^post46, rcd_89^0'=rcd_89^post46, (__disjvr_8^0-__disjvr_8^post46 == 0 /\ i_95^0-i_95^post46 == 0 /\ -a_289^post46+a_289^0 == 0 /\ -a_343^post46+a_343^0 == 0 /\ a_149^0-a_149^post46 == 0 /\ -r_39^post46+r_39^0 == 0 /\ -nondet_12^post46+nondet_12^0 == 0 /\ -a_118^post46+a_118^0 == 0 /\ -__disjvr_5^post46+__disjvr_5^0 == 0 /\ __disjvr_26^0-__disjvr_26^post46 == 0 /\ -a_188^post46+a_188^0 == 0 /\ __disjvr_21^0-__disjvr_21^post46 == 0 /\ __disjvr_9^0-__disjvr_9^post46 == 0 /\ -__disjvr_6^post46+__disjvr_6^0 == 0 /\ -__disjvr_27^post46+__disjvr_27^0 == 0 /\ -i_110^post46+i_110^0 == 0 /\ len_134^0-len_134^post46 == 0 /\ -x_26^post46+x_26^0 == 0 /\ __disjvr_14^0-__disjvr_14^post46 == 0 /\ __disjvr_10^0-__disjvr_10^post46 == 0 /\ __disjvr_28^0-__disjvr_28^post46 == 0 /\ __disjvr_20^0-__disjvr_20^post46 == 0 /\ -__disjvr_1^post46+__disjvr_1^0 == 0 /\ -__disjvr_25^post46+__disjvr_25^0 == 0 /\ -temp_35^post46+temp_35^0 == 0 /\ -x_SLAM_f_17^post46+x_SLAM_f_17^0 == 0 /\ i_30^0-i_30^post46 == 0 /\ r_126^0-r_126^post46 == 0 /\ __disjvr_12^0-__disjvr_12^post46 == 0 /\ -tmp_34^post46+tmp_34^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post46+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -t_22^post46+t_22^0 == 0 /\ y_25^0-y_25^post46 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post46 == 0 /\ __disjvr_18^post46-__disjvr_18^0 == 0 /\ -rcd_59^post46+rcd_59^0 == 0 /\ head_32^0-head_32^post46 == 0 /\ -__disjvr_15^post46+__disjvr_15^0 == 0 /\ a_225^0-a_225^post46 == 0 /\ -__disjvr_23^post46+__disjvr_23^0 == 0 /\ __disjvr_24^0-__disjvr_24^post46 == 0 /\ __disjvr_0^0-__disjvr_0^post46 == 0 /\ __disjvr_19^0-__disjvr_19^post46 == 0 /\ -__disjvr_7^post46+__disjvr_7^0 == 0 /\ __disjvr_11^0-__disjvr_11^post46 == 0 /\ r_165^0-r_165^post46 == 0 /\ -result_11^post46+result_11^0 == 0 /\ __disjvr_13^0-__disjvr_13^post46 == 0 /\ -__disjvr_17^post46+__disjvr_17^0 == 0 /\ -x_131^post46+x_131^0 == 0 /\ __disjvr_16^0-__disjvr_16^post46 == 0 /\ -__disjvr_22^post46+__disjvr_22^0 == 0 /\ a_342^0-a_342^post46 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post46 == 0 /\ x_19^0-x_19^post46 == 0 /\ __disjvr_4^0-__disjvr_4^post46 == 0 /\ -x_176^post46+x_176^0 == 0 /\ -__disjvr_18^post46+__disjvr_18^0 == 0 /\ y_18^0-y_18^post46 == 0 /\ length_28^0-length_28^post46 == 0 /\ -temp0_16^post46+temp0_16^0 == 0 /\ -f_171^post46+f_171^0 == 0 /\ tail_14^0-tail_14^post46 == 0 /\ __disjvr_29^0-__disjvr_29^post46 == 0 /\ __disjvr_3^0-__disjvr_3^post46 == 0 /\ head_15^0-head_15^post46 == 0 /\ -len_187^post46+len_187^0 == 0 /\ head_SLAM_f_29^0-head_SLAM_f_29^post46 == 0 /\ a_281^0-a_281^post46 == 0 /\ -__disjvr_2^post46+__disjvr_2^0 == 0 /\ -rcd_89^post46+rcd_89^0 == 0 /\ temp0_31^0-temp0_31^post46 == 0), cost: 1
  47: l44 -> l45 : __disjvr_0^0'=__disjvr_0^post47, a_281^0'=a_281^post47, x_SLAM_f_24^0'=x_SLAM_f_24^post47, __disjvr_21^0'=__disjvr_21^post47, __disjvr_4^0'=__disjvr_4^post47, tail_14^0'=tail_14^post47, __disjvr_14^0'=__disjvr_14^post47, head_15^0'=head_15^post47, __disjvr_24^0'=__disjvr_24^post47, r_165^0'=r_165^post47, __disjvr_9^0'=__disjvr_9^post47, a_149^0'=a_149^post47, x_19^0'=x_19^post47, __disjvr_19^0'=__disjvr_19^post47, i_95^0'=i_95^post47, __disjvr_29^0'=__disjvr_29^post47, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post47, __disjvr_11^0'=__disjvr_11^post47, a_342^0'=a_342^post47, y_25^0'=y_25^post47, length_28^0'=length_28^post47, __disjvr_6^0'=__disjvr_6^post47, temp0_31^0'=temp0_31^post47, __disjvr_16^0'=__disjvr_16^post47, head_SLAM_f_29^0'=head_SLAM_f_29^post47, __disjvr_26^0'=__disjvr_26^post47, rcd_59^0'=rcd_59^post47, a_225^0'=a_225^post47, x_SLAM_f_17^0'=x_SLAM_f_17^post47, __disjvr_20^0'=__disjvr_20^post47, len_187^0'=len_187^post47, __disjvr_3^0'=__disjvr_3^post47, t_22^0'=t_22^post47, __disjvr_13^0'=__disjvr_13^post47, f_171^0'=f_171^post47, __disjvr_23^0'=__disjvr_23^post47, r_126^0'=r_126^post47, __disjvr_8^0'=__disjvr_8^post47, tmp_34^0'=tmp_34^post47, x_176^0'=x_176^post47, __disjvr_18^0'=__disjvr_18^post47, i_30^0'=i_30^post47, __disjvr_28^0'=__disjvr_28^post47, result_11^0'=result_11^post47, __disjvr_10^0'=__disjvr_10^post47, a_289^0'=a_289^post47, y_18^0'=y_18^post47, __disjvr_22^0'=__disjvr_22^post47, __disjvr_5^0'=__disjvr_5^post47, temp0_16^0'=temp0_16^post47, __disjvr_15^0'=__disjvr_15^post47, head_32^0'=head_32^post47, __disjvr_25^0'=__disjvr_25^post47, r_39^0'=r_39^post47, a_118^0'=a_118^post47, a_188^0'=a_188^post47, x_26^0'=x_26^post47, __disjvr_1^0'=__disjvr_1^post47, len_134^0'=len_134^post47, __disjvr_2^0'=__disjvr_2^post47, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post47, __disjvr_12^0'=__disjvr_12^post47, a_343^0'=a_343^post47, nondet_12^0'=nondet_12^post47, __disjvr_7^0'=__disjvr_7^post47, temp_35^0'=temp_35^post47, x_131^0'=x_131^post47, __disjvr_17^0'=__disjvr_17^post47, i_110^0'=i_110^post47, __disjvr_27^0'=__disjvr_27^post47, rcd_89^0'=rcd_89^post47, (0 == 0 /\ a_281^0-a_281^post47 == 0 /\ -__disjvr_1^post47+__disjvr_1^0 == 0 /\ __disjvr_21^0-__disjvr_21^post47 == 0 /\ -f_171^post47+f_171^0 == 0 /\ -temp0_16^post47+temp0_16^0 == 0 /\ -a_118^post47+a_118^0 == 0 /\ __disjvr_10^0-__disjvr_10^post47 == 0 /\ __disjvr_14^0-__disjvr_14^post47 == 0 /\ -nondet_12^post47+nondet_12^0 == 0 /\ -y_25^0+x_26^0 <= 0 /\ i_95^0-i_95^post47 == 0 /\ -len_187^post47+len_187^0 == 0 /\ -x_SLAM_f_17^post47+x_19^post47 <= 0 /\ -x_SLAM_f_17^post47+x_19^post47 == 0 /\ tail_14^0-y_18^post47 <= 0 /\ -rcd_89^post47+rcd_89^0 == 0 /\ -rcd_59^post47+rcd_59^0 == 0 /\ -a_289^post47+a_289^0 == 0 /\ a_225^0-a_225^post47 == 0 /\ __disjvr_12^0-__disjvr_12^post47 == 0 /\ __disjvr_2^0-__disjvr_2^post47 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^post47 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^post47 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post47 == 0 /\ __disjvr_4^0-__disjvr_4^post47 == 0 /\ len_134^0-len_134^post47 == 0 /\ -__disjvr_5^post47+__disjvr_5^0 == 0 /\ y_25^0-x_26^0 <= 0 /\ -__disjvr_27^post47+__disjvr_27^0 == 0 /\ __disjvr_28^0-__disjvr_28^post47 == 0 /\ -result_11^post47+result_11^0 == 0 /\ x_SLAM_f_17^post47-x_19^post47 <= 0 /\ head_32^0-head_32^post47 == 0 /\ -tail_14^0+y_18^post47 <= 0 /\ -tail_14^0+y_18^post47 == 0 /\ -i_110^post47+i_110^0 == 0 /\ -r_39^post47+r_39^0 == 0 /\ __disjvr_24^0-__disjvr_24^post47 == 0 /\ -a_149^post47+a_149^0 == 0 /\ __disjvr_26^0-__disjvr_26^post47 == 0 /\ __disjvr_13^0-__disjvr_13^post47 == 0 /\ __disjvr_19^0-__disjvr_19^post47 == 0 /\ tail_14^0-tail_14^post47 == 0 /\ -__disjvr_8^post47+__disjvr_8^0 == 0 /\ __disjvr_29^0-__disjvr_29^post47 == 0 /\ __disjvr_3^0-__disjvr_3^post47 == 0 /\ r_126^0-r_126^post47 == 0 /\ -__disjvr_25^post47+__disjvr_25^0 == 0 /\ length_28^0-length_28^post47 == 0 /\ -x_176^post47+x_176^0 == 0 /\ head_SLAM_f_29^0-head_SLAM_f_29^post47 == 0 /\ __disjvr_11^0-__disjvr_11^post47 == 0 /\ -__disjvr_9^post47+__disjvr_9^0 == 0 /\ -temp_35^post47+temp_35^0 == 0 /\ -__disjvr_18^post47+__disjvr_18^0 == 0 /\ -head_15^0+x_SLAM_f_17^post47 <= 0 /\ -head_15^0+x_SLAM_f_17^post47 == 0 /\ __disjvr_20^0-__disjvr_20^post47 == 0 /\ -head_15^0+x_19^post47 <= 0 /\ __disjvr_0^0-__disjvr_0^post47 == 0 /\ -a_188^post47+a_188^0 == 0 /\ head_15^0-head_15^post47 == 0 /\ t_22^0-t_22^post47 == 0 /\ r_165^0-r_165^post47 == 0 /\ -tmp_34^post47+tmp_34^0 == 0 /\ -__disjvr_15^post47+__disjvr_15^0 == 0 /\ -__disjvr_23^post47+__disjvr_23^0 == 0 /\ temp0_31^0-temp0_31^post47 == 0 /\ -a_343^post47+a_343^0 == 0 /\ a_342^0-a_342^post47 == 0 /\ -__disjvr_6^post47+__disjvr_6^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -__disjvr_7^post47+__disjvr_7^0 == 0 /\ __disjvr_16^0-__disjvr_16^post47 == 0 /\ head_15^0-x_SLAM_f_17^post47 <= 0 /\ i_30^0-i_30^post47 == 0 /\ -__disjvr_17^post47+__disjvr_17^0 == 0 /\ -x_131^post47+x_131^0 == 0 /\ -__disjvr_22^post47+__disjvr_22^0 == 0 /\ head_15^0-x_19^post47 <= 0), cost: 1
  48: l45 -> l46 : __disjvr_0^0'=__disjvr_0^post48, a_281^0'=a_281^post48, x_SLAM_f_24^0'=x_SLAM_f_24^post48, __disjvr_21^0'=__disjvr_21^post48, __disjvr_4^0'=__disjvr_4^post48, tail_14^0'=tail_14^post48, __disjvr_14^0'=__disjvr_14^post48, head_15^0'=head_15^post48, __disjvr_24^0'=__disjvr_24^post48, r_165^0'=r_165^post48, __disjvr_9^0'=__disjvr_9^post48, a_149^0'=a_149^post48, x_19^0'=x_19^post48, __disjvr_19^0'=__disjvr_19^post48, i_95^0'=i_95^post48, __disjvr_29^0'=__disjvr_29^post48, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post48, __disjvr_11^0'=__disjvr_11^post48, a_342^0'=a_342^post48, y_25^0'=y_25^post48, length_28^0'=length_28^post48, __disjvr_6^0'=__disjvr_6^post48, temp0_31^0'=temp0_31^post48, __disjvr_16^0'=__disjvr_16^post48, head_SLAM_f_29^0'=head_SLAM_f_29^post48, __disjvr_26^0'=__disjvr_26^post48, rcd_59^0'=rcd_59^post48, a_225^0'=a_225^post48, x_SLAM_f_17^0'=x_SLAM_f_17^post48, __disjvr_20^0'=__disjvr_20^post48, len_187^0'=len_187^post48, __disjvr_3^0'=__disjvr_3^post48, t_22^0'=t_22^post48, __disjvr_13^0'=__disjvr_13^post48, f_171^0'=f_171^post48, __disjvr_23^0'=__disjvr_23^post48, r_126^0'=r_126^post48, __disjvr_8^0'=__disjvr_8^post48, tmp_34^0'=tmp_34^post48, x_176^0'=x_176^post48, __disjvr_18^0'=__disjvr_18^post48, i_30^0'=i_30^post48, __disjvr_28^0'=__disjvr_28^post48, result_11^0'=result_11^post48, __disjvr_10^0'=__disjvr_10^post48, a_289^0'=a_289^post48, y_18^0'=y_18^post48, __disjvr_22^0'=__disjvr_22^post48, __disjvr_5^0'=__disjvr_5^post48, temp0_16^0'=temp0_16^post48, __disjvr_15^0'=__disjvr_15^post48, head_32^0'=head_32^post48, __disjvr_25^0'=__disjvr_25^post48, r_39^0'=r_39^post48, a_118^0'=a_118^post48, a_188^0'=a_188^post48, x_26^0'=x_26^post48, __disjvr_1^0'=__disjvr_1^post48, len_134^0'=len_134^post48, __disjvr_2^0'=__disjvr_2^post48, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post48, __disjvr_12^0'=__disjvr_12^post48, a_343^0'=a_343^post48, nondet_12^0'=nondet_12^post48, __disjvr_7^0'=__disjvr_7^post48, temp_35^0'=temp_35^post48, x_131^0'=x_131^post48, __disjvr_17^0'=__disjvr_17^post48, i_110^0'=i_110^post48, __disjvr_27^0'=__disjvr_27^post48, rcd_89^0'=rcd_89^post48, (__disjvr_10^0-__disjvr_10^post48 == 0 /\ x_19^0-x_19^post48 == 0 /\ __disjvr_14^0-__disjvr_14^post48 == 0 /\ -__disjvr_7^post48+__disjvr_7^0 == 0 /\ __disjvr_28^0-__disjvr_28^post48 == 0 /\ -x_26^post48+x_26^0 == 0 /\ head_15^0-head_15^post48 == 0 /\ len_134^0-len_134^post48 == 0 /\ -__disjvr_23^post48+__disjvr_23^0 == 0 /\ a_118^0-a_118^post48 == 0 /\ -result_11^post48+result_11^0 == 0 /\ a_281^0-a_281^post48 == 0 /\ __disjvr_8^0-__disjvr_8^post48 == 0 /\ __disjvr_29^0-__disjvr_29^post48 == 0 /\ -x_131^post48+x_131^0 == 0 /\ -__disjvr_22^post48+__disjvr_22^0 == 0 /\ y_25^0-y_25^post48 == 0 /\ temp0_31^0-temp0_31^post48 == 0 /\ __disjvr_15^0-__disjvr_15^post48 == 0 /\ -__disjvr_12^post48+__disjvr_12^0 == 0 /\ -temp0_16^post48+temp0_16^0 == 0 /\ __disjvr_18^0-__disjvr_18^post48 == 0 /\ -f_171^post48+f_171^0 == 0 /\ __disjvr_26^0-__disjvr_26^post48 == 0 /\ a_225^0-a_225^post48 == 0 /\ __disjvr_13^0-__disjvr_13^post48 == 0 /\ -nondet_12^post48+nondet_12^0 == 0 /\ -head_32^post48+head_32^0 == 0 /\ __disjvr_2^0-__disjvr_2^post48 == 0 /\ -rcd_89^post48+rcd_89^0 == 0 /\ a_342^0-a_342^post48 == 0 /\ -tmp_34^post48+tmp_34^0 == 0 /\ __disjvr_16^0-__disjvr_16^post48 == 0 /\ -a_289^post48+a_289^0 == 0 /\ -a_188^post48+a_188^0 == 0 /\ i_30^0-i_30^post48 == 0 /\ length_28^0-length_28^post48 == 0 /\ -a_343^post48+a_343^0 == 0 /\ __disjvr_24^0-__disjvr_24^post48 == 0 /\ r_126^0-r_126^post48 == 0 /\ -__disjvr_9^post48+__disjvr_9^0 == 0 /\ -__disjvr_6^post48+__disjvr_6^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post48 == 0 /\ __disjvr_3^0-__disjvr_3^post48 == 0 /\ -__disjvr_19^0+__disjvr_19^post48 == 0 /\ tail_14^0-tail_14^post48 == 0 /\ head_SLAM_f_29^0-head_SLAM_f_29^post48 == 0 /\ -__disjvr_5^post48+__disjvr_5^0 == 0 /\ -x_176^post48+x_176^0 == 0 /\ __disjvr_4^0-__disjvr_4^post48 == 0 /\ -a_149^post48+a_149^0 == 0 /\ -r_39^post48+r_39^0 == 0 /\ -__disjvr_20^post48+__disjvr_20^0 == 0 /\ -temp_35^post48+temp_35^0 == 0 /\ -__disjvr_17^post48+__disjvr_17^0 == 0 /\ i_110^0-i_110^post48 == 0 /\ len_187^0-len_187^post48 == 0 /\ -__disjvr_1^post48+__disjvr_1^0 == 0 /\ -t_22^post48+t_22^0 == 0 /\ i_95^0-i_95^post48 == 0 /\ -x_SLAM_f_17^post48+x_SLAM_f_17^0 == 0 /\ __disjvr_0^0-__disjvr_0^post48 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post48 == 0 /\ -y_18^post48+y_18^0 == 0 /\ __disjvr_19^0-__disjvr_19^post48 == 0 /\ r_165^0-r_165^post48 == 0 /\ __disjvr_21^0-__disjvr_21^post48 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post48+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ __disjvr_27^0-__disjvr_27^post48 == 0 /\ -__disjvr_25^post48+__disjvr_25^0 == 0 /\ -rcd_59^post48+rcd_59^0 == 0 /\ __disjvr_11^0-__disjvr_11^post48 == 0), cost: 1
  49: l46 -> l47 : __disjvr_0^0'=__disjvr_0^post49, a_281^0'=a_281^post49, x_SLAM_f_24^0'=x_SLAM_f_24^post49, __disjvr_21^0'=__disjvr_21^post49, __disjvr_4^0'=__disjvr_4^post49, tail_14^0'=tail_14^post49, __disjvr_14^0'=__disjvr_14^post49, head_15^0'=head_15^post49, __disjvr_24^0'=__disjvr_24^post49, r_165^0'=r_165^post49, __disjvr_9^0'=__disjvr_9^post49, a_149^0'=a_149^post49, x_19^0'=x_19^post49, __disjvr_19^0'=__disjvr_19^post49, i_95^0'=i_95^post49, __disjvr_29^0'=__disjvr_29^post49, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post49, __disjvr_11^0'=__disjvr_11^post49, a_342^0'=a_342^post49, y_25^0'=y_25^post49, length_28^0'=length_28^post49, __disjvr_6^0'=__disjvr_6^post49, temp0_31^0'=temp0_31^post49, __disjvr_16^0'=__disjvr_16^post49, head_SLAM_f_29^0'=head_SLAM_f_29^post49, __disjvr_26^0'=__disjvr_26^post49, rcd_59^0'=rcd_59^post49, a_225^0'=a_225^post49, x_SLAM_f_17^0'=x_SLAM_f_17^post49, __disjvr_20^0'=__disjvr_20^post49, len_187^0'=len_187^post49, __disjvr_3^0'=__disjvr_3^post49, t_22^0'=t_22^post49, __disjvr_13^0'=__disjvr_13^post49, f_171^0'=f_171^post49, __disjvr_23^0'=__disjvr_23^post49, r_126^0'=r_126^post49, __disjvr_8^0'=__disjvr_8^post49, tmp_34^0'=tmp_34^post49, x_176^0'=x_176^post49, __disjvr_18^0'=__disjvr_18^post49, i_30^0'=i_30^post49, __disjvr_28^0'=__disjvr_28^post49, result_11^0'=result_11^post49, __disjvr_10^0'=__disjvr_10^post49, a_289^0'=a_289^post49, y_18^0'=y_18^post49, __disjvr_22^0'=__disjvr_22^post49, __disjvr_5^0'=__disjvr_5^post49, temp0_16^0'=temp0_16^post49, __disjvr_15^0'=__disjvr_15^post49, head_32^0'=head_32^post49, __disjvr_25^0'=__disjvr_25^post49, r_39^0'=r_39^post49, a_118^0'=a_118^post49, a_188^0'=a_188^post49, x_26^0'=x_26^post49, __disjvr_1^0'=__disjvr_1^post49, len_134^0'=len_134^post49, __disjvr_2^0'=__disjvr_2^post49, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post49, __disjvr_12^0'=__disjvr_12^post49, a_343^0'=a_343^post49, nondet_12^0'=nondet_12^post49, __disjvr_7^0'=__disjvr_7^post49, temp_35^0'=temp_35^post49, x_131^0'=x_131^post49, __disjvr_17^0'=__disjvr_17^post49, i_110^0'=i_110^post49, __disjvr_27^0'=__disjvr_27^post49, rcd_89^0'=rcd_89^post49, (0 == 0 /\ -len_134^post49+len_134^0 == 0 /\ -__disjvr_12^post49+__disjvr_12^0 == 0 /\ __disjvr_2^0-__disjvr_2^post49 == 0 /\ -temp_35^post49+temp_35^0 == 0 /\ -t_22^post49+t_22^0 == 0 /\ -head_SLAM_f_29^post49+head_SLAM_f_29^0 == 0 /\ -y_18^post49+y_18^0 == 0 /\ len_187^0-len_187^post49 == 0 /\ __disjvr_8^0-__disjvr_8^post49 == 0 /\ x_176^0-x_176^post49 == 0 /\ __disjvr_26^0-__disjvr_26^post49 == 0 /\ a_149^0-a_149^post49 == 0 /\ a_118^0-a_118^post49 == 0 /\ -__disjvr_7^post49+__disjvr_7^0 == 0 /\ result_11^0-result_11^post49 == 0 /\ __disjvr_13^0-__disjvr_13^post49 == 0 /\ -tmp_34^post49+tmp_34^0 == 0 /\ -a_188^post49+a_188^0 == 0 /\ __disjvr_14^0-__disjvr_14^post49 == 0 /\ __disjvr_3^0-__disjvr_3^post49 == 0 /\ -a_343^post49+a_343^0 == 0 /\ y_25^0-y_25^post49 == 0 /\ -__disjvr_23^post49+__disjvr_23^0 == 0 /\ __disjvr_6^0-__disjvr_6^post49 == 0 /\ -__disjvr_17^post49+__disjvr_17^0 == 0 /\ -x_131^post49+x_131^0 == 0 /\ -__disjvr_22^post49+__disjvr_22^0 == 0 /\ -__disjvr_15^post49+__disjvr_15^0 == 0 /\ __disjvr_18^0-__disjvr_18^post49 == 0 /\ a_225^0-a_225^post49 == 0 /\ __disjvr_24^0-__disjvr_24^post49 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post49 == 0 /\ a_342^0-a_342^post49 == 0 /\ temp0_31^0-temp0_31^post49 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post49 == 0 /\ -temp0_16^post49+temp0_16^0 == 0 /\ -i_30^post49+i_30^0 == 0 /\ __disjvr_4^0-__disjvr_4^post49 == 0 /\ -__disjvr_10^post49+__disjvr_10^0 == 0 /\ -nondet_12^post49+nondet_12^0 == 0 /\ -head_32^post49+head_32^0 == 0 /\ __disjvr_16^0-__disjvr_16^post49 == 0 /\ -rcd_59^post49+rcd_59^0 == 0 /\ -rcd_89^post49+rcd_89^0 == 0 /\ length_28^0-length_28^post49 == 0 /\ -__disjvr_21^post49+__disjvr_21^0 == 0 /\ -__disjvr_1^post49+__disjvr_1^0 == 0 /\ r_165^0-r_165^post49 == 0 /\ a_289^0-a_289^post49 == 0 /\ r_126^0-r_126^post49 == 0 /\ __disjvr_19^0-__disjvr_19^post49 == 0 /\ __disjvr_11^0-__disjvr_11^post49 == 0 /\ __disjvr_29^0-__disjvr_29^post49 == 0 /\ a_281^0-a_281^post49 == 0 /\ -x_26^post49+x_26^0 == 0 /\ -__disjvr_28^post49+__disjvr_28^0 == 0 /\ -__disjvr_9^post49+__disjvr_9^0 == 0 /\ -i_110^post49+i_110^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -__disjvr_27^post49+__disjvr_27^0 == 0 /\ x_19^0-x_19^post49 == 0 /\ -__disjvr_5^post49+__disjvr_5^0 == 0 /\ __disjvr_0^0-__disjvr_0^post49 == 0 /\ f_171^0-f_171^post49 == 0 /\ i_95^0-i_95^post49 == 0 /\ __disjvr_25^0-__disjvr_25^post49 == 0 /\ -__disjvr_20^post49+__disjvr_20^0 == 0 /\ -r_39^post49+r_39^0 == 0), cost: 1
  50: l47 -> l48 : __disjvr_0^0'=__disjvr_0^post50, a_281^0'=a_281^post50, x_SLAM_f_24^0'=x_SLAM_f_24^post50, __disjvr_21^0'=__disjvr_21^post50, __disjvr_4^0'=__disjvr_4^post50, tail_14^0'=tail_14^post50, __disjvr_14^0'=__disjvr_14^post50, head_15^0'=head_15^post50, __disjvr_24^0'=__disjvr_24^post50, r_165^0'=r_165^post50, __disjvr_9^0'=__disjvr_9^post50, a_149^0'=a_149^post50, x_19^0'=x_19^post50, __disjvr_19^0'=__disjvr_19^post50, i_95^0'=i_95^post50, __disjvr_29^0'=__disjvr_29^post50, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post50, __disjvr_11^0'=__disjvr_11^post50, a_342^0'=a_342^post50, y_25^0'=y_25^post50, length_28^0'=length_28^post50, __disjvr_6^0'=__disjvr_6^post50, temp0_31^0'=temp0_31^post50, __disjvr_16^0'=__disjvr_16^post50, head_SLAM_f_29^0'=head_SLAM_f_29^post50, __disjvr_26^0'=__disjvr_26^post50, rcd_59^0'=rcd_59^post50, a_225^0'=a_225^post50, x_SLAM_f_17^0'=x_SLAM_f_17^post50, __disjvr_20^0'=__disjvr_20^post50, len_187^0'=len_187^post50, __disjvr_3^0'=__disjvr_3^post50, t_22^0'=t_22^post50, __disjvr_13^0'=__disjvr_13^post50, f_171^0'=f_171^post50, __disjvr_23^0'=__disjvr_23^post50, r_126^0'=r_126^post50, __disjvr_8^0'=__disjvr_8^post50, tmp_34^0'=tmp_34^post50, x_176^0'=x_176^post50, __disjvr_18^0'=__disjvr_18^post50, i_30^0'=i_30^post50, __disjvr_28^0'=__disjvr_28^post50, result_11^0'=result_11^post50, __disjvr_10^0'=__disjvr_10^post50, a_289^0'=a_289^post50, y_18^0'=y_18^post50, __disjvr_22^0'=__disjvr_22^post50, __disjvr_5^0'=__disjvr_5^post50, temp0_16^0'=temp0_16^post50, __disjvr_15^0'=__disjvr_15^post50, head_32^0'=head_32^post50, __disjvr_25^0'=__disjvr_25^post50, r_39^0'=r_39^post50, a_118^0'=a_118^post50, a_188^0'=a_188^post50, x_26^0'=x_26^post50, __disjvr_1^0'=__disjvr_1^post50, len_134^0'=len_134^post50, __disjvr_2^0'=__disjvr_2^post50, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post50, __disjvr_12^0'=__disjvr_12^post50, a_343^0'=a_343^post50, nondet_12^0'=nondet_12^post50, __disjvr_7^0'=__disjvr_7^post50, temp_35^0'=temp_35^post50, x_131^0'=x_131^post50, __disjvr_17^0'=__disjvr_17^post50, i_110^0'=i_110^post50, __disjvr_27^0'=__disjvr_27^post50, rcd_89^0'=rcd_89^post50, (-__disjvr_27^post50+__disjvr_27^0 == 0 /\ -a_343^post50+a_343^0 == 0 /\ x_176^0-x_176^post50 == 0 /\ -nondet_12^post50+nondet_12^0 == 0 /\ -a_188^post50+a_188^0 == 0 /\ __disjvr_8^0-__disjvr_8^post50 == 0 /\ -__disjvr_2^post50+__disjvr_2^0 == 0 /\ __disjvr_26^0-__disjvr_26^post50 == 0 /\ __disjvr_18^0-__disjvr_18^post50 == 0 /\ a_149^0-a_149^post50 == 0 /\ -i_110^post50+i_110^0 == 0 /\ -r_39^post50+r_39^0 == 0 /\ __disjvr_9^0-__disjvr_9^post50 == 0 /\ __disjvr_19^0-__disjvr_19^post50 == 0 /\ __disjvr_5^0-__disjvr_5^post50 == 0 /\ result_11^0-result_11^post50 == 0 /\ -__disjvr_13^post50+__disjvr_13^0 == 0 /\ -y_25^post50+y_25^0 == 0 /\ __disjvr_21^0-__disjvr_21^post50 == 0 /\ __disjvr_14^0-__disjvr_14^post50 == 0 /\ -__disjvr_20^post50+__disjvr_20^0 == 0 /\ len_187^0-len_187^post50 == 0 /\ -__disjvr_6^post50+__disjvr_6^0 == 0 /\ -a_118^post50+a_118^0 == 0 /\ -__disjvr_10^post50+__disjvr_10^0 == 0 /\ f_171^0-f_171^post50 == 0 /\ __disjvr_16^0-__disjvr_16^post50 == 0 /\ len_134^0-len_134^post50 == 0 /\ -temp_35^post50+temp_35^0 == 0 /\ -x_SLAM_f_17^post50+x_SLAM_f_17^0 == 0 /\ -t_22^post50+t_22^0 == 0 /\ -rcd_59^post50+rcd_59^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post50 == 0 /\ -__disjvr_1^post50+__disjvr_1^0 == 0 /\ -i_30^post50+i_30^0 == 0 /\ -y_18^post50+y_18^0 == 0 /\ __disjvr_24^0-__disjvr_24^post50 == 0 /\ tail_14^0-tail_14^post50 == 0 /\ __disjvr_20^post50-__disjvr_20^0 == 0 /\ -tmp_34^post50+tmp_34^0 == 0 /\ __disjvr_3^0-__disjvr_3^post50 == 0 /\ -r_126^post50+r_126^0 == 0 /\ __disjvr_0^0-__disjvr_0^post50 == 0 /\ i_95^0-i_95^post50 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post50+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ head_32^0-head_32^post50 == 0 /\ -__disjvr_28^post50+__disjvr_28^0 == 0 /\ -x_26^post50+x_26^0 == 0 /\ -__disjvr_17^post50+__disjvr_17^0 == 0 /\ a_342^0-a_342^post50 == 0 /\ -x_131^post50+x_131^0 == 0 /\ a_225^0-a_225^post50 == 0 /\ __disjvr_11^0-__disjvr_11^post50 == 0 /\ -__disjvr_22^post50+__disjvr_22^0 == 0 /\ -__disjvr_15^post50+__disjvr_15^0 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post50 == 0 /\ __disjvr_7^0-__disjvr_7^post50 == 0 /\ -rcd_89^post50+rcd_89^0 == 0 /\ x_19^0-x_19^post50 == 0 /\ -__disjvr_12^post50+__disjvr_12^0 == 0 /\ r_165^0-r_165^post50 == 0 /\ length_28^0-length_28^post50 == 0 /\ __disjvr_25^0-__disjvr_25^post50 == 0 /\ head_15^0-head_15^post50 == 0 /\ -head_SLAM_f_29^post50+head_SLAM_f_29^0 == 0 /\ a_289^0-a_289^post50 == 0 /\ __disjvr_23^0-__disjvr_23^post50 == 0 /\ __disjvr_29^0-__disjvr_29^post50 == 0 /\ temp0_31^0-temp0_31^post50 == 0 /\ a_281^0-a_281^post50 == 0 /\ -temp0_16^post50+temp0_16^0 == 0 /\ __disjvr_4^0-__disjvr_4^post50 == 0), cost: 1
  51: l48 -> l49 : __disjvr_0^0'=__disjvr_0^post51, a_281^0'=a_281^post51, x_SLAM_f_24^0'=x_SLAM_f_24^post51, __disjvr_21^0'=__disjvr_21^post51, __disjvr_4^0'=__disjvr_4^post51, tail_14^0'=tail_14^post51, __disjvr_14^0'=__disjvr_14^post51, head_15^0'=head_15^post51, __disjvr_24^0'=__disjvr_24^post51, r_165^0'=r_165^post51, __disjvr_9^0'=__disjvr_9^post51, a_149^0'=a_149^post51, x_19^0'=x_19^post51, __disjvr_19^0'=__disjvr_19^post51, i_95^0'=i_95^post51, __disjvr_29^0'=__disjvr_29^post51, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post51, __disjvr_11^0'=__disjvr_11^post51, a_342^0'=a_342^post51, y_25^0'=y_25^post51, length_28^0'=length_28^post51, __disjvr_6^0'=__disjvr_6^post51, temp0_31^0'=temp0_31^post51, __disjvr_16^0'=__disjvr_16^post51, head_SLAM_f_29^0'=head_SLAM_f_29^post51, __disjvr_26^0'=__disjvr_26^post51, rcd_59^0'=rcd_59^post51, a_225^0'=a_225^post51, x_SLAM_f_17^0'=x_SLAM_f_17^post51, __disjvr_20^0'=__disjvr_20^post51, len_187^0'=len_187^post51, __disjvr_3^0'=__disjvr_3^post51, t_22^0'=t_22^post51, __disjvr_13^0'=__disjvr_13^post51, f_171^0'=f_171^post51, __disjvr_23^0'=__disjvr_23^post51, r_126^0'=r_126^post51, __disjvr_8^0'=__disjvr_8^post51, tmp_34^0'=tmp_34^post51, x_176^0'=x_176^post51, __disjvr_18^0'=__disjvr_18^post51, i_30^0'=i_30^post51, __disjvr_28^0'=__disjvr_28^post51, result_11^0'=result_11^post51, __disjvr_10^0'=__disjvr_10^post51, a_289^0'=a_289^post51, y_18^0'=y_18^post51, __disjvr_22^0'=__disjvr_22^post51, __disjvr_5^0'=__disjvr_5^post51, temp0_16^0'=temp0_16^post51, __disjvr_15^0'=__disjvr_15^post51, head_32^0'=head_32^post51, __disjvr_25^0'=__disjvr_25^post51, r_39^0'=r_39^post51, a_118^0'=a_118^post51, a_188^0'=a_188^post51, x_26^0'=x_26^post51, __disjvr_1^0'=__disjvr_1^post51, len_134^0'=len_134^post51, __disjvr_2^0'=__disjvr_2^post51, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post51, __disjvr_12^0'=__disjvr_12^post51, a_343^0'=a_343^post51, nondet_12^0'=nondet_12^post51, __disjvr_7^0'=__disjvr_7^post51, temp_35^0'=temp_35^post51, x_131^0'=x_131^post51, __disjvr_17^0'=__disjvr_17^post51, i_110^0'=i_110^post51, __disjvr_27^0'=__disjvr_27^post51, rcd_89^0'=rcd_89^post51, (__disjvr_21^0-__disjvr_21^post51 == 0 /\ -__disjvr_10^post51+__disjvr_10^0 == 0 /\ result_11^0-result_11^post51 == 0 /\ -rcd_89^post51+rcd_89^0 == 0 /\ __disjvr_5^0-__disjvr_5^post51 == 0 /\ -__disjvr_22^post51+__disjvr_22^0 == 0 /\ a_289^0-a_289^post51 == 0 /\ -a_118^post51+a_118^0 == 0 /\ len_187^0-len_187^post51 == 0 /\ -head_15^0+x_SLAM_f_17^0 <= 0 /\ a_281^0-a_281^post51 == 0 /\ -__disjvr_1^post51+__disjvr_1^0 == 0 /\ f_171^0-f_171^post51 == 0 /\ -head_15^0+t_22^post51 <= 0 /\ __disjvr_14^0-__disjvr_14^post51 == 0 /\ x_19^0-x_19^post51 == 0 /\ rcd_59^0-rcd_59^post51 == 0 /\ -head_32^post51+head_32^0 == 0 /\ -tmp_34^post51+tmp_34^0 == 0 /\ __disjvr_12^0-__disjvr_12^post51 == 0 /\ __disjvr_18^0-__disjvr_18^post51 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post51 == 0 /\ __disjvr_24^0-__disjvr_24^post51 == 0 /\ -r_126^post51+r_126^0 == 0 /\ __disjvr_2^0-__disjvr_2^post51 == 0 /\ -x_26^post51+x_26^0 == 0 /\ head_15^0-x_SLAM_f_17^0 <= 0 /\ __disjvr_4^0-__disjvr_4^post51 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post51+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -nondet_12^post51+nondet_12^0 == 0 /\ -__disjvr_28^post51+__disjvr_28^0 == 0 /\ -r_39^post51+r_39^0 == 0 /\ __disjvr_16^0-__disjvr_16^post51 == 0 /\ -i_110^post51+i_110^0 == 0 /\ x_176^0-x_176^post51 == 0 /\ len_134^0-len_134^post51 == 0 /\ -__disjvr_13^post51+__disjvr_13^0 == 0 /\ __disjvr_8^0-__disjvr_8^post51 == 0 /\ head_15^0-t_22^post51 <= 0 /\ -__disjvr_20^post51+__disjvr_20^0 == 0 /\ -__disjvr_27^post51+__disjvr_27^0 == 0 /\ -temp_35^post51+temp_35^0 == 0 /\ __disjvr_26^0-__disjvr_26^post51 == 0 /\ __disjvr_29^0-__disjvr_29^post51 == 0 /\ -a_149^post51+a_149^0 == 0 /\ -__disjvr_9^post51+__disjvr_9^0 == 0 /\ -i_95^post51+i_95^0 == 0 /\ __disjvr_11^0-__disjvr_11^post51 == 0 /\ -head_SLAM_f_29^post51+head_SLAM_f_29^0 == 0 /\ -a_343^post51+a_343^0 == 0 /\ __disjvr_0^0-__disjvr_0^post51 == 0 /\ __disjvr_7^0-__disjvr_7^post51 == 0 /\ -tail_14^0+y_18^0 <= 0 /\ -y_18^post51+y_18^0 == 0 /\ __disjvr_19^0-__disjvr_19^post51 == 0 /\ tail_14^0-tail_14^post51 == 0 /\ __disjvr_25^0-__disjvr_25^post51 == 0 /\ head_15^0-head_15^post51 == 0 /\ -tail_14^0+x_19^0 <= 0 /\ a_342^0-a_342^post51 == 0 /\ __disjvr_23^0-__disjvr_23^post51 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post51 == 0 /\ -a_188^post51+a_188^0 == 0 /\ -__disjvr_3^post51+__disjvr_3^0 == 0 /\ temp0_31^0-temp0_31^post51 == 0 /\ temp0_16^0-temp0_16^post51 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post51 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -x_131^post51+x_131^0 == 0 /\ -__disjvr_17^post51+__disjvr_17^0 == 0 /\ tail_14^0-y_18^0 <= 0 /\ -y_25^post51+y_25^0 == 0 /\ -__disjvr_6^post51+__disjvr_6^0 == 0 /\ length_28^0-length_28^post51 == 0 /\ -a_225^post51+a_225^0 == 0 /\ r_165^0-r_165^post51 == 0 /\ -x_19^0+t_22^post51 == 0 /\ -__disjvr_15^post51+__disjvr_15^0 == 0 /\ i_30^0-i_30^post51 == 0 /\ tail_14^0-x_19^0 <= 0), cost: 1
  52: l49 -> l50 : __disjvr_0^0'=__disjvr_0^post52, a_281^0'=a_281^post52, x_SLAM_f_24^0'=x_SLAM_f_24^post52, __disjvr_21^0'=__disjvr_21^post52, __disjvr_4^0'=__disjvr_4^post52, tail_14^0'=tail_14^post52, __disjvr_14^0'=__disjvr_14^post52, head_15^0'=head_15^post52, __disjvr_24^0'=__disjvr_24^post52, r_165^0'=r_165^post52, __disjvr_9^0'=__disjvr_9^post52, a_149^0'=a_149^post52, x_19^0'=x_19^post52, __disjvr_19^0'=__disjvr_19^post52, i_95^0'=i_95^post52, __disjvr_29^0'=__disjvr_29^post52, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post52, __disjvr_11^0'=__disjvr_11^post52, a_342^0'=a_342^post52, y_25^0'=y_25^post52, length_28^0'=length_28^post52, __disjvr_6^0'=__disjvr_6^post52, temp0_31^0'=temp0_31^post52, __disjvr_16^0'=__disjvr_16^post52, head_SLAM_f_29^0'=head_SLAM_f_29^post52, __disjvr_26^0'=__disjvr_26^post52, rcd_59^0'=rcd_59^post52, a_225^0'=a_225^post52, x_SLAM_f_17^0'=x_SLAM_f_17^post52, __disjvr_20^0'=__disjvr_20^post52, len_187^0'=len_187^post52, __disjvr_3^0'=__disjvr_3^post52, t_22^0'=t_22^post52, __disjvr_13^0'=__disjvr_13^post52, f_171^0'=f_171^post52, __disjvr_23^0'=__disjvr_23^post52, r_126^0'=r_126^post52, __disjvr_8^0'=__disjvr_8^post52, tmp_34^0'=tmp_34^post52, x_176^0'=x_176^post52, __disjvr_18^0'=__disjvr_18^post52, i_30^0'=i_30^post52, __disjvr_28^0'=__disjvr_28^post52, result_11^0'=result_11^post52, __disjvr_10^0'=__disjvr_10^post52, a_289^0'=a_289^post52, y_18^0'=y_18^post52, __disjvr_22^0'=__disjvr_22^post52, __disjvr_5^0'=__disjvr_5^post52, temp0_16^0'=temp0_16^post52, __disjvr_15^0'=__disjvr_15^post52, head_32^0'=head_32^post52, __disjvr_25^0'=__disjvr_25^post52, r_39^0'=r_39^post52, a_118^0'=a_118^post52, a_188^0'=a_188^post52, x_26^0'=x_26^post52, __disjvr_1^0'=__disjvr_1^post52, len_134^0'=len_134^post52, __disjvr_2^0'=__disjvr_2^post52, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post52, __disjvr_12^0'=__disjvr_12^post52, a_343^0'=a_343^post52, nondet_12^0'=nondet_12^post52, __disjvr_7^0'=__disjvr_7^post52, temp_35^0'=temp_35^post52, x_131^0'=x_131^post52, __disjvr_17^0'=__disjvr_17^post52, i_110^0'=i_110^post52, __disjvr_27^0'=__disjvr_27^post52, rcd_89^0'=rcd_89^post52, (f_171^0-f_171^post52 == 0 /\ -r_126^post52+r_126^0 == 0 /\ -__disjvr_3^post52+__disjvr_3^0 == 0 /\ len_134^0-len_134^post52 == 0 /\ __disjvr_14^0-__disjvr_14^post52 == 0 /\ x_19^0-x_19^post52 == 0 /\ -__disjvr_11^post52+__disjvr_11^0 == 0 /\ rcd_59^0-rcd_59^post52 == 0 /\ r_165^0-r_165^post52 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post52+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -__disjvr_28^post52+__disjvr_28^0 == 0 /\ -x_131^post52+x_131^0 == 0 /\ -__disjvr_12^post52+__disjvr_12^0 == 0 /\ __disjvr_24^0-__disjvr_24^post52 == 0 /\ y_25^0-y_25^post52 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post52 == 0 /\ a_289^0-a_289^post52 == 0 /\ -a_225^post52+a_225^0 == 0 /\ a_281^0-a_281^post52 == 0 /\ -x_26^post52+x_26^0 == 0 /\ temp0_31^0-temp0_31^post52 == 0 /\ -__disjvr_17^post52+__disjvr_17^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post52 == 0 /\ x_176^0-x_176^post52 == 0 /\ __disjvr_18^0-__disjvr_18^post52 == 0 /\ __disjvr_15^0-__disjvr_15^post52 == 0 /\ -__disjvr_22^post52+__disjvr_22^0 == 0 /\ __disjvr_2^0-__disjvr_2^post52 == 0 /\ -head_SLAM_f_29^post52+head_SLAM_f_29^0 == 0 /\ __disjvr_26^0-__disjvr_26^post52 == 0 /\ -a_343^post52+a_343^0 == 0 /\ tmp_34^0-tmp_34^post52 == 0 /\ -head_32^post52+head_32^0 == 0 /\ a_342^0-a_342^post52 == 0 /\ -__disjvr_5^post52+__disjvr_5^0 == 0 /\ len_187^0-len_187^post52 == 0 /\ -rcd_89^post52+rcd_89^0 == 0 /\ -r_39^post52+r_39^0 == 0 /\ __disjvr_19^0-__disjvr_19^post52 == 0 /\ -nondet_12^post52+nondet_12^0 == 0 /\ -__disjvr_16^post52+__disjvr_16^0 == 0 /\ tail_14^0-tail_14^post52 == 0 /\ -__disjvr_13^post52+__disjvr_13^0 == 0 /\ __disjvr_20^0-__disjvr_20^post52 == 0 /\ __disjvr_23^0-__disjvr_23^post52 == 0 /\ __disjvr_29^0-__disjvr_29^post52 == 0 /\ __disjvr_4^0-__disjvr_4^post52 == 0 /\ -__disjvr_6^post52+__disjvr_6^0 == 0 /\ -a_188^post52+a_188^0 == 0 /\ -__disjvr_21^0+__disjvr_21^post52 == 0 /\ -i_95^post52+i_95^0 == 0 /\ i_110^0-i_110^post52 == 0 /\ __disjvr_0^0-__disjvr_0^post52 == 0 /\ -__disjvr_25^post52+__disjvr_25^0 == 0 /\ -__disjvr_10^post52+__disjvr_10^0 == 0 /\ -i_30^post52+i_30^0 == 0 /\ -length_28^post52+length_28^0 == 0 /\ -__disjvr_9^post52+__disjvr_9^0 == 0 /\ -a_118^post52+a_118^0 == 0 /\ -a_149^post52+a_149^0 == 0 /\ -temp_35^post52+temp_35^0 == 0 /\ -head_15^post52+head_15^0 == 0 /\ __disjvr_8^0-__disjvr_8^post52 == 0 /\ -__disjvr_1^post52+__disjvr_1^0 == 0 /\ result_11^0-result_11^post52 == 0 /\ -y_18^post52+y_18^0 == 0 /\ t_22^0-t_22^post52 == 0 /\ temp0_16^0-temp0_16^post52 == 0 /\ -__disjvr_7^post52+__disjvr_7^0 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post52 == 0 /\ __disjvr_27^0-__disjvr_27^post52 == 0 /\ __disjvr_21^0-__disjvr_21^post52 == 0), cost: 1
  53: l50 -> l51 : __disjvr_0^0'=__disjvr_0^post53, a_281^0'=a_281^post53, x_SLAM_f_24^0'=x_SLAM_f_24^post53, __disjvr_21^0'=__disjvr_21^post53, __disjvr_4^0'=__disjvr_4^post53, tail_14^0'=tail_14^post53, __disjvr_14^0'=__disjvr_14^post53, head_15^0'=head_15^post53, __disjvr_24^0'=__disjvr_24^post53, r_165^0'=r_165^post53, __disjvr_9^0'=__disjvr_9^post53, a_149^0'=a_149^post53, x_19^0'=x_19^post53, __disjvr_19^0'=__disjvr_19^post53, i_95^0'=i_95^post53, __disjvr_29^0'=__disjvr_29^post53, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post53, __disjvr_11^0'=__disjvr_11^post53, a_342^0'=a_342^post53, y_25^0'=y_25^post53, length_28^0'=length_28^post53, __disjvr_6^0'=__disjvr_6^post53, temp0_31^0'=temp0_31^post53, __disjvr_16^0'=__disjvr_16^post53, head_SLAM_f_29^0'=head_SLAM_f_29^post53, __disjvr_26^0'=__disjvr_26^post53, rcd_59^0'=rcd_59^post53, a_225^0'=a_225^post53, x_SLAM_f_17^0'=x_SLAM_f_17^post53, __disjvr_20^0'=__disjvr_20^post53, len_187^0'=len_187^post53, __disjvr_3^0'=__disjvr_3^post53, t_22^0'=t_22^post53, __disjvr_13^0'=__disjvr_13^post53, f_171^0'=f_171^post53, __disjvr_23^0'=__disjvr_23^post53, r_126^0'=r_126^post53, __disjvr_8^0'=__disjvr_8^post53, tmp_34^0'=tmp_34^post53, x_176^0'=x_176^post53, __disjvr_18^0'=__disjvr_18^post53, i_30^0'=i_30^post53, __disjvr_28^0'=__disjvr_28^post53, result_11^0'=result_11^post53, __disjvr_10^0'=__disjvr_10^post53, a_289^0'=a_289^post53, y_18^0'=y_18^post53, __disjvr_22^0'=__disjvr_22^post53, __disjvr_5^0'=__disjvr_5^post53, temp0_16^0'=temp0_16^post53, __disjvr_15^0'=__disjvr_15^post53, head_32^0'=head_32^post53, __disjvr_25^0'=__disjvr_25^post53, r_39^0'=r_39^post53, a_118^0'=a_118^post53, a_188^0'=a_188^post53, x_26^0'=x_26^post53, __disjvr_1^0'=__disjvr_1^post53, len_134^0'=len_134^post53, __disjvr_2^0'=__disjvr_2^post53, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post53, __disjvr_12^0'=__disjvr_12^post53, a_343^0'=a_343^post53, nondet_12^0'=nondet_12^post53, __disjvr_7^0'=__disjvr_7^post53, temp_35^0'=temp_35^post53, x_131^0'=x_131^post53, __disjvr_17^0'=__disjvr_17^post53, i_110^0'=i_110^post53, __disjvr_27^0'=__disjvr_27^post53, rcd_89^0'=rcd_89^post53, (__disjvr_23^0-__disjvr_23^post53 == 0 /\ -x_SLAM_f_17^post53+x_SLAM_f_17^0 == 0 /\ __disjvr_9^0-__disjvr_9^post53 == 0 /\ -__disjvr_25^post53+__disjvr_25^0 == 0 /\ -len_134^post53+len_134^0 == 0 /\ -result_11^post53+result_11^0 == 0 /\ temp0_31^0-temp0_31^post53 == 0 /\ __disjvr_16^0-__disjvr_16^post53 == 0 /\ __disjvr_1^0-__disjvr_1^post53 == 0 /\ a_342^0-a_342^post53 == 0 /\ x_26^0-x_26^post53 == 0 /\ -temp_35^post53+temp_35^0 == 0 /\ -t_22^post53+t_22^0 == 0 /\ -__disjvr_2^post53+__disjvr_2^0 == 0 /\ r_165^0-r_165^post53 == 0 /\ head_SLAM_f_29^0-head_SLAM_f_29^post53 == 0 /\ length_28^0-length_28^post53 == 0 /\ __disjvr_24^0-__disjvr_24^post53 == 0 /\ -a_343^post53+a_343^0 == 0 /\ -y_18^post53+y_18^0 == 0 /\ __disjvr_29^0-__disjvr_29^post53 == 0 /\ __disjvr_11^0-__disjvr_11^post53 == 0 /\ -__disjvr_15^post53+__disjvr_15^0 == 0 /\ -x_131^post53+x_131^0 == 0 /\ r_126^0-r_126^post53 == 0 /\ __disjvr_21^0-__disjvr_21^post53 == 0 /\ -__disjvr_7^post53+__disjvr_7^0 == 0 /\ -x_176^post53+x_176^0 == 0 /\ -__disjvr_8^post53+__disjvr_8^0 == 0 /\ __disjvr_4^0-__disjvr_4^post53 == 0 /\ -a_188^post53+a_188^0 == 0 /\ __disjvr_0^0-__disjvr_0^post53 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post53 == 0 /\ -__disjvr_17^post53+__disjvr_17^0 == 0 /\ i_95^0-i_95^post53 == 0 /\ -i_30^post53+i_30^0 == 0 /\ -__disjvr_10^post53+__disjvr_10^0 == 0 /\ rcd_59^0-rcd_59^post53 == 0 /\ head_15^0-head_15^post53 == 0 /\ -head_32^post53+head_32^0 == 0 /\ -rcd_89^post53+rcd_89^0 == 0 /\ -x_19^post53+x_19^0 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post53 == 0 /\ -__disjvr_22^post53+__disjvr_22^0 == 0 /\ -__disjvr_26^post53+__disjvr_26^0 == 0 /\ -temp0_16^post53+temp0_16^0 == 0 /\ -tmp_34^post53+tmp_34^0 == 0 /\ -__disjvr_19^post53+__disjvr_19^0 == 0 /\ a_149^0-a_149^post53 == 0 /\ -a_118^post53+a_118^0 == 0 /\ len_187^0-len_187^post53 == 0 /\ -f_171^post53+f_171^0 == 0 /\ -a_289^post53+a_289^0 == 0 /\ -nondet_12^post53+nondet_12^0 == 0 /\ -__disjvr_5^post53+__disjvr_5^0 == 0 /\ -__disjvr_27^post53+__disjvr_27^0 == 0 /\ -__disjvr_28^post53+__disjvr_28^0 == 0 /\ y_25^0-y_25^post53 == 0 /\ __disjvr_3^0-__disjvr_3^post53 == 0 /\ __disjvr_22^post53-__disjvr_22^0 == 0 /\ a_281^0-a_281^post53 == 0 /\ -r_39^post53+r_39^0 == 0 /\ __disjvr_13^0-__disjvr_13^post53 == 0 /\ __disjvr_14^0-__disjvr_14^post53 == 0 /\ -__disjvr_12^post53+__disjvr_12^0 == 0 /\ __disjvr_18^0-__disjvr_18^post53 == 0 /\ __disjvr_6^0-__disjvr_6^post53 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post53+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ __disjvr_20^0-__disjvr_20^post53 == 0 /\ -i_110^post53+i_110^0 == 0 /\ a_225^0-a_225^post53 == 0 /\ tail_14^0-tail_14^post53 == 0), cost: 1
  54: l51 -> l52 : __disjvr_0^0'=__disjvr_0^post54, a_281^0'=a_281^post54, x_SLAM_f_24^0'=x_SLAM_f_24^post54, __disjvr_21^0'=__disjvr_21^post54, __disjvr_4^0'=__disjvr_4^post54, tail_14^0'=tail_14^post54, __disjvr_14^0'=__disjvr_14^post54, head_15^0'=head_15^post54, __disjvr_24^0'=__disjvr_24^post54, r_165^0'=r_165^post54, __disjvr_9^0'=__disjvr_9^post54, a_149^0'=a_149^post54, x_19^0'=x_19^post54, __disjvr_19^0'=__disjvr_19^post54, i_95^0'=i_95^post54, __disjvr_29^0'=__disjvr_29^post54, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post54, __disjvr_11^0'=__disjvr_11^post54, a_342^0'=a_342^post54, y_25^0'=y_25^post54, length_28^0'=length_28^post54, __disjvr_6^0'=__disjvr_6^post54, temp0_31^0'=temp0_31^post54, __disjvr_16^0'=__disjvr_16^post54, head_SLAM_f_29^0'=head_SLAM_f_29^post54, __disjvr_26^0'=__disjvr_26^post54, rcd_59^0'=rcd_59^post54, a_225^0'=a_225^post54, x_SLAM_f_17^0'=x_SLAM_f_17^post54, __disjvr_20^0'=__disjvr_20^post54, len_187^0'=len_187^post54, __disjvr_3^0'=__disjvr_3^post54, t_22^0'=t_22^post54, __disjvr_13^0'=__disjvr_13^post54, f_171^0'=f_171^post54, __disjvr_23^0'=__disjvr_23^post54, r_126^0'=r_126^post54, __disjvr_8^0'=__disjvr_8^post54, tmp_34^0'=tmp_34^post54, x_176^0'=x_176^post54, __disjvr_18^0'=__disjvr_18^post54, i_30^0'=i_30^post54, __disjvr_28^0'=__disjvr_28^post54, result_11^0'=result_11^post54, __disjvr_10^0'=__disjvr_10^post54, a_289^0'=a_289^post54, y_18^0'=y_18^post54, __disjvr_22^0'=__disjvr_22^post54, __disjvr_5^0'=__disjvr_5^post54, temp0_16^0'=temp0_16^post54, __disjvr_15^0'=__disjvr_15^post54, head_32^0'=head_32^post54, __disjvr_25^0'=__disjvr_25^post54, r_39^0'=r_39^post54, a_118^0'=a_118^post54, a_188^0'=a_188^post54, x_26^0'=x_26^post54, __disjvr_1^0'=__disjvr_1^post54, len_134^0'=len_134^post54, __disjvr_2^0'=__disjvr_2^post54, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, __disjvr_12^0'=__disjvr_12^post54, a_343^0'=a_343^post54, nondet_12^0'=nondet_12^post54, __disjvr_7^0'=__disjvr_7^post54, temp_35^0'=temp_35^post54, x_131^0'=x_131^post54, __disjvr_17^0'=__disjvr_17^post54, i_110^0'=i_110^post54, __disjvr_27^0'=__disjvr_27^post54, rcd_89^0'=rcd_89^post54, (0 == 0 /\ x_26^0-x_26^post54 == 0 /\ -a_289^post54+a_289^0 == 0 /\ -__disjvr_5^post54+__disjvr_5^0 == 0 /\ -nondet_12^post54+nondet_12^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post54 == 0 /\ a_225^0-a_225^post54 == 0 /\ x_19^0-y_18^0 <= 0 /\ i_95^0-i_95^post54 == 0 /\ __disjvr_0^0-__disjvr_0^post54 == 0 /\ __disjvr_24^0-__disjvr_24^post54 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post54 == 0 /\ __disjvr_9^0-__disjvr_9^post54 == 0 /\ -__disjvr_8^post54+__disjvr_8^0 == 0 /\ r_165^0-r_165^post54 == 0 /\ -__disjvr_27^post54+__disjvr_27^0 == 0 /\ -a_188^post54+a_188^0 == 0 /\ __disjvr_11^0-__disjvr_11^post54 == 0 /\ __disjvr_16^0-__disjvr_16^post54 == 0 /\ -i_110^post54+i_110^0 == 0 /\ -__disjvr_10^post54+__disjvr_10^0 == 0 /\ a_342^0-a_342^post54 == 0 /\ -i_30^post54+i_30^0 == 0 /\ -__disjvr_25^post54+__disjvr_25^0 == 0 /\ -__disjvr_17^post54+__disjvr_17^0 == 0 /\ __disjvr_4^0-__disjvr_4^post54 == 0 /\ -__disjvr_1^post54+__disjvr_1^0 == 0 /\ -__disjvr_26^post54+__disjvr_26^0 == 0 /\ -x_19^0+y_18^0 <= 0 /\ length_28^0-length_28^post54 == 0 /\ rcd_59^0-rcd_59^post54 == 0 /\ -a_118^post54+a_118^0 == 0 /\ __disjvr_29^0-__disjvr_29^post54 == 0 /\ a_281^0-a_281^post54 == 0 /\ -tmp_34^post54+tmp_34^0 == 0 /\ head_SLAM_f_29^0-head_SLAM_f_29^post54 == 0 /\ -temp_35^post54+temp_35^0 == 0 /\ __disjvr_23^0-__disjvr_23^post54 == 0 /\ -__disjvr_28^post54+__disjvr_28^0 == 0 /\ temp0_31^0-temp0_31^post54 == 0 /\ __disjvr_18^0-__disjvr_18^post54 == 0 /\ x_176^0-x_176^post54 == 0 /\ -__disjvr_15^post54+__disjvr_15^0 == 0 /\ -__disjvr_7^post54+__disjvr_7^0 == 0 /\ -r_126^post54+r_126^0 == 0 /\ -__disjvr_12^post54+__disjvr_12^0 == 0 /\ a_149^0-a_149^post54 == 0 /\ result_11^post54-temp0_16^0 == 0 /\ __disjvr_21^0-__disjvr_21^post54 == 0 /\ __disjvr_13^0-__disjvr_13^post54 == 0 /\ -head_32^post54+head_32^0 == 0 /\ __disjvr_14^0-__disjvr_14^post54 == 0 /\ __disjvr_6^0-__disjvr_6^post54 == 0 /\ -len_187^post54+len_187^0 == 0 /\ -__disjvr_22^post54+__disjvr_22^0 == 0 /\ __disjvr_20^0-__disjvr_20^post54 == 0 /\ x_131^0-x_131^post54 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -rcd_89^post54+rcd_89^0 == 0 /\ -len_134^post54+len_134^0 == 0 /\ y_25^0-y_25^post54 == 0 /\ r_39^0-r_39^post54 == 0 /\ -__disjvr_19^post54+__disjvr_19^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post54 == 0 /\ __disjvr_3^0-__disjvr_3^post54 == 0 /\ -__disjvr_2^post54+__disjvr_2^0 == 0 /\ -temp0_16^post54+temp0_16^0 == 0 /\ -f_171^post54+f_171^0 == 0 /\ -a_343^post54+a_343^0 == 0), cost: 1
  55: l52 -> l4 : __disjvr_0^0'=__disjvr_0^post55, a_281^0'=a_281^post55, x_SLAM_f_24^0'=x_SLAM_f_24^post55, __disjvr_21^0'=__disjvr_21^post55, __disjvr_4^0'=__disjvr_4^post55, tail_14^0'=tail_14^post55, __disjvr_14^0'=__disjvr_14^post55, head_15^0'=head_15^post55, __disjvr_24^0'=__disjvr_24^post55, r_165^0'=r_165^post55, __disjvr_9^0'=__disjvr_9^post55, a_149^0'=a_149^post55, x_19^0'=x_19^post55, __disjvr_19^0'=__disjvr_19^post55, i_95^0'=i_95^post55, __disjvr_29^0'=__disjvr_29^post55, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post55, __disjvr_11^0'=__disjvr_11^post55, a_342^0'=a_342^post55, y_25^0'=y_25^post55, length_28^0'=length_28^post55, __disjvr_6^0'=__disjvr_6^post55, temp0_31^0'=temp0_31^post55, __disjvr_16^0'=__disjvr_16^post55, head_SLAM_f_29^0'=head_SLAM_f_29^post55, __disjvr_26^0'=__disjvr_26^post55, rcd_59^0'=rcd_59^post55, a_225^0'=a_225^post55, x_SLAM_f_17^0'=x_SLAM_f_17^post55, __disjvr_20^0'=__disjvr_20^post55, len_187^0'=len_187^post55, __disjvr_3^0'=__disjvr_3^post55, t_22^0'=t_22^post55, __disjvr_13^0'=__disjvr_13^post55, f_171^0'=f_171^post55, __disjvr_23^0'=__disjvr_23^post55, r_126^0'=r_126^post55, __disjvr_8^0'=__disjvr_8^post55, tmp_34^0'=tmp_34^post55, x_176^0'=x_176^post55, __disjvr_18^0'=__disjvr_18^post55, i_30^0'=i_30^post55, __disjvr_28^0'=__disjvr_28^post55, result_11^0'=result_11^post55, __disjvr_10^0'=__disjvr_10^post55, a_289^0'=a_289^post55, y_18^0'=y_18^post55, __disjvr_22^0'=__disjvr_22^post55, __disjvr_5^0'=__disjvr_5^post55, temp0_16^0'=temp0_16^post55, __disjvr_15^0'=__disjvr_15^post55, head_32^0'=head_32^post55, __disjvr_25^0'=__disjvr_25^post55, r_39^0'=r_39^post55, a_118^0'=a_118^post55, a_188^0'=a_188^post55, x_26^0'=x_26^post55, __disjvr_1^0'=__disjvr_1^post55, len_134^0'=len_134^post55, __disjvr_2^0'=__disjvr_2^post55, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post55, __disjvr_12^0'=__disjvr_12^post55, a_343^0'=a_343^post55, nondet_12^0'=nondet_12^post55, __disjvr_7^0'=__disjvr_7^post55, temp_35^0'=temp_35^post55, x_131^0'=x_131^post55, __disjvr_17^0'=__disjvr_17^post55, i_110^0'=i_110^post55, __disjvr_27^0'=__disjvr_27^post55, rcd_89^0'=rcd_89^post55, (r_126^0-r_126^post55 == 0 /\ __disjvr_29^0-__disjvr_29^post55 == 0 /\ -i_30^post55+i_30^0 == 0 /\ -f_171^post55+f_171^0 == 0 /\ -__disjvr_26^post55+__disjvr_26^0 == 0 /\ __disjvr_11^0-__disjvr_11^post55 == 0 /\ y_25^0-y_25^post55 == 0 /\ -len_187^post55+len_187^0 == 0 /\ -__disjvr_23^0+__disjvr_23^post55 == 0 /\ -__disjvr_1^post55+__disjvr_1^0 == 0 /\ -nondet_12^post55+nondet_12^0 == 0 /\ -tmp_34^post55+tmp_34^0 == 0 /\ -a_118^post55+a_118^0 == 0 /\ -rcd_89^post55+rcd_89^0 == 0 /\ -__disjvr_3^post55+__disjvr_3^0 == 0 /\ __disjvr_6^0-__disjvr_6^post55 == 0 /\ a_225^0-a_225^post55 == 0 /\ __disjvr_0^0-__disjvr_0^post55 == 0 /\ __disjvr_20^0-__disjvr_20^post55 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post55+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -__disjvr_28^post55+__disjvr_28^0 == 0 /\ temp0_16^0-temp0_16^post55 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post55 == 0 /\ -a_289^post55+a_289^0 == 0 /\ -__disjvr_13^post55+__disjvr_13^0 == 0 /\ head_15^0-head_15^post55 == 0 /\ __disjvr_23^0-__disjvr_23^post55 == 0 /\ a_342^0-a_342^post55 == 0 /\ -rcd_59^post55+rcd_59^0 == 0 /\ temp0_31^0-temp0_31^post55 == 0 /\ x_26^0-x_26^post55 == 0 /\ -result_11^post55+result_11^0 == 0 /\ -__disjvr_27^post55+__disjvr_27^0 == 0 /\ -__disjvr_5^post55+__disjvr_5^0 == 0 /\ head_SLAM_f_29^0-head_SLAM_f_29^post55 == 0 /\ length_28^0-length_28^post55 == 0 /\ -i_110^post55+i_110^0 == 0 /\ -__disjvr_18^post55+__disjvr_18^0 == 0 /\ a_281^0-a_281^post55 == 0 /\ -__disjvr_17^post55+__disjvr_17^0 == 0 /\ -__disjvr_12^post55+__disjvr_12^0 == 0 /\ a_149^0-a_149^post55 == 0 /\ -__disjvr_25^post55+__disjvr_25^0 == 0 /\ __disjvr_21^0-__disjvr_21^post55 == 0 /\ -r_165^post55+r_165^0 == 0 /\ __disjvr_4^0-__disjvr_4^post55 == 0 /\ -len_134^post55+len_134^0 == 0 /\ __disjvr_19^0-__disjvr_19^post55 == 0 /\ -tail_14^post55+tail_14^0 == 0 /\ temp_35^0-temp_35^post55 == 0 /\ -t_22^post55+t_22^0 == 0 /\ __disjvr_9^0-__disjvr_9^post55 == 0 /\ i_95^0-i_95^post55 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post55 == 0 /\ -y_18^post55+y_18^0 == 0 /\ -__disjvr_14^post55+__disjvr_14^0 == 0 /\ -__disjvr_2^post55+__disjvr_2^0 == 0 /\ __disjvr_22^0-__disjvr_22^post55 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post55 == 0 /\ __disjvr_16^0-__disjvr_16^post55 == 0 /\ r_39^0-r_39^post55 == 0 /\ -__disjvr_15^post55+__disjvr_15^0 == 0 /\ -__disjvr_7^post55+__disjvr_7^0 == 0 /\ -a_343^post55+a_343^0 == 0 /\ -__disjvr_10^post55+__disjvr_10^0 == 0 /\ -__disjvr_8^post55+__disjvr_8^0 == 0 /\ -a_188^post55+a_188^0 == 0 /\ __disjvr_24^0-__disjvr_24^post55 == 0 /\ -x_131^post55+x_131^0 == 0 /\ head_32^0-head_32^post55 == 0 /\ -x_19^post55+x_19^0 == 0 /\ x_176^0-x_176^post55 == 0), cost: 1
  56: l53 -> l54 : __disjvr_0^0'=__disjvr_0^post56, a_281^0'=a_281^post56, x_SLAM_f_24^0'=x_SLAM_f_24^post56, __disjvr_21^0'=__disjvr_21^post56, __disjvr_4^0'=__disjvr_4^post56, tail_14^0'=tail_14^post56, __disjvr_14^0'=__disjvr_14^post56, head_15^0'=head_15^post56, __disjvr_24^0'=__disjvr_24^post56, r_165^0'=r_165^post56, __disjvr_9^0'=__disjvr_9^post56, a_149^0'=a_149^post56, x_19^0'=x_19^post56, __disjvr_19^0'=__disjvr_19^post56, i_95^0'=i_95^post56, __disjvr_29^0'=__disjvr_29^post56, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post56, __disjvr_11^0'=__disjvr_11^post56, a_342^0'=a_342^post56, y_25^0'=y_25^post56, length_28^0'=length_28^post56, __disjvr_6^0'=__disjvr_6^post56, temp0_31^0'=temp0_31^post56, __disjvr_16^0'=__disjvr_16^post56, head_SLAM_f_29^0'=head_SLAM_f_29^post56, __disjvr_26^0'=__disjvr_26^post56, rcd_59^0'=rcd_59^post56, a_225^0'=a_225^post56, x_SLAM_f_17^0'=x_SLAM_f_17^post56, __disjvr_20^0'=__disjvr_20^post56, len_187^0'=len_187^post56, __disjvr_3^0'=__disjvr_3^post56, t_22^0'=t_22^post56, __disjvr_13^0'=__disjvr_13^post56, f_171^0'=f_171^post56, __disjvr_23^0'=__disjvr_23^post56, r_126^0'=r_126^post56, __disjvr_8^0'=__disjvr_8^post56, tmp_34^0'=tmp_34^post56, x_176^0'=x_176^post56, __disjvr_18^0'=__disjvr_18^post56, i_30^0'=i_30^post56, __disjvr_28^0'=__disjvr_28^post56, result_11^0'=result_11^post56, __disjvr_10^0'=__disjvr_10^post56, a_289^0'=a_289^post56, y_18^0'=y_18^post56, __disjvr_22^0'=__disjvr_22^post56, __disjvr_5^0'=__disjvr_5^post56, temp0_16^0'=temp0_16^post56, __disjvr_15^0'=__disjvr_15^post56, head_32^0'=head_32^post56, __disjvr_25^0'=__disjvr_25^post56, r_39^0'=r_39^post56, a_118^0'=a_118^post56, a_188^0'=a_188^post56, x_26^0'=x_26^post56, __disjvr_1^0'=__disjvr_1^post56, len_134^0'=len_134^post56, __disjvr_2^0'=__disjvr_2^post56, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post56, __disjvr_12^0'=__disjvr_12^post56, a_343^0'=a_343^post56, nondet_12^0'=nondet_12^post56, __disjvr_7^0'=__disjvr_7^post56, temp_35^0'=temp_35^post56, x_131^0'=x_131^post56, __disjvr_17^0'=__disjvr_17^post56, i_110^0'=i_110^post56, __disjvr_27^0'=__disjvr_27^post56, rcd_89^0'=rcd_89^post56, (0 == 0 /\ __disjvr_16^0-__disjvr_16^post56 == 0 /\ -a_149^0 <= 0 /\ i_30^0-i_30^post56 == 0 /\ -tail_14^0+y_18^post56 <= 0 /\ -tail_14^0+y_18^post56 == 0 /\ __disjvr_6^0-__disjvr_6^post56 == 0 /\ head_SLAM_f_29^0-head_SLAM_f_29^post56 == 0 /\ -head_15^0+x_SLAM_f_17^post56 <= 0 /\ -head_15^0+x_SLAM_f_17^post56 == 0 /\ __disjvr_20^0-__disjvr_20^post56 == 0 /\ -__disjvr_15^post56+__disjvr_15^0 == 0 /\ -__disjvr_7^post56+__disjvr_7^0 == 0 /\ -result_11^post56+result_11^0 == 0 /\ __disjvr_29^0-__disjvr_29^post56 == 0 /\ -head_15^0+x_19^post56 <= 0 /\ r_126^0-r_126^post56 == 0 /\ a_188^0-a_188^post56 == 0 /\ __disjvr_22^0-__disjvr_22^post56 == 0 /\ a_149^0 <= 0 /\ -y_25^0+x_26^0 <= 0 /\ head_15^0-head_15^post56 == 0 /\ tail_14^0-tail_14^post56 == 0 /\ __disjvr_23^0-__disjvr_23^post56 == 0 /\ __disjvr_4^0-__disjvr_4^post56 == 0 /\ -f_171^post56+f_171^0 == 0 /\ 1+a_118^0-len_134^0 <= 0 /\ -__disjvr_12^post56+__disjvr_12^0 == 0 /\ tail_14^0-y_18^post56 <= 0 /\ __disjvr_0^0-__disjvr_0^post56 == 0 /\ -temp0_16^post56+temp0_16^0 == 0 /\ head_15^0-x_SLAM_f_17^post56 <= 0 /\ i_95^0-i_95^post56 == 0 /\ -len_187^post56+len_187^0 == 0 /\ rcd_59^0-rcd_59^post56 == 0 /\ head_15^0-x_19^post56 <= 0 /\ -__disjvr_18^post56+__disjvr_18^0 == 0 /\ y_25^0-x_26^0 <= 0 /\ -len_134^post56+len_134^0 == 0 /\ -__disjvr_3^post56+__disjvr_3^0 == 0 /\ -rcd_89^post56+rcd_89^0 == 0 /\ -nondet_12^post56+nondet_12^0 == 0 /\ a_342^0-a_342^post56 == 0 /\ -a_343^post56+a_343^0 == 0 /\ -__disjvr_14^post56+__disjvr_14^0 == 0 /\ length_28^0-length_28^post56 == 0 /\ -__disjvr_2^post56+__disjvr_2^0 == 0 /\ -a_289^post56+a_289^0 == 0 /\ -__disjvr_19^post56+__disjvr_19^0 == 0 /\ -__disjvr_26^post56+__disjvr_26^0 == 0 /\ x_SLAM_f_17^post56-x_19^post56 <= 0 /\ -__disjvr_27^post56+__disjvr_27^0 == 0 /\ -__disjvr_10^post56+__disjvr_10^0 == 0 /\ a_281^0-a_281^post56 == 0 /\ -__disjvr_5^post56+__disjvr_5^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post56 == 0 /\ -x_176^post56+x_176^0 == 0 /\ r_39^0-r_39^post56 == 0 /\ -i_110^post56+i_110^0 == 0 /\ temp0_31^0-temp0_31^post56 == 0 /\ -__disjvr_8^post56+__disjvr_8^0 == 0 /\ -__disjvr_25^post56+__disjvr_25^0 == 0 /\ -1-a_118^0+len_134^0 <= 0 /\ -__disjvr_17^post56+__disjvr_17^0 == 0 /\ -x_131^post56+x_131^0 == 0 /\ __disjvr_24^0-__disjvr_24^post56 == 0 /\ -a_118^0 <= 0 /\ __disjvr_9^0-__disjvr_9^post56 == 0 /\ head_32^0-head_32^post56 == 0 /\ -__disjvr_1^post56+__disjvr_1^0 == 0 /\ tmp_34^0-tmp_34^post56 == 0 /\ __disjvr_11^0-__disjvr_11^post56 == 0 /\ -r_165^post56+r_165^0 == 0 /\ __disjvr_13^0-__disjvr_13^post56 == 0 /\ -x_SLAM_f_17^post56+x_19^post56 <= 0 /\ -x_SLAM_f_17^post56+x_19^post56 == 0 /\ -temp_35^post56+temp_35^0 == 0 /\ a_149^0-a_149^post56 == 0 /\ -a_118^post56+a_118^0 == 0 /\ a_225^0-a_225^post56 == 0 /\ -t_22^post56+t_22^0 == 0 /\ __disjvr_21^0-__disjvr_21^post56 == 0 /\ -__disjvr_28^post56+__disjvr_28^0 == 0), cost: 1
  59: l53 -> l56 : __disjvr_0^0'=__disjvr_0^post59, a_281^0'=a_281^post59, x_SLAM_f_24^0'=x_SLAM_f_24^post59, __disjvr_21^0'=__disjvr_21^post59, __disjvr_4^0'=__disjvr_4^post59, tail_14^0'=tail_14^post59, __disjvr_14^0'=__disjvr_14^post59, head_15^0'=head_15^post59, __disjvr_24^0'=__disjvr_24^post59, r_165^0'=r_165^post59, __disjvr_9^0'=__disjvr_9^post59, a_149^0'=a_149^post59, x_19^0'=x_19^post59, __disjvr_19^0'=__disjvr_19^post59, i_95^0'=i_95^post59, __disjvr_29^0'=__disjvr_29^post59, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post59, __disjvr_11^0'=__disjvr_11^post59, a_342^0'=a_342^post59, y_25^0'=y_25^post59, length_28^0'=length_28^post59, __disjvr_6^0'=__disjvr_6^post59, temp0_31^0'=temp0_31^post59, __disjvr_16^0'=__disjvr_16^post59, head_SLAM_f_29^0'=head_SLAM_f_29^post59, __disjvr_26^0'=__disjvr_26^post59, rcd_59^0'=rcd_59^post59, a_225^0'=a_225^post59, x_SLAM_f_17^0'=x_SLAM_f_17^post59, __disjvr_20^0'=__disjvr_20^post59, len_187^0'=len_187^post59, __disjvr_3^0'=__disjvr_3^post59, t_22^0'=t_22^post59, __disjvr_13^0'=__disjvr_13^post59, f_171^0'=f_171^post59, __disjvr_23^0'=__disjvr_23^post59, r_126^0'=r_126^post59, __disjvr_8^0'=__disjvr_8^post59, tmp_34^0'=tmp_34^post59, x_176^0'=x_176^post59, __disjvr_18^0'=__disjvr_18^post59, i_30^0'=i_30^post59, __disjvr_28^0'=__disjvr_28^post59, result_11^0'=result_11^post59, __disjvr_10^0'=__disjvr_10^post59, a_289^0'=a_289^post59, y_18^0'=y_18^post59, __disjvr_22^0'=__disjvr_22^post59, __disjvr_5^0'=__disjvr_5^post59, temp0_16^0'=temp0_16^post59, __disjvr_15^0'=__disjvr_15^post59, head_32^0'=head_32^post59, __disjvr_25^0'=__disjvr_25^post59, r_39^0'=r_39^post59, a_118^0'=a_118^post59, a_188^0'=a_188^post59, x_26^0'=x_26^post59, __disjvr_1^0'=__disjvr_1^post59, len_134^0'=len_134^post59, __disjvr_2^0'=__disjvr_2^post59, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post59, __disjvr_12^0'=__disjvr_12^post59, a_343^0'=a_343^post59, nondet_12^0'=nondet_12^post59, __disjvr_7^0'=__disjvr_7^post59, temp_35^0'=temp_35^post59, x_131^0'=x_131^post59, __disjvr_17^0'=__disjvr_17^post59, i_110^0'=i_110^post59, __disjvr_27^0'=__disjvr_27^post59, rcd_89^0'=rcd_89^post59, (0 == 0 /\ __disjvr_29^0-__disjvr_29^post59 == 0 /\ __disjvr_11^0-__disjvr_11^post59 == 0 /\ y_25^0-y_25^post59 == 0 /\ __disjvr_13^0-__disjvr_13^post59 == 0 /\ -__disjvr_26^post59+__disjvr_26^0 == 0 /\ __disjvr_6^0-__disjvr_6^post59 == 0 /\ -rcd_59^post59+rcd_59^0 == 0 /\ -__disjvr_1^post59+__disjvr_1^0 == 0 /\ -tmp_34^post59+tmp_34^0 == 0 /\ i_95^0-i_95^post59 == 0 /\ -nondet_12^post59+nondet_12^0 == 0 /\ __disjvr_0^0-__disjvr_0^post59 == 0 /\ -rcd_89^post59+rcd_89^0 == 0 /\ a_342^0-a_342^post59 == 0 /\ __disjvr_4^0-__disjvr_4^post59 == 0 /\ a_225^0-a_225^post59 == 0 /\ __disjvr_12^0-__disjvr_12^post59 == 0 /\ temp0_31^0-temp0_31^post59 == 0 /\ -x_26^post59+x_26^0 == 0 /\ __disjvr_2^0-__disjvr_2^post59 == 0 /\ -__disjvr_5^post59+__disjvr_5^0 == 0 /\ head_SLAM_f_29^0-head_SLAM_f_29^post59 == 0 /\ -i_110^post59+i_110^0 == 0 /\ -r_39^post59+r_39^0 == 0 /\ -__disjvr_20^post59+__disjvr_20^0 == 0 /\ a_118^0-a_118^post59 == 0 /\ length_28^0-length_28^post59 == 0 /\ -temp_35^post59+temp_35^0 == 0 /\ -__disjvr_27^post59+__disjvr_27^0 == 0 /\ __disjvr_21^0-__disjvr_21^post59 == 0 /\ __disjvr_19^0-__disjvr_19^post59 == 0 /\ -x_SLAM_f_17^post59+x_SLAM_f_17^0 == 0 /\ a_289^0-a_289^post59 == 0 /\ a_281^0-a_281^post59 == 0 /\ len_187^0-len_187^post59 == 0 /\ __disjvr_15^0-__disjvr_15^post59 == 0 /\ -len_134^post59+len_134^0 == 0 /\ __disjvr_3^0-__disjvr_3^post59 == 0 /\ -__disjvr_25^post59+__disjvr_25^0 == 0 /\ f_171^0-f_171^post59 == 0 /\ -t_22^post59+t_22^0 == 0 /\ x_19^0-x_19^post59 == 0 /\ -y_18^post59+y_18^0 == 0 /\ -__disjvr_7^post59+__disjvr_7^0 == 0 /\ -result_11^post59+result_11^0 == 0 /\ -__disjvr_18^post59+__disjvr_18^0 == 0 /\ __disjvr_28^0-__disjvr_28^post59 == 0 /\ -a_343^post59+a_343^0 == 0 /\ -temp0_16^post59+temp0_16^0 == 0 /\ __disjvr_9^0-__disjvr_9^post59 == 0 /\ -a_118^0 <= 0 /\ -r_165^post59+r_165^0 == 0 /\ -a_188^post59+a_188^0 == 0 /\ -__disjvr_14^post59+__disjvr_14^0 == 0 /\ -x_176^post59+x_176^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post59 == 0 /\ __disjvr_10^0-__disjvr_10^post59 == 0 /\ __disjvr_16^0-__disjvr_16^post59 == 0 /\ -__disjvr_23^post59+__disjvr_23^0 == 0 /\ -__disjvr_22^post59+__disjvr_22^0 == 0 /\ i_30^0-i_30^post59 == 0 /\ a_149^0-a_149^post59 == 0 /\ -__disjvr_8^post59+__disjvr_8^0 == 0 /\ -__disjvr_17^post59+__disjvr_17^0 == 0 /\ __disjvr_24^0-__disjvr_24^post59 == 0 /\ head_32^0-head_32^post59 == 0), cost: 1
  57: l54 -> l55 : __disjvr_0^0'=__disjvr_0^post57, a_281^0'=a_281^post57, x_SLAM_f_24^0'=x_SLAM_f_24^post57, __disjvr_21^0'=__disjvr_21^post57, __disjvr_4^0'=__disjvr_4^post57, tail_14^0'=tail_14^post57, __disjvr_14^0'=__disjvr_14^post57, head_15^0'=head_15^post57, __disjvr_24^0'=__disjvr_24^post57, r_165^0'=r_165^post57, __disjvr_9^0'=__disjvr_9^post57, a_149^0'=a_149^post57, x_19^0'=x_19^post57, __disjvr_19^0'=__disjvr_19^post57, i_95^0'=i_95^post57, __disjvr_29^0'=__disjvr_29^post57, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post57, __disjvr_11^0'=__disjvr_11^post57, a_342^0'=a_342^post57, y_25^0'=y_25^post57, length_28^0'=length_28^post57, __disjvr_6^0'=__disjvr_6^post57, temp0_31^0'=temp0_31^post57, __disjvr_16^0'=__disjvr_16^post57, head_SLAM_f_29^0'=head_SLAM_f_29^post57, __disjvr_26^0'=__disjvr_26^post57, rcd_59^0'=rcd_59^post57, a_225^0'=a_225^post57, x_SLAM_f_17^0'=x_SLAM_f_17^post57, __disjvr_20^0'=__disjvr_20^post57, len_187^0'=len_187^post57, __disjvr_3^0'=__disjvr_3^post57, t_22^0'=t_22^post57, __disjvr_13^0'=__disjvr_13^post57, f_171^0'=f_171^post57, __disjvr_23^0'=__disjvr_23^post57, r_126^0'=r_126^post57, __disjvr_8^0'=__disjvr_8^post57, tmp_34^0'=tmp_34^post57, x_176^0'=x_176^post57, __disjvr_18^0'=__disjvr_18^post57, i_30^0'=i_30^post57, __disjvr_28^0'=__disjvr_28^post57, result_11^0'=result_11^post57, __disjvr_10^0'=__disjvr_10^post57, a_289^0'=a_289^post57, y_18^0'=y_18^post57, __disjvr_22^0'=__disjvr_22^post57, __disjvr_5^0'=__disjvr_5^post57, temp0_16^0'=temp0_16^post57, __disjvr_15^0'=__disjvr_15^post57, head_32^0'=head_32^post57, __disjvr_25^0'=__disjvr_25^post57, r_39^0'=r_39^post57, a_118^0'=a_118^post57, a_188^0'=a_188^post57, x_26^0'=x_26^post57, __disjvr_1^0'=__disjvr_1^post57, len_134^0'=len_134^post57, __disjvr_2^0'=__disjvr_2^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, __disjvr_12^0'=__disjvr_12^post57, a_343^0'=a_343^post57, nondet_12^0'=nondet_12^post57, __disjvr_7^0'=__disjvr_7^post57, temp_35^0'=temp_35^post57, x_131^0'=x_131^post57, __disjvr_17^0'=__disjvr_17^post57, i_110^0'=i_110^post57, __disjvr_27^0'=__disjvr_27^post57, rcd_89^0'=rcd_89^post57, (-__disjvr_17^post57+__disjvr_17^0 == 0 /\ __disjvr_24^0-__disjvr_24^post57 == 0 /\ a_342^0-a_342^post57 == 0 /\ -temp_35^post57+temp_35^0 == 0 /\ -x_131^post57+x_131^0 == 0 /\ head_15^0-head_15^post57 == 0 /\ a_225^0-a_225^post57 == 0 /\ -__disjvr_12^post57+__disjvr_12^0 == 0 /\ -x_SLAM_f_17^post57+x_SLAM_f_17^0 == 0 /\ y_18^0-y_18^post57 == 0 /\ __disjvr_23^0-__disjvr_23^post57 == 0 /\ -t_22^post57+t_22^0 == 0 /\ __disjvr_4^0-__disjvr_4^post57 == 0 /\ -__disjvr_18^post57+__disjvr_18^0 == 0 /\ __disjvr_16^0-__disjvr_16^post57 == 0 /\ -len_134^post57+len_134^0 == 0 /\ i_30^0-i_30^post57 == 0 /\ -__disjvr_25^post57+__disjvr_25^0 == 0 /\ length_28^0-length_28^post57 == 0 /\ head_SLAM_f_29^0-head_SLAM_f_29^post57 == 0 /\ -__disjvr_7^post57+__disjvr_7^0 == 0 /\ __disjvr_21^0-__disjvr_21^post57 == 0 /\ rcd_59^0-rcd_59^post57 == 0 /\ -a_343^post57+a_343^0 == 0 /\ -__disjvr_24^0+__disjvr_24^post57 == 0 /\ a_188^0-a_188^post57 == 0 /\ r_126^0-r_126^post57 == 0 /\ __disjvr_11^0-__disjvr_11^post57 == 0 /\ -__disjvr_26^post57+__disjvr_26^0 == 0 /\ __disjvr_14^0-__disjvr_14^post57 == 0 /\ __disjvr_10^0-__disjvr_10^post57 == 0 /\ -__disjvr_2^post57+__disjvr_2^0 == 0 /\ -__disjvr_22^post57+__disjvr_22^0 == 0 /\ __disjvr_0^0-__disjvr_0^post57 == 0 /\ i_95^0-i_95^post57 == 0 /\ __disjvr_6^0-__disjvr_6^post57 == 0 /\ -len_187^post57+len_187^0 == 0 /\ __disjvr_20^0-__disjvr_20^post57 == 0 /\ -__disjvr_8^post57+__disjvr_8^0 == 0 /\ -x_176^post57+x_176^0 == 0 /\ -i_110^post57+i_110^0 == 0 /\ -f_171^post57+f_171^0 == 0 /\ temp0_31^0-temp0_31^post57 == 0 /\ r_165^0-r_165^post57 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post57 == 0 /\ -temp0_16^post57+temp0_16^0 == 0 /\ x_19^0-x_19^post57 == 0 /\ -__disjvr_1^post57+__disjvr_1^0 == 0 /\ nondet_12^0-nondet_12^post57 == 0 /\ -rcd_89^post57+rcd_89^0 == 0 /\ -a_118^post57+a_118^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post57+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -tmp_34^post57+tmp_34^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post57+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -__disjvr_28^post57+__disjvr_28^0 == 0 /\ -__disjvr_19^post57+__disjvr_19^0 == 0 /\ __disjvr_29^0-__disjvr_29^post57 == 0 /\ __disjvr_13^0-__disjvr_13^post57 == 0 /\ a_281^0-a_281^post57 == 0 /\ tail_14^0-tail_14^post57 == 0 /\ head_32^0-head_32^post57 == 0 /\ a_149^0-a_149^post57 == 0 /\ -x_26^post57+x_26^0 == 0 /\ -__disjvr_5^post57+__disjvr_5^0 == 0 /\ __disjvr_3^0-__disjvr_3^post57 == 0 /\ y_25^0-y_25^post57 == 0 /\ -a_289^post57+a_289^0 == 0 /\ -__disjvr_27^post57+__disjvr_27^0 == 0 /\ -r_39^post57+r_39^0 == 0 /\ -result_11^post57+result_11^0 == 0 /\ __disjvr_15^0-__disjvr_15^post57 == 0 /\ __disjvr_9^0-__disjvr_9^post57 == 0), cost: 1
  58: l55 -> l23 : __disjvr_0^0'=__disjvr_0^post58, a_281^0'=a_281^post58, x_SLAM_f_24^0'=x_SLAM_f_24^post58, __disjvr_21^0'=__disjvr_21^post58, __disjvr_4^0'=__disjvr_4^post58, tail_14^0'=tail_14^post58, __disjvr_14^0'=__disjvr_14^post58, head_15^0'=head_15^post58, __disjvr_24^0'=__disjvr_24^post58, r_165^0'=r_165^post58, __disjvr_9^0'=__disjvr_9^post58, a_149^0'=a_149^post58, x_19^0'=x_19^post58, __disjvr_19^0'=__disjvr_19^post58, i_95^0'=i_95^post58, __disjvr_29^0'=__disjvr_29^post58, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post58, __disjvr_11^0'=__disjvr_11^post58, a_342^0'=a_342^post58, y_25^0'=y_25^post58, length_28^0'=length_28^post58, __disjvr_6^0'=__disjvr_6^post58, temp0_31^0'=temp0_31^post58, __disjvr_16^0'=__disjvr_16^post58, head_SLAM_f_29^0'=head_SLAM_f_29^post58, __disjvr_26^0'=__disjvr_26^post58, rcd_59^0'=rcd_59^post58, a_225^0'=a_225^post58, x_SLAM_f_17^0'=x_SLAM_f_17^post58, __disjvr_20^0'=__disjvr_20^post58, len_187^0'=len_187^post58, __disjvr_3^0'=__disjvr_3^post58, t_22^0'=t_22^post58, __disjvr_13^0'=__disjvr_13^post58, f_171^0'=f_171^post58, __disjvr_23^0'=__disjvr_23^post58, r_126^0'=r_126^post58, __disjvr_8^0'=__disjvr_8^post58, tmp_34^0'=tmp_34^post58, x_176^0'=x_176^post58, __disjvr_18^0'=__disjvr_18^post58, i_30^0'=i_30^post58, __disjvr_28^0'=__disjvr_28^post58, result_11^0'=result_11^post58, __disjvr_10^0'=__disjvr_10^post58, a_289^0'=a_289^post58, y_18^0'=y_18^post58, __disjvr_22^0'=__disjvr_22^post58, __disjvr_5^0'=__disjvr_5^post58, temp0_16^0'=temp0_16^post58, __disjvr_15^0'=__disjvr_15^post58, head_32^0'=head_32^post58, __disjvr_25^0'=__disjvr_25^post58, r_39^0'=r_39^post58, a_118^0'=a_118^post58, a_188^0'=a_188^post58, x_26^0'=x_26^post58, __disjvr_1^0'=__disjvr_1^post58, len_134^0'=len_134^post58, __disjvr_2^0'=__disjvr_2^post58, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post58, __disjvr_12^0'=__disjvr_12^post58, a_343^0'=a_343^post58, nondet_12^0'=nondet_12^post58, __disjvr_7^0'=__disjvr_7^post58, temp_35^0'=temp_35^post58, x_131^0'=x_131^post58, __disjvr_17^0'=__disjvr_17^post58, i_110^0'=i_110^post58, __disjvr_27^0'=__disjvr_27^post58, rcd_89^0'=rcd_89^post58, (-a_343^post58+a_343^0 == 0 /\ -__disjvr_5^post58+__disjvr_5^0 == 0 /\ __disjvr_9^0-__disjvr_9^post58 == 0 /\ i_95^0-i_95^post58 == 0 /\ -__disjvr_26^post58+__disjvr_26^0 == 0 /\ __disjvr_28^0-__disjvr_28^post58 == 0 /\ rcd_59^0-rcd_59^post58 == 0 /\ a_342^0-a_342^post58 == 0 /\ -r_39^post58+r_39^0 == 0 /\ -i_110^post58+i_110^0 == 0 /\ a_225^0-a_225^post58 == 0 /\ -__disjvr_2^post58+__disjvr_2^0 == 0 /\ -temp_35^post58+temp_35^0 == 0 /\ -__disjvr_8^post58+__disjvr_8^0 == 0 /\ __disjvr_11^0-__disjvr_11^post58 == 0 /\ -__disjvr_20^post58+__disjvr_20^0 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post58 == 0 /\ __disjvr_16^0-__disjvr_16^post58 == 0 /\ -x_176^post58+x_176^0 == 0 /\ head_SLAM_f_29^0-head_SLAM_f_29^post58 == 0 /\ -x_131^post58+x_131^0 == 0 /\ -x_SLAM_f_17^post58+x_SLAM_f_17^0 == 0 /\ length_28^0-length_28^post58 == 0 /\ -t_22^post58+t_22^0 == 0 /\ head_15^0-head_15^post58 == 0 /\ -__disjvr_25^post58+__disjvr_25^0 == 0 /\ __disjvr_4^0-__disjvr_4^post58 == 0 /\ -__disjvr_1^post58+__disjvr_1^0 == 0 /\ -y_18^post58+y_18^0 == 0 /\ a_188^0-a_188^post58 == 0 /\ -a_118^post58+a_118^0 == 0 /\ r_126^0-r_126^post58 == 0 /\ __disjvr_12^0-__disjvr_12^post58 == 0 /\ __disjvr_29^0-__disjvr_29^post58 == 0 /\ temp0_31^0-temp0_31^post58 == 0 /\ -__disjvr_7^post58+__disjvr_7^0 == 0 /\ -tmp_34^post58+tmp_34^0 == 0 /\ -__disjvr_23^post58+__disjvr_23^0 == 0 /\ __disjvr_15^0-__disjvr_15^post58 == 0 /\ a_149^0-a_149^post58 == 0 /\ -x_26^post58+x_26^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ __disjvr_0^0-__disjvr_0^post58 == 0 /\ -r_165^post58+r_165^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post58+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ __disjvr_21^0-__disjvr_21^post58 == 0 /\ __disjvr_13^0-__disjvr_13^post58 == 0 /\ __disjvr_19^0-__disjvr_19^post58 == 0 /\ head_32^0-head_32^post58 == 0 /\ -__disjvr_22^post58+__disjvr_22^0 == 0 /\ len_187^0-len_187^post58 == 0 /\ -__disjvr_17^post58+__disjvr_17^0 == 0 /\ -result_11^post58+result_11^0 == 0 /\ -len_134^post58+len_134^0 == 0 /\ __disjvr_6^0-__disjvr_6^post58 == 0 /\ i_30^0-i_30^post58 == 0 /\ __disjvr_14^0-__disjvr_14^post58 == 0 /\ -f_171^post58+f_171^0 == 0 /\ -x_19^post58+x_19^0 == 0 /\ -__disjvr_27^post58+__disjvr_27^0 == 0 /\ -__disjvr_18^post58+__disjvr_18^0 == 0 /\ a_281^0-a_281^post58 == 0 /\ -rcd_89^post58+rcd_89^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ __disjvr_24^0-__disjvr_24^post58 == 0 /\ -nondet_12^post58+nondet_12^0 == 0 /\ tail_14^0-tail_14^post58 == 0 /\ -temp0_16^post58+temp0_16^0 == 0 /\ y_25^0-y_25^post58 == 0 /\ -a_289^post58+a_289^0 == 0 /\ __disjvr_10^0-__disjvr_10^post58 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post58 == 0 /\ __disjvr_3^0-__disjvr_3^post58 == 0), cost: 1
  60: l56 -> l57 : __disjvr_0^0'=__disjvr_0^post60, a_281^0'=a_281^post60, x_SLAM_f_24^0'=x_SLAM_f_24^post60, __disjvr_21^0'=__disjvr_21^post60, __disjvr_4^0'=__disjvr_4^post60, tail_14^0'=tail_14^post60, __disjvr_14^0'=__disjvr_14^post60, head_15^0'=head_15^post60, __disjvr_24^0'=__disjvr_24^post60, r_165^0'=r_165^post60, __disjvr_9^0'=__disjvr_9^post60, a_149^0'=a_149^post60, x_19^0'=x_19^post60, __disjvr_19^0'=__disjvr_19^post60, i_95^0'=i_95^post60, __disjvr_29^0'=__disjvr_29^post60, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post60, __disjvr_11^0'=__disjvr_11^post60, a_342^0'=a_342^post60, y_25^0'=y_25^post60, length_28^0'=length_28^post60, __disjvr_6^0'=__disjvr_6^post60, temp0_31^0'=temp0_31^post60, __disjvr_16^0'=__disjvr_16^post60, head_SLAM_f_29^0'=head_SLAM_f_29^post60, __disjvr_26^0'=__disjvr_26^post60, rcd_59^0'=rcd_59^post60, a_225^0'=a_225^post60, x_SLAM_f_17^0'=x_SLAM_f_17^post60, __disjvr_20^0'=__disjvr_20^post60, len_187^0'=len_187^post60, __disjvr_3^0'=__disjvr_3^post60, t_22^0'=t_22^post60, __disjvr_13^0'=__disjvr_13^post60, f_171^0'=f_171^post60, __disjvr_23^0'=__disjvr_23^post60, r_126^0'=r_126^post60, __disjvr_8^0'=__disjvr_8^post60, tmp_34^0'=tmp_34^post60, x_176^0'=x_176^post60, __disjvr_18^0'=__disjvr_18^post60, i_30^0'=i_30^post60, __disjvr_28^0'=__disjvr_28^post60, result_11^0'=result_11^post60, __disjvr_10^0'=__disjvr_10^post60, a_289^0'=a_289^post60, y_18^0'=y_18^post60, __disjvr_22^0'=__disjvr_22^post60, __disjvr_5^0'=__disjvr_5^post60, temp0_16^0'=temp0_16^post60, __disjvr_15^0'=__disjvr_15^post60, head_32^0'=head_32^post60, __disjvr_25^0'=__disjvr_25^post60, r_39^0'=r_39^post60, a_118^0'=a_118^post60, a_188^0'=a_188^post60, x_26^0'=x_26^post60, __disjvr_1^0'=__disjvr_1^post60, len_134^0'=len_134^post60, __disjvr_2^0'=__disjvr_2^post60, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post60, __disjvr_12^0'=__disjvr_12^post60, a_343^0'=a_343^post60, nondet_12^0'=nondet_12^post60, __disjvr_7^0'=__disjvr_7^post60, temp_35^0'=temp_35^post60, x_131^0'=x_131^post60, __disjvr_17^0'=__disjvr_17^post60, i_110^0'=i_110^post60, __disjvr_27^0'=__disjvr_27^post60, rcd_89^0'=rcd_89^post60, (head_SLAM_f_29^0-head_SLAM_f_29^post60 == 0 /\ -x_26^post60+x_26^0 == 0 /\ -rcd_59^post60+rcd_59^0 == 0 /\ __disjvr_6^0-__disjvr_6^post60 == 0 /\ -temp0_16^post60+temp0_16^0 == 0 /\ __disjvr_3^0-__disjvr_3^post60 == 0 /\ __disjvr_22^0-__disjvr_22^post60 == 0 /\ __disjvr_19^0-__disjvr_19^post60 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post60+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -r_126^post60+r_126^0 == 0 /\ head_15^0-head_15^post60 == 0 /\ tail_14^0-tail_14^post60 == 0 /\ __disjvr_29^0-__disjvr_29^post60 == 0 /\ -__disjvr_23^post60+__disjvr_23^0 == 0 /\ y_25^0-y_25^post60 == 0 /\ __disjvr_4^0-__disjvr_4^post60 == 0 /\ -a_225^post60+a_225^0 == 0 /\ -x_131^post60+x_131^0 == 0 /\ -__disjvr_17^post60+__disjvr_17^0 == 0 /\ __disjvr_18^0-__disjvr_18^post60 == 0 /\ __disjvr_0^0-__disjvr_0^post60 == 0 /\ -len_134^post60+len_134^0 == 0 /\ -__disjvr_12^post60+__disjvr_12^0 == 0 /\ a_342^0-a_342^post60 == 0 /\ __disjvr_26^0-__disjvr_26^post60 == 0 /\ -a_343^post60+a_343^0 == 0 /\ result_11^0-result_11^post60 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post60 == 0 /\ -rcd_89^post60+rcd_89^0 == 0 /\ nondet_12^0-nondet_12^post60 == 0 /\ x_19^0-x_19^post60 == 0 /\ -__disjvr_2^post60+__disjvr_2^0 == 0 /\ f_171^0-f_171^post60 == 0 /\ i_30^0-i_30^post60 == 0 /\ r_165^0-r_165^post60 == 0 /\ -__disjvr_14^post60+__disjvr_14^0 == 0 /\ -a_188^post60+a_188^0 == 0 /\ __disjvr_5^0-__disjvr_5^post60 == 0 /\ length_28^0-length_28^post60 == 0 /\ -x_176^post60+x_176^0 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post60 == 0 /\ i_95^0-i_95^post60 == 0 /\ __disjvr_25^post60-__disjvr_25^0 == 0 /\ a_289^0-a_289^post60 == 0 /\ -r_39^post60+r_39^0 == 0 /\ -__disjvr_20^post60+__disjvr_20^0 == 0 /\ -i_110^post60+i_110^0 == 0 /\ -__disjvr_8^post60+__disjvr_8^0 == 0 /\ a_281^0-a_281^post60 == 0 /\ -temp_35^post60+temp_35^0 == 0 /\ temp0_31^0-temp0_31^post60 == 0 /\ -__disjvr_27^post60+__disjvr_27^0 == 0 /\ __disjvr_15^0-__disjvr_15^post60 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post60 == 0 /\ -__disjvr_10^post60+__disjvr_10^0 == 0 /\ a_149^0-a_149^post60 == 0 /\ -a_118^post60+a_118^0 == 0 /\ __disjvr_24^0-__disjvr_24^post60 == 0 /\ head_32^0-head_32^post60 == 0 /\ __disjvr_21^0-__disjvr_21^post60 == 0 /\ -t_22^post60+t_22^0 == 0 /\ __disjvr_28^0-__disjvr_28^post60 == 0 /\ -__disjvr_25^post60+__disjvr_25^0 == 0 /\ -__disjvr_1^post60+__disjvr_1^0 == 0 /\ __disjvr_11^0-__disjvr_11^post60 == 0 /\ __disjvr_9^0-__disjvr_9^post60 == 0 /\ -tmp_34^post60+tmp_34^0 == 0 /\ -y_18^post60+y_18^0 == 0 /\ len_187^0-len_187^post60 == 0 /\ -__disjvr_7^post60+__disjvr_7^0 == 0 /\ __disjvr_13^0-__disjvr_13^post60 == 0 /\ __disjvr_16^0-__disjvr_16^post60 == 0), cost: 1
  61: l57 -> l58 : __disjvr_0^0'=__disjvr_0^post61, a_281^0'=a_281^post61, x_SLAM_f_24^0'=x_SLAM_f_24^post61, __disjvr_21^0'=__disjvr_21^post61, __disjvr_4^0'=__disjvr_4^post61, tail_14^0'=tail_14^post61, __disjvr_14^0'=__disjvr_14^post61, head_15^0'=head_15^post61, __disjvr_24^0'=__disjvr_24^post61, r_165^0'=r_165^post61, __disjvr_9^0'=__disjvr_9^post61, a_149^0'=a_149^post61, x_19^0'=x_19^post61, __disjvr_19^0'=__disjvr_19^post61, i_95^0'=i_95^post61, __disjvr_29^0'=__disjvr_29^post61, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post61, __disjvr_11^0'=__disjvr_11^post61, a_342^0'=a_342^post61, y_25^0'=y_25^post61, length_28^0'=length_28^post61, __disjvr_6^0'=__disjvr_6^post61, temp0_31^0'=temp0_31^post61, __disjvr_16^0'=__disjvr_16^post61, head_SLAM_f_29^0'=head_SLAM_f_29^post61, __disjvr_26^0'=__disjvr_26^post61, rcd_59^0'=rcd_59^post61, a_225^0'=a_225^post61, x_SLAM_f_17^0'=x_SLAM_f_17^post61, __disjvr_20^0'=__disjvr_20^post61, len_187^0'=len_187^post61, __disjvr_3^0'=__disjvr_3^post61, t_22^0'=t_22^post61, __disjvr_13^0'=__disjvr_13^post61, f_171^0'=f_171^post61, __disjvr_23^0'=__disjvr_23^post61, r_126^0'=r_126^post61, __disjvr_8^0'=__disjvr_8^post61, tmp_34^0'=tmp_34^post61, x_176^0'=x_176^post61, __disjvr_18^0'=__disjvr_18^post61, i_30^0'=i_30^post61, __disjvr_28^0'=__disjvr_28^post61, result_11^0'=result_11^post61, __disjvr_10^0'=__disjvr_10^post61, a_289^0'=a_289^post61, y_18^0'=y_18^post61, __disjvr_22^0'=__disjvr_22^post61, __disjvr_5^0'=__disjvr_5^post61, temp0_16^0'=temp0_16^post61, __disjvr_15^0'=__disjvr_15^post61, head_32^0'=head_32^post61, __disjvr_25^0'=__disjvr_25^post61, r_39^0'=r_39^post61, a_118^0'=a_118^post61, a_188^0'=a_188^post61, x_26^0'=x_26^post61, __disjvr_1^0'=__disjvr_1^post61, len_134^0'=len_134^post61, __disjvr_2^0'=__disjvr_2^post61, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post61, __disjvr_12^0'=__disjvr_12^post61, a_343^0'=a_343^post61, nondet_12^0'=nondet_12^post61, __disjvr_7^0'=__disjvr_7^post61, temp_35^0'=temp_35^post61, x_131^0'=x_131^post61, __disjvr_17^0'=__disjvr_17^post61, i_110^0'=i_110^post61, __disjvr_27^0'=__disjvr_27^post61, rcd_89^0'=rcd_89^post61, (head_15^0-head_15^post61 == 0 /\ __disjvr_9^0-__disjvr_9^post61 == 0 /\ __disjvr_16^0-__disjvr_16^post61 == 0 /\ __disjvr_4^0-__disjvr_4^post61 == 0 /\ -__disjvr_18^post61+__disjvr_18^0 == 0 /\ -len_134^post61+len_134^0 == 0 /\ -__disjvr_12^post61+__disjvr_12^0 == 0 /\ -t_22^post61+t_22^0 == 0 /\ x_176^0-x_176^post61 == 0 /\ -head_SLAM_f_29^post61+head_SLAM_f_29^0 == 0 /\ tail_14^0-y_25^0 <= 0 /\ __disjvr_3^0-__disjvr_3^post61 == 0 /\ length_28^0-length_28^post61 == 0 /\ -y_18^post61+y_18^0 == 0 /\ -__disjvr_7^post61+__disjvr_7^0 == 0 /\ i_30^0-i_30^post61 == 0 /\ a_149^0-a_149^post61 == 0 /\ -__disjvr_25^post61+__disjvr_25^0 == 0 /\ -temp0_16^post61+temp0_16^0 == 0 /\ i_95^0-i_95^post61 == 0 /\ __disjvr_21^0-__disjvr_21^post61 == 0 /\ -a_343^post61+a_343^0 == 0 /\ -y_25^post61+y_25^0 == 0 /\ result_11^0-result_11^post61 == 0 /\ -__disjvr_2^post61+__disjvr_2^0 == 0 /\ a_188^0-a_188^post61 == 0 /\ f_171^0-f_171^post61 == 0 /\ __disjvr_14^0-__disjvr_14^post61 == 0 /\ -__disjvr_23^post61+__disjvr_23^0 == 0 /\ __disjvr_6^0-__disjvr_6^post61 == 0 /\ -tail_14^0+y_25^0 <= 0 /\ -__disjvr_17^post61+__disjvr_17^0 == 0 /\ rcd_59^0-rcd_59^post61 == 0 /\ __disjvr_19^0-__disjvr_19^post61 == 0 /\ __disjvr_0^0-__disjvr_0^post61 == 0 /\ -a_225^post61+a_225^0 == 0 /\ -x_131^post61+x_131^0 == 0 /\ -__disjvr_22^post61+__disjvr_22^0 == 0 /\ __disjvr_28^0-__disjvr_28^post61 == 0 /\ a_342^0-a_342^post61 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post61 == 0 /\ -x_SLAM_f_24^0+head_15^0 <= 0 /\ -__disjvr_10^post61+__disjvr_10^0 == 0 /\ -tmp_34^post61+tmp_34^0 == 0 /\ -a_118^post61+a_118^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post61 == 0 /\ temp0_31^0-temp0_31^post61 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post61 == 0 /\ -__disjvr_13^post61+__disjvr_13^0 == 0 /\ nondet_12^0-nondet_12^post61 == 0 /\ -__disjvr_1^post61+__disjvr_1^0 == 0 /\ -rcd_89^post61+rcd_89^0 == 0 /\ head_32^0-head_32^post61 == 0 /\ r_165^0-r_165^post61 == 0 /\ __disjvr_8^0-__disjvr_8^post61 == 0 /\ __disjvr_24^0-__disjvr_24^post61 == 0 /\ tail_14^0-tail_14^post61 == 0 /\ x_SLAM_f_24^0-head_15^0 <= 0 /\ a_289^0-a_289^post61 == 0 /\ __disjvr_29^0-__disjvr_29^post61 == 0 /\ __disjvr_11^0-__disjvr_11^post61 == 0 /\ a_281^0-a_281^post61 == 0 /\ __disjvr_26^0-__disjvr_26^post61 == 0 /\ len_187^0-len_187^post61 == 0 /\ -r_126^post61+r_126^0 == 0 /\ -x_26^post61+x_26^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post61+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ x_19^0-x_19^post61 == 0 /\ __disjvr_15^0-__disjvr_15^post61 == 0 /\ -__disjvr_20^post61+__disjvr_20^0 == 0 /\ -__disjvr_27^post61+__disjvr_27^0 == 0 /\ -i_110^post61+i_110^0 == 0 /\ -r_39^post61+r_39^0 == 0 /\ -temp_35^post61+temp_35^0 == 0 /\ __disjvr_5^0-__disjvr_5^post61 == 0), cost: 1
  62: l58 -> l59 : __disjvr_0^0'=__disjvr_0^post62, a_281^0'=a_281^post62, x_SLAM_f_24^0'=x_SLAM_f_24^post62, __disjvr_21^0'=__disjvr_21^post62, __disjvr_4^0'=__disjvr_4^post62, tail_14^0'=tail_14^post62, __disjvr_14^0'=__disjvr_14^post62, head_15^0'=head_15^post62, __disjvr_24^0'=__disjvr_24^post62, r_165^0'=r_165^post62, __disjvr_9^0'=__disjvr_9^post62, a_149^0'=a_149^post62, x_19^0'=x_19^post62, __disjvr_19^0'=__disjvr_19^post62, i_95^0'=i_95^post62, __disjvr_29^0'=__disjvr_29^post62, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post62, __disjvr_11^0'=__disjvr_11^post62, a_342^0'=a_342^post62, y_25^0'=y_25^post62, length_28^0'=length_28^post62, __disjvr_6^0'=__disjvr_6^post62, temp0_31^0'=temp0_31^post62, __disjvr_16^0'=__disjvr_16^post62, head_SLAM_f_29^0'=head_SLAM_f_29^post62, __disjvr_26^0'=__disjvr_26^post62, rcd_59^0'=rcd_59^post62, a_225^0'=a_225^post62, x_SLAM_f_17^0'=x_SLAM_f_17^post62, __disjvr_20^0'=__disjvr_20^post62, len_187^0'=len_187^post62, __disjvr_3^0'=__disjvr_3^post62, t_22^0'=t_22^post62, __disjvr_13^0'=__disjvr_13^post62, f_171^0'=f_171^post62, __disjvr_23^0'=__disjvr_23^post62, r_126^0'=r_126^post62, __disjvr_8^0'=__disjvr_8^post62, tmp_34^0'=tmp_34^post62, x_176^0'=x_176^post62, __disjvr_18^0'=__disjvr_18^post62, i_30^0'=i_30^post62, __disjvr_28^0'=__disjvr_28^post62, result_11^0'=result_11^post62, __disjvr_10^0'=__disjvr_10^post62, a_289^0'=a_289^post62, y_18^0'=y_18^post62, __disjvr_22^0'=__disjvr_22^post62, __disjvr_5^0'=__disjvr_5^post62, temp0_16^0'=temp0_16^post62, __disjvr_15^0'=__disjvr_15^post62, head_32^0'=head_32^post62, __disjvr_25^0'=__disjvr_25^post62, r_39^0'=r_39^post62, a_118^0'=a_118^post62, a_188^0'=a_188^post62, x_26^0'=x_26^post62, __disjvr_1^0'=__disjvr_1^post62, len_134^0'=len_134^post62, __disjvr_2^0'=__disjvr_2^post62, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post62, __disjvr_12^0'=__disjvr_12^post62, a_343^0'=a_343^post62, nondet_12^0'=nondet_12^post62, __disjvr_7^0'=__disjvr_7^post62, temp_35^0'=temp_35^post62, x_131^0'=x_131^post62, __disjvr_17^0'=__disjvr_17^post62, i_110^0'=i_110^post62, __disjvr_27^0'=__disjvr_27^post62, rcd_89^0'=rcd_89^post62, (-__disjvr_29^post62+__disjvr_29^0 == 0 /\ __disjvr_24^0-__disjvr_24^post62 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post62 == 0 /\ x_176^0-x_176^post62 == 0 /\ -y_25^post62+y_25^0 == 0 /\ -a_343^post62+a_343^0 == 0 /\ a_149^0-a_149^post62 == 0 /\ -nondet_12^post62+nondet_12^0 == 0 /\ -__disjvr_2^post62+__disjvr_2^0 == 0 /\ __disjvr_9^0-__disjvr_9^post62 == 0 /\ -__disjvr_16^post62+__disjvr_16^0 == 0 /\ -__disjvr_6^post62+__disjvr_6^0 == 0 /\ -__disjvr_27^post62+__disjvr_27^0 == 0 /\ a_342^0-a_342^post62 == 0 /\ -r_39^post62+r_39^0 == 0 /\ tmp_34^0-tmp_34^post62 == 0 /\ result_11^0-result_11^post62 == 0 /\ len_134^0-len_134^post62 == 0 /\ -temp_35^post62+temp_35^0 == 0 /\ -__disjvr_20^post62+__disjvr_20^0 == 0 /\ rcd_59^0-rcd_59^post62 == 0 /\ length_28^0-length_28^post62 == 0 /\ -a_118^post62+a_118^0 == 0 /\ -__disjvr_1^post62+__disjvr_1^0 == 0 /\ -__disjvr_11^post62+__disjvr_11^0 == 0 /\ -i_95^post62+i_95^0 == 0 /\ __disjvr_19^0-__disjvr_19^post62 == 0 /\ a_188^0-a_188^post62 == 0 /\ temp0_31^0-temp0_31^post62 == 0 /\ __disjvr_12^0-__disjvr_12^post62 == 0 /\ -__disjvr_25^post62+__disjvr_25^0 == 0 /\ x_19^0-x_19^post62 == 0 /\ head_15^0-head_15^post62 == 0 /\ f_171^0-f_171^post62 == 0 /\ __disjvr_4^0-__disjvr_4^post62 == 0 /\ __disjvr_15^0-__disjvr_15^post62 == 0 /\ -temp0_16^post62+temp0_16^0 == 0 /\ len_187^0-len_187^post62 == 0 /\ -__disjvr_7^post62+__disjvr_7^0 == 0 /\ head_32^0-head_32^post62 == 0 /\ -r_126^post62+r_126^0 == 0 /\ __disjvr_8^0-__disjvr_8^post62 == 0 /\ -y_18^post62+y_18^0 == 0 /\ t_22^0-t_22^post62 == 0 /\ __disjvr_0^0-__disjvr_0^post62 == 0 /\ -x_26^post62+x_26^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post62+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ r_165^0-r_165^post62 == 0 /\ -__disjvr_28^post62+__disjvr_28^0 == 0 /\ -__disjvr_17^post62+__disjvr_17^0 == 0 /\ __disjvr_26^0-__disjvr_26^post62 == 0 /\ __disjvr_21^0-__disjvr_21^post62 == 0 /\ -x_131^post62+x_131^0 == 0 /\ -a_225^post62+a_225^0 == 0 /\ -__disjvr_22^post62+__disjvr_22^0 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post62 == 0 /\ __disjvr_3^0-__disjvr_3^post62 == 0 /\ -i_110^post62+i_110^0 == 0 /\ -__disjvr_18^post62+__disjvr_18^0 == 0 /\ i_30^0-i_30^post62 == 0 /\ -__disjvr_13^post62+__disjvr_13^0 == 0 /\ __disjvr_14^0-__disjvr_14^post62 == 0 /\ __disjvr_5^0-__disjvr_5^post62 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post62 == 0 /\ tail_14^0-tail_14^post62 == 0 /\ -a_289^post62+a_289^0 == 0 /\ __disjvr_23^0-__disjvr_23^post62 == 0 /\ a_281^0-a_281^post62 == 0 /\ -head_SLAM_f_29^post62+head_SLAM_f_29^0 == 0 /\ __disjvr_10^0-__disjvr_10^post62 == 0 /\ -rcd_89^post62+rcd_89^0 == 0 /\ -__disjvr_26^0+__disjvr_26^post62 == 0), cost: 1
  63: l59 -> l60 : __disjvr_0^0'=__disjvr_0^post63, a_281^0'=a_281^post63, x_SLAM_f_24^0'=x_SLAM_f_24^post63, __disjvr_21^0'=__disjvr_21^post63, __disjvr_4^0'=__disjvr_4^post63, tail_14^0'=tail_14^post63, __disjvr_14^0'=__disjvr_14^post63, head_15^0'=head_15^post63, __disjvr_24^0'=__disjvr_24^post63, r_165^0'=r_165^post63, __disjvr_9^0'=__disjvr_9^post63, a_149^0'=a_149^post63, x_19^0'=x_19^post63, __disjvr_19^0'=__disjvr_19^post63, i_95^0'=i_95^post63, __disjvr_29^0'=__disjvr_29^post63, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post63, __disjvr_11^0'=__disjvr_11^post63, a_342^0'=a_342^post63, y_25^0'=y_25^post63, length_28^0'=length_28^post63, __disjvr_6^0'=__disjvr_6^post63, temp0_31^0'=temp0_31^post63, __disjvr_16^0'=__disjvr_16^post63, head_SLAM_f_29^0'=head_SLAM_f_29^post63, __disjvr_26^0'=__disjvr_26^post63, rcd_59^0'=rcd_59^post63, a_225^0'=a_225^post63, x_SLAM_f_17^0'=x_SLAM_f_17^post63, __disjvr_20^0'=__disjvr_20^post63, len_187^0'=len_187^post63, __disjvr_3^0'=__disjvr_3^post63, t_22^0'=t_22^post63, __disjvr_13^0'=__disjvr_13^post63, f_171^0'=f_171^post63, __disjvr_23^0'=__disjvr_23^post63, r_126^0'=r_126^post63, __disjvr_8^0'=__disjvr_8^post63, tmp_34^0'=tmp_34^post63, x_176^0'=x_176^post63, __disjvr_18^0'=__disjvr_18^post63, i_30^0'=i_30^post63, __disjvr_28^0'=__disjvr_28^post63, result_11^0'=result_11^post63, __disjvr_10^0'=__disjvr_10^post63, a_289^0'=a_289^post63, y_18^0'=y_18^post63, __disjvr_22^0'=__disjvr_22^post63, __disjvr_5^0'=__disjvr_5^post63, temp0_16^0'=temp0_16^post63, __disjvr_15^0'=__disjvr_15^post63, head_32^0'=head_32^post63, __disjvr_25^0'=__disjvr_25^post63, r_39^0'=r_39^post63, a_118^0'=a_118^post63, a_188^0'=a_188^post63, x_26^0'=x_26^post63, __disjvr_1^0'=__disjvr_1^post63, len_134^0'=len_134^post63, __disjvr_2^0'=__disjvr_2^post63, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post63, __disjvr_12^0'=__disjvr_12^post63, a_343^0'=a_343^post63, nondet_12^0'=nondet_12^post63, __disjvr_7^0'=__disjvr_7^post63, temp_35^0'=temp_35^post63, x_131^0'=x_131^post63, __disjvr_17^0'=__disjvr_17^post63, i_110^0'=i_110^post63, __disjvr_27^0'=__disjvr_27^post63, rcd_89^0'=rcd_89^post63, (-temp0_31^post63+temp0_31^0 == 0 /\ y_25^0-y_25^post63 == 0 /\ __disjvr_0^0-__disjvr_0^post63 == 0 /\ -i_110^post63+i_110^0 == 0 /\ tmp_34^0-tmp_34^post63 == 0 /\ -__disjvr_13^post63+__disjvr_13^0 == 0 /\ -nondet_12^post63+nondet_12^0 == 0 /\ rcd_59^0-rcd_59^post63 == 0 /\ a_342^0-a_342^post63 == 0 /\ __disjvr_27^post63-__disjvr_27^0 == 0 /\ __disjvr_6^0-__disjvr_6^post63 == 0 /\ __disjvr_5^0-__disjvr_5^post63 == 0 /\ __disjvr_12^0-__disjvr_12^post63 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post63+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -__disjvr_29^post63+__disjvr_29^0 == 0 /\ -r_126^post63+r_126^0 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post63 == 0 /\ __disjvr_2^0-__disjvr_2^post63 == 0 /\ x_19^0-x_19^post63 == 0 /\ head_15^0-head_15^post63 == 0 /\ f_171^0-f_171^post63 == 0 /\ __disjvr_4^0-__disjvr_4^post63 == 0 /\ r_165^0-r_165^post63 == 0 /\ -x_26^post63+x_26^0 == 0 /\ -__disjvr_27^post63+__disjvr_27^0 == 0 /\ length_28^0-length_28^post63 == 0 /\ head_32^0-head_32^post63 == 0 /\ a_118^0-a_118^post63 == 0 /\ -__disjvr_1^post63+__disjvr_1^0 == 0 /\ -r_39^post63+r_39^0 == 0 /\ -__disjvr_20^post63+__disjvr_20^0 == 0 /\ head_SLAM_f_29^0-head_SLAM_f_29^post63 == 0 /\ a_281^0-a_281^post63 == 0 /\ tail_14^0-tail_14^post63 == 0 /\ a_149^0-a_149^post63 == 0 /\ a_289^0-a_289^post63 == 0 /\ -temp_35^post63+temp_35^0 == 0 /\ -__disjvr_11^post63+__disjvr_11^0 == 0 /\ -result_11^post63+result_11^0 == 0 /\ -__disjvr_17^post63+__disjvr_17^0 == 0 /\ __disjvr_26^0-__disjvr_26^post63 == 0 /\ __disjvr_21^0-__disjvr_21^post63 == 0 /\ -i_95^post63+i_95^0 == 0 /\ -__disjvr_9^post63+__disjvr_9^0 == 0 /\ __disjvr_15^0-__disjvr_15^post63 == 0 /\ -__disjvr_18^post63+__disjvr_18^0 == 0 /\ -__disjvr_25^post63+__disjvr_25^0 == 0 /\ -len_134^post63+len_134^0 == 0 /\ __disjvr_14^0-__disjvr_14^post63 == 0 /\ t_22^0-t_22^post63 == 0 /\ __disjvr_19^0-__disjvr_19^post63 == 0 /\ -a_225^post63+a_225^0 == 0 /\ -a_188^post63+a_188^0 == 0 /\ -temp0_16^post63+temp0_16^0 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post63 == 0 /\ -__disjvr_7^post63+__disjvr_7^0 == 0 /\ -rcd_89^post63+rcd_89^0 == 0 /\ __disjvr_10^0-__disjvr_10^post63 == 0 /\ -a_343^post63+a_343^0 == 0 /\ -y_18^post63+y_18^0 == 0 /\ -__disjvr_3^post63+__disjvr_3^0 == 0 /\ __disjvr_28^0-__disjvr_28^post63 == 0 /\ -x_176^post63+x_176^0 == 0 /\ __disjvr_24^0-__disjvr_24^post63 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post63 == 0 /\ -__disjvr_16^post63+__disjvr_16^0 == 0 /\ len_187^0-len_187^post63 == 0 /\ __disjvr_23^0-__disjvr_23^post63 == 0 /\ i_30^0-i_30^post63 == 0 /\ __disjvr_8^0-__disjvr_8^post63 == 0 /\ -x_131^post63+x_131^0 == 0 /\ -__disjvr_22^post63+__disjvr_22^0 == 0), cost: 1
  64: l60 -> l31 : __disjvr_0^0'=__disjvr_0^post64, a_281^0'=a_281^post64, x_SLAM_f_24^0'=x_SLAM_f_24^post64, __disjvr_21^0'=__disjvr_21^post64, __disjvr_4^0'=__disjvr_4^post64, tail_14^0'=tail_14^post64, __disjvr_14^0'=__disjvr_14^post64, head_15^0'=head_15^post64, __disjvr_24^0'=__disjvr_24^post64, r_165^0'=r_165^post64, __disjvr_9^0'=__disjvr_9^post64, a_149^0'=a_149^post64, x_19^0'=x_19^post64, __disjvr_19^0'=__disjvr_19^post64, i_95^0'=i_95^post64, __disjvr_29^0'=__disjvr_29^post64, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post64, __disjvr_11^0'=__disjvr_11^post64, a_342^0'=a_342^post64, y_25^0'=y_25^post64, length_28^0'=length_28^post64, __disjvr_6^0'=__disjvr_6^post64, temp0_31^0'=temp0_31^post64, __disjvr_16^0'=__disjvr_16^post64, head_SLAM_f_29^0'=head_SLAM_f_29^post64, __disjvr_26^0'=__disjvr_26^post64, rcd_59^0'=rcd_59^post64, a_225^0'=a_225^post64, x_SLAM_f_17^0'=x_SLAM_f_17^post64, __disjvr_20^0'=__disjvr_20^post64, len_187^0'=len_187^post64, __disjvr_3^0'=__disjvr_3^post64, t_22^0'=t_22^post64, __disjvr_13^0'=__disjvr_13^post64, f_171^0'=f_171^post64, __disjvr_23^0'=__disjvr_23^post64, r_126^0'=r_126^post64, __disjvr_8^0'=__disjvr_8^post64, tmp_34^0'=tmp_34^post64, x_176^0'=x_176^post64, __disjvr_18^0'=__disjvr_18^post64, i_30^0'=i_30^post64, __disjvr_28^0'=__disjvr_28^post64, result_11^0'=result_11^post64, __disjvr_10^0'=__disjvr_10^post64, a_289^0'=a_289^post64, y_18^0'=y_18^post64, __disjvr_22^0'=__disjvr_22^post64, __disjvr_5^0'=__disjvr_5^post64, temp0_16^0'=temp0_16^post64, __disjvr_15^0'=__disjvr_15^post64, head_32^0'=head_32^post64, __disjvr_25^0'=__disjvr_25^post64, r_39^0'=r_39^post64, a_118^0'=a_118^post64, a_188^0'=a_188^post64, x_26^0'=x_26^post64, __disjvr_1^0'=__disjvr_1^post64, len_134^0'=len_134^post64, __disjvr_2^0'=__disjvr_2^post64, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post64, __disjvr_12^0'=__disjvr_12^post64, a_343^0'=a_343^post64, nondet_12^0'=nondet_12^post64, __disjvr_7^0'=__disjvr_7^post64, temp_35^0'=temp_35^post64, x_131^0'=x_131^post64, __disjvr_17^0'=__disjvr_17^post64, i_110^0'=i_110^post64, __disjvr_27^0'=__disjvr_27^post64, rcd_89^0'=rcd_89^post64, (-a_225^post64+a_225^0 == 0 /\ -__disjvr_7^post64+__disjvr_7^0 == 0 /\ -head_32^post64+head_32^0 == 0 /\ rcd_59^0-rcd_59^post64 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post64+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -r_126^post64+r_126^0 == 0 /\ -rcd_89^post64+rcd_89^0 == 0 /\ -x_26^post64+x_26^0 == 0 /\ -__disjvr_22^post64+__disjvr_22^0 == 0 /\ __disjvr_6^0-__disjvr_6^post64 == 0 /\ y_25^0-y_25^post64 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post64 == 0 /\ __disjvr_0^0-__disjvr_0^post64 == 0 /\ -__disjvr_1^post64+__disjvr_1^0 == 0 /\ -__disjvr_23^post64+__disjvr_23^0 == 0 /\ __disjvr_3^0-__disjvr_3^post64 == 0 /\ head_15^0-head_15^post64 == 0 /\ a_343^0-a_343^post64 == 0 /\ a_342^0-a_342^post64 == 0 /\ -__disjvr_27^post64+__disjvr_27^0 == 0 /\ __disjvr_15^0-__disjvr_15^post64 == 0 /\ -__disjvr_12^post64+__disjvr_12^0 == 0 /\ -i_110^post64+i_110^0 == 0 /\ -head_SLAM_f_29^post64+head_SLAM_f_29^0 == 0 /\ __disjvr_18^0-__disjvr_18^post64 == 0 /\ t_22^0-t_22^post64 == 0 /\ i_95^0-i_95^post64 == 0 /\ result_11^0-result_11^post64 == 0 /\ __disjvr_2^0-__disjvr_2^post64 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post64 == 0 /\ __disjvr_26^0-__disjvr_26^post64 == 0 /\ -len_134^post64+len_134^0 == 0 /\ -nondet_12^post64+nondet_12^0 == 0 /\ tmp_34^0-tmp_34^post64 == 0 /\ -temp0_16^post64+temp0_16^0 == 0 /\ r_165^0-r_165^post64 == 0 /\ -a_188^post64+a_188^0 == 0 /\ __disjvr_21^0-__disjvr_21^post64 == 0 /\ f_171^0-f_171^post64 == 0 /\ i_30^0-i_30^post64 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -__disjvr_29^post64+__disjvr_29^0 == 0 /\ __disjvr_14^0-__disjvr_14^post64 == 0 /\ __disjvr_19^0-__disjvr_19^post64 == 0 /\ a_281^0-a_281^post64 == 0 /\ a_289^0-a_289^post64 == 0 /\ -__disjvr_16^post64+__disjvr_16^0 == 0 /\ tail_14^0-tail_14^post64 == 0 /\ -x_176^post64+x_176^0 == 0 /\ x_19^0-x_19^post64 == 0 /\ __disjvr_4^0-__disjvr_4^post64 == 0 /\ -r_39^post64+r_39^0 == 0 /\ -__disjvr_20^post64+__disjvr_20^0 == 0 /\ -temp_35^post64+temp_35^0 == 0 /\ -temp0_31^post64+temp0_31^0 == 0 /\ -a_118^post64+a_118^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post64 == 0 /\ __disjvr_24^0-__disjvr_24^post64 == 0 /\ len_187^0-len_187^post64 == 0 /\ -__disjvr_11^post64+__disjvr_11^0 == 0 /\ __disjvr_8^0-__disjvr_8^post64 == 0 /\ -x_131^post64+x_131^0 == 0 /\ -__disjvr_17^post64+__disjvr_17^0 == 0 /\ __disjvr_9^0-__disjvr_9^post64 == 0 /\ -__disjvr_10^post64+__disjvr_10^0 == 0 /\ -length_28^post64+length_28^0 == 0 /\ __disjvr_5^0-__disjvr_5^post64 == 0 /\ -y_18^post64+y_18^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -__disjvr_25^post64+__disjvr_25^0 == 0 /\ a_149^0-a_149^post64 == 0 /\ __disjvr_28^0-__disjvr_28^post64 == 0 /\ __disjvr_13^0-__disjvr_13^post64 == 0), cost: 1
  67: l61 -> l62 : __disjvr_0^0'=__disjvr_0^post67, a_281^0'=a_281^post67, x_SLAM_f_24^0'=x_SLAM_f_24^post67, __disjvr_21^0'=__disjvr_21^post67, __disjvr_4^0'=__disjvr_4^post67, tail_14^0'=tail_14^post67, __disjvr_14^0'=__disjvr_14^post67, head_15^0'=head_15^post67, __disjvr_24^0'=__disjvr_24^post67, r_165^0'=r_165^post67, __disjvr_9^0'=__disjvr_9^post67, a_149^0'=a_149^post67, x_19^0'=x_19^post67, __disjvr_19^0'=__disjvr_19^post67, i_95^0'=i_95^post67, __disjvr_29^0'=__disjvr_29^post67, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post67, __disjvr_11^0'=__disjvr_11^post67, a_342^0'=a_342^post67, y_25^0'=y_25^post67, length_28^0'=length_28^post67, __disjvr_6^0'=__disjvr_6^post67, temp0_31^0'=temp0_31^post67, __disjvr_16^0'=__disjvr_16^post67, head_SLAM_f_29^0'=head_SLAM_f_29^post67, __disjvr_26^0'=__disjvr_26^post67, rcd_59^0'=rcd_59^post67, a_225^0'=a_225^post67, x_SLAM_f_17^0'=x_SLAM_f_17^post67, __disjvr_20^0'=__disjvr_20^post67, len_187^0'=len_187^post67, __disjvr_3^0'=__disjvr_3^post67, t_22^0'=t_22^post67, __disjvr_13^0'=__disjvr_13^post67, f_171^0'=f_171^post67, __disjvr_23^0'=__disjvr_23^post67, r_126^0'=r_126^post67, __disjvr_8^0'=__disjvr_8^post67, tmp_34^0'=tmp_34^post67, x_176^0'=x_176^post67, __disjvr_18^0'=__disjvr_18^post67, i_30^0'=i_30^post67, __disjvr_28^0'=__disjvr_28^post67, result_11^0'=result_11^post67, __disjvr_10^0'=__disjvr_10^post67, a_289^0'=a_289^post67, y_18^0'=y_18^post67, __disjvr_22^0'=__disjvr_22^post67, __disjvr_5^0'=__disjvr_5^post67, temp0_16^0'=temp0_16^post67, __disjvr_15^0'=__disjvr_15^post67, head_32^0'=head_32^post67, __disjvr_25^0'=__disjvr_25^post67, r_39^0'=r_39^post67, a_118^0'=a_118^post67, a_188^0'=a_188^post67, x_26^0'=x_26^post67, __disjvr_1^0'=__disjvr_1^post67, len_134^0'=len_134^post67, __disjvr_2^0'=__disjvr_2^post67, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post67, __disjvr_12^0'=__disjvr_12^post67, a_343^0'=a_343^post67, nondet_12^0'=nondet_12^post67, __disjvr_7^0'=__disjvr_7^post67, temp_35^0'=temp_35^post67, x_131^0'=x_131^post67, __disjvr_17^0'=__disjvr_17^post67, i_110^0'=i_110^post67, __disjvr_27^0'=__disjvr_27^post67, rcd_89^0'=rcd_89^post67, (f_171^0-f_171^post67 == 0 /\ -r_126^post67+r_126^0 == 0 /\ len_134^0-len_134^post67 == 0 /\ x_19^0-x_19^post67 == 0 /\ __disjvr_14^0-__disjvr_14^post67 == 0 /\ -__disjvr_11^post67+__disjvr_11^0 == 0 /\ length_28^0-length_28^post67 == 0 /\ -x_26^post67+x_26^0 == 0 /\ r_165^0-r_165^post67 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post67+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ __disjvr_4^0-__disjvr_4^post67 == 0 /\ -x_131^post67+x_131^0 == 0 /\ -__disjvr_28^post67+__disjvr_28^0 == 0 /\ __disjvr_24^0-__disjvr_24^post67 == 0 /\ tail_14^0-tail_14^post67 == 0 /\ a_289^0-a_289^post67 == 0 /\ -__disjvr_22^post67+__disjvr_22^0 == 0 /\ a_281^0-a_281^post67 == 0 /\ temp0_31^0-temp0_31^post67 == 0 /\ -__disjvr_17^post67+__disjvr_17^0 == 0 /\ -__disjvr_15^post67+__disjvr_15^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post67 == 0 /\ __disjvr_3^0-__disjvr_3^post67 == 0 /\ x_176^0-x_176^post67 == 0 /\ -__disjvr_12^post67+__disjvr_12^0 == 0 /\ __disjvr_8^0-__disjvr_8^post67 == 0 /\ i_95^0-i_95^post67 == 0 /\ -a_225^post67+a_225^0 == 0 /\ a_343^0-a_343^post67 == 0 /\ __disjvr_21^0-__disjvr_21^post67 == 0 /\ __disjvr_28^post67-__disjvr_28^0 == 0 /\ -head_SLAM_f_29^post67+head_SLAM_f_29^0 == 0 /\ rcd_59^0-rcd_59^post67 == 0 /\ -nondet_12^post67+nondet_12^0 == 0 /\ __disjvr_19^0-__disjvr_19^post67 == 0 /\ -temp0_16^post67+temp0_16^0 == 0 /\ len_187^0-len_187^post67 == 0 /\ -head_32^post67+head_32^0 == 0 /\ -rcd_89^post67+rcd_89^0 == 0 /\ __disjvr_16^0-__disjvr_16^post67 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post67 == 0 /\ -a_188^post67+a_188^0 == 0 /\ __disjvr_25^0-__disjvr_25^post67 == 0 /\ -__disjvr_13^post67+__disjvr_13^0 == 0 /\ __disjvr_20^0-__disjvr_20^post67 == 0 /\ -r_39^post67+r_39^0 == 0 /\ __disjvr_23^0-__disjvr_23^post67 == 0 /\ -__disjvr_2^post67+__disjvr_2^0 == 0 /\ __disjvr_29^0-__disjvr_29^post67 == 0 /\ -__disjvr_6^post67+__disjvr_6^0 == 0 /\ -temp_35^post67+temp_35^0 == 0 /\ -y_25^post67+y_25^0 == 0 /\ i_110^0-i_110^post67 == 0 /\ __disjvr_0^0-__disjvr_0^post67 == 0 /\ -__disjvr_10^post67+__disjvr_10^0 == 0 /\ -a_118^post67+a_118^0 == 0 /\ -a_149^post67+a_149^0 == 0 /\ __disjvr_9^0-__disjvr_9^post67 == 0 /\ __disjvr_26^0-__disjvr_26^post67 == 0 /\ -head_15^post67+head_15^0 == 0 /\ __disjvr_18^0-__disjvr_18^post67 == 0 /\ -i_30^post67+i_30^0 == 0 /\ -__disjvr_1^post67+__disjvr_1^0 == 0 /\ result_11^0-result_11^post67 == 0 /\ a_342^0-a_342^post67 == 0 /\ -y_18^post67+y_18^0 == 0 /\ __disjvr_5^0-__disjvr_5^post67 == 0 /\ t_22^0-t_22^post67 == 0 /\ -__disjvr_7^post67+__disjvr_7^0 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post67 == 0 /\ __disjvr_27^0-__disjvr_27^post67 == 0 /\ -tmp_34^post67+tmp_34^0 == 0), cost: 1
  68: l62 -> l63 : __disjvr_0^0'=__disjvr_0^post68, a_281^0'=a_281^post68, x_SLAM_f_24^0'=x_SLAM_f_24^post68, __disjvr_21^0'=__disjvr_21^post68, __disjvr_4^0'=__disjvr_4^post68, tail_14^0'=tail_14^post68, __disjvr_14^0'=__disjvr_14^post68, head_15^0'=head_15^post68, __disjvr_24^0'=__disjvr_24^post68, r_165^0'=r_165^post68, __disjvr_9^0'=__disjvr_9^post68, a_149^0'=a_149^post68, x_19^0'=x_19^post68, __disjvr_19^0'=__disjvr_19^post68, i_95^0'=i_95^post68, __disjvr_29^0'=__disjvr_29^post68, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post68, __disjvr_11^0'=__disjvr_11^post68, a_342^0'=a_342^post68, y_25^0'=y_25^post68, length_28^0'=length_28^post68, __disjvr_6^0'=__disjvr_6^post68, temp0_31^0'=temp0_31^post68, __disjvr_16^0'=__disjvr_16^post68, head_SLAM_f_29^0'=head_SLAM_f_29^post68, __disjvr_26^0'=__disjvr_26^post68, rcd_59^0'=rcd_59^post68, a_225^0'=a_225^post68, x_SLAM_f_17^0'=x_SLAM_f_17^post68, __disjvr_20^0'=__disjvr_20^post68, len_187^0'=len_187^post68, __disjvr_3^0'=__disjvr_3^post68, t_22^0'=t_22^post68, __disjvr_13^0'=__disjvr_13^post68, f_171^0'=f_171^post68, __disjvr_23^0'=__disjvr_23^post68, r_126^0'=r_126^post68, __disjvr_8^0'=__disjvr_8^post68, tmp_34^0'=tmp_34^post68, x_176^0'=x_176^post68, __disjvr_18^0'=__disjvr_18^post68, i_30^0'=i_30^post68, __disjvr_28^0'=__disjvr_28^post68, result_11^0'=result_11^post68, __disjvr_10^0'=__disjvr_10^post68, a_289^0'=a_289^post68, y_18^0'=y_18^post68, __disjvr_22^0'=__disjvr_22^post68, __disjvr_5^0'=__disjvr_5^post68, temp0_16^0'=temp0_16^post68, __disjvr_15^0'=__disjvr_15^post68, head_32^0'=head_32^post68, __disjvr_25^0'=__disjvr_25^post68, r_39^0'=r_39^post68, a_118^0'=a_118^post68, a_188^0'=a_188^post68, x_26^0'=x_26^post68, __disjvr_1^0'=__disjvr_1^post68, len_134^0'=len_134^post68, __disjvr_2^0'=__disjvr_2^post68, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post68, __disjvr_12^0'=__disjvr_12^post68, a_343^0'=a_343^post68, nondet_12^0'=nondet_12^post68, __disjvr_7^0'=__disjvr_7^post68, temp_35^0'=temp_35^post68, x_131^0'=x_131^post68, __disjvr_17^0'=__disjvr_17^post68, i_110^0'=i_110^post68, __disjvr_27^0'=__disjvr_27^post68, rcd_89^0'=rcd_89^post68, (0 == 0 /\ a_342^0-a_342^post68 == 0 /\ -__disjvr_15^post68+__disjvr_15^0 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post68 == 0 /\ temp0_31^0-temp0_31^post68 == 0 /\ -__disjvr_12^post68+__disjvr_12^0 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post68 == 0 /\ -len_134^post68+len_134^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post68 == 0 /\ -head_SLAM_f_29^post68+head_SLAM_f_29^0 == 0 /\ -a_343^post68+a_343^0 == 0 /\ tail_14^0-y_25^0 <= 0 /\ -y_18^post68+y_18^0 == 0 /\ length_28^0-length_28^post68 == 0 /\ r_165^0-r_165^post68 == 0 /\ x_26^0-x_26^post68 == 0 /\ __disjvr_24^0-__disjvr_24^post68 == 0 /\ -__disjvr_7^post68+__disjvr_7^0 == 0 /\ -__disjvr_16^post68+__disjvr_16^0 == 0 /\ __disjvr_21^0-__disjvr_21^post68 == 0 /\ rcd_59^0-rcd_59^post68 == 0 /\ tail_14^0-tail_14^post68 == 0 /\ -__disjvr_11^post68+__disjvr_11^0 == 0 /\ __disjvr_29^0-__disjvr_29^post68 == 0 /\ -__disjvr_3^post68+__disjvr_3^0 == 0 /\ a_281^0-a_281^post68 == 0 /\ -a_188^post68+a_188^0 == 0 /\ len_187^0-len_187^post68 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post68 == 0 /\ -x_131^post68+x_131^0 == 0 /\ x_19^0-x_19^post68 == 0 /\ -__disjvr_2^post68+__disjvr_2^0 == 0 /\ -tail_14^0+y_25^0 <= 0 /\ -y_25^post68+y_25^0 == 0 /\ -a_225^post68+a_225^0 == 0 /\ -__disjvr_6^post68+__disjvr_6^0 == 0 /\ -__disjvr_17^post68+__disjvr_17^0 == 0 /\ __disjvr_25^0-__disjvr_25^post68 == 0 /\ -__disjvr_22^post68+__disjvr_22^0 == 0 /\ -x_SLAM_f_24^0+head_15^0 <= 0 /\ -__disjvr_10^post68+__disjvr_10^0 == 0 /\ __disjvr_23^0-__disjvr_23^post68 == 0 /\ __disjvr_20^0-__disjvr_20^post68 == 0 /\ t_22^0-t_22^post68 == 0 /\ __disjvr_9^0-__disjvr_9^post68 == 0 /\ __disjvr_4^0-__disjvr_4^post68 == 0 /\ -head_15^post68+head_15^0 == 0 /\ a_149^0-a_118^post68 <= 0 /\ x_176^0-x_176^post68 == 0 /\ __disjvr_8^0-__disjvr_8^post68 == 0 /\ -__disjvr_1^post68+__disjvr_1^0 == 0 /\ -i_30^post68+i_30^0 == 0 /\ -tmp_34^post68+tmp_34^0 == 0 /\ a_149^0-a_149^post68 == 0 /\ -__disjvr_5^post68+__disjvr_5^0 == 0 /\ -head_32^post68+head_32^0 == 0 /\ -rcd_89^post68+rcd_89^0 == 0 /\ -a_289^post68+a_289^0 == 0 /\ i_95^0-i_95^post68 == 0 /\ __disjvr_26^0-__disjvr_26^post68 == 0 /\ x_SLAM_f_24^0-head_15^0 <= 0 /\ -nondet_12^post68+nondet_12^0 == 0 /\ result_11^0-result_11^post68 == 0 /\ -r_126^post68+r_126^0 == 0 /\ -a_149^0+a_118^post68 <= 0 /\ -__disjvr_28^post68+__disjvr_28^0 == 0 /\ -__disjvr_13^post68+__disjvr_13^0 == 0 /\ f_171^0-f_171^post68 == 0 /\ -i_110^post68+i_110^0 == 0 /\ -r_39^post68+r_39^0 == 0 /\ 1-len_134^0 <= 0 /\ -1+len_134^0 <= 0 /\ temp0_16^0-temp0_16^post68 == 0 /\ __disjvr_14^0-__disjvr_14^post68 == 0 /\ __disjvr_18^0-__disjvr_18^post68 == 0 /\ -temp_35^post68+temp_35^0 == 0 /\ -__disjvr_27^post68+__disjvr_27^0 == 0 /\ __disjvr_19^0-__disjvr_19^post68 == 0 /\ __disjvr_0^0-__disjvr_0^post68 == 0), cost: 1
  69: l63 -> l64 : __disjvr_0^0'=__disjvr_0^post69, a_281^0'=a_281^post69, x_SLAM_f_24^0'=x_SLAM_f_24^post69, __disjvr_21^0'=__disjvr_21^post69, __disjvr_4^0'=__disjvr_4^post69, tail_14^0'=tail_14^post69, __disjvr_14^0'=__disjvr_14^post69, head_15^0'=head_15^post69, __disjvr_24^0'=__disjvr_24^post69, r_165^0'=r_165^post69, __disjvr_9^0'=__disjvr_9^post69, a_149^0'=a_149^post69, x_19^0'=x_19^post69, __disjvr_19^0'=__disjvr_19^post69, i_95^0'=i_95^post69, __disjvr_29^0'=__disjvr_29^post69, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post69, __disjvr_11^0'=__disjvr_11^post69, a_342^0'=a_342^post69, y_25^0'=y_25^post69, length_28^0'=length_28^post69, __disjvr_6^0'=__disjvr_6^post69, temp0_31^0'=temp0_31^post69, __disjvr_16^0'=__disjvr_16^post69, head_SLAM_f_29^0'=head_SLAM_f_29^post69, __disjvr_26^0'=__disjvr_26^post69, rcd_59^0'=rcd_59^post69, a_225^0'=a_225^post69, x_SLAM_f_17^0'=x_SLAM_f_17^post69, __disjvr_20^0'=__disjvr_20^post69, len_187^0'=len_187^post69, __disjvr_3^0'=__disjvr_3^post69, t_22^0'=t_22^post69, __disjvr_13^0'=__disjvr_13^post69, f_171^0'=f_171^post69, __disjvr_23^0'=__disjvr_23^post69, r_126^0'=r_126^post69, __disjvr_8^0'=__disjvr_8^post69, tmp_34^0'=tmp_34^post69, x_176^0'=x_176^post69, __disjvr_18^0'=__disjvr_18^post69, i_30^0'=i_30^post69, __disjvr_28^0'=__disjvr_28^post69, result_11^0'=result_11^post69, __disjvr_10^0'=__disjvr_10^post69, a_289^0'=a_289^post69, y_18^0'=y_18^post69, __disjvr_22^0'=__disjvr_22^post69, __disjvr_5^0'=__disjvr_5^post69, temp0_16^0'=temp0_16^post69, __disjvr_15^0'=__disjvr_15^post69, head_32^0'=head_32^post69, __disjvr_25^0'=__disjvr_25^post69, r_39^0'=r_39^post69, a_118^0'=a_118^post69, a_188^0'=a_188^post69, x_26^0'=x_26^post69, __disjvr_1^0'=__disjvr_1^post69, len_134^0'=len_134^post69, __disjvr_2^0'=__disjvr_2^post69, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post69, __disjvr_12^0'=__disjvr_12^post69, a_343^0'=a_343^post69, nondet_12^0'=nondet_12^post69, __disjvr_7^0'=__disjvr_7^post69, temp_35^0'=temp_35^post69, x_131^0'=x_131^post69, __disjvr_17^0'=__disjvr_17^post69, i_110^0'=i_110^post69, __disjvr_27^0'=__disjvr_27^post69, rcd_89^0'=rcd_89^post69, (-__disjvr_2^post69+__disjvr_2^0 == 0 /\ __disjvr_18^0-__disjvr_18^post69 == 0 /\ -r_39^post69+r_39^0 == 0 /\ -__disjvr_8^post69+__disjvr_8^0 == 0 /\ __disjvr_24^0-__disjvr_24^post69 == 0 /\ __disjvr_0^0-__disjvr_0^post69 == 0 /\ -nondet_12^post69+nondet_12^0 == 0 /\ a_342^0-a_342^post69 == 0 /\ -__disjvr_13^post69+__disjvr_13^0 == 0 /\ -__disjvr_16^post69+__disjvr_16^0 == 0 /\ -__disjvr_6^post69+__disjvr_6^0 == 0 /\ -i_110^post69+i_110^0 == 0 /\ __disjvr_29^post69-__disjvr_29^0 == 0 /\ -temp_35^post69+temp_35^0 == 0 /\ -__disjvr_27^post69+__disjvr_27^0 == 0 /\ -a_188^post69+a_188^0 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post69 == 0 /\ -__disjvr_15^post69+__disjvr_15^0 == 0 /\ x_19^0-x_19^post69 == 0 /\ -__disjvr_26^post69+__disjvr_26^0 == 0 /\ head_SLAM_f_29^0-head_SLAM_f_29^post69 == 0 /\ -__disjvr_10^post69+__disjvr_10^0 == 0 /\ -length_28^post69+length_28^0 == 0 /\ r_165^0-r_165^post69 == 0 /\ -i_30^post69+i_30^0 == 0 /\ -a_118^post69+a_118^0 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post69 == 0 /\ head_15^0-head_15^post69 == 0 /\ tail_14^0-tail_14^post69 == 0 /\ y_25^0-y_25^post69 == 0 /\ -__disjvr_1^post69+__disjvr_1^0 == 0 /\ a_343^0-a_343^post69 == 0 /\ -__disjvr_29^post69+__disjvr_29^0 == 0 /\ __disjvr_23^0-__disjvr_23^post69 == 0 /\ a_281^0-a_281^post69 == 0 /\ -y_18^post69+y_18^0 == 0 /\ temp0_31^0-temp0_31^post69 == 0 /\ -__disjvr_7^post69+__disjvr_7^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post69 == 0 /\ x_176^0-x_176^post69 == 0 /\ -__disjvr_3^post69+__disjvr_3^0 == 0 /\ temp0_16^0-temp0_16^post69 == 0 /\ a_149^0-a_149^post69 == 0 /\ a_225^0-a_225^post69 == 0 /\ -r_126^post69+r_126^0 == 0 /\ __disjvr_21^0-__disjvr_21^post69 == 0 /\ -__disjvr_28^post69+__disjvr_28^0 == 0 /\ -x_26^post69+x_26^0 == 0 /\ __disjvr_9^0-__disjvr_9^post69 == 0 /\ t_22^0-t_22^post69 == 0 /\ tmp_34^0-tmp_34^post69 == 0 /\ -__disjvr_11^post69+__disjvr_11^0 == 0 /\ len_187^0-len_187^post69 == 0 /\ -x_131^post69+x_131^0 == 0 /\ -__disjvr_17^post69+__disjvr_17^0 == 0 /\ -__disjvr_22^post69+__disjvr_22^0 == 0 /\ __disjvr_14^0-__disjvr_14^post69 == 0 /\ __disjvr_25^0-__disjvr_25^post69 == 0 /\ rcd_59^0-rcd_59^post69 == 0 /\ __disjvr_19^0-__disjvr_19^post69 == 0 /\ -len_134^post69+len_134^0 == 0 /\ -__disjvr_12^post69+__disjvr_12^0 == 0 /\ i_95^0-i_95^post69 == 0 /\ __disjvr_20^0-__disjvr_20^post69 == 0 /\ -f_171^post69+f_171^0 == 0 /\ -__disjvr_5^post69+__disjvr_5^0 == 0 /\ -a_289^post69+a_289^0 == 0 /\ -head_32^post69+head_32^0 == 0 /\ __disjvr_4^0-__disjvr_4^post69 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post69 == 0 /\ -rcd_89^post69+rcd_89^0 == 0 /\ -result_11^post69+result_11^0 == 0), cost: 1
  70: l64 -> l31 : __disjvr_0^0'=__disjvr_0^post70, a_281^0'=a_281^post70, x_SLAM_f_24^0'=x_SLAM_f_24^post70, __disjvr_21^0'=__disjvr_21^post70, __disjvr_4^0'=__disjvr_4^post70, tail_14^0'=tail_14^post70, __disjvr_14^0'=__disjvr_14^post70, head_15^0'=head_15^post70, __disjvr_24^0'=__disjvr_24^post70, r_165^0'=r_165^post70, __disjvr_9^0'=__disjvr_9^post70, a_149^0'=a_149^post70, x_19^0'=x_19^post70, __disjvr_19^0'=__disjvr_19^post70, i_95^0'=i_95^post70, __disjvr_29^0'=__disjvr_29^post70, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post70, __disjvr_11^0'=__disjvr_11^post70, a_342^0'=a_342^post70, y_25^0'=y_25^post70, length_28^0'=length_28^post70, __disjvr_6^0'=__disjvr_6^post70, temp0_31^0'=temp0_31^post70, __disjvr_16^0'=__disjvr_16^post70, head_SLAM_f_29^0'=head_SLAM_f_29^post70, __disjvr_26^0'=__disjvr_26^post70, rcd_59^0'=rcd_59^post70, a_225^0'=a_225^post70, x_SLAM_f_17^0'=x_SLAM_f_17^post70, __disjvr_20^0'=__disjvr_20^post70, len_187^0'=len_187^post70, __disjvr_3^0'=__disjvr_3^post70, t_22^0'=t_22^post70, __disjvr_13^0'=__disjvr_13^post70, f_171^0'=f_171^post70, __disjvr_23^0'=__disjvr_23^post70, r_126^0'=r_126^post70, __disjvr_8^0'=__disjvr_8^post70, tmp_34^0'=tmp_34^post70, x_176^0'=x_176^post70, __disjvr_18^0'=__disjvr_18^post70, i_30^0'=i_30^post70, __disjvr_28^0'=__disjvr_28^post70, result_11^0'=result_11^post70, __disjvr_10^0'=__disjvr_10^post70, a_289^0'=a_289^post70, y_18^0'=y_18^post70, __disjvr_22^0'=__disjvr_22^post70, __disjvr_5^0'=__disjvr_5^post70, temp0_16^0'=temp0_16^post70, __disjvr_15^0'=__disjvr_15^post70, head_32^0'=head_32^post70, __disjvr_25^0'=__disjvr_25^post70, r_39^0'=r_39^post70, a_118^0'=a_118^post70, a_188^0'=a_188^post70, x_26^0'=x_26^post70, __disjvr_1^0'=__disjvr_1^post70, len_134^0'=len_134^post70, __disjvr_2^0'=__disjvr_2^post70, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post70, __disjvr_12^0'=__disjvr_12^post70, a_343^0'=a_343^post70, nondet_12^0'=nondet_12^post70, __disjvr_7^0'=__disjvr_7^post70, temp_35^0'=temp_35^post70, x_131^0'=x_131^post70, __disjvr_17^0'=__disjvr_17^post70, i_110^0'=i_110^post70, __disjvr_27^0'=__disjvr_27^post70, rcd_89^0'=rcd_89^post70, (0 == 0 /\ -__disjvr_22^post70+__disjvr_22^0 == 0 /\ tail_14^0-tail_14^post70 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post70 == 0 /\ -__disjvr_10^post70+__disjvr_10^0 == 0 /\ __disjvr_21^0-__disjvr_21^post70 == 0 /\ -i_30^post70+i_30^0 == 0 /\ -length_28^post70+length_28^0 == 0 /\ -a_118^post70+a_118^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post70+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -__disjvr_13^post70+__disjvr_13^0 == 0 /\ r_126^0-r_126^post70 == 0 /\ -temp0_31^post70+temp0_31^0 == 0 /\ __disjvr_18^0-__disjvr_18^post70 == 0 /\ __disjvr_6^0-__disjvr_6^post70 == 0 /\ -f_171^post70+f_171^0 == 0 /\ -__disjvr_1^post70+__disjvr_1^0 == 0 /\ -head_32^post70+head_32^0 == 0 /\ -rcd_89^post70+rcd_89^0 == 0 /\ __disjvr_19^0-__disjvr_19^post70 == 0 /\ __disjvr_0^0-__disjvr_0^post70 == 0 /\ -__disjvr_26^post70+__disjvr_26^0 == 0 /\ a_289^0-a_289^post70 == 0 /\ __disjvr_14^0-__disjvr_14^post70 == 0 /\ -__disjvr_5^post70+__disjvr_5^0 == 0 /\ t_22^0-t_22^post70 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post70 == 0 /\ __disjvr_16^0-__disjvr_16^post70 == 0 /\ __disjvr_23^0-__disjvr_23^post70 == 0 /\ -a_342^post70+a_342^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_110^0 <= 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post70 == 0 /\ -nondet_12^post70+nondet_12^0 == 0 /\ -x_26^post70+x_26^0 == 0 /\ head_SLAM_f_29^0-head_SLAM_f_29^post70 == 0 /\ __disjvr_24^0-__disjvr_24^post70 == 0 /\ len_187^0-len_187^post70 == 0 /\ -__disjvr_28^post70+__disjvr_28^0 == 0 /\ a_343^0-a_343^post70 == 0 /\ -__disjvr_27^post70+__disjvr_27^0 == 0 /\ -r_39^post70+r_39^0 == 0 /\ r_165^0-r_165^post70 == 0 /\ 1-i_110^post70+a_118^0 <= 0 /\ __disjvr_11^0-__disjvr_11^post70 == 0 /\ y_25^0-y_25^post70 == 0 /\ i_95^0-i_95^post70 == 0 /\ a_281^0-a_281^post70 == 0 /\ __disjvr_7^0-__disjvr_7^post70 == 0 /\ tmp_34^0-tmp_34^post70 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -temp_35^post70+temp_35^0 == 0 /\ -len_134^post70+len_134^0 == 0 /\ -__disjvr_12^post70+__disjvr_12^0 == 0 /\ x_19^0-x_19^post70 == 0 /\ temp0_16^0-temp0_16^post70 == 0 /\ __disjvr_25^0-__disjvr_25^post70 == 0 /\ rcd_59^0-rcd_59^post70 == 0 /\ -result_11^post70+result_11^0 == 0 /\ a_225^0-a_225^post70 == 0 /\ -__disjvr_4^post70+__disjvr_4^0 == 0 /\ __disjvr_20^0-__disjvr_20^post70 == 0 /\ -__disjvr_3^post70+__disjvr_3^0 == 0 /\ __disjvr_9^0-__disjvr_9^post70 == 0 /\ -__disjvr_8^post70+__disjvr_8^0 == 0 /\ head_15^0-head_15^post70 == 0 /\ -__disjvr_2^post70+__disjvr_2^0 == 0 /\ -y_18^post70+y_18^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -__disjvr_15^post70+__disjvr_15^0 == 0 /\ x_176^0-x_176^post70 == 0 /\ -__disjvr_17^post70+__disjvr_17^0 == 0 /\ a_149^0-a_149^post70 == 0 /\ __disjvr_29^0-__disjvr_29^post70 == 0 /\ -x_131^post70+x_131^0 == 0 /\ -1+i_110^post70-a_118^0 <= 0 /\ -a_188^post70+a_188^0 == 0), cost: 1
  73: l65 -> l30 : __disjvr_0^0'=__disjvr_0^post73, a_281^0'=a_281^post73, x_SLAM_f_24^0'=x_SLAM_f_24^post73, __disjvr_21^0'=__disjvr_21^post73, __disjvr_4^0'=__disjvr_4^post73, tail_14^0'=tail_14^post73, __disjvr_14^0'=__disjvr_14^post73, head_15^0'=head_15^post73, __disjvr_24^0'=__disjvr_24^post73, r_165^0'=r_165^post73, __disjvr_9^0'=__disjvr_9^post73, a_149^0'=a_149^post73, x_19^0'=x_19^post73, __disjvr_19^0'=__disjvr_19^post73, i_95^0'=i_95^post73, __disjvr_29^0'=__disjvr_29^post73, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post73, __disjvr_11^0'=__disjvr_11^post73, a_342^0'=a_342^post73, y_25^0'=y_25^post73, length_28^0'=length_28^post73, __disjvr_6^0'=__disjvr_6^post73, temp0_31^0'=temp0_31^post73, __disjvr_16^0'=__disjvr_16^post73, head_SLAM_f_29^0'=head_SLAM_f_29^post73, __disjvr_26^0'=__disjvr_26^post73, rcd_59^0'=rcd_59^post73, a_225^0'=a_225^post73, x_SLAM_f_17^0'=x_SLAM_f_17^post73, __disjvr_20^0'=__disjvr_20^post73, len_187^0'=len_187^post73, __disjvr_3^0'=__disjvr_3^post73, t_22^0'=t_22^post73, __disjvr_13^0'=__disjvr_13^post73, f_171^0'=f_171^post73, __disjvr_23^0'=__disjvr_23^post73, r_126^0'=r_126^post73, __disjvr_8^0'=__disjvr_8^post73, tmp_34^0'=tmp_34^post73, x_176^0'=x_176^post73, __disjvr_18^0'=__disjvr_18^post73, i_30^0'=i_30^post73, __disjvr_28^0'=__disjvr_28^post73, result_11^0'=result_11^post73, __disjvr_10^0'=__disjvr_10^post73, a_289^0'=a_289^post73, y_18^0'=y_18^post73, __disjvr_22^0'=__disjvr_22^post73, __disjvr_5^0'=__disjvr_5^post73, temp0_16^0'=temp0_16^post73, __disjvr_15^0'=__disjvr_15^post73, head_32^0'=head_32^post73, __disjvr_25^0'=__disjvr_25^post73, r_39^0'=r_39^post73, a_118^0'=a_118^post73, a_188^0'=a_188^post73, x_26^0'=x_26^post73, __disjvr_1^0'=__disjvr_1^post73, len_134^0'=len_134^post73, __disjvr_2^0'=__disjvr_2^post73, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post73, __disjvr_12^0'=__disjvr_12^post73, a_343^0'=a_343^post73, nondet_12^0'=nondet_12^post73, __disjvr_7^0'=__disjvr_7^post73, temp_35^0'=temp_35^post73, x_131^0'=x_131^post73, __disjvr_17^0'=__disjvr_17^post73, i_110^0'=i_110^post73, __disjvr_27^0'=__disjvr_27^post73, rcd_89^0'=rcd_89^post73, (-len_187^post73+len_187^0 == 0 /\ __disjvr_11^0-__disjvr_11^post73 == 0 /\ y_25^0-y_25^post73 == 0 /\ -i_110^post73+i_110^0 == 0 /\ r_126^0-r_126^post73 == 0 /\ a_188^0-a_188^post73 == 0 /\ -__disjvr_1^post73+__disjvr_1^0 == 0 /\ -__disjvr_10^post73+__disjvr_10^0 == 0 /\ tail_14^0-tail_14^post73 == 0 /\ -__disjvr_27^post73+__disjvr_27^0 == 0 /\ -__disjvr_26^post73+__disjvr_26^0 == 0 /\ -__disjvr_3^post73+__disjvr_3^0 == 0 /\ -length_28^post73+length_28^0 == 0 /\ -nondet_12^post73+nondet_12^0 == 0 /\ -a_118^post73+a_118^0 == 0 /\ __disjvr_0^0-__disjvr_0^post73 == 0 /\ -f_171^post73+f_171^0 == 0 /\ __disjvr_6^0-__disjvr_6^post73 == 0 /\ __disjvr_20^0-__disjvr_20^post73 == 0 /\ temp0_31^0-temp0_31^post73 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post73+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -t_22^post73+t_22^0 == 0 /\ -x_26^post73+x_26^0 == 0 /\ -__disjvr_28^post73+__disjvr_28^0 == 0 /\ -__disjvr_19^post73+__disjvr_19^0 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post73 == 0 /\ a_342^0-a_342^post73 == 0 /\ head_15^0-head_15^post73 == 0 /\ -a_289^post73+a_289^0 == 0 /\ __disjvr_23^0-__disjvr_23^post73 == 0 /\ __disjvr_16^0-__disjvr_16^post73 == 0 /\ -__disjvr_5^post73+__disjvr_5^0 == 0 /\ temp0_16^0-temp0_16^post73 == 0 /\ i_30^0-i_30^post73 == 0 /\ -r_39^post73+r_39^0 == 0 /\ head_SLAM_f_29^0-head_SLAM_f_29^post73 == 0 /\ -__disjvr_13^post73+__disjvr_13^0 == 0 /\ __disjvr_29^0-__disjvr_29^post73 == 0 /\ a_149^0-a_149^post73 == 0 /\ -x_131^post73+x_131^0 == 0 /\ a_281^0-a_281^post73 == 0 /\ tmp_34^0-tmp_34^post73 == 0 /\ -__disjvr_12^post73+__disjvr_12^0 == 0 /\ __disjvr_21^0-__disjvr_21^post73 == 0 /\ -result_11^post73+result_11^0 == 0 /\ -__disjvr_17^post73+__disjvr_17^0 == 0 /\ temp_35^0-temp_35^post73 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post73 == 0 /\ -r_165^post73+r_165^0 == 0 /\ -__disjvr_18^post73+__disjvr_18^0 == 0 /\ rcd_59^0-rcd_59^post73 == 0 /\ -__disjvr_25^post73+__disjvr_25^0 == 0 /\ __disjvr_14^0-__disjvr_14^post73 == 0 /\ i_95^0-i_95^post73 == 0 /\ __disjvr_9^0-__disjvr_9^post73 == 0 /\ -len_134^post73+len_134^0 == 0 /\ __disjvr_4^0-__disjvr_4^post73 == 0 /\ __disjvr_22^0-__disjvr_22^post73 == 0 /\ a_225^0-a_225^post73 == 0 /\ -a_343^post73+a_343^0 == 0 /\ -__disjvr_7^post73+__disjvr_7^0 == 0 /\ -y_18^post73+y_18^0 == 0 /\ -head_32^post73+head_32^0 == 0 /\ -rcd_89^post73+rcd_89^0 == 0 /\ -__disjvr_2^post73+__disjvr_2^0 == 0 /\ -__disjvr_15^post73+__disjvr_15^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post73 == 0 /\ -__disjvr_8^post73+__disjvr_8^0 == 0 /\ __disjvr_24^0-__disjvr_24^post73 == 0 /\ -x_19^post73+x_19^0 == 0 /\ x_176^0-x_176^post73 == 0), cost: 1


Removed unreachable rules and leafs
Start location: l65
   0: l0 -> l1 : __disjvr_0^0'=__disjvr_0^post0, a_281^0'=a_281^post0, x_SLAM_f_24^0'=x_SLAM_f_24^post0, __disjvr_21^0'=__disjvr_21^post0, __disjvr_4^0'=__disjvr_4^post0, tail_14^0'=tail_14^post0, __disjvr_14^0'=__disjvr_14^post0, head_15^0'=head_15^post0, __disjvr_24^0'=__disjvr_24^post0, r_165^0'=r_165^post0, __disjvr_9^0'=__disjvr_9^post0, a_149^0'=a_149^post0, x_19^0'=x_19^post0, __disjvr_19^0'=__disjvr_19^post0, i_95^0'=i_95^post0, __disjvr_29^0'=__disjvr_29^post0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post0, __disjvr_11^0'=__disjvr_11^post0, a_342^0'=a_342^post0, y_25^0'=y_25^post0, length_28^0'=length_28^post0, __disjvr_6^0'=__disjvr_6^post0, temp0_31^0'=temp0_31^post0, __disjvr_16^0'=__disjvr_16^post0, head_SLAM_f_29^0'=head_SLAM_f_29^post0, __disjvr_26^0'=__disjvr_26^post0, rcd_59^0'=rcd_59^post0, a_225^0'=a_225^post0, x_SLAM_f_17^0'=x_SLAM_f_17^post0, __disjvr_20^0'=__disjvr_20^post0, len_187^0'=len_187^post0, __disjvr_3^0'=__disjvr_3^post0, t_22^0'=t_22^post0, __disjvr_13^0'=__disjvr_13^post0, f_171^0'=f_171^post0, __disjvr_23^0'=__disjvr_23^post0, r_126^0'=r_126^post0, __disjvr_8^0'=__disjvr_8^post0, tmp_34^0'=tmp_34^post0, x_176^0'=x_176^post0, __disjvr_18^0'=__disjvr_18^post0, i_30^0'=i_30^post0, __disjvr_28^0'=__disjvr_28^post0, result_11^0'=result_11^post0, __disjvr_10^0'=__disjvr_10^post0, a_289^0'=a_289^post0, y_18^0'=y_18^post0, __disjvr_22^0'=__disjvr_22^post0, __disjvr_5^0'=__disjvr_5^post0, temp0_16^0'=temp0_16^post0, __disjvr_15^0'=__disjvr_15^post0, head_32^0'=head_32^post0, __disjvr_25^0'=__disjvr_25^post0, r_39^0'=r_39^post0, a_118^0'=a_118^post0, a_188^0'=a_188^post0, x_26^0'=x_26^post0, __disjvr_1^0'=__disjvr_1^post0, len_134^0'=len_134^post0, __disjvr_2^0'=__disjvr_2^post0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post0, __disjvr_12^0'=__disjvr_12^post0, a_343^0'=a_343^post0, nondet_12^0'=nondet_12^post0, __disjvr_7^0'=__disjvr_7^post0, temp_35^0'=temp_35^post0, x_131^0'=x_131^post0, __disjvr_17^0'=__disjvr_17^post0, i_110^0'=i_110^post0, __disjvr_27^0'=__disjvr_27^post0, rcd_89^0'=rcd_89^post0, (0 == 0 /\ -__disjvr_1^post0+__disjvr_1^0 == 0 /\ __disjvr_16^0-__disjvr_16^post0 == 0 /\ y_18^0-y_18^post0 == 0 /\ -__disjvr_7^post0+__disjvr_7^0 == 0 /\ a_118^0-a_118^post0 == 0 /\ -nondet_12^post0+nondet_12^0 == 0 /\ -__disjvr_17^post0+__disjvr_17^0 == 0 /\ -__disjvr_27^post0+__disjvr_27^0 == 0 /\ r_165^0-r_165^post0 == 0 /\ r_126^0-r_126^post0 == 0 /\ -a_342^post0+a_342^0 == 0 /\ __disjvr_23^0-__disjvr_23^post0 == 0 /\ __disjvr_10^0-__disjvr_10^post0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 <= 0 /\ __disjvr_14^0-__disjvr_14^post0 == 0 /\ -head_15^post0+x_SLAM_f_24^post0 <= 0 /\ -head_15^post0+x_SLAM_f_24^post0 == 0 /\ x_SLAM_f_24^post0-x_26^post0 <= 0 /\ -i_30^post0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 <= 0 /\ -temp0_16^post0+temp0_16^0 == 0 /\ -len_187^post0+len_187^0 == 0 /\ i_95^0-i_95^post0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 <= 0 /\ -__disjvr_8^post0+__disjvr_8^0 == 0 /\ result_11^10-temp0_31^10 == 0 /\ __disjvr_4^0-__disjvr_4^post0 == 0 /\ a_149^0-a_149^post0 == 0 /\ -__disjvr_3^post0+__disjvr_3^0 == 0 /\ -f_171^post0+f_171^0 == 0 /\ __disjvr_21^0-__disjvr_21^post0 == 0 /\ -a_289^post0+a_289^0 == 0 /\ __disjvr_24^0-__disjvr_24^post0 == 0 /\ rcd_59^0-rcd_59^post0 == 0 /\ -x_19^post0+x_19^0 == 0 /\ __disjvr_28^0-__disjvr_28^post0 == 0 /\ -i_30^0 <= 0 /\ len_134^0-len_134^post0 == 0 /\ head_15^post0-x_SLAM_f_24^post0 <= 0 /\ -x_SLAM_f_24^post0+x_26^post0 <= 0 /\ -x_SLAM_f_24^post0+x_26^post0 == 0 /\ __disjvr_11^0-__disjvr_11^post0 == 0 /\ __disjvr_0^0-__disjvr_0^post0 == 0 /\ -__disjvr_19^post0+__disjvr_19^0 == 0 /\ -i_110^post0+i_110^0 == 0 /\ -__disjvr_18^post0+__disjvr_18^0 == 0 /\ tail_14^0-y_25^post0 <= 0 /\ -__disjvr_12^post0+__disjvr_12^0 == 0 /\ __disjvr_20^0-__disjvr_20^post0 == 0 /\ -x_131^post0+x_131^0 == 0 /\ -x_176^post0+x_176^0 == 0 /\ temp0_31^10-head_32^0 == 0 /\ -a_281^post0+a_281^0 == 0 /\ -__disjvr_5^post0+__disjvr_5^0 == 0 /\ -head_15^post0+x_26^post0 <= 0 /\ __disjvr_9^0-__disjvr_9^post0 == 0 /\ __disjvr_22^0-__disjvr_22^post0 == 0 /\ __disjvr_29^0-__disjvr_29^post0 == 0 /\ -__disjvr_26^post0+__disjvr_26^0 == 0 /\ -__disjvr_25^post0+__disjvr_25^0 == 0 /\ __disjvr_15^0-__disjvr_15^post0 == 0 /\ r_39^0-r_39^post0 == 0 /\ -__disjvr_2^post0+__disjvr_2^0 == 0 /\ -__disjvr_6^post0+__disjvr_6^0 == 0 /\ -t_22^post0+t_22^0 == 0 /\ -tail_14^post0+tail_14^0 == 0 /\ -rcd_89^post0+rcd_89^0 == 0 /\ -a_343^post0+a_343^0 == 0 /\ head_15^post0-result_11^10 == 0 /\ -tail_14^0+y_25^post0 <= 0 /\ -tail_14^0+y_25^post0 == 0 /\ length_28^0-i_30^0 <= 0 /\ -x_SLAM_f_17^post0+x_SLAM_f_17^0 == 0 /\ a_225^0-a_225^post0 == 0 /\ head_15^post0-x_26^post0 <= 0 /\ __disjvr_13^0-__disjvr_13^post0 == 0 /\ -a_188^post0+a_188^0 == 0), cost: 1
   1: l0 -> l2 : __disjvr_0^0'=__disjvr_0^post1, a_281^0'=a_281^post1, x_SLAM_f_24^0'=x_SLAM_f_24^post1, __disjvr_21^0'=__disjvr_21^post1, __disjvr_4^0'=__disjvr_4^post1, tail_14^0'=tail_14^post1, __disjvr_14^0'=__disjvr_14^post1, head_15^0'=head_15^post1, __disjvr_24^0'=__disjvr_24^post1, r_165^0'=r_165^post1, __disjvr_9^0'=__disjvr_9^post1, a_149^0'=a_149^post1, x_19^0'=x_19^post1, __disjvr_19^0'=__disjvr_19^post1, i_95^0'=i_95^post1, __disjvr_29^0'=__disjvr_29^post1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post1, __disjvr_11^0'=__disjvr_11^post1, a_342^0'=a_342^post1, y_25^0'=y_25^post1, length_28^0'=length_28^post1, __disjvr_6^0'=__disjvr_6^post1, temp0_31^0'=temp0_31^post1, __disjvr_16^0'=__disjvr_16^post1, head_SLAM_f_29^0'=head_SLAM_f_29^post1, __disjvr_26^0'=__disjvr_26^post1, rcd_59^0'=rcd_59^post1, a_225^0'=a_225^post1, x_SLAM_f_17^0'=x_SLAM_f_17^post1, __disjvr_20^0'=__disjvr_20^post1, len_187^0'=len_187^post1, __disjvr_3^0'=__disjvr_3^post1, t_22^0'=t_22^post1, __disjvr_13^0'=__disjvr_13^post1, f_171^0'=f_171^post1, __disjvr_23^0'=__disjvr_23^post1, r_126^0'=r_126^post1, __disjvr_8^0'=__disjvr_8^post1, tmp_34^0'=tmp_34^post1, x_176^0'=x_176^post1, __disjvr_18^0'=__disjvr_18^post1, i_30^0'=i_30^post1, __disjvr_28^0'=__disjvr_28^post1, result_11^0'=result_11^post1, __disjvr_10^0'=__disjvr_10^post1, a_289^0'=a_289^post1, y_18^0'=y_18^post1, __disjvr_22^0'=__disjvr_22^post1, __disjvr_5^0'=__disjvr_5^post1, temp0_16^0'=temp0_16^post1, __disjvr_15^0'=__disjvr_15^post1, head_32^0'=head_32^post1, __disjvr_25^0'=__disjvr_25^post1, r_39^0'=r_39^post1, a_118^0'=a_118^post1, a_188^0'=a_188^post1, x_26^0'=x_26^post1, __disjvr_1^0'=__disjvr_1^post1, len_134^0'=len_134^post1, __disjvr_2^0'=__disjvr_2^post1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, __disjvr_12^0'=__disjvr_12^post1, a_343^0'=a_343^post1, nondet_12^0'=nondet_12^post1, __disjvr_7^0'=__disjvr_7^post1, temp_35^0'=temp_35^post1, x_131^0'=x_131^post1, __disjvr_17^0'=__disjvr_17^post1, i_110^0'=i_110^post1, __disjvr_27^0'=__disjvr_27^post1, rcd_89^0'=rcd_89^post1, (0 == 0 /\ 1+i_95^post1-i_30^post1 <= 0 /\ -a_225^post1+a_225^0 == 0 /\ tail_14^0-tail_14^post1 == 0 /\ result_11^0-result_11^post1 == 0 /\ length_28^0-length_28^post1 == 0 /\ len_134^0-len_134^post1 == 0 /\ __disjvr_14^0-__disjvr_14^post1 == 0 /\ __disjvr_19^0-__disjvr_19^post1 == 0 /\ a_281^0-a_281^post1 == 0 /\ -__disjvr_22^post1+__disjvr_22^0 == 0 /\ -__disjvr_3^post1+__disjvr_3^0 == 0 /\ __disjvr_18^0-__disjvr_18^post1 == 0 /\ temp0_31^0-temp0_31^post1 == 0 /\ x_19^0-x_19^post1 == 0 /\ -rcd_59^post1+rcd_59^0 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post1 == 0 /\ -a_118^post1+a_118^0 == 0 /\ f_171^0-f_171^post1 == 0 /\ -__disjvr_1^post1+__disjvr_1^0 == 0 /\ a_289^0-a_289^post1 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ 1+i_95^post1-length_28^0 <= 0 /\ -__disjvr_28^post1+__disjvr_28^0 == 0 /\ __disjvr_24^0-__disjvr_24^post1 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post1 == 0 /\ -r_39^post1+r_39^0 == 0 /\ -i_110^post1+i_110^0 == 0 /\ -__disjvr_27^post1+__disjvr_27^0 == 0 /\ __disjvr_8^0-__disjvr_8^post1 == 0 /\ tmp_34^post1-temp_35^0 == 0 /\ -__disjvr_5^post1+__disjvr_5^0 == 0 /\ __disjvr_16^0-__disjvr_16^post1 == 0 /\ len_187^0-len_187^post1 == 0 /\ -x_26^post1+x_26^0 == 0 /\ -r_126^post1+r_126^0 == 0 /\ -i_30^0 <= 0 /\ __disjvr_21^0-__disjvr_21^post1 == 0 /\ -nondet_12^post1+nondet_12^0 == 0 /\ x_176^0-x_176^post1 == 0 /\ -__disjvr_13^post1+__disjvr_13^0 == 0 /\ -__disjvr_12^post1+__disjvr_12^0 == 0 /\ -1+i_30^post1-i_30^0 == 0 /\ -1-i_95^post1+i_30^post1 <= 0 /\ 1-length_28^0+i_30^0 <= 0 /\ -__disjvr_6^post1+__disjvr_6^0 == 0 /\ -head_SLAM_f_29^post1+head_SLAM_f_29^0 == 0 /\ __disjvr_11^0-__disjvr_11^post1 == 0 /\ __disjvr_29^0-__disjvr_29^post1 == 0 /\ -y_25^post1+y_25^0 == 0 /\ __disjvr_7^0-__disjvr_7^post1 == 0 /\ -a_149^post1+a_149^0 == 0 /\ __disjvr_0^0-__disjvr_0^post1 == 0 /\ -tmp_34^post1+head_32^post1 == 0 /\ __disjvr_25^0-__disjvr_25^post1 == 0 /\ -a_343^post1+a_343^0 == 0 /\ -__disjvr_9^post1+__disjvr_9^0 == 0 /\ -__disjvr_4^post1+__disjvr_4^0 == 0 /\ __disjvr_20^0-__disjvr_20^post1 == 0 /\ -__disjvr_2^post1+__disjvr_2^0 == 0 /\ a_342^0-a_342^post1 == 0 /\ -__disjvr_17^post1+__disjvr_17^0 == 0 /\ -y_18^post1+y_18^0 == 0 /\ -x_131^post1+x_131^0 == 0 /\ __disjvr_23^0-__disjvr_23^post1 == 0 /\ t_22^0-t_22^post1 == 0 /\ temp0_16^0-temp0_16^post1 == 0 /\ -__disjvr_15^post1+__disjvr_15^0 == 0 /\ -__disjvr_10^post1+__disjvr_10^0 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post1 == 0 /\ -head_15^post1+head_15^0 == 0 /\ __disjvr_26^0-__disjvr_26^post1 == 0 /\ r_165^0-r_165^post1 == 0 /\ -a_188^post1+a_188^0 == 0), cost: 1
  66: l1 -> l61 : __disjvr_0^0'=__disjvr_0^post66, a_281^0'=a_281^post66, x_SLAM_f_24^0'=x_SLAM_f_24^post66, __disjvr_21^0'=__disjvr_21^post66, __disjvr_4^0'=__disjvr_4^post66, tail_14^0'=tail_14^post66, __disjvr_14^0'=__disjvr_14^post66, head_15^0'=head_15^post66, __disjvr_24^0'=__disjvr_24^post66, r_165^0'=r_165^post66, __disjvr_9^0'=__disjvr_9^post66, a_149^0'=a_149^post66, x_19^0'=x_19^post66, __disjvr_19^0'=__disjvr_19^post66, i_95^0'=i_95^post66, __disjvr_29^0'=__disjvr_29^post66, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post66, __disjvr_11^0'=__disjvr_11^post66, a_342^0'=a_342^post66, y_25^0'=y_25^post66, length_28^0'=length_28^post66, __disjvr_6^0'=__disjvr_6^post66, temp0_31^0'=temp0_31^post66, __disjvr_16^0'=__disjvr_16^post66, head_SLAM_f_29^0'=head_SLAM_f_29^post66, __disjvr_26^0'=__disjvr_26^post66, rcd_59^0'=rcd_59^post66, a_225^0'=a_225^post66, x_SLAM_f_17^0'=x_SLAM_f_17^post66, __disjvr_20^0'=__disjvr_20^post66, len_187^0'=len_187^post66, __disjvr_3^0'=__disjvr_3^post66, t_22^0'=t_22^post66, __disjvr_13^0'=__disjvr_13^post66, f_171^0'=f_171^post66, __disjvr_23^0'=__disjvr_23^post66, r_126^0'=r_126^post66, __disjvr_8^0'=__disjvr_8^post66, tmp_34^0'=tmp_34^post66, x_176^0'=x_176^post66, __disjvr_18^0'=__disjvr_18^post66, i_30^0'=i_30^post66, __disjvr_28^0'=__disjvr_28^post66, result_11^0'=result_11^post66, __disjvr_10^0'=__disjvr_10^post66, a_289^0'=a_289^post66, y_18^0'=y_18^post66, __disjvr_22^0'=__disjvr_22^post66, __disjvr_5^0'=__disjvr_5^post66, temp0_16^0'=temp0_16^post66, __disjvr_15^0'=__disjvr_15^post66, head_32^0'=head_32^post66, __disjvr_25^0'=__disjvr_25^post66, r_39^0'=r_39^post66, a_118^0'=a_118^post66, a_188^0'=a_188^post66, x_26^0'=x_26^post66, __disjvr_1^0'=__disjvr_1^post66, len_134^0'=len_134^post66, __disjvr_2^0'=__disjvr_2^post66, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post66, __disjvr_12^0'=__disjvr_12^post66, a_343^0'=a_343^post66, nondet_12^0'=nondet_12^post66, __disjvr_7^0'=__disjvr_7^post66, temp_35^0'=temp_35^post66, x_131^0'=x_131^post66, __disjvr_17^0'=__disjvr_17^post66, i_110^0'=i_110^post66, __disjvr_27^0'=__disjvr_27^post66, rcd_89^0'=rcd_89^post66, (0 == 0 /\ __disjvr_21^0-__disjvr_21^post66 == 0 /\ -__disjvr_10^post66+__disjvr_10^0 == 0 /\ a_289^0-a_289^post66 == 0 /\ __disjvr_13^0-__disjvr_13^post66 == 0 /\ result_11^0-result_11^post66 == 0 /\ __disjvr_19^0-__disjvr_19^post66 == 0 /\ -temp0_16^post66+temp0_16^0 == 0 /\ len_187^0-len_187^post66 == 0 /\ -a_225^post66+a_225^0 == 0 /\ __disjvr_3^0-__disjvr_3^post66 == 0 /\ -__disjvr_1^post66+__disjvr_1^0 == 0 /\ -i_30^post66+i_30^0 == 0 /\ -rcd_59^post66+rcd_59^0 == 0 /\ -rcd_89^post66+rcd_89^0 == 0 /\ -nondet_12^post66+nondet_12^0 == 0 /\ -a_118^post66+a_118^0 == 0 /\ __disjvr_14^0-__disjvr_14^post66 == 0 /\ x_19^0-x_19^post66 == 0 /\ __disjvr_0^0-__disjvr_0^post66 == 0 /\ -tmp_34^post66+tmp_34^0 == 0 /\ __disjvr_18^0-__disjvr_18^post66 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post66 == 0 /\ __disjvr_24^0-__disjvr_24^post66 == 0 /\ -x_26^post66+x_26^0 == 0 /\ -__disjvr_28^post66+__disjvr_28^0 == 0 /\ -__disjvr_27^post66+__disjvr_27^0 == 0 /\ __disjvr_16^0-__disjvr_16^post66 == 0 /\ len_134^0-len_134^post66 == 0 /\ __disjvr_8^0-__disjvr_8^post66 == 0 /\ head_SLAM_f_29^0-head_SLAM_f_29^post66 == 0 /\ -__disjvr_20^post66+__disjvr_20^0 == 0 /\ -i_30^0 <= 0 /\ -r_126^post66+r_126^0 == 0 /\ a_343^0-a_343^post66 == 0 /\ a_281^0-a_281^post66 == 0 /\ __disjvr_5^0-__disjvr_5^post66 == 0 /\ -temp_35^post66+temp_35^0 == 0 /\ -x_131^post66+x_131^0 == 0 /\ __disjvr_29^0-__disjvr_29^post66 == 0 /\ -a_149^post66+a_149^0 == 0 /\ -__disjvr_12^post66+__disjvr_12^0 == 0 /\ __disjvr_11^0-__disjvr_11^post66 == 0 /\ __disjvr_7^0-__disjvr_7^post66 == 0 /\ -y_18^post66+y_18^0 == 0 /\ -__disjvr_4^post66+__disjvr_4^0 == 0 /\ i_95^0-i_95^post66 == 0 /\ f_171^0-f_171^post66 == 0 /\ __disjvr_9^0-__disjvr_9^post66 == 0 /\ __disjvr_25^0-__disjvr_25^post66 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post66 == 0 /\ -__disjvr_23^post66+__disjvr_23^0 == 0 /\ a_342^0-a_342^post66 == 0 /\ -a_188^post66+a_188^0 == 0 /\ temp0_31^0-temp0_31^post66 == 0 /\ t_22^0-t_22^post66 == 0 /\ -head_32^post66+head_32^0 == 0 /\ -__disjvr_17^post66+__disjvr_17^0 == 0 /\ -y_25^post66+y_25^0 == 0 /\ -__disjvr_2^post66+__disjvr_2^0 == 0 /\ -__disjvr_22^post66+__disjvr_22^0 == 0 /\ -__disjvr_6^post66+__disjvr_6^0 == 0 /\ length_28^0-length_28^post66 == 0 /\ -__disjvr_15^post66+__disjvr_15^0 == 0 /\ __disjvr_26^0-__disjvr_26^post66 == 0 /\ -x_176^post66+x_176^0 == 0), cost: 1
   2: l2 -> l0 : __disjvr_0^0'=__disjvr_0^post2, a_281^0'=a_281^post2, x_SLAM_f_24^0'=x_SLAM_f_24^post2, __disjvr_21^0'=__disjvr_21^post2, __disjvr_4^0'=__disjvr_4^post2, tail_14^0'=tail_14^post2, __disjvr_14^0'=__disjvr_14^post2, head_15^0'=head_15^post2, __disjvr_24^0'=__disjvr_24^post2, r_165^0'=r_165^post2, __disjvr_9^0'=__disjvr_9^post2, a_149^0'=a_149^post2, x_19^0'=x_19^post2, __disjvr_19^0'=__disjvr_19^post2, i_95^0'=i_95^post2, __disjvr_29^0'=__disjvr_29^post2, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post2, __disjvr_11^0'=__disjvr_11^post2, a_342^0'=a_342^post2, y_25^0'=y_25^post2, length_28^0'=length_28^post2, __disjvr_6^0'=__disjvr_6^post2, temp0_31^0'=temp0_31^post2, __disjvr_16^0'=__disjvr_16^post2, head_SLAM_f_29^0'=head_SLAM_f_29^post2, __disjvr_26^0'=__disjvr_26^post2, rcd_59^0'=rcd_59^post2, a_225^0'=a_225^post2, x_SLAM_f_17^0'=x_SLAM_f_17^post2, __disjvr_20^0'=__disjvr_20^post2, len_187^0'=len_187^post2, __disjvr_3^0'=__disjvr_3^post2, t_22^0'=t_22^post2, __disjvr_13^0'=__disjvr_13^post2, f_171^0'=f_171^post2, __disjvr_23^0'=__disjvr_23^post2, r_126^0'=r_126^post2, __disjvr_8^0'=__disjvr_8^post2, tmp_34^0'=tmp_34^post2, x_176^0'=x_176^post2, __disjvr_18^0'=__disjvr_18^post2, i_30^0'=i_30^post2, __disjvr_28^0'=__disjvr_28^post2, result_11^0'=result_11^post2, __disjvr_10^0'=__disjvr_10^post2, a_289^0'=a_289^post2, y_18^0'=y_18^post2, __disjvr_22^0'=__disjvr_22^post2, __disjvr_5^0'=__disjvr_5^post2, temp0_16^0'=temp0_16^post2, __disjvr_15^0'=__disjvr_15^post2, head_32^0'=head_32^post2, __disjvr_25^0'=__disjvr_25^post2, r_39^0'=r_39^post2, a_118^0'=a_118^post2, a_188^0'=a_188^post2, x_26^0'=x_26^post2, __disjvr_1^0'=__disjvr_1^post2, len_134^0'=len_134^post2, __disjvr_2^0'=__disjvr_2^post2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, __disjvr_12^0'=__disjvr_12^post2, a_343^0'=a_343^post2, nondet_12^0'=nondet_12^post2, __disjvr_7^0'=__disjvr_7^post2, temp_35^0'=temp_35^post2, x_131^0'=x_131^post2, __disjvr_17^0'=__disjvr_17^post2, i_110^0'=i_110^post2, __disjvr_27^0'=__disjvr_27^post2, rcd_89^0'=rcd_89^post2, (-result_dot_nondet_sdv_special_RETURN_VALUE_13^post2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ temp0_31^0-temp0_31^post2 == 0 /\ f_171^0-f_171^post2 == 0 /\ -__disjvr_7^post2+__disjvr_7^0 == 0 /\ -__disjvr_28^post2+__disjvr_28^0 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post2 == 0 /\ -__disjvr_11^post2+__disjvr_11^0 == 0 /\ -y_18^post2+y_18^0 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post2 == 0 /\ -__disjvr_17^post2+__disjvr_17^0 == 0 /\ -x_131^post2+x_131^0 == 0 /\ x_19^0-x_19^post2 == 0 /\ rcd_59^0-rcd_59^post2 == 0 /\ r_165^0-r_165^post2 == 0 /\ __disjvr_2^0-__disjvr_2^post2 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post2 == 0 /\ -__disjvr_15^post2+__disjvr_15^0 == 0 /\ length_28^0-length_28^post2 == 0 /\ __disjvr_24^0-__disjvr_24^post2 == 0 /\ -r_126^post2+r_126^0 == 0 /\ -__disjvr_12^post2+__disjvr_12^0 == 0 /\ -len_134^post2+len_134^0 == 0 /\ a_281^0-a_281^post2 == 0 /\ -__disjvr_6^post2+__disjvr_6^0 == 0 /\ -head_32^post2+head_32^0 == 0 /\ len_187^0-len_187^post2 == 0 /\ -head_SLAM_f_29^post2+head_SLAM_f_29^0 == 0 /\ tail_14^0-tail_14^post2 == 0 /\ -rcd_89^post2+rcd_89^0 == 0 /\ -y_25^post2+y_25^0 == 0 /\ -__disjvr_22^post2+__disjvr_22^0 == 0 /\ -a_225^post2+a_225^0 == 0 /\ x_176^0-x_176^post2 == 0 /\ __disjvr_26^0-__disjvr_26^post2 == 0 /\ tmp_34^0-tmp_34^post2 == 0 /\ __disjvr_21^0-__disjvr_21^post2 == 0 /\ __disjvr_18^0-__disjvr_18^post2 == 0 /\ -a_343^post2+a_343^0 == 0 /\ -__disjvr_3^post2+__disjvr_3^0 == 0 /\ __disjvr_4^0-__disjvr_4^post2 == 0 /\ -__disjvr_27^post2+__disjvr_27^0 == 0 /\ -__disjvr_16^post2+__disjvr_16^0 == 0 /\ __disjvr_25^0-__disjvr_25^post2 == 0 /\ -a_289^post2+a_289^0 == 0 /\ -i_110^post2+i_110^0 == 0 /\ -__disjvr_5^post2+__disjvr_5^0 == 0 /\ __disjvr_20^0-__disjvr_20^post2 == 0 /\ -a_188^post2+a_188^0 == 0 /\ -__disjvr_8^post2+__disjvr_8^0 == 0 /\ -r_39^post2+r_39^0 == 0 /\ -head_15^post2+head_15^0 == 0 /\ __disjvr_29^0-__disjvr_29^post2 == 0 /\ -nondet_12^post2+nondet_12^0 == 0 /\ -__disjvr_13^post2+__disjvr_13^0 == 0 /\ __disjvr_23^0-__disjvr_23^post2 == 0 /\ -i_30^post2+i_30^0 == 0 /\ -x_26^post2+x_26^0 == 0 /\ __disjvr_0^0-__disjvr_0^post2 == 0 /\ -__disjvr_10^post2+__disjvr_10^0 == 0 /\ -temp_35^post2+temp_35^0 == 0 /\ -a_149^post2+a_149^0 == 0 /\ i_95^0-i_95^post2 == 0 /\ result_11^0-result_11^post2 == 0 /\ a_342^0-a_342^post2 == 0 /\ __disjvr_19^0-__disjvr_19^post2 == 0 /\ -a_118^post2+a_118^0 == 0 /\ __disjvr_14^0-__disjvr_14^post2 == 0 /\ -__disjvr_1^post2+__disjvr_1^0 == 0 /\ -__disjvr_9^post2+__disjvr_9^0 == 0 /\ temp0_16^0-temp0_16^post2 == 0 /\ t_22^0-t_22^post2 == 0), cost: 1
   4: l3 -> l5 : __disjvr_0^0'=__disjvr_0^post4, a_281^0'=a_281^post4, x_SLAM_f_24^0'=x_SLAM_f_24^post4, __disjvr_21^0'=__disjvr_21^post4, __disjvr_4^0'=__disjvr_4^post4, tail_14^0'=tail_14^post4, __disjvr_14^0'=__disjvr_14^post4, head_15^0'=head_15^post4, __disjvr_24^0'=__disjvr_24^post4, r_165^0'=r_165^post4, __disjvr_9^0'=__disjvr_9^post4, a_149^0'=a_149^post4, x_19^0'=x_19^post4, __disjvr_19^0'=__disjvr_19^post4, i_95^0'=i_95^post4, __disjvr_29^0'=__disjvr_29^post4, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post4, __disjvr_11^0'=__disjvr_11^post4, a_342^0'=a_342^post4, y_25^0'=y_25^post4, length_28^0'=length_28^post4, __disjvr_6^0'=__disjvr_6^post4, temp0_31^0'=temp0_31^post4, __disjvr_16^0'=__disjvr_16^post4, head_SLAM_f_29^0'=head_SLAM_f_29^post4, __disjvr_26^0'=__disjvr_26^post4, rcd_59^0'=rcd_59^post4, a_225^0'=a_225^post4, x_SLAM_f_17^0'=x_SLAM_f_17^post4, __disjvr_20^0'=__disjvr_20^post4, len_187^0'=len_187^post4, __disjvr_3^0'=__disjvr_3^post4, t_22^0'=t_22^post4, __disjvr_13^0'=__disjvr_13^post4, f_171^0'=f_171^post4, __disjvr_23^0'=__disjvr_23^post4, r_126^0'=r_126^post4, __disjvr_8^0'=__disjvr_8^post4, tmp_34^0'=tmp_34^post4, x_176^0'=x_176^post4, __disjvr_18^0'=__disjvr_18^post4, i_30^0'=i_30^post4, __disjvr_28^0'=__disjvr_28^post4, result_11^0'=result_11^post4, __disjvr_10^0'=__disjvr_10^post4, a_289^0'=a_289^post4, y_18^0'=y_18^post4, __disjvr_22^0'=__disjvr_22^post4, __disjvr_5^0'=__disjvr_5^post4, temp0_16^0'=temp0_16^post4, __disjvr_15^0'=__disjvr_15^post4, head_32^0'=head_32^post4, __disjvr_25^0'=__disjvr_25^post4, r_39^0'=r_39^post4, a_118^0'=a_118^post4, a_188^0'=a_188^post4, x_26^0'=x_26^post4, __disjvr_1^0'=__disjvr_1^post4, len_134^0'=len_134^post4, __disjvr_2^0'=__disjvr_2^post4, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post4, __disjvr_12^0'=__disjvr_12^post4, a_343^0'=a_343^post4, nondet_12^0'=nondet_12^post4, __disjvr_7^0'=__disjvr_7^post4, temp_35^0'=temp_35^post4, x_131^0'=x_131^post4, __disjvr_17^0'=__disjvr_17^post4, i_110^0'=i_110^post4, __disjvr_27^0'=__disjvr_27^post4, rcd_89^0'=rcd_89^post4, (0 == 0 /\ tmp_34^post4-head_32^post4 <= 0 /\ __disjvr_8^0-__disjvr_8^post4 == 0 /\ -a_343^post4+a_343^0 == 0 /\ __disjvr_18^0-__disjvr_18^post4 == 0 /\ a_149^0-a_149^post4 == 0 /\ -tmp_34^post4+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post4 <= 0 /\ -a_188^post4+a_188^0 == 0 /\ r_165^0-r_165^post4 == 0 /\ -__disjvr_2^post4+__disjvr_2^0 == 0 /\ -x_176^post4+x_176^0 == 0 /\ __disjvr_26^0-__disjvr_26^post4 == 0 /\ __disjvr_21^0-__disjvr_21^post4 == 0 /\ -__disjvr_6^post4+__disjvr_6^0 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post4 == 0 /\ -i_110^post4+i_110^0 == 0 /\ -r_39^post4+r_39^0 == 0 /\ __disjvr_19^0-__disjvr_19^post4 == 0 /\ -__disjvr_20^post4+__disjvr_20^0 == 0 /\ __disjvr_28^0-__disjvr_28^post4 == 0 /\ len_187^0-len_187^post4 == 0 /\ __disjvr_13^0-__disjvr_13^post4 == 0 /\ result_11^0-result_11^post4 == 0 /\ -x_131^post4+x_131^0 == 0 /\ -tmp_34^post4+head_32^post4 <= 0 /\ -tmp_34^post4+head_32^post4 == 0 /\ -__disjvr_15^post4+__disjvr_15^0 == 0 /\ len_134^0-len_134^post4 == 0 /\ -x_SLAM_f_17^post4+x_SLAM_f_17^0 == 0 /\ __disjvr_14^0-__disjvr_14^post4 == 0 /\ -__disjvr_1^post4+__disjvr_1^0 == 0 /\ -__disjvr_10^post4+__disjvr_10^0 == 0 /\ a_118^0-a_118^post4 == 0 /\ tmp_34^post4-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post4 <= 0 /\ a_281^0-a_281^post4 == 0 /\ -t_22^post4+t_22^0 == 0 /\ -y_18^post4+y_18^0 == 0 /\ y_25^0-y_25^post4 == 0 /\ -__disjvr_7^post4+__disjvr_7^0 == 0 /\ __disjvr_3^0-__disjvr_3^post4 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post4+length_28^0 <= 0 /\ 1-length_28^0+i_30^0 <= 0 /\ -x_26^post4+x_26^0 == 0 /\ -__disjvr_23^post4+__disjvr_23^0 == 0 /\ -head_32^post4+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post4 <= 0 /\ -rcd_59^post4+rcd_59^0 == 0 /\ -rcd_89^post4+rcd_89^0 == 0 /\ __disjvr_24^0-__disjvr_24^post4 == 0 /\ i_95^0-i_95^post4 == 0 /\ __disjvr_9^0-__disjvr_9^post4 == 0 /\ a_342^0-a_342^post4 == 0 /\ -__disjvr_22^post4+__disjvr_22^0 == 0 /\ a_225^0-a_225^post4 == 0 /\ __disjvr_11^0-__disjvr_11^post4 == 0 /\ tail_14^post4-head_SLAM_f_29^post4 <= 0 /\ __disjvr_5^0-__disjvr_5^post4 == 0 /\ __disjvr_16^0-__disjvr_16^post4 == 0 /\ -__disjvr_17^post4+__disjvr_17^0 == 0 /\ 1-i_30^post4 <= 0 /\ -1+i_30^post4 <= 0 /\ x_19^0-x_19^post4 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post4-length_28^0 <= 0 /\ 1-length_28^0 <= 0 /\ f_171^0-f_171^post4 == 0 /\ head_32^post4-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post4 <= 0 /\ -__disjvr_27^post4+__disjvr_27^0 == 0 /\ length_28^0-length_28^post4 == 0 /\ __disjvr_25^0-__disjvr_25^post4 == 0 /\ __disjvr_4^0-__disjvr_4^post4 == 0 /\ head_15^0-head_15^post4 == 0 /\ -temp0_16^post4+temp0_16^0 == 0 /\ r_126^0-r_126^post4 == 0 /\ a_289^0-a_289^post4 == 0 /\ __disjvr_29^0-__disjvr_29^post4 == 0 /\ __disjvr_0^0-__disjvr_0^post4 == 0 /\ -tail_14^post4+head_SLAM_f_29^post4 <= 0 /\ -nondet_12^post4+nondet_12^0 == 0 /\ temp0_31^0-temp0_31^post4 == 0 /\ -__disjvr_12^post4+__disjvr_12^0 == 0 /\ tmp_34^post4-temp_35^0 == 0 /\ -1+i_30^post4-i_30^0 == 0), cost: 1
  72: l5 -> l0 : __disjvr_0^0'=__disjvr_0^post72, a_281^0'=a_281^post72, x_SLAM_f_24^0'=x_SLAM_f_24^post72, __disjvr_21^0'=__disjvr_21^post72, __disjvr_4^0'=__disjvr_4^post72, tail_14^0'=tail_14^post72, __disjvr_14^0'=__disjvr_14^post72, head_15^0'=head_15^post72, __disjvr_24^0'=__disjvr_24^post72, r_165^0'=r_165^post72, __disjvr_9^0'=__disjvr_9^post72, a_149^0'=a_149^post72, x_19^0'=x_19^post72, __disjvr_19^0'=__disjvr_19^post72, i_95^0'=i_95^post72, __disjvr_29^0'=__disjvr_29^post72, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post72, __disjvr_11^0'=__disjvr_11^post72, a_342^0'=a_342^post72, y_25^0'=y_25^post72, length_28^0'=length_28^post72, __disjvr_6^0'=__disjvr_6^post72, temp0_31^0'=temp0_31^post72, __disjvr_16^0'=__disjvr_16^post72, head_SLAM_f_29^0'=head_SLAM_f_29^post72, __disjvr_26^0'=__disjvr_26^post72, rcd_59^0'=rcd_59^post72, a_225^0'=a_225^post72, x_SLAM_f_17^0'=x_SLAM_f_17^post72, __disjvr_20^0'=__disjvr_20^post72, len_187^0'=len_187^post72, __disjvr_3^0'=__disjvr_3^post72, t_22^0'=t_22^post72, __disjvr_13^0'=__disjvr_13^post72, f_171^0'=f_171^post72, __disjvr_23^0'=__disjvr_23^post72, r_126^0'=r_126^post72, __disjvr_8^0'=__disjvr_8^post72, tmp_34^0'=tmp_34^post72, x_176^0'=x_176^post72, __disjvr_18^0'=__disjvr_18^post72, i_30^0'=i_30^post72, __disjvr_28^0'=__disjvr_28^post72, result_11^0'=result_11^post72, __disjvr_10^0'=__disjvr_10^post72, a_289^0'=a_289^post72, y_18^0'=y_18^post72, __disjvr_22^0'=__disjvr_22^post72, __disjvr_5^0'=__disjvr_5^post72, temp0_16^0'=temp0_16^post72, __disjvr_15^0'=__disjvr_15^post72, head_32^0'=head_32^post72, __disjvr_25^0'=__disjvr_25^post72, r_39^0'=r_39^post72, a_118^0'=a_118^post72, a_188^0'=a_188^post72, x_26^0'=x_26^post72, __disjvr_1^0'=__disjvr_1^post72, len_134^0'=len_134^post72, __disjvr_2^0'=__disjvr_2^post72, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post72, __disjvr_12^0'=__disjvr_12^post72, a_343^0'=a_343^post72, nondet_12^0'=nondet_12^post72, __disjvr_7^0'=__disjvr_7^post72, temp_35^0'=temp_35^post72, x_131^0'=x_131^post72, __disjvr_17^0'=__disjvr_17^post72, i_110^0'=i_110^post72, __disjvr_27^0'=__disjvr_27^post72, rcd_89^0'=rcd_89^post72, (0 == 0 /\ -__disjvr_2^post72+__disjvr_2^0 == 0 /\ -a_343^post72+a_343^0 == 0 /\ x_26^0-x_26^post72 == 0 /\ -a_289^post72+a_289^0 == 0 /\ __disjvr_0^0-__disjvr_0^post72 == 0 /\ __disjvr_24^0-__disjvr_24^post72 == 0 /\ -__disjvr_8^post72+__disjvr_8^0 == 0 /\ -head_32^post72+tmp_34^post72 <= 0 /\ a_225^0-a_225^post72 == 0 /\ -__disjvr_5^post72+__disjvr_5^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post72-tmp_34^post72 <= 0 /\ __disjvr_11^0-__disjvr_11^post72 == 0 /\ r_165^0-r_165^post72 == 0 /\ __disjvr_19^0-__disjvr_19^post72 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post72 == 0 /\ -__disjvr_10^post72+__disjvr_10^0 == 0 /\ __disjvr_16^0-__disjvr_16^post72 == 0 /\ length_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post72 <= 0 /\ a_342^0-a_342^post72 == 0 /\ -a_188^post72+a_188^0 == 0 /\ -__disjvr_13^post72+__disjvr_13^0 == 0 /\ -__disjvr_1^post72+__disjvr_1^0 == 0 /\ length_28^0-length_28^post72 == 0 /\ -x_131^post72+x_131^0 == 0 /\ -__disjvr_17^post72+__disjvr_17^0 == 0 /\ -__disjvr_26^post72+__disjvr_26^0 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post72 == 0 /\ head_32^post72-tmp_34^post72 <= 0 /\ head_32^post72-tmp_34^post72 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post72+tmp_34^post72 <= 0 /\ 2-i_30^post72 <= 0 /\ __disjvr_29^0-__disjvr_29^post72 == 0 /\ temp0_31^0-temp0_31^post72 == 0 /\ a_281^0-a_281^post72 == 0 /\ head_15^0-head_15^post72 == 0 /\ -a_118^post72+a_118^0 == 0 /\ -length_28^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post72 <= 0 /\ __disjvr_4^0-__disjvr_4^post72 == 0 /\ -__disjvr_25^post72+__disjvr_25^0 == 0 /\ -t_22^post72+t_22^0 == 0 /\ __disjvr_23^0-__disjvr_23^post72 == 0 /\ __disjvr_18^0-__disjvr_18^post72 == 0 /\ 1-length_28^0+i_30^0 <= 0 /\ -__disjvr_28^post72+__disjvr_28^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post72+head_32^post72 <= 0 /\ __disjvr_9^0-__disjvr_9^post72 == 0 /\ -y_18^post72+y_18^0 == 0 /\ i_95^0-i_95^post72 == 0 /\ x_176^0-x_176^post72 == 0 /\ -__disjvr_7^post72+__disjvr_7^0 == 0 /\ -rcd_89^post72+rcd_89^0 == 0 /\ a_149^0-a_149^post72 == 0 /\ -__disjvr_15^post72+__disjvr_15^0 == 0 /\ tail_14^post72-head_SLAM_f_29^post72 <= 0 /\ __disjvr_21^0-__disjvr_21^post72 == 0 /\ 2-length_28^0 <= 0 /\ -r_126^post72+r_126^0 == 0 /\ -x_19^post72+x_19^0 == 0 /\ temp0_16^0-temp0_16^post72 == 0 /\ -i_110^post72+i_110^0 == 0 /\ -__disjvr_12^post72+__disjvr_12^0 == 0 /\ 1-length_28^0 <= 0 /\ -f_171^post72+f_171^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post72-head_32^post72 <= 0 /\ tmp_34^post72-temp_35^0 == 0 /\ __disjvr_6^0-__disjvr_6^post72 == 0 /\ -result_11^post72+result_11^0 == 0 /\ __disjvr_20^0-__disjvr_20^post72 == 0 /\ -__disjvr_27^post72+__disjvr_27^0 == 0 /\ -2+i_30^post72 <= 0 /\ -1+i_30^post72-i_30^0 == 0 /\ __disjvr_14^0-__disjvr_14^post72 == 0 /\ -len_187^post72+len_187^0 == 0 /\ -len_134^post72+len_134^0 == 0 /\ -__disjvr_3^post72+__disjvr_3^0 == 0 /\ __disjvr_22^0-__disjvr_22^post72 == 0 /\ y_25^0-y_25^post72 == 0 /\ -tail_14^post72+head_SLAM_f_29^post72 <= 0 /\ -nondet_12^post72+nondet_12^0 == 0 /\ r_39^0-r_39^post72 == 0), cost: 1
   6: l6 -> l8 : __disjvr_0^0'=__disjvr_0^post6, a_281^0'=a_281^post6, x_SLAM_f_24^0'=x_SLAM_f_24^post6, __disjvr_21^0'=__disjvr_21^post6, __disjvr_4^0'=__disjvr_4^post6, tail_14^0'=tail_14^post6, __disjvr_14^0'=__disjvr_14^post6, head_15^0'=head_15^post6, __disjvr_24^0'=__disjvr_24^post6, r_165^0'=r_165^post6, __disjvr_9^0'=__disjvr_9^post6, a_149^0'=a_149^post6, x_19^0'=x_19^post6, __disjvr_19^0'=__disjvr_19^post6, i_95^0'=i_95^post6, __disjvr_29^0'=__disjvr_29^post6, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post6, __disjvr_11^0'=__disjvr_11^post6, a_342^0'=a_342^post6, y_25^0'=y_25^post6, length_28^0'=length_28^post6, __disjvr_6^0'=__disjvr_6^post6, temp0_31^0'=temp0_31^post6, __disjvr_16^0'=__disjvr_16^post6, head_SLAM_f_29^0'=head_SLAM_f_29^post6, __disjvr_26^0'=__disjvr_26^post6, rcd_59^0'=rcd_59^post6, a_225^0'=a_225^post6, x_SLAM_f_17^0'=x_SLAM_f_17^post6, __disjvr_20^0'=__disjvr_20^post6, len_187^0'=len_187^post6, __disjvr_3^0'=__disjvr_3^post6, t_22^0'=t_22^post6, __disjvr_13^0'=__disjvr_13^post6, f_171^0'=f_171^post6, __disjvr_23^0'=__disjvr_23^post6, r_126^0'=r_126^post6, __disjvr_8^0'=__disjvr_8^post6, tmp_34^0'=tmp_34^post6, x_176^0'=x_176^post6, __disjvr_18^0'=__disjvr_18^post6, i_30^0'=i_30^post6, __disjvr_28^0'=__disjvr_28^post6, result_11^0'=result_11^post6, __disjvr_10^0'=__disjvr_10^post6, a_289^0'=a_289^post6, y_18^0'=y_18^post6, __disjvr_22^0'=__disjvr_22^post6, __disjvr_5^0'=__disjvr_5^post6, temp0_16^0'=temp0_16^post6, __disjvr_15^0'=__disjvr_15^post6, head_32^0'=head_32^post6, __disjvr_25^0'=__disjvr_25^post6, r_39^0'=r_39^post6, a_118^0'=a_118^post6, a_188^0'=a_188^post6, x_26^0'=x_26^post6, __disjvr_1^0'=__disjvr_1^post6, len_134^0'=len_134^post6, __disjvr_2^0'=__disjvr_2^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, __disjvr_12^0'=__disjvr_12^post6, a_343^0'=a_343^post6, nondet_12^0'=nondet_12^post6, __disjvr_7^0'=__disjvr_7^post6, temp_35^0'=temp_35^post6, x_131^0'=x_131^post6, __disjvr_17^0'=__disjvr_17^post6, i_110^0'=i_110^post6, __disjvr_27^0'=__disjvr_27^post6, rcd_89^0'=rcd_89^post6, (0 == 0 /\ len_134^0-len_134^post6 == 0 /\ x_19^0-x_19^post6 == 0 /\ __disjvr_14^0-__disjvr_14^post6 == 0 /\ -x_26^post6+x_26^0 == 0 /\ -a_149^0 <= 0 /\ -r_126^post6+r_126^0 == 0 /\ -rcd_59^post6+rcd_59^0 == 0 /\ length_28^0-length_28^post6 == 0 /\ -__disjvr_3^post6+__disjvr_3^0 == 0 /\ -a_225^post6+a_225^0 == 0 /\ __disjvr_4^0-__disjvr_4^post6 == 0 /\ a_289^0-a_289^post6 == 0 /\ a_281^0-a_281^post6 == 0 /\ -__disjvr_28^post6+__disjvr_28^0 == 0 /\ -__disjvr_11^post6+__disjvr_11^0 == 0 /\ -x_131^post6+x_131^0 == 0 /\ -__disjvr_17^post6+__disjvr_17^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post6 == 0 /\ temp0_31^0-temp0_31^post6 == 0 /\ f_171^0-f_171^post6 == 0 /\ -__disjvr_22^post6+__disjvr_22^0 == 0 /\ __disjvr_8^0-__disjvr_8^post6 == 0 /\ x_176^0-x_176^post6 == 0 /\ -__disjvr_12^post6+__disjvr_12^0 == 0 /\ -a_281^0 <= 0 /\ -__disjvr_13^post6+__disjvr_13^0 == 0 /\ __disjvr_24^0-__disjvr_24^post6 == 0 /\ -head_32^post6+head_32^0 == 0 /\ -head_SLAM_f_29^post6+head_SLAM_f_29^0 == 0 /\ -rcd_89^post6+rcd_89^0 == 0 /\ __disjvr_21^0-__disjvr_21^post6 == 0 /\ len_187^0-len_187^post6 == 0 /\ -__disjvr_5^post6+__disjvr_5^0 == 0 /\ __disjvr_16^0-__disjvr_16^post6 == 0 /\ -a_343^post6+a_343^0 == 0 /\ -nondet_12^post6+nondet_12^0 == 0 /\ __disjvr_19^0-__disjvr_19^post6 == 0 /\ -a_188^post6+a_188^0 == 0 /\ -__disjvr_6^post6+__disjvr_6^0 == 0 /\ __disjvr_25^0-__disjvr_25^post6 == 0 /\ __disjvr_29^0-__disjvr_29^post6 == 0 /\ __disjvr_20^0-__disjvr_20^post6 == 0 /\ __disjvr_23^0-__disjvr_23^post6 == 0 /\ -temp_35^post6+temp_35^0 == 0 /\ -__disjvr_2^post6+__disjvr_2^0 == 0 /\ -y_25^post6+y_25^0 == 0 /\ -a_149^post6+a_149^0 == 0 /\ temp0_16^0-temp0_16^post6 == 0 /\ -__disjvr_15^post6+__disjvr_15^0 == 0 /\ i_110^0-i_110^post6 == 0 /\ __disjvr_18^0-__disjvr_18^post6 == 0 /\ -__disjvr_1^post6+__disjvr_1^0 == 0 /\ -i_95^post6+i_95^0 == 0 /\ __disjvr_0^0-__disjvr_0^post6 == 0 /\ -a_118^post6+a_118^0 == 0 /\ -__disjvr_9^post6+__disjvr_9^0 == 0 /\ __disjvr_26^0-__disjvr_26^post6 == 0 /\ -tmp_34^post6+tmp_34^0 == 0 /\ t_22^0-t_22^post6 == 0 /\ -__disjvr_7^post6+__disjvr_7^0 == 0 /\ r_165^0-r_165^post6 == 0 /\ -i_30^post6+i_30^0 == 0 /\ -__disjvr_10^post6+__disjvr_10^0 == 0 /\ -y_18^post6+y_18^0 == 0 /\ __disjvr_27^0-__disjvr_27^post6 == 0 /\ result_11^0-result_11^post6 == 0 /\ a_342^0-a_342^post6 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post6 == 0), cost: 1
   7: l8 -> l9 : __disjvr_0^0'=__disjvr_0^post7, a_281^0'=a_281^post7, x_SLAM_f_24^0'=x_SLAM_f_24^post7, __disjvr_21^0'=__disjvr_21^post7, __disjvr_4^0'=__disjvr_4^post7, tail_14^0'=tail_14^post7, __disjvr_14^0'=__disjvr_14^post7, head_15^0'=head_15^post7, __disjvr_24^0'=__disjvr_24^post7, r_165^0'=r_165^post7, __disjvr_9^0'=__disjvr_9^post7, a_149^0'=a_149^post7, x_19^0'=x_19^post7, __disjvr_19^0'=__disjvr_19^post7, i_95^0'=i_95^post7, __disjvr_29^0'=__disjvr_29^post7, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post7, __disjvr_11^0'=__disjvr_11^post7, a_342^0'=a_342^post7, y_25^0'=y_25^post7, length_28^0'=length_28^post7, __disjvr_6^0'=__disjvr_6^post7, temp0_31^0'=temp0_31^post7, __disjvr_16^0'=__disjvr_16^post7, head_SLAM_f_29^0'=head_SLAM_f_29^post7, __disjvr_26^0'=__disjvr_26^post7, rcd_59^0'=rcd_59^post7, a_225^0'=a_225^post7, x_SLAM_f_17^0'=x_SLAM_f_17^post7, __disjvr_20^0'=__disjvr_20^post7, len_187^0'=len_187^post7, __disjvr_3^0'=__disjvr_3^post7, t_22^0'=t_22^post7, __disjvr_13^0'=__disjvr_13^post7, f_171^0'=f_171^post7, __disjvr_23^0'=__disjvr_23^post7, r_126^0'=r_126^post7, __disjvr_8^0'=__disjvr_8^post7, tmp_34^0'=tmp_34^post7, x_176^0'=x_176^post7, __disjvr_18^0'=__disjvr_18^post7, i_30^0'=i_30^post7, __disjvr_28^0'=__disjvr_28^post7, result_11^0'=result_11^post7, __disjvr_10^0'=__disjvr_10^post7, a_289^0'=a_289^post7, y_18^0'=y_18^post7, __disjvr_22^0'=__disjvr_22^post7, __disjvr_5^0'=__disjvr_5^post7, temp0_16^0'=temp0_16^post7, __disjvr_15^0'=__disjvr_15^post7, head_32^0'=head_32^post7, __disjvr_25^0'=__disjvr_25^post7, r_39^0'=r_39^post7, a_118^0'=a_118^post7, a_188^0'=a_188^post7, x_26^0'=x_26^post7, __disjvr_1^0'=__disjvr_1^post7, len_134^0'=len_134^post7, __disjvr_2^0'=__disjvr_2^post7, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post7, __disjvr_12^0'=__disjvr_12^post7, a_343^0'=a_343^post7, nondet_12^0'=nondet_12^post7, __disjvr_7^0'=__disjvr_7^post7, temp_35^0'=temp_35^post7, x_131^0'=x_131^post7, __disjvr_17^0'=__disjvr_17^post7, i_110^0'=i_110^post7, __disjvr_27^0'=__disjvr_27^post7, rcd_89^0'=rcd_89^post7, (x_SLAM_f_24^0-x_SLAM_f_24^post7 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post7 == 0 /\ r_165^0-r_165^post7 == 0 /\ -__disjvr_15^post7+__disjvr_15^0 == 0 /\ __disjvr_2^0-__disjvr_2^post7 == 0 /\ -len_134^post7+len_134^0 == 0 /\ -__disjvr_12^post7+__disjvr_12^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post7 == 0 /\ temp0_31^0-temp0_31^post7 == 0 /\ f_171^0-f_171^post7 == 0 /\ a_342^0-a_342^post7 == 0 /\ -__disjvr_7^post7+__disjvr_7^0 == 0 /\ -head_SLAM_f_29^post7+head_SLAM_f_29^0 == 0 /\ -y_18^post7+y_18^0 == 0 /\ __disjvr_24^0-__disjvr_24^post7 == 0 /\ -a_225^post7+a_225^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post7 == 0 /\ -a_188^post7+a_188^0 == 0 /\ __disjvr_29^0-__disjvr_29^post7 == 0 /\ a_281^0-a_281^post7 == 0 /\ -__disjvr_8^post7+__disjvr_8^0 == 0 /\ tail_14^0-tail_14^post7 == 0 /\ __disjvr_26^0-__disjvr_26^post7 == 0 /\ len_187^0-len_187^post7 == 0 /\ -a_343^post7+a_343^0 == 0 /\ tmp_34^0-tmp_34^post7 == 0 /\ __disjvr_21^0-__disjvr_21^post7 == 0 /\ -__disjvr_3^post7+__disjvr_3^0 == 0 /\ -__disjvr_6^post7+__disjvr_6^0 == 0 /\ x_19^0-x_19^post7 == 0 /\ -__disjvr_16^post7+__disjvr_16^0 == 0 /\ -__disjvr_17^post7+__disjvr_17^0 == 0 /\ -x_131^post7+x_131^0 == 0 /\ -y_25^post7+y_25^0 == 0 /\ -__disjvr_22^post7+__disjvr_22^0 == 0 /\ __disjvr_18^0-__disjvr_18^post7 == 0 /\ -__disjvr_11^post7+__disjvr_11^0 == 0 /\ __disjvr_25^0-__disjvr_25^post7 == 0 /\ t_22^0-t_22^post7 == 0 /\ -head_15^post7+head_15^0 == 0 /\ __disjvr_9^0-__disjvr_9^post7 == 0 /\ -a_289^post7+a_289^0 == 0 /\ __disjvr_20^0-__disjvr_20^post7 == 0 /\ -__disjvr_1^post7+__disjvr_1^0 == 0 /\ -length_28^post7+length_28^0 == 0 /\ -__disjvr_13^post7+__disjvr_13^0 == 0 /\ __disjvr_4^0-__disjvr_4^post7 == 0 /\ -a_118^post7+a_118^0 == 0 /\ -i_30^post7+i_30^0 == 0 /\ -__disjvr_5^post7+__disjvr_5^0 == 0 /\ -nondet_12^post7+nondet_12^0 == 0 /\ -rcd_89^post7+rcd_89^0 == 0 /\ -head_32^post7+head_32^0 == 0 /\ x_176^0-x_176^post7 == 0 /\ __disjvr_23^0-__disjvr_23^post7 == 0 /\ -__disjvr_10^post7+__disjvr_10^0 == 0 /\ -__disjvr_0^0+__disjvr_0^post7 == 0 /\ i_95^0-i_95^post7 == 0 /\ -r_126^post7+r_126^0 == 0 /\ result_11^0-result_11^post7 == 0 /\ __disjvr_14^0-__disjvr_14^post7 == 0 /\ -temp_35^post7+temp_35^0 == 0 /\ -x_26^post7+x_26^0 == 0 /\ rcd_59^0-rcd_59^post7 == 0 /\ temp0_16^0-temp0_16^post7 == 0 /\ -__disjvr_27^post7+__disjvr_27^0 == 0 /\ -__disjvr_28^post7+__disjvr_28^0 == 0 /\ -r_39^post7+r_39^0 == 0 /\ -i_110^post7+i_110^0 == 0 /\ __disjvr_19^0-__disjvr_19^post7 == 0 /\ __disjvr_0^0-__disjvr_0^post7 == 0 /\ -a_149^post7+a_149^0 == 0), cost: 1
   8: l9 -> l10 : __disjvr_0^0'=__disjvr_0^post8, a_281^0'=a_281^post8, x_SLAM_f_24^0'=x_SLAM_f_24^post8, __disjvr_21^0'=__disjvr_21^post8, __disjvr_4^0'=__disjvr_4^post8, tail_14^0'=tail_14^post8, __disjvr_14^0'=__disjvr_14^post8, head_15^0'=head_15^post8, __disjvr_24^0'=__disjvr_24^post8, r_165^0'=r_165^post8, __disjvr_9^0'=__disjvr_9^post8, a_149^0'=a_149^post8, x_19^0'=x_19^post8, __disjvr_19^0'=__disjvr_19^post8, i_95^0'=i_95^post8, __disjvr_29^0'=__disjvr_29^post8, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post8, __disjvr_11^0'=__disjvr_11^post8, a_342^0'=a_342^post8, y_25^0'=y_25^post8, length_28^0'=length_28^post8, __disjvr_6^0'=__disjvr_6^post8, temp0_31^0'=temp0_31^post8, __disjvr_16^0'=__disjvr_16^post8, head_SLAM_f_29^0'=head_SLAM_f_29^post8, __disjvr_26^0'=__disjvr_26^post8, rcd_59^0'=rcd_59^post8, a_225^0'=a_225^post8, x_SLAM_f_17^0'=x_SLAM_f_17^post8, __disjvr_20^0'=__disjvr_20^post8, len_187^0'=len_187^post8, __disjvr_3^0'=__disjvr_3^post8, t_22^0'=t_22^post8, __disjvr_13^0'=__disjvr_13^post8, f_171^0'=f_171^post8, __disjvr_23^0'=__disjvr_23^post8, r_126^0'=r_126^post8, __disjvr_8^0'=__disjvr_8^post8, tmp_34^0'=tmp_34^post8, x_176^0'=x_176^post8, __disjvr_18^0'=__disjvr_18^post8, i_30^0'=i_30^post8, __disjvr_28^0'=__disjvr_28^post8, result_11^0'=result_11^post8, __disjvr_10^0'=__disjvr_10^post8, a_289^0'=a_289^post8, y_18^0'=y_18^post8, __disjvr_22^0'=__disjvr_22^post8, __disjvr_5^0'=__disjvr_5^post8, temp0_16^0'=temp0_16^post8, __disjvr_15^0'=__disjvr_15^post8, head_32^0'=head_32^post8, __disjvr_25^0'=__disjvr_25^post8, r_39^0'=r_39^post8, a_118^0'=a_118^post8, a_188^0'=a_188^post8, x_26^0'=x_26^post8, __disjvr_1^0'=__disjvr_1^post8, len_134^0'=len_134^post8, __disjvr_2^0'=__disjvr_2^post8, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post8, __disjvr_12^0'=__disjvr_12^post8, a_343^0'=a_343^post8, nondet_12^0'=nondet_12^post8, __disjvr_7^0'=__disjvr_7^post8, temp_35^0'=temp_35^post8, x_131^0'=x_131^post8, __disjvr_17^0'=__disjvr_17^post8, i_110^0'=i_110^post8, __disjvr_27^0'=__disjvr_27^post8, rcd_89^0'=rcd_89^post8, (0 == 0 /\ -a_188^post8+a_188^0 == 0 /\ -__disjvr_8^post8+__disjvr_8^0 == 0 /\ len_187^0-len_187^post8 == 0 /\ -__disjvr_2^post8+__disjvr_2^0 == 0 /\ -head_15^0+x_SLAM_f_17^0 <= 0 /\ __disjvr_18^0-__disjvr_18^post8 == 0 /\ __disjvr_0^0-__disjvr_0^post8 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post8 == 0 /\ -__disjvr_6^post8+__disjvr_6^0 == 0 /\ r_165^0-r_165^post8 == 0 /\ -__disjvr_27^post8+__disjvr_27^0 == 0 /\ -__disjvr_16^post8+__disjvr_16^0 == 0 /\ a_342^post8 <= 0 /\ __disjvr_26^0-__disjvr_26^post8 == 0 /\ -i_110^post8+i_110^0 == 0 /\ -x_19^0+t_22^post8 == 0 /\ -__disjvr_20^post8+__disjvr_20^0 == 0 /\ -r_39^post8+r_39^0 == 0 /\ -a_342^post8 <= 0 /\ -temp_35^post8+temp_35^0 == 0 /\ x_19^0-x_19^post8 == 0 /\ 1+a_343^post8-a_281^0-a_149^0 <= 0 /\ -__disjvr_17^post8+__disjvr_17^0 == 0 /\ head_SLAM_f_29^0-head_SLAM_f_29^post8 == 0 /\ head_15^0-x_SLAM_f_17^0 <= 0 /\ -i_30^post8+i_30^0 == 0 /\ -length_28^post8+length_28^0 == 0 /\ -a_118^post8+a_118^0 == 0 /\ -__disjvr_1^post8+__disjvr_1^0 == 0 /\ y_25^0-y_25^post8 == 0 /\ -y_18^post8+y_18^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post8 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post8 == 0 /\ a_281^0-a_281^post8 == 0 /\ tail_14^0-tail_14^post8 == 0 /\ -__disjvr_10^post8+__disjvr_10^0 == 0 /\ temp0_31^0-temp0_31^post8 == 0 /\ a_225^0-a_225^post8 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post8 == 0 /\ x_176^0-x_176^post8 == 0 /\ temp0_16^0-temp0_16^post8 == 0 /\ __disjvr_23^0-__disjvr_23^post8 == 0 /\ __disjvr_9^0-__disjvr_9^post8 == 0 /\ -x_26^post8+x_26^0 == 0 /\ -__disjvr_3^post8+__disjvr_3^0 == 0 /\ -f_171^post8+f_171^0 == 0 /\ -tail_14^0+y_18^0 <= 0 /\ a_149^0-a_149^post8 == 0 /\ -__disjvr_15^post8+__disjvr_15^0 == 0 /\ -x_131^post8+x_131^0 == 0 /\ -__disjvr_28^post8+__disjvr_28^0 == 0 /\ __disjvr_7^0-__disjvr_7^post8 == 0 /\ -__disjvr_22^post8+__disjvr_22^0 == 0 /\ tmp_34^0-tmp_34^post8 == 0 /\ result_11^0-result_11^post8 == 0 /\ -__disjvr_24^post8+__disjvr_24^0 == 0 /\ __disjvr_19^0-__disjvr_19^post8 == 0 /\ __disjvr_14^0-__disjvr_14^post8 == 0 /\ -1-a_343^post8+a_281^0+a_149^0 <= 0 /\ __disjvr_21^0-__disjvr_21^post8 == 0 /\ rcd_59^0-rcd_59^post8 == 0 /\ -a_289^post8+a_289^0 == 0 /\ __disjvr_29^0-__disjvr_29^post8 == 0 /\ -__disjvr_12^post8+__disjvr_12^0 == 0 /\ __disjvr_25^0-__disjvr_25^post8 == 0 /\ -__disjvr_13^post8+__disjvr_13^0 == 0 /\ __disjvr_11^0-__disjvr_11^post8 == 0 /\ -nondet_12^post8+nondet_12^0 == 0 /\ -head_32^post8+head_32^0 == 0 /\ -__disjvr_5^post8+__disjvr_5^0 == 0 /\ i_95^0-i_95^post8 == 0 /\ tail_14^0-y_18^0 <= 0 /\ -r_126^post8+r_126^0 == 0 /\ -rcd_89^post8+rcd_89^0 == 0 /\ -len_134^post8+len_134^0 == 0 /\ head_15^0-head_15^post8 == 0 /\ __disjvr_4^0-__disjvr_4^post8 == 0), cost: 1
   9: l10 -> l11 : __disjvr_0^0'=__disjvr_0^post9, a_281^0'=a_281^post9, x_SLAM_f_24^0'=x_SLAM_f_24^post9, __disjvr_21^0'=__disjvr_21^post9, __disjvr_4^0'=__disjvr_4^post9, tail_14^0'=tail_14^post9, __disjvr_14^0'=__disjvr_14^post9, head_15^0'=head_15^post9, __disjvr_24^0'=__disjvr_24^post9, r_165^0'=r_165^post9, __disjvr_9^0'=__disjvr_9^post9, a_149^0'=a_149^post9, x_19^0'=x_19^post9, __disjvr_19^0'=__disjvr_19^post9, i_95^0'=i_95^post9, __disjvr_29^0'=__disjvr_29^post9, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post9, __disjvr_11^0'=__disjvr_11^post9, a_342^0'=a_342^post9, y_25^0'=y_25^post9, length_28^0'=length_28^post9, __disjvr_6^0'=__disjvr_6^post9, temp0_31^0'=temp0_31^post9, __disjvr_16^0'=__disjvr_16^post9, head_SLAM_f_29^0'=head_SLAM_f_29^post9, __disjvr_26^0'=__disjvr_26^post9, rcd_59^0'=rcd_59^post9, a_225^0'=a_225^post9, x_SLAM_f_17^0'=x_SLAM_f_17^post9, __disjvr_20^0'=__disjvr_20^post9, len_187^0'=len_187^post9, __disjvr_3^0'=__disjvr_3^post9, t_22^0'=t_22^post9, __disjvr_13^0'=__disjvr_13^post9, f_171^0'=f_171^post9, __disjvr_23^0'=__disjvr_23^post9, r_126^0'=r_126^post9, __disjvr_8^0'=__disjvr_8^post9, tmp_34^0'=tmp_34^post9, x_176^0'=x_176^post9, __disjvr_18^0'=__disjvr_18^post9, i_30^0'=i_30^post9, __disjvr_28^0'=__disjvr_28^post9, result_11^0'=result_11^post9, __disjvr_10^0'=__disjvr_10^post9, a_289^0'=a_289^post9, y_18^0'=y_18^post9, __disjvr_22^0'=__disjvr_22^post9, __disjvr_5^0'=__disjvr_5^post9, temp0_16^0'=temp0_16^post9, __disjvr_15^0'=__disjvr_15^post9, head_32^0'=head_32^post9, __disjvr_25^0'=__disjvr_25^post9, r_39^0'=r_39^post9, a_118^0'=a_118^post9, a_188^0'=a_188^post9, x_26^0'=x_26^post9, __disjvr_1^0'=__disjvr_1^post9, len_134^0'=len_134^post9, __disjvr_2^0'=__disjvr_2^post9, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post9, __disjvr_12^0'=__disjvr_12^post9, a_343^0'=a_343^post9, nondet_12^0'=nondet_12^post9, __disjvr_7^0'=__disjvr_7^post9, temp_35^0'=temp_35^post9, x_131^0'=x_131^post9, __disjvr_17^0'=__disjvr_17^post9, i_110^0'=i_110^post9, __disjvr_27^0'=__disjvr_27^post9, rcd_89^0'=rcd_89^post9, (a_289^0-a_289^post9 == 0 /\ result_11^0-result_11^post9 == 0 /\ -temp0_31^post9+temp0_31^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post9+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ tail_14^0-tail_14^post9 == 0 /\ -__disjvr_13^post9+__disjvr_13^0 == 0 /\ len_187^0-len_187^post9 == 0 /\ -i_110^post9+i_110^0 == 0 /\ a_149^0-a_149^post9 == 0 /\ -length_28^post9+length_28^0 == 0 /\ -__disjvr_10^post9+__disjvr_10^0 == 0 /\ -__disjvr_5^post9+__disjvr_5^0 == 0 /\ __disjvr_19^0-__disjvr_19^post9 == 0 /\ -nondet_12^post9+nondet_12^0 == 0 /\ -head_32^post9+head_32^0 == 0 /\ -i_30^post9+i_30^0 == 0 /\ __disjvr_21^0-__disjvr_21^post9 == 0 /\ -rcd_89^post9+rcd_89^0 == 0 /\ __disjvr_0^0-__disjvr_0^post9 == 0 /\ -__disjvr_26^post9+__disjvr_26^0 == 0 /\ __disjvr_14^0-__disjvr_14^post9 == 0 /\ t_22^0-t_22^post9 == 0 /\ -__disjvr_1^0+__disjvr_1^post9 == 0 /\ __disjvr_18^0-__disjvr_18^post9 == 0 /\ __disjvr_16^0-__disjvr_16^post9 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post9+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post9 == 0 /\ -__disjvr_28^post9+__disjvr_28^0 == 0 /\ -x_26^post9+x_26^0 == 0 /\ x_176^0-x_176^post9 == 0 /\ -__disjvr_27^post9+__disjvr_27^0 == 0 /\ -a_118^post9+a_118^0 == 0 /\ __disjvr_24^0-__disjvr_24^post9 == 0 /\ -__disjvr_20^post9+__disjvr_20^0 == 0 /\ __disjvr_23^0-__disjvr_23^post9 == 0 /\ a_343^0-a_343^post9 == 0 /\ __disjvr_1^0-__disjvr_1^post9 == 0 /\ -r_39^post9+r_39^0 == 0 /\ y_25^0-y_25^post9 == 0 /\ -__disjvr_12^post9+__disjvr_12^0 == 0 /\ i_95^0-i_95^post9 == 0 /\ -temp_35^post9+temp_35^0 == 0 /\ -x_131^post9+x_131^0 == 0 /\ __disjvr_7^0-__disjvr_7^post9 == 0 /\ tmp_34^0-tmp_34^post9 == 0 /\ -head_SLAM_f_29^post9+head_SLAM_f_29^0 == 0 /\ a_225^0-a_225^post9 == 0 /\ temp0_16^0-temp0_16^post9 == 0 /\ -y_18^post9+y_18^0 == 0 /\ -__disjvr_4^post9+__disjvr_4^0 == 0 /\ -r_126^post9+r_126^0 == 0 /\ -a_342^post9+a_342^0 == 0 /\ rcd_59^0-rcd_59^post9 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post9 == 0 /\ __disjvr_9^0-__disjvr_9^post9 == 0 /\ __disjvr_25^0-__disjvr_25^post9 == 0 /\ __disjvr_6^0-__disjvr_6^post9 == 0 /\ __disjvr_11^0-__disjvr_11^post9 == 0 /\ -__disjvr_8^post9+__disjvr_8^0 == 0 /\ -a_188^post9+a_188^0 == 0 /\ -len_134^post9+len_134^0 == 0 /\ __disjvr_17^0-__disjvr_17^post9 == 0 /\ -__disjvr_3^post9+__disjvr_3^0 == 0 /\ x_19^0-x_19^post9 == 0 /\ -__disjvr_2^post9+__disjvr_2^0 == 0 /\ head_15^0-head_15^post9 == 0 /\ -f_171^post9+f_171^0 == 0 /\ r_165^0-r_165^post9 == 0 /\ -__disjvr_22^post9+__disjvr_22^0 == 0 /\ -__disjvr_15^post9+__disjvr_15^0 == 0 /\ __disjvr_29^0-__disjvr_29^post9 == 0 /\ a_281^0-a_281^post9 == 0), cost: 1
  10: l11 -> l12 : __disjvr_0^0'=__disjvr_0^post10, a_281^0'=a_281^post10, x_SLAM_f_24^0'=x_SLAM_f_24^post10, __disjvr_21^0'=__disjvr_21^post10, __disjvr_4^0'=__disjvr_4^post10, tail_14^0'=tail_14^post10, __disjvr_14^0'=__disjvr_14^post10, head_15^0'=head_15^post10, __disjvr_24^0'=__disjvr_24^post10, r_165^0'=r_165^post10, __disjvr_9^0'=__disjvr_9^post10, a_149^0'=a_149^post10, x_19^0'=x_19^post10, __disjvr_19^0'=__disjvr_19^post10, i_95^0'=i_95^post10, __disjvr_29^0'=__disjvr_29^post10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post10, __disjvr_11^0'=__disjvr_11^post10, a_342^0'=a_342^post10, y_25^0'=y_25^post10, length_28^0'=length_28^post10, __disjvr_6^0'=__disjvr_6^post10, temp0_31^0'=temp0_31^post10, __disjvr_16^0'=__disjvr_16^post10, head_SLAM_f_29^0'=head_SLAM_f_29^post10, __disjvr_26^0'=__disjvr_26^post10, rcd_59^0'=rcd_59^post10, a_225^0'=a_225^post10, x_SLAM_f_17^0'=x_SLAM_f_17^post10, __disjvr_20^0'=__disjvr_20^post10, len_187^0'=len_187^post10, __disjvr_3^0'=__disjvr_3^post10, t_22^0'=t_22^post10, __disjvr_13^0'=__disjvr_13^post10, f_171^0'=f_171^post10, __disjvr_23^0'=__disjvr_23^post10, r_126^0'=r_126^post10, __disjvr_8^0'=__disjvr_8^post10, tmp_34^0'=tmp_34^post10, x_176^0'=x_176^post10, __disjvr_18^0'=__disjvr_18^post10, i_30^0'=i_30^post10, __disjvr_28^0'=__disjvr_28^post10, result_11^0'=result_11^post10, __disjvr_10^0'=__disjvr_10^post10, a_289^0'=a_289^post10, y_18^0'=y_18^post10, __disjvr_22^0'=__disjvr_22^post10, __disjvr_5^0'=__disjvr_5^post10, temp0_16^0'=temp0_16^post10, __disjvr_15^0'=__disjvr_15^post10, head_32^0'=head_32^post10, __disjvr_25^0'=__disjvr_25^post10, r_39^0'=r_39^post10, a_118^0'=a_118^post10, a_188^0'=a_188^post10, x_26^0'=x_26^post10, __disjvr_1^0'=__disjvr_1^post10, len_134^0'=len_134^post10, __disjvr_2^0'=__disjvr_2^post10, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post10, __disjvr_12^0'=__disjvr_12^post10, a_343^0'=a_343^post10, nondet_12^0'=nondet_12^post10, __disjvr_7^0'=__disjvr_7^post10, temp_35^0'=temp_35^post10, x_131^0'=x_131^post10, __disjvr_17^0'=__disjvr_17^post10, i_110^0'=i_110^post10, __disjvr_27^0'=__disjvr_27^post10, rcd_89^0'=rcd_89^post10, (-r_126^post10+r_126^0 == 0 /\ f_171^0-f_171^post10 == 0 /\ -head_32^post10+head_32^0 == 0 /\ length_28^0-length_28^post10 == 0 /\ __disjvr_21^0-__disjvr_21^post10 == 0 /\ -rcd_89^post10+rcd_89^0 == 0 /\ -__disjvr_3^post10+__disjvr_3^0 == 0 /\ __disjvr_14^0-__disjvr_14^post10 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post10+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ a_281^0-a_281^post10 == 0 /\ -x_26^post10+x_26^0 == 0 /\ -__disjvr_28^post10+__disjvr_28^0 == 0 /\ a_289^0-a_289^post10 == 0 /\ tail_14^0-tail_14^post10 == 0 /\ temp0_31^0-temp0_31^post10 == 0 /\ -__disjvr_22^post10+__disjvr_22^0 == 0 /\ x_19^0-x_19^post10 == 0 /\ -__disjvr_15^post10+__disjvr_15^0 == 0 /\ __disjvr_4^0-__disjvr_4^post10 == 0 /\ -__disjvr_1^post10+__disjvr_1^0 == 0 /\ -nondet_12^post10+nondet_12^0 == 0 /\ __disjvr_24^0-__disjvr_24^post10 == 0 /\ x_176^0-x_176^post10 == 0 /\ __disjvr_9^0-__disjvr_9^post10 == 0 /\ -__disjvr_27^post10+__disjvr_27^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post10+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -__disjvr_12^post10+__disjvr_12^0 == 0 /\ -__disjvr_19^post10+__disjvr_19^0 == 0 /\ a_343^0-a_343^post10 == 0 /\ -i_110^post10+i_110^0 == 0 /\ -head_SLAM_f_29^post10+head_SLAM_f_29^0 == 0 /\ -a_342^post10+a_342^0 == 0 /\ __disjvr_16^0-__disjvr_16^post10 == 0 /\ len_187^0-len_187^post10 == 0 /\ a_149^0-a_149^post10 == 0 /\ -__disjvr_8^post10+__disjvr_8^0 == 0 /\ -__disjvr_5^post10+__disjvr_5^0 == 0 /\ -len_134^post10+len_134^0 == 0 /\ rcd_59^0-rcd_59^post10 == 0 /\ -a_188^post10+a_188^0 == 0 /\ __disjvr_29^0-__disjvr_29^post10 == 0 /\ -t_22^post10+t_22^0 == 0 /\ __disjvr_25^0-__disjvr_25^post10 == 0 /\ __disjvr_11^0-__disjvr_11^post10 == 0 /\ y_25^0-y_25^post10 == 0 /\ __disjvr_6^0-__disjvr_6^post10 == 0 /\ -r_39^post10+r_39^0 == 0 /\ __disjvr_0^0-__disjvr_0^post10 == 0 /\ __disjvr_20^0-__disjvr_20^post10 == 0 /\ __disjvr_23^0-__disjvr_23^post10 == 0 /\ -__disjvr_13^post10+__disjvr_13^0 == 0 /\ i_95^0-i_95^post10 == 0 /\ -__disjvr_2^post10+__disjvr_2^0 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post10 == 0 /\ head_15^0-head_15^post10 == 0 /\ -a_118^post10+a_118^0 == 0 /\ a_225^0-a_225^post10 == 0 /\ -__disjvr_10^post10+__disjvr_10^0 == 0 /\ -temp_35^post10+temp_35^0 == 0 /\ -x_131^post10+x_131^0 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post10 == 0 /\ __disjvr_18^0-__disjvr_18^post10 == 0 /\ result_11^0-result_11^post10 == 0 /\ -i_30^post10+i_30^0 == 0 /\ -y_18^post10+y_18^0 == 0 /\ -__disjvr_17^post10+__disjvr_17^0 == 0 /\ -__disjvr_26^post10+__disjvr_26^0 == 0 /\ __disjvr_2^post10-__disjvr_2^0 == 0 /\ temp0_16^0-temp0_16^post10 == 0 /\ r_165^0-r_165^post10 == 0 /\ -__disjvr_7^post10+__disjvr_7^0 == 0 /\ tmp_34^0-tmp_34^post10 == 0), cost: 1
  11: l12 -> l13 : __disjvr_0^0'=__disjvr_0^post11, a_281^0'=a_281^post11, x_SLAM_f_24^0'=x_SLAM_f_24^post11, __disjvr_21^0'=__disjvr_21^post11, __disjvr_4^0'=__disjvr_4^post11, tail_14^0'=tail_14^post11, __disjvr_14^0'=__disjvr_14^post11, head_15^0'=head_15^post11, __disjvr_24^0'=__disjvr_24^post11, r_165^0'=r_165^post11, __disjvr_9^0'=__disjvr_9^post11, a_149^0'=a_149^post11, x_19^0'=x_19^post11, __disjvr_19^0'=__disjvr_19^post11, i_95^0'=i_95^post11, __disjvr_29^0'=__disjvr_29^post11, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post11, __disjvr_11^0'=__disjvr_11^post11, a_342^0'=a_342^post11, y_25^0'=y_25^post11, length_28^0'=length_28^post11, __disjvr_6^0'=__disjvr_6^post11, temp0_31^0'=temp0_31^post11, __disjvr_16^0'=__disjvr_16^post11, head_SLAM_f_29^0'=head_SLAM_f_29^post11, __disjvr_26^0'=__disjvr_26^post11, rcd_59^0'=rcd_59^post11, a_225^0'=a_225^post11, x_SLAM_f_17^0'=x_SLAM_f_17^post11, __disjvr_20^0'=__disjvr_20^post11, len_187^0'=len_187^post11, __disjvr_3^0'=__disjvr_3^post11, t_22^0'=t_22^post11, __disjvr_13^0'=__disjvr_13^post11, f_171^0'=f_171^post11, __disjvr_23^0'=__disjvr_23^post11, r_126^0'=r_126^post11, __disjvr_8^0'=__disjvr_8^post11, tmp_34^0'=tmp_34^post11, x_176^0'=x_176^post11, __disjvr_18^0'=__disjvr_18^post11, i_30^0'=i_30^post11, __disjvr_28^0'=__disjvr_28^post11, result_11^0'=result_11^post11, __disjvr_10^0'=__disjvr_10^post11, a_289^0'=a_289^post11, y_18^0'=y_18^post11, __disjvr_22^0'=__disjvr_22^post11, __disjvr_5^0'=__disjvr_5^post11, temp0_16^0'=temp0_16^post11, __disjvr_15^0'=__disjvr_15^post11, head_32^0'=head_32^post11, __disjvr_25^0'=__disjvr_25^post11, r_39^0'=r_39^post11, a_118^0'=a_118^post11, a_188^0'=a_188^post11, x_26^0'=x_26^post11, __disjvr_1^0'=__disjvr_1^post11, len_134^0'=len_134^post11, __disjvr_2^0'=__disjvr_2^post11, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post11, __disjvr_12^0'=__disjvr_12^post11, a_343^0'=a_343^post11, nondet_12^0'=nondet_12^post11, __disjvr_7^0'=__disjvr_7^post11, temp_35^0'=temp_35^post11, x_131^0'=x_131^post11, __disjvr_17^0'=__disjvr_17^post11, i_110^0'=i_110^post11, __disjvr_27^0'=__disjvr_27^post11, rcd_89^0'=rcd_89^post11, (__disjvr_16^0-__disjvr_16^post11 == 0 /\ -temp_35^post11+temp_35^0 == 0 /\ temp0_31^0-temp0_31^post11 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post11 == 0 /\ __disjvr_3^post11-__disjvr_3^0 == 0 /\ length_28^0-length_28^post11 == 0 /\ r_165^0-r_165^post11 == 0 /\ __disjvr_24^0-__disjvr_24^post11 == 0 /\ -head_SLAM_f_29^post11+head_SLAM_f_29^0 == 0 /\ -a_342^post11+a_342^0 == 0 /\ -y_18^post11+y_18^0 == 0 /\ -__disjvr_12^post11+__disjvr_12^0 == 0 /\ -__disjvr_17^post11+__disjvr_17^0 == 0 /\ -x_131^post11+x_131^0 == 0 /\ a_281^0-a_281^post11 == 0 /\ x_26^0-x_26^post11 == 0 /\ -__disjvr_7^post11+__disjvr_7^0 == 0 /\ -__disjvr_8^post11+__disjvr_8^0 == 0 /\ -head_32^post11+head_32^0 == 0 /\ -len_134^post11+len_134^0 == 0 /\ __disjvr_26^0-__disjvr_26^post11 == 0 /\ -__disjvr_3^post11+__disjvr_3^0 == 0 /\ -rcd_89^post11+rcd_89^0 == 0 /\ len_187^0-len_187^post11 == 0 /\ -a_188^post11+a_188^0 == 0 /\ -x_19^post11+x_19^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post11 == 0 /\ a_149^0-a_149^post11 == 0 /\ tail_14^0-tail_14^post11 == 0 /\ -a_343^post11+a_343^0 == 0 /\ __disjvr_9^0-__disjvr_9^post11 == 0 /\ __disjvr_21^0-__disjvr_21^post11 == 0 /\ __disjvr_11^0-__disjvr_11^post11 == 0 /\ -a_225^post11+a_225^0 == 0 /\ -__disjvr_2^post11+__disjvr_2^0 == 0 /\ -__disjvr_15^post11+__disjvr_15^0 == 0 /\ __disjvr_25^0-__disjvr_25^post11 == 0 /\ __disjvr_6^0-__disjvr_6^post11 == 0 /\ -__disjvr_27^post11+__disjvr_27^0 == 0 /\ -__disjvr_10^post11+__disjvr_10^0 == 0 /\ __disjvr_20^0-__disjvr_20^post11 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post11+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ __disjvr_23^0-__disjvr_23^post11 == 0 /\ -a_118^post11+a_118^0 == 0 /\ __disjvr_4^0-__disjvr_4^post11 == 0 /\ -nondet_12^post11+nondet_12^0 == 0 /\ temp0_16^0-temp0_16^post11 == 0 /\ __disjvr_22^0-__disjvr_22^post11 == 0 /\ head_15^0-head_15^post11 == 0 /\ -i_110^post11+i_110^0 == 0 /\ -f_171^post11+f_171^0 == 0 /\ x_176^0-x_176^post11 == 0 /\ -x_SLAM_f_24^post11+x_SLAM_f_24^0 == 0 /\ __disjvr_29^0-__disjvr_29^post11 == 0 /\ -a_289^post11+a_289^0 == 0 /\ y_25^0-y_25^post11 == 0 /\ __disjvr_0^0-__disjvr_0^post11 == 0 /\ -i_30^post11+i_30^0 == 0 /\ result_11^0-result_11^post11 == 0 /\ i_95^0-i_95^post11 == 0 /\ -r_126^post11+r_126^0 == 0 /\ -__disjvr_5^post11+__disjvr_5^0 == 0 /\ -t_22^post11+t_22^0 == 0 /\ tmp_34^0-tmp_34^post11 == 0 /\ -__disjvr_28^post11+__disjvr_28^0 == 0 /\ -__disjvr_13^post11+__disjvr_13^0 == 0 /\ -r_39^post11+r_39^0 == 0 /\ rcd_59^0-rcd_59^post11 == 0 /\ __disjvr_14^0-__disjvr_14^post11 == 0 /\ __disjvr_19^0-__disjvr_19^post11 == 0 /\ -__disjvr_1^post11+__disjvr_1^0 == 0 /\ __disjvr_18^0-__disjvr_18^post11 == 0), cost: 1
  12: l13 -> l7 : __disjvr_0^0'=__disjvr_0^post12, a_281^0'=a_281^post12, x_SLAM_f_24^0'=x_SLAM_f_24^post12, __disjvr_21^0'=__disjvr_21^post12, __disjvr_4^0'=__disjvr_4^post12, tail_14^0'=tail_14^post12, __disjvr_14^0'=__disjvr_14^post12, head_15^0'=head_15^post12, __disjvr_24^0'=__disjvr_24^post12, r_165^0'=r_165^post12, __disjvr_9^0'=__disjvr_9^post12, a_149^0'=a_149^post12, x_19^0'=x_19^post12, __disjvr_19^0'=__disjvr_19^post12, i_95^0'=i_95^post12, __disjvr_29^0'=__disjvr_29^post12, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post12, __disjvr_11^0'=__disjvr_11^post12, a_342^0'=a_342^post12, y_25^0'=y_25^post12, length_28^0'=length_28^post12, __disjvr_6^0'=__disjvr_6^post12, temp0_31^0'=temp0_31^post12, __disjvr_16^0'=__disjvr_16^post12, head_SLAM_f_29^0'=head_SLAM_f_29^post12, __disjvr_26^0'=__disjvr_26^post12, rcd_59^0'=rcd_59^post12, a_225^0'=a_225^post12, x_SLAM_f_17^0'=x_SLAM_f_17^post12, __disjvr_20^0'=__disjvr_20^post12, len_187^0'=len_187^post12, __disjvr_3^0'=__disjvr_3^post12, t_22^0'=t_22^post12, __disjvr_13^0'=__disjvr_13^post12, f_171^0'=f_171^post12, __disjvr_23^0'=__disjvr_23^post12, r_126^0'=r_126^post12, __disjvr_8^0'=__disjvr_8^post12, tmp_34^0'=tmp_34^post12, x_176^0'=x_176^post12, __disjvr_18^0'=__disjvr_18^post12, i_30^0'=i_30^post12, __disjvr_28^0'=__disjvr_28^post12, result_11^0'=result_11^post12, __disjvr_10^0'=__disjvr_10^post12, a_289^0'=a_289^post12, y_18^0'=y_18^post12, __disjvr_22^0'=__disjvr_22^post12, __disjvr_5^0'=__disjvr_5^post12, temp0_16^0'=temp0_16^post12, __disjvr_15^0'=__disjvr_15^post12, head_32^0'=head_32^post12, __disjvr_25^0'=__disjvr_25^post12, r_39^0'=r_39^post12, a_118^0'=a_118^post12, a_188^0'=a_188^post12, x_26^0'=x_26^post12, __disjvr_1^0'=__disjvr_1^post12, len_134^0'=len_134^post12, __disjvr_2^0'=__disjvr_2^post12, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post12, __disjvr_12^0'=__disjvr_12^post12, a_343^0'=a_343^post12, nondet_12^0'=nondet_12^post12, __disjvr_7^0'=__disjvr_7^post12, temp_35^0'=temp_35^post12, x_131^0'=x_131^post12, __disjvr_17^0'=__disjvr_17^post12, i_110^0'=i_110^post12, __disjvr_27^0'=__disjvr_27^post12, rcd_89^0'=rcd_89^post12, (0 == 0 /\ -__disjvr_18^post12+__disjvr_18^0 == 0 /\ a_281^post12-a_343^0 <= 0 /\ __disjvr_24^0-__disjvr_24^post12 == 0 /\ -len_134^post12+len_134^0 == 0 /\ -__disjvr_25^post12+__disjvr_25^0 == 0 /\ -t_22^post12+t_22^0 == 0 /\ temp0_31^0-temp0_31^post12 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post12 == 0 /\ -__disjvr_16^post12+__disjvr_16^0 == 0 /\ -__disjvr_8^post12+__disjvr_8^0 == 0 /\ a_342^0-a_149^post12 <= 0 /\ -a_343^post12+a_343^0 == 0 /\ -__disjvr_13^post12+__disjvr_13^0 == 0 /\ -temp_35^post12+temp_35^0 == 0 /\ __disjvr_21^0-__disjvr_21^post12 == 0 /\ r_165^0-r_165^post12 == 0 /\ -__disjvr_26^post12+__disjvr_26^0 == 0 /\ -a_281^post12+a_343^0 <= 0 /\ head_SLAM_f_29^0-head_SLAM_f_29^post12 == 0 /\ -__disjvr_10^post12+__disjvr_10^0 == 0 /\ -a_118^post12+a_118^0 == 0 /\ -length_28^post12+length_28^0 == 0 /\ -__disjvr_2^post12+__disjvr_2^0 == 0 /\ __disjvr_29^0-__disjvr_29^post12 == 0 /\ __disjvr_11^0-__disjvr_11^post12 == 0 /\ -__disjvr_15^post12+__disjvr_15^0 == 0 /\ -a_342^0+a_149^post12 <= 0 /\ -__disjvr_17^post12+__disjvr_17^0 == 0 /\ __disjvr_23^0-__disjvr_23^post12 == 0 /\ y_25^0-y_25^post12 == 0 /\ -x_131^post12+x_131^0 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post12 == 0 /\ -y_18^post12+y_18^0 == 0 /\ -a_188^post12+a_188^0 == 0 /\ tail_14^0-tail_14^post12 == 0 /\ -__disjvr_7^post12+__disjvr_7^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post12 == 0 /\ head_15^0-head_15^post12 == 0 /\ x_176^0-x_176^post12 == 0 /\ __disjvr_9^0-__disjvr_9^post12 == 0 /\ -rcd_89^post12+rcd_89^0 == 0 /\ -i_30^post12+i_30^0 == 0 /\ -__disjvr_3^post12+__disjvr_3^0 == 0 /\ -x_19^post12+x_19^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -r_126^post12+r_126^0 == 0 /\ -a_342^post12+a_342^0 == 0 /\ r_39^0-r_39^post12 == 0 /\ a_225^0-a_225^post12 == 0 /\ -__disjvr_28^post12+__disjvr_28^0 == 0 /\ tmp_34^0-tmp_34^post12 == 0 /\ temp0_16^0-temp0_16^post12 == 0 /\ len_187^0-len_187^post12 == 0 /\ -__disjvr_1^post12+__disjvr_1^0 == 0 /\ -head_32^post12+head_32^0 == 0 /\ -__disjvr_27^post12+__disjvr_27^0 == 0 /\ -result_11^post12+result_11^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post12+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -nondet_12^post12+nondet_12^0 == 0 /\ __disjvr_14^0-__disjvr_14^post12 == 0 /\ rcd_59^0-rcd_59^post12 == 0 /\ __disjvr_19^0-__disjvr_19^post12 == 0 /\ __disjvr_0^0-__disjvr_0^post12 == 0 /\ i_95^0-i_95^post12 == 0 /\ -i_110^post12+i_110^0 == 0 /\ -f_171^post12+f_171^0 == 0 /\ __disjvr_6^0-__disjvr_6^post12 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ __disjvr_20^0-__disjvr_20^post12 == 0 /\ __disjvr_4^0-__disjvr_4^post12 == 0 /\ -__disjvr_12^post12+__disjvr_12^0 == 0 /\ -x_26^post12+x_26^0 == 0 /\ -__disjvr_5^post12+__disjvr_5^0 == 0 /\ __disjvr_22^0-__disjvr_22^post12 == 0 /\ -a_289^post12+a_289^0 == 0), cost: 1
  13: l7 -> l6 : __disjvr_0^0'=__disjvr_0^post13, a_281^0'=a_281^post13, x_SLAM_f_24^0'=x_SLAM_f_24^post13, __disjvr_21^0'=__disjvr_21^post13, __disjvr_4^0'=__disjvr_4^post13, tail_14^0'=tail_14^post13, __disjvr_14^0'=__disjvr_14^post13, head_15^0'=head_15^post13, __disjvr_24^0'=__disjvr_24^post13, r_165^0'=r_165^post13, __disjvr_9^0'=__disjvr_9^post13, a_149^0'=a_149^post13, x_19^0'=x_19^post13, __disjvr_19^0'=__disjvr_19^post13, i_95^0'=i_95^post13, __disjvr_29^0'=__disjvr_29^post13, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post13, __disjvr_11^0'=__disjvr_11^post13, a_342^0'=a_342^post13, y_25^0'=y_25^post13, length_28^0'=length_28^post13, __disjvr_6^0'=__disjvr_6^post13, temp0_31^0'=temp0_31^post13, __disjvr_16^0'=__disjvr_16^post13, head_SLAM_f_29^0'=head_SLAM_f_29^post13, __disjvr_26^0'=__disjvr_26^post13, rcd_59^0'=rcd_59^post13, a_225^0'=a_225^post13, x_SLAM_f_17^0'=x_SLAM_f_17^post13, __disjvr_20^0'=__disjvr_20^post13, len_187^0'=len_187^post13, __disjvr_3^0'=__disjvr_3^post13, t_22^0'=t_22^post13, __disjvr_13^0'=__disjvr_13^post13, f_171^0'=f_171^post13, __disjvr_23^0'=__disjvr_23^post13, r_126^0'=r_126^post13, __disjvr_8^0'=__disjvr_8^post13, tmp_34^0'=tmp_34^post13, x_176^0'=x_176^post13, __disjvr_18^0'=__disjvr_18^post13, i_30^0'=i_30^post13, __disjvr_28^0'=__disjvr_28^post13, result_11^0'=result_11^post13, __disjvr_10^0'=__disjvr_10^post13, a_289^0'=a_289^post13, y_18^0'=y_18^post13, __disjvr_22^0'=__disjvr_22^post13, __disjvr_5^0'=__disjvr_5^post13, temp0_16^0'=temp0_16^post13, __disjvr_15^0'=__disjvr_15^post13, head_32^0'=head_32^post13, __disjvr_25^0'=__disjvr_25^post13, r_39^0'=r_39^post13, a_118^0'=a_118^post13, a_188^0'=a_188^post13, x_26^0'=x_26^post13, __disjvr_1^0'=__disjvr_1^post13, len_134^0'=len_134^post13, __disjvr_2^0'=__disjvr_2^post13, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post13, __disjvr_12^0'=__disjvr_12^post13, a_343^0'=a_343^post13, nondet_12^0'=nondet_12^post13, __disjvr_7^0'=__disjvr_7^post13, temp_35^0'=temp_35^post13, x_131^0'=x_131^post13, __disjvr_17^0'=__disjvr_17^post13, i_110^0'=i_110^post13, __disjvr_27^0'=__disjvr_27^post13, rcd_89^0'=rcd_89^post13, (-r_39^post13+r_39^0 == 0 /\ -__disjvr_26^post13+__disjvr_26^0 == 0 /\ __disjvr_0^0-__disjvr_0^post13 == 0 /\ -nondet_12^post13+nondet_12^0 == 0 /\ -a_118^post13+a_118^0 == 0 /\ -i_110^post13+i_110^0 == 0 /\ -__disjvr_2^post13+__disjvr_2^0 == 0 /\ -length_28^post13+length_28^0 == 0 /\ __disjvr_21^0-__disjvr_21^post13 == 0 /\ -a_289^post13+a_289^0 == 0 /\ -temp0_31^post13+temp0_31^0 == 0 /\ tail_14^0-tail_14^post13 == 0 /\ r_126^0-r_126^post13 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post13+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -f_171^post13+f_171^0 == 0 /\ -__disjvr_5^post13+__disjvr_5^0 == 0 /\ -a_188^post13+a_188^0 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post13 == 0 /\ __disjvr_19^0-__disjvr_19^post13 == 0 /\ __disjvr_14^0-__disjvr_14^post13 == 0 /\ -__disjvr_27^post13+__disjvr_27^0 == 0 /\ -__disjvr_25^post13+__disjvr_25^0 == 0 /\ __disjvr_10^0-__disjvr_10^post13 == 0 /\ __disjvr_23^0-__disjvr_23^post13 == 0 /\ __disjvr_16^0-__disjvr_16^post13 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post13 == 0 /\ -temp_35^post13+temp_35^0 == 0 /\ __disjvr_20^0-__disjvr_20^post13 == 0 /\ -a_342^post13+a_342^0 == 0 /\ i_30^0-i_30^post13 == 0 /\ -__disjvr_13^post13+__disjvr_13^0 == 0 /\ head_SLAM_f_29^0-head_SLAM_f_29^post13 == 0 /\ -__disjvr_28^post13+__disjvr_28^0 == 0 /\ -__disjvr_1^post13+__disjvr_1^0 == 0 /\ a_281^0-a_281^post13 == 0 /\ __disjvr_24^0-__disjvr_24^post13 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post13+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ i_95^0-i_95^post13 == 0 /\ __disjvr_11^0-__disjvr_11^post13 == 0 /\ y_25^0-y_25^post13 == 0 /\ tmp_34^0-tmp_34^post13 == 0 /\ -__disjvr_7^post13+__disjvr_7^0 == 0 /\ -r_165^post13+r_165^0 == 0 /\ -__disjvr_15^post13+__disjvr_15^0 == 0 /\ a_149^0-a_149^post13 == 0 /\ -__disjvr_12^post13+__disjvr_12^0 == 0 /\ __disjvr_9^0-__disjvr_9^post13 == 0 /\ -x_131^post13+x_131^0 == 0 /\ temp0_16^0-temp0_16^post13 == 0 /\ -x_26^post13+x_26^0 == 0 /\ __disjvr_6^0-__disjvr_6^post13 == 0 /\ rcd_59^0-rcd_59^post13 == 0 /\ a_225^0-a_225^post13 == 0 /\ -result_11^post13+result_11^0 == 0 /\ t_22^0-t_22^post13 == 0 /\ y_18^0-y_18^post13 == 0 /\ -__disjvr_18^post13+__disjvr_18^0 == 0 /\ -rcd_89^post13+rcd_89^0 == 0 /\ -len_134^post13+len_134^0 == 0 /\ -__disjvr_3^post13+__disjvr_3^0 == 0 /\ __disjvr_17^0-__disjvr_17^post13 == 0 /\ head_15^0-head_15^post13 == 0 /\ -len_187^post13+len_187^0 == 0 /\ __disjvr_22^0-__disjvr_22^post13 == 0 /\ -__disjvr_8^post13+__disjvr_8^0 == 0 /\ x_19^0-x_19^post13 == 0 /\ x_176^0-x_176^post13 == 0 /\ -a_343^post13+a_343^0 == 0 /\ __disjvr_4^0-__disjvr_4^post13 == 0 /\ -head_32^post13+head_32^0 == 0 /\ __disjvr_29^0-__disjvr_29^post13 == 0), cost: 1
  24: l23 -> l24 : __disjvr_0^0'=__disjvr_0^post24, a_281^0'=a_281^post24, x_SLAM_f_24^0'=x_SLAM_f_24^post24, __disjvr_21^0'=__disjvr_21^post24, __disjvr_4^0'=__disjvr_4^post24, tail_14^0'=tail_14^post24, __disjvr_14^0'=__disjvr_14^post24, head_15^0'=head_15^post24, __disjvr_24^0'=__disjvr_24^post24, r_165^0'=r_165^post24, __disjvr_9^0'=__disjvr_9^post24, a_149^0'=a_149^post24, x_19^0'=x_19^post24, __disjvr_19^0'=__disjvr_19^post24, i_95^0'=i_95^post24, __disjvr_29^0'=__disjvr_29^post24, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post24, __disjvr_11^0'=__disjvr_11^post24, a_342^0'=a_342^post24, y_25^0'=y_25^post24, length_28^0'=length_28^post24, __disjvr_6^0'=__disjvr_6^post24, temp0_31^0'=temp0_31^post24, __disjvr_16^0'=__disjvr_16^post24, head_SLAM_f_29^0'=head_SLAM_f_29^post24, __disjvr_26^0'=__disjvr_26^post24, rcd_59^0'=rcd_59^post24, a_225^0'=a_225^post24, x_SLAM_f_17^0'=x_SLAM_f_17^post24, __disjvr_20^0'=__disjvr_20^post24, len_187^0'=len_187^post24, __disjvr_3^0'=__disjvr_3^post24, t_22^0'=t_22^post24, __disjvr_13^0'=__disjvr_13^post24, f_171^0'=f_171^post24, __disjvr_23^0'=__disjvr_23^post24, r_126^0'=r_126^post24, __disjvr_8^0'=__disjvr_8^post24, tmp_34^0'=tmp_34^post24, x_176^0'=x_176^post24, __disjvr_18^0'=__disjvr_18^post24, i_30^0'=i_30^post24, __disjvr_28^0'=__disjvr_28^post24, result_11^0'=result_11^post24, __disjvr_10^0'=__disjvr_10^post24, a_289^0'=a_289^post24, y_18^0'=y_18^post24, __disjvr_22^0'=__disjvr_22^post24, __disjvr_5^0'=__disjvr_5^post24, temp0_16^0'=temp0_16^post24, __disjvr_15^0'=__disjvr_15^post24, head_32^0'=head_32^post24, __disjvr_25^0'=__disjvr_25^post24, r_39^0'=r_39^post24, a_118^0'=a_118^post24, a_188^0'=a_188^post24, x_26^0'=x_26^post24, __disjvr_1^0'=__disjvr_1^post24, len_134^0'=len_134^post24, __disjvr_2^0'=__disjvr_2^post24, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post24, __disjvr_12^0'=__disjvr_12^post24, a_343^0'=a_343^post24, nondet_12^0'=nondet_12^post24, __disjvr_7^0'=__disjvr_7^post24, temp_35^0'=temp_35^post24, x_131^0'=x_131^post24, __disjvr_17^0'=__disjvr_17^post24, i_110^0'=i_110^post24, __disjvr_27^0'=__disjvr_27^post24, rcd_89^0'=rcd_89^post24, (0 == 0 /\ a_342^0-a_342^post24 == 0 /\ __disjvr_9^0-__disjvr_9^post24 == 0 /\ -a_149^0 <= 0 /\ -__disjvr_15^post24+__disjvr_15^0 == 0 /\ -len_134^post24+len_134^0 == 0 /\ -__disjvr_23^post24+__disjvr_23^0 == 0 /\ __disjvr_2^0-__disjvr_2^post24 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post24 == 0 /\ __disjvr_3^0-__disjvr_3^post24 == 0 /\ x_176^0-x_176^post24 == 0 /\ -__disjvr_7^post24+__disjvr_7^0 == 0 /\ -__disjvr_12^post24+__disjvr_12^0 == 0 /\ length_28^0-length_28^post24 == 0 /\ -head_SLAM_f_29^post24+head_SLAM_f_29^0 == 0 /\ r_165^0-r_165^post24 == 0 /\ -y_18^post24+y_18^0 == 0 /\ __disjvr_21^0-__disjvr_21^post24 == 0 /\ -temp0_16^post24+temp0_16^0 == 0 /\ -__disjvr_16^post24+__disjvr_16^0 == 0 /\ rcd_59^0-rcd_59^post24 == 0 /\ __disjvr_19^0-__disjvr_19^post24 == 0 /\ -__disjvr_11^post24+__disjvr_11^0 == 0 /\ __disjvr_29^0-__disjvr_29^post24 == 0 /\ i_95^0-i_95^post24 == 0 /\ -a_343^post24+a_343^0 == 0 /\ result_11^0-result_11^post24 == 0 /\ -__disjvr_17^post24+__disjvr_17^0 == 0 /\ __disjvr_14^0-__disjvr_14^post24 == 0 /\ -y_25^post24+y_25^0 == 0 /\ __disjvr_6^0-__disjvr_6^post24 == 0 /\ x_19^0-x_19^post24 == 0 /\ __disjvr_18^0-__disjvr_18^post24 == 0 /\ -x_131^post24+x_131^0 == 0 /\ -__disjvr_22^post24+__disjvr_22^0 == 0 /\ __disjvr_0^0-__disjvr_0^post24 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post24 == 0 /\ __disjvr_4^0-__disjvr_4^post24 == 0 /\ __disjvr_28^0-__disjvr_28^post24 == 0 /\ t_22^0-t_22^post24 == 0 /\ -__disjvr_1^post24+__disjvr_1^0 == 0 /\ -r_39^post24+r_39^0 == 0 /\ -__disjvr_13^post24+__disjvr_13^0 == 0 /\ -a_225^post24+a_225^0 == 0 /\ f_171^0-f_171^post24 == 0 /\ temp0_31^0-temp0_31^post24 == 0 /\ -a_118^post24+a_118^0 == 0 /\ nondet_12^0-nondet_12^post24 == 0 /\ -a_188^post24+a_188^0 == 0 /\ -rcd_89^post24+rcd_89^0 == 0 /\ __disjvr_8^0-__disjvr_8^post24 == 0 /\ a_149^0-a_149^post24 == 0 /\ -i_30^post24+i_30^0 == 0 /\ head_32^0-head_32^post24 == 0 /\ -__disjvr_10^post24+__disjvr_10^0 == 0 /\ __disjvr_26^0-__disjvr_26^post24 == 0 /\ -tmp_34^post24+tmp_34^0 == 0 /\ __disjvr_24^0-__disjvr_24^post24 == 0 /\ -x_26^post24+x_26^0 == 0 /\ a_281^0-a_281^post24 == 0 /\ -__disjvr_25^post24+__disjvr_25^0 == 0 /\ -r_126^post24+r_126^0 == 0 /\ len_187^0-len_187^post24 == 0 /\ -i_110^post24+i_110^0 == 0 /\ -__disjvr_20^post24+__disjvr_20^0 == 0 /\ -__disjvr_27^post24+__disjvr_27^0 == 0 /\ __disjvr_5^0-__disjvr_5^post24 == 0 /\ -temp_35^post24+temp_35^0 == 0 /\ -len_134^0 <= 0), cost: 1
  25: l24 -> l25 : __disjvr_0^0'=__disjvr_0^post25, a_281^0'=a_281^post25, x_SLAM_f_24^0'=x_SLAM_f_24^post25, __disjvr_21^0'=__disjvr_21^post25, __disjvr_4^0'=__disjvr_4^post25, tail_14^0'=tail_14^post25, __disjvr_14^0'=__disjvr_14^post25, head_15^0'=head_15^post25, __disjvr_24^0'=__disjvr_24^post25, r_165^0'=r_165^post25, __disjvr_9^0'=__disjvr_9^post25, a_149^0'=a_149^post25, x_19^0'=x_19^post25, __disjvr_19^0'=__disjvr_19^post25, i_95^0'=i_95^post25, __disjvr_29^0'=__disjvr_29^post25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post25, __disjvr_11^0'=__disjvr_11^post25, a_342^0'=a_342^post25, y_25^0'=y_25^post25, length_28^0'=length_28^post25, __disjvr_6^0'=__disjvr_6^post25, temp0_31^0'=temp0_31^post25, __disjvr_16^0'=__disjvr_16^post25, head_SLAM_f_29^0'=head_SLAM_f_29^post25, __disjvr_26^0'=__disjvr_26^post25, rcd_59^0'=rcd_59^post25, a_225^0'=a_225^post25, x_SLAM_f_17^0'=x_SLAM_f_17^post25, __disjvr_20^0'=__disjvr_20^post25, len_187^0'=len_187^post25, __disjvr_3^0'=__disjvr_3^post25, t_22^0'=t_22^post25, __disjvr_13^0'=__disjvr_13^post25, f_171^0'=f_171^post25, __disjvr_23^0'=__disjvr_23^post25, r_126^0'=r_126^post25, __disjvr_8^0'=__disjvr_8^post25, tmp_34^0'=tmp_34^post25, x_176^0'=x_176^post25, __disjvr_18^0'=__disjvr_18^post25, i_30^0'=i_30^post25, __disjvr_28^0'=__disjvr_28^post25, result_11^0'=result_11^post25, __disjvr_10^0'=__disjvr_10^post25, a_289^0'=a_289^post25, y_18^0'=y_18^post25, __disjvr_22^0'=__disjvr_22^post25, __disjvr_5^0'=__disjvr_5^post25, temp0_16^0'=temp0_16^post25, __disjvr_15^0'=__disjvr_15^post25, head_32^0'=head_32^post25, __disjvr_25^0'=__disjvr_25^post25, r_39^0'=r_39^post25, a_118^0'=a_118^post25, a_188^0'=a_188^post25, x_26^0'=x_26^post25, __disjvr_1^0'=__disjvr_1^post25, len_134^0'=len_134^post25, __disjvr_2^0'=__disjvr_2^post25, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post25, __disjvr_12^0'=__disjvr_12^post25, a_343^0'=a_343^post25, nondet_12^0'=nondet_12^post25, __disjvr_7^0'=__disjvr_7^post25, temp_35^0'=temp_35^post25, x_131^0'=x_131^post25, __disjvr_17^0'=__disjvr_17^post25, i_110^0'=i_110^post25, __disjvr_27^0'=__disjvr_27^post25, rcd_89^0'=rcd_89^post25, (__disjvr_8^0-__disjvr_8^post25 == 0 /\ x_176^0-x_176^post25 == 0 /\ -__disjvr_2^post25+__disjvr_2^0 == 0 /\ __disjvr_9^0-__disjvr_9^post25 == 0 /\ -__disjvr_20^post25+__disjvr_20^0 == 0 /\ -a_343^post25+a_343^0 == 0 /\ -__disjvr_6^post25+__disjvr_6^0 == 0 /\ -temp_35^post25+temp_35^0 == 0 /\ -__disjvr_27^post25+__disjvr_27^0 == 0 /\ -__disjvr_16^post25+__disjvr_16^0 == 0 /\ a_149^0-a_149^post25 == 0 /\ tmp_34^0-tmp_34^post25 == 0 /\ -i_110^post25+i_110^0 == 0 /\ __disjvr_21^0-__disjvr_21^post25 == 0 /\ len_187^0-len_187^post25 == 0 /\ result_11^0-result_11^post25 == 0 /\ __disjvr_19^0-__disjvr_19^post25 == 0 /\ __disjvr_14^0-__disjvr_14^post25 == 0 /\ -__disjvr_17^post25+__disjvr_17^0 == 0 /\ -__disjvr_15^post25+__disjvr_15^0 == 0 /\ rcd_59^0-rcd_59^post25 == 0 /\ -i_95^post25+i_95^0 == 0 /\ -__disjvr_23^post25+__disjvr_23^0 == 0 /\ -__disjvr_9^0+__disjvr_9^post25 == 0 /\ -a_118^post25+a_118^0 == 0 /\ len_134^0-len_134^post25 == 0 /\ -__disjvr_1^post25+__disjvr_1^0 == 0 /\ -a_188^post25+a_188^0 == 0 /\ __disjvr_12^0-__disjvr_12^post25 == 0 /\ -__disjvr_7^post25+__disjvr_7^0 == 0 /\ y_25^0-y_25^post25 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post25 == 0 /\ -t_22^post25+t_22^0 == 0 /\ -__disjvr_10^post25+__disjvr_10^0 == 0 /\ __disjvr_4^0-__disjvr_4^post25 == 0 /\ f_171^0-f_171^post25 == 0 /\ -y_18^post25+y_18^0 == 0 /\ -temp0_16^post25+temp0_16^0 == 0 /\ -a_225^post25+a_225^0 == 0 /\ head_32^0-head_32^post25 == 0 /\ -x_26^post25+x_26^0 == 0 /\ __disjvr_0^0-__disjvr_0^post25 == 0 /\ __disjvr_24^0-__disjvr_24^post25 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post25 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post25+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ r_165^0-r_165^post25 == 0 /\ __disjvr_11^0-__disjvr_11^post25 == 0 /\ -__disjvr_28^post25+__disjvr_28^0 == 0 /\ __disjvr_26^0-__disjvr_26^post25 == 0 /\ -x_131^post25+x_131^0 == 0 /\ -__disjvr_22^post25+__disjvr_22^0 == 0 /\ a_342^0-a_342^post25 == 0 /\ __disjvr_3^0-__disjvr_3^post25 == 0 /\ x_19^0-x_19^post25 == 0 /\ __disjvr_5^0-__disjvr_5^post25 == 0 /\ i_30^0-i_30^post25 == 0 /\ -__disjvr_13^post25+__disjvr_13^0 == 0 /\ length_28^0-length_28^post25 == 0 /\ -r_39^post25+r_39^0 == 0 /\ -nondet_12^post25+nondet_12^0 == 0 /\ __disjvr_25^0-__disjvr_25^post25 == 0 /\ __disjvr_29^0-__disjvr_29^post25 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post25 == 0 /\ head_15^0-head_15^post25 == 0 /\ a_281^0-a_281^post25 == 0 /\ -__disjvr_18^post25+__disjvr_18^0 == 0 /\ -rcd_89^post25+rcd_89^0 == 0 /\ -r_126^post25+r_126^0 == 0 /\ tail_14^0-tail_14^post25 == 0 /\ -head_SLAM_f_29^post25+head_SLAM_f_29^0 == 0 /\ a_289^0-a_289^post25 == 0 /\ temp0_31^0-temp0_31^post25 == 0), cost: 1
  26: l25 -> l26 : __disjvr_0^0'=__disjvr_0^post26, a_281^0'=a_281^post26, x_SLAM_f_24^0'=x_SLAM_f_24^post26, __disjvr_21^0'=__disjvr_21^post26, __disjvr_4^0'=__disjvr_4^post26, tail_14^0'=tail_14^post26, __disjvr_14^0'=__disjvr_14^post26, head_15^0'=head_15^post26, __disjvr_24^0'=__disjvr_24^post26, r_165^0'=r_165^post26, __disjvr_9^0'=__disjvr_9^post26, a_149^0'=a_149^post26, x_19^0'=x_19^post26, __disjvr_19^0'=__disjvr_19^post26, i_95^0'=i_95^post26, __disjvr_29^0'=__disjvr_29^post26, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post26, __disjvr_11^0'=__disjvr_11^post26, a_342^0'=a_342^post26, y_25^0'=y_25^post26, length_28^0'=length_28^post26, __disjvr_6^0'=__disjvr_6^post26, temp0_31^0'=temp0_31^post26, __disjvr_16^0'=__disjvr_16^post26, head_SLAM_f_29^0'=head_SLAM_f_29^post26, __disjvr_26^0'=__disjvr_26^post26, rcd_59^0'=rcd_59^post26, a_225^0'=a_225^post26, x_SLAM_f_17^0'=x_SLAM_f_17^post26, __disjvr_20^0'=__disjvr_20^post26, len_187^0'=len_187^post26, __disjvr_3^0'=__disjvr_3^post26, t_22^0'=t_22^post26, __disjvr_13^0'=__disjvr_13^post26, f_171^0'=f_171^post26, __disjvr_23^0'=__disjvr_23^post26, r_126^0'=r_126^post26, __disjvr_8^0'=__disjvr_8^post26, tmp_34^0'=tmp_34^post26, x_176^0'=x_176^post26, __disjvr_18^0'=__disjvr_18^post26, i_30^0'=i_30^post26, __disjvr_28^0'=__disjvr_28^post26, result_11^0'=result_11^post26, __disjvr_10^0'=__disjvr_10^post26, a_289^0'=a_289^post26, y_18^0'=y_18^post26, __disjvr_22^0'=__disjvr_22^post26, __disjvr_5^0'=__disjvr_5^post26, temp0_16^0'=temp0_16^post26, __disjvr_15^0'=__disjvr_15^post26, head_32^0'=head_32^post26, __disjvr_25^0'=__disjvr_25^post26, r_39^0'=r_39^post26, a_118^0'=a_118^post26, a_188^0'=a_188^post26, x_26^0'=x_26^post26, __disjvr_1^0'=__disjvr_1^post26, len_134^0'=len_134^post26, __disjvr_2^0'=__disjvr_2^post26, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post26, __disjvr_12^0'=__disjvr_12^post26, a_343^0'=a_343^post26, nondet_12^0'=nondet_12^post26, __disjvr_7^0'=__disjvr_7^post26, temp_35^0'=temp_35^post26, x_131^0'=x_131^post26, __disjvr_17^0'=__disjvr_17^post26, i_110^0'=i_110^post26, __disjvr_27^0'=__disjvr_27^post26, rcd_89^0'=rcd_89^post26, (0 == 0 /\ head_15^0-t_22^post26 <= 0 /\ a_281^0-a_281^post26 == 0 /\ result_11^0-result_11^post26 == 0 /\ -head_15^0+x_SLAM_f_17^0 <= 0 /\ -__disjvr_13^post26+__disjvr_13^0 == 0 /\ a_289^0-a_289^post26 == 0 /\ -a_289^0 <= 0 /\ tmp_34^0-tmp_34^post26 == 0 /\ -__disjvr_1^post26+__disjvr_1^0 == 0 /\ -nondet_12^post26+nondet_12^0 == 0 /\ __disjvr_14^0-__disjvr_14^post26 == 0 /\ -y_25^post26+y_25^0 == 0 /\ -rcd_89^post26+rcd_89^0 == 0 /\ a_342^0-a_342^post26 == 0 /\ rcd_59^0-rcd_59^post26 == 0 /\ __disjvr_5^0-__disjvr_5^post26 == 0 /\ -__disjvr_10^post26+__disjvr_10^0 == 0 /\ -head_15^0+t_22^post26 <= 0 /\ __disjvr_12^0-__disjvr_12^post26 == 0 /\ __disjvr_2^0-__disjvr_2^post26 == 0 /\ head_15^0-x_SLAM_f_17^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post26 == 0 /\ -__disjvr_20^post26+__disjvr_20^0 == 0 /\ -x_26^post26+x_26^0 == 0 /\ __disjvr_4^0-__disjvr_4^post26 == 0 /\ f_171^0-f_171^post26 == 0 /\ -__disjvr_27^post26+__disjvr_27^0 == 0 /\ -a_118^post26+a_118^0 == 0 /\ -__disjvr_9^post26+__disjvr_9^0 == 0 /\ length_28^0-length_28^post26 == 0 /\ x_176^0-x_176^post26 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post26+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ __disjvr_24^0-__disjvr_24^post26 == 0 /\ -a_149^post26+a_149^0 == 0 /\ -__disjvr_28^post26+__disjvr_28^0 == 0 /\ head_32^0-head_32^post26 == 0 /\ -i_110^post26+i_110^0 == 0 /\ len_134^0-len_134^post26 == 0 /\ -r_39^post26+r_39^0 == 0 /\ __disjvr_29^0-__disjvr_29^post26 == 0 /\ -y_18^post26+y_18^0 == 0 /\ -temp_35^post26+temp_35^0 == 0 /\ tail_14^0-tail_14^post26 == 0 /\ -x_131^post26+x_131^0 == 0 /\ -__disjvr_17^post26+__disjvr_17^0 == 0 /\ __disjvr_26^0-__disjvr_26^post26 == 0 /\ len_187^0-len_187^post26 == 0 /\ -i_95^post26+i_95^0 == 0 /\ -x_19^0+t_22^post26 == 0 /\ -__disjvr_11^post26+__disjvr_11^0 == 0 /\ -a_281^0+a_149^0+a_225^post26 <= 0 /\ a_289^0 <= 0 /\ __disjvr_19^0-__disjvr_19^post26 == 0 /\ -tail_14^0+y_18^0 <= 0 /\ -r_126^post26+r_126^0 == 0 /\ -__disjvr_18^post26+__disjvr_18^0 == 0 /\ -__disjvr_25^post26+__disjvr_25^0 == 0 /\ __disjvr_21^0-__disjvr_21^post26 == 0 /\ __disjvr_15^0-__disjvr_15^post26 == 0 /\ __disjvr_0^0-__disjvr_0^post26 == 0 /\ -head_SLAM_f_29^post26+head_SLAM_f_29^0 == 0 /\ -__disjvr_7^post26+__disjvr_7^0 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post26 == 0 /\ r_165^0-r_165^post26 == 0 /\ -a_188^post26+a_188^0 == 0 /\ head_15^0-head_15^post26 == 0 /\ -__disjvr_3^post26+__disjvr_3^0 == 0 /\ -__disjvr_6^post26+__disjvr_6^0 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post26 == 0 /\ x_19^0-x_19^post26 == 0 /\ -temp0_16^post26+temp0_16^0 == 0 /\ temp0_31^0-temp0_31^post26 == 0 /\ a_281^0-a_149^0-a_225^post26 <= 0 /\ -a_343^post26+a_343^0 == 0 /\ tail_14^0-y_18^0 <= 0 /\ i_30^0-i_30^post26 == 0 /\ __disjvr_23^0-__disjvr_23^post26 == 0 /\ __disjvr_8^0-__disjvr_8^post26 == 0 /\ -__disjvr_16^post26+__disjvr_16^0 == 0 /\ -__disjvr_22^post26+__disjvr_22^0 == 0), cost: 1
  27: l26 -> l27 : __disjvr_0^0'=__disjvr_0^post27, a_281^0'=a_281^post27, x_SLAM_f_24^0'=x_SLAM_f_24^post27, __disjvr_21^0'=__disjvr_21^post27, __disjvr_4^0'=__disjvr_4^post27, tail_14^0'=tail_14^post27, __disjvr_14^0'=__disjvr_14^post27, head_15^0'=head_15^post27, __disjvr_24^0'=__disjvr_24^post27, r_165^0'=r_165^post27, __disjvr_9^0'=__disjvr_9^post27, a_149^0'=a_149^post27, x_19^0'=x_19^post27, __disjvr_19^0'=__disjvr_19^post27, i_95^0'=i_95^post27, __disjvr_29^0'=__disjvr_29^post27, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post27, __disjvr_11^0'=__disjvr_11^post27, a_342^0'=a_342^post27, y_25^0'=y_25^post27, length_28^0'=length_28^post27, __disjvr_6^0'=__disjvr_6^post27, temp0_31^0'=temp0_31^post27, __disjvr_16^0'=__disjvr_16^post27, head_SLAM_f_29^0'=head_SLAM_f_29^post27, __disjvr_26^0'=__disjvr_26^post27, rcd_59^0'=rcd_59^post27, a_225^0'=a_225^post27, x_SLAM_f_17^0'=x_SLAM_f_17^post27, __disjvr_20^0'=__disjvr_20^post27, len_187^0'=len_187^post27, __disjvr_3^0'=__disjvr_3^post27, t_22^0'=t_22^post27, __disjvr_13^0'=__disjvr_13^post27, f_171^0'=f_171^post27, __disjvr_23^0'=__disjvr_23^post27, r_126^0'=r_126^post27, __disjvr_8^0'=__disjvr_8^post27, tmp_34^0'=tmp_34^post27, x_176^0'=x_176^post27, __disjvr_18^0'=__disjvr_18^post27, i_30^0'=i_30^post27, __disjvr_28^0'=__disjvr_28^post27, result_11^0'=result_11^post27, __disjvr_10^0'=__disjvr_10^post27, a_289^0'=a_289^post27, y_18^0'=y_18^post27, __disjvr_22^0'=__disjvr_22^post27, __disjvr_5^0'=__disjvr_5^post27, temp0_16^0'=temp0_16^post27, __disjvr_15^0'=__disjvr_15^post27, head_32^0'=head_32^post27, __disjvr_25^0'=__disjvr_25^post27, r_39^0'=r_39^post27, a_118^0'=a_118^post27, a_188^0'=a_188^post27, x_26^0'=x_26^post27, __disjvr_1^0'=__disjvr_1^post27, len_134^0'=len_134^post27, __disjvr_2^0'=__disjvr_2^post27, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post27, __disjvr_12^0'=__disjvr_12^post27, a_343^0'=a_343^post27, nondet_12^0'=nondet_12^post27, __disjvr_7^0'=__disjvr_7^post27, temp_35^0'=temp_35^post27, x_131^0'=x_131^post27, __disjvr_17^0'=__disjvr_17^post27, i_110^0'=i_110^post27, __disjvr_27^0'=__disjvr_27^post27, rcd_89^0'=rcd_89^post27, (-a_225^post27+a_225^0 == 0 /\ rcd_59^0-rcd_59^post27 == 0 /\ -__disjvr_3^post27+__disjvr_3^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post27+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_26^post27+x_26^0 == 0 /\ y_25^0-y_25^post27 == 0 /\ __disjvr_6^0-__disjvr_6^post27 == 0 /\ -a_118^post27+a_118^0 == 0 /\ a_281^0-a_281^post27 == 0 /\ -__disjvr_22^post27+__disjvr_22^0 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post27 == 0 /\ head_15^0-head_15^post27 == 0 /\ f_171^0-f_171^post27 == 0 /\ a_342^0-a_342^post27 == 0 /\ __disjvr_15^0-__disjvr_15^post27 == 0 /\ x_176^0-x_176^post27 == 0 /\ -__disjvr_13^post27+__disjvr_13^0 == 0 /\ -__disjvr_12^post27+__disjvr_12^0 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post27 == 0 /\ t_22^0-t_22^post27 == 0 /\ __disjvr_18^0-__disjvr_18^post27 == 0 /\ -i_110^post27+i_110^0 == 0 /\ -rcd_89^post27+rcd_89^0 == 0 /\ -head_32^post27+head_32^0 == 0 /\ result_11^0-result_11^post27 == 0 /\ -nondet_12^post27+nondet_12^0 == 0 /\ -r_126^post27+r_126^0 == 0 /\ -__disjvr_5^post27+__disjvr_5^0 == 0 /\ __disjvr_2^0-__disjvr_2^post27 == 0 /\ r_165^0-r_165^post27 == 0 /\ -head_SLAM_f_29^post27+head_SLAM_f_29^0 == 0 /\ tmp_34^0-tmp_34^post27 == 0 /\ __disjvr_26^0-__disjvr_26^post27 == 0 /\ -a_343^post27+a_343^0 == 0 /\ __disjvr_19^0-__disjvr_19^post27 == 0 /\ __disjvr_10^post27-__disjvr_10^0 == 0 /\ __disjvr_21^0-__disjvr_21^post27 == 0 /\ -len_134^post27+len_134^0 == 0 /\ -a_188^post27+a_188^0 == 0 /\ i_30^0-i_30^post27 == 0 /\ __disjvr_14^0-__disjvr_14^post27 == 0 /\ -__disjvr_29^post27+__disjvr_29^0 == 0 /\ -r_39^post27+r_39^0 == 0 /\ a_289^0-a_289^post27 == 0 /\ -__disjvr_9^post27+__disjvr_9^0 == 0 /\ tail_14^0-tail_14^post27 == 0 /\ -__disjvr_20^post27+__disjvr_20^0 == 0 /\ -__disjvr_16^post27+__disjvr_16^0 == 0 /\ x_19^0-x_19^post27 == 0 /\ __disjvr_4^0-__disjvr_4^post27 == 0 /\ -__disjvr_10^post27+__disjvr_10^0 == 0 /\ __disjvr_24^0-__disjvr_24^post27 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post27 == 0 /\ temp0_16^0-temp0_16^post27 == 0 /\ -temp_35^post27+temp_35^0 == 0 /\ -temp0_31^post27+temp0_31^0 == 0 /\ -x_131^post27+x_131^0 == 0 /\ __disjvr_8^0-__disjvr_8^post27 == 0 /\ __disjvr_0^0-__disjvr_0^post27 == 0 /\ -i_95^post27+i_95^0 == 0 /\ __disjvr_23^0-__disjvr_23^post27 == 0 /\ -__disjvr_11^post27+__disjvr_11^0 == 0 /\ -__disjvr_1^post27+__disjvr_1^0 == 0 /\ -length_28^post27+length_28^0 == 0 /\ -y_18^post27+y_18^0 == 0 /\ -__disjvr_17^post27+__disjvr_17^0 == 0 /\ -__disjvr_25^post27+__disjvr_25^0 == 0 /\ __disjvr_27^0-__disjvr_27^post27 == 0 /\ len_187^0-len_187^post27 == 0 /\ __disjvr_28^0-__disjvr_28^post27 == 0 /\ a_149^0-a_149^post27 == 0 /\ -__disjvr_7^post27+__disjvr_7^0 == 0), cost: 1
  28: l27 -> l28 : __disjvr_0^0'=__disjvr_0^post28, a_281^0'=a_281^post28, x_SLAM_f_24^0'=x_SLAM_f_24^post28, __disjvr_21^0'=__disjvr_21^post28, __disjvr_4^0'=__disjvr_4^post28, tail_14^0'=tail_14^post28, __disjvr_14^0'=__disjvr_14^post28, head_15^0'=head_15^post28, __disjvr_24^0'=__disjvr_24^post28, r_165^0'=r_165^post28, __disjvr_9^0'=__disjvr_9^post28, a_149^0'=a_149^post28, x_19^0'=x_19^post28, __disjvr_19^0'=__disjvr_19^post28, i_95^0'=i_95^post28, __disjvr_29^0'=__disjvr_29^post28, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post28, __disjvr_11^0'=__disjvr_11^post28, a_342^0'=a_342^post28, y_25^0'=y_25^post28, length_28^0'=length_28^post28, __disjvr_6^0'=__disjvr_6^post28, temp0_31^0'=temp0_31^post28, __disjvr_16^0'=__disjvr_16^post28, head_SLAM_f_29^0'=head_SLAM_f_29^post28, __disjvr_26^0'=__disjvr_26^post28, rcd_59^0'=rcd_59^post28, a_225^0'=a_225^post28, x_SLAM_f_17^0'=x_SLAM_f_17^post28, __disjvr_20^0'=__disjvr_20^post28, len_187^0'=len_187^post28, __disjvr_3^0'=__disjvr_3^post28, t_22^0'=t_22^post28, __disjvr_13^0'=__disjvr_13^post28, f_171^0'=f_171^post28, __disjvr_23^0'=__disjvr_23^post28, r_126^0'=r_126^post28, __disjvr_8^0'=__disjvr_8^post28, tmp_34^0'=tmp_34^post28, x_176^0'=x_176^post28, __disjvr_18^0'=__disjvr_18^post28, i_30^0'=i_30^post28, __disjvr_28^0'=__disjvr_28^post28, result_11^0'=result_11^post28, __disjvr_10^0'=__disjvr_10^post28, a_289^0'=a_289^post28, y_18^0'=y_18^post28, __disjvr_22^0'=__disjvr_22^post28, __disjvr_5^0'=__disjvr_5^post28, temp0_16^0'=temp0_16^post28, __disjvr_15^0'=__disjvr_15^post28, head_32^0'=head_32^post28, __disjvr_25^0'=__disjvr_25^post28, r_39^0'=r_39^post28, a_118^0'=a_118^post28, a_188^0'=a_188^post28, x_26^0'=x_26^post28, __disjvr_1^0'=__disjvr_1^post28, len_134^0'=len_134^post28, __disjvr_2^0'=__disjvr_2^post28, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post28, __disjvr_12^0'=__disjvr_12^post28, a_343^0'=a_343^post28, nondet_12^0'=nondet_12^post28, __disjvr_7^0'=__disjvr_7^post28, temp_35^0'=temp_35^post28, x_131^0'=x_131^post28, __disjvr_17^0'=__disjvr_17^post28, i_110^0'=i_110^post28, __disjvr_27^0'=__disjvr_27^post28, rcd_89^0'=rcd_89^post28, (-__disjvr_12^post28+__disjvr_12^0 == 0 /\ __disjvr_6^0-__disjvr_6^post28 == 0 /\ -temp_35^post28+temp_35^0 == 0 /\ __disjvr_2^0-__disjvr_2^post28 == 0 /\ head_15^0-head_15^post28 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post28 == 0 /\ -head_SLAM_f_29^post28+head_SLAM_f_29^0 == 0 /\ x_176^0-x_176^post28 == 0 /\ -y_18^post28+y_18^0 == 0 /\ -__disjvr_17^post28+__disjvr_17^0 == 0 /\ -x_131^post28+x_131^0 == 0 /\ __disjvr_1^0-__disjvr_1^post28 == 0 /\ y_25^0-y_25^post28 == 0 /\ -__disjvr_7^post28+__disjvr_7^0 == 0 /\ -__disjvr_8^post28+__disjvr_8^0 == 0 /\ __disjvr_0^0-__disjvr_0^post28 == 0 /\ -head_32^post28+head_32^0 == 0 /\ result_11^0-result_11^post28 == 0 /\ -a_343^post28+a_343^0 == 0 /\ tail_14^0-tail_14^post28 == 0 /\ -len_134^post28+len_134^0 == 0 /\ -a_225^post28+a_225^0 == 0 /\ -rcd_89^post28+rcd_89^0 == 0 /\ -a_188^post28+a_188^0 == 0 /\ -__disjvr_3^post28+__disjvr_3^0 == 0 /\ tmp_34^0-tmp_34^post28 == 0 /\ __disjvr_26^0-__disjvr_26^post28 == 0 /\ -__disjvr_23^post28+__disjvr_23^0 == 0 /\ f_171^0-f_171^post28 == 0 /\ a_342^0-a_342^post28 == 0 /\ -__disjvr_22^post28+__disjvr_22^0 == 0 /\ -__disjvr_16^post28+__disjvr_16^0 == 0 /\ __disjvr_14^0-__disjvr_14^post28 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post28 == 0 /\ t_22^0-t_22^post28 == 0 /\ -__disjvr_15^post28+__disjvr_15^0 == 0 /\ __disjvr_18^0-__disjvr_18^post28 == 0 /\ -__disjvr_27^post28+__disjvr_27^0 == 0 /\ -__disjvr_10^post28+__disjvr_10^0 == 0 /\ x_19^0-x_19^post28 == 0 /\ -a_118^post28+a_118^0 == 0 /\ -temp0_31^post28+temp0_31^0 == 0 /\ __disjvr_28^0-__disjvr_28^post28 == 0 /\ r_165^0-r_165^post28 == 0 /\ -i_110^post28+i_110^0 == 0 /\ __disjvr_4^0-__disjvr_4^post28 == 0 /\ -i_30^post28+i_30^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post28 == 0 /\ -nondet_12^post28+nondet_12^0 == 0 /\ -__disjvr_5^post28+__disjvr_5^0 == 0 /\ -__disjvr_11^0+__disjvr_11^post28 == 0 /\ a_281^0-a_281^post28 == 0 /\ -r_126^post28+r_126^0 == 0 /\ a_289^0-a_289^post28 == 0 /\ len_187^0-len_187^post28 == 0 /\ -x_26^post28+x_26^0 == 0 /\ i_95^0-i_95^post28 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post28+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ a_149^0-a_149^post28 == 0 /\ -__disjvr_29^post28+__disjvr_29^0 == 0 /\ -length_28^post28+length_28^0 == 0 /\ rcd_59^0-rcd_59^post28 == 0 /\ -__disjvr_13^post28+__disjvr_13^0 == 0 /\ -r_39^post28+r_39^0 == 0 /\ -__disjvr_24^post28+__disjvr_24^0 == 0 /\ __disjvr_19^0-__disjvr_19^post28 == 0 /\ temp0_16^0-temp0_16^post28 == 0 /\ -__disjvr_9^post28+__disjvr_9^0 == 0 /\ __disjvr_21^0-__disjvr_21^post28 == 0 /\ __disjvr_11^0-__disjvr_11^post28 == 0 /\ -__disjvr_20^post28+__disjvr_20^0 == 0 /\ __disjvr_25^0-__disjvr_25^post28 == 0), cost: 1
  29: l28 -> l29 : __disjvr_0^0'=__disjvr_0^post29, a_281^0'=a_281^post29, x_SLAM_f_24^0'=x_SLAM_f_24^post29, __disjvr_21^0'=__disjvr_21^post29, __disjvr_4^0'=__disjvr_4^post29, tail_14^0'=tail_14^post29, __disjvr_14^0'=__disjvr_14^post29, head_15^0'=head_15^post29, __disjvr_24^0'=__disjvr_24^post29, r_165^0'=r_165^post29, __disjvr_9^0'=__disjvr_9^post29, a_149^0'=a_149^post29, x_19^0'=x_19^post29, __disjvr_19^0'=__disjvr_19^post29, i_95^0'=i_95^post29, __disjvr_29^0'=__disjvr_29^post29, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post29, __disjvr_11^0'=__disjvr_11^post29, a_342^0'=a_342^post29, y_25^0'=y_25^post29, length_28^0'=length_28^post29, __disjvr_6^0'=__disjvr_6^post29, temp0_31^0'=temp0_31^post29, __disjvr_16^0'=__disjvr_16^post29, head_SLAM_f_29^0'=head_SLAM_f_29^post29, __disjvr_26^0'=__disjvr_26^post29, rcd_59^0'=rcd_59^post29, a_225^0'=a_225^post29, x_SLAM_f_17^0'=x_SLAM_f_17^post29, __disjvr_20^0'=__disjvr_20^post29, len_187^0'=len_187^post29, __disjvr_3^0'=__disjvr_3^post29, t_22^0'=t_22^post29, __disjvr_13^0'=__disjvr_13^post29, f_171^0'=f_171^post29, __disjvr_23^0'=__disjvr_23^post29, r_126^0'=r_126^post29, __disjvr_8^0'=__disjvr_8^post29, tmp_34^0'=tmp_34^post29, x_176^0'=x_176^post29, __disjvr_18^0'=__disjvr_18^post29, i_30^0'=i_30^post29, __disjvr_28^0'=__disjvr_28^post29, result_11^0'=result_11^post29, __disjvr_10^0'=__disjvr_10^post29, a_289^0'=a_289^post29, y_18^0'=y_18^post29, __disjvr_22^0'=__disjvr_22^post29, __disjvr_5^0'=__disjvr_5^post29, temp0_16^0'=temp0_16^post29, __disjvr_15^0'=__disjvr_15^post29, head_32^0'=head_32^post29, __disjvr_25^0'=__disjvr_25^post29, r_39^0'=r_39^post29, a_118^0'=a_118^post29, a_188^0'=a_188^post29, x_26^0'=x_26^post29, __disjvr_1^0'=__disjvr_1^post29, len_134^0'=len_134^post29, __disjvr_2^0'=__disjvr_2^post29, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post29, __disjvr_12^0'=__disjvr_12^post29, a_343^0'=a_343^post29, nondet_12^0'=nondet_12^post29, __disjvr_7^0'=__disjvr_7^post29, temp_35^0'=temp_35^post29, x_131^0'=x_131^post29, __disjvr_17^0'=__disjvr_17^post29, i_110^0'=i_110^post29, __disjvr_27^0'=__disjvr_27^post29, rcd_89^0'=rcd_89^post29, (x_176^0-x_176^post29 == 0 /\ __disjvr_9^0-__disjvr_9^post29 == 0 /\ -len_134^post29+len_134^0 == 0 /\ __disjvr_18^0-__disjvr_18^post29 == 0 /\ -a_188^post29+a_188^0 == 0 /\ t_22^0-t_22^post29 == 0 /\ __disjvr_1^0-__disjvr_1^post29 == 0 /\ -a_343^post29+a_343^0 == 0 /\ -r_39^post29+r_39^0 == 0 /\ -__disjvr_13^post29+__disjvr_13^0 == 0 /\ result_11^0-result_11^post29 == 0 /\ -__disjvr_20^post29+__disjvr_20^0 == 0 /\ -__disjvr_2^post29+__disjvr_2^0 == 0 /\ len_187^0-len_187^post29 == 0 /\ -temp_35^post29+temp_35^0 == 0 /\ -__disjvr_16^post29+__disjvr_16^0 == 0 /\ __disjvr_26^0-__disjvr_26^post29 == 0 /\ a_149^0-a_149^post29 == 0 /\ f_171^0-f_171^post29 == 0 /\ -i_95^post29+i_95^0 == 0 /\ -__disjvr_10^post29+__disjvr_10^0 == 0 /\ -a_118^post29+a_118^0 == 0 /\ __disjvr_14^0-__disjvr_14^post29 == 0 /\ __disjvr_19^0-__disjvr_19^post29 == 0 /\ y_25^0-y_25^post29 == 0 /\ __disjvr_0^0-__disjvr_0^post29 == 0 /\ -__disjvr_17^post29+__disjvr_17^0 == 0 /\ __disjvr_6^0-__disjvr_6^post29 == 0 /\ -x_131^post29+x_131^0 == 0 /\ __disjvr_4^0-__disjvr_4^post29 == 0 /\ -i_30^post29+i_30^0 == 0 /\ -y_18^post29+y_18^0 == 0 /\ -__disjvr_7^post29+__disjvr_7^0 == 0 /\ -__disjvr_8^post29+__disjvr_8^0 == 0 /\ -rcd_89^post29+rcd_89^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post29 == 0 /\ -__disjvr_22^post29+__disjvr_22^0 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post29 == 0 /\ -x_26^post29+x_26^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post29+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -r_126^post29+r_126^0 == 0 /\ -__disjvr_28^post29+__disjvr_28^0 == 0 /\ -__disjvr_24^post29+__disjvr_24^0 == 0 /\ -length_28^post29+length_28^0 == 0 /\ __disjvr_12^post29-__disjvr_12^0 == 0 /\ -temp0_31^post29+temp0_31^0 == 0 /\ r_165^0-r_165^post29 == 0 /\ -a_225^post29+a_225^0 == 0 /\ -__disjvr_15^post29+__disjvr_15^0 == 0 /\ -head_32^post29+head_32^0 == 0 /\ tmp_34^0-tmp_34^post29 == 0 /\ -__disjvr_27^post29+__disjvr_27^0 == 0 /\ rcd_59^0-rcd_59^post29 == 0 /\ __disjvr_3^0-__disjvr_3^post29 == 0 /\ -nondet_12^post29+nondet_12^0 == 0 /\ __disjvr_21^0-__disjvr_21^post29 == 0 /\ __disjvr_29^0-__disjvr_29^post29 == 0 /\ __disjvr_11^0-__disjvr_11^post29 == 0 /\ a_281^0-a_281^post29 == 0 /\ __disjvr_5^0-__disjvr_5^post29 == 0 /\ __disjvr_25^0-__disjvr_25^post29 == 0 /\ -a_342^post29+a_342^0 == 0 /\ -i_110^post29+i_110^0 == 0 /\ -head_SLAM_f_29^post29+head_SLAM_f_29^0 == 0 /\ __disjvr_23^0-__disjvr_23^post29 == 0 /\ x_19^0-x_19^post29 == 0 /\ a_289^0-a_289^post29 == 0 /\ -__disjvr_12^post29+__disjvr_12^0 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post29 == 0 /\ -temp0_16^post29+temp0_16^0 == 0 /\ tail_14^0-tail_14^post29 == 0 /\ head_15^0-head_15^post29 == 0), cost: 1
  30: l29 -> l6 : __disjvr_0^0'=__disjvr_0^post30, a_281^0'=a_281^post30, x_SLAM_f_24^0'=x_SLAM_f_24^post30, __disjvr_21^0'=__disjvr_21^post30, __disjvr_4^0'=__disjvr_4^post30, tail_14^0'=tail_14^post30, __disjvr_14^0'=__disjvr_14^post30, head_15^0'=head_15^post30, __disjvr_24^0'=__disjvr_24^post30, r_165^0'=r_165^post30, __disjvr_9^0'=__disjvr_9^post30, a_149^0'=a_149^post30, x_19^0'=x_19^post30, __disjvr_19^0'=__disjvr_19^post30, i_95^0'=i_95^post30, __disjvr_29^0'=__disjvr_29^post30, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post30, __disjvr_11^0'=__disjvr_11^post30, a_342^0'=a_342^post30, y_25^0'=y_25^post30, length_28^0'=length_28^post30, __disjvr_6^0'=__disjvr_6^post30, temp0_31^0'=temp0_31^post30, __disjvr_16^0'=__disjvr_16^post30, head_SLAM_f_29^0'=head_SLAM_f_29^post30, __disjvr_26^0'=__disjvr_26^post30, rcd_59^0'=rcd_59^post30, a_225^0'=a_225^post30, x_SLAM_f_17^0'=x_SLAM_f_17^post30, __disjvr_20^0'=__disjvr_20^post30, len_187^0'=len_187^post30, __disjvr_3^0'=__disjvr_3^post30, t_22^0'=t_22^post30, __disjvr_13^0'=__disjvr_13^post30, f_171^0'=f_171^post30, __disjvr_23^0'=__disjvr_23^post30, r_126^0'=r_126^post30, __disjvr_8^0'=__disjvr_8^post30, tmp_34^0'=tmp_34^post30, x_176^0'=x_176^post30, __disjvr_18^0'=__disjvr_18^post30, i_30^0'=i_30^post30, __disjvr_28^0'=__disjvr_28^post30, result_11^0'=result_11^post30, __disjvr_10^0'=__disjvr_10^post30, a_289^0'=a_289^post30, y_18^0'=y_18^post30, __disjvr_22^0'=__disjvr_22^post30, __disjvr_5^0'=__disjvr_5^post30, temp0_16^0'=temp0_16^post30, __disjvr_15^0'=__disjvr_15^post30, head_32^0'=head_32^post30, __disjvr_25^0'=__disjvr_25^post30, r_39^0'=r_39^post30, a_118^0'=a_118^post30, a_188^0'=a_188^post30, x_26^0'=x_26^post30, __disjvr_1^0'=__disjvr_1^post30, len_134^0'=len_134^post30, __disjvr_2^0'=__disjvr_2^post30, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post30, __disjvr_12^0'=__disjvr_12^post30, a_343^0'=a_343^post30, nondet_12^0'=nondet_12^post30, __disjvr_7^0'=__disjvr_7^post30, temp_35^0'=temp_35^post30, x_131^0'=x_131^post30, __disjvr_17^0'=__disjvr_17^post30, i_110^0'=i_110^post30, __disjvr_27^0'=__disjvr_27^post30, rcd_89^0'=rcd_89^post30, (0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post30+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -1-a_225^0+len_134^post30 <= 0 /\ x_26^0-x_26^post30 == 0 /\ -nondet_12^post30+nondet_12^0 == 0 /\ y_25^0-y_25^post30 == 0 /\ -a_118^post30+a_118^0 == 0 /\ -__disjvr_10^post30+__disjvr_10^0 == 0 /\ a_289^0-a_289^post30 == 0 /\ -__disjvr_2^post30+__disjvr_2^0 == 0 /\ tmp_34^0-tmp_34^post30 == 0 /\ len_187^0-len_187^post30 == 0 /\ result_11^0-result_11^post30 == 0 /\ a_149^0-a_149^post30 == 0 /\ __disjvr_9^0-__disjvr_9^post30 == 0 /\ -i_110^post30+i_110^0 == 0 /\ f_171^0-f_171^post30 == 0 /\ __disjvr_21^0-__disjvr_21^post30 == 0 /\ -a_188^post30+a_188^0 == 0 /\ t_22^0-t_22^post30 == 0 /\ rcd_59^0-rcd_59^post30 == 0 /\ __disjvr_5^0-__disjvr_5^post30 == 0 /\ -__disjvr_27^post30+__disjvr_27^0 == 0 /\ -i_30^post30+i_30^0 == 0 /\ -__disjvr_25^post30+__disjvr_25^0 == 0 /\ __disjvr_6^0-__disjvr_6^post30 == 0 /\ __disjvr_14^0-__disjvr_14^post30 == 0 /\ -r_126^post30+r_126^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post30+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ length_28^0-length_28^post30 == 0 /\ -__disjvr_13^post30+__disjvr_13^0 == 0 /\ x_176^0-x_176^post30 == 0 /\ __disjvr_24^0-__disjvr_24^post30 == 0 /\ -__disjvr_28^post30+__disjvr_28^0 == 0 /\ -__disjvr_20^post30+__disjvr_20^0 == 0 /\ -temp_35^post30+temp_35^0 == 0 /\ -temp0_31^post30+temp0_31^0 == 0 /\ __disjvr_4^0-__disjvr_4^post30 == 0 /\ __disjvr_1^0-__disjvr_1^post30 == 0 /\ -__disjvr_15^post30+__disjvr_15^0 == 0 /\ 1+a_225^0-len_134^post30 <= 0 /\ -i_95^post30+i_95^0 == 0 /\ __disjvr_0^0-__disjvr_0^post30 == 0 /\ __disjvr_26^0-__disjvr_26^post30 == 0 /\ __disjvr_18^0-__disjvr_18^post30 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ tail_14^0-tail_14^post30 == 0 /\ -__disjvr_12^post30+__disjvr_12^0 == 0 /\ -head_SLAM_f_29^post30+head_SLAM_f_29^0 == 0 /\ -y_18^post30+y_18^0 == 0 /\ __disjvr_7^0-__disjvr_7^post30 == 0 /\ __disjvr_11^0-__disjvr_11^post30 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post30 == 0 /\ __disjvr_19^0-__disjvr_19^post30 == 0 /\ -a_342^post30+a_342^0 == 0 /\ -rcd_89^post30+rcd_89^0 == 0 /\ -__disjvr_3^post30+__disjvr_3^0 == 0 /\ __disjvr_23^0-__disjvr_23^post30 == 0 /\ -__disjvr_22^post30+__disjvr_22^0 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post30 == 0 /\ x_19^0-x_19^post30 == 0 /\ -temp0_16^post30+temp0_16^0 == 0 /\ __disjvr_17^0-__disjvr_17^post30 == 0 /\ r_165^0-r_165^post30 == 0 /\ x_131^0-x_131^post30 == 0 /\ head_15^0-head_15^post30 == 0 /\ -a_343^post30+a_343^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -__disjvr_16^post30+__disjvr_16^0 == 0 /\ __disjvr_29^0-__disjvr_29^post30 == 0 /\ a_281^0-a_281^post30 == 0 /\ -a_225^post30+a_225^0 == 0 /\ r_39^0-r_39^post30 == 0 /\ __disjvr_8^0-__disjvr_8^post30 == 0 /\ -head_32^post30+head_32^0 == 0), cost: 1
  31: l30 -> l3 : __disjvr_0^0'=__disjvr_0^post31, a_281^0'=a_281^post31, x_SLAM_f_24^0'=x_SLAM_f_24^post31, __disjvr_21^0'=__disjvr_21^post31, __disjvr_4^0'=__disjvr_4^post31, tail_14^0'=tail_14^post31, __disjvr_14^0'=__disjvr_14^post31, head_15^0'=head_15^post31, __disjvr_24^0'=__disjvr_24^post31, r_165^0'=r_165^post31, __disjvr_9^0'=__disjvr_9^post31, a_149^0'=a_149^post31, x_19^0'=x_19^post31, __disjvr_19^0'=__disjvr_19^post31, i_95^0'=i_95^post31, __disjvr_29^0'=__disjvr_29^post31, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post31, __disjvr_11^0'=__disjvr_11^post31, a_342^0'=a_342^post31, y_25^0'=y_25^post31, length_28^0'=length_28^post31, __disjvr_6^0'=__disjvr_6^post31, temp0_31^0'=temp0_31^post31, __disjvr_16^0'=__disjvr_16^post31, head_SLAM_f_29^0'=head_SLAM_f_29^post31, __disjvr_26^0'=__disjvr_26^post31, rcd_59^0'=rcd_59^post31, a_225^0'=a_225^post31, x_SLAM_f_17^0'=x_SLAM_f_17^post31, __disjvr_20^0'=__disjvr_20^post31, len_187^0'=len_187^post31, __disjvr_3^0'=__disjvr_3^post31, t_22^0'=t_22^post31, __disjvr_13^0'=__disjvr_13^post31, f_171^0'=f_171^post31, __disjvr_23^0'=__disjvr_23^post31, r_126^0'=r_126^post31, __disjvr_8^0'=__disjvr_8^post31, tmp_34^0'=tmp_34^post31, x_176^0'=x_176^post31, __disjvr_18^0'=__disjvr_18^post31, i_30^0'=i_30^post31, __disjvr_28^0'=__disjvr_28^post31, result_11^0'=result_11^post31, __disjvr_10^0'=__disjvr_10^post31, a_289^0'=a_289^post31, y_18^0'=y_18^post31, __disjvr_22^0'=__disjvr_22^post31, __disjvr_5^0'=__disjvr_5^post31, temp0_16^0'=temp0_16^post31, __disjvr_15^0'=__disjvr_15^post31, head_32^0'=head_32^post31, __disjvr_25^0'=__disjvr_25^post31, r_39^0'=r_39^post31, a_118^0'=a_118^post31, a_188^0'=a_188^post31, x_26^0'=x_26^post31, __disjvr_1^0'=__disjvr_1^post31, len_134^0'=len_134^post31, __disjvr_2^0'=__disjvr_2^post31, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post31, __disjvr_12^0'=__disjvr_12^post31, a_343^0'=a_343^post31, nondet_12^0'=nondet_12^post31, __disjvr_7^0'=__disjvr_7^post31, temp_35^0'=temp_35^post31, x_131^0'=x_131^post31, __disjvr_17^0'=__disjvr_17^post31, i_110^0'=i_110^post31, __disjvr_27^0'=__disjvr_27^post31, rcd_89^0'=rcd_89^post31, (0 == 0 /\ head_15^0-head_15^post31 == 0 /\ i_30^post31 <= 0 /\ i_30^post31 == 0 /\ -x_131^post31+x_131^0 == 0 /\ __disjvr_20^0-__disjvr_20^post31 == 0 /\ -__disjvr_15^post31+__disjvr_15^0 == 0 /\ -__disjvr_8^post31+__disjvr_8^0 == 0 /\ a_225^0-a_225^post31 == 0 /\ -__disjvr_7^post31+__disjvr_7^0 == 0 /\ __disjvr_11^0-__disjvr_11^post31 == 0 /\ -result_11^post31+result_11^0 == 0 /\ -len_134^post31+len_134^0 == 0 /\ -__disjvr_12^post31+__disjvr_12^0 == 0 /\ __disjvr_16^0-__disjvr_16^post31 == 0 /\ a_342^0-a_342^post31 == 0 /\ -x_SLAM_f_17^post31+x_SLAM_f_17^0 == 0 /\ a_281^0-a_281^post31 == 0 /\ -x_26^post31+x_26^0 == 0 /\ a_149^0-a_149^post31 == 0 /\ -__disjvr_17^post31+__disjvr_17^0 == 0 /\ -__disjvr_26^post31+__disjvr_26^0 == 0 /\ -i_30^post31 <= 0 /\ -__disjvr_18^post31+__disjvr_18^0 == 0 /\ -rcd_89^post31+rcd_89^0 == 0 /\ -__disjvr_3^post31+__disjvr_3^0 == 0 /\ rcd_59^0-rcd_59^post31 == 0 /\ -tmp_34^post31+tmp_34^0 == 0 /\ __disjvr_29^0-__disjvr_29^post31 == 0 /\ tail_14^0-tail_14^post31 == 0 /\ __disjvr_14^0-__disjvr_14^post31 == 0 /\ i_95^0-i_95^post31 == 0 /\ __disjvr_9^0-__disjvr_9^post31 == 0 /\ -len_187^post31+len_187^0 == 0 /\ __disjvr_6^0-__disjvr_6^post31 == 0 /\ -__disjvr_2^post31+__disjvr_2^0 == 0 /\ -a_343^post31+a_343^0 == 0 /\ -t_22^post31+t_22^0 == 0 /\ -a_289^post31+a_289^0 == 0 /\ head_SLAM_f_29^post31-head_32^post31 <= 0 /\ -a_118^post31+a_118^0 == 0 /\ __disjvr_23^0-__disjvr_23^post31 == 0 /\ y_18^0-y_18^post31 == 0 /\ -__disjvr_27^post31+__disjvr_27^0 == 0 /\ __disjvr_4^0-__disjvr_4^post31 == 0 /\ temp0_16^0-temp0_16^post31 == 0 /\ -temp0_31^post31+temp0_31^0 == 0 /\ __disjvr_22^0-__disjvr_22^post31 == 0 /\ x_176^0-x_176^post31 == 0 /\ -x_SLAM_f_24^post31+x_SLAM_f_24^0 == 0 /\ -f_171^post31+f_171^0 == 0 /\ -a_188^post31+a_188^0 == 0 /\ -head_SLAM_f_29^post31+tail_14^0 <= 0 /\ -tail_14^0+head_32^post31 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post31-length_28^post31 <= 0 /\ r_39^0-r_39^post31 == 0 /\ r_165^0-r_165^post31 == 0 /\ -x_19^post31+x_19^0 == 0 /\ -__disjvr_10^post31+__disjvr_10^0 == 0 /\ __disjvr_21^0-__disjvr_21^post31 == 0 /\ -head_SLAM_f_29^post31+head_32^post31 <= 0 /\ -head_SLAM_f_29^post31+head_32^post31 == 0 /\ -r_126^post31+r_126^0 == 0 /\ -__disjvr_24^post31+__disjvr_24^0 == 0 /\ __disjvr_0^0-__disjvr_0^post31 == 0 /\ -i_110^post31+i_110^0 == 0 /\ -__disjvr_25^post31+__disjvr_25^0 == 0 /\ -__disjvr_5^post31+__disjvr_5^0 == 0 /\ -__disjvr_28^post31+__disjvr_28^0 == 0 /\ -__disjvr_13^post31+__disjvr_13^0 == 0 /\ head_SLAM_f_29^post31-tail_14^0 <= 0 /\ head_SLAM_f_29^post31-tail_14^0 == 0 /\ y_25^0-y_25^post31 == 0 /\ tail_14^0-head_32^post31 <= 0 /\ -temp_35^post31+temp_35^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post31+length_28^post31 <= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post31+length_28^post31 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post31 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post31-nondet_12^10 == 0 /\ -__disjvr_19^post31+__disjvr_19^0 == 0 /\ -__disjvr_1^post31+__disjvr_1^0 == 0), cost: 1
  32: l31 -> l32 : __disjvr_0^0'=__disjvr_0^post32, a_281^0'=a_281^post32, x_SLAM_f_24^0'=x_SLAM_f_24^post32, __disjvr_21^0'=__disjvr_21^post32, __disjvr_4^0'=__disjvr_4^post32, tail_14^0'=tail_14^post32, __disjvr_14^0'=__disjvr_14^post32, head_15^0'=head_15^post32, __disjvr_24^0'=__disjvr_24^post32, r_165^0'=r_165^post32, __disjvr_9^0'=__disjvr_9^post32, a_149^0'=a_149^post32, x_19^0'=x_19^post32, __disjvr_19^0'=__disjvr_19^post32, i_95^0'=i_95^post32, __disjvr_29^0'=__disjvr_29^post32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post32, __disjvr_11^0'=__disjvr_11^post32, a_342^0'=a_342^post32, y_25^0'=y_25^post32, length_28^0'=length_28^post32, __disjvr_6^0'=__disjvr_6^post32, temp0_31^0'=temp0_31^post32, __disjvr_16^0'=__disjvr_16^post32, head_SLAM_f_29^0'=head_SLAM_f_29^post32, __disjvr_26^0'=__disjvr_26^post32, rcd_59^0'=rcd_59^post32, a_225^0'=a_225^post32, x_SLAM_f_17^0'=x_SLAM_f_17^post32, __disjvr_20^0'=__disjvr_20^post32, len_187^0'=len_187^post32, __disjvr_3^0'=__disjvr_3^post32, t_22^0'=t_22^post32, __disjvr_13^0'=__disjvr_13^post32, f_171^0'=f_171^post32, __disjvr_23^0'=__disjvr_23^post32, r_126^0'=r_126^post32, __disjvr_8^0'=__disjvr_8^post32, tmp_34^0'=tmp_34^post32, x_176^0'=x_176^post32, __disjvr_18^0'=__disjvr_18^post32, i_30^0'=i_30^post32, __disjvr_28^0'=__disjvr_28^post32, result_11^0'=result_11^post32, __disjvr_10^0'=__disjvr_10^post32, a_289^0'=a_289^post32, y_18^0'=y_18^post32, __disjvr_22^0'=__disjvr_22^post32, __disjvr_5^0'=__disjvr_5^post32, temp0_16^0'=temp0_16^post32, __disjvr_15^0'=__disjvr_15^post32, head_32^0'=head_32^post32, __disjvr_25^0'=__disjvr_25^post32, r_39^0'=r_39^post32, a_118^0'=a_118^post32, a_188^0'=a_188^post32, x_26^0'=x_26^post32, __disjvr_1^0'=__disjvr_1^post32, len_134^0'=len_134^post32, __disjvr_2^0'=__disjvr_2^post32, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post32, __disjvr_12^0'=__disjvr_12^post32, a_343^0'=a_343^post32, nondet_12^0'=nondet_12^post32, __disjvr_7^0'=__disjvr_7^post32, temp_35^0'=temp_35^post32, x_131^0'=x_131^post32, __disjvr_17^0'=__disjvr_17^post32, i_110^0'=i_110^post32, __disjvr_27^0'=__disjvr_27^post32, rcd_89^0'=rcd_89^post32, (0 == 0 /\ -__disjvr_18^post32+__disjvr_18^0 == 0 /\ -__disjvr_5^post32+__disjvr_5^0 == 0 /\ -__disjvr_25^post32+__disjvr_25^0 == 0 /\ -a_149^0 <= 0 /\ __disjvr_23^0-__disjvr_23^post32 == 0 /\ -__disjvr_16^post32+__disjvr_16^0 == 0 /\ -__disjvr_8^post32+__disjvr_8^0 == 0 /\ -__disjvr_27^post32+__disjvr_27^0 == 0 /\ -a_343^post32+a_343^0 == 0 /\ head_15^0-x_19^post32 <= 0 /\ t_22^0-t_22^post32 == 0 /\ -__disjvr_13^post32+__disjvr_13^0 == 0 /\ -y_25^0+x_26^0 <= 0 /\ -temp_35^post32+temp_35^0 == 0 /\ a_149^0-a_149^post32 == 0 /\ -__disjvr_2^post32+__disjvr_2^0 == 0 /\ -tail_14^0+y_18^post32 <= 0 /\ -tail_14^0+y_18^post32 == 0 /\ __disjvr_21^0-__disjvr_21^post32 == 0 /\ __disjvr_14^0-__disjvr_14^post32 == 0 /\ -__disjvr_17^post32+__disjvr_17^0 == 0 /\ r_126^0-r_126^post32 == 0 /\ -__disjvr_26^post32+__disjvr_26^0 == 0 /\ -length_28^post32+length_28^0 == 0 /\ __disjvr_6^0-__disjvr_6^post32 == 0 /\ -temp0_31^post32+temp0_31^0 == 0 /\ -__disjvr_15^post32+__disjvr_15^0 == 0 /\ -head_15^0+x_19^post32 <= 0 /\ -__disjvr_7^post32+__disjvr_7^0 == 0 /\ __disjvr_1^0-__disjvr_1^post32 == 0 /\ y_25^0-x_26^0 <= 0 /\ __disjvr_10^0-__disjvr_10^post32 == 0 /\ -x_131^post32+x_131^0 == 0 /\ -a_188^post32+a_188^0 == 0 /\ -x_176^post32+x_176^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post32 == 0 /\ __disjvr_20^0-__disjvr_20^post32 == 0 /\ tail_14^0-y_18^post32 <= 0 /\ tail_14^0-tail_14^post32 == 0 /\ __disjvr_9^0-__disjvr_9^post32 == 0 /\ -i_30^post32+i_30^0 == 0 /\ -f_171^post32+f_171^0 == 0 /\ -__disjvr_24^post32+__disjvr_24^0 == 0 /\ x_19^post32-x_SLAM_f_17^post32 <= 0 /\ x_19^post32-x_SLAM_f_17^post32 == 0 /\ -__disjvr_3^post32+__disjvr_3^0 == 0 /\ -len_187^post32+len_187^0 == 0 /\ __disjvr_0^0-__disjvr_0^post32 == 0 /\ r_39^0-r_39^post32 == 0 /\ a_225^0-a_225^post32 == 0 /\ -head_32^post32+head_32^0 == 0 /\ -a_342^post32+a_342^0 == 0 /\ -a_118^post32+a_118^0 == 0 /\ __disjvr_11^0-__disjvr_11^post32 == 0 /\ r_165^0-r_165^post32 == 0 /\ head_15^0-x_SLAM_f_17^post32 <= 0 /\ tmp_34^0-tmp_34^post32 == 0 /\ temp0_16^0-temp0_16^post32 == 0 /\ -__disjvr_28^post32+__disjvr_28^0 == 0 /\ -i_110^post32+i_110^0 == 0 /\ -a_289^post32+a_289^0 == 0 /\ -x_19^post32+x_SLAM_f_17^post32 <= 0 /\ head_SLAM_f_29^0-head_SLAM_f_29^post32 == 0 /\ -nondet_12^post32+nondet_12^0 == 0 /\ rcd_59^0-rcd_59^post32 == 0 /\ __disjvr_19^0-__disjvr_19^post32 == 0 /\ __disjvr_29^0-__disjvr_29^post32 == 0 /\ -rcd_89^post32+rcd_89^0 == 0 /\ -len_134^post32+len_134^0 == 0 /\ a_281^0-a_281^post32 == 0 /\ -head_15^0+x_SLAM_f_17^post32 <= 0 /\ -head_15^0+x_SLAM_f_17^post32 == 0 /\ i_95^0-i_95^post32 == 0 /\ -result_11^post32+result_11^0 == 0 /\ head_15^0-head_15^post32 == 0 /\ -__disjvr_12^post32+__disjvr_12^0 == 0 /\ __disjvr_4^0-__disjvr_4^post32 == 0 /\ __disjvr_22^0-__disjvr_22^post32 == 0 /\ -len_134^0 <= 0), cost: 1
  35: l31 -> l35 : __disjvr_0^0'=__disjvr_0^post35, a_281^0'=a_281^post35, x_SLAM_f_24^0'=x_SLAM_f_24^post35, __disjvr_21^0'=__disjvr_21^post35, __disjvr_4^0'=__disjvr_4^post35, tail_14^0'=tail_14^post35, __disjvr_14^0'=__disjvr_14^post35, head_15^0'=head_15^post35, __disjvr_24^0'=__disjvr_24^post35, r_165^0'=r_165^post35, __disjvr_9^0'=__disjvr_9^post35, a_149^0'=a_149^post35, x_19^0'=x_19^post35, __disjvr_19^0'=__disjvr_19^post35, i_95^0'=i_95^post35, __disjvr_29^0'=__disjvr_29^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post35, __disjvr_11^0'=__disjvr_11^post35, a_342^0'=a_342^post35, y_25^0'=y_25^post35, length_28^0'=length_28^post35, __disjvr_6^0'=__disjvr_6^post35, temp0_31^0'=temp0_31^post35, __disjvr_16^0'=__disjvr_16^post35, head_SLAM_f_29^0'=head_SLAM_f_29^post35, __disjvr_26^0'=__disjvr_26^post35, rcd_59^0'=rcd_59^post35, a_225^0'=a_225^post35, x_SLAM_f_17^0'=x_SLAM_f_17^post35, __disjvr_20^0'=__disjvr_20^post35, len_187^0'=len_187^post35, __disjvr_3^0'=__disjvr_3^post35, t_22^0'=t_22^post35, __disjvr_13^0'=__disjvr_13^post35, f_171^0'=f_171^post35, __disjvr_23^0'=__disjvr_23^post35, r_126^0'=r_126^post35, __disjvr_8^0'=__disjvr_8^post35, tmp_34^0'=tmp_34^post35, x_176^0'=x_176^post35, __disjvr_18^0'=__disjvr_18^post35, i_30^0'=i_30^post35, __disjvr_28^0'=__disjvr_28^post35, result_11^0'=result_11^post35, __disjvr_10^0'=__disjvr_10^post35, a_289^0'=a_289^post35, y_18^0'=y_18^post35, __disjvr_22^0'=__disjvr_22^post35, __disjvr_5^0'=__disjvr_5^post35, temp0_16^0'=temp0_16^post35, __disjvr_15^0'=__disjvr_15^post35, head_32^0'=head_32^post35, __disjvr_25^0'=__disjvr_25^post35, r_39^0'=r_39^post35, a_118^0'=a_118^post35, a_188^0'=a_188^post35, x_26^0'=x_26^post35, __disjvr_1^0'=__disjvr_1^post35, len_134^0'=len_134^post35, __disjvr_2^0'=__disjvr_2^post35, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post35, __disjvr_12^0'=__disjvr_12^post35, a_343^0'=a_343^post35, nondet_12^0'=nondet_12^post35, __disjvr_7^0'=__disjvr_7^post35, temp_35^0'=temp_35^post35, x_131^0'=x_131^post35, __disjvr_17^0'=__disjvr_17^post35, i_110^0'=i_110^post35, __disjvr_27^0'=__disjvr_27^post35, rcd_89^0'=rcd_89^post35, (0 == 0 /\ -x_131^post35+x_131^0 == 0 /\ r_165^0-r_165^post35 == 0 /\ -__disjvr_23^post35+__disjvr_23^0 == 0 /\ temp0_31^0-temp0_31^post35 == 0 /\ -__disjvr_15^post35+__disjvr_15^0 == 0 /\ __disjvr_20^0-__disjvr_20^post35 == 0 /\ __disjvr_10^0-__disjvr_10^post35 == 0 /\ -a_149^0 <= 0 /\ -__disjvr_17^post35+__disjvr_17^0 == 0 /\ a_118^0-a_118^post35 == 0 /\ __disjvr_29^0-__disjvr_29^post35 == 0 /\ -__disjvr_7^post35+__disjvr_7^0 == 0 /\ y_25^0-y_25^post35 == 0 /\ -__disjvr_12^post35+__disjvr_12^0 == 0 /\ -__disjvr_18^post35+__disjvr_18^0 == 0 /\ -len_134^post35+len_134^0 == 0 /\ a_281^0-a_281^post35 == 0 /\ a_149^0-a_149^post35 == 0 /\ -a_343^post35+a_343^0 == 0 /\ -head_32^post35+head_32^0 == 0 /\ -a_188^post35+a_188^0 == 0 /\ __disjvr_26^0-__disjvr_26^post35 == 0 /\ -result_11^post35+result_11^0 == 0 /\ -rcd_89^post35+rcd_89^0 == 0 /\ -__disjvr_2^post35+__disjvr_2^0 == 0 /\ a_342^0-a_342^post35 == 0 /\ __disjvr_13^0-__disjvr_13^post35 == 0 /\ a_225^0-a_225^post35 == 0 /\ -temp0_16^post35+temp0_16^0 == 0 /\ __disjvr_28^0-__disjvr_28^post35 == 0 /\ -x_19^post35+x_19^0 == 0 /\ -len_187^post35+len_187^0 == 0 /\ __disjvr_9^0-__disjvr_9^post35 == 0 /\ __disjvr_4^0-__disjvr_4^post35 == 0 /\ __disjvr_22^0-__disjvr_22^post35 == 0 /\ -i_110^post35+i_110^0 == 0 /\ -__disjvr_1^post35+__disjvr_1^0 == 0 /\ length_28^0-length_28^post35 == 0 /\ head_SLAM_f_29^0-head_SLAM_f_29^post35 == 0 /\ -__disjvr_5^post35+__disjvr_5^0 == 0 /\ -__disjvr_27^post35+__disjvr_27^0 == 0 /\ y_18^0-y_18^post35 == 0 /\ -a_289^post35+a_289^0 == 0 /\ __disjvr_24^0-__disjvr_24^post35 == 0 /\ -i_30^post35+i_30^0 == 0 /\ r_126^0-r_126^post35 == 0 /\ -nondet_12^post35+nondet_12^0 == 0 /\ __disjvr_3^0-__disjvr_3^post35 == 0 /\ -__disjvr_8^post35+__disjvr_8^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post35 == 0 /\ -x_26^post35+x_26^0 == 0 /\ __disjvr_0^0-__disjvr_0^post35 == 0 /\ i_95^0-i_95^post35 == 0 /\ -x_SLAM_f_17^post35+x_SLAM_f_17^0 == 0 /\ -__disjvr_25^post35+__disjvr_25^0 == 0 /\ -t_22^post35+t_22^0 == 0 /\ __disjvr_21^0-__disjvr_21^post35 == 0 /\ __disjvr_19^0-__disjvr_19^post35 == 0 /\ -rcd_59^post35+rcd_59^0 == 0 /\ __disjvr_6^0-__disjvr_6^post35 == 0 /\ __disjvr_11^0-__disjvr_11^post35 == 0 /\ -tmp_34^post35+tmp_34^0 == 0 /\ __disjvr_14^0-__disjvr_14^post35 == 0 /\ -len_134^0 <= 0 /\ -temp_35^post35+temp_35^0 == 0 /\ __disjvr_16^0-__disjvr_16^post35 == 0), cost: 1
  33: l32 -> l33 : __disjvr_0^0'=__disjvr_0^post33, a_281^0'=a_281^post33, x_SLAM_f_24^0'=x_SLAM_f_24^post33, __disjvr_21^0'=__disjvr_21^post33, __disjvr_4^0'=__disjvr_4^post33, tail_14^0'=tail_14^post33, __disjvr_14^0'=__disjvr_14^post33, head_15^0'=head_15^post33, __disjvr_24^0'=__disjvr_24^post33, r_165^0'=r_165^post33, __disjvr_9^0'=__disjvr_9^post33, a_149^0'=a_149^post33, x_19^0'=x_19^post33, __disjvr_19^0'=__disjvr_19^post33, i_95^0'=i_95^post33, __disjvr_29^0'=__disjvr_29^post33, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post33, __disjvr_11^0'=__disjvr_11^post33, a_342^0'=a_342^post33, y_25^0'=y_25^post33, length_28^0'=length_28^post33, __disjvr_6^0'=__disjvr_6^post33, temp0_31^0'=temp0_31^post33, __disjvr_16^0'=__disjvr_16^post33, head_SLAM_f_29^0'=head_SLAM_f_29^post33, __disjvr_26^0'=__disjvr_26^post33, rcd_59^0'=rcd_59^post33, a_225^0'=a_225^post33, x_SLAM_f_17^0'=x_SLAM_f_17^post33, __disjvr_20^0'=__disjvr_20^post33, len_187^0'=len_187^post33, __disjvr_3^0'=__disjvr_3^post33, t_22^0'=t_22^post33, __disjvr_13^0'=__disjvr_13^post33, f_171^0'=f_171^post33, __disjvr_23^0'=__disjvr_23^post33, r_126^0'=r_126^post33, __disjvr_8^0'=__disjvr_8^post33, tmp_34^0'=tmp_34^post33, x_176^0'=x_176^post33, __disjvr_18^0'=__disjvr_18^post33, i_30^0'=i_30^post33, __disjvr_28^0'=__disjvr_28^post33, result_11^0'=result_11^post33, __disjvr_10^0'=__disjvr_10^post33, a_289^0'=a_289^post33, y_18^0'=y_18^post33, __disjvr_22^0'=__disjvr_22^post33, __disjvr_5^0'=__disjvr_5^post33, temp0_16^0'=temp0_16^post33, __disjvr_15^0'=__disjvr_15^post33, head_32^0'=head_32^post33, __disjvr_25^0'=__disjvr_25^post33, r_39^0'=r_39^post33, a_118^0'=a_118^post33, a_188^0'=a_188^post33, x_26^0'=x_26^post33, __disjvr_1^0'=__disjvr_1^post33, len_134^0'=len_134^post33, __disjvr_2^0'=__disjvr_2^post33, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, __disjvr_12^0'=__disjvr_12^post33, a_343^0'=a_343^post33, nondet_12^0'=nondet_12^post33, __disjvr_7^0'=__disjvr_7^post33, temp_35^0'=temp_35^post33, x_131^0'=x_131^post33, __disjvr_17^0'=__disjvr_17^post33, i_110^0'=i_110^post33, __disjvr_27^0'=__disjvr_27^post33, rcd_89^0'=rcd_89^post33, (a_149^0-a_149^post33 == 0 /\ -__disjvr_26^post33+__disjvr_26^0 == 0 /\ -__disjvr_1^post33+__disjvr_1^0 == 0 /\ -r_39^post33+r_39^0 == 0 /\ -i_110^post33+i_110^0 == 0 /\ a_281^0-a_281^post33 == 0 /\ -length_28^post33+length_28^0 == 0 /\ -__disjvr_2^post33+__disjvr_2^0 == 0 /\ __disjvr_21^0-__disjvr_21^post33 == 0 /\ -temp0_31^post33+temp0_31^0 == 0 /\ i_95^0-i_95^post33 == 0 /\ -a_289^post33+a_289^0 == 0 /\ -__disjvr_27^post33+__disjvr_27^0 == 0 /\ -rcd_89^post33+rcd_89^0 == 0 /\ -__disjvr_5^post33+__disjvr_5^0 == 0 /\ -a_188^post33+a_188^0 == 0 /\ __disjvr_9^0-__disjvr_9^post33 == 0 /\ -nondet_12^post33+nondet_12^0 == 0 /\ -x_176^post33+x_176^0 == 0 /\ __disjvr_14^0-__disjvr_14^post33 == 0 /\ __disjvr_28^0-__disjvr_28^post33 == 0 /\ __disjvr_10^0-__disjvr_10^post33 == 0 /\ -__disjvr_25^post33+__disjvr_25^0 == 0 /\ __disjvr_16^0-__disjvr_16^post33 == 0 /\ -x_SLAM_f_17^post33+x_SLAM_f_17^0 == 0 /\ __disjvr_20^0-__disjvr_20^post33 == 0 /\ -a_342^post33+a_342^0 == 0 /\ i_30^0-i_30^post33 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post33+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ r_126^0-r_126^post33 == 0 /\ -temp_35^post33+temp_35^0 == 0 /\ -a_118^post33+a_118^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post33+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ __disjvr_24^0-__disjvr_24^post33 == 0 /\ -__disjvr_23^post33+__disjvr_23^0 == 0 /\ -__disjvr_12^post33+__disjvr_12^0 == 0 /\ __disjvr_11^0-__disjvr_11^post33 == 0 /\ y_25^0-y_25^post33 == 0 /\ tail_14^0-tail_14^post33 == 0 /\ tmp_34^0-tmp_34^post33 == 0 /\ -__disjvr_15^post33+__disjvr_15^0 == 0 /\ -__disjvr_7^post33+__disjvr_7^0 == 0 /\ -len_134^post33+len_134^0 == 0 /\ __disjvr_13^0-__disjvr_13^post33 == 0 /\ __disjvr_19^0-__disjvr_19^post33 == 0 /\ -result_11^post33+result_11^0 == 0 /\ -x_26^post33+x_26^0 == 0 /\ __disjvr_6^0-__disjvr_6^post33 == 0 /\ rcd_59^0-rcd_59^post33 == 0 /\ __disjvr_0^0-__disjvr_0^post33 == 0 /\ a_225^0-a_225^post33 == 0 /\ -__disjvr_18^post33+__disjvr_18^0 == 0 /\ __disjvr_17^0-__disjvr_17^post33 == 0 /\ t_22^0-t_22^post33 == 0 /\ y_18^0-y_18^post33 == 0 /\ r_165^0-r_165^post33 == 0 /\ -a_343^post33+a_343^0 == 0 /\ -f_171^post33+f_171^0 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post33 == 0 /\ x_131^0-x_131^post33 == 0 /\ __disjvr_4^0-__disjvr_4^post33 == 0 /\ head_15^0-head_15^post33 == 0 /\ head_SLAM_f_29^0-head_SLAM_f_29^post33 == 0 /\ -temp0_16^post33+temp0_16^0 == 0 /\ -len_187^post33+len_187^0 == 0 /\ -head_32^post33+head_32^0 == 0 /\ -__disjvr_8^post33+__disjvr_8^0 == 0 /\ x_19^0-x_19^post33 == 0 /\ -__disjvr_13^0+__disjvr_13^post33 == 0 /\ -__disjvr_22^post33+__disjvr_22^0 == 0 /\ __disjvr_3^0-__disjvr_3^post33 == 0 /\ __disjvr_29^0-__disjvr_29^post33 == 0), cost: 1
  34: l33 -> l23 : __disjvr_0^0'=__disjvr_0^post34, a_281^0'=a_281^post34, x_SLAM_f_24^0'=x_SLAM_f_24^post34, __disjvr_21^0'=__disjvr_21^post34, __disjvr_4^0'=__disjvr_4^post34, tail_14^0'=tail_14^post34, __disjvr_14^0'=__disjvr_14^post34, head_15^0'=head_15^post34, __disjvr_24^0'=__disjvr_24^post34, r_165^0'=r_165^post34, __disjvr_9^0'=__disjvr_9^post34, a_149^0'=a_149^post34, x_19^0'=x_19^post34, __disjvr_19^0'=__disjvr_19^post34, i_95^0'=i_95^post34, __disjvr_29^0'=__disjvr_29^post34, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post34, __disjvr_11^0'=__disjvr_11^post34, a_342^0'=a_342^post34, y_25^0'=y_25^post34, length_28^0'=length_28^post34, __disjvr_6^0'=__disjvr_6^post34, temp0_31^0'=temp0_31^post34, __disjvr_16^0'=__disjvr_16^post34, head_SLAM_f_29^0'=head_SLAM_f_29^post34, __disjvr_26^0'=__disjvr_26^post34, rcd_59^0'=rcd_59^post34, a_225^0'=a_225^post34, x_SLAM_f_17^0'=x_SLAM_f_17^post34, __disjvr_20^0'=__disjvr_20^post34, len_187^0'=len_187^post34, __disjvr_3^0'=__disjvr_3^post34, t_22^0'=t_22^post34, __disjvr_13^0'=__disjvr_13^post34, f_171^0'=f_171^post34, __disjvr_23^0'=__disjvr_23^post34, r_126^0'=r_126^post34, __disjvr_8^0'=__disjvr_8^post34, tmp_34^0'=tmp_34^post34, x_176^0'=x_176^post34, __disjvr_18^0'=__disjvr_18^post34, i_30^0'=i_30^post34, __disjvr_28^0'=__disjvr_28^post34, result_11^0'=result_11^post34, __disjvr_10^0'=__disjvr_10^post34, a_289^0'=a_289^post34, y_18^0'=y_18^post34, __disjvr_22^0'=__disjvr_22^post34, __disjvr_5^0'=__disjvr_5^post34, temp0_16^0'=temp0_16^post34, __disjvr_15^0'=__disjvr_15^post34, head_32^0'=head_32^post34, __disjvr_25^0'=__disjvr_25^post34, r_39^0'=r_39^post34, a_118^0'=a_118^post34, a_188^0'=a_188^post34, x_26^0'=x_26^post34, __disjvr_1^0'=__disjvr_1^post34, len_134^0'=len_134^post34, __disjvr_2^0'=__disjvr_2^post34, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post34, __disjvr_12^0'=__disjvr_12^post34, a_343^0'=a_343^post34, nondet_12^0'=nondet_12^post34, __disjvr_7^0'=__disjvr_7^post34, temp_35^0'=temp_35^post34, x_131^0'=x_131^post34, __disjvr_17^0'=__disjvr_17^post34, i_110^0'=i_110^post34, __disjvr_27^0'=__disjvr_27^post34, rcd_89^0'=rcd_89^post34, (-f_171^post34+f_171^0 == 0 /\ -temp0_16^post34+temp0_16^0 == 0 /\ -head_32^post34+head_32^0 == 0 /\ -a_342^post34+a_342^0 == 0 /\ -len_187^post34+len_187^0 == 0 /\ -rcd_89^post34+rcd_89^0 == 0 /\ __disjvr_14^0-__disjvr_14^post34 == 0 /\ a_281^0-a_281^post34 == 0 /\ -rcd_59^post34+rcd_59^0 == 0 /\ temp0_31^0-temp0_31^post34 == 0 /\ __disjvr_10^0-__disjvr_10^post34 == 0 /\ -a_118^post34+a_118^0 == 0 /\ i_95^0-i_95^post34 == 0 /\ -tmp_34^post34+tmp_34^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post34+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ x_19^0-x_19^post34 == 0 /\ -__disjvr_12^post34+__disjvr_12^0 == 0 /\ -i_110^post34+i_110^0 == 0 /\ a_225^0-a_225^post34 == 0 /\ __disjvr_9^0-__disjvr_9^post34 == 0 /\ x_26^0-x_26^post34 == 0 /\ -__disjvr_5^post34+__disjvr_5^0 == 0 /\ __disjvr_28^0-__disjvr_28^post34 == 0 /\ __disjvr_24^0-__disjvr_24^post34 == 0 /\ -a_289^post34+a_289^0 == 0 /\ -__disjvr_27^post34+__disjvr_27^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post34+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ a_149^0-a_149^post34 == 0 /\ -len_134^post34+len_134^0 == 0 /\ -result_11^post34+result_11^0 == 0 /\ __disjvr_11^0-__disjvr_11^post34 == 0 /\ __disjvr_21^0-__disjvr_21^post34 == 0 /\ length_28^0-length_28^post34 == 0 /\ -nondet_12^post34+nondet_12^0 == 0 /\ __disjvr_26^0-__disjvr_26^post34 == 0 /\ -__disjvr_18^post34+__disjvr_18^0 == 0 /\ -__disjvr_25^post34+__disjvr_25^0 == 0 /\ r_126^0-r_126^post34 == 0 /\ __disjvr_19^0-__disjvr_19^post34 == 0 /\ __disjvr_13^0-__disjvr_13^post34 == 0 /\ -a_343^post34+a_343^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -temp_35^post34+temp_35^0 == 0 /\ -a_188^post34+a_188^0 == 0 /\ -x_SLAM_f_17^post34+x_SLAM_f_17^0 == 0 /\ __disjvr_6^0-__disjvr_6^post34 == 0 /\ __disjvr_3^0-__disjvr_3^post34 == 0 /\ __disjvr_29^0-__disjvr_29^post34 == 0 /\ __disjvr_4^0-__disjvr_4^post34 == 0 /\ -__disjvr_2^post34+__disjvr_2^0 == 0 /\ __disjvr_22^0-__disjvr_22^post34 == 0 /\ y_25^0-y_25^post34 == 0 /\ -tail_14^post34+tail_14^0 == 0 /\ r_39^0-r_39^post34 == 0 /\ head_15^0-head_15^post34 == 0 /\ __disjvr_20^0-__disjvr_20^post34 == 0 /\ -x_131^post34+x_131^0 == 0 /\ -__disjvr_1^post34+__disjvr_1^0 == 0 /\ -__disjvr_23^post34+__disjvr_23^0 == 0 /\ __disjvr_0^0-__disjvr_0^post34 == 0 /\ -__disjvr_7^post34+__disjvr_7^0 == 0 /\ -__disjvr_17^post34+__disjvr_17^0 == 0 /\ -__disjvr_15^post34+__disjvr_15^0 == 0 /\ y_18^0-y_18^post34 == 0 /\ __disjvr_16^0-__disjvr_16^post34 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ r_165^0-r_165^post34 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post34 == 0 /\ -i_30^post34+i_30^0 == 0 /\ head_SLAM_f_29^0-head_SLAM_f_29^post34 == 0 /\ -t_22^post34+t_22^0 == 0 /\ -x_176^post34+x_176^0 == 0 /\ -__disjvr_8^post34+__disjvr_8^0 == 0), cost: 1
  36: l35 -> l36 : __disjvr_0^0'=__disjvr_0^post36, a_281^0'=a_281^post36, x_SLAM_f_24^0'=x_SLAM_f_24^post36, __disjvr_21^0'=__disjvr_21^post36, __disjvr_4^0'=__disjvr_4^post36, tail_14^0'=tail_14^post36, __disjvr_14^0'=__disjvr_14^post36, head_15^0'=head_15^post36, __disjvr_24^0'=__disjvr_24^post36, r_165^0'=r_165^post36, __disjvr_9^0'=__disjvr_9^post36, a_149^0'=a_149^post36, x_19^0'=x_19^post36, __disjvr_19^0'=__disjvr_19^post36, i_95^0'=i_95^post36, __disjvr_29^0'=__disjvr_29^post36, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post36, __disjvr_11^0'=__disjvr_11^post36, a_342^0'=a_342^post36, y_25^0'=y_25^post36, length_28^0'=length_28^post36, __disjvr_6^0'=__disjvr_6^post36, temp0_31^0'=temp0_31^post36, __disjvr_16^0'=__disjvr_16^post36, head_SLAM_f_29^0'=head_SLAM_f_29^post36, __disjvr_26^0'=__disjvr_26^post36, rcd_59^0'=rcd_59^post36, a_225^0'=a_225^post36, x_SLAM_f_17^0'=x_SLAM_f_17^post36, __disjvr_20^0'=__disjvr_20^post36, len_187^0'=len_187^post36, __disjvr_3^0'=__disjvr_3^post36, t_22^0'=t_22^post36, __disjvr_13^0'=__disjvr_13^post36, f_171^0'=f_171^post36, __disjvr_23^0'=__disjvr_23^post36, r_126^0'=r_126^post36, __disjvr_8^0'=__disjvr_8^post36, tmp_34^0'=tmp_34^post36, x_176^0'=x_176^post36, __disjvr_18^0'=__disjvr_18^post36, i_30^0'=i_30^post36, __disjvr_28^0'=__disjvr_28^post36, result_11^0'=result_11^post36, __disjvr_10^0'=__disjvr_10^post36, a_289^0'=a_289^post36, y_18^0'=y_18^post36, __disjvr_22^0'=__disjvr_22^post36, __disjvr_5^0'=__disjvr_5^post36, temp0_16^0'=temp0_16^post36, __disjvr_15^0'=__disjvr_15^post36, head_32^0'=head_32^post36, __disjvr_25^0'=__disjvr_25^post36, r_39^0'=r_39^post36, a_118^0'=a_118^post36, a_188^0'=a_188^post36, x_26^0'=x_26^post36, __disjvr_1^0'=__disjvr_1^post36, len_134^0'=len_134^post36, __disjvr_2^0'=__disjvr_2^post36, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post36, __disjvr_12^0'=__disjvr_12^post36, a_343^0'=a_343^post36, nondet_12^0'=nondet_12^post36, __disjvr_7^0'=__disjvr_7^post36, temp_35^0'=temp_35^post36, x_131^0'=x_131^post36, __disjvr_17^0'=__disjvr_17^post36, i_110^0'=i_110^post36, __disjvr_27^0'=__disjvr_27^post36, rcd_89^0'=rcd_89^post36, (-x_176^post36+x_176^0 == 0 /\ head_15^0-head_15^post36 == 0 /\ -x_SLAM_f_17^post36+x_SLAM_f_17^0 == 0 /\ -a_343^post36+a_343^0 == 0 /\ -t_22^post36+t_22^0 == 0 /\ -__disjvr_25^post36+__disjvr_25^0 == 0 /\ -a_188^post36+a_188^0 == 0 /\ -len_134^post36+len_134^0 == 0 /\ -__disjvr_2^post36+__disjvr_2^0 == 0 /\ __disjvr_8^0-__disjvr_8^post36 == 0 /\ -__disjvr_14^0+__disjvr_14^post36 == 0 /\ a_149^0-a_149^post36 == 0 /\ a_118^0-a_118^post36 == 0 /\ __disjvr_26^0-__disjvr_26^post36 == 0 /\ -temp_35^post36+temp_35^0 == 0 /\ -__disjvr_15^post36+__disjvr_15^0 == 0 /\ i_30^0-i_30^post36 == 0 /\ __disjvr_13^0-__disjvr_13^post36 == 0 /\ -__disjvr_23^post36+__disjvr_23^0 == 0 /\ y_25^0-y_25^post36 == 0 /\ __disjvr_3^0-__disjvr_3^post36 == 0 /\ -x_131^post36+x_131^0 == 0 /\ __disjvr_10^0-__disjvr_10^post36 == 0 /\ __disjvr_6^0-__disjvr_6^post36 == 0 /\ __disjvr_14^0-__disjvr_14^post36 == 0 /\ __disjvr_20^0-__disjvr_20^post36 == 0 /\ -__disjvr_7^post36+__disjvr_7^0 == 0 /\ tail_14^0-tail_14^post36 == 0 /\ -__disjvr_17^post36+__disjvr_17^0 == 0 /\ a_342^0-a_342^post36 == 0 /\ __disjvr_24^0-__disjvr_24^post36 == 0 /\ a_225^0-a_225^post36 == 0 /\ -x_26^post36+x_26^0 == 0 /\ -head_32^post36+head_32^0 == 0 /\ r_39^0-r_39^post36 == 0 /\ temp0_31^0-temp0_31^post36 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post36 == 0 /\ __disjvr_16^0-__disjvr_16^post36 == 0 /\ __disjvr_9^0-__disjvr_9^post36 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post36 == 0 /\ -rcd_89^post36+rcd_89^0 == 0 /\ -len_187^post36+len_187^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post36+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -__disjvr_21^post36+__disjvr_21^0 == 0 /\ -rcd_59^post36+rcd_59^0 == 0 /\ -__disjvr_28^post36+__disjvr_28^0 == 0 /\ -__disjvr_1^post36+__disjvr_1^0 == 0 /\ -temp0_16^post36+temp0_16^0 == 0 /\ -__disjvr_0^post36+__disjvr_0^0 == 0 /\ r_165^0-r_165^post36 == 0 /\ length_28^0-length_28^post36 == 0 /\ y_18^0-y_18^post36 == 0 /\ -tmp_34^post36+tmp_34^0 == 0 /\ head_SLAM_f_29^0-head_SLAM_f_29^post36 == 0 /\ __disjvr_19^0-__disjvr_19^post36 == 0 /\ __disjvr_29^0-__disjvr_29^post36 == 0 /\ r_126^0-r_126^post36 == 0 /\ -__disjvr_5^post36+__disjvr_5^0 == 0 /\ a_281^0-a_281^post36 == 0 /\ __disjvr_11^0-__disjvr_11^post36 == 0 /\ -__disjvr_27^post36+__disjvr_27^0 == 0 /\ __disjvr_22^0-__disjvr_22^post36 == 0 /\ __disjvr_4^0-__disjvr_4^post36 == 0 /\ -i_110^post36+i_110^0 == 0 /\ x_19^0-x_19^post36 == 0 /\ i_95^0-i_95^post36 == 0 /\ f_171^0-f_171^post36 == 0 /\ -__disjvr_18^post36+__disjvr_18^0 == 0 /\ -a_289^post36+a_289^0 == 0 /\ -result_11^post36+result_11^0 == 0 /\ -__disjvr_12^post36+__disjvr_12^0 == 0 /\ -nondet_12^post36+nondet_12^0 == 0), cost: 1
  37: l36 -> l37 : __disjvr_0^0'=__disjvr_0^post37, a_281^0'=a_281^post37, x_SLAM_f_24^0'=x_SLAM_f_24^post37, __disjvr_21^0'=__disjvr_21^post37, __disjvr_4^0'=__disjvr_4^post37, tail_14^0'=tail_14^post37, __disjvr_14^0'=__disjvr_14^post37, head_15^0'=head_15^post37, __disjvr_24^0'=__disjvr_24^post37, r_165^0'=r_165^post37, __disjvr_9^0'=__disjvr_9^post37, a_149^0'=a_149^post37, x_19^0'=x_19^post37, __disjvr_19^0'=__disjvr_19^post37, i_95^0'=i_95^post37, __disjvr_29^0'=__disjvr_29^post37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post37, __disjvr_11^0'=__disjvr_11^post37, a_342^0'=a_342^post37, y_25^0'=y_25^post37, length_28^0'=length_28^post37, __disjvr_6^0'=__disjvr_6^post37, temp0_31^0'=temp0_31^post37, __disjvr_16^0'=__disjvr_16^post37, head_SLAM_f_29^0'=head_SLAM_f_29^post37, __disjvr_26^0'=__disjvr_26^post37, rcd_59^0'=rcd_59^post37, a_225^0'=a_225^post37, x_SLAM_f_17^0'=x_SLAM_f_17^post37, __disjvr_20^0'=__disjvr_20^post37, len_187^0'=len_187^post37, __disjvr_3^0'=__disjvr_3^post37, t_22^0'=t_22^post37, __disjvr_13^0'=__disjvr_13^post37, f_171^0'=f_171^post37, __disjvr_23^0'=__disjvr_23^post37, r_126^0'=r_126^post37, __disjvr_8^0'=__disjvr_8^post37, tmp_34^0'=tmp_34^post37, x_176^0'=x_176^post37, __disjvr_18^0'=__disjvr_18^post37, i_30^0'=i_30^post37, __disjvr_28^0'=__disjvr_28^post37, result_11^0'=result_11^post37, __disjvr_10^0'=__disjvr_10^post37, a_289^0'=a_289^post37, y_18^0'=y_18^post37, __disjvr_22^0'=__disjvr_22^post37, __disjvr_5^0'=__disjvr_5^post37, temp0_16^0'=temp0_16^post37, __disjvr_15^0'=__disjvr_15^post37, head_32^0'=head_32^post37, __disjvr_25^0'=__disjvr_25^post37, r_39^0'=r_39^post37, a_118^0'=a_118^post37, a_188^0'=a_188^post37, x_26^0'=x_26^post37, __disjvr_1^0'=__disjvr_1^post37, len_134^0'=len_134^post37, __disjvr_2^0'=__disjvr_2^post37, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post37, __disjvr_12^0'=__disjvr_12^post37, a_343^0'=a_343^post37, nondet_12^0'=nondet_12^post37, __disjvr_7^0'=__disjvr_7^post37, temp_35^0'=temp_35^post37, x_131^0'=x_131^post37, __disjvr_17^0'=__disjvr_17^post37, i_110^0'=i_110^post37, __disjvr_27^0'=__disjvr_27^post37, rcd_89^0'=rcd_89^post37, (0 == 0 /\ __disjvr_8^0-__disjvr_8^post37 == 0 /\ -1+len_187^post37-len_134^0 <= 0 /\ -nondet_12^post37+nondet_12^0 == 0 /\ tail_14^0-tail_14^post37 == 0 /\ -r_39^post37+r_39^0 == 0 /\ a_149^0-a_149^post37 == 0 /\ -a_118^post37+a_118^0 == 0 /\ __disjvr_21^0-__disjvr_21^post37 == 0 /\ __disjvr_26^0-__disjvr_26^post37 == 0 /\ __disjvr_19^0-__disjvr_19^post37 == 0 /\ -__disjvr_6^post37+__disjvr_6^0 == 0 /\ tail_14^0-y_25^0 <= 0 /\ -i_110^post37+i_110^0 == 0 /\ __disjvr_9^0-__disjvr_9^post37 == 0 /\ -a_289^post37+a_289^0 == 0 /\ -__disjvr_27^post37+__disjvr_27^0 == 0 /\ -__disjvr_5^post37+__disjvr_5^0 == 0 /\ __disjvr_28^0-__disjvr_28^post37 == 0 /\ -x_26^post37+x_26^0 == 0 /\ __disjvr_10^0-__disjvr_10^post37 == 0 /\ len_134^0-len_134^post37 == 0 /\ -x_SLAM_f_17^post37+x_SLAM_f_17^0 == 0 /\ __disjvr_14^0-__disjvr_14^post37 == 0 /\ __disjvr_20^0-__disjvr_20^post37 == 0 /\ -__disjvr_25^post37+__disjvr_25^0 == 0 /\ -1+a_149^0-a_188^post37 <= 0 /\ i_30^0-i_30^post37 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post37+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -t_22^post37+t_22^0 == 0 /\ -rcd_59^post37+rcd_59^0 == 0 /\ -tail_14^0+y_25^0 <= 0 /\ -__disjvr_1^post37+__disjvr_1^0 == 0 /\ -tmp_34^post37+tmp_34^0 == 0 /\ y_25^0-y_25^post37 == 0 /\ -temp_35^post37+temp_35^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post37 == 0 /\ __disjvr_3^0-__disjvr_3^post37 == 0 /\ -x_SLAM_f_24^0+head_15^0 <= 0 /\ -__disjvr_15^post37+__disjvr_15^0 == 0 /\ f_171^0-x_26^0 <= 0 /\ 1-len_187^post37+len_134^0 <= 0 /\ r_126^0-r_126^post37 == 0 /\ __disjvr_24^0-__disjvr_24^post37 == 0 /\ __disjvr_0^0-__disjvr_0^post37 == 0 /\ i_95^0-i_95^post37 == 0 /\ head_32^0-head_32^post37 == 0 /\ a_342^0-a_342^post37 == 0 /\ a_225^0-a_225^post37 == 0 /\ __disjvr_13^0-__disjvr_13^post37 == 0 /\ -__disjvr_7^post37+__disjvr_7^0 == 0 /\ __disjvr_11^0-__disjvr_11^post37 == 0 /\ -result_11^post37+result_11^0 == 0 /\ -__disjvr_18^post37+__disjvr_18^0 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post37 == 0 /\ -__disjvr_17^post37+__disjvr_17^0 == 0 /\ -__disjvr_12^post37+__disjvr_12^0 == 0 /\ -x_131^post37+x_131^0 == 0 /\ __disjvr_16^0-__disjvr_16^post37 == 0 /\ __disjvr_22^0-__disjvr_22^post37 == 0 /\ x_19^0-x_19^post37 == 0 /\ __disjvr_4^0-__disjvr_4^post37 == 0 /\ -temp0_16^post37+temp0_16^0 == 0 /\ -x_176^post37+x_176^0 == 0 /\ x_SLAM_f_24^0-head_15^0 <= 0 /\ -f_171^0+x_26^0 <= 0 /\ r_165^0-r_165^post37 == 0 /\ -f_171^post37+f_171^0 == 0 /\ y_18^0-y_18^post37 == 0 /\ length_28^0-length_28^post37 == 0 /\ 1-a_149^0+a_188^post37 <= 0 /\ head_15^0-head_15^post37 == 0 /\ head_SLAM_f_29^0-head_SLAM_f_29^post37 == 0 /\ __disjvr_29^0-__disjvr_29^post37 == 0 /\ -__disjvr_23^post37+__disjvr_23^0 == 0 /\ a_281^0-a_281^post37 == 0 /\ -a_343^post37+a_343^0 == 0 /\ temp0_31^0-temp0_31^post37 == 0 /\ -__disjvr_2^post37+__disjvr_2^0 == 0 /\ -rcd_89^post37+rcd_89^0 == 0), cost: 1
  38: l37 -> l38 : __disjvr_0^0'=__disjvr_0^post38, a_281^0'=a_281^post38, x_SLAM_f_24^0'=x_SLAM_f_24^post38, __disjvr_21^0'=__disjvr_21^post38, __disjvr_4^0'=__disjvr_4^post38, tail_14^0'=tail_14^post38, __disjvr_14^0'=__disjvr_14^post38, head_15^0'=head_15^post38, __disjvr_24^0'=__disjvr_24^post38, r_165^0'=r_165^post38, __disjvr_9^0'=__disjvr_9^post38, a_149^0'=a_149^post38, x_19^0'=x_19^post38, __disjvr_19^0'=__disjvr_19^post38, i_95^0'=i_95^post38, __disjvr_29^0'=__disjvr_29^post38, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post38, __disjvr_11^0'=__disjvr_11^post38, a_342^0'=a_342^post38, y_25^0'=y_25^post38, length_28^0'=length_28^post38, __disjvr_6^0'=__disjvr_6^post38, temp0_31^0'=temp0_31^post38, __disjvr_16^0'=__disjvr_16^post38, head_SLAM_f_29^0'=head_SLAM_f_29^post38, __disjvr_26^0'=__disjvr_26^post38, rcd_59^0'=rcd_59^post38, a_225^0'=a_225^post38, x_SLAM_f_17^0'=x_SLAM_f_17^post38, __disjvr_20^0'=__disjvr_20^post38, len_187^0'=len_187^post38, __disjvr_3^0'=__disjvr_3^post38, t_22^0'=t_22^post38, __disjvr_13^0'=__disjvr_13^post38, f_171^0'=f_171^post38, __disjvr_23^0'=__disjvr_23^post38, r_126^0'=r_126^post38, __disjvr_8^0'=__disjvr_8^post38, tmp_34^0'=tmp_34^post38, x_176^0'=x_176^post38, __disjvr_18^0'=__disjvr_18^post38, i_30^0'=i_30^post38, __disjvr_28^0'=__disjvr_28^post38, result_11^0'=result_11^post38, __disjvr_10^0'=__disjvr_10^post38, a_289^0'=a_289^post38, y_18^0'=y_18^post38, __disjvr_22^0'=__disjvr_22^post38, __disjvr_5^0'=__disjvr_5^post38, temp0_16^0'=temp0_16^post38, __disjvr_15^0'=__disjvr_15^post38, head_32^0'=head_32^post38, __disjvr_25^0'=__disjvr_25^post38, r_39^0'=r_39^post38, a_118^0'=a_118^post38, a_188^0'=a_188^post38, x_26^0'=x_26^post38, __disjvr_1^0'=__disjvr_1^post38, len_134^0'=len_134^post38, __disjvr_2^0'=__disjvr_2^post38, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post38, __disjvr_12^0'=__disjvr_12^post38, a_343^0'=a_343^post38, nondet_12^0'=nondet_12^post38, __disjvr_7^0'=__disjvr_7^post38, temp_35^0'=temp_35^post38, x_131^0'=x_131^post38, __disjvr_17^0'=__disjvr_17^post38, i_110^0'=i_110^post38, __disjvr_27^0'=__disjvr_27^post38, rcd_89^0'=rcd_89^post38, (a_118^0-a_118^post38 == 0 /\ -__disjvr_22^post38+__disjvr_22^0 == 0 /\ -temp0_16^post38+temp0_16^0 == 0 /\ -x_26^post38+x_26^0 == 0 /\ __disjvr_21^0-__disjvr_21^post38 == 0 /\ a_281^0-a_281^post38 == 0 /\ -f_171^post38+f_171^0 == 0 /\ a_188^0-a_188^post38 == 0 /\ __disjvr_10^0-__disjvr_10^post38 == 0 /\ x_19^0-x_19^post38 == 0 /\ -len_187^post38+len_187^0 == 0 /\ -__disjvr_1^post38+__disjvr_1^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post38+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ __disjvr_14^0-__disjvr_14^post38 == 0 /\ i_95^0-i_95^post38 == 0 /\ -rcd_59^post38+rcd_59^0 == 0 /\ -rcd_89^post38+rcd_89^0 == 0 /\ -tmp_34^post38+tmp_34^0 == 0 /\ __disjvr_12^0-__disjvr_12^post38 == 0 /\ __disjvr_2^0-__disjvr_2^post38 == 0 /\ a_225^0-a_225^post38 == 0 /\ -a_289^post38+a_289^0 == 0 /\ -r_39^post38+r_39^0 == 0 /\ __disjvr_4^0-__disjvr_4^post38 == 0 /\ __disjvr_16^0-__disjvr_16^post38 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post38 == 0 /\ -nondet_12^post38+nondet_12^0 == 0 /\ -__disjvr_5^post38+__disjvr_5^0 == 0 /\ len_134^0-len_134^post38 == 0 /\ __disjvr_8^0-__disjvr_8^post38 == 0 /\ __disjvr_28^0-__disjvr_28^post38 == 0 /\ -result_11^post38+result_11^0 == 0 /\ __disjvr_26^0-__disjvr_26^post38 == 0 /\ -i_110^post38+i_110^0 == 0 /\ -__disjvr_18^post38+__disjvr_18^0 == 0 /\ -__disjvr_27^post38+__disjvr_27^0 == 0 /\ __disjvr_24^0-__disjvr_24^post38 == 0 /\ head_32^0-head_32^post38 == 0 /\ tail_14^0-tail_14^post38 == 0 /\ __disjvr_3^0-__disjvr_3^post38 == 0 /\ -x_176^post38+x_176^0 == 0 /\ -a_149^post38+a_149^0 == 0 /\ head_SLAM_f_29^0-head_SLAM_f_29^post38 == 0 /\ __disjvr_11^0-__disjvr_11^post38 == 0 /\ __disjvr_29^0-__disjvr_29^post38 == 0 /\ __disjvr_13^0-__disjvr_13^post38 == 0 /\ __disjvr_15^post38-__disjvr_15^0 == 0 /\ -__disjvr_25^post38+__disjvr_25^0 == 0 /\ -__disjvr_9^post38+__disjvr_9^0 == 0 /\ __disjvr_19^0-__disjvr_19^post38 == 0 /\ -temp_35^post38+temp_35^0 == 0 /\ -x_SLAM_f_17^post38+x_SLAM_f_17^0 == 0 /\ __disjvr_20^0-__disjvr_20^post38 == 0 /\ __disjvr_0^0-__disjvr_0^post38 == 0 /\ r_126^0-r_126^post38 == 0 /\ a_342^0-a_342^post38 == 0 /\ head_15^0-head_15^post38 == 0 /\ t_22^0-t_22^post38 == 0 /\ -__disjvr_15^post38+__disjvr_15^0 == 0 /\ -a_343^post38+a_343^0 == 0 /\ -__disjvr_23^post38+__disjvr_23^0 == 0 /\ temp0_31^0-temp0_31^post38 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post38 == 0 /\ -__disjvr_6^post38+__disjvr_6^0 == 0 /\ -__disjvr_7^post38+__disjvr_7^0 == 0 /\ -y_25^post38+y_25^0 == 0 /\ r_165^0-r_165^post38 == 0 /\ i_30^0-i_30^post38 == 0 /\ y_18^0-y_18^post38 == 0 /\ -x_131^post38+x_131^0 == 0 /\ -__disjvr_17^post38+__disjvr_17^0 == 0 /\ length_28^0-length_28^post38 == 0), cost: 1
  39: l38 -> l39 : __disjvr_0^0'=__disjvr_0^post39, a_281^0'=a_281^post39, x_SLAM_f_24^0'=x_SLAM_f_24^post39, __disjvr_21^0'=__disjvr_21^post39, __disjvr_4^0'=__disjvr_4^post39, tail_14^0'=tail_14^post39, __disjvr_14^0'=__disjvr_14^post39, head_15^0'=head_15^post39, __disjvr_24^0'=__disjvr_24^post39, r_165^0'=r_165^post39, __disjvr_9^0'=__disjvr_9^post39, a_149^0'=a_149^post39, x_19^0'=x_19^post39, __disjvr_19^0'=__disjvr_19^post39, i_95^0'=i_95^post39, __disjvr_29^0'=__disjvr_29^post39, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post39, __disjvr_11^0'=__disjvr_11^post39, a_342^0'=a_342^post39, y_25^0'=y_25^post39, length_28^0'=length_28^post39, __disjvr_6^0'=__disjvr_6^post39, temp0_31^0'=temp0_31^post39, __disjvr_16^0'=__disjvr_16^post39, head_SLAM_f_29^0'=head_SLAM_f_29^post39, __disjvr_26^0'=__disjvr_26^post39, rcd_59^0'=rcd_59^post39, a_225^0'=a_225^post39, x_SLAM_f_17^0'=x_SLAM_f_17^post39, __disjvr_20^0'=__disjvr_20^post39, len_187^0'=len_187^post39, __disjvr_3^0'=__disjvr_3^post39, t_22^0'=t_22^post39, __disjvr_13^0'=__disjvr_13^post39, f_171^0'=f_171^post39, __disjvr_23^0'=__disjvr_23^post39, r_126^0'=r_126^post39, __disjvr_8^0'=__disjvr_8^post39, tmp_34^0'=tmp_34^post39, x_176^0'=x_176^post39, __disjvr_18^0'=__disjvr_18^post39, i_30^0'=i_30^post39, __disjvr_28^0'=__disjvr_28^post39, result_11^0'=result_11^post39, __disjvr_10^0'=__disjvr_10^post39, a_289^0'=a_289^post39, y_18^0'=y_18^post39, __disjvr_22^0'=__disjvr_22^post39, __disjvr_5^0'=__disjvr_5^post39, temp0_16^0'=temp0_16^post39, __disjvr_15^0'=__disjvr_15^post39, head_32^0'=head_32^post39, __disjvr_25^0'=__disjvr_25^post39, r_39^0'=r_39^post39, a_118^0'=a_118^post39, a_188^0'=a_188^post39, x_26^0'=x_26^post39, __disjvr_1^0'=__disjvr_1^post39, len_134^0'=len_134^post39, __disjvr_2^0'=__disjvr_2^post39, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post39, __disjvr_12^0'=__disjvr_12^post39, a_343^0'=a_343^post39, nondet_12^0'=nondet_12^post39, __disjvr_7^0'=__disjvr_7^post39, temp_35^0'=temp_35^post39, x_131^0'=x_131^post39, __disjvr_17^0'=__disjvr_17^post39, i_110^0'=i_110^post39, __disjvr_27^0'=__disjvr_27^post39, rcd_89^0'=rcd_89^post39, (len_134^0-len_134^post39 == 0 /\ x_19^0-x_19^post39 == 0 /\ __disjvr_10^0-__disjvr_10^post39 == 0 /\ __disjvr_14^0-__disjvr_14^post39 == 0 /\ __disjvr_28^0-__disjvr_28^post39 == 0 /\ -__disjvr_23^post39+__disjvr_23^0 == 0 /\ y_18^0-y_18^post39 == 0 /\ -x_26^post39+x_26^0 == 0 /\ a_118^0-a_118^post39 == 0 /\ -__disjvr_7^post39+__disjvr_7^0 == 0 /\ a_281^0-a_281^post39 == 0 /\ -__disjvr_11^post39+__disjvr_11^0 == 0 /\ -result_11^post39+result_11^0 == 0 /\ -__disjvr_17^post39+__disjvr_17^0 == 0 /\ __disjvr_8^0-__disjvr_8^post39 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post39 == 0 /\ temp0_31^0-temp0_31^post39 == 0 /\ -x_131^post39+x_131^0 == 0 /\ -__disjvr_22^post39+__disjvr_22^0 == 0 /\ y_25^0-y_25^post39 == 0 /\ -temp0_16^post39+temp0_16^0 == 0 /\ __disjvr_15^0-__disjvr_15^post39 == 0 /\ __disjvr_18^0-__disjvr_18^post39 == 0 /\ -x_176^post39+x_176^0 == 0 /\ __disjvr_26^0-__disjvr_26^post39 == 0 /\ __disjvr_24^0-__disjvr_24^post39 == 0 /\ -f_171^post39+f_171^0 == 0 /\ -__disjvr_12^post39+__disjvr_12^0 == 0 /\ a_225^0-a_225^post39 == 0 /\ -len_187^post39+len_187^0 == 0 /\ __disjvr_2^0-__disjvr_2^post39 == 0 /\ __disjvr_13^0-__disjvr_13^post39 == 0 /\ a_342^0-a_342^post39 == 0 /\ -head_32^post39+head_32^0 == 0 /\ -rcd_89^post39+rcd_89^0 == 0 /\ -a_188^post39+a_188^0 == 0 /\ __disjvr_16^0-__disjvr_16^post39 == 0 /\ -tmp_34^post39+tmp_34^0 == 0 /\ -a_289^post39+a_289^0 == 0 /\ i_30^0-i_30^post39 == 0 /\ -a_343^post39+a_343^0 == 0 /\ -nondet_12^post39+nondet_12^0 == 0 /\ __disjvr_3^0-__disjvr_3^post39 == 0 /\ tail_14^0-tail_14^post39 == 0 /\ r_126^0-r_126^post39 == 0 /\ -__disjvr_5^post39+__disjvr_5^0 == 0 /\ __disjvr_29^0-__disjvr_29^post39 == 0 /\ head_SLAM_f_29^0-head_SLAM_f_29^post39 == 0 /\ length_28^0-length_28^post39 == 0 /\ -__disjvr_6^post39+__disjvr_6^0 == 0 /\ __disjvr_4^0-__disjvr_4^post39 == 0 /\ -r_39^post39+r_39^0 == 0 /\ -a_149^post39+a_149^0 == 0 /\ i_95^0-i_95^post39 == 0 /\ -__disjvr_16^0+__disjvr_16^post39 == 0 /\ i_110^0-i_110^post39 == 0 /\ -head_15^post39+head_15^0 == 0 /\ -__disjvr_1^post39+__disjvr_1^0 == 0 /\ __disjvr_0^0-__disjvr_0^post39 == 0 /\ -__disjvr_20^post39+__disjvr_20^0 == 0 /\ -__disjvr_9^post39+__disjvr_9^0 == 0 /\ -temp_35^post39+temp_35^0 == 0 /\ -x_SLAM_f_17^post39+x_SLAM_f_17^0 == 0 /\ __disjvr_19^0-__disjvr_19^post39 == 0 /\ __disjvr_21^0-__disjvr_21^post39 == 0 /\ t_22^0-t_22^post39 == 0 /\ r_165^0-r_165^post39 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post39+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ __disjvr_27^0-__disjvr_27^post39 == 0 /\ -rcd_59^post39+rcd_59^0 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post39 == 0 /\ -__disjvr_25^post39+__disjvr_25^0 == 0), cost: 1
  40: l39 -> l34 : __disjvr_0^0'=__disjvr_0^post40, a_281^0'=a_281^post40, x_SLAM_f_24^0'=x_SLAM_f_24^post40, __disjvr_21^0'=__disjvr_21^post40, __disjvr_4^0'=__disjvr_4^post40, tail_14^0'=tail_14^post40, __disjvr_14^0'=__disjvr_14^post40, head_15^0'=head_15^post40, __disjvr_24^0'=__disjvr_24^post40, r_165^0'=r_165^post40, __disjvr_9^0'=__disjvr_9^post40, a_149^0'=a_149^post40, x_19^0'=x_19^post40, __disjvr_19^0'=__disjvr_19^post40, i_95^0'=i_95^post40, __disjvr_29^0'=__disjvr_29^post40, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post40, __disjvr_11^0'=__disjvr_11^post40, a_342^0'=a_342^post40, y_25^0'=y_25^post40, length_28^0'=length_28^post40, __disjvr_6^0'=__disjvr_6^post40, temp0_31^0'=temp0_31^post40, __disjvr_16^0'=__disjvr_16^post40, head_SLAM_f_29^0'=head_SLAM_f_29^post40, __disjvr_26^0'=__disjvr_26^post40, rcd_59^0'=rcd_59^post40, a_225^0'=a_225^post40, x_SLAM_f_17^0'=x_SLAM_f_17^post40, __disjvr_20^0'=__disjvr_20^post40, len_187^0'=len_187^post40, __disjvr_3^0'=__disjvr_3^post40, t_22^0'=t_22^post40, __disjvr_13^0'=__disjvr_13^post40, f_171^0'=f_171^post40, __disjvr_23^0'=__disjvr_23^post40, r_126^0'=r_126^post40, __disjvr_8^0'=__disjvr_8^post40, tmp_34^0'=tmp_34^post40, x_176^0'=x_176^post40, __disjvr_18^0'=__disjvr_18^post40, i_30^0'=i_30^post40, __disjvr_28^0'=__disjvr_28^post40, result_11^0'=result_11^post40, __disjvr_10^0'=__disjvr_10^post40, a_289^0'=a_289^post40, y_18^0'=y_18^post40, __disjvr_22^0'=__disjvr_22^post40, __disjvr_5^0'=__disjvr_5^post40, temp0_16^0'=temp0_16^post40, __disjvr_15^0'=__disjvr_15^post40, head_32^0'=head_32^post40, __disjvr_25^0'=__disjvr_25^post40, r_39^0'=r_39^post40, a_118^0'=a_118^post40, a_188^0'=a_188^post40, x_26^0'=x_26^post40, __disjvr_1^0'=__disjvr_1^post40, len_134^0'=len_134^post40, __disjvr_2^0'=__disjvr_2^post40, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post40, __disjvr_12^0'=__disjvr_12^post40, a_343^0'=a_343^post40, nondet_12^0'=nondet_12^post40, __disjvr_7^0'=__disjvr_7^post40, temp_35^0'=temp_35^post40, x_131^0'=x_131^post40, __disjvr_17^0'=__disjvr_17^post40, i_110^0'=i_110^post40, __disjvr_27^0'=__disjvr_27^post40, rcd_89^0'=rcd_89^post40, (0 == 0 /\ -temp_35^post40+temp_35^0 == 0 /\ -__disjvr_20^post40+__disjvr_20^0 == 0 /\ -t_22^post40+t_22^0 == 0 /\ r_165^0-r_165^post40 == 0 /\ __disjvr_2^0-__disjvr_2^post40 == 0 /\ -x_176^post40+x_176^0 == 0 /\ -__disjvr_12^post40+__disjvr_12^0 == 0 /\ __disjvr_8^0-__disjvr_8^post40 == 0 /\ -x_SLAM_f_17^post40+x_SLAM_f_17^0 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post40 == 0 /\ -a_149^post40+a_188^0 <= 0 /\ __disjvr_28^0-__disjvr_28^post40 == 0 /\ len_187^0-len_187^post40 == 0 /\ __disjvr_26^0-__disjvr_26^post40 == 0 /\ a_118^0-a_118^post40 == 0 /\ -a_188^post40+a_188^0 == 0 /\ tail_14^0-tail_14^post40 == 0 /\ __disjvr_3^0-__disjvr_3^post40 == 0 /\ -__disjvr_7^post40+__disjvr_7^0 == 0 /\ head_SLAM_f_29^0-head_SLAM_f_29^post40 == 0 /\ a_281^0-a_281^post40 == 0 /\ -tmp_34^post40+tmp_34^0 == 0 /\ __disjvr_13^0-__disjvr_13^post40 == 0 /\ __disjvr_14^0-__disjvr_14^post40 == 0 /\ -__disjvr_23^post40+__disjvr_23^0 == 0 /\ -a_343^post40+a_343^0 == 0 /\ y_25^0-y_25^post40 == 0 /\ __disjvr_6^0-__disjvr_6^post40 == 0 /\ -y_18^post40+y_18^0 == 0 /\ a_149^post40-a_188^0 <= 0 /\ __disjvr_18^0-__disjvr_18^post40 == 0 /\ -__disjvr_17^post40+__disjvr_17^0 == 0 /\ -__disjvr_15^post40+__disjvr_15^0 == 0 /\ -x_131^post40+x_131^0 == 0 /\ -__disjvr_22^post40+__disjvr_22^0 == 0 /\ a_225^0-a_225^post40 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post40 == 0 /\ __disjvr_9^0-__disjvr_9^post40 == 0 /\ __disjvr_24^0-__disjvr_24^post40 == 0 /\ a_342^0-a_342^post40 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -__disjvr_10^post40+__disjvr_10^0 == 0 /\ -__disjvr_1^post40+__disjvr_1^0 == 0 /\ __disjvr_4^0-__disjvr_4^post40 == 0 /\ -temp0_16^post40+temp0_16^0 == 0 /\ -len_187^0+len_134^post40 <= 0 /\ -i_30^post40+i_30^0 == 0 /\ __disjvr_16^0-__disjvr_16^post40 == 0 /\ -head_32^post40+head_32^0 == 0 /\ -rcd_89^post40+rcd_89^0 == 0 /\ -__disjvr_21^post40+__disjvr_21^0 == 0 /\ -rcd_59^post40+rcd_59^0 == 0 /\ __disjvr_19^0-__disjvr_19^post40 == 0 /\ a_289^0-a_289^post40 == 0 /\ r_126^0-r_126^post40 == 0 /\ length_28^0-length_28^post40 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post40+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ __disjvr_29^0-__disjvr_29^post40 == 0 /\ -nondet_12^post40+nondet_12^0 == 0 /\ -i_110^post40+i_110^0 == 0 /\ len_187^0-len_134^post40 <= 0 /\ __disjvr_11^0-__disjvr_11^post40 == 0 /\ -__disjvr_5^post40+__disjvr_5^0 == 0 /\ -x_26^post40+x_26^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ i_95^0-i_95^post40 == 0 /\ -result_11^post40+result_11^0 == 0 /\ -__disjvr_27^post40+__disjvr_27^0 == 0 /\ temp0_31^0-temp0_31^post40 == 0 /\ __disjvr_25^0-__disjvr_25^post40 == 0 /\ x_19^0-x_19^post40 == 0 /\ -r_39^post40+r_39^0 == 0 /\ head_15^0-head_15^post40 == 0 /\ __disjvr_0^0-__disjvr_0^post40 == 0 /\ f_171^0-f_171^post40 == 0), cost: 1
  41: l34 -> l31 : __disjvr_0^0'=__disjvr_0^post41, a_281^0'=a_281^post41, x_SLAM_f_24^0'=x_SLAM_f_24^post41, __disjvr_21^0'=__disjvr_21^post41, __disjvr_4^0'=__disjvr_4^post41, tail_14^0'=tail_14^post41, __disjvr_14^0'=__disjvr_14^post41, head_15^0'=head_15^post41, __disjvr_24^0'=__disjvr_24^post41, r_165^0'=r_165^post41, __disjvr_9^0'=__disjvr_9^post41, a_149^0'=a_149^post41, x_19^0'=x_19^post41, __disjvr_19^0'=__disjvr_19^post41, i_95^0'=i_95^post41, __disjvr_29^0'=__disjvr_29^post41, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post41, __disjvr_11^0'=__disjvr_11^post41, a_342^0'=a_342^post41, y_25^0'=y_25^post41, length_28^0'=length_28^post41, __disjvr_6^0'=__disjvr_6^post41, temp0_31^0'=temp0_31^post41, __disjvr_16^0'=__disjvr_16^post41, head_SLAM_f_29^0'=head_SLAM_f_29^post41, __disjvr_26^0'=__disjvr_26^post41, rcd_59^0'=rcd_59^post41, a_225^0'=a_225^post41, x_SLAM_f_17^0'=x_SLAM_f_17^post41, __disjvr_20^0'=__disjvr_20^post41, len_187^0'=len_187^post41, __disjvr_3^0'=__disjvr_3^post41, t_22^0'=t_22^post41, __disjvr_13^0'=__disjvr_13^post41, f_171^0'=f_171^post41, __disjvr_23^0'=__disjvr_23^post41, r_126^0'=r_126^post41, __disjvr_8^0'=__disjvr_8^post41, tmp_34^0'=tmp_34^post41, x_176^0'=x_176^post41, __disjvr_18^0'=__disjvr_18^post41, i_30^0'=i_30^post41, __disjvr_28^0'=__disjvr_28^post41, result_11^0'=result_11^post41, __disjvr_10^0'=__disjvr_10^post41, a_289^0'=a_289^post41, y_18^0'=y_18^post41, __disjvr_22^0'=__disjvr_22^post41, __disjvr_5^0'=__disjvr_5^post41, temp0_16^0'=temp0_16^post41, __disjvr_15^0'=__disjvr_15^post41, head_32^0'=head_32^post41, __disjvr_25^0'=__disjvr_25^post41, r_39^0'=r_39^post41, a_118^0'=a_118^post41, a_188^0'=a_188^post41, x_26^0'=x_26^post41, __disjvr_1^0'=__disjvr_1^post41, len_134^0'=len_134^post41, __disjvr_2^0'=__disjvr_2^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, __disjvr_12^0'=__disjvr_12^post41, a_343^0'=a_343^post41, nondet_12^0'=nondet_12^post41, __disjvr_7^0'=__disjvr_7^post41, temp_35^0'=temp_35^post41, x_131^0'=x_131^post41, __disjvr_17^0'=__disjvr_17^post41, i_110^0'=i_110^post41, __disjvr_27^0'=__disjvr_27^post41, rcd_89^0'=rcd_89^post41, (-tmp_34^post41+tmp_34^0 == 0 /\ -a_188^post41+a_188^0 == 0 /\ -__disjvr_27^post41+__disjvr_27^0 == 0 /\ len_187^0-len_187^post41 == 0 /\ -a_343^post41+a_343^0 == 0 /\ x_176^0-x_176^post41 == 0 /\ __disjvr_18^0-__disjvr_18^post41 == 0 /\ a_149^0-a_149^post41 == 0 /\ -__disjvr_2^post41+__disjvr_2^0 == 0 /\ -i_110^post41+i_110^0 == 0 /\ __disjvr_26^0-__disjvr_26^post41 == 0 /\ result_11^0-result_11^post41 == 0 /\ __disjvr_19^0-__disjvr_19^post41 == 0 /\ __disjvr_13^0-__disjvr_13^post41 == 0 /\ -y_25^post41+y_25^0 == 0 /\ __disjvr_21^0-__disjvr_21^post41 == 0 /\ __disjvr_14^0-__disjvr_14^post41 == 0 /\ -r_39^post41+r_39^0 == 0 /\ -__disjvr_20^post41+__disjvr_20^0 == 0 /\ -temp_35^post41+temp_35^0 == 0 /\ __disjvr_16^0-__disjvr_16^post41 == 0 /\ len_134^0-len_134^post41 == 0 /\ -t_22^post41+t_22^0 == 0 /\ -__disjvr_10^post41+__disjvr_10^0 == 0 /\ -i_30^post41+i_30^0 == 0 /\ -x_SLAM_f_17^post41+x_SLAM_f_17^0 == 0 /\ __disjvr_24^0-__disjvr_24^post41 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post41 == 0 /\ __disjvr_3^0-__disjvr_3^post41 == 0 /\ tail_14^0-tail_14^post41 == 0 /\ __disjvr_8^0-__disjvr_8^post41 == 0 /\ -a_118^post41+a_118^0 == 0 /\ -rcd_59^post41+rcd_59^0 == 0 /\ -__disjvr_1^post41+__disjvr_1^0 == 0 /\ __disjvr_0^0-__disjvr_0^post41 == 0 /\ -r_126^post41+r_126^0 == 0 /\ i_95^0-i_95^post41 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post41+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -__disjvr_28^post41+__disjvr_28^0 == 0 /\ -y_18^post41+y_18^0 == 0 /\ a_225^0-a_225^post41 == 0 /\ -x_26^post41+x_26^0 == 0 /\ __disjvr_9^0-__disjvr_9^post41 == 0 /\ a_342^0-a_342^post41 == 0 /\ -__disjvr_17^post41+__disjvr_17^0 == 0 /\ -a_281^post41+a_281^0 == 0 /\ __disjvr_7^0-__disjvr_7^post41 == 0 /\ -__disjvr_15^post41+__disjvr_15^0 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post41 == 0 /\ -x_131^post41+x_131^0 == 0 /\ __disjvr_5^0-__disjvr_5^post41 == 0 /\ -__disjvr_22^post41+__disjvr_22^0 == 0 /\ __disjvr_11^0-__disjvr_11^post41 == 0 /\ -__disjvr_6^post41+__disjvr_6^0 == 0 /\ x_19^0-x_19^post41 == 0 /\ -rcd_89^post41+rcd_89^0 == 0 /\ temp0_31^0-temp0_31^post41 == 0 /\ -__disjvr_12^post41+__disjvr_12^0 == 0 /\ __disjvr_25^0-__disjvr_25^post41 == 0 /\ length_28^0-length_28^post41 == 0 /\ -head_SLAM_f_29^post41+head_SLAM_f_29^0 == 0 /\ r_165^0-r_165^post41 == 0 /\ -temp0_16^post41+temp0_16^0 == 0 /\ head_15^0-head_15^post41 == 0 /\ f_171^0-f_171^post41 == 0 /\ __disjvr_23^0-__disjvr_23^post41 == 0 /\ -nondet_12^post41+nondet_12^0 == 0 /\ a_289^0-a_289^post41 == 0 /\ -head_32^post41+head_32^0 == 0 /\ __disjvr_29^0-__disjvr_29^post41 == 0 /\ __disjvr_4^0-__disjvr_4^post41 == 0), cost: 1
  67: l61 -> l62 : __disjvr_0^0'=__disjvr_0^post67, a_281^0'=a_281^post67, x_SLAM_f_24^0'=x_SLAM_f_24^post67, __disjvr_21^0'=__disjvr_21^post67, __disjvr_4^0'=__disjvr_4^post67, tail_14^0'=tail_14^post67, __disjvr_14^0'=__disjvr_14^post67, head_15^0'=head_15^post67, __disjvr_24^0'=__disjvr_24^post67, r_165^0'=r_165^post67, __disjvr_9^0'=__disjvr_9^post67, a_149^0'=a_149^post67, x_19^0'=x_19^post67, __disjvr_19^0'=__disjvr_19^post67, i_95^0'=i_95^post67, __disjvr_29^0'=__disjvr_29^post67, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post67, __disjvr_11^0'=__disjvr_11^post67, a_342^0'=a_342^post67, y_25^0'=y_25^post67, length_28^0'=length_28^post67, __disjvr_6^0'=__disjvr_6^post67, temp0_31^0'=temp0_31^post67, __disjvr_16^0'=__disjvr_16^post67, head_SLAM_f_29^0'=head_SLAM_f_29^post67, __disjvr_26^0'=__disjvr_26^post67, rcd_59^0'=rcd_59^post67, a_225^0'=a_225^post67, x_SLAM_f_17^0'=x_SLAM_f_17^post67, __disjvr_20^0'=__disjvr_20^post67, len_187^0'=len_187^post67, __disjvr_3^0'=__disjvr_3^post67, t_22^0'=t_22^post67, __disjvr_13^0'=__disjvr_13^post67, f_171^0'=f_171^post67, __disjvr_23^0'=__disjvr_23^post67, r_126^0'=r_126^post67, __disjvr_8^0'=__disjvr_8^post67, tmp_34^0'=tmp_34^post67, x_176^0'=x_176^post67, __disjvr_18^0'=__disjvr_18^post67, i_30^0'=i_30^post67, __disjvr_28^0'=__disjvr_28^post67, result_11^0'=result_11^post67, __disjvr_10^0'=__disjvr_10^post67, a_289^0'=a_289^post67, y_18^0'=y_18^post67, __disjvr_22^0'=__disjvr_22^post67, __disjvr_5^0'=__disjvr_5^post67, temp0_16^0'=temp0_16^post67, __disjvr_15^0'=__disjvr_15^post67, head_32^0'=head_32^post67, __disjvr_25^0'=__disjvr_25^post67, r_39^0'=r_39^post67, a_118^0'=a_118^post67, a_188^0'=a_188^post67, x_26^0'=x_26^post67, __disjvr_1^0'=__disjvr_1^post67, len_134^0'=len_134^post67, __disjvr_2^0'=__disjvr_2^post67, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post67, __disjvr_12^0'=__disjvr_12^post67, a_343^0'=a_343^post67, nondet_12^0'=nondet_12^post67, __disjvr_7^0'=__disjvr_7^post67, temp_35^0'=temp_35^post67, x_131^0'=x_131^post67, __disjvr_17^0'=__disjvr_17^post67, i_110^0'=i_110^post67, __disjvr_27^0'=__disjvr_27^post67, rcd_89^0'=rcd_89^post67, (f_171^0-f_171^post67 == 0 /\ -r_126^post67+r_126^0 == 0 /\ len_134^0-len_134^post67 == 0 /\ x_19^0-x_19^post67 == 0 /\ __disjvr_14^0-__disjvr_14^post67 == 0 /\ -__disjvr_11^post67+__disjvr_11^0 == 0 /\ length_28^0-length_28^post67 == 0 /\ -x_26^post67+x_26^0 == 0 /\ r_165^0-r_165^post67 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post67+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ __disjvr_4^0-__disjvr_4^post67 == 0 /\ -x_131^post67+x_131^0 == 0 /\ -__disjvr_28^post67+__disjvr_28^0 == 0 /\ __disjvr_24^0-__disjvr_24^post67 == 0 /\ tail_14^0-tail_14^post67 == 0 /\ a_289^0-a_289^post67 == 0 /\ -__disjvr_22^post67+__disjvr_22^0 == 0 /\ a_281^0-a_281^post67 == 0 /\ temp0_31^0-temp0_31^post67 == 0 /\ -__disjvr_17^post67+__disjvr_17^0 == 0 /\ -__disjvr_15^post67+__disjvr_15^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post67 == 0 /\ __disjvr_3^0-__disjvr_3^post67 == 0 /\ x_176^0-x_176^post67 == 0 /\ -__disjvr_12^post67+__disjvr_12^0 == 0 /\ __disjvr_8^0-__disjvr_8^post67 == 0 /\ i_95^0-i_95^post67 == 0 /\ -a_225^post67+a_225^0 == 0 /\ a_343^0-a_343^post67 == 0 /\ __disjvr_21^0-__disjvr_21^post67 == 0 /\ __disjvr_28^post67-__disjvr_28^0 == 0 /\ -head_SLAM_f_29^post67+head_SLAM_f_29^0 == 0 /\ rcd_59^0-rcd_59^post67 == 0 /\ -nondet_12^post67+nondet_12^0 == 0 /\ __disjvr_19^0-__disjvr_19^post67 == 0 /\ -temp0_16^post67+temp0_16^0 == 0 /\ len_187^0-len_187^post67 == 0 /\ -head_32^post67+head_32^0 == 0 /\ -rcd_89^post67+rcd_89^0 == 0 /\ __disjvr_16^0-__disjvr_16^post67 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post67 == 0 /\ -a_188^post67+a_188^0 == 0 /\ __disjvr_25^0-__disjvr_25^post67 == 0 /\ -__disjvr_13^post67+__disjvr_13^0 == 0 /\ __disjvr_20^0-__disjvr_20^post67 == 0 /\ -r_39^post67+r_39^0 == 0 /\ __disjvr_23^0-__disjvr_23^post67 == 0 /\ -__disjvr_2^post67+__disjvr_2^0 == 0 /\ __disjvr_29^0-__disjvr_29^post67 == 0 /\ -__disjvr_6^post67+__disjvr_6^0 == 0 /\ -temp_35^post67+temp_35^0 == 0 /\ -y_25^post67+y_25^0 == 0 /\ i_110^0-i_110^post67 == 0 /\ __disjvr_0^0-__disjvr_0^post67 == 0 /\ -__disjvr_10^post67+__disjvr_10^0 == 0 /\ -a_118^post67+a_118^0 == 0 /\ -a_149^post67+a_149^0 == 0 /\ __disjvr_9^0-__disjvr_9^post67 == 0 /\ __disjvr_26^0-__disjvr_26^post67 == 0 /\ -head_15^post67+head_15^0 == 0 /\ __disjvr_18^0-__disjvr_18^post67 == 0 /\ -i_30^post67+i_30^0 == 0 /\ -__disjvr_1^post67+__disjvr_1^0 == 0 /\ result_11^0-result_11^post67 == 0 /\ a_342^0-a_342^post67 == 0 /\ -y_18^post67+y_18^0 == 0 /\ __disjvr_5^0-__disjvr_5^post67 == 0 /\ t_22^0-t_22^post67 == 0 /\ -__disjvr_7^post67+__disjvr_7^0 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post67 == 0 /\ __disjvr_27^0-__disjvr_27^post67 == 0 /\ -tmp_34^post67+tmp_34^0 == 0), cost: 1
  68: l62 -> l63 : __disjvr_0^0'=__disjvr_0^post68, a_281^0'=a_281^post68, x_SLAM_f_24^0'=x_SLAM_f_24^post68, __disjvr_21^0'=__disjvr_21^post68, __disjvr_4^0'=__disjvr_4^post68, tail_14^0'=tail_14^post68, __disjvr_14^0'=__disjvr_14^post68, head_15^0'=head_15^post68, __disjvr_24^0'=__disjvr_24^post68, r_165^0'=r_165^post68, __disjvr_9^0'=__disjvr_9^post68, a_149^0'=a_149^post68, x_19^0'=x_19^post68, __disjvr_19^0'=__disjvr_19^post68, i_95^0'=i_95^post68, __disjvr_29^0'=__disjvr_29^post68, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post68, __disjvr_11^0'=__disjvr_11^post68, a_342^0'=a_342^post68, y_25^0'=y_25^post68, length_28^0'=length_28^post68, __disjvr_6^0'=__disjvr_6^post68, temp0_31^0'=temp0_31^post68, __disjvr_16^0'=__disjvr_16^post68, head_SLAM_f_29^0'=head_SLAM_f_29^post68, __disjvr_26^0'=__disjvr_26^post68, rcd_59^0'=rcd_59^post68, a_225^0'=a_225^post68, x_SLAM_f_17^0'=x_SLAM_f_17^post68, __disjvr_20^0'=__disjvr_20^post68, len_187^0'=len_187^post68, __disjvr_3^0'=__disjvr_3^post68, t_22^0'=t_22^post68, __disjvr_13^0'=__disjvr_13^post68, f_171^0'=f_171^post68, __disjvr_23^0'=__disjvr_23^post68, r_126^0'=r_126^post68, __disjvr_8^0'=__disjvr_8^post68, tmp_34^0'=tmp_34^post68, x_176^0'=x_176^post68, __disjvr_18^0'=__disjvr_18^post68, i_30^0'=i_30^post68, __disjvr_28^0'=__disjvr_28^post68, result_11^0'=result_11^post68, __disjvr_10^0'=__disjvr_10^post68, a_289^0'=a_289^post68, y_18^0'=y_18^post68, __disjvr_22^0'=__disjvr_22^post68, __disjvr_5^0'=__disjvr_5^post68, temp0_16^0'=temp0_16^post68, __disjvr_15^0'=__disjvr_15^post68, head_32^0'=head_32^post68, __disjvr_25^0'=__disjvr_25^post68, r_39^0'=r_39^post68, a_118^0'=a_118^post68, a_188^0'=a_188^post68, x_26^0'=x_26^post68, __disjvr_1^0'=__disjvr_1^post68, len_134^0'=len_134^post68, __disjvr_2^0'=__disjvr_2^post68, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post68, __disjvr_12^0'=__disjvr_12^post68, a_343^0'=a_343^post68, nondet_12^0'=nondet_12^post68, __disjvr_7^0'=__disjvr_7^post68, temp_35^0'=temp_35^post68, x_131^0'=x_131^post68, __disjvr_17^0'=__disjvr_17^post68, i_110^0'=i_110^post68, __disjvr_27^0'=__disjvr_27^post68, rcd_89^0'=rcd_89^post68, (0 == 0 /\ a_342^0-a_342^post68 == 0 /\ -__disjvr_15^post68+__disjvr_15^0 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post68 == 0 /\ temp0_31^0-temp0_31^post68 == 0 /\ -__disjvr_12^post68+__disjvr_12^0 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post68 == 0 /\ -len_134^post68+len_134^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post68 == 0 /\ -head_SLAM_f_29^post68+head_SLAM_f_29^0 == 0 /\ -a_343^post68+a_343^0 == 0 /\ tail_14^0-y_25^0 <= 0 /\ -y_18^post68+y_18^0 == 0 /\ length_28^0-length_28^post68 == 0 /\ r_165^0-r_165^post68 == 0 /\ x_26^0-x_26^post68 == 0 /\ __disjvr_24^0-__disjvr_24^post68 == 0 /\ -__disjvr_7^post68+__disjvr_7^0 == 0 /\ -__disjvr_16^post68+__disjvr_16^0 == 0 /\ __disjvr_21^0-__disjvr_21^post68 == 0 /\ rcd_59^0-rcd_59^post68 == 0 /\ tail_14^0-tail_14^post68 == 0 /\ -__disjvr_11^post68+__disjvr_11^0 == 0 /\ __disjvr_29^0-__disjvr_29^post68 == 0 /\ -__disjvr_3^post68+__disjvr_3^0 == 0 /\ a_281^0-a_281^post68 == 0 /\ -a_188^post68+a_188^0 == 0 /\ len_187^0-len_187^post68 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post68 == 0 /\ -x_131^post68+x_131^0 == 0 /\ x_19^0-x_19^post68 == 0 /\ -__disjvr_2^post68+__disjvr_2^0 == 0 /\ -tail_14^0+y_25^0 <= 0 /\ -y_25^post68+y_25^0 == 0 /\ -a_225^post68+a_225^0 == 0 /\ -__disjvr_6^post68+__disjvr_6^0 == 0 /\ -__disjvr_17^post68+__disjvr_17^0 == 0 /\ __disjvr_25^0-__disjvr_25^post68 == 0 /\ -__disjvr_22^post68+__disjvr_22^0 == 0 /\ -x_SLAM_f_24^0+head_15^0 <= 0 /\ -__disjvr_10^post68+__disjvr_10^0 == 0 /\ __disjvr_23^0-__disjvr_23^post68 == 0 /\ __disjvr_20^0-__disjvr_20^post68 == 0 /\ t_22^0-t_22^post68 == 0 /\ __disjvr_9^0-__disjvr_9^post68 == 0 /\ __disjvr_4^0-__disjvr_4^post68 == 0 /\ -head_15^post68+head_15^0 == 0 /\ a_149^0-a_118^post68 <= 0 /\ x_176^0-x_176^post68 == 0 /\ __disjvr_8^0-__disjvr_8^post68 == 0 /\ -__disjvr_1^post68+__disjvr_1^0 == 0 /\ -i_30^post68+i_30^0 == 0 /\ -tmp_34^post68+tmp_34^0 == 0 /\ a_149^0-a_149^post68 == 0 /\ -__disjvr_5^post68+__disjvr_5^0 == 0 /\ -head_32^post68+head_32^0 == 0 /\ -rcd_89^post68+rcd_89^0 == 0 /\ -a_289^post68+a_289^0 == 0 /\ i_95^0-i_95^post68 == 0 /\ __disjvr_26^0-__disjvr_26^post68 == 0 /\ x_SLAM_f_24^0-head_15^0 <= 0 /\ -nondet_12^post68+nondet_12^0 == 0 /\ result_11^0-result_11^post68 == 0 /\ -r_126^post68+r_126^0 == 0 /\ -a_149^0+a_118^post68 <= 0 /\ -__disjvr_28^post68+__disjvr_28^0 == 0 /\ -__disjvr_13^post68+__disjvr_13^0 == 0 /\ f_171^0-f_171^post68 == 0 /\ -i_110^post68+i_110^0 == 0 /\ -r_39^post68+r_39^0 == 0 /\ 1-len_134^0 <= 0 /\ -1+len_134^0 <= 0 /\ temp0_16^0-temp0_16^post68 == 0 /\ __disjvr_14^0-__disjvr_14^post68 == 0 /\ __disjvr_18^0-__disjvr_18^post68 == 0 /\ -temp_35^post68+temp_35^0 == 0 /\ -__disjvr_27^post68+__disjvr_27^0 == 0 /\ __disjvr_19^0-__disjvr_19^post68 == 0 /\ __disjvr_0^0-__disjvr_0^post68 == 0), cost: 1
  69: l63 -> l64 : __disjvr_0^0'=__disjvr_0^post69, a_281^0'=a_281^post69, x_SLAM_f_24^0'=x_SLAM_f_24^post69, __disjvr_21^0'=__disjvr_21^post69, __disjvr_4^0'=__disjvr_4^post69, tail_14^0'=tail_14^post69, __disjvr_14^0'=__disjvr_14^post69, head_15^0'=head_15^post69, __disjvr_24^0'=__disjvr_24^post69, r_165^0'=r_165^post69, __disjvr_9^0'=__disjvr_9^post69, a_149^0'=a_149^post69, x_19^0'=x_19^post69, __disjvr_19^0'=__disjvr_19^post69, i_95^0'=i_95^post69, __disjvr_29^0'=__disjvr_29^post69, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post69, __disjvr_11^0'=__disjvr_11^post69, a_342^0'=a_342^post69, y_25^0'=y_25^post69, length_28^0'=length_28^post69, __disjvr_6^0'=__disjvr_6^post69, temp0_31^0'=temp0_31^post69, __disjvr_16^0'=__disjvr_16^post69, head_SLAM_f_29^0'=head_SLAM_f_29^post69, __disjvr_26^0'=__disjvr_26^post69, rcd_59^0'=rcd_59^post69, a_225^0'=a_225^post69, x_SLAM_f_17^0'=x_SLAM_f_17^post69, __disjvr_20^0'=__disjvr_20^post69, len_187^0'=len_187^post69, __disjvr_3^0'=__disjvr_3^post69, t_22^0'=t_22^post69, __disjvr_13^0'=__disjvr_13^post69, f_171^0'=f_171^post69, __disjvr_23^0'=__disjvr_23^post69, r_126^0'=r_126^post69, __disjvr_8^0'=__disjvr_8^post69, tmp_34^0'=tmp_34^post69, x_176^0'=x_176^post69, __disjvr_18^0'=__disjvr_18^post69, i_30^0'=i_30^post69, __disjvr_28^0'=__disjvr_28^post69, result_11^0'=result_11^post69, __disjvr_10^0'=__disjvr_10^post69, a_289^0'=a_289^post69, y_18^0'=y_18^post69, __disjvr_22^0'=__disjvr_22^post69, __disjvr_5^0'=__disjvr_5^post69, temp0_16^0'=temp0_16^post69, __disjvr_15^0'=__disjvr_15^post69, head_32^0'=head_32^post69, __disjvr_25^0'=__disjvr_25^post69, r_39^0'=r_39^post69, a_118^0'=a_118^post69, a_188^0'=a_188^post69, x_26^0'=x_26^post69, __disjvr_1^0'=__disjvr_1^post69, len_134^0'=len_134^post69, __disjvr_2^0'=__disjvr_2^post69, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post69, __disjvr_12^0'=__disjvr_12^post69, a_343^0'=a_343^post69, nondet_12^0'=nondet_12^post69, __disjvr_7^0'=__disjvr_7^post69, temp_35^0'=temp_35^post69, x_131^0'=x_131^post69, __disjvr_17^0'=__disjvr_17^post69, i_110^0'=i_110^post69, __disjvr_27^0'=__disjvr_27^post69, rcd_89^0'=rcd_89^post69, (-__disjvr_2^post69+__disjvr_2^0 == 0 /\ __disjvr_18^0-__disjvr_18^post69 == 0 /\ -r_39^post69+r_39^0 == 0 /\ -__disjvr_8^post69+__disjvr_8^0 == 0 /\ __disjvr_24^0-__disjvr_24^post69 == 0 /\ __disjvr_0^0-__disjvr_0^post69 == 0 /\ -nondet_12^post69+nondet_12^0 == 0 /\ a_342^0-a_342^post69 == 0 /\ -__disjvr_13^post69+__disjvr_13^0 == 0 /\ -__disjvr_16^post69+__disjvr_16^0 == 0 /\ -__disjvr_6^post69+__disjvr_6^0 == 0 /\ -i_110^post69+i_110^0 == 0 /\ __disjvr_29^post69-__disjvr_29^0 == 0 /\ -temp_35^post69+temp_35^0 == 0 /\ -__disjvr_27^post69+__disjvr_27^0 == 0 /\ -a_188^post69+a_188^0 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post69 == 0 /\ -__disjvr_15^post69+__disjvr_15^0 == 0 /\ x_19^0-x_19^post69 == 0 /\ -__disjvr_26^post69+__disjvr_26^0 == 0 /\ head_SLAM_f_29^0-head_SLAM_f_29^post69 == 0 /\ -__disjvr_10^post69+__disjvr_10^0 == 0 /\ -length_28^post69+length_28^0 == 0 /\ r_165^0-r_165^post69 == 0 /\ -i_30^post69+i_30^0 == 0 /\ -a_118^post69+a_118^0 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post69 == 0 /\ head_15^0-head_15^post69 == 0 /\ tail_14^0-tail_14^post69 == 0 /\ y_25^0-y_25^post69 == 0 /\ -__disjvr_1^post69+__disjvr_1^0 == 0 /\ a_343^0-a_343^post69 == 0 /\ -__disjvr_29^post69+__disjvr_29^0 == 0 /\ __disjvr_23^0-__disjvr_23^post69 == 0 /\ a_281^0-a_281^post69 == 0 /\ -y_18^post69+y_18^0 == 0 /\ temp0_31^0-temp0_31^post69 == 0 /\ -__disjvr_7^post69+__disjvr_7^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post69 == 0 /\ x_176^0-x_176^post69 == 0 /\ -__disjvr_3^post69+__disjvr_3^0 == 0 /\ temp0_16^0-temp0_16^post69 == 0 /\ a_149^0-a_149^post69 == 0 /\ a_225^0-a_225^post69 == 0 /\ -r_126^post69+r_126^0 == 0 /\ __disjvr_21^0-__disjvr_21^post69 == 0 /\ -__disjvr_28^post69+__disjvr_28^0 == 0 /\ -x_26^post69+x_26^0 == 0 /\ __disjvr_9^0-__disjvr_9^post69 == 0 /\ t_22^0-t_22^post69 == 0 /\ tmp_34^0-tmp_34^post69 == 0 /\ -__disjvr_11^post69+__disjvr_11^0 == 0 /\ len_187^0-len_187^post69 == 0 /\ -x_131^post69+x_131^0 == 0 /\ -__disjvr_17^post69+__disjvr_17^0 == 0 /\ -__disjvr_22^post69+__disjvr_22^0 == 0 /\ __disjvr_14^0-__disjvr_14^post69 == 0 /\ __disjvr_25^0-__disjvr_25^post69 == 0 /\ rcd_59^0-rcd_59^post69 == 0 /\ __disjvr_19^0-__disjvr_19^post69 == 0 /\ -len_134^post69+len_134^0 == 0 /\ -__disjvr_12^post69+__disjvr_12^0 == 0 /\ i_95^0-i_95^post69 == 0 /\ __disjvr_20^0-__disjvr_20^post69 == 0 /\ -f_171^post69+f_171^0 == 0 /\ -__disjvr_5^post69+__disjvr_5^0 == 0 /\ -a_289^post69+a_289^0 == 0 /\ -head_32^post69+head_32^0 == 0 /\ __disjvr_4^0-__disjvr_4^post69 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post69 == 0 /\ -rcd_89^post69+rcd_89^0 == 0 /\ -result_11^post69+result_11^0 == 0), cost: 1
  70: l64 -> l31 : __disjvr_0^0'=__disjvr_0^post70, a_281^0'=a_281^post70, x_SLAM_f_24^0'=x_SLAM_f_24^post70, __disjvr_21^0'=__disjvr_21^post70, __disjvr_4^0'=__disjvr_4^post70, tail_14^0'=tail_14^post70, __disjvr_14^0'=__disjvr_14^post70, head_15^0'=head_15^post70, __disjvr_24^0'=__disjvr_24^post70, r_165^0'=r_165^post70, __disjvr_9^0'=__disjvr_9^post70, a_149^0'=a_149^post70, x_19^0'=x_19^post70, __disjvr_19^0'=__disjvr_19^post70, i_95^0'=i_95^post70, __disjvr_29^0'=__disjvr_29^post70, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post70, __disjvr_11^0'=__disjvr_11^post70, a_342^0'=a_342^post70, y_25^0'=y_25^post70, length_28^0'=length_28^post70, __disjvr_6^0'=__disjvr_6^post70, temp0_31^0'=temp0_31^post70, __disjvr_16^0'=__disjvr_16^post70, head_SLAM_f_29^0'=head_SLAM_f_29^post70, __disjvr_26^0'=__disjvr_26^post70, rcd_59^0'=rcd_59^post70, a_225^0'=a_225^post70, x_SLAM_f_17^0'=x_SLAM_f_17^post70, __disjvr_20^0'=__disjvr_20^post70, len_187^0'=len_187^post70, __disjvr_3^0'=__disjvr_3^post70, t_22^0'=t_22^post70, __disjvr_13^0'=__disjvr_13^post70, f_171^0'=f_171^post70, __disjvr_23^0'=__disjvr_23^post70, r_126^0'=r_126^post70, __disjvr_8^0'=__disjvr_8^post70, tmp_34^0'=tmp_34^post70, x_176^0'=x_176^post70, __disjvr_18^0'=__disjvr_18^post70, i_30^0'=i_30^post70, __disjvr_28^0'=__disjvr_28^post70, result_11^0'=result_11^post70, __disjvr_10^0'=__disjvr_10^post70, a_289^0'=a_289^post70, y_18^0'=y_18^post70, __disjvr_22^0'=__disjvr_22^post70, __disjvr_5^0'=__disjvr_5^post70, temp0_16^0'=temp0_16^post70, __disjvr_15^0'=__disjvr_15^post70, head_32^0'=head_32^post70, __disjvr_25^0'=__disjvr_25^post70, r_39^0'=r_39^post70, a_118^0'=a_118^post70, a_188^0'=a_188^post70, x_26^0'=x_26^post70, __disjvr_1^0'=__disjvr_1^post70, len_134^0'=len_134^post70, __disjvr_2^0'=__disjvr_2^post70, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post70, __disjvr_12^0'=__disjvr_12^post70, a_343^0'=a_343^post70, nondet_12^0'=nondet_12^post70, __disjvr_7^0'=__disjvr_7^post70, temp_35^0'=temp_35^post70, x_131^0'=x_131^post70, __disjvr_17^0'=__disjvr_17^post70, i_110^0'=i_110^post70, __disjvr_27^0'=__disjvr_27^post70, rcd_89^0'=rcd_89^post70, (0 == 0 /\ -__disjvr_22^post70+__disjvr_22^0 == 0 /\ tail_14^0-tail_14^post70 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post70 == 0 /\ -__disjvr_10^post70+__disjvr_10^0 == 0 /\ __disjvr_21^0-__disjvr_21^post70 == 0 /\ -i_30^post70+i_30^0 == 0 /\ -length_28^post70+length_28^0 == 0 /\ -a_118^post70+a_118^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post70+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -__disjvr_13^post70+__disjvr_13^0 == 0 /\ r_126^0-r_126^post70 == 0 /\ -temp0_31^post70+temp0_31^0 == 0 /\ __disjvr_18^0-__disjvr_18^post70 == 0 /\ __disjvr_6^0-__disjvr_6^post70 == 0 /\ -f_171^post70+f_171^0 == 0 /\ -__disjvr_1^post70+__disjvr_1^0 == 0 /\ -head_32^post70+head_32^0 == 0 /\ -rcd_89^post70+rcd_89^0 == 0 /\ __disjvr_19^0-__disjvr_19^post70 == 0 /\ __disjvr_0^0-__disjvr_0^post70 == 0 /\ -__disjvr_26^post70+__disjvr_26^0 == 0 /\ a_289^0-a_289^post70 == 0 /\ __disjvr_14^0-__disjvr_14^post70 == 0 /\ -__disjvr_5^post70+__disjvr_5^0 == 0 /\ t_22^0-t_22^post70 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post70 == 0 /\ __disjvr_16^0-__disjvr_16^post70 == 0 /\ __disjvr_23^0-__disjvr_23^post70 == 0 /\ -a_342^post70+a_342^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_110^0 <= 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post70 == 0 /\ -nondet_12^post70+nondet_12^0 == 0 /\ -x_26^post70+x_26^0 == 0 /\ head_SLAM_f_29^0-head_SLAM_f_29^post70 == 0 /\ __disjvr_24^0-__disjvr_24^post70 == 0 /\ len_187^0-len_187^post70 == 0 /\ -__disjvr_28^post70+__disjvr_28^0 == 0 /\ a_343^0-a_343^post70 == 0 /\ -__disjvr_27^post70+__disjvr_27^0 == 0 /\ -r_39^post70+r_39^0 == 0 /\ r_165^0-r_165^post70 == 0 /\ 1-i_110^post70+a_118^0 <= 0 /\ __disjvr_11^0-__disjvr_11^post70 == 0 /\ y_25^0-y_25^post70 == 0 /\ i_95^0-i_95^post70 == 0 /\ a_281^0-a_281^post70 == 0 /\ __disjvr_7^0-__disjvr_7^post70 == 0 /\ tmp_34^0-tmp_34^post70 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -temp_35^post70+temp_35^0 == 0 /\ -len_134^post70+len_134^0 == 0 /\ -__disjvr_12^post70+__disjvr_12^0 == 0 /\ x_19^0-x_19^post70 == 0 /\ temp0_16^0-temp0_16^post70 == 0 /\ __disjvr_25^0-__disjvr_25^post70 == 0 /\ rcd_59^0-rcd_59^post70 == 0 /\ -result_11^post70+result_11^0 == 0 /\ a_225^0-a_225^post70 == 0 /\ -__disjvr_4^post70+__disjvr_4^0 == 0 /\ __disjvr_20^0-__disjvr_20^post70 == 0 /\ -__disjvr_3^post70+__disjvr_3^0 == 0 /\ __disjvr_9^0-__disjvr_9^post70 == 0 /\ -__disjvr_8^post70+__disjvr_8^0 == 0 /\ head_15^0-head_15^post70 == 0 /\ -__disjvr_2^post70+__disjvr_2^0 == 0 /\ -y_18^post70+y_18^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -__disjvr_15^post70+__disjvr_15^0 == 0 /\ x_176^0-x_176^post70 == 0 /\ -__disjvr_17^post70+__disjvr_17^0 == 0 /\ a_149^0-a_149^post70 == 0 /\ __disjvr_29^0-__disjvr_29^post70 == 0 /\ -x_131^post70+x_131^0 == 0 /\ -1+i_110^post70-a_118^0 <= 0 /\ -a_188^post70+a_188^0 == 0), cost: 1
  73: l65 -> l30 : __disjvr_0^0'=__disjvr_0^post73, a_281^0'=a_281^post73, x_SLAM_f_24^0'=x_SLAM_f_24^post73, __disjvr_21^0'=__disjvr_21^post73, __disjvr_4^0'=__disjvr_4^post73, tail_14^0'=tail_14^post73, __disjvr_14^0'=__disjvr_14^post73, head_15^0'=head_15^post73, __disjvr_24^0'=__disjvr_24^post73, r_165^0'=r_165^post73, __disjvr_9^0'=__disjvr_9^post73, a_149^0'=a_149^post73, x_19^0'=x_19^post73, __disjvr_19^0'=__disjvr_19^post73, i_95^0'=i_95^post73, __disjvr_29^0'=__disjvr_29^post73, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post73, __disjvr_11^0'=__disjvr_11^post73, a_342^0'=a_342^post73, y_25^0'=y_25^post73, length_28^0'=length_28^post73, __disjvr_6^0'=__disjvr_6^post73, temp0_31^0'=temp0_31^post73, __disjvr_16^0'=__disjvr_16^post73, head_SLAM_f_29^0'=head_SLAM_f_29^post73, __disjvr_26^0'=__disjvr_26^post73, rcd_59^0'=rcd_59^post73, a_225^0'=a_225^post73, x_SLAM_f_17^0'=x_SLAM_f_17^post73, __disjvr_20^0'=__disjvr_20^post73, len_187^0'=len_187^post73, __disjvr_3^0'=__disjvr_3^post73, t_22^0'=t_22^post73, __disjvr_13^0'=__disjvr_13^post73, f_171^0'=f_171^post73, __disjvr_23^0'=__disjvr_23^post73, r_126^0'=r_126^post73, __disjvr_8^0'=__disjvr_8^post73, tmp_34^0'=tmp_34^post73, x_176^0'=x_176^post73, __disjvr_18^0'=__disjvr_18^post73, i_30^0'=i_30^post73, __disjvr_28^0'=__disjvr_28^post73, result_11^0'=result_11^post73, __disjvr_10^0'=__disjvr_10^post73, a_289^0'=a_289^post73, y_18^0'=y_18^post73, __disjvr_22^0'=__disjvr_22^post73, __disjvr_5^0'=__disjvr_5^post73, temp0_16^0'=temp0_16^post73, __disjvr_15^0'=__disjvr_15^post73, head_32^0'=head_32^post73, __disjvr_25^0'=__disjvr_25^post73, r_39^0'=r_39^post73, a_118^0'=a_118^post73, a_188^0'=a_188^post73, x_26^0'=x_26^post73, __disjvr_1^0'=__disjvr_1^post73, len_134^0'=len_134^post73, __disjvr_2^0'=__disjvr_2^post73, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post73, __disjvr_12^0'=__disjvr_12^post73, a_343^0'=a_343^post73, nondet_12^0'=nondet_12^post73, __disjvr_7^0'=__disjvr_7^post73, temp_35^0'=temp_35^post73, x_131^0'=x_131^post73, __disjvr_17^0'=__disjvr_17^post73, i_110^0'=i_110^post73, __disjvr_27^0'=__disjvr_27^post73, rcd_89^0'=rcd_89^post73, (-len_187^post73+len_187^0 == 0 /\ __disjvr_11^0-__disjvr_11^post73 == 0 /\ y_25^0-y_25^post73 == 0 /\ -i_110^post73+i_110^0 == 0 /\ r_126^0-r_126^post73 == 0 /\ a_188^0-a_188^post73 == 0 /\ -__disjvr_1^post73+__disjvr_1^0 == 0 /\ -__disjvr_10^post73+__disjvr_10^0 == 0 /\ tail_14^0-tail_14^post73 == 0 /\ -__disjvr_27^post73+__disjvr_27^0 == 0 /\ -__disjvr_26^post73+__disjvr_26^0 == 0 /\ -__disjvr_3^post73+__disjvr_3^0 == 0 /\ -length_28^post73+length_28^0 == 0 /\ -nondet_12^post73+nondet_12^0 == 0 /\ -a_118^post73+a_118^0 == 0 /\ __disjvr_0^0-__disjvr_0^post73 == 0 /\ -f_171^post73+f_171^0 == 0 /\ __disjvr_6^0-__disjvr_6^post73 == 0 /\ __disjvr_20^0-__disjvr_20^post73 == 0 /\ temp0_31^0-temp0_31^post73 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post73+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -t_22^post73+t_22^0 == 0 /\ -x_26^post73+x_26^0 == 0 /\ -__disjvr_28^post73+__disjvr_28^0 == 0 /\ -__disjvr_19^post73+__disjvr_19^0 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post73 == 0 /\ a_342^0-a_342^post73 == 0 /\ head_15^0-head_15^post73 == 0 /\ -a_289^post73+a_289^0 == 0 /\ __disjvr_23^0-__disjvr_23^post73 == 0 /\ __disjvr_16^0-__disjvr_16^post73 == 0 /\ -__disjvr_5^post73+__disjvr_5^0 == 0 /\ temp0_16^0-temp0_16^post73 == 0 /\ i_30^0-i_30^post73 == 0 /\ -r_39^post73+r_39^0 == 0 /\ head_SLAM_f_29^0-head_SLAM_f_29^post73 == 0 /\ -__disjvr_13^post73+__disjvr_13^0 == 0 /\ __disjvr_29^0-__disjvr_29^post73 == 0 /\ a_149^0-a_149^post73 == 0 /\ -x_131^post73+x_131^0 == 0 /\ a_281^0-a_281^post73 == 0 /\ tmp_34^0-tmp_34^post73 == 0 /\ -__disjvr_12^post73+__disjvr_12^0 == 0 /\ __disjvr_21^0-__disjvr_21^post73 == 0 /\ -result_11^post73+result_11^0 == 0 /\ -__disjvr_17^post73+__disjvr_17^0 == 0 /\ temp_35^0-temp_35^post73 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post73 == 0 /\ -r_165^post73+r_165^0 == 0 /\ -__disjvr_18^post73+__disjvr_18^0 == 0 /\ rcd_59^0-rcd_59^post73 == 0 /\ -__disjvr_25^post73+__disjvr_25^0 == 0 /\ __disjvr_14^0-__disjvr_14^post73 == 0 /\ i_95^0-i_95^post73 == 0 /\ __disjvr_9^0-__disjvr_9^post73 == 0 /\ -len_134^post73+len_134^0 == 0 /\ __disjvr_4^0-__disjvr_4^post73 == 0 /\ __disjvr_22^0-__disjvr_22^post73 == 0 /\ a_225^0-a_225^post73 == 0 /\ -a_343^post73+a_343^0 == 0 /\ -__disjvr_7^post73+__disjvr_7^0 == 0 /\ -y_18^post73+y_18^0 == 0 /\ -head_32^post73+head_32^0 == 0 /\ -rcd_89^post73+rcd_89^0 == 0 /\ -__disjvr_2^post73+__disjvr_2^0 == 0 /\ -__disjvr_15^post73+__disjvr_15^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post73 == 0 /\ -__disjvr_8^post73+__disjvr_8^0 == 0 /\ __disjvr_24^0-__disjvr_24^post73 == 0 /\ -x_19^post73+x_19^0 == 0 /\ x_176^0-x_176^post73 == 0), cost: 1


Applied preprocessing
Original rule:
l0 -> l1 : __disjvr_0^0'=__disjvr_0^post0, a_281^0'=a_281^post0, x_SLAM_f_24^0'=x_SLAM_f_24^post0, __disjvr_21^0'=__disjvr_21^post0, __disjvr_4^0'=__disjvr_4^post0, tail_14^0'=tail_14^post0, __disjvr_14^0'=__disjvr_14^post0, head_15^0'=head_15^post0, __disjvr_24^0'=__disjvr_24^post0, r_165^0'=r_165^post0, __disjvr_9^0'=__disjvr_9^post0, a_149^0'=a_149^post0, x_19^0'=x_19^post0, __disjvr_19^0'=__disjvr_19^post0, i_95^0'=i_95^post0, __disjvr_29^0'=__disjvr_29^post0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post0, __disjvr_11^0'=__disjvr_11^post0, a_342^0'=a_342^post0, y_25^0'=y_25^post0, length_28^0'=length_28^post0, __disjvr_6^0'=__disjvr_6^post0, temp0_31^0'=temp0_31^post0, __disjvr_16^0'=__disjvr_16^post0, head_SLAM_f_29^0'=head_SLAM_f_29^post0, __disjvr_26^0'=__disjvr_26^post0, rcd_59^0'=rcd_59^post0, a_225^0'=a_225^post0, x_SLAM_f_17^0'=x_SLAM_f_17^post0, __disjvr_20^0'=__disjvr_20^post0, len_187^0'=len_187^post0, __disjvr_3^0'=__disjvr_3^post0, t_22^0'=t_22^post0, __disjvr_13^0'=__disjvr_13^post0, f_171^0'=f_171^post0, __disjvr_23^0'=__disjvr_23^post0, r_126^0'=r_126^post0, __disjvr_8^0'=__disjvr_8^post0, tmp_34^0'=tmp_34^post0, x_176^0'=x_176^post0, __disjvr_18^0'=__disjvr_18^post0, i_30^0'=i_30^post0, __disjvr_28^0'=__disjvr_28^post0, result_11^0'=result_11^post0, __disjvr_10^0'=__disjvr_10^post0, a_289^0'=a_289^post0, y_18^0'=y_18^post0, __disjvr_22^0'=__disjvr_22^post0, __disjvr_5^0'=__disjvr_5^post0, temp0_16^0'=temp0_16^post0, __disjvr_15^0'=__disjvr_15^post0, head_32^0'=head_32^post0, __disjvr_25^0'=__disjvr_25^post0, r_39^0'=r_39^post0, a_118^0'=a_118^post0, a_188^0'=a_188^post0, x_26^0'=x_26^post0, __disjvr_1^0'=__disjvr_1^post0, len_134^0'=len_134^post0, __disjvr_2^0'=__disjvr_2^post0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post0, __disjvr_12^0'=__disjvr_12^post0, a_343^0'=a_343^post0, nondet_12^0'=nondet_12^post0, __disjvr_7^0'=__disjvr_7^post0, temp_35^0'=temp_35^post0, x_131^0'=x_131^post0, __disjvr_17^0'=__disjvr_17^post0, i_110^0'=i_110^post0, __disjvr_27^0'=__disjvr_27^post0, rcd_89^0'=rcd_89^post0, (0 == 0 /\ -__disjvr_1^post0+__disjvr_1^0 == 0 /\ __disjvr_16^0-__disjvr_16^post0 == 0 /\ y_18^0-y_18^post0 == 0 /\ -__disjvr_7^post0+__disjvr_7^0 == 0 /\ a_118^0-a_118^post0 == 0 /\ -nondet_12^post0+nondet_12^0 == 0 /\ -__disjvr_17^post0+__disjvr_17^0 == 0 /\ -__disjvr_27^post0+__disjvr_27^0 == 0 /\ r_165^0-r_165^post0 == 0 /\ r_126^0-r_126^post0 == 0 /\ -a_342^post0+a_342^0 == 0 /\ __disjvr_23^0-__disjvr_23^post0 == 0 /\ __disjvr_10^0-__disjvr_10^post0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 <= 0 /\ __disjvr_14^0-__disjvr_14^post0 == 0 /\ -head_15^post0+x_SLAM_f_24^post0 <= 0 /\ -head_15^post0+x_SLAM_f_24^post0 == 0 /\ x_SLAM_f_24^post0-x_26^post0 <= 0 /\ -i_30^post0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 <= 0 /\ -temp0_16^post0+temp0_16^0 == 0 /\ -len_187^post0+len_187^0 == 0 /\ i_95^0-i_95^post0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 <= 0 /\ -__disjvr_8^post0+__disjvr_8^0 == 0 /\ result_11^10-temp0_31^10 == 0 /\ __disjvr_4^0-__disjvr_4^post0 == 0 /\ a_149^0-a_149^post0 == 0 /\ -__disjvr_3^post0+__disjvr_3^0 == 0 /\ -f_171^post0+f_171^0 == 0 /\ __disjvr_21^0-__disjvr_21^post0 == 0 /\ -a_289^post0+a_289^0 == 0 /\ __disjvr_24^0-__disjvr_24^post0 == 0 /\ rcd_59^0-rcd_59^post0 == 0 /\ -x_19^post0+x_19^0 == 0 /\ __disjvr_28^0-__disjvr_28^post0 == 0 /\ -i_30^0 <= 0 /\ len_134^0-len_134^post0 == 0 /\ head_15^post0-x_SLAM_f_24^post0 <= 0 /\ -x_SLAM_f_24^post0+x_26^post0 <= 0 /\ -x_SLAM_f_24^post0+x_26^post0 == 0 /\ __disjvr_11^0-__disjvr_11^post0 == 0 /\ __disjvr_0^0-__disjvr_0^post0 == 0 /\ -__disjvr_19^post0+__disjvr_19^0 == 0 /\ -i_110^post0+i_110^0 == 0 /\ -__disjvr_18^post0+__disjvr_18^0 == 0 /\ tail_14^0-y_25^post0 <= 0 /\ -__disjvr_12^post0+__disjvr_12^0 == 0 /\ __disjvr_20^0-__disjvr_20^post0 == 0 /\ -x_131^post0+x_131^0 == 0 /\ -x_176^post0+x_176^0 == 0 /\ temp0_31^10-head_32^0 == 0 /\ -a_281^post0+a_281^0 == 0 /\ -__disjvr_5^post0+__disjvr_5^0 == 0 /\ -head_15^post0+x_26^post0 <= 0 /\ __disjvr_9^0-__disjvr_9^post0 == 0 /\ __disjvr_22^0-__disjvr_22^post0 == 0 /\ __disjvr_29^0-__disjvr_29^post0 == 0 /\ -__disjvr_26^post0+__disjvr_26^0 == 0 /\ -__disjvr_25^post0+__disjvr_25^0 == 0 /\ __disjvr_15^0-__disjvr_15^post0 == 0 /\ r_39^0-r_39^post0 == 0 /\ -__disjvr_2^post0+__disjvr_2^0 == 0 /\ -__disjvr_6^post0+__disjvr_6^0 == 0 /\ -t_22^post0+t_22^0 == 0 /\ -tail_14^post0+tail_14^0 == 0 /\ -rcd_89^post0+rcd_89^0 == 0 /\ -a_343^post0+a_343^0 == 0 /\ head_15^post0-result_11^10 == 0 /\ -tail_14^0+y_25^post0 <= 0 /\ -tail_14^0+y_25^post0 == 0 /\ length_28^0-i_30^0 <= 0 /\ -x_SLAM_f_17^post0+x_SLAM_f_17^0 == 0 /\ a_225^0-a_225^post0 == 0 /\ head_15^post0-x_26^post0 <= 0 /\ __disjvr_13^0-__disjvr_13^post0 == 0 /\ -a_188^post0+a_188^0 == 0), cost: 1
New rule:
l0 -> l1 : x_SLAM_f_24^0'=head_32^0, head_15^0'=head_32^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post0, y_25^0'=tail_14^0, length_28^0'=length_28^post0, temp0_31^0'=temp0_31^post0, head_SLAM_f_29^0'=head_SLAM_f_29^post0, tmp_34^0'=tmp_34^post0, i_30^0'=i_30^post0, result_11^0'=result_11^post0, head_32^0'=head_32^post0, x_26^0'=head_32^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post0, temp_35^0'=temp_35^post0, (-i_30^post0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 <= 0 /\ i_30^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 >= 0 /\ length_28^0-i_30^0 <= 0), cost: 1

Applied preprocessing
Original rule:
l0 -> l2 : __disjvr_0^0'=__disjvr_0^post1, a_281^0'=a_281^post1, x_SLAM_f_24^0'=x_SLAM_f_24^post1, __disjvr_21^0'=__disjvr_21^post1, __disjvr_4^0'=__disjvr_4^post1, tail_14^0'=tail_14^post1, __disjvr_14^0'=__disjvr_14^post1, head_15^0'=head_15^post1, __disjvr_24^0'=__disjvr_24^post1, r_165^0'=r_165^post1, __disjvr_9^0'=__disjvr_9^post1, a_149^0'=a_149^post1, x_19^0'=x_19^post1, __disjvr_19^0'=__disjvr_19^post1, i_95^0'=i_95^post1, __disjvr_29^0'=__disjvr_29^post1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post1, __disjvr_11^0'=__disjvr_11^post1, a_342^0'=a_342^post1, y_25^0'=y_25^post1, length_28^0'=length_28^post1, __disjvr_6^0'=__disjvr_6^post1, temp0_31^0'=temp0_31^post1, __disjvr_16^0'=__disjvr_16^post1, head_SLAM_f_29^0'=head_SLAM_f_29^post1, __disjvr_26^0'=__disjvr_26^post1, rcd_59^0'=rcd_59^post1, a_225^0'=a_225^post1, x_SLAM_f_17^0'=x_SLAM_f_17^post1, __disjvr_20^0'=__disjvr_20^post1, len_187^0'=len_187^post1, __disjvr_3^0'=__disjvr_3^post1, t_22^0'=t_22^post1, __disjvr_13^0'=__disjvr_13^post1, f_171^0'=f_171^post1, __disjvr_23^0'=__disjvr_23^post1, r_126^0'=r_126^post1, __disjvr_8^0'=__disjvr_8^post1, tmp_34^0'=tmp_34^post1, x_176^0'=x_176^post1, __disjvr_18^0'=__disjvr_18^post1, i_30^0'=i_30^post1, __disjvr_28^0'=__disjvr_28^post1, result_11^0'=result_11^post1, __disjvr_10^0'=__disjvr_10^post1, a_289^0'=a_289^post1, y_18^0'=y_18^post1, __disjvr_22^0'=__disjvr_22^post1, __disjvr_5^0'=__disjvr_5^post1, temp0_16^0'=temp0_16^post1, __disjvr_15^0'=__disjvr_15^post1, head_32^0'=head_32^post1, __disjvr_25^0'=__disjvr_25^post1, r_39^0'=r_39^post1, a_118^0'=a_118^post1, a_188^0'=a_188^post1, x_26^0'=x_26^post1, __disjvr_1^0'=__disjvr_1^post1, len_134^0'=len_134^post1, __disjvr_2^0'=__disjvr_2^post1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, __disjvr_12^0'=__disjvr_12^post1, a_343^0'=a_343^post1, nondet_12^0'=nondet_12^post1, __disjvr_7^0'=__disjvr_7^post1, temp_35^0'=temp_35^post1, x_131^0'=x_131^post1, __disjvr_17^0'=__disjvr_17^post1, i_110^0'=i_110^post1, __disjvr_27^0'=__disjvr_27^post1, rcd_89^0'=rcd_89^post1, (0 == 0 /\ 1+i_95^post1-i_30^post1 <= 0 /\ -a_225^post1+a_225^0 == 0 /\ tail_14^0-tail_14^post1 == 0 /\ result_11^0-result_11^post1 == 0 /\ length_28^0-length_28^post1 == 0 /\ len_134^0-len_134^post1 == 0 /\ __disjvr_14^0-__disjvr_14^post1 == 0 /\ __disjvr_19^0-__disjvr_19^post1 == 0 /\ a_281^0-a_281^post1 == 0 /\ -__disjvr_22^post1+__disjvr_22^0 == 0 /\ -__disjvr_3^post1+__disjvr_3^0 == 0 /\ __disjvr_18^0-__disjvr_18^post1 == 0 /\ temp0_31^0-temp0_31^post1 == 0 /\ x_19^0-x_19^post1 == 0 /\ -rcd_59^post1+rcd_59^0 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post1 == 0 /\ -a_118^post1+a_118^0 == 0 /\ f_171^0-f_171^post1 == 0 /\ -__disjvr_1^post1+__disjvr_1^0 == 0 /\ a_289^0-a_289^post1 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ 1+i_95^post1-length_28^0 <= 0 /\ -__disjvr_28^post1+__disjvr_28^0 == 0 /\ __disjvr_24^0-__disjvr_24^post1 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post1 == 0 /\ -r_39^post1+r_39^0 == 0 /\ -i_110^post1+i_110^0 == 0 /\ -__disjvr_27^post1+__disjvr_27^0 == 0 /\ __disjvr_8^0-__disjvr_8^post1 == 0 /\ tmp_34^post1-temp_35^0 == 0 /\ -__disjvr_5^post1+__disjvr_5^0 == 0 /\ __disjvr_16^0-__disjvr_16^post1 == 0 /\ len_187^0-len_187^post1 == 0 /\ -x_26^post1+x_26^0 == 0 /\ -r_126^post1+r_126^0 == 0 /\ -i_30^0 <= 0 /\ __disjvr_21^0-__disjvr_21^post1 == 0 /\ -nondet_12^post1+nondet_12^0 == 0 /\ x_176^0-x_176^post1 == 0 /\ -__disjvr_13^post1+__disjvr_13^0 == 0 /\ -__disjvr_12^post1+__disjvr_12^0 == 0 /\ -1+i_30^post1-i_30^0 == 0 /\ -1-i_95^post1+i_30^post1 <= 0 /\ 1-length_28^0+i_30^0 <= 0 /\ -__disjvr_6^post1+__disjvr_6^0 == 0 /\ -head_SLAM_f_29^post1+head_SLAM_f_29^0 == 0 /\ __disjvr_11^0-__disjvr_11^post1 == 0 /\ __disjvr_29^0-__disjvr_29^post1 == 0 /\ -y_25^post1+y_25^0 == 0 /\ __disjvr_7^0-__disjvr_7^post1 == 0 /\ -a_149^post1+a_149^0 == 0 /\ __disjvr_0^0-__disjvr_0^post1 == 0 /\ -tmp_34^post1+head_32^post1 == 0 /\ __disjvr_25^0-__disjvr_25^post1 == 0 /\ -a_343^post1+a_343^0 == 0 /\ -__disjvr_9^post1+__disjvr_9^0 == 0 /\ -__disjvr_4^post1+__disjvr_4^0 == 0 /\ __disjvr_20^0-__disjvr_20^post1 == 0 /\ -__disjvr_2^post1+__disjvr_2^0 == 0 /\ a_342^0-a_342^post1 == 0 /\ -__disjvr_17^post1+__disjvr_17^0 == 0 /\ -y_18^post1+y_18^0 == 0 /\ -x_131^post1+x_131^0 == 0 /\ __disjvr_23^0-__disjvr_23^post1 == 0 /\ t_22^0-t_22^post1 == 0 /\ temp0_16^0-temp0_16^post1 == 0 /\ -__disjvr_15^post1+__disjvr_15^0 == 0 /\ -__disjvr_10^post1+__disjvr_10^0 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post1 == 0 /\ -head_15^post1+head_15^0 == 0 /\ __disjvr_26^0-__disjvr_26^post1 == 0 /\ r_165^0-r_165^post1 == 0 /\ -a_188^post1+a_188^0 == 0), cost: 1
New rule:
l0 -> l2 : i_95^0'=i_30^0, tmp_34^0'=temp_35^0, i_30^0'=1+i_30^0, head_32^0'=temp_35^0, temp_35^0'=temp_35^post1, rcd_89^0'=rcd_89^post1, (1-length_28^0+i_30^0 <= 0 /\ i_30^0 >= 0), cost: 1

Applied preprocessing
Original rule:
l2 -> l0 : __disjvr_0^0'=__disjvr_0^post2, a_281^0'=a_281^post2, x_SLAM_f_24^0'=x_SLAM_f_24^post2, __disjvr_21^0'=__disjvr_21^post2, __disjvr_4^0'=__disjvr_4^post2, tail_14^0'=tail_14^post2, __disjvr_14^0'=__disjvr_14^post2, head_15^0'=head_15^post2, __disjvr_24^0'=__disjvr_24^post2, r_165^0'=r_165^post2, __disjvr_9^0'=__disjvr_9^post2, a_149^0'=a_149^post2, x_19^0'=x_19^post2, __disjvr_19^0'=__disjvr_19^post2, i_95^0'=i_95^post2, __disjvr_29^0'=__disjvr_29^post2, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post2, __disjvr_11^0'=__disjvr_11^post2, a_342^0'=a_342^post2, y_25^0'=y_25^post2, length_28^0'=length_28^post2, __disjvr_6^0'=__disjvr_6^post2, temp0_31^0'=temp0_31^post2, __disjvr_16^0'=__disjvr_16^post2, head_SLAM_f_29^0'=head_SLAM_f_29^post2, __disjvr_26^0'=__disjvr_26^post2, rcd_59^0'=rcd_59^post2, a_225^0'=a_225^post2, x_SLAM_f_17^0'=x_SLAM_f_17^post2, __disjvr_20^0'=__disjvr_20^post2, len_187^0'=len_187^post2, __disjvr_3^0'=__disjvr_3^post2, t_22^0'=t_22^post2, __disjvr_13^0'=__disjvr_13^post2, f_171^0'=f_171^post2, __disjvr_23^0'=__disjvr_23^post2, r_126^0'=r_126^post2, __disjvr_8^0'=__disjvr_8^post2, tmp_34^0'=tmp_34^post2, x_176^0'=x_176^post2, __disjvr_18^0'=__disjvr_18^post2, i_30^0'=i_30^post2, __disjvr_28^0'=__disjvr_28^post2, result_11^0'=result_11^post2, __disjvr_10^0'=__disjvr_10^post2, a_289^0'=a_289^post2, y_18^0'=y_18^post2, __disjvr_22^0'=__disjvr_22^post2, __disjvr_5^0'=__disjvr_5^post2, temp0_16^0'=temp0_16^post2, __disjvr_15^0'=__disjvr_15^post2, head_32^0'=head_32^post2, __disjvr_25^0'=__disjvr_25^post2, r_39^0'=r_39^post2, a_118^0'=a_118^post2, a_188^0'=a_188^post2, x_26^0'=x_26^post2, __disjvr_1^0'=__disjvr_1^post2, len_134^0'=len_134^post2, __disjvr_2^0'=__disjvr_2^post2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, __disjvr_12^0'=__disjvr_12^post2, a_343^0'=a_343^post2, nondet_12^0'=nondet_12^post2, __disjvr_7^0'=__disjvr_7^post2, temp_35^0'=temp_35^post2, x_131^0'=x_131^post2, __disjvr_17^0'=__disjvr_17^post2, i_110^0'=i_110^post2, __disjvr_27^0'=__disjvr_27^post2, rcd_89^0'=rcd_89^post2, (-result_dot_nondet_sdv_special_RETURN_VALUE_13^post2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ temp0_31^0-temp0_31^post2 == 0 /\ f_171^0-f_171^post2 == 0 /\ -__disjvr_7^post2+__disjvr_7^0 == 0 /\ -__disjvr_28^post2+__disjvr_28^0 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post2 == 0 /\ -__disjvr_11^post2+__disjvr_11^0 == 0 /\ -y_18^post2+y_18^0 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post2 == 0 /\ -__disjvr_17^post2+__disjvr_17^0 == 0 /\ -x_131^post2+x_131^0 == 0 /\ x_19^0-x_19^post2 == 0 /\ rcd_59^0-rcd_59^post2 == 0 /\ r_165^0-r_165^post2 == 0 /\ __disjvr_2^0-__disjvr_2^post2 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post2 == 0 /\ -__disjvr_15^post2+__disjvr_15^0 == 0 /\ length_28^0-length_28^post2 == 0 /\ __disjvr_24^0-__disjvr_24^post2 == 0 /\ -r_126^post2+r_126^0 == 0 /\ -__disjvr_12^post2+__disjvr_12^0 == 0 /\ -len_134^post2+len_134^0 == 0 /\ a_281^0-a_281^post2 == 0 /\ -__disjvr_6^post2+__disjvr_6^0 == 0 /\ -head_32^post2+head_32^0 == 0 /\ len_187^0-len_187^post2 == 0 /\ -head_SLAM_f_29^post2+head_SLAM_f_29^0 == 0 /\ tail_14^0-tail_14^post2 == 0 /\ -rcd_89^post2+rcd_89^0 == 0 /\ -y_25^post2+y_25^0 == 0 /\ -__disjvr_22^post2+__disjvr_22^0 == 0 /\ -a_225^post2+a_225^0 == 0 /\ x_176^0-x_176^post2 == 0 /\ __disjvr_26^0-__disjvr_26^post2 == 0 /\ tmp_34^0-tmp_34^post2 == 0 /\ __disjvr_21^0-__disjvr_21^post2 == 0 /\ __disjvr_18^0-__disjvr_18^post2 == 0 /\ -a_343^post2+a_343^0 == 0 /\ -__disjvr_3^post2+__disjvr_3^0 == 0 /\ __disjvr_4^0-__disjvr_4^post2 == 0 /\ -__disjvr_27^post2+__disjvr_27^0 == 0 /\ -__disjvr_16^post2+__disjvr_16^0 == 0 /\ __disjvr_25^0-__disjvr_25^post2 == 0 /\ -a_289^post2+a_289^0 == 0 /\ -i_110^post2+i_110^0 == 0 /\ -__disjvr_5^post2+__disjvr_5^0 == 0 /\ __disjvr_20^0-__disjvr_20^post2 == 0 /\ -a_188^post2+a_188^0 == 0 /\ -__disjvr_8^post2+__disjvr_8^0 == 0 /\ -r_39^post2+r_39^0 == 0 /\ -head_15^post2+head_15^0 == 0 /\ __disjvr_29^0-__disjvr_29^post2 == 0 /\ -nondet_12^post2+nondet_12^0 == 0 /\ -__disjvr_13^post2+__disjvr_13^0 == 0 /\ __disjvr_23^0-__disjvr_23^post2 == 0 /\ -i_30^post2+i_30^0 == 0 /\ -x_26^post2+x_26^0 == 0 /\ __disjvr_0^0-__disjvr_0^post2 == 0 /\ -__disjvr_10^post2+__disjvr_10^0 == 0 /\ -temp_35^post2+temp_35^0 == 0 /\ -a_149^post2+a_149^0 == 0 /\ i_95^0-i_95^post2 == 0 /\ result_11^0-result_11^post2 == 0 /\ a_342^0-a_342^post2 == 0 /\ __disjvr_19^0-__disjvr_19^post2 == 0 /\ -a_118^post2+a_118^0 == 0 /\ __disjvr_14^0-__disjvr_14^post2 == 0 /\ -__disjvr_1^post2+__disjvr_1^0 == 0 /\ -__disjvr_9^post2+__disjvr_9^0 == 0 /\ temp0_16^0-temp0_16^post2 == 0 /\ t_22^0-t_22^post2 == 0), cost: 1
New rule:
l2 -> l0 : TRUE, cost: 1

Applied preprocessing
Original rule:
l3 -> l5 : __disjvr_0^0'=__disjvr_0^post4, a_281^0'=a_281^post4, x_SLAM_f_24^0'=x_SLAM_f_24^post4, __disjvr_21^0'=__disjvr_21^post4, __disjvr_4^0'=__disjvr_4^post4, tail_14^0'=tail_14^post4, __disjvr_14^0'=__disjvr_14^post4, head_15^0'=head_15^post4, __disjvr_24^0'=__disjvr_24^post4, r_165^0'=r_165^post4, __disjvr_9^0'=__disjvr_9^post4, a_149^0'=a_149^post4, x_19^0'=x_19^post4, __disjvr_19^0'=__disjvr_19^post4, i_95^0'=i_95^post4, __disjvr_29^0'=__disjvr_29^post4, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post4, __disjvr_11^0'=__disjvr_11^post4, a_342^0'=a_342^post4, y_25^0'=y_25^post4, length_28^0'=length_28^post4, __disjvr_6^0'=__disjvr_6^post4, temp0_31^0'=temp0_31^post4, __disjvr_16^0'=__disjvr_16^post4, head_SLAM_f_29^0'=head_SLAM_f_29^post4, __disjvr_26^0'=__disjvr_26^post4, rcd_59^0'=rcd_59^post4, a_225^0'=a_225^post4, x_SLAM_f_17^0'=x_SLAM_f_17^post4, __disjvr_20^0'=__disjvr_20^post4, len_187^0'=len_187^post4, __disjvr_3^0'=__disjvr_3^post4, t_22^0'=t_22^post4, __disjvr_13^0'=__disjvr_13^post4, f_171^0'=f_171^post4, __disjvr_23^0'=__disjvr_23^post4, r_126^0'=r_126^post4, __disjvr_8^0'=__disjvr_8^post4, tmp_34^0'=tmp_34^post4, x_176^0'=x_176^post4, __disjvr_18^0'=__disjvr_18^post4, i_30^0'=i_30^post4, __disjvr_28^0'=__disjvr_28^post4, result_11^0'=result_11^post4, __disjvr_10^0'=__disjvr_10^post4, a_289^0'=a_289^post4, y_18^0'=y_18^post4, __disjvr_22^0'=__disjvr_22^post4, __disjvr_5^0'=__disjvr_5^post4, temp0_16^0'=temp0_16^post4, __disjvr_15^0'=__disjvr_15^post4, head_32^0'=head_32^post4, __disjvr_25^0'=__disjvr_25^post4, r_39^0'=r_39^post4, a_118^0'=a_118^post4, a_188^0'=a_188^post4, x_26^0'=x_26^post4, __disjvr_1^0'=__disjvr_1^post4, len_134^0'=len_134^post4, __disjvr_2^0'=__disjvr_2^post4, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post4, __disjvr_12^0'=__disjvr_12^post4, a_343^0'=a_343^post4, nondet_12^0'=nondet_12^post4, __disjvr_7^0'=__disjvr_7^post4, temp_35^0'=temp_35^post4, x_131^0'=x_131^post4, __disjvr_17^0'=__disjvr_17^post4, i_110^0'=i_110^post4, __disjvr_27^0'=__disjvr_27^post4, rcd_89^0'=rcd_89^post4, (0 == 0 /\ tmp_34^post4-head_32^post4 <= 0 /\ __disjvr_8^0-__disjvr_8^post4 == 0 /\ -a_343^post4+a_343^0 == 0 /\ __disjvr_18^0-__disjvr_18^post4 == 0 /\ a_149^0-a_149^post4 == 0 /\ -tmp_34^post4+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post4 <= 0 /\ -a_188^post4+a_188^0 == 0 /\ r_165^0-r_165^post4 == 0 /\ -__disjvr_2^post4+__disjvr_2^0 == 0 /\ -x_176^post4+x_176^0 == 0 /\ __disjvr_26^0-__disjvr_26^post4 == 0 /\ __disjvr_21^0-__disjvr_21^post4 == 0 /\ -__disjvr_6^post4+__disjvr_6^0 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post4 == 0 /\ -i_110^post4+i_110^0 == 0 /\ -r_39^post4+r_39^0 == 0 /\ __disjvr_19^0-__disjvr_19^post4 == 0 /\ -__disjvr_20^post4+__disjvr_20^0 == 0 /\ __disjvr_28^0-__disjvr_28^post4 == 0 /\ len_187^0-len_187^post4 == 0 /\ __disjvr_13^0-__disjvr_13^post4 == 0 /\ result_11^0-result_11^post4 == 0 /\ -x_131^post4+x_131^0 == 0 /\ -tmp_34^post4+head_32^post4 <= 0 /\ -tmp_34^post4+head_32^post4 == 0 /\ -__disjvr_15^post4+__disjvr_15^0 == 0 /\ len_134^0-len_134^post4 == 0 /\ -x_SLAM_f_17^post4+x_SLAM_f_17^0 == 0 /\ __disjvr_14^0-__disjvr_14^post4 == 0 /\ -__disjvr_1^post4+__disjvr_1^0 == 0 /\ -__disjvr_10^post4+__disjvr_10^0 == 0 /\ a_118^0-a_118^post4 == 0 /\ tmp_34^post4-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post4 <= 0 /\ a_281^0-a_281^post4 == 0 /\ -t_22^post4+t_22^0 == 0 /\ -y_18^post4+y_18^0 == 0 /\ y_25^0-y_25^post4 == 0 /\ -__disjvr_7^post4+__disjvr_7^0 == 0 /\ __disjvr_3^0-__disjvr_3^post4 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post4+length_28^0 <= 0 /\ 1-length_28^0+i_30^0 <= 0 /\ -x_26^post4+x_26^0 == 0 /\ -__disjvr_23^post4+__disjvr_23^0 == 0 /\ -head_32^post4+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post4 <= 0 /\ -rcd_59^post4+rcd_59^0 == 0 /\ -rcd_89^post4+rcd_89^0 == 0 /\ __disjvr_24^0-__disjvr_24^post4 == 0 /\ i_95^0-i_95^post4 == 0 /\ __disjvr_9^0-__disjvr_9^post4 == 0 /\ a_342^0-a_342^post4 == 0 /\ -__disjvr_22^post4+__disjvr_22^0 == 0 /\ a_225^0-a_225^post4 == 0 /\ __disjvr_11^0-__disjvr_11^post4 == 0 /\ tail_14^post4-head_SLAM_f_29^post4 <= 0 /\ __disjvr_5^0-__disjvr_5^post4 == 0 /\ __disjvr_16^0-__disjvr_16^post4 == 0 /\ -__disjvr_17^post4+__disjvr_17^0 == 0 /\ 1-i_30^post4 <= 0 /\ -1+i_30^post4 <= 0 /\ x_19^0-x_19^post4 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post4-length_28^0 <= 0 /\ 1-length_28^0 <= 0 /\ f_171^0-f_171^post4 == 0 /\ head_32^post4-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post4 <= 0 /\ -__disjvr_27^post4+__disjvr_27^0 == 0 /\ length_28^0-length_28^post4 == 0 /\ __disjvr_25^0-__disjvr_25^post4 == 0 /\ __disjvr_4^0-__disjvr_4^post4 == 0 /\ head_15^0-head_15^post4 == 0 /\ -temp0_16^post4+temp0_16^0 == 0 /\ r_126^0-r_126^post4 == 0 /\ a_289^0-a_289^post4 == 0 /\ __disjvr_29^0-__disjvr_29^post4 == 0 /\ __disjvr_0^0-__disjvr_0^post4 == 0 /\ -tail_14^post4+head_SLAM_f_29^post4 <= 0 /\ -nondet_12^post4+nondet_12^0 == 0 /\ temp0_31^0-temp0_31^post4 == 0 /\ -__disjvr_12^post4+__disjvr_12^0 == 0 /\ tmp_34^post4-temp_35^0 == 0 /\ -1+i_30^post4-i_30^0 == 0), cost: 1
New rule:
l3 -> l5 : tail_14^0'=head_SLAM_f_29^post4, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^0, head_SLAM_f_29^0'=head_SLAM_f_29^post4, tmp_34^0'=temp_35^0, i_30^0'=1, head_32^0'=temp_35^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=length_28^0, temp_35^0'=temp_35^post4, (i_30^0 == 0 /\ -1+length_28^0 >= 0), cost: 1

Applied preprocessing
Original rule:
l6 -> l8 : __disjvr_0^0'=__disjvr_0^post6, a_281^0'=a_281^post6, x_SLAM_f_24^0'=x_SLAM_f_24^post6, __disjvr_21^0'=__disjvr_21^post6, __disjvr_4^0'=__disjvr_4^post6, tail_14^0'=tail_14^post6, __disjvr_14^0'=__disjvr_14^post6, head_15^0'=head_15^post6, __disjvr_24^0'=__disjvr_24^post6, r_165^0'=r_165^post6, __disjvr_9^0'=__disjvr_9^post6, a_149^0'=a_149^post6, x_19^0'=x_19^post6, __disjvr_19^0'=__disjvr_19^post6, i_95^0'=i_95^post6, __disjvr_29^0'=__disjvr_29^post6, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post6, __disjvr_11^0'=__disjvr_11^post6, a_342^0'=a_342^post6, y_25^0'=y_25^post6, length_28^0'=length_28^post6, __disjvr_6^0'=__disjvr_6^post6, temp0_31^0'=temp0_31^post6, __disjvr_16^0'=__disjvr_16^post6, head_SLAM_f_29^0'=head_SLAM_f_29^post6, __disjvr_26^0'=__disjvr_26^post6, rcd_59^0'=rcd_59^post6, a_225^0'=a_225^post6, x_SLAM_f_17^0'=x_SLAM_f_17^post6, __disjvr_20^0'=__disjvr_20^post6, len_187^0'=len_187^post6, __disjvr_3^0'=__disjvr_3^post6, t_22^0'=t_22^post6, __disjvr_13^0'=__disjvr_13^post6, f_171^0'=f_171^post6, __disjvr_23^0'=__disjvr_23^post6, r_126^0'=r_126^post6, __disjvr_8^0'=__disjvr_8^post6, tmp_34^0'=tmp_34^post6, x_176^0'=x_176^post6, __disjvr_18^0'=__disjvr_18^post6, i_30^0'=i_30^post6, __disjvr_28^0'=__disjvr_28^post6, result_11^0'=result_11^post6, __disjvr_10^0'=__disjvr_10^post6, a_289^0'=a_289^post6, y_18^0'=y_18^post6, __disjvr_22^0'=__disjvr_22^post6, __disjvr_5^0'=__disjvr_5^post6, temp0_16^0'=temp0_16^post6, __disjvr_15^0'=__disjvr_15^post6, head_32^0'=head_32^post6, __disjvr_25^0'=__disjvr_25^post6, r_39^0'=r_39^post6, a_118^0'=a_118^post6, a_188^0'=a_188^post6, x_26^0'=x_26^post6, __disjvr_1^0'=__disjvr_1^post6, len_134^0'=len_134^post6, __disjvr_2^0'=__disjvr_2^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, __disjvr_12^0'=__disjvr_12^post6, a_343^0'=a_343^post6, nondet_12^0'=nondet_12^post6, __disjvr_7^0'=__disjvr_7^post6, temp_35^0'=temp_35^post6, x_131^0'=x_131^post6, __disjvr_17^0'=__disjvr_17^post6, i_110^0'=i_110^post6, __disjvr_27^0'=__disjvr_27^post6, rcd_89^0'=rcd_89^post6, (0 == 0 /\ len_134^0-len_134^post6 == 0 /\ x_19^0-x_19^post6 == 0 /\ __disjvr_14^0-__disjvr_14^post6 == 0 /\ -x_26^post6+x_26^0 == 0 /\ -a_149^0 <= 0 /\ -r_126^post6+r_126^0 == 0 /\ -rcd_59^post6+rcd_59^0 == 0 /\ length_28^0-length_28^post6 == 0 /\ -__disjvr_3^post6+__disjvr_3^0 == 0 /\ -a_225^post6+a_225^0 == 0 /\ __disjvr_4^0-__disjvr_4^post6 == 0 /\ a_289^0-a_289^post6 == 0 /\ a_281^0-a_281^post6 == 0 /\ -__disjvr_28^post6+__disjvr_28^0 == 0 /\ -__disjvr_11^post6+__disjvr_11^0 == 0 /\ -x_131^post6+x_131^0 == 0 /\ -__disjvr_17^post6+__disjvr_17^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post6 == 0 /\ temp0_31^0-temp0_31^post6 == 0 /\ f_171^0-f_171^post6 == 0 /\ -__disjvr_22^post6+__disjvr_22^0 == 0 /\ __disjvr_8^0-__disjvr_8^post6 == 0 /\ x_176^0-x_176^post6 == 0 /\ -__disjvr_12^post6+__disjvr_12^0 == 0 /\ -a_281^0 <= 0 /\ -__disjvr_13^post6+__disjvr_13^0 == 0 /\ __disjvr_24^0-__disjvr_24^post6 == 0 /\ -head_32^post6+head_32^0 == 0 /\ -head_SLAM_f_29^post6+head_SLAM_f_29^0 == 0 /\ -rcd_89^post6+rcd_89^0 == 0 /\ __disjvr_21^0-__disjvr_21^post6 == 0 /\ len_187^0-len_187^post6 == 0 /\ -__disjvr_5^post6+__disjvr_5^0 == 0 /\ __disjvr_16^0-__disjvr_16^post6 == 0 /\ -a_343^post6+a_343^0 == 0 /\ -nondet_12^post6+nondet_12^0 == 0 /\ __disjvr_19^0-__disjvr_19^post6 == 0 /\ -a_188^post6+a_188^0 == 0 /\ -__disjvr_6^post6+__disjvr_6^0 == 0 /\ __disjvr_25^0-__disjvr_25^post6 == 0 /\ __disjvr_29^0-__disjvr_29^post6 == 0 /\ __disjvr_20^0-__disjvr_20^post6 == 0 /\ __disjvr_23^0-__disjvr_23^post6 == 0 /\ -temp_35^post6+temp_35^0 == 0 /\ -__disjvr_2^post6+__disjvr_2^0 == 0 /\ -y_25^post6+y_25^0 == 0 /\ -a_149^post6+a_149^0 == 0 /\ temp0_16^0-temp0_16^post6 == 0 /\ -__disjvr_15^post6+__disjvr_15^0 == 0 /\ i_110^0-i_110^post6 == 0 /\ __disjvr_18^0-__disjvr_18^post6 == 0 /\ -__disjvr_1^post6+__disjvr_1^0 == 0 /\ -i_95^post6+i_95^0 == 0 /\ __disjvr_0^0-__disjvr_0^post6 == 0 /\ -a_118^post6+a_118^0 == 0 /\ -__disjvr_9^post6+__disjvr_9^0 == 0 /\ __disjvr_26^0-__disjvr_26^post6 == 0 /\ -tmp_34^post6+tmp_34^0 == 0 /\ t_22^0-t_22^post6 == 0 /\ -__disjvr_7^post6+__disjvr_7^0 == 0 /\ r_165^0-r_165^post6 == 0 /\ -i_30^post6+i_30^0 == 0 /\ -__disjvr_10^post6+__disjvr_10^0 == 0 /\ -y_18^post6+y_18^0 == 0 /\ __disjvr_27^0-__disjvr_27^post6 == 0 /\ result_11^0-result_11^post6 == 0 /\ a_342^0-a_342^post6 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post6 == 0), cost: 1
New rule:
l6 -> l8 : tail_14^0'=tail_14^post6, head_15^0'=head_15^post6, x_SLAM_f_17^0'=x_SLAM_f_17^post6, r_39^0'=r_39^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, (a_281^0 >= 0 /\ a_149^0 >= 0), cost: 1

Applied preprocessing
Original rule:
l8 -> l9 : __disjvr_0^0'=__disjvr_0^post7, a_281^0'=a_281^post7, x_SLAM_f_24^0'=x_SLAM_f_24^post7, __disjvr_21^0'=__disjvr_21^post7, __disjvr_4^0'=__disjvr_4^post7, tail_14^0'=tail_14^post7, __disjvr_14^0'=__disjvr_14^post7, head_15^0'=head_15^post7, __disjvr_24^0'=__disjvr_24^post7, r_165^0'=r_165^post7, __disjvr_9^0'=__disjvr_9^post7, a_149^0'=a_149^post7, x_19^0'=x_19^post7, __disjvr_19^0'=__disjvr_19^post7, i_95^0'=i_95^post7, __disjvr_29^0'=__disjvr_29^post7, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post7, __disjvr_11^0'=__disjvr_11^post7, a_342^0'=a_342^post7, y_25^0'=y_25^post7, length_28^0'=length_28^post7, __disjvr_6^0'=__disjvr_6^post7, temp0_31^0'=temp0_31^post7, __disjvr_16^0'=__disjvr_16^post7, head_SLAM_f_29^0'=head_SLAM_f_29^post7, __disjvr_26^0'=__disjvr_26^post7, rcd_59^0'=rcd_59^post7, a_225^0'=a_225^post7, x_SLAM_f_17^0'=x_SLAM_f_17^post7, __disjvr_20^0'=__disjvr_20^post7, len_187^0'=len_187^post7, __disjvr_3^0'=__disjvr_3^post7, t_22^0'=t_22^post7, __disjvr_13^0'=__disjvr_13^post7, f_171^0'=f_171^post7, __disjvr_23^0'=__disjvr_23^post7, r_126^0'=r_126^post7, __disjvr_8^0'=__disjvr_8^post7, tmp_34^0'=tmp_34^post7, x_176^0'=x_176^post7, __disjvr_18^0'=__disjvr_18^post7, i_30^0'=i_30^post7, __disjvr_28^0'=__disjvr_28^post7, result_11^0'=result_11^post7, __disjvr_10^0'=__disjvr_10^post7, a_289^0'=a_289^post7, y_18^0'=y_18^post7, __disjvr_22^0'=__disjvr_22^post7, __disjvr_5^0'=__disjvr_5^post7, temp0_16^0'=temp0_16^post7, __disjvr_15^0'=__disjvr_15^post7, head_32^0'=head_32^post7, __disjvr_25^0'=__disjvr_25^post7, r_39^0'=r_39^post7, a_118^0'=a_118^post7, a_188^0'=a_188^post7, x_26^0'=x_26^post7, __disjvr_1^0'=__disjvr_1^post7, len_134^0'=len_134^post7, __disjvr_2^0'=__disjvr_2^post7, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post7, __disjvr_12^0'=__disjvr_12^post7, a_343^0'=a_343^post7, nondet_12^0'=nondet_12^post7, __disjvr_7^0'=__disjvr_7^post7, temp_35^0'=temp_35^post7, x_131^0'=x_131^post7, __disjvr_17^0'=__disjvr_17^post7, i_110^0'=i_110^post7, __disjvr_27^0'=__disjvr_27^post7, rcd_89^0'=rcd_89^post7, (x_SLAM_f_24^0-x_SLAM_f_24^post7 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post7 == 0 /\ r_165^0-r_165^post7 == 0 /\ -__disjvr_15^post7+__disjvr_15^0 == 0 /\ __disjvr_2^0-__disjvr_2^post7 == 0 /\ -len_134^post7+len_134^0 == 0 /\ -__disjvr_12^post7+__disjvr_12^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post7 == 0 /\ temp0_31^0-temp0_31^post7 == 0 /\ f_171^0-f_171^post7 == 0 /\ a_342^0-a_342^post7 == 0 /\ -__disjvr_7^post7+__disjvr_7^0 == 0 /\ -head_SLAM_f_29^post7+head_SLAM_f_29^0 == 0 /\ -y_18^post7+y_18^0 == 0 /\ __disjvr_24^0-__disjvr_24^post7 == 0 /\ -a_225^post7+a_225^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post7 == 0 /\ -a_188^post7+a_188^0 == 0 /\ __disjvr_29^0-__disjvr_29^post7 == 0 /\ a_281^0-a_281^post7 == 0 /\ -__disjvr_8^post7+__disjvr_8^0 == 0 /\ tail_14^0-tail_14^post7 == 0 /\ __disjvr_26^0-__disjvr_26^post7 == 0 /\ len_187^0-len_187^post7 == 0 /\ -a_343^post7+a_343^0 == 0 /\ tmp_34^0-tmp_34^post7 == 0 /\ __disjvr_21^0-__disjvr_21^post7 == 0 /\ -__disjvr_3^post7+__disjvr_3^0 == 0 /\ -__disjvr_6^post7+__disjvr_6^0 == 0 /\ x_19^0-x_19^post7 == 0 /\ -__disjvr_16^post7+__disjvr_16^0 == 0 /\ -__disjvr_17^post7+__disjvr_17^0 == 0 /\ -x_131^post7+x_131^0 == 0 /\ -y_25^post7+y_25^0 == 0 /\ -__disjvr_22^post7+__disjvr_22^0 == 0 /\ __disjvr_18^0-__disjvr_18^post7 == 0 /\ -__disjvr_11^post7+__disjvr_11^0 == 0 /\ __disjvr_25^0-__disjvr_25^post7 == 0 /\ t_22^0-t_22^post7 == 0 /\ -head_15^post7+head_15^0 == 0 /\ __disjvr_9^0-__disjvr_9^post7 == 0 /\ -a_289^post7+a_289^0 == 0 /\ __disjvr_20^0-__disjvr_20^post7 == 0 /\ -__disjvr_1^post7+__disjvr_1^0 == 0 /\ -length_28^post7+length_28^0 == 0 /\ -__disjvr_13^post7+__disjvr_13^0 == 0 /\ __disjvr_4^0-__disjvr_4^post7 == 0 /\ -a_118^post7+a_118^0 == 0 /\ -i_30^post7+i_30^0 == 0 /\ -__disjvr_5^post7+__disjvr_5^0 == 0 /\ -nondet_12^post7+nondet_12^0 == 0 /\ -rcd_89^post7+rcd_89^0 == 0 /\ -head_32^post7+head_32^0 == 0 /\ x_176^0-x_176^post7 == 0 /\ __disjvr_23^0-__disjvr_23^post7 == 0 /\ -__disjvr_10^post7+__disjvr_10^0 == 0 /\ -__disjvr_0^0+__disjvr_0^post7 == 0 /\ i_95^0-i_95^post7 == 0 /\ -r_126^post7+r_126^0 == 0 /\ result_11^0-result_11^post7 == 0 /\ __disjvr_14^0-__disjvr_14^post7 == 0 /\ -temp_35^post7+temp_35^0 == 0 /\ -x_26^post7+x_26^0 == 0 /\ rcd_59^0-rcd_59^post7 == 0 /\ temp0_16^0-temp0_16^post7 == 0 /\ -__disjvr_27^post7+__disjvr_27^0 == 0 /\ -__disjvr_28^post7+__disjvr_28^0 == 0 /\ -r_39^post7+r_39^0 == 0 /\ -i_110^post7+i_110^0 == 0 /\ __disjvr_19^0-__disjvr_19^post7 == 0 /\ __disjvr_0^0-__disjvr_0^post7 == 0 /\ -a_149^post7+a_149^0 == 0), cost: 1
New rule:
l8 -> l9 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l9 -> l10 : __disjvr_0^0'=__disjvr_0^post8, a_281^0'=a_281^post8, x_SLAM_f_24^0'=x_SLAM_f_24^post8, __disjvr_21^0'=__disjvr_21^post8, __disjvr_4^0'=__disjvr_4^post8, tail_14^0'=tail_14^post8, __disjvr_14^0'=__disjvr_14^post8, head_15^0'=head_15^post8, __disjvr_24^0'=__disjvr_24^post8, r_165^0'=r_165^post8, __disjvr_9^0'=__disjvr_9^post8, a_149^0'=a_149^post8, x_19^0'=x_19^post8, __disjvr_19^0'=__disjvr_19^post8, i_95^0'=i_95^post8, __disjvr_29^0'=__disjvr_29^post8, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post8, __disjvr_11^0'=__disjvr_11^post8, a_342^0'=a_342^post8, y_25^0'=y_25^post8, length_28^0'=length_28^post8, __disjvr_6^0'=__disjvr_6^post8, temp0_31^0'=temp0_31^post8, __disjvr_16^0'=__disjvr_16^post8, head_SLAM_f_29^0'=head_SLAM_f_29^post8, __disjvr_26^0'=__disjvr_26^post8, rcd_59^0'=rcd_59^post8, a_225^0'=a_225^post8, x_SLAM_f_17^0'=x_SLAM_f_17^post8, __disjvr_20^0'=__disjvr_20^post8, len_187^0'=len_187^post8, __disjvr_3^0'=__disjvr_3^post8, t_22^0'=t_22^post8, __disjvr_13^0'=__disjvr_13^post8, f_171^0'=f_171^post8, __disjvr_23^0'=__disjvr_23^post8, r_126^0'=r_126^post8, __disjvr_8^0'=__disjvr_8^post8, tmp_34^0'=tmp_34^post8, x_176^0'=x_176^post8, __disjvr_18^0'=__disjvr_18^post8, i_30^0'=i_30^post8, __disjvr_28^0'=__disjvr_28^post8, result_11^0'=result_11^post8, __disjvr_10^0'=__disjvr_10^post8, a_289^0'=a_289^post8, y_18^0'=y_18^post8, __disjvr_22^0'=__disjvr_22^post8, __disjvr_5^0'=__disjvr_5^post8, temp0_16^0'=temp0_16^post8, __disjvr_15^0'=__disjvr_15^post8, head_32^0'=head_32^post8, __disjvr_25^0'=__disjvr_25^post8, r_39^0'=r_39^post8, a_118^0'=a_118^post8, a_188^0'=a_188^post8, x_26^0'=x_26^post8, __disjvr_1^0'=__disjvr_1^post8, len_134^0'=len_134^post8, __disjvr_2^0'=__disjvr_2^post8, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post8, __disjvr_12^0'=__disjvr_12^post8, a_343^0'=a_343^post8, nondet_12^0'=nondet_12^post8, __disjvr_7^0'=__disjvr_7^post8, temp_35^0'=temp_35^post8, x_131^0'=x_131^post8, __disjvr_17^0'=__disjvr_17^post8, i_110^0'=i_110^post8, __disjvr_27^0'=__disjvr_27^post8, rcd_89^0'=rcd_89^post8, (0 == 0 /\ -a_188^post8+a_188^0 == 0 /\ -__disjvr_8^post8+__disjvr_8^0 == 0 /\ len_187^0-len_187^post8 == 0 /\ -__disjvr_2^post8+__disjvr_2^0 == 0 /\ -head_15^0+x_SLAM_f_17^0 <= 0 /\ __disjvr_18^0-__disjvr_18^post8 == 0 /\ __disjvr_0^0-__disjvr_0^post8 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post8 == 0 /\ -__disjvr_6^post8+__disjvr_6^0 == 0 /\ r_165^0-r_165^post8 == 0 /\ -__disjvr_27^post8+__disjvr_27^0 == 0 /\ -__disjvr_16^post8+__disjvr_16^0 == 0 /\ a_342^post8 <= 0 /\ __disjvr_26^0-__disjvr_26^post8 == 0 /\ -i_110^post8+i_110^0 == 0 /\ -x_19^0+t_22^post8 == 0 /\ -__disjvr_20^post8+__disjvr_20^0 == 0 /\ -r_39^post8+r_39^0 == 0 /\ -a_342^post8 <= 0 /\ -temp_35^post8+temp_35^0 == 0 /\ x_19^0-x_19^post8 == 0 /\ 1+a_343^post8-a_281^0-a_149^0 <= 0 /\ -__disjvr_17^post8+__disjvr_17^0 == 0 /\ head_SLAM_f_29^0-head_SLAM_f_29^post8 == 0 /\ head_15^0-x_SLAM_f_17^0 <= 0 /\ -i_30^post8+i_30^0 == 0 /\ -length_28^post8+length_28^0 == 0 /\ -a_118^post8+a_118^0 == 0 /\ -__disjvr_1^post8+__disjvr_1^0 == 0 /\ y_25^0-y_25^post8 == 0 /\ -y_18^post8+y_18^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post8 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post8 == 0 /\ a_281^0-a_281^post8 == 0 /\ tail_14^0-tail_14^post8 == 0 /\ -__disjvr_10^post8+__disjvr_10^0 == 0 /\ temp0_31^0-temp0_31^post8 == 0 /\ a_225^0-a_225^post8 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post8 == 0 /\ x_176^0-x_176^post8 == 0 /\ temp0_16^0-temp0_16^post8 == 0 /\ __disjvr_23^0-__disjvr_23^post8 == 0 /\ __disjvr_9^0-__disjvr_9^post8 == 0 /\ -x_26^post8+x_26^0 == 0 /\ -__disjvr_3^post8+__disjvr_3^0 == 0 /\ -f_171^post8+f_171^0 == 0 /\ -tail_14^0+y_18^0 <= 0 /\ a_149^0-a_149^post8 == 0 /\ -__disjvr_15^post8+__disjvr_15^0 == 0 /\ -x_131^post8+x_131^0 == 0 /\ -__disjvr_28^post8+__disjvr_28^0 == 0 /\ __disjvr_7^0-__disjvr_7^post8 == 0 /\ -__disjvr_22^post8+__disjvr_22^0 == 0 /\ tmp_34^0-tmp_34^post8 == 0 /\ result_11^0-result_11^post8 == 0 /\ -__disjvr_24^post8+__disjvr_24^0 == 0 /\ __disjvr_19^0-__disjvr_19^post8 == 0 /\ __disjvr_14^0-__disjvr_14^post8 == 0 /\ -1-a_343^post8+a_281^0+a_149^0 <= 0 /\ __disjvr_21^0-__disjvr_21^post8 == 0 /\ rcd_59^0-rcd_59^post8 == 0 /\ -a_289^post8+a_289^0 == 0 /\ __disjvr_29^0-__disjvr_29^post8 == 0 /\ -__disjvr_12^post8+__disjvr_12^0 == 0 /\ __disjvr_25^0-__disjvr_25^post8 == 0 /\ -__disjvr_13^post8+__disjvr_13^0 == 0 /\ __disjvr_11^0-__disjvr_11^post8 == 0 /\ -nondet_12^post8+nondet_12^0 == 0 /\ -head_32^post8+head_32^0 == 0 /\ -__disjvr_5^post8+__disjvr_5^0 == 0 /\ i_95^0-i_95^post8 == 0 /\ tail_14^0-y_18^0 <= 0 /\ -r_126^post8+r_126^0 == 0 /\ -rcd_89^post8+rcd_89^0 == 0 /\ -len_134^post8+len_134^0 == 0 /\ head_15^0-head_15^post8 == 0 /\ __disjvr_4^0-__disjvr_4^post8 == 0), cost: 1
New rule:
l9 -> l10 : a_342^0'=0, t_22^0'=x_19^0, a_343^0'=-1+a_281^0+a_149^0, (-head_15^0+x_SLAM_f_17^0 == 0 /\ -tail_14^0+y_18^0 == 0), cost: 1

Applied preprocessing
Original rule:
l10 -> l11 : __disjvr_0^0'=__disjvr_0^post9, a_281^0'=a_281^post9, x_SLAM_f_24^0'=x_SLAM_f_24^post9, __disjvr_21^0'=__disjvr_21^post9, __disjvr_4^0'=__disjvr_4^post9, tail_14^0'=tail_14^post9, __disjvr_14^0'=__disjvr_14^post9, head_15^0'=head_15^post9, __disjvr_24^0'=__disjvr_24^post9, r_165^0'=r_165^post9, __disjvr_9^0'=__disjvr_9^post9, a_149^0'=a_149^post9, x_19^0'=x_19^post9, __disjvr_19^0'=__disjvr_19^post9, i_95^0'=i_95^post9, __disjvr_29^0'=__disjvr_29^post9, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post9, __disjvr_11^0'=__disjvr_11^post9, a_342^0'=a_342^post9, y_25^0'=y_25^post9, length_28^0'=length_28^post9, __disjvr_6^0'=__disjvr_6^post9, temp0_31^0'=temp0_31^post9, __disjvr_16^0'=__disjvr_16^post9, head_SLAM_f_29^0'=head_SLAM_f_29^post9, __disjvr_26^0'=__disjvr_26^post9, rcd_59^0'=rcd_59^post9, a_225^0'=a_225^post9, x_SLAM_f_17^0'=x_SLAM_f_17^post9, __disjvr_20^0'=__disjvr_20^post9, len_187^0'=len_187^post9, __disjvr_3^0'=__disjvr_3^post9, t_22^0'=t_22^post9, __disjvr_13^0'=__disjvr_13^post9, f_171^0'=f_171^post9, __disjvr_23^0'=__disjvr_23^post9, r_126^0'=r_126^post9, __disjvr_8^0'=__disjvr_8^post9, tmp_34^0'=tmp_34^post9, x_176^0'=x_176^post9, __disjvr_18^0'=__disjvr_18^post9, i_30^0'=i_30^post9, __disjvr_28^0'=__disjvr_28^post9, result_11^0'=result_11^post9, __disjvr_10^0'=__disjvr_10^post9, a_289^0'=a_289^post9, y_18^0'=y_18^post9, __disjvr_22^0'=__disjvr_22^post9, __disjvr_5^0'=__disjvr_5^post9, temp0_16^0'=temp0_16^post9, __disjvr_15^0'=__disjvr_15^post9, head_32^0'=head_32^post9, __disjvr_25^0'=__disjvr_25^post9, r_39^0'=r_39^post9, a_118^0'=a_118^post9, a_188^0'=a_188^post9, x_26^0'=x_26^post9, __disjvr_1^0'=__disjvr_1^post9, len_134^0'=len_134^post9, __disjvr_2^0'=__disjvr_2^post9, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post9, __disjvr_12^0'=__disjvr_12^post9, a_343^0'=a_343^post9, nondet_12^0'=nondet_12^post9, __disjvr_7^0'=__disjvr_7^post9, temp_35^0'=temp_35^post9, x_131^0'=x_131^post9, __disjvr_17^0'=__disjvr_17^post9, i_110^0'=i_110^post9, __disjvr_27^0'=__disjvr_27^post9, rcd_89^0'=rcd_89^post9, (a_289^0-a_289^post9 == 0 /\ result_11^0-result_11^post9 == 0 /\ -temp0_31^post9+temp0_31^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post9+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ tail_14^0-tail_14^post9 == 0 /\ -__disjvr_13^post9+__disjvr_13^0 == 0 /\ len_187^0-len_187^post9 == 0 /\ -i_110^post9+i_110^0 == 0 /\ a_149^0-a_149^post9 == 0 /\ -length_28^post9+length_28^0 == 0 /\ -__disjvr_10^post9+__disjvr_10^0 == 0 /\ -__disjvr_5^post9+__disjvr_5^0 == 0 /\ __disjvr_19^0-__disjvr_19^post9 == 0 /\ -nondet_12^post9+nondet_12^0 == 0 /\ -head_32^post9+head_32^0 == 0 /\ -i_30^post9+i_30^0 == 0 /\ __disjvr_21^0-__disjvr_21^post9 == 0 /\ -rcd_89^post9+rcd_89^0 == 0 /\ __disjvr_0^0-__disjvr_0^post9 == 0 /\ -__disjvr_26^post9+__disjvr_26^0 == 0 /\ __disjvr_14^0-__disjvr_14^post9 == 0 /\ t_22^0-t_22^post9 == 0 /\ -__disjvr_1^0+__disjvr_1^post9 == 0 /\ __disjvr_18^0-__disjvr_18^post9 == 0 /\ __disjvr_16^0-__disjvr_16^post9 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post9+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post9 == 0 /\ -__disjvr_28^post9+__disjvr_28^0 == 0 /\ -x_26^post9+x_26^0 == 0 /\ x_176^0-x_176^post9 == 0 /\ -__disjvr_27^post9+__disjvr_27^0 == 0 /\ -a_118^post9+a_118^0 == 0 /\ __disjvr_24^0-__disjvr_24^post9 == 0 /\ -__disjvr_20^post9+__disjvr_20^0 == 0 /\ __disjvr_23^0-__disjvr_23^post9 == 0 /\ a_343^0-a_343^post9 == 0 /\ __disjvr_1^0-__disjvr_1^post9 == 0 /\ -r_39^post9+r_39^0 == 0 /\ y_25^0-y_25^post9 == 0 /\ -__disjvr_12^post9+__disjvr_12^0 == 0 /\ i_95^0-i_95^post9 == 0 /\ -temp_35^post9+temp_35^0 == 0 /\ -x_131^post9+x_131^0 == 0 /\ __disjvr_7^0-__disjvr_7^post9 == 0 /\ tmp_34^0-tmp_34^post9 == 0 /\ -head_SLAM_f_29^post9+head_SLAM_f_29^0 == 0 /\ a_225^0-a_225^post9 == 0 /\ temp0_16^0-temp0_16^post9 == 0 /\ -y_18^post9+y_18^0 == 0 /\ -__disjvr_4^post9+__disjvr_4^0 == 0 /\ -r_126^post9+r_126^0 == 0 /\ -a_342^post9+a_342^0 == 0 /\ rcd_59^0-rcd_59^post9 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post9 == 0 /\ __disjvr_9^0-__disjvr_9^post9 == 0 /\ __disjvr_25^0-__disjvr_25^post9 == 0 /\ __disjvr_6^0-__disjvr_6^post9 == 0 /\ __disjvr_11^0-__disjvr_11^post9 == 0 /\ -__disjvr_8^post9+__disjvr_8^0 == 0 /\ -a_188^post9+a_188^0 == 0 /\ -len_134^post9+len_134^0 == 0 /\ __disjvr_17^0-__disjvr_17^post9 == 0 /\ -__disjvr_3^post9+__disjvr_3^0 == 0 /\ x_19^0-x_19^post9 == 0 /\ -__disjvr_2^post9+__disjvr_2^0 == 0 /\ head_15^0-head_15^post9 == 0 /\ -f_171^post9+f_171^0 == 0 /\ r_165^0-r_165^post9 == 0 /\ -__disjvr_22^post9+__disjvr_22^0 == 0 /\ -__disjvr_15^post9+__disjvr_15^0 == 0 /\ __disjvr_29^0-__disjvr_29^post9 == 0 /\ a_281^0-a_281^post9 == 0), cost: 1
New rule:
l10 -> l11 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l11 -> l12 : __disjvr_0^0'=__disjvr_0^post10, a_281^0'=a_281^post10, x_SLAM_f_24^0'=x_SLAM_f_24^post10, __disjvr_21^0'=__disjvr_21^post10, __disjvr_4^0'=__disjvr_4^post10, tail_14^0'=tail_14^post10, __disjvr_14^0'=__disjvr_14^post10, head_15^0'=head_15^post10, __disjvr_24^0'=__disjvr_24^post10, r_165^0'=r_165^post10, __disjvr_9^0'=__disjvr_9^post10, a_149^0'=a_149^post10, x_19^0'=x_19^post10, __disjvr_19^0'=__disjvr_19^post10, i_95^0'=i_95^post10, __disjvr_29^0'=__disjvr_29^post10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post10, __disjvr_11^0'=__disjvr_11^post10, a_342^0'=a_342^post10, y_25^0'=y_25^post10, length_28^0'=length_28^post10, __disjvr_6^0'=__disjvr_6^post10, temp0_31^0'=temp0_31^post10, __disjvr_16^0'=__disjvr_16^post10, head_SLAM_f_29^0'=head_SLAM_f_29^post10, __disjvr_26^0'=__disjvr_26^post10, rcd_59^0'=rcd_59^post10, a_225^0'=a_225^post10, x_SLAM_f_17^0'=x_SLAM_f_17^post10, __disjvr_20^0'=__disjvr_20^post10, len_187^0'=len_187^post10, __disjvr_3^0'=__disjvr_3^post10, t_22^0'=t_22^post10, __disjvr_13^0'=__disjvr_13^post10, f_171^0'=f_171^post10, __disjvr_23^0'=__disjvr_23^post10, r_126^0'=r_126^post10, __disjvr_8^0'=__disjvr_8^post10, tmp_34^0'=tmp_34^post10, x_176^0'=x_176^post10, __disjvr_18^0'=__disjvr_18^post10, i_30^0'=i_30^post10, __disjvr_28^0'=__disjvr_28^post10, result_11^0'=result_11^post10, __disjvr_10^0'=__disjvr_10^post10, a_289^0'=a_289^post10, y_18^0'=y_18^post10, __disjvr_22^0'=__disjvr_22^post10, __disjvr_5^0'=__disjvr_5^post10, temp0_16^0'=temp0_16^post10, __disjvr_15^0'=__disjvr_15^post10, head_32^0'=head_32^post10, __disjvr_25^0'=__disjvr_25^post10, r_39^0'=r_39^post10, a_118^0'=a_118^post10, a_188^0'=a_188^post10, x_26^0'=x_26^post10, __disjvr_1^0'=__disjvr_1^post10, len_134^0'=len_134^post10, __disjvr_2^0'=__disjvr_2^post10, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post10, __disjvr_12^0'=__disjvr_12^post10, a_343^0'=a_343^post10, nondet_12^0'=nondet_12^post10, __disjvr_7^0'=__disjvr_7^post10, temp_35^0'=temp_35^post10, x_131^0'=x_131^post10, __disjvr_17^0'=__disjvr_17^post10, i_110^0'=i_110^post10, __disjvr_27^0'=__disjvr_27^post10, rcd_89^0'=rcd_89^post10, (-r_126^post10+r_126^0 == 0 /\ f_171^0-f_171^post10 == 0 /\ -head_32^post10+head_32^0 == 0 /\ length_28^0-length_28^post10 == 0 /\ __disjvr_21^0-__disjvr_21^post10 == 0 /\ -rcd_89^post10+rcd_89^0 == 0 /\ -__disjvr_3^post10+__disjvr_3^0 == 0 /\ __disjvr_14^0-__disjvr_14^post10 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post10+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ a_281^0-a_281^post10 == 0 /\ -x_26^post10+x_26^0 == 0 /\ -__disjvr_28^post10+__disjvr_28^0 == 0 /\ a_289^0-a_289^post10 == 0 /\ tail_14^0-tail_14^post10 == 0 /\ temp0_31^0-temp0_31^post10 == 0 /\ -__disjvr_22^post10+__disjvr_22^0 == 0 /\ x_19^0-x_19^post10 == 0 /\ -__disjvr_15^post10+__disjvr_15^0 == 0 /\ __disjvr_4^0-__disjvr_4^post10 == 0 /\ -__disjvr_1^post10+__disjvr_1^0 == 0 /\ -nondet_12^post10+nondet_12^0 == 0 /\ __disjvr_24^0-__disjvr_24^post10 == 0 /\ x_176^0-x_176^post10 == 0 /\ __disjvr_9^0-__disjvr_9^post10 == 0 /\ -__disjvr_27^post10+__disjvr_27^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post10+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -__disjvr_12^post10+__disjvr_12^0 == 0 /\ -__disjvr_19^post10+__disjvr_19^0 == 0 /\ a_343^0-a_343^post10 == 0 /\ -i_110^post10+i_110^0 == 0 /\ -head_SLAM_f_29^post10+head_SLAM_f_29^0 == 0 /\ -a_342^post10+a_342^0 == 0 /\ __disjvr_16^0-__disjvr_16^post10 == 0 /\ len_187^0-len_187^post10 == 0 /\ a_149^0-a_149^post10 == 0 /\ -__disjvr_8^post10+__disjvr_8^0 == 0 /\ -__disjvr_5^post10+__disjvr_5^0 == 0 /\ -len_134^post10+len_134^0 == 0 /\ rcd_59^0-rcd_59^post10 == 0 /\ -a_188^post10+a_188^0 == 0 /\ __disjvr_29^0-__disjvr_29^post10 == 0 /\ -t_22^post10+t_22^0 == 0 /\ __disjvr_25^0-__disjvr_25^post10 == 0 /\ __disjvr_11^0-__disjvr_11^post10 == 0 /\ y_25^0-y_25^post10 == 0 /\ __disjvr_6^0-__disjvr_6^post10 == 0 /\ -r_39^post10+r_39^0 == 0 /\ __disjvr_0^0-__disjvr_0^post10 == 0 /\ __disjvr_20^0-__disjvr_20^post10 == 0 /\ __disjvr_23^0-__disjvr_23^post10 == 0 /\ -__disjvr_13^post10+__disjvr_13^0 == 0 /\ i_95^0-i_95^post10 == 0 /\ -__disjvr_2^post10+__disjvr_2^0 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post10 == 0 /\ head_15^0-head_15^post10 == 0 /\ -a_118^post10+a_118^0 == 0 /\ a_225^0-a_225^post10 == 0 /\ -__disjvr_10^post10+__disjvr_10^0 == 0 /\ -temp_35^post10+temp_35^0 == 0 /\ -x_131^post10+x_131^0 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post10 == 0 /\ __disjvr_18^0-__disjvr_18^post10 == 0 /\ result_11^0-result_11^post10 == 0 /\ -i_30^post10+i_30^0 == 0 /\ -y_18^post10+y_18^0 == 0 /\ -__disjvr_17^post10+__disjvr_17^0 == 0 /\ -__disjvr_26^post10+__disjvr_26^0 == 0 /\ __disjvr_2^post10-__disjvr_2^0 == 0 /\ temp0_16^0-temp0_16^post10 == 0 /\ r_165^0-r_165^post10 == 0 /\ -__disjvr_7^post10+__disjvr_7^0 == 0 /\ tmp_34^0-tmp_34^post10 == 0), cost: 1
New rule:
l11 -> l12 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l12 -> l13 : __disjvr_0^0'=__disjvr_0^post11, a_281^0'=a_281^post11, x_SLAM_f_24^0'=x_SLAM_f_24^post11, __disjvr_21^0'=__disjvr_21^post11, __disjvr_4^0'=__disjvr_4^post11, tail_14^0'=tail_14^post11, __disjvr_14^0'=__disjvr_14^post11, head_15^0'=head_15^post11, __disjvr_24^0'=__disjvr_24^post11, r_165^0'=r_165^post11, __disjvr_9^0'=__disjvr_9^post11, a_149^0'=a_149^post11, x_19^0'=x_19^post11, __disjvr_19^0'=__disjvr_19^post11, i_95^0'=i_95^post11, __disjvr_29^0'=__disjvr_29^post11, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post11, __disjvr_11^0'=__disjvr_11^post11, a_342^0'=a_342^post11, y_25^0'=y_25^post11, length_28^0'=length_28^post11, __disjvr_6^0'=__disjvr_6^post11, temp0_31^0'=temp0_31^post11, __disjvr_16^0'=__disjvr_16^post11, head_SLAM_f_29^0'=head_SLAM_f_29^post11, __disjvr_26^0'=__disjvr_26^post11, rcd_59^0'=rcd_59^post11, a_225^0'=a_225^post11, x_SLAM_f_17^0'=x_SLAM_f_17^post11, __disjvr_20^0'=__disjvr_20^post11, len_187^0'=len_187^post11, __disjvr_3^0'=__disjvr_3^post11, t_22^0'=t_22^post11, __disjvr_13^0'=__disjvr_13^post11, f_171^0'=f_171^post11, __disjvr_23^0'=__disjvr_23^post11, r_126^0'=r_126^post11, __disjvr_8^0'=__disjvr_8^post11, tmp_34^0'=tmp_34^post11, x_176^0'=x_176^post11, __disjvr_18^0'=__disjvr_18^post11, i_30^0'=i_30^post11, __disjvr_28^0'=__disjvr_28^post11, result_11^0'=result_11^post11, __disjvr_10^0'=__disjvr_10^post11, a_289^0'=a_289^post11, y_18^0'=y_18^post11, __disjvr_22^0'=__disjvr_22^post11, __disjvr_5^0'=__disjvr_5^post11, temp0_16^0'=temp0_16^post11, __disjvr_15^0'=__disjvr_15^post11, head_32^0'=head_32^post11, __disjvr_25^0'=__disjvr_25^post11, r_39^0'=r_39^post11, a_118^0'=a_118^post11, a_188^0'=a_188^post11, x_26^0'=x_26^post11, __disjvr_1^0'=__disjvr_1^post11, len_134^0'=len_134^post11, __disjvr_2^0'=__disjvr_2^post11, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post11, __disjvr_12^0'=__disjvr_12^post11, a_343^0'=a_343^post11, nondet_12^0'=nondet_12^post11, __disjvr_7^0'=__disjvr_7^post11, temp_35^0'=temp_35^post11, x_131^0'=x_131^post11, __disjvr_17^0'=__disjvr_17^post11, i_110^0'=i_110^post11, __disjvr_27^0'=__disjvr_27^post11, rcd_89^0'=rcd_89^post11, (__disjvr_16^0-__disjvr_16^post11 == 0 /\ -temp_35^post11+temp_35^0 == 0 /\ temp0_31^0-temp0_31^post11 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post11 == 0 /\ __disjvr_3^post11-__disjvr_3^0 == 0 /\ length_28^0-length_28^post11 == 0 /\ r_165^0-r_165^post11 == 0 /\ __disjvr_24^0-__disjvr_24^post11 == 0 /\ -head_SLAM_f_29^post11+head_SLAM_f_29^0 == 0 /\ -a_342^post11+a_342^0 == 0 /\ -y_18^post11+y_18^0 == 0 /\ -__disjvr_12^post11+__disjvr_12^0 == 0 /\ -__disjvr_17^post11+__disjvr_17^0 == 0 /\ -x_131^post11+x_131^0 == 0 /\ a_281^0-a_281^post11 == 0 /\ x_26^0-x_26^post11 == 0 /\ -__disjvr_7^post11+__disjvr_7^0 == 0 /\ -__disjvr_8^post11+__disjvr_8^0 == 0 /\ -head_32^post11+head_32^0 == 0 /\ -len_134^post11+len_134^0 == 0 /\ __disjvr_26^0-__disjvr_26^post11 == 0 /\ -__disjvr_3^post11+__disjvr_3^0 == 0 /\ -rcd_89^post11+rcd_89^0 == 0 /\ len_187^0-len_187^post11 == 0 /\ -a_188^post11+a_188^0 == 0 /\ -x_19^post11+x_19^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post11 == 0 /\ a_149^0-a_149^post11 == 0 /\ tail_14^0-tail_14^post11 == 0 /\ -a_343^post11+a_343^0 == 0 /\ __disjvr_9^0-__disjvr_9^post11 == 0 /\ __disjvr_21^0-__disjvr_21^post11 == 0 /\ __disjvr_11^0-__disjvr_11^post11 == 0 /\ -a_225^post11+a_225^0 == 0 /\ -__disjvr_2^post11+__disjvr_2^0 == 0 /\ -__disjvr_15^post11+__disjvr_15^0 == 0 /\ __disjvr_25^0-__disjvr_25^post11 == 0 /\ __disjvr_6^0-__disjvr_6^post11 == 0 /\ -__disjvr_27^post11+__disjvr_27^0 == 0 /\ -__disjvr_10^post11+__disjvr_10^0 == 0 /\ __disjvr_20^0-__disjvr_20^post11 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post11+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ __disjvr_23^0-__disjvr_23^post11 == 0 /\ -a_118^post11+a_118^0 == 0 /\ __disjvr_4^0-__disjvr_4^post11 == 0 /\ -nondet_12^post11+nondet_12^0 == 0 /\ temp0_16^0-temp0_16^post11 == 0 /\ __disjvr_22^0-__disjvr_22^post11 == 0 /\ head_15^0-head_15^post11 == 0 /\ -i_110^post11+i_110^0 == 0 /\ -f_171^post11+f_171^0 == 0 /\ x_176^0-x_176^post11 == 0 /\ -x_SLAM_f_24^post11+x_SLAM_f_24^0 == 0 /\ __disjvr_29^0-__disjvr_29^post11 == 0 /\ -a_289^post11+a_289^0 == 0 /\ y_25^0-y_25^post11 == 0 /\ __disjvr_0^0-__disjvr_0^post11 == 0 /\ -i_30^post11+i_30^0 == 0 /\ result_11^0-result_11^post11 == 0 /\ i_95^0-i_95^post11 == 0 /\ -r_126^post11+r_126^0 == 0 /\ -__disjvr_5^post11+__disjvr_5^0 == 0 /\ -t_22^post11+t_22^0 == 0 /\ tmp_34^0-tmp_34^post11 == 0 /\ -__disjvr_28^post11+__disjvr_28^0 == 0 /\ -__disjvr_13^post11+__disjvr_13^0 == 0 /\ -r_39^post11+r_39^0 == 0 /\ rcd_59^0-rcd_59^post11 == 0 /\ __disjvr_14^0-__disjvr_14^post11 == 0 /\ __disjvr_19^0-__disjvr_19^post11 == 0 /\ -__disjvr_1^post11+__disjvr_1^0 == 0 /\ __disjvr_18^0-__disjvr_18^post11 == 0), cost: 1
New rule:
l12 -> l13 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l13 -> l7 : __disjvr_0^0'=__disjvr_0^post12, a_281^0'=a_281^post12, x_SLAM_f_24^0'=x_SLAM_f_24^post12, __disjvr_21^0'=__disjvr_21^post12, __disjvr_4^0'=__disjvr_4^post12, tail_14^0'=tail_14^post12, __disjvr_14^0'=__disjvr_14^post12, head_15^0'=head_15^post12, __disjvr_24^0'=__disjvr_24^post12, r_165^0'=r_165^post12, __disjvr_9^0'=__disjvr_9^post12, a_149^0'=a_149^post12, x_19^0'=x_19^post12, __disjvr_19^0'=__disjvr_19^post12, i_95^0'=i_95^post12, __disjvr_29^0'=__disjvr_29^post12, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post12, __disjvr_11^0'=__disjvr_11^post12, a_342^0'=a_342^post12, y_25^0'=y_25^post12, length_28^0'=length_28^post12, __disjvr_6^0'=__disjvr_6^post12, temp0_31^0'=temp0_31^post12, __disjvr_16^0'=__disjvr_16^post12, head_SLAM_f_29^0'=head_SLAM_f_29^post12, __disjvr_26^0'=__disjvr_26^post12, rcd_59^0'=rcd_59^post12, a_225^0'=a_225^post12, x_SLAM_f_17^0'=x_SLAM_f_17^post12, __disjvr_20^0'=__disjvr_20^post12, len_187^0'=len_187^post12, __disjvr_3^0'=__disjvr_3^post12, t_22^0'=t_22^post12, __disjvr_13^0'=__disjvr_13^post12, f_171^0'=f_171^post12, __disjvr_23^0'=__disjvr_23^post12, r_126^0'=r_126^post12, __disjvr_8^0'=__disjvr_8^post12, tmp_34^0'=tmp_34^post12, x_176^0'=x_176^post12, __disjvr_18^0'=__disjvr_18^post12, i_30^0'=i_30^post12, __disjvr_28^0'=__disjvr_28^post12, result_11^0'=result_11^post12, __disjvr_10^0'=__disjvr_10^post12, a_289^0'=a_289^post12, y_18^0'=y_18^post12, __disjvr_22^0'=__disjvr_22^post12, __disjvr_5^0'=__disjvr_5^post12, temp0_16^0'=temp0_16^post12, __disjvr_15^0'=__disjvr_15^post12, head_32^0'=head_32^post12, __disjvr_25^0'=__disjvr_25^post12, r_39^0'=r_39^post12, a_118^0'=a_118^post12, a_188^0'=a_188^post12, x_26^0'=x_26^post12, __disjvr_1^0'=__disjvr_1^post12, len_134^0'=len_134^post12, __disjvr_2^0'=__disjvr_2^post12, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post12, __disjvr_12^0'=__disjvr_12^post12, a_343^0'=a_343^post12, nondet_12^0'=nondet_12^post12, __disjvr_7^0'=__disjvr_7^post12, temp_35^0'=temp_35^post12, x_131^0'=x_131^post12, __disjvr_17^0'=__disjvr_17^post12, i_110^0'=i_110^post12, __disjvr_27^0'=__disjvr_27^post12, rcd_89^0'=rcd_89^post12, (0 == 0 /\ -__disjvr_18^post12+__disjvr_18^0 == 0 /\ a_281^post12-a_343^0 <= 0 /\ __disjvr_24^0-__disjvr_24^post12 == 0 /\ -len_134^post12+len_134^0 == 0 /\ -__disjvr_25^post12+__disjvr_25^0 == 0 /\ -t_22^post12+t_22^0 == 0 /\ temp0_31^0-temp0_31^post12 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post12 == 0 /\ -__disjvr_16^post12+__disjvr_16^0 == 0 /\ -__disjvr_8^post12+__disjvr_8^0 == 0 /\ a_342^0-a_149^post12 <= 0 /\ -a_343^post12+a_343^0 == 0 /\ -__disjvr_13^post12+__disjvr_13^0 == 0 /\ -temp_35^post12+temp_35^0 == 0 /\ __disjvr_21^0-__disjvr_21^post12 == 0 /\ r_165^0-r_165^post12 == 0 /\ -__disjvr_26^post12+__disjvr_26^0 == 0 /\ -a_281^post12+a_343^0 <= 0 /\ head_SLAM_f_29^0-head_SLAM_f_29^post12 == 0 /\ -__disjvr_10^post12+__disjvr_10^0 == 0 /\ -a_118^post12+a_118^0 == 0 /\ -length_28^post12+length_28^0 == 0 /\ -__disjvr_2^post12+__disjvr_2^0 == 0 /\ __disjvr_29^0-__disjvr_29^post12 == 0 /\ __disjvr_11^0-__disjvr_11^post12 == 0 /\ -__disjvr_15^post12+__disjvr_15^0 == 0 /\ -a_342^0+a_149^post12 <= 0 /\ -__disjvr_17^post12+__disjvr_17^0 == 0 /\ __disjvr_23^0-__disjvr_23^post12 == 0 /\ y_25^0-y_25^post12 == 0 /\ -x_131^post12+x_131^0 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post12 == 0 /\ -y_18^post12+y_18^0 == 0 /\ -a_188^post12+a_188^0 == 0 /\ tail_14^0-tail_14^post12 == 0 /\ -__disjvr_7^post12+__disjvr_7^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post12 == 0 /\ head_15^0-head_15^post12 == 0 /\ x_176^0-x_176^post12 == 0 /\ __disjvr_9^0-__disjvr_9^post12 == 0 /\ -rcd_89^post12+rcd_89^0 == 0 /\ -i_30^post12+i_30^0 == 0 /\ -__disjvr_3^post12+__disjvr_3^0 == 0 /\ -x_19^post12+x_19^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -r_126^post12+r_126^0 == 0 /\ -a_342^post12+a_342^0 == 0 /\ r_39^0-r_39^post12 == 0 /\ a_225^0-a_225^post12 == 0 /\ -__disjvr_28^post12+__disjvr_28^0 == 0 /\ tmp_34^0-tmp_34^post12 == 0 /\ temp0_16^0-temp0_16^post12 == 0 /\ len_187^0-len_187^post12 == 0 /\ -__disjvr_1^post12+__disjvr_1^0 == 0 /\ -head_32^post12+head_32^0 == 0 /\ -__disjvr_27^post12+__disjvr_27^0 == 0 /\ -result_11^post12+result_11^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post12+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -nondet_12^post12+nondet_12^0 == 0 /\ __disjvr_14^0-__disjvr_14^post12 == 0 /\ rcd_59^0-rcd_59^post12 == 0 /\ __disjvr_19^0-__disjvr_19^post12 == 0 /\ __disjvr_0^0-__disjvr_0^post12 == 0 /\ i_95^0-i_95^post12 == 0 /\ -i_110^post12+i_110^0 == 0 /\ -f_171^post12+f_171^0 == 0 /\ __disjvr_6^0-__disjvr_6^post12 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ __disjvr_20^0-__disjvr_20^post12 == 0 /\ __disjvr_4^0-__disjvr_4^post12 == 0 /\ -__disjvr_12^post12+__disjvr_12^0 == 0 /\ -x_26^post12+x_26^0 == 0 /\ -__disjvr_5^post12+__disjvr_5^0 == 0 /\ __disjvr_22^0-__disjvr_22^post12 == 0 /\ -a_289^post12+a_289^0 == 0), cost: 1
New rule:
l13 -> l7 : a_281^0'=a_343^0, a_149^0'=a_342^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1

Applied preprocessing
Original rule:
l7 -> l6 : __disjvr_0^0'=__disjvr_0^post13, a_281^0'=a_281^post13, x_SLAM_f_24^0'=x_SLAM_f_24^post13, __disjvr_21^0'=__disjvr_21^post13, __disjvr_4^0'=__disjvr_4^post13, tail_14^0'=tail_14^post13, __disjvr_14^0'=__disjvr_14^post13, head_15^0'=head_15^post13, __disjvr_24^0'=__disjvr_24^post13, r_165^0'=r_165^post13, __disjvr_9^0'=__disjvr_9^post13, a_149^0'=a_149^post13, x_19^0'=x_19^post13, __disjvr_19^0'=__disjvr_19^post13, i_95^0'=i_95^post13, __disjvr_29^0'=__disjvr_29^post13, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post13, __disjvr_11^0'=__disjvr_11^post13, a_342^0'=a_342^post13, y_25^0'=y_25^post13, length_28^0'=length_28^post13, __disjvr_6^0'=__disjvr_6^post13, temp0_31^0'=temp0_31^post13, __disjvr_16^0'=__disjvr_16^post13, head_SLAM_f_29^0'=head_SLAM_f_29^post13, __disjvr_26^0'=__disjvr_26^post13, rcd_59^0'=rcd_59^post13, a_225^0'=a_225^post13, x_SLAM_f_17^0'=x_SLAM_f_17^post13, __disjvr_20^0'=__disjvr_20^post13, len_187^0'=len_187^post13, __disjvr_3^0'=__disjvr_3^post13, t_22^0'=t_22^post13, __disjvr_13^0'=__disjvr_13^post13, f_171^0'=f_171^post13, __disjvr_23^0'=__disjvr_23^post13, r_126^0'=r_126^post13, __disjvr_8^0'=__disjvr_8^post13, tmp_34^0'=tmp_34^post13, x_176^0'=x_176^post13, __disjvr_18^0'=__disjvr_18^post13, i_30^0'=i_30^post13, __disjvr_28^0'=__disjvr_28^post13, result_11^0'=result_11^post13, __disjvr_10^0'=__disjvr_10^post13, a_289^0'=a_289^post13, y_18^0'=y_18^post13, __disjvr_22^0'=__disjvr_22^post13, __disjvr_5^0'=__disjvr_5^post13, temp0_16^0'=temp0_16^post13, __disjvr_15^0'=__disjvr_15^post13, head_32^0'=head_32^post13, __disjvr_25^0'=__disjvr_25^post13, r_39^0'=r_39^post13, a_118^0'=a_118^post13, a_188^0'=a_188^post13, x_26^0'=x_26^post13, __disjvr_1^0'=__disjvr_1^post13, len_134^0'=len_134^post13, __disjvr_2^0'=__disjvr_2^post13, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post13, __disjvr_12^0'=__disjvr_12^post13, a_343^0'=a_343^post13, nondet_12^0'=nondet_12^post13, __disjvr_7^0'=__disjvr_7^post13, temp_35^0'=temp_35^post13, x_131^0'=x_131^post13, __disjvr_17^0'=__disjvr_17^post13, i_110^0'=i_110^post13, __disjvr_27^0'=__disjvr_27^post13, rcd_89^0'=rcd_89^post13, (-r_39^post13+r_39^0 == 0 /\ -__disjvr_26^post13+__disjvr_26^0 == 0 /\ __disjvr_0^0-__disjvr_0^post13 == 0 /\ -nondet_12^post13+nondet_12^0 == 0 /\ -a_118^post13+a_118^0 == 0 /\ -i_110^post13+i_110^0 == 0 /\ -__disjvr_2^post13+__disjvr_2^0 == 0 /\ -length_28^post13+length_28^0 == 0 /\ __disjvr_21^0-__disjvr_21^post13 == 0 /\ -a_289^post13+a_289^0 == 0 /\ -temp0_31^post13+temp0_31^0 == 0 /\ tail_14^0-tail_14^post13 == 0 /\ r_126^0-r_126^post13 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post13+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -f_171^post13+f_171^0 == 0 /\ -__disjvr_5^post13+__disjvr_5^0 == 0 /\ -a_188^post13+a_188^0 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post13 == 0 /\ __disjvr_19^0-__disjvr_19^post13 == 0 /\ __disjvr_14^0-__disjvr_14^post13 == 0 /\ -__disjvr_27^post13+__disjvr_27^0 == 0 /\ -__disjvr_25^post13+__disjvr_25^0 == 0 /\ __disjvr_10^0-__disjvr_10^post13 == 0 /\ __disjvr_23^0-__disjvr_23^post13 == 0 /\ __disjvr_16^0-__disjvr_16^post13 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post13 == 0 /\ -temp_35^post13+temp_35^0 == 0 /\ __disjvr_20^0-__disjvr_20^post13 == 0 /\ -a_342^post13+a_342^0 == 0 /\ i_30^0-i_30^post13 == 0 /\ -__disjvr_13^post13+__disjvr_13^0 == 0 /\ head_SLAM_f_29^0-head_SLAM_f_29^post13 == 0 /\ -__disjvr_28^post13+__disjvr_28^0 == 0 /\ -__disjvr_1^post13+__disjvr_1^0 == 0 /\ a_281^0-a_281^post13 == 0 /\ __disjvr_24^0-__disjvr_24^post13 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post13+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ i_95^0-i_95^post13 == 0 /\ __disjvr_11^0-__disjvr_11^post13 == 0 /\ y_25^0-y_25^post13 == 0 /\ tmp_34^0-tmp_34^post13 == 0 /\ -__disjvr_7^post13+__disjvr_7^0 == 0 /\ -r_165^post13+r_165^0 == 0 /\ -__disjvr_15^post13+__disjvr_15^0 == 0 /\ a_149^0-a_149^post13 == 0 /\ -__disjvr_12^post13+__disjvr_12^0 == 0 /\ __disjvr_9^0-__disjvr_9^post13 == 0 /\ -x_131^post13+x_131^0 == 0 /\ temp0_16^0-temp0_16^post13 == 0 /\ -x_26^post13+x_26^0 == 0 /\ __disjvr_6^0-__disjvr_6^post13 == 0 /\ rcd_59^0-rcd_59^post13 == 0 /\ a_225^0-a_225^post13 == 0 /\ -result_11^post13+result_11^0 == 0 /\ t_22^0-t_22^post13 == 0 /\ y_18^0-y_18^post13 == 0 /\ -__disjvr_18^post13+__disjvr_18^0 == 0 /\ -rcd_89^post13+rcd_89^0 == 0 /\ -len_134^post13+len_134^0 == 0 /\ -__disjvr_3^post13+__disjvr_3^0 == 0 /\ __disjvr_17^0-__disjvr_17^post13 == 0 /\ head_15^0-head_15^post13 == 0 /\ -len_187^post13+len_187^0 == 0 /\ __disjvr_22^0-__disjvr_22^post13 == 0 /\ -__disjvr_8^post13+__disjvr_8^0 == 0 /\ x_19^0-x_19^post13 == 0 /\ x_176^0-x_176^post13 == 0 /\ -a_343^post13+a_343^0 == 0 /\ __disjvr_4^0-__disjvr_4^post13 == 0 /\ -head_32^post13+head_32^0 == 0 /\ __disjvr_29^0-__disjvr_29^post13 == 0), cost: 1
New rule:
l7 -> l6 : TRUE, cost: 1

Applied preprocessing
Original rule:
l23 -> l24 : __disjvr_0^0'=__disjvr_0^post24, a_281^0'=a_281^post24, x_SLAM_f_24^0'=x_SLAM_f_24^post24, __disjvr_21^0'=__disjvr_21^post24, __disjvr_4^0'=__disjvr_4^post24, tail_14^0'=tail_14^post24, __disjvr_14^0'=__disjvr_14^post24, head_15^0'=head_15^post24, __disjvr_24^0'=__disjvr_24^post24, r_165^0'=r_165^post24, __disjvr_9^0'=__disjvr_9^post24, a_149^0'=a_149^post24, x_19^0'=x_19^post24, __disjvr_19^0'=__disjvr_19^post24, i_95^0'=i_95^post24, __disjvr_29^0'=__disjvr_29^post24, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post24, __disjvr_11^0'=__disjvr_11^post24, a_342^0'=a_342^post24, y_25^0'=y_25^post24, length_28^0'=length_28^post24, __disjvr_6^0'=__disjvr_6^post24, temp0_31^0'=temp0_31^post24, __disjvr_16^0'=__disjvr_16^post24, head_SLAM_f_29^0'=head_SLAM_f_29^post24, __disjvr_26^0'=__disjvr_26^post24, rcd_59^0'=rcd_59^post24, a_225^0'=a_225^post24, x_SLAM_f_17^0'=x_SLAM_f_17^post24, __disjvr_20^0'=__disjvr_20^post24, len_187^0'=len_187^post24, __disjvr_3^0'=__disjvr_3^post24, t_22^0'=t_22^post24, __disjvr_13^0'=__disjvr_13^post24, f_171^0'=f_171^post24, __disjvr_23^0'=__disjvr_23^post24, r_126^0'=r_126^post24, __disjvr_8^0'=__disjvr_8^post24, tmp_34^0'=tmp_34^post24, x_176^0'=x_176^post24, __disjvr_18^0'=__disjvr_18^post24, i_30^0'=i_30^post24, __disjvr_28^0'=__disjvr_28^post24, result_11^0'=result_11^post24, __disjvr_10^0'=__disjvr_10^post24, a_289^0'=a_289^post24, y_18^0'=y_18^post24, __disjvr_22^0'=__disjvr_22^post24, __disjvr_5^0'=__disjvr_5^post24, temp0_16^0'=temp0_16^post24, __disjvr_15^0'=__disjvr_15^post24, head_32^0'=head_32^post24, __disjvr_25^0'=__disjvr_25^post24, r_39^0'=r_39^post24, a_118^0'=a_118^post24, a_188^0'=a_188^post24, x_26^0'=x_26^post24, __disjvr_1^0'=__disjvr_1^post24, len_134^0'=len_134^post24, __disjvr_2^0'=__disjvr_2^post24, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post24, __disjvr_12^0'=__disjvr_12^post24, a_343^0'=a_343^post24, nondet_12^0'=nondet_12^post24, __disjvr_7^0'=__disjvr_7^post24, temp_35^0'=temp_35^post24, x_131^0'=x_131^post24, __disjvr_17^0'=__disjvr_17^post24, i_110^0'=i_110^post24, __disjvr_27^0'=__disjvr_27^post24, rcd_89^0'=rcd_89^post24, (0 == 0 /\ a_342^0-a_342^post24 == 0 /\ __disjvr_9^0-__disjvr_9^post24 == 0 /\ -a_149^0 <= 0 /\ -__disjvr_15^post24+__disjvr_15^0 == 0 /\ -len_134^post24+len_134^0 == 0 /\ -__disjvr_23^post24+__disjvr_23^0 == 0 /\ __disjvr_2^0-__disjvr_2^post24 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post24 == 0 /\ __disjvr_3^0-__disjvr_3^post24 == 0 /\ x_176^0-x_176^post24 == 0 /\ -__disjvr_7^post24+__disjvr_7^0 == 0 /\ -__disjvr_12^post24+__disjvr_12^0 == 0 /\ length_28^0-length_28^post24 == 0 /\ -head_SLAM_f_29^post24+head_SLAM_f_29^0 == 0 /\ r_165^0-r_165^post24 == 0 /\ -y_18^post24+y_18^0 == 0 /\ __disjvr_21^0-__disjvr_21^post24 == 0 /\ -temp0_16^post24+temp0_16^0 == 0 /\ -__disjvr_16^post24+__disjvr_16^0 == 0 /\ rcd_59^0-rcd_59^post24 == 0 /\ __disjvr_19^0-__disjvr_19^post24 == 0 /\ -__disjvr_11^post24+__disjvr_11^0 == 0 /\ __disjvr_29^0-__disjvr_29^post24 == 0 /\ i_95^0-i_95^post24 == 0 /\ -a_343^post24+a_343^0 == 0 /\ result_11^0-result_11^post24 == 0 /\ -__disjvr_17^post24+__disjvr_17^0 == 0 /\ __disjvr_14^0-__disjvr_14^post24 == 0 /\ -y_25^post24+y_25^0 == 0 /\ __disjvr_6^0-__disjvr_6^post24 == 0 /\ x_19^0-x_19^post24 == 0 /\ __disjvr_18^0-__disjvr_18^post24 == 0 /\ -x_131^post24+x_131^0 == 0 /\ -__disjvr_22^post24+__disjvr_22^0 == 0 /\ __disjvr_0^0-__disjvr_0^post24 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post24 == 0 /\ __disjvr_4^0-__disjvr_4^post24 == 0 /\ __disjvr_28^0-__disjvr_28^post24 == 0 /\ t_22^0-t_22^post24 == 0 /\ -__disjvr_1^post24+__disjvr_1^0 == 0 /\ -r_39^post24+r_39^0 == 0 /\ -__disjvr_13^post24+__disjvr_13^0 == 0 /\ -a_225^post24+a_225^0 == 0 /\ f_171^0-f_171^post24 == 0 /\ temp0_31^0-temp0_31^post24 == 0 /\ -a_118^post24+a_118^0 == 0 /\ nondet_12^0-nondet_12^post24 == 0 /\ -a_188^post24+a_188^0 == 0 /\ -rcd_89^post24+rcd_89^0 == 0 /\ __disjvr_8^0-__disjvr_8^post24 == 0 /\ a_149^0-a_149^post24 == 0 /\ -i_30^post24+i_30^0 == 0 /\ head_32^0-head_32^post24 == 0 /\ -__disjvr_10^post24+__disjvr_10^0 == 0 /\ __disjvr_26^0-__disjvr_26^post24 == 0 /\ -tmp_34^post24+tmp_34^0 == 0 /\ __disjvr_24^0-__disjvr_24^post24 == 0 /\ -x_26^post24+x_26^0 == 0 /\ a_281^0-a_281^post24 == 0 /\ -__disjvr_25^post24+__disjvr_25^0 == 0 /\ -r_126^post24+r_126^0 == 0 /\ len_187^0-len_187^post24 == 0 /\ -i_110^post24+i_110^0 == 0 /\ -__disjvr_20^post24+__disjvr_20^0 == 0 /\ -__disjvr_27^post24+__disjvr_27^0 == 0 /\ __disjvr_5^0-__disjvr_5^post24 == 0 /\ -temp_35^post24+temp_35^0 == 0 /\ -len_134^0 <= 0), cost: 1
New rule:
l23 -> l24 : tail_14^0'=tail_14^post24, head_15^0'=head_15^post24, x_SLAM_f_17^0'=x_SLAM_f_17^post24, a_289^0'=a_289^post24, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post24, (a_149^0 >= 0 /\ len_134^0 >= 0), cost: 1

Applied preprocessing
Original rule:
l24 -> l25 : __disjvr_0^0'=__disjvr_0^post25, a_281^0'=a_281^post25, x_SLAM_f_24^0'=x_SLAM_f_24^post25, __disjvr_21^0'=__disjvr_21^post25, __disjvr_4^0'=__disjvr_4^post25, tail_14^0'=tail_14^post25, __disjvr_14^0'=__disjvr_14^post25, head_15^0'=head_15^post25, __disjvr_24^0'=__disjvr_24^post25, r_165^0'=r_165^post25, __disjvr_9^0'=__disjvr_9^post25, a_149^0'=a_149^post25, x_19^0'=x_19^post25, __disjvr_19^0'=__disjvr_19^post25, i_95^0'=i_95^post25, __disjvr_29^0'=__disjvr_29^post25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post25, __disjvr_11^0'=__disjvr_11^post25, a_342^0'=a_342^post25, y_25^0'=y_25^post25, length_28^0'=length_28^post25, __disjvr_6^0'=__disjvr_6^post25, temp0_31^0'=temp0_31^post25, __disjvr_16^0'=__disjvr_16^post25, head_SLAM_f_29^0'=head_SLAM_f_29^post25, __disjvr_26^0'=__disjvr_26^post25, rcd_59^0'=rcd_59^post25, a_225^0'=a_225^post25, x_SLAM_f_17^0'=x_SLAM_f_17^post25, __disjvr_20^0'=__disjvr_20^post25, len_187^0'=len_187^post25, __disjvr_3^0'=__disjvr_3^post25, t_22^0'=t_22^post25, __disjvr_13^0'=__disjvr_13^post25, f_171^0'=f_171^post25, __disjvr_23^0'=__disjvr_23^post25, r_126^0'=r_126^post25, __disjvr_8^0'=__disjvr_8^post25, tmp_34^0'=tmp_34^post25, x_176^0'=x_176^post25, __disjvr_18^0'=__disjvr_18^post25, i_30^0'=i_30^post25, __disjvr_28^0'=__disjvr_28^post25, result_11^0'=result_11^post25, __disjvr_10^0'=__disjvr_10^post25, a_289^0'=a_289^post25, y_18^0'=y_18^post25, __disjvr_22^0'=__disjvr_22^post25, __disjvr_5^0'=__disjvr_5^post25, temp0_16^0'=temp0_16^post25, __disjvr_15^0'=__disjvr_15^post25, head_32^0'=head_32^post25, __disjvr_25^0'=__disjvr_25^post25, r_39^0'=r_39^post25, a_118^0'=a_118^post25, a_188^0'=a_188^post25, x_26^0'=x_26^post25, __disjvr_1^0'=__disjvr_1^post25, len_134^0'=len_134^post25, __disjvr_2^0'=__disjvr_2^post25, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post25, __disjvr_12^0'=__disjvr_12^post25, a_343^0'=a_343^post25, nondet_12^0'=nondet_12^post25, __disjvr_7^0'=__disjvr_7^post25, temp_35^0'=temp_35^post25, x_131^0'=x_131^post25, __disjvr_17^0'=__disjvr_17^post25, i_110^0'=i_110^post25, __disjvr_27^0'=__disjvr_27^post25, rcd_89^0'=rcd_89^post25, (__disjvr_8^0-__disjvr_8^post25 == 0 /\ x_176^0-x_176^post25 == 0 /\ -__disjvr_2^post25+__disjvr_2^0 == 0 /\ __disjvr_9^0-__disjvr_9^post25 == 0 /\ -__disjvr_20^post25+__disjvr_20^0 == 0 /\ -a_343^post25+a_343^0 == 0 /\ -__disjvr_6^post25+__disjvr_6^0 == 0 /\ -temp_35^post25+temp_35^0 == 0 /\ -__disjvr_27^post25+__disjvr_27^0 == 0 /\ -__disjvr_16^post25+__disjvr_16^0 == 0 /\ a_149^0-a_149^post25 == 0 /\ tmp_34^0-tmp_34^post25 == 0 /\ -i_110^post25+i_110^0 == 0 /\ __disjvr_21^0-__disjvr_21^post25 == 0 /\ len_187^0-len_187^post25 == 0 /\ result_11^0-result_11^post25 == 0 /\ __disjvr_19^0-__disjvr_19^post25 == 0 /\ __disjvr_14^0-__disjvr_14^post25 == 0 /\ -__disjvr_17^post25+__disjvr_17^0 == 0 /\ -__disjvr_15^post25+__disjvr_15^0 == 0 /\ rcd_59^0-rcd_59^post25 == 0 /\ -i_95^post25+i_95^0 == 0 /\ -__disjvr_23^post25+__disjvr_23^0 == 0 /\ -__disjvr_9^0+__disjvr_9^post25 == 0 /\ -a_118^post25+a_118^0 == 0 /\ len_134^0-len_134^post25 == 0 /\ -__disjvr_1^post25+__disjvr_1^0 == 0 /\ -a_188^post25+a_188^0 == 0 /\ __disjvr_12^0-__disjvr_12^post25 == 0 /\ -__disjvr_7^post25+__disjvr_7^0 == 0 /\ y_25^0-y_25^post25 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post25 == 0 /\ -t_22^post25+t_22^0 == 0 /\ -__disjvr_10^post25+__disjvr_10^0 == 0 /\ __disjvr_4^0-__disjvr_4^post25 == 0 /\ f_171^0-f_171^post25 == 0 /\ -y_18^post25+y_18^0 == 0 /\ -temp0_16^post25+temp0_16^0 == 0 /\ -a_225^post25+a_225^0 == 0 /\ head_32^0-head_32^post25 == 0 /\ -x_26^post25+x_26^0 == 0 /\ __disjvr_0^0-__disjvr_0^post25 == 0 /\ __disjvr_24^0-__disjvr_24^post25 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post25 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post25+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ r_165^0-r_165^post25 == 0 /\ __disjvr_11^0-__disjvr_11^post25 == 0 /\ -__disjvr_28^post25+__disjvr_28^0 == 0 /\ __disjvr_26^0-__disjvr_26^post25 == 0 /\ -x_131^post25+x_131^0 == 0 /\ -__disjvr_22^post25+__disjvr_22^0 == 0 /\ a_342^0-a_342^post25 == 0 /\ __disjvr_3^0-__disjvr_3^post25 == 0 /\ x_19^0-x_19^post25 == 0 /\ __disjvr_5^0-__disjvr_5^post25 == 0 /\ i_30^0-i_30^post25 == 0 /\ -__disjvr_13^post25+__disjvr_13^0 == 0 /\ length_28^0-length_28^post25 == 0 /\ -r_39^post25+r_39^0 == 0 /\ -nondet_12^post25+nondet_12^0 == 0 /\ __disjvr_25^0-__disjvr_25^post25 == 0 /\ __disjvr_29^0-__disjvr_29^post25 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post25 == 0 /\ head_15^0-head_15^post25 == 0 /\ a_281^0-a_281^post25 == 0 /\ -__disjvr_18^post25+__disjvr_18^0 == 0 /\ -rcd_89^post25+rcd_89^0 == 0 /\ -r_126^post25+r_126^0 == 0 /\ tail_14^0-tail_14^post25 == 0 /\ -head_SLAM_f_29^post25+head_SLAM_f_29^0 == 0 /\ a_289^0-a_289^post25 == 0 /\ temp0_31^0-temp0_31^post25 == 0), cost: 1
New rule:
l24 -> l25 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l25 -> l26 : __disjvr_0^0'=__disjvr_0^post26, a_281^0'=a_281^post26, x_SLAM_f_24^0'=x_SLAM_f_24^post26, __disjvr_21^0'=__disjvr_21^post26, __disjvr_4^0'=__disjvr_4^post26, tail_14^0'=tail_14^post26, __disjvr_14^0'=__disjvr_14^post26, head_15^0'=head_15^post26, __disjvr_24^0'=__disjvr_24^post26, r_165^0'=r_165^post26, __disjvr_9^0'=__disjvr_9^post26, a_149^0'=a_149^post26, x_19^0'=x_19^post26, __disjvr_19^0'=__disjvr_19^post26, i_95^0'=i_95^post26, __disjvr_29^0'=__disjvr_29^post26, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post26, __disjvr_11^0'=__disjvr_11^post26, a_342^0'=a_342^post26, y_25^0'=y_25^post26, length_28^0'=length_28^post26, __disjvr_6^0'=__disjvr_6^post26, temp0_31^0'=temp0_31^post26, __disjvr_16^0'=__disjvr_16^post26, head_SLAM_f_29^0'=head_SLAM_f_29^post26, __disjvr_26^0'=__disjvr_26^post26, rcd_59^0'=rcd_59^post26, a_225^0'=a_225^post26, x_SLAM_f_17^0'=x_SLAM_f_17^post26, __disjvr_20^0'=__disjvr_20^post26, len_187^0'=len_187^post26, __disjvr_3^0'=__disjvr_3^post26, t_22^0'=t_22^post26, __disjvr_13^0'=__disjvr_13^post26, f_171^0'=f_171^post26, __disjvr_23^0'=__disjvr_23^post26, r_126^0'=r_126^post26, __disjvr_8^0'=__disjvr_8^post26, tmp_34^0'=tmp_34^post26, x_176^0'=x_176^post26, __disjvr_18^0'=__disjvr_18^post26, i_30^0'=i_30^post26, __disjvr_28^0'=__disjvr_28^post26, result_11^0'=result_11^post26, __disjvr_10^0'=__disjvr_10^post26, a_289^0'=a_289^post26, y_18^0'=y_18^post26, __disjvr_22^0'=__disjvr_22^post26, __disjvr_5^0'=__disjvr_5^post26, temp0_16^0'=temp0_16^post26, __disjvr_15^0'=__disjvr_15^post26, head_32^0'=head_32^post26, __disjvr_25^0'=__disjvr_25^post26, r_39^0'=r_39^post26, a_118^0'=a_118^post26, a_188^0'=a_188^post26, x_26^0'=x_26^post26, __disjvr_1^0'=__disjvr_1^post26, len_134^0'=len_134^post26, __disjvr_2^0'=__disjvr_2^post26, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post26, __disjvr_12^0'=__disjvr_12^post26, a_343^0'=a_343^post26, nondet_12^0'=nondet_12^post26, __disjvr_7^0'=__disjvr_7^post26, temp_35^0'=temp_35^post26, x_131^0'=x_131^post26, __disjvr_17^0'=__disjvr_17^post26, i_110^0'=i_110^post26, __disjvr_27^0'=__disjvr_27^post26, rcd_89^0'=rcd_89^post26, (0 == 0 /\ head_15^0-t_22^post26 <= 0 /\ a_281^0-a_281^post26 == 0 /\ result_11^0-result_11^post26 == 0 /\ -head_15^0+x_SLAM_f_17^0 <= 0 /\ -__disjvr_13^post26+__disjvr_13^0 == 0 /\ a_289^0-a_289^post26 == 0 /\ -a_289^0 <= 0 /\ tmp_34^0-tmp_34^post26 == 0 /\ -__disjvr_1^post26+__disjvr_1^0 == 0 /\ -nondet_12^post26+nondet_12^0 == 0 /\ __disjvr_14^0-__disjvr_14^post26 == 0 /\ -y_25^post26+y_25^0 == 0 /\ -rcd_89^post26+rcd_89^0 == 0 /\ a_342^0-a_342^post26 == 0 /\ rcd_59^0-rcd_59^post26 == 0 /\ __disjvr_5^0-__disjvr_5^post26 == 0 /\ -__disjvr_10^post26+__disjvr_10^0 == 0 /\ -head_15^0+t_22^post26 <= 0 /\ __disjvr_12^0-__disjvr_12^post26 == 0 /\ __disjvr_2^0-__disjvr_2^post26 == 0 /\ head_15^0-x_SLAM_f_17^0 <= 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post26 == 0 /\ -__disjvr_20^post26+__disjvr_20^0 == 0 /\ -x_26^post26+x_26^0 == 0 /\ __disjvr_4^0-__disjvr_4^post26 == 0 /\ f_171^0-f_171^post26 == 0 /\ -__disjvr_27^post26+__disjvr_27^0 == 0 /\ -a_118^post26+a_118^0 == 0 /\ -__disjvr_9^post26+__disjvr_9^0 == 0 /\ length_28^0-length_28^post26 == 0 /\ x_176^0-x_176^post26 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post26+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ __disjvr_24^0-__disjvr_24^post26 == 0 /\ -a_149^post26+a_149^0 == 0 /\ -__disjvr_28^post26+__disjvr_28^0 == 0 /\ head_32^0-head_32^post26 == 0 /\ -i_110^post26+i_110^0 == 0 /\ len_134^0-len_134^post26 == 0 /\ -r_39^post26+r_39^0 == 0 /\ __disjvr_29^0-__disjvr_29^post26 == 0 /\ -y_18^post26+y_18^0 == 0 /\ -temp_35^post26+temp_35^0 == 0 /\ tail_14^0-tail_14^post26 == 0 /\ -x_131^post26+x_131^0 == 0 /\ -__disjvr_17^post26+__disjvr_17^0 == 0 /\ __disjvr_26^0-__disjvr_26^post26 == 0 /\ len_187^0-len_187^post26 == 0 /\ -i_95^post26+i_95^0 == 0 /\ -x_19^0+t_22^post26 == 0 /\ -__disjvr_11^post26+__disjvr_11^0 == 0 /\ -a_281^0+a_149^0+a_225^post26 <= 0 /\ a_289^0 <= 0 /\ __disjvr_19^0-__disjvr_19^post26 == 0 /\ -tail_14^0+y_18^0 <= 0 /\ -r_126^post26+r_126^0 == 0 /\ -__disjvr_18^post26+__disjvr_18^0 == 0 /\ -__disjvr_25^post26+__disjvr_25^0 == 0 /\ __disjvr_21^0-__disjvr_21^post26 == 0 /\ __disjvr_15^0-__disjvr_15^post26 == 0 /\ __disjvr_0^0-__disjvr_0^post26 == 0 /\ -head_SLAM_f_29^post26+head_SLAM_f_29^0 == 0 /\ -__disjvr_7^post26+__disjvr_7^0 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post26 == 0 /\ r_165^0-r_165^post26 == 0 /\ -a_188^post26+a_188^0 == 0 /\ head_15^0-head_15^post26 == 0 /\ -__disjvr_3^post26+__disjvr_3^0 == 0 /\ -__disjvr_6^post26+__disjvr_6^0 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post26 == 0 /\ x_19^0-x_19^post26 == 0 /\ -temp0_16^post26+temp0_16^0 == 0 /\ temp0_31^0-temp0_31^post26 == 0 /\ a_281^0-a_149^0-a_225^post26 <= 0 /\ -a_343^post26+a_343^0 == 0 /\ tail_14^0-y_18^0 <= 0 /\ i_30^0-i_30^post26 == 0 /\ __disjvr_23^0-__disjvr_23^post26 == 0 /\ __disjvr_8^0-__disjvr_8^post26 == 0 /\ -__disjvr_16^post26+__disjvr_16^0 == 0 /\ -__disjvr_22^post26+__disjvr_22^0 == 0), cost: 1
New rule:
l25 -> l26 : a_225^0'=a_281^0-a_149^0, t_22^0'=head_15^0, (-head_15^0+x_SLAM_f_17^0 == 0 /\ a_289^0 == 0 /\ -tail_14^0+y_18^0 == 0 /\ head_15^0-x_19^0 == 0), cost: 1

Applied preprocessing
Original rule:
l26 -> l27 : __disjvr_0^0'=__disjvr_0^post27, a_281^0'=a_281^post27, x_SLAM_f_24^0'=x_SLAM_f_24^post27, __disjvr_21^0'=__disjvr_21^post27, __disjvr_4^0'=__disjvr_4^post27, tail_14^0'=tail_14^post27, __disjvr_14^0'=__disjvr_14^post27, head_15^0'=head_15^post27, __disjvr_24^0'=__disjvr_24^post27, r_165^0'=r_165^post27, __disjvr_9^0'=__disjvr_9^post27, a_149^0'=a_149^post27, x_19^0'=x_19^post27, __disjvr_19^0'=__disjvr_19^post27, i_95^0'=i_95^post27, __disjvr_29^0'=__disjvr_29^post27, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post27, __disjvr_11^0'=__disjvr_11^post27, a_342^0'=a_342^post27, y_25^0'=y_25^post27, length_28^0'=length_28^post27, __disjvr_6^0'=__disjvr_6^post27, temp0_31^0'=temp0_31^post27, __disjvr_16^0'=__disjvr_16^post27, head_SLAM_f_29^0'=head_SLAM_f_29^post27, __disjvr_26^0'=__disjvr_26^post27, rcd_59^0'=rcd_59^post27, a_225^0'=a_225^post27, x_SLAM_f_17^0'=x_SLAM_f_17^post27, __disjvr_20^0'=__disjvr_20^post27, len_187^0'=len_187^post27, __disjvr_3^0'=__disjvr_3^post27, t_22^0'=t_22^post27, __disjvr_13^0'=__disjvr_13^post27, f_171^0'=f_171^post27, __disjvr_23^0'=__disjvr_23^post27, r_126^0'=r_126^post27, __disjvr_8^0'=__disjvr_8^post27, tmp_34^0'=tmp_34^post27, x_176^0'=x_176^post27, __disjvr_18^0'=__disjvr_18^post27, i_30^0'=i_30^post27, __disjvr_28^0'=__disjvr_28^post27, result_11^0'=result_11^post27, __disjvr_10^0'=__disjvr_10^post27, a_289^0'=a_289^post27, y_18^0'=y_18^post27, __disjvr_22^0'=__disjvr_22^post27, __disjvr_5^0'=__disjvr_5^post27, temp0_16^0'=temp0_16^post27, __disjvr_15^0'=__disjvr_15^post27, head_32^0'=head_32^post27, __disjvr_25^0'=__disjvr_25^post27, r_39^0'=r_39^post27, a_118^0'=a_118^post27, a_188^0'=a_188^post27, x_26^0'=x_26^post27, __disjvr_1^0'=__disjvr_1^post27, len_134^0'=len_134^post27, __disjvr_2^0'=__disjvr_2^post27, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post27, __disjvr_12^0'=__disjvr_12^post27, a_343^0'=a_343^post27, nondet_12^0'=nondet_12^post27, __disjvr_7^0'=__disjvr_7^post27, temp_35^0'=temp_35^post27, x_131^0'=x_131^post27, __disjvr_17^0'=__disjvr_17^post27, i_110^0'=i_110^post27, __disjvr_27^0'=__disjvr_27^post27, rcd_89^0'=rcd_89^post27, (-a_225^post27+a_225^0 == 0 /\ rcd_59^0-rcd_59^post27 == 0 /\ -__disjvr_3^post27+__disjvr_3^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post27+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_26^post27+x_26^0 == 0 /\ y_25^0-y_25^post27 == 0 /\ __disjvr_6^0-__disjvr_6^post27 == 0 /\ -a_118^post27+a_118^0 == 0 /\ a_281^0-a_281^post27 == 0 /\ -__disjvr_22^post27+__disjvr_22^0 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post27 == 0 /\ head_15^0-head_15^post27 == 0 /\ f_171^0-f_171^post27 == 0 /\ a_342^0-a_342^post27 == 0 /\ __disjvr_15^0-__disjvr_15^post27 == 0 /\ x_176^0-x_176^post27 == 0 /\ -__disjvr_13^post27+__disjvr_13^0 == 0 /\ -__disjvr_12^post27+__disjvr_12^0 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post27 == 0 /\ t_22^0-t_22^post27 == 0 /\ __disjvr_18^0-__disjvr_18^post27 == 0 /\ -i_110^post27+i_110^0 == 0 /\ -rcd_89^post27+rcd_89^0 == 0 /\ -head_32^post27+head_32^0 == 0 /\ result_11^0-result_11^post27 == 0 /\ -nondet_12^post27+nondet_12^0 == 0 /\ -r_126^post27+r_126^0 == 0 /\ -__disjvr_5^post27+__disjvr_5^0 == 0 /\ __disjvr_2^0-__disjvr_2^post27 == 0 /\ r_165^0-r_165^post27 == 0 /\ -head_SLAM_f_29^post27+head_SLAM_f_29^0 == 0 /\ tmp_34^0-tmp_34^post27 == 0 /\ __disjvr_26^0-__disjvr_26^post27 == 0 /\ -a_343^post27+a_343^0 == 0 /\ __disjvr_19^0-__disjvr_19^post27 == 0 /\ __disjvr_10^post27-__disjvr_10^0 == 0 /\ __disjvr_21^0-__disjvr_21^post27 == 0 /\ -len_134^post27+len_134^0 == 0 /\ -a_188^post27+a_188^0 == 0 /\ i_30^0-i_30^post27 == 0 /\ __disjvr_14^0-__disjvr_14^post27 == 0 /\ -__disjvr_29^post27+__disjvr_29^0 == 0 /\ -r_39^post27+r_39^0 == 0 /\ a_289^0-a_289^post27 == 0 /\ -__disjvr_9^post27+__disjvr_9^0 == 0 /\ tail_14^0-tail_14^post27 == 0 /\ -__disjvr_20^post27+__disjvr_20^0 == 0 /\ -__disjvr_16^post27+__disjvr_16^0 == 0 /\ x_19^0-x_19^post27 == 0 /\ __disjvr_4^0-__disjvr_4^post27 == 0 /\ -__disjvr_10^post27+__disjvr_10^0 == 0 /\ __disjvr_24^0-__disjvr_24^post27 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post27 == 0 /\ temp0_16^0-temp0_16^post27 == 0 /\ -temp_35^post27+temp_35^0 == 0 /\ -temp0_31^post27+temp0_31^0 == 0 /\ -x_131^post27+x_131^0 == 0 /\ __disjvr_8^0-__disjvr_8^post27 == 0 /\ __disjvr_0^0-__disjvr_0^post27 == 0 /\ -i_95^post27+i_95^0 == 0 /\ __disjvr_23^0-__disjvr_23^post27 == 0 /\ -__disjvr_11^post27+__disjvr_11^0 == 0 /\ -__disjvr_1^post27+__disjvr_1^0 == 0 /\ -length_28^post27+length_28^0 == 0 /\ -y_18^post27+y_18^0 == 0 /\ -__disjvr_17^post27+__disjvr_17^0 == 0 /\ -__disjvr_25^post27+__disjvr_25^0 == 0 /\ __disjvr_27^0-__disjvr_27^post27 == 0 /\ len_187^0-len_187^post27 == 0 /\ __disjvr_28^0-__disjvr_28^post27 == 0 /\ a_149^0-a_149^post27 == 0 /\ -__disjvr_7^post27+__disjvr_7^0 == 0), cost: 1
New rule:
l26 -> l27 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l27 -> l28 : __disjvr_0^0'=__disjvr_0^post28, a_281^0'=a_281^post28, x_SLAM_f_24^0'=x_SLAM_f_24^post28, __disjvr_21^0'=__disjvr_21^post28, __disjvr_4^0'=__disjvr_4^post28, tail_14^0'=tail_14^post28, __disjvr_14^0'=__disjvr_14^post28, head_15^0'=head_15^post28, __disjvr_24^0'=__disjvr_24^post28, r_165^0'=r_165^post28, __disjvr_9^0'=__disjvr_9^post28, a_149^0'=a_149^post28, x_19^0'=x_19^post28, __disjvr_19^0'=__disjvr_19^post28, i_95^0'=i_95^post28, __disjvr_29^0'=__disjvr_29^post28, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post28, __disjvr_11^0'=__disjvr_11^post28, a_342^0'=a_342^post28, y_25^0'=y_25^post28, length_28^0'=length_28^post28, __disjvr_6^0'=__disjvr_6^post28, temp0_31^0'=temp0_31^post28, __disjvr_16^0'=__disjvr_16^post28, head_SLAM_f_29^0'=head_SLAM_f_29^post28, __disjvr_26^0'=__disjvr_26^post28, rcd_59^0'=rcd_59^post28, a_225^0'=a_225^post28, x_SLAM_f_17^0'=x_SLAM_f_17^post28, __disjvr_20^0'=__disjvr_20^post28, len_187^0'=len_187^post28, __disjvr_3^0'=__disjvr_3^post28, t_22^0'=t_22^post28, __disjvr_13^0'=__disjvr_13^post28, f_171^0'=f_171^post28, __disjvr_23^0'=__disjvr_23^post28, r_126^0'=r_126^post28, __disjvr_8^0'=__disjvr_8^post28, tmp_34^0'=tmp_34^post28, x_176^0'=x_176^post28, __disjvr_18^0'=__disjvr_18^post28, i_30^0'=i_30^post28, __disjvr_28^0'=__disjvr_28^post28, result_11^0'=result_11^post28, __disjvr_10^0'=__disjvr_10^post28, a_289^0'=a_289^post28, y_18^0'=y_18^post28, __disjvr_22^0'=__disjvr_22^post28, __disjvr_5^0'=__disjvr_5^post28, temp0_16^0'=temp0_16^post28, __disjvr_15^0'=__disjvr_15^post28, head_32^0'=head_32^post28, __disjvr_25^0'=__disjvr_25^post28, r_39^0'=r_39^post28, a_118^0'=a_118^post28, a_188^0'=a_188^post28, x_26^0'=x_26^post28, __disjvr_1^0'=__disjvr_1^post28, len_134^0'=len_134^post28, __disjvr_2^0'=__disjvr_2^post28, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post28, __disjvr_12^0'=__disjvr_12^post28, a_343^0'=a_343^post28, nondet_12^0'=nondet_12^post28, __disjvr_7^0'=__disjvr_7^post28, temp_35^0'=temp_35^post28, x_131^0'=x_131^post28, __disjvr_17^0'=__disjvr_17^post28, i_110^0'=i_110^post28, __disjvr_27^0'=__disjvr_27^post28, rcd_89^0'=rcd_89^post28, (-__disjvr_12^post28+__disjvr_12^0 == 0 /\ __disjvr_6^0-__disjvr_6^post28 == 0 /\ -temp_35^post28+temp_35^0 == 0 /\ __disjvr_2^0-__disjvr_2^post28 == 0 /\ head_15^0-head_15^post28 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post28 == 0 /\ -head_SLAM_f_29^post28+head_SLAM_f_29^0 == 0 /\ x_176^0-x_176^post28 == 0 /\ -y_18^post28+y_18^0 == 0 /\ -__disjvr_17^post28+__disjvr_17^0 == 0 /\ -x_131^post28+x_131^0 == 0 /\ __disjvr_1^0-__disjvr_1^post28 == 0 /\ y_25^0-y_25^post28 == 0 /\ -__disjvr_7^post28+__disjvr_7^0 == 0 /\ -__disjvr_8^post28+__disjvr_8^0 == 0 /\ __disjvr_0^0-__disjvr_0^post28 == 0 /\ -head_32^post28+head_32^0 == 0 /\ result_11^0-result_11^post28 == 0 /\ -a_343^post28+a_343^0 == 0 /\ tail_14^0-tail_14^post28 == 0 /\ -len_134^post28+len_134^0 == 0 /\ -a_225^post28+a_225^0 == 0 /\ -rcd_89^post28+rcd_89^0 == 0 /\ -a_188^post28+a_188^0 == 0 /\ -__disjvr_3^post28+__disjvr_3^0 == 0 /\ tmp_34^0-tmp_34^post28 == 0 /\ __disjvr_26^0-__disjvr_26^post28 == 0 /\ -__disjvr_23^post28+__disjvr_23^0 == 0 /\ f_171^0-f_171^post28 == 0 /\ a_342^0-a_342^post28 == 0 /\ -__disjvr_22^post28+__disjvr_22^0 == 0 /\ -__disjvr_16^post28+__disjvr_16^0 == 0 /\ __disjvr_14^0-__disjvr_14^post28 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post28 == 0 /\ t_22^0-t_22^post28 == 0 /\ -__disjvr_15^post28+__disjvr_15^0 == 0 /\ __disjvr_18^0-__disjvr_18^post28 == 0 /\ -__disjvr_27^post28+__disjvr_27^0 == 0 /\ -__disjvr_10^post28+__disjvr_10^0 == 0 /\ x_19^0-x_19^post28 == 0 /\ -a_118^post28+a_118^0 == 0 /\ -temp0_31^post28+temp0_31^0 == 0 /\ __disjvr_28^0-__disjvr_28^post28 == 0 /\ r_165^0-r_165^post28 == 0 /\ -i_110^post28+i_110^0 == 0 /\ __disjvr_4^0-__disjvr_4^post28 == 0 /\ -i_30^post28+i_30^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post28 == 0 /\ -nondet_12^post28+nondet_12^0 == 0 /\ -__disjvr_5^post28+__disjvr_5^0 == 0 /\ -__disjvr_11^0+__disjvr_11^post28 == 0 /\ a_281^0-a_281^post28 == 0 /\ -r_126^post28+r_126^0 == 0 /\ a_289^0-a_289^post28 == 0 /\ len_187^0-len_187^post28 == 0 /\ -x_26^post28+x_26^0 == 0 /\ i_95^0-i_95^post28 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post28+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ a_149^0-a_149^post28 == 0 /\ -__disjvr_29^post28+__disjvr_29^0 == 0 /\ -length_28^post28+length_28^0 == 0 /\ rcd_59^0-rcd_59^post28 == 0 /\ -__disjvr_13^post28+__disjvr_13^0 == 0 /\ -r_39^post28+r_39^0 == 0 /\ -__disjvr_24^post28+__disjvr_24^0 == 0 /\ __disjvr_19^0-__disjvr_19^post28 == 0 /\ temp0_16^0-temp0_16^post28 == 0 /\ -__disjvr_9^post28+__disjvr_9^0 == 0 /\ __disjvr_21^0-__disjvr_21^post28 == 0 /\ __disjvr_11^0-__disjvr_11^post28 == 0 /\ -__disjvr_20^post28+__disjvr_20^0 == 0 /\ __disjvr_25^0-__disjvr_25^post28 == 0), cost: 1
New rule:
l27 -> l28 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l28 -> l29 : __disjvr_0^0'=__disjvr_0^post29, a_281^0'=a_281^post29, x_SLAM_f_24^0'=x_SLAM_f_24^post29, __disjvr_21^0'=__disjvr_21^post29, __disjvr_4^0'=__disjvr_4^post29, tail_14^0'=tail_14^post29, __disjvr_14^0'=__disjvr_14^post29, head_15^0'=head_15^post29, __disjvr_24^0'=__disjvr_24^post29, r_165^0'=r_165^post29, __disjvr_9^0'=__disjvr_9^post29, a_149^0'=a_149^post29, x_19^0'=x_19^post29, __disjvr_19^0'=__disjvr_19^post29, i_95^0'=i_95^post29, __disjvr_29^0'=__disjvr_29^post29, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post29, __disjvr_11^0'=__disjvr_11^post29, a_342^0'=a_342^post29, y_25^0'=y_25^post29, length_28^0'=length_28^post29, __disjvr_6^0'=__disjvr_6^post29, temp0_31^0'=temp0_31^post29, __disjvr_16^0'=__disjvr_16^post29, head_SLAM_f_29^0'=head_SLAM_f_29^post29, __disjvr_26^0'=__disjvr_26^post29, rcd_59^0'=rcd_59^post29, a_225^0'=a_225^post29, x_SLAM_f_17^0'=x_SLAM_f_17^post29, __disjvr_20^0'=__disjvr_20^post29, len_187^0'=len_187^post29, __disjvr_3^0'=__disjvr_3^post29, t_22^0'=t_22^post29, __disjvr_13^0'=__disjvr_13^post29, f_171^0'=f_171^post29, __disjvr_23^0'=__disjvr_23^post29, r_126^0'=r_126^post29, __disjvr_8^0'=__disjvr_8^post29, tmp_34^0'=tmp_34^post29, x_176^0'=x_176^post29, __disjvr_18^0'=__disjvr_18^post29, i_30^0'=i_30^post29, __disjvr_28^0'=__disjvr_28^post29, result_11^0'=result_11^post29, __disjvr_10^0'=__disjvr_10^post29, a_289^0'=a_289^post29, y_18^0'=y_18^post29, __disjvr_22^0'=__disjvr_22^post29, __disjvr_5^0'=__disjvr_5^post29, temp0_16^0'=temp0_16^post29, __disjvr_15^0'=__disjvr_15^post29, head_32^0'=head_32^post29, __disjvr_25^0'=__disjvr_25^post29, r_39^0'=r_39^post29, a_118^0'=a_118^post29, a_188^0'=a_188^post29, x_26^0'=x_26^post29, __disjvr_1^0'=__disjvr_1^post29, len_134^0'=len_134^post29, __disjvr_2^0'=__disjvr_2^post29, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post29, __disjvr_12^0'=__disjvr_12^post29, a_343^0'=a_343^post29, nondet_12^0'=nondet_12^post29, __disjvr_7^0'=__disjvr_7^post29, temp_35^0'=temp_35^post29, x_131^0'=x_131^post29, __disjvr_17^0'=__disjvr_17^post29, i_110^0'=i_110^post29, __disjvr_27^0'=__disjvr_27^post29, rcd_89^0'=rcd_89^post29, (x_176^0-x_176^post29 == 0 /\ __disjvr_9^0-__disjvr_9^post29 == 0 /\ -len_134^post29+len_134^0 == 0 /\ __disjvr_18^0-__disjvr_18^post29 == 0 /\ -a_188^post29+a_188^0 == 0 /\ t_22^0-t_22^post29 == 0 /\ __disjvr_1^0-__disjvr_1^post29 == 0 /\ -a_343^post29+a_343^0 == 0 /\ -r_39^post29+r_39^0 == 0 /\ -__disjvr_13^post29+__disjvr_13^0 == 0 /\ result_11^0-result_11^post29 == 0 /\ -__disjvr_20^post29+__disjvr_20^0 == 0 /\ -__disjvr_2^post29+__disjvr_2^0 == 0 /\ len_187^0-len_187^post29 == 0 /\ -temp_35^post29+temp_35^0 == 0 /\ -__disjvr_16^post29+__disjvr_16^0 == 0 /\ __disjvr_26^0-__disjvr_26^post29 == 0 /\ a_149^0-a_149^post29 == 0 /\ f_171^0-f_171^post29 == 0 /\ -i_95^post29+i_95^0 == 0 /\ -__disjvr_10^post29+__disjvr_10^0 == 0 /\ -a_118^post29+a_118^0 == 0 /\ __disjvr_14^0-__disjvr_14^post29 == 0 /\ __disjvr_19^0-__disjvr_19^post29 == 0 /\ y_25^0-y_25^post29 == 0 /\ __disjvr_0^0-__disjvr_0^post29 == 0 /\ -__disjvr_17^post29+__disjvr_17^0 == 0 /\ __disjvr_6^0-__disjvr_6^post29 == 0 /\ -x_131^post29+x_131^0 == 0 /\ __disjvr_4^0-__disjvr_4^post29 == 0 /\ -i_30^post29+i_30^0 == 0 /\ -y_18^post29+y_18^0 == 0 /\ -__disjvr_7^post29+__disjvr_7^0 == 0 /\ -__disjvr_8^post29+__disjvr_8^0 == 0 /\ -rcd_89^post29+rcd_89^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post29 == 0 /\ -__disjvr_22^post29+__disjvr_22^0 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post29 == 0 /\ -x_26^post29+x_26^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post29+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -r_126^post29+r_126^0 == 0 /\ -__disjvr_28^post29+__disjvr_28^0 == 0 /\ -__disjvr_24^post29+__disjvr_24^0 == 0 /\ -length_28^post29+length_28^0 == 0 /\ __disjvr_12^post29-__disjvr_12^0 == 0 /\ -temp0_31^post29+temp0_31^0 == 0 /\ r_165^0-r_165^post29 == 0 /\ -a_225^post29+a_225^0 == 0 /\ -__disjvr_15^post29+__disjvr_15^0 == 0 /\ -head_32^post29+head_32^0 == 0 /\ tmp_34^0-tmp_34^post29 == 0 /\ -__disjvr_27^post29+__disjvr_27^0 == 0 /\ rcd_59^0-rcd_59^post29 == 0 /\ __disjvr_3^0-__disjvr_3^post29 == 0 /\ -nondet_12^post29+nondet_12^0 == 0 /\ __disjvr_21^0-__disjvr_21^post29 == 0 /\ __disjvr_29^0-__disjvr_29^post29 == 0 /\ __disjvr_11^0-__disjvr_11^post29 == 0 /\ a_281^0-a_281^post29 == 0 /\ __disjvr_5^0-__disjvr_5^post29 == 0 /\ __disjvr_25^0-__disjvr_25^post29 == 0 /\ -a_342^post29+a_342^0 == 0 /\ -i_110^post29+i_110^0 == 0 /\ -head_SLAM_f_29^post29+head_SLAM_f_29^0 == 0 /\ __disjvr_23^0-__disjvr_23^post29 == 0 /\ x_19^0-x_19^post29 == 0 /\ a_289^0-a_289^post29 == 0 /\ -__disjvr_12^post29+__disjvr_12^0 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post29 == 0 /\ -temp0_16^post29+temp0_16^0 == 0 /\ tail_14^0-tail_14^post29 == 0 /\ head_15^0-head_15^post29 == 0), cost: 1
New rule:
l28 -> l29 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l29 -> l6 : __disjvr_0^0'=__disjvr_0^post30, a_281^0'=a_281^post30, x_SLAM_f_24^0'=x_SLAM_f_24^post30, __disjvr_21^0'=__disjvr_21^post30, __disjvr_4^0'=__disjvr_4^post30, tail_14^0'=tail_14^post30, __disjvr_14^0'=__disjvr_14^post30, head_15^0'=head_15^post30, __disjvr_24^0'=__disjvr_24^post30, r_165^0'=r_165^post30, __disjvr_9^0'=__disjvr_9^post30, a_149^0'=a_149^post30, x_19^0'=x_19^post30, __disjvr_19^0'=__disjvr_19^post30, i_95^0'=i_95^post30, __disjvr_29^0'=__disjvr_29^post30, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post30, __disjvr_11^0'=__disjvr_11^post30, a_342^0'=a_342^post30, y_25^0'=y_25^post30, length_28^0'=length_28^post30, __disjvr_6^0'=__disjvr_6^post30, temp0_31^0'=temp0_31^post30, __disjvr_16^0'=__disjvr_16^post30, head_SLAM_f_29^0'=head_SLAM_f_29^post30, __disjvr_26^0'=__disjvr_26^post30, rcd_59^0'=rcd_59^post30, a_225^0'=a_225^post30, x_SLAM_f_17^0'=x_SLAM_f_17^post30, __disjvr_20^0'=__disjvr_20^post30, len_187^0'=len_187^post30, __disjvr_3^0'=__disjvr_3^post30, t_22^0'=t_22^post30, __disjvr_13^0'=__disjvr_13^post30, f_171^0'=f_171^post30, __disjvr_23^0'=__disjvr_23^post30, r_126^0'=r_126^post30, __disjvr_8^0'=__disjvr_8^post30, tmp_34^0'=tmp_34^post30, x_176^0'=x_176^post30, __disjvr_18^0'=__disjvr_18^post30, i_30^0'=i_30^post30, __disjvr_28^0'=__disjvr_28^post30, result_11^0'=result_11^post30, __disjvr_10^0'=__disjvr_10^post30, a_289^0'=a_289^post30, y_18^0'=y_18^post30, __disjvr_22^0'=__disjvr_22^post30, __disjvr_5^0'=__disjvr_5^post30, temp0_16^0'=temp0_16^post30, __disjvr_15^0'=__disjvr_15^post30, head_32^0'=head_32^post30, __disjvr_25^0'=__disjvr_25^post30, r_39^0'=r_39^post30, a_118^0'=a_118^post30, a_188^0'=a_188^post30, x_26^0'=x_26^post30, __disjvr_1^0'=__disjvr_1^post30, len_134^0'=len_134^post30, __disjvr_2^0'=__disjvr_2^post30, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post30, __disjvr_12^0'=__disjvr_12^post30, a_343^0'=a_343^post30, nondet_12^0'=nondet_12^post30, __disjvr_7^0'=__disjvr_7^post30, temp_35^0'=temp_35^post30, x_131^0'=x_131^post30, __disjvr_17^0'=__disjvr_17^post30, i_110^0'=i_110^post30, __disjvr_27^0'=__disjvr_27^post30, rcd_89^0'=rcd_89^post30, (0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post30+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -1-a_225^0+len_134^post30 <= 0 /\ x_26^0-x_26^post30 == 0 /\ -nondet_12^post30+nondet_12^0 == 0 /\ y_25^0-y_25^post30 == 0 /\ -a_118^post30+a_118^0 == 0 /\ -__disjvr_10^post30+__disjvr_10^0 == 0 /\ a_289^0-a_289^post30 == 0 /\ -__disjvr_2^post30+__disjvr_2^0 == 0 /\ tmp_34^0-tmp_34^post30 == 0 /\ len_187^0-len_187^post30 == 0 /\ result_11^0-result_11^post30 == 0 /\ a_149^0-a_149^post30 == 0 /\ __disjvr_9^0-__disjvr_9^post30 == 0 /\ -i_110^post30+i_110^0 == 0 /\ f_171^0-f_171^post30 == 0 /\ __disjvr_21^0-__disjvr_21^post30 == 0 /\ -a_188^post30+a_188^0 == 0 /\ t_22^0-t_22^post30 == 0 /\ rcd_59^0-rcd_59^post30 == 0 /\ __disjvr_5^0-__disjvr_5^post30 == 0 /\ -__disjvr_27^post30+__disjvr_27^0 == 0 /\ -i_30^post30+i_30^0 == 0 /\ -__disjvr_25^post30+__disjvr_25^0 == 0 /\ __disjvr_6^0-__disjvr_6^post30 == 0 /\ __disjvr_14^0-__disjvr_14^post30 == 0 /\ -r_126^post30+r_126^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post30+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ length_28^0-length_28^post30 == 0 /\ -__disjvr_13^post30+__disjvr_13^0 == 0 /\ x_176^0-x_176^post30 == 0 /\ __disjvr_24^0-__disjvr_24^post30 == 0 /\ -__disjvr_28^post30+__disjvr_28^0 == 0 /\ -__disjvr_20^post30+__disjvr_20^0 == 0 /\ -temp_35^post30+temp_35^0 == 0 /\ -temp0_31^post30+temp0_31^0 == 0 /\ __disjvr_4^0-__disjvr_4^post30 == 0 /\ __disjvr_1^0-__disjvr_1^post30 == 0 /\ -__disjvr_15^post30+__disjvr_15^0 == 0 /\ 1+a_225^0-len_134^post30 <= 0 /\ -i_95^post30+i_95^0 == 0 /\ __disjvr_0^0-__disjvr_0^post30 == 0 /\ __disjvr_26^0-__disjvr_26^post30 == 0 /\ __disjvr_18^0-__disjvr_18^post30 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ tail_14^0-tail_14^post30 == 0 /\ -__disjvr_12^post30+__disjvr_12^0 == 0 /\ -head_SLAM_f_29^post30+head_SLAM_f_29^0 == 0 /\ -y_18^post30+y_18^0 == 0 /\ __disjvr_7^0-__disjvr_7^post30 == 0 /\ __disjvr_11^0-__disjvr_11^post30 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post30 == 0 /\ __disjvr_19^0-__disjvr_19^post30 == 0 /\ -a_342^post30+a_342^0 == 0 /\ -rcd_89^post30+rcd_89^0 == 0 /\ -__disjvr_3^post30+__disjvr_3^0 == 0 /\ __disjvr_23^0-__disjvr_23^post30 == 0 /\ -__disjvr_22^post30+__disjvr_22^0 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post30 == 0 /\ x_19^0-x_19^post30 == 0 /\ -temp0_16^post30+temp0_16^0 == 0 /\ __disjvr_17^0-__disjvr_17^post30 == 0 /\ r_165^0-r_165^post30 == 0 /\ x_131^0-x_131^post30 == 0 /\ head_15^0-head_15^post30 == 0 /\ -a_343^post30+a_343^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -__disjvr_16^post30+__disjvr_16^0 == 0 /\ __disjvr_29^0-__disjvr_29^post30 == 0 /\ a_281^0-a_281^post30 == 0 /\ -a_225^post30+a_225^0 == 0 /\ r_39^0-r_39^post30 == 0 /\ __disjvr_8^0-__disjvr_8^post30 == 0 /\ -head_32^post30+head_32^0 == 0), cost: 1
New rule:
l29 -> l6 : len_134^0'=1+a_225^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1

Applied preprocessing
Original rule:
l30 -> l3 : __disjvr_0^0'=__disjvr_0^post31, a_281^0'=a_281^post31, x_SLAM_f_24^0'=x_SLAM_f_24^post31, __disjvr_21^0'=__disjvr_21^post31, __disjvr_4^0'=__disjvr_4^post31, tail_14^0'=tail_14^post31, __disjvr_14^0'=__disjvr_14^post31, head_15^0'=head_15^post31, __disjvr_24^0'=__disjvr_24^post31, r_165^0'=r_165^post31, __disjvr_9^0'=__disjvr_9^post31, a_149^0'=a_149^post31, x_19^0'=x_19^post31, __disjvr_19^0'=__disjvr_19^post31, i_95^0'=i_95^post31, __disjvr_29^0'=__disjvr_29^post31, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post31, __disjvr_11^0'=__disjvr_11^post31, a_342^0'=a_342^post31, y_25^0'=y_25^post31, length_28^0'=length_28^post31, __disjvr_6^0'=__disjvr_6^post31, temp0_31^0'=temp0_31^post31, __disjvr_16^0'=__disjvr_16^post31, head_SLAM_f_29^0'=head_SLAM_f_29^post31, __disjvr_26^0'=__disjvr_26^post31, rcd_59^0'=rcd_59^post31, a_225^0'=a_225^post31, x_SLAM_f_17^0'=x_SLAM_f_17^post31, __disjvr_20^0'=__disjvr_20^post31, len_187^0'=len_187^post31, __disjvr_3^0'=__disjvr_3^post31, t_22^0'=t_22^post31, __disjvr_13^0'=__disjvr_13^post31, f_171^0'=f_171^post31, __disjvr_23^0'=__disjvr_23^post31, r_126^0'=r_126^post31, __disjvr_8^0'=__disjvr_8^post31, tmp_34^0'=tmp_34^post31, x_176^0'=x_176^post31, __disjvr_18^0'=__disjvr_18^post31, i_30^0'=i_30^post31, __disjvr_28^0'=__disjvr_28^post31, result_11^0'=result_11^post31, __disjvr_10^0'=__disjvr_10^post31, a_289^0'=a_289^post31, y_18^0'=y_18^post31, __disjvr_22^0'=__disjvr_22^post31, __disjvr_5^0'=__disjvr_5^post31, temp0_16^0'=temp0_16^post31, __disjvr_15^0'=__disjvr_15^post31, head_32^0'=head_32^post31, __disjvr_25^0'=__disjvr_25^post31, r_39^0'=r_39^post31, a_118^0'=a_118^post31, a_188^0'=a_188^post31, x_26^0'=x_26^post31, __disjvr_1^0'=__disjvr_1^post31, len_134^0'=len_134^post31, __disjvr_2^0'=__disjvr_2^post31, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post31, __disjvr_12^0'=__disjvr_12^post31, a_343^0'=a_343^post31, nondet_12^0'=nondet_12^post31, __disjvr_7^0'=__disjvr_7^post31, temp_35^0'=temp_35^post31, x_131^0'=x_131^post31, __disjvr_17^0'=__disjvr_17^post31, i_110^0'=i_110^post31, __disjvr_27^0'=__disjvr_27^post31, rcd_89^0'=rcd_89^post31, (0 == 0 /\ head_15^0-head_15^post31 == 0 /\ i_30^post31 <= 0 /\ i_30^post31 == 0 /\ -x_131^post31+x_131^0 == 0 /\ __disjvr_20^0-__disjvr_20^post31 == 0 /\ -__disjvr_15^post31+__disjvr_15^0 == 0 /\ -__disjvr_8^post31+__disjvr_8^0 == 0 /\ a_225^0-a_225^post31 == 0 /\ -__disjvr_7^post31+__disjvr_7^0 == 0 /\ __disjvr_11^0-__disjvr_11^post31 == 0 /\ -result_11^post31+result_11^0 == 0 /\ -len_134^post31+len_134^0 == 0 /\ -__disjvr_12^post31+__disjvr_12^0 == 0 /\ __disjvr_16^0-__disjvr_16^post31 == 0 /\ a_342^0-a_342^post31 == 0 /\ -x_SLAM_f_17^post31+x_SLAM_f_17^0 == 0 /\ a_281^0-a_281^post31 == 0 /\ -x_26^post31+x_26^0 == 0 /\ a_149^0-a_149^post31 == 0 /\ -__disjvr_17^post31+__disjvr_17^0 == 0 /\ -__disjvr_26^post31+__disjvr_26^0 == 0 /\ -i_30^post31 <= 0 /\ -__disjvr_18^post31+__disjvr_18^0 == 0 /\ -rcd_89^post31+rcd_89^0 == 0 /\ -__disjvr_3^post31+__disjvr_3^0 == 0 /\ rcd_59^0-rcd_59^post31 == 0 /\ -tmp_34^post31+tmp_34^0 == 0 /\ __disjvr_29^0-__disjvr_29^post31 == 0 /\ tail_14^0-tail_14^post31 == 0 /\ __disjvr_14^0-__disjvr_14^post31 == 0 /\ i_95^0-i_95^post31 == 0 /\ __disjvr_9^0-__disjvr_9^post31 == 0 /\ -len_187^post31+len_187^0 == 0 /\ __disjvr_6^0-__disjvr_6^post31 == 0 /\ -__disjvr_2^post31+__disjvr_2^0 == 0 /\ -a_343^post31+a_343^0 == 0 /\ -t_22^post31+t_22^0 == 0 /\ -a_289^post31+a_289^0 == 0 /\ head_SLAM_f_29^post31-head_32^post31 <= 0 /\ -a_118^post31+a_118^0 == 0 /\ __disjvr_23^0-__disjvr_23^post31 == 0 /\ y_18^0-y_18^post31 == 0 /\ -__disjvr_27^post31+__disjvr_27^0 == 0 /\ __disjvr_4^0-__disjvr_4^post31 == 0 /\ temp0_16^0-temp0_16^post31 == 0 /\ -temp0_31^post31+temp0_31^0 == 0 /\ __disjvr_22^0-__disjvr_22^post31 == 0 /\ x_176^0-x_176^post31 == 0 /\ -x_SLAM_f_24^post31+x_SLAM_f_24^0 == 0 /\ -f_171^post31+f_171^0 == 0 /\ -a_188^post31+a_188^0 == 0 /\ -head_SLAM_f_29^post31+tail_14^0 <= 0 /\ -tail_14^0+head_32^post31 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post31-length_28^post31 <= 0 /\ r_39^0-r_39^post31 == 0 /\ r_165^0-r_165^post31 == 0 /\ -x_19^post31+x_19^0 == 0 /\ -__disjvr_10^post31+__disjvr_10^0 == 0 /\ __disjvr_21^0-__disjvr_21^post31 == 0 /\ -head_SLAM_f_29^post31+head_32^post31 <= 0 /\ -head_SLAM_f_29^post31+head_32^post31 == 0 /\ -r_126^post31+r_126^0 == 0 /\ -__disjvr_24^post31+__disjvr_24^0 == 0 /\ __disjvr_0^0-__disjvr_0^post31 == 0 /\ -i_110^post31+i_110^0 == 0 /\ -__disjvr_25^post31+__disjvr_25^0 == 0 /\ -__disjvr_5^post31+__disjvr_5^0 == 0 /\ -__disjvr_28^post31+__disjvr_28^0 == 0 /\ -__disjvr_13^post31+__disjvr_13^0 == 0 /\ head_SLAM_f_29^post31-tail_14^0 <= 0 /\ head_SLAM_f_29^post31-tail_14^0 == 0 /\ y_25^0-y_25^post31 == 0 /\ tail_14^0-head_32^post31 <= 0 /\ -temp_35^post31+temp_35^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post31+length_28^post31 <= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post31+length_28^post31 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post31 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post31-nondet_12^10 == 0 /\ -__disjvr_19^post31+__disjvr_19^0 == 0 /\ -__disjvr_1^post31+__disjvr_1^0 == 0), cost: 1
New rule:
l30 -> l3 : length_28^0'=nondet_12^10, head_SLAM_f_29^0'=tail_14^0, i_30^0'=0, head_32^0'=tail_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post31, 0 == 0, cost: 1

Applied preprocessing
Original rule:
l31 -> l32 : __disjvr_0^0'=__disjvr_0^post32, a_281^0'=a_281^post32, x_SLAM_f_24^0'=x_SLAM_f_24^post32, __disjvr_21^0'=__disjvr_21^post32, __disjvr_4^0'=__disjvr_4^post32, tail_14^0'=tail_14^post32, __disjvr_14^0'=__disjvr_14^post32, head_15^0'=head_15^post32, __disjvr_24^0'=__disjvr_24^post32, r_165^0'=r_165^post32, __disjvr_9^0'=__disjvr_9^post32, a_149^0'=a_149^post32, x_19^0'=x_19^post32, __disjvr_19^0'=__disjvr_19^post32, i_95^0'=i_95^post32, __disjvr_29^0'=__disjvr_29^post32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post32, __disjvr_11^0'=__disjvr_11^post32, a_342^0'=a_342^post32, y_25^0'=y_25^post32, length_28^0'=length_28^post32, __disjvr_6^0'=__disjvr_6^post32, temp0_31^0'=temp0_31^post32, __disjvr_16^0'=__disjvr_16^post32, head_SLAM_f_29^0'=head_SLAM_f_29^post32, __disjvr_26^0'=__disjvr_26^post32, rcd_59^0'=rcd_59^post32, a_225^0'=a_225^post32, x_SLAM_f_17^0'=x_SLAM_f_17^post32, __disjvr_20^0'=__disjvr_20^post32, len_187^0'=len_187^post32, __disjvr_3^0'=__disjvr_3^post32, t_22^0'=t_22^post32, __disjvr_13^0'=__disjvr_13^post32, f_171^0'=f_171^post32, __disjvr_23^0'=__disjvr_23^post32, r_126^0'=r_126^post32, __disjvr_8^0'=__disjvr_8^post32, tmp_34^0'=tmp_34^post32, x_176^0'=x_176^post32, __disjvr_18^0'=__disjvr_18^post32, i_30^0'=i_30^post32, __disjvr_28^0'=__disjvr_28^post32, result_11^0'=result_11^post32, __disjvr_10^0'=__disjvr_10^post32, a_289^0'=a_289^post32, y_18^0'=y_18^post32, __disjvr_22^0'=__disjvr_22^post32, __disjvr_5^0'=__disjvr_5^post32, temp0_16^0'=temp0_16^post32, __disjvr_15^0'=__disjvr_15^post32, head_32^0'=head_32^post32, __disjvr_25^0'=__disjvr_25^post32, r_39^0'=r_39^post32, a_118^0'=a_118^post32, a_188^0'=a_188^post32, x_26^0'=x_26^post32, __disjvr_1^0'=__disjvr_1^post32, len_134^0'=len_134^post32, __disjvr_2^0'=__disjvr_2^post32, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post32, __disjvr_12^0'=__disjvr_12^post32, a_343^0'=a_343^post32, nondet_12^0'=nondet_12^post32, __disjvr_7^0'=__disjvr_7^post32, temp_35^0'=temp_35^post32, x_131^0'=x_131^post32, __disjvr_17^0'=__disjvr_17^post32, i_110^0'=i_110^post32, __disjvr_27^0'=__disjvr_27^post32, rcd_89^0'=rcd_89^post32, (0 == 0 /\ -__disjvr_18^post32+__disjvr_18^0 == 0 /\ -__disjvr_5^post32+__disjvr_5^0 == 0 /\ -__disjvr_25^post32+__disjvr_25^0 == 0 /\ -a_149^0 <= 0 /\ __disjvr_23^0-__disjvr_23^post32 == 0 /\ -__disjvr_16^post32+__disjvr_16^0 == 0 /\ -__disjvr_8^post32+__disjvr_8^0 == 0 /\ -__disjvr_27^post32+__disjvr_27^0 == 0 /\ -a_343^post32+a_343^0 == 0 /\ head_15^0-x_19^post32 <= 0 /\ t_22^0-t_22^post32 == 0 /\ -__disjvr_13^post32+__disjvr_13^0 == 0 /\ -y_25^0+x_26^0 <= 0 /\ -temp_35^post32+temp_35^0 == 0 /\ a_149^0-a_149^post32 == 0 /\ -__disjvr_2^post32+__disjvr_2^0 == 0 /\ -tail_14^0+y_18^post32 <= 0 /\ -tail_14^0+y_18^post32 == 0 /\ __disjvr_21^0-__disjvr_21^post32 == 0 /\ __disjvr_14^0-__disjvr_14^post32 == 0 /\ -__disjvr_17^post32+__disjvr_17^0 == 0 /\ r_126^0-r_126^post32 == 0 /\ -__disjvr_26^post32+__disjvr_26^0 == 0 /\ -length_28^post32+length_28^0 == 0 /\ __disjvr_6^0-__disjvr_6^post32 == 0 /\ -temp0_31^post32+temp0_31^0 == 0 /\ -__disjvr_15^post32+__disjvr_15^0 == 0 /\ -head_15^0+x_19^post32 <= 0 /\ -__disjvr_7^post32+__disjvr_7^0 == 0 /\ __disjvr_1^0-__disjvr_1^post32 == 0 /\ y_25^0-x_26^0 <= 0 /\ __disjvr_10^0-__disjvr_10^post32 == 0 /\ -x_131^post32+x_131^0 == 0 /\ -a_188^post32+a_188^0 == 0 /\ -x_176^post32+x_176^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post32 == 0 /\ __disjvr_20^0-__disjvr_20^post32 == 0 /\ tail_14^0-y_18^post32 <= 0 /\ tail_14^0-tail_14^post32 == 0 /\ __disjvr_9^0-__disjvr_9^post32 == 0 /\ -i_30^post32+i_30^0 == 0 /\ -f_171^post32+f_171^0 == 0 /\ -__disjvr_24^post32+__disjvr_24^0 == 0 /\ x_19^post32-x_SLAM_f_17^post32 <= 0 /\ x_19^post32-x_SLAM_f_17^post32 == 0 /\ -__disjvr_3^post32+__disjvr_3^0 == 0 /\ -len_187^post32+len_187^0 == 0 /\ __disjvr_0^0-__disjvr_0^post32 == 0 /\ r_39^0-r_39^post32 == 0 /\ a_225^0-a_225^post32 == 0 /\ -head_32^post32+head_32^0 == 0 /\ -a_342^post32+a_342^0 == 0 /\ -a_118^post32+a_118^0 == 0 /\ __disjvr_11^0-__disjvr_11^post32 == 0 /\ r_165^0-r_165^post32 == 0 /\ head_15^0-x_SLAM_f_17^post32 <= 0 /\ tmp_34^0-tmp_34^post32 == 0 /\ temp0_16^0-temp0_16^post32 == 0 /\ -__disjvr_28^post32+__disjvr_28^0 == 0 /\ -i_110^post32+i_110^0 == 0 /\ -a_289^post32+a_289^0 == 0 /\ -x_19^post32+x_SLAM_f_17^post32 <= 0 /\ head_SLAM_f_29^0-head_SLAM_f_29^post32 == 0 /\ -nondet_12^post32+nondet_12^0 == 0 /\ rcd_59^0-rcd_59^post32 == 0 /\ __disjvr_19^0-__disjvr_19^post32 == 0 /\ __disjvr_29^0-__disjvr_29^post32 == 0 /\ -rcd_89^post32+rcd_89^0 == 0 /\ -len_134^post32+len_134^0 == 0 /\ a_281^0-a_281^post32 == 0 /\ -head_15^0+x_SLAM_f_17^post32 <= 0 /\ -head_15^0+x_SLAM_f_17^post32 == 0 /\ i_95^0-i_95^post32 == 0 /\ -result_11^post32+result_11^0 == 0 /\ head_15^0-head_15^post32 == 0 /\ -__disjvr_12^post32+__disjvr_12^0 == 0 /\ __disjvr_4^0-__disjvr_4^post32 == 0 /\ __disjvr_22^0-__disjvr_22^post32 == 0 /\ -len_134^0 <= 0), cost: 1
New rule:
l31 -> l32 : x_SLAM_f_24^0'=x_SLAM_f_24^post32, x_19^0'=head_15^0, y_25^0'=y_25^post32, x_SLAM_f_17^0'=head_15^0, y_18^0'=tail_14^0, x_26^0'=x_26^post32, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post32, (a_149^0 >= 0 /\ -y_25^0+x_26^0 == 0 /\ len_134^0 >= 0), cost: 1

Applied preprocessing
Original rule:
l32 -> l33 : __disjvr_0^0'=__disjvr_0^post33, a_281^0'=a_281^post33, x_SLAM_f_24^0'=x_SLAM_f_24^post33, __disjvr_21^0'=__disjvr_21^post33, __disjvr_4^0'=__disjvr_4^post33, tail_14^0'=tail_14^post33, __disjvr_14^0'=__disjvr_14^post33, head_15^0'=head_15^post33, __disjvr_24^0'=__disjvr_24^post33, r_165^0'=r_165^post33, __disjvr_9^0'=__disjvr_9^post33, a_149^0'=a_149^post33, x_19^0'=x_19^post33, __disjvr_19^0'=__disjvr_19^post33, i_95^0'=i_95^post33, __disjvr_29^0'=__disjvr_29^post33, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post33, __disjvr_11^0'=__disjvr_11^post33, a_342^0'=a_342^post33, y_25^0'=y_25^post33, length_28^0'=length_28^post33, __disjvr_6^0'=__disjvr_6^post33, temp0_31^0'=temp0_31^post33, __disjvr_16^0'=__disjvr_16^post33, head_SLAM_f_29^0'=head_SLAM_f_29^post33, __disjvr_26^0'=__disjvr_26^post33, rcd_59^0'=rcd_59^post33, a_225^0'=a_225^post33, x_SLAM_f_17^0'=x_SLAM_f_17^post33, __disjvr_20^0'=__disjvr_20^post33, len_187^0'=len_187^post33, __disjvr_3^0'=__disjvr_3^post33, t_22^0'=t_22^post33, __disjvr_13^0'=__disjvr_13^post33, f_171^0'=f_171^post33, __disjvr_23^0'=__disjvr_23^post33, r_126^0'=r_126^post33, __disjvr_8^0'=__disjvr_8^post33, tmp_34^0'=tmp_34^post33, x_176^0'=x_176^post33, __disjvr_18^0'=__disjvr_18^post33, i_30^0'=i_30^post33, __disjvr_28^0'=__disjvr_28^post33, result_11^0'=result_11^post33, __disjvr_10^0'=__disjvr_10^post33, a_289^0'=a_289^post33, y_18^0'=y_18^post33, __disjvr_22^0'=__disjvr_22^post33, __disjvr_5^0'=__disjvr_5^post33, temp0_16^0'=temp0_16^post33, __disjvr_15^0'=__disjvr_15^post33, head_32^0'=head_32^post33, __disjvr_25^0'=__disjvr_25^post33, r_39^0'=r_39^post33, a_118^0'=a_118^post33, a_188^0'=a_188^post33, x_26^0'=x_26^post33, __disjvr_1^0'=__disjvr_1^post33, len_134^0'=len_134^post33, __disjvr_2^0'=__disjvr_2^post33, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, __disjvr_12^0'=__disjvr_12^post33, a_343^0'=a_343^post33, nondet_12^0'=nondet_12^post33, __disjvr_7^0'=__disjvr_7^post33, temp_35^0'=temp_35^post33, x_131^0'=x_131^post33, __disjvr_17^0'=__disjvr_17^post33, i_110^0'=i_110^post33, __disjvr_27^0'=__disjvr_27^post33, rcd_89^0'=rcd_89^post33, (a_149^0-a_149^post33 == 0 /\ -__disjvr_26^post33+__disjvr_26^0 == 0 /\ -__disjvr_1^post33+__disjvr_1^0 == 0 /\ -r_39^post33+r_39^0 == 0 /\ -i_110^post33+i_110^0 == 0 /\ a_281^0-a_281^post33 == 0 /\ -length_28^post33+length_28^0 == 0 /\ -__disjvr_2^post33+__disjvr_2^0 == 0 /\ __disjvr_21^0-__disjvr_21^post33 == 0 /\ -temp0_31^post33+temp0_31^0 == 0 /\ i_95^0-i_95^post33 == 0 /\ -a_289^post33+a_289^0 == 0 /\ -__disjvr_27^post33+__disjvr_27^0 == 0 /\ -rcd_89^post33+rcd_89^0 == 0 /\ -__disjvr_5^post33+__disjvr_5^0 == 0 /\ -a_188^post33+a_188^0 == 0 /\ __disjvr_9^0-__disjvr_9^post33 == 0 /\ -nondet_12^post33+nondet_12^0 == 0 /\ -x_176^post33+x_176^0 == 0 /\ __disjvr_14^0-__disjvr_14^post33 == 0 /\ __disjvr_28^0-__disjvr_28^post33 == 0 /\ __disjvr_10^0-__disjvr_10^post33 == 0 /\ -__disjvr_25^post33+__disjvr_25^0 == 0 /\ __disjvr_16^0-__disjvr_16^post33 == 0 /\ -x_SLAM_f_17^post33+x_SLAM_f_17^0 == 0 /\ __disjvr_20^0-__disjvr_20^post33 == 0 /\ -a_342^post33+a_342^0 == 0 /\ i_30^0-i_30^post33 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post33+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ r_126^0-r_126^post33 == 0 /\ -temp_35^post33+temp_35^0 == 0 /\ -a_118^post33+a_118^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post33+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ __disjvr_24^0-__disjvr_24^post33 == 0 /\ -__disjvr_23^post33+__disjvr_23^0 == 0 /\ -__disjvr_12^post33+__disjvr_12^0 == 0 /\ __disjvr_11^0-__disjvr_11^post33 == 0 /\ y_25^0-y_25^post33 == 0 /\ tail_14^0-tail_14^post33 == 0 /\ tmp_34^0-tmp_34^post33 == 0 /\ -__disjvr_15^post33+__disjvr_15^0 == 0 /\ -__disjvr_7^post33+__disjvr_7^0 == 0 /\ -len_134^post33+len_134^0 == 0 /\ __disjvr_13^0-__disjvr_13^post33 == 0 /\ __disjvr_19^0-__disjvr_19^post33 == 0 /\ -result_11^post33+result_11^0 == 0 /\ -x_26^post33+x_26^0 == 0 /\ __disjvr_6^0-__disjvr_6^post33 == 0 /\ rcd_59^0-rcd_59^post33 == 0 /\ __disjvr_0^0-__disjvr_0^post33 == 0 /\ a_225^0-a_225^post33 == 0 /\ -__disjvr_18^post33+__disjvr_18^0 == 0 /\ __disjvr_17^0-__disjvr_17^post33 == 0 /\ t_22^0-t_22^post33 == 0 /\ y_18^0-y_18^post33 == 0 /\ r_165^0-r_165^post33 == 0 /\ -a_343^post33+a_343^0 == 0 /\ -f_171^post33+f_171^0 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post33 == 0 /\ x_131^0-x_131^post33 == 0 /\ __disjvr_4^0-__disjvr_4^post33 == 0 /\ head_15^0-head_15^post33 == 0 /\ head_SLAM_f_29^0-head_SLAM_f_29^post33 == 0 /\ -temp0_16^post33+temp0_16^0 == 0 /\ -len_187^post33+len_187^0 == 0 /\ -head_32^post33+head_32^0 == 0 /\ -__disjvr_8^post33+__disjvr_8^0 == 0 /\ x_19^0-x_19^post33 == 0 /\ -__disjvr_13^0+__disjvr_13^post33 == 0 /\ -__disjvr_22^post33+__disjvr_22^0 == 0 /\ __disjvr_3^0-__disjvr_3^post33 == 0 /\ __disjvr_29^0-__disjvr_29^post33 == 0), cost: 1
New rule:
l32 -> l33 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l33 -> l23 : __disjvr_0^0'=__disjvr_0^post34, a_281^0'=a_281^post34, x_SLAM_f_24^0'=x_SLAM_f_24^post34, __disjvr_21^0'=__disjvr_21^post34, __disjvr_4^0'=__disjvr_4^post34, tail_14^0'=tail_14^post34, __disjvr_14^0'=__disjvr_14^post34, head_15^0'=head_15^post34, __disjvr_24^0'=__disjvr_24^post34, r_165^0'=r_165^post34, __disjvr_9^0'=__disjvr_9^post34, a_149^0'=a_149^post34, x_19^0'=x_19^post34, __disjvr_19^0'=__disjvr_19^post34, i_95^0'=i_95^post34, __disjvr_29^0'=__disjvr_29^post34, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post34, __disjvr_11^0'=__disjvr_11^post34, a_342^0'=a_342^post34, y_25^0'=y_25^post34, length_28^0'=length_28^post34, __disjvr_6^0'=__disjvr_6^post34, temp0_31^0'=temp0_31^post34, __disjvr_16^0'=__disjvr_16^post34, head_SLAM_f_29^0'=head_SLAM_f_29^post34, __disjvr_26^0'=__disjvr_26^post34, rcd_59^0'=rcd_59^post34, a_225^0'=a_225^post34, x_SLAM_f_17^0'=x_SLAM_f_17^post34, __disjvr_20^0'=__disjvr_20^post34, len_187^0'=len_187^post34, __disjvr_3^0'=__disjvr_3^post34, t_22^0'=t_22^post34, __disjvr_13^0'=__disjvr_13^post34, f_171^0'=f_171^post34, __disjvr_23^0'=__disjvr_23^post34, r_126^0'=r_126^post34, __disjvr_8^0'=__disjvr_8^post34, tmp_34^0'=tmp_34^post34, x_176^0'=x_176^post34, __disjvr_18^0'=__disjvr_18^post34, i_30^0'=i_30^post34, __disjvr_28^0'=__disjvr_28^post34, result_11^0'=result_11^post34, __disjvr_10^0'=__disjvr_10^post34, a_289^0'=a_289^post34, y_18^0'=y_18^post34, __disjvr_22^0'=__disjvr_22^post34, __disjvr_5^0'=__disjvr_5^post34, temp0_16^0'=temp0_16^post34, __disjvr_15^0'=__disjvr_15^post34, head_32^0'=head_32^post34, __disjvr_25^0'=__disjvr_25^post34, r_39^0'=r_39^post34, a_118^0'=a_118^post34, a_188^0'=a_188^post34, x_26^0'=x_26^post34, __disjvr_1^0'=__disjvr_1^post34, len_134^0'=len_134^post34, __disjvr_2^0'=__disjvr_2^post34, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post34, __disjvr_12^0'=__disjvr_12^post34, a_343^0'=a_343^post34, nondet_12^0'=nondet_12^post34, __disjvr_7^0'=__disjvr_7^post34, temp_35^0'=temp_35^post34, x_131^0'=x_131^post34, __disjvr_17^0'=__disjvr_17^post34, i_110^0'=i_110^post34, __disjvr_27^0'=__disjvr_27^post34, rcd_89^0'=rcd_89^post34, (-f_171^post34+f_171^0 == 0 /\ -temp0_16^post34+temp0_16^0 == 0 /\ -head_32^post34+head_32^0 == 0 /\ -a_342^post34+a_342^0 == 0 /\ -len_187^post34+len_187^0 == 0 /\ -rcd_89^post34+rcd_89^0 == 0 /\ __disjvr_14^0-__disjvr_14^post34 == 0 /\ a_281^0-a_281^post34 == 0 /\ -rcd_59^post34+rcd_59^0 == 0 /\ temp0_31^0-temp0_31^post34 == 0 /\ __disjvr_10^0-__disjvr_10^post34 == 0 /\ -a_118^post34+a_118^0 == 0 /\ i_95^0-i_95^post34 == 0 /\ -tmp_34^post34+tmp_34^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post34+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ x_19^0-x_19^post34 == 0 /\ -__disjvr_12^post34+__disjvr_12^0 == 0 /\ -i_110^post34+i_110^0 == 0 /\ a_225^0-a_225^post34 == 0 /\ __disjvr_9^0-__disjvr_9^post34 == 0 /\ x_26^0-x_26^post34 == 0 /\ -__disjvr_5^post34+__disjvr_5^0 == 0 /\ __disjvr_28^0-__disjvr_28^post34 == 0 /\ __disjvr_24^0-__disjvr_24^post34 == 0 /\ -a_289^post34+a_289^0 == 0 /\ -__disjvr_27^post34+__disjvr_27^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post34+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ a_149^0-a_149^post34 == 0 /\ -len_134^post34+len_134^0 == 0 /\ -result_11^post34+result_11^0 == 0 /\ __disjvr_11^0-__disjvr_11^post34 == 0 /\ __disjvr_21^0-__disjvr_21^post34 == 0 /\ length_28^0-length_28^post34 == 0 /\ -nondet_12^post34+nondet_12^0 == 0 /\ __disjvr_26^0-__disjvr_26^post34 == 0 /\ -__disjvr_18^post34+__disjvr_18^0 == 0 /\ -__disjvr_25^post34+__disjvr_25^0 == 0 /\ r_126^0-r_126^post34 == 0 /\ __disjvr_19^0-__disjvr_19^post34 == 0 /\ __disjvr_13^0-__disjvr_13^post34 == 0 /\ -a_343^post34+a_343^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -temp_35^post34+temp_35^0 == 0 /\ -a_188^post34+a_188^0 == 0 /\ -x_SLAM_f_17^post34+x_SLAM_f_17^0 == 0 /\ __disjvr_6^0-__disjvr_6^post34 == 0 /\ __disjvr_3^0-__disjvr_3^post34 == 0 /\ __disjvr_29^0-__disjvr_29^post34 == 0 /\ __disjvr_4^0-__disjvr_4^post34 == 0 /\ -__disjvr_2^post34+__disjvr_2^0 == 0 /\ __disjvr_22^0-__disjvr_22^post34 == 0 /\ y_25^0-y_25^post34 == 0 /\ -tail_14^post34+tail_14^0 == 0 /\ r_39^0-r_39^post34 == 0 /\ head_15^0-head_15^post34 == 0 /\ __disjvr_20^0-__disjvr_20^post34 == 0 /\ -x_131^post34+x_131^0 == 0 /\ -__disjvr_1^post34+__disjvr_1^0 == 0 /\ -__disjvr_23^post34+__disjvr_23^0 == 0 /\ __disjvr_0^0-__disjvr_0^post34 == 0 /\ -__disjvr_7^post34+__disjvr_7^0 == 0 /\ -__disjvr_17^post34+__disjvr_17^0 == 0 /\ -__disjvr_15^post34+__disjvr_15^0 == 0 /\ y_18^0-y_18^post34 == 0 /\ __disjvr_16^0-__disjvr_16^post34 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ r_165^0-r_165^post34 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post34 == 0 /\ -i_30^post34+i_30^0 == 0 /\ head_SLAM_f_29^0-head_SLAM_f_29^post34 == 0 /\ -t_22^post34+t_22^0 == 0 /\ -x_176^post34+x_176^0 == 0 /\ -__disjvr_8^post34+__disjvr_8^0 == 0), cost: 1
New rule:
l33 -> l23 : -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1

Applied preprocessing
Original rule:
l31 -> l35 : __disjvr_0^0'=__disjvr_0^post35, a_281^0'=a_281^post35, x_SLAM_f_24^0'=x_SLAM_f_24^post35, __disjvr_21^0'=__disjvr_21^post35, __disjvr_4^0'=__disjvr_4^post35, tail_14^0'=tail_14^post35, __disjvr_14^0'=__disjvr_14^post35, head_15^0'=head_15^post35, __disjvr_24^0'=__disjvr_24^post35, r_165^0'=r_165^post35, __disjvr_9^0'=__disjvr_9^post35, a_149^0'=a_149^post35, x_19^0'=x_19^post35, __disjvr_19^0'=__disjvr_19^post35, i_95^0'=i_95^post35, __disjvr_29^0'=__disjvr_29^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post35, __disjvr_11^0'=__disjvr_11^post35, a_342^0'=a_342^post35, y_25^0'=y_25^post35, length_28^0'=length_28^post35, __disjvr_6^0'=__disjvr_6^post35, temp0_31^0'=temp0_31^post35, __disjvr_16^0'=__disjvr_16^post35, head_SLAM_f_29^0'=head_SLAM_f_29^post35, __disjvr_26^0'=__disjvr_26^post35, rcd_59^0'=rcd_59^post35, a_225^0'=a_225^post35, x_SLAM_f_17^0'=x_SLAM_f_17^post35, __disjvr_20^0'=__disjvr_20^post35, len_187^0'=len_187^post35, __disjvr_3^0'=__disjvr_3^post35, t_22^0'=t_22^post35, __disjvr_13^0'=__disjvr_13^post35, f_171^0'=f_171^post35, __disjvr_23^0'=__disjvr_23^post35, r_126^0'=r_126^post35, __disjvr_8^0'=__disjvr_8^post35, tmp_34^0'=tmp_34^post35, x_176^0'=x_176^post35, __disjvr_18^0'=__disjvr_18^post35, i_30^0'=i_30^post35, __disjvr_28^0'=__disjvr_28^post35, result_11^0'=result_11^post35, __disjvr_10^0'=__disjvr_10^post35, a_289^0'=a_289^post35, y_18^0'=y_18^post35, __disjvr_22^0'=__disjvr_22^post35, __disjvr_5^0'=__disjvr_5^post35, temp0_16^0'=temp0_16^post35, __disjvr_15^0'=__disjvr_15^post35, head_32^0'=head_32^post35, __disjvr_25^0'=__disjvr_25^post35, r_39^0'=r_39^post35, a_118^0'=a_118^post35, a_188^0'=a_188^post35, x_26^0'=x_26^post35, __disjvr_1^0'=__disjvr_1^post35, len_134^0'=len_134^post35, __disjvr_2^0'=__disjvr_2^post35, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post35, __disjvr_12^0'=__disjvr_12^post35, a_343^0'=a_343^post35, nondet_12^0'=nondet_12^post35, __disjvr_7^0'=__disjvr_7^post35, temp_35^0'=temp_35^post35, x_131^0'=x_131^post35, __disjvr_17^0'=__disjvr_17^post35, i_110^0'=i_110^post35, __disjvr_27^0'=__disjvr_27^post35, rcd_89^0'=rcd_89^post35, (0 == 0 /\ -x_131^post35+x_131^0 == 0 /\ r_165^0-r_165^post35 == 0 /\ -__disjvr_23^post35+__disjvr_23^0 == 0 /\ temp0_31^0-temp0_31^post35 == 0 /\ -__disjvr_15^post35+__disjvr_15^0 == 0 /\ __disjvr_20^0-__disjvr_20^post35 == 0 /\ __disjvr_10^0-__disjvr_10^post35 == 0 /\ -a_149^0 <= 0 /\ -__disjvr_17^post35+__disjvr_17^0 == 0 /\ a_118^0-a_118^post35 == 0 /\ __disjvr_29^0-__disjvr_29^post35 == 0 /\ -__disjvr_7^post35+__disjvr_7^0 == 0 /\ y_25^0-y_25^post35 == 0 /\ -__disjvr_12^post35+__disjvr_12^0 == 0 /\ -__disjvr_18^post35+__disjvr_18^0 == 0 /\ -len_134^post35+len_134^0 == 0 /\ a_281^0-a_281^post35 == 0 /\ a_149^0-a_149^post35 == 0 /\ -a_343^post35+a_343^0 == 0 /\ -head_32^post35+head_32^0 == 0 /\ -a_188^post35+a_188^0 == 0 /\ __disjvr_26^0-__disjvr_26^post35 == 0 /\ -result_11^post35+result_11^0 == 0 /\ -rcd_89^post35+rcd_89^0 == 0 /\ -__disjvr_2^post35+__disjvr_2^0 == 0 /\ a_342^0-a_342^post35 == 0 /\ __disjvr_13^0-__disjvr_13^post35 == 0 /\ a_225^0-a_225^post35 == 0 /\ -temp0_16^post35+temp0_16^0 == 0 /\ __disjvr_28^0-__disjvr_28^post35 == 0 /\ -x_19^post35+x_19^0 == 0 /\ -len_187^post35+len_187^0 == 0 /\ __disjvr_9^0-__disjvr_9^post35 == 0 /\ __disjvr_4^0-__disjvr_4^post35 == 0 /\ __disjvr_22^0-__disjvr_22^post35 == 0 /\ -i_110^post35+i_110^0 == 0 /\ -__disjvr_1^post35+__disjvr_1^0 == 0 /\ length_28^0-length_28^post35 == 0 /\ head_SLAM_f_29^0-head_SLAM_f_29^post35 == 0 /\ -__disjvr_5^post35+__disjvr_5^0 == 0 /\ -__disjvr_27^post35+__disjvr_27^0 == 0 /\ y_18^0-y_18^post35 == 0 /\ -a_289^post35+a_289^0 == 0 /\ __disjvr_24^0-__disjvr_24^post35 == 0 /\ -i_30^post35+i_30^0 == 0 /\ r_126^0-r_126^post35 == 0 /\ -nondet_12^post35+nondet_12^0 == 0 /\ __disjvr_3^0-__disjvr_3^post35 == 0 /\ -__disjvr_8^post35+__disjvr_8^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post35 == 0 /\ -x_26^post35+x_26^0 == 0 /\ __disjvr_0^0-__disjvr_0^post35 == 0 /\ i_95^0-i_95^post35 == 0 /\ -x_SLAM_f_17^post35+x_SLAM_f_17^0 == 0 /\ -__disjvr_25^post35+__disjvr_25^0 == 0 /\ -t_22^post35+t_22^0 == 0 /\ __disjvr_21^0-__disjvr_21^post35 == 0 /\ __disjvr_19^0-__disjvr_19^post35 == 0 /\ -rcd_59^post35+rcd_59^0 == 0 /\ __disjvr_6^0-__disjvr_6^post35 == 0 /\ __disjvr_11^0-__disjvr_11^post35 == 0 /\ -tmp_34^post35+tmp_34^0 == 0 /\ __disjvr_14^0-__disjvr_14^post35 == 0 /\ -len_134^0 <= 0 /\ -temp_35^post35+temp_35^0 == 0 /\ __disjvr_16^0-__disjvr_16^post35 == 0), cost: 1
New rule:
l31 -> l35 : x_SLAM_f_24^0'=x_SLAM_f_24^post35, tail_14^0'=tail_14^post35, head_15^0'=head_15^post35, f_171^0'=f_171^post35, x_176^0'=x_176^post35, r_39^0'=r_39^post35, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post35, (a_149^0 >= 0 /\ len_134^0 >= 0), cost: 1

Applied preprocessing
Original rule:
l35 -> l36 : __disjvr_0^0'=__disjvr_0^post36, a_281^0'=a_281^post36, x_SLAM_f_24^0'=x_SLAM_f_24^post36, __disjvr_21^0'=__disjvr_21^post36, __disjvr_4^0'=__disjvr_4^post36, tail_14^0'=tail_14^post36, __disjvr_14^0'=__disjvr_14^post36, head_15^0'=head_15^post36, __disjvr_24^0'=__disjvr_24^post36, r_165^0'=r_165^post36, __disjvr_9^0'=__disjvr_9^post36, a_149^0'=a_149^post36, x_19^0'=x_19^post36, __disjvr_19^0'=__disjvr_19^post36, i_95^0'=i_95^post36, __disjvr_29^0'=__disjvr_29^post36, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post36, __disjvr_11^0'=__disjvr_11^post36, a_342^0'=a_342^post36, y_25^0'=y_25^post36, length_28^0'=length_28^post36, __disjvr_6^0'=__disjvr_6^post36, temp0_31^0'=temp0_31^post36, __disjvr_16^0'=__disjvr_16^post36, head_SLAM_f_29^0'=head_SLAM_f_29^post36, __disjvr_26^0'=__disjvr_26^post36, rcd_59^0'=rcd_59^post36, a_225^0'=a_225^post36, x_SLAM_f_17^0'=x_SLAM_f_17^post36, __disjvr_20^0'=__disjvr_20^post36, len_187^0'=len_187^post36, __disjvr_3^0'=__disjvr_3^post36, t_22^0'=t_22^post36, __disjvr_13^0'=__disjvr_13^post36, f_171^0'=f_171^post36, __disjvr_23^0'=__disjvr_23^post36, r_126^0'=r_126^post36, __disjvr_8^0'=__disjvr_8^post36, tmp_34^0'=tmp_34^post36, x_176^0'=x_176^post36, __disjvr_18^0'=__disjvr_18^post36, i_30^0'=i_30^post36, __disjvr_28^0'=__disjvr_28^post36, result_11^0'=result_11^post36, __disjvr_10^0'=__disjvr_10^post36, a_289^0'=a_289^post36, y_18^0'=y_18^post36, __disjvr_22^0'=__disjvr_22^post36, __disjvr_5^0'=__disjvr_5^post36, temp0_16^0'=temp0_16^post36, __disjvr_15^0'=__disjvr_15^post36, head_32^0'=head_32^post36, __disjvr_25^0'=__disjvr_25^post36, r_39^0'=r_39^post36, a_118^0'=a_118^post36, a_188^0'=a_188^post36, x_26^0'=x_26^post36, __disjvr_1^0'=__disjvr_1^post36, len_134^0'=len_134^post36, __disjvr_2^0'=__disjvr_2^post36, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post36, __disjvr_12^0'=__disjvr_12^post36, a_343^0'=a_343^post36, nondet_12^0'=nondet_12^post36, __disjvr_7^0'=__disjvr_7^post36, temp_35^0'=temp_35^post36, x_131^0'=x_131^post36, __disjvr_17^0'=__disjvr_17^post36, i_110^0'=i_110^post36, __disjvr_27^0'=__disjvr_27^post36, rcd_89^0'=rcd_89^post36, (-x_176^post36+x_176^0 == 0 /\ head_15^0-head_15^post36 == 0 /\ -x_SLAM_f_17^post36+x_SLAM_f_17^0 == 0 /\ -a_343^post36+a_343^0 == 0 /\ -t_22^post36+t_22^0 == 0 /\ -__disjvr_25^post36+__disjvr_25^0 == 0 /\ -a_188^post36+a_188^0 == 0 /\ -len_134^post36+len_134^0 == 0 /\ -__disjvr_2^post36+__disjvr_2^0 == 0 /\ __disjvr_8^0-__disjvr_8^post36 == 0 /\ -__disjvr_14^0+__disjvr_14^post36 == 0 /\ a_149^0-a_149^post36 == 0 /\ a_118^0-a_118^post36 == 0 /\ __disjvr_26^0-__disjvr_26^post36 == 0 /\ -temp_35^post36+temp_35^0 == 0 /\ -__disjvr_15^post36+__disjvr_15^0 == 0 /\ i_30^0-i_30^post36 == 0 /\ __disjvr_13^0-__disjvr_13^post36 == 0 /\ -__disjvr_23^post36+__disjvr_23^0 == 0 /\ y_25^0-y_25^post36 == 0 /\ __disjvr_3^0-__disjvr_3^post36 == 0 /\ -x_131^post36+x_131^0 == 0 /\ __disjvr_10^0-__disjvr_10^post36 == 0 /\ __disjvr_6^0-__disjvr_6^post36 == 0 /\ __disjvr_14^0-__disjvr_14^post36 == 0 /\ __disjvr_20^0-__disjvr_20^post36 == 0 /\ -__disjvr_7^post36+__disjvr_7^0 == 0 /\ tail_14^0-tail_14^post36 == 0 /\ -__disjvr_17^post36+__disjvr_17^0 == 0 /\ a_342^0-a_342^post36 == 0 /\ __disjvr_24^0-__disjvr_24^post36 == 0 /\ a_225^0-a_225^post36 == 0 /\ -x_26^post36+x_26^0 == 0 /\ -head_32^post36+head_32^0 == 0 /\ r_39^0-r_39^post36 == 0 /\ temp0_31^0-temp0_31^post36 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post36 == 0 /\ __disjvr_16^0-__disjvr_16^post36 == 0 /\ __disjvr_9^0-__disjvr_9^post36 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post36 == 0 /\ -rcd_89^post36+rcd_89^0 == 0 /\ -len_187^post36+len_187^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post36+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -__disjvr_21^post36+__disjvr_21^0 == 0 /\ -rcd_59^post36+rcd_59^0 == 0 /\ -__disjvr_28^post36+__disjvr_28^0 == 0 /\ -__disjvr_1^post36+__disjvr_1^0 == 0 /\ -temp0_16^post36+temp0_16^0 == 0 /\ -__disjvr_0^post36+__disjvr_0^0 == 0 /\ r_165^0-r_165^post36 == 0 /\ length_28^0-length_28^post36 == 0 /\ y_18^0-y_18^post36 == 0 /\ -tmp_34^post36+tmp_34^0 == 0 /\ head_SLAM_f_29^0-head_SLAM_f_29^post36 == 0 /\ __disjvr_19^0-__disjvr_19^post36 == 0 /\ __disjvr_29^0-__disjvr_29^post36 == 0 /\ r_126^0-r_126^post36 == 0 /\ -__disjvr_5^post36+__disjvr_5^0 == 0 /\ a_281^0-a_281^post36 == 0 /\ __disjvr_11^0-__disjvr_11^post36 == 0 /\ -__disjvr_27^post36+__disjvr_27^0 == 0 /\ __disjvr_22^0-__disjvr_22^post36 == 0 /\ __disjvr_4^0-__disjvr_4^post36 == 0 /\ -i_110^post36+i_110^0 == 0 /\ x_19^0-x_19^post36 == 0 /\ i_95^0-i_95^post36 == 0 /\ f_171^0-f_171^post36 == 0 /\ -__disjvr_18^post36+__disjvr_18^0 == 0 /\ -a_289^post36+a_289^0 == 0 /\ -result_11^post36+result_11^0 == 0 /\ -__disjvr_12^post36+__disjvr_12^0 == 0 /\ -nondet_12^post36+nondet_12^0 == 0), cost: 1
New rule:
l35 -> l36 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l36 -> l37 : __disjvr_0^0'=__disjvr_0^post37, a_281^0'=a_281^post37, x_SLAM_f_24^0'=x_SLAM_f_24^post37, __disjvr_21^0'=__disjvr_21^post37, __disjvr_4^0'=__disjvr_4^post37, tail_14^0'=tail_14^post37, __disjvr_14^0'=__disjvr_14^post37, head_15^0'=head_15^post37, __disjvr_24^0'=__disjvr_24^post37, r_165^0'=r_165^post37, __disjvr_9^0'=__disjvr_9^post37, a_149^0'=a_149^post37, x_19^0'=x_19^post37, __disjvr_19^0'=__disjvr_19^post37, i_95^0'=i_95^post37, __disjvr_29^0'=__disjvr_29^post37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post37, __disjvr_11^0'=__disjvr_11^post37, a_342^0'=a_342^post37, y_25^0'=y_25^post37, length_28^0'=length_28^post37, __disjvr_6^0'=__disjvr_6^post37, temp0_31^0'=temp0_31^post37, __disjvr_16^0'=__disjvr_16^post37, head_SLAM_f_29^0'=head_SLAM_f_29^post37, __disjvr_26^0'=__disjvr_26^post37, rcd_59^0'=rcd_59^post37, a_225^0'=a_225^post37, x_SLAM_f_17^0'=x_SLAM_f_17^post37, __disjvr_20^0'=__disjvr_20^post37, len_187^0'=len_187^post37, __disjvr_3^0'=__disjvr_3^post37, t_22^0'=t_22^post37, __disjvr_13^0'=__disjvr_13^post37, f_171^0'=f_171^post37, __disjvr_23^0'=__disjvr_23^post37, r_126^0'=r_126^post37, __disjvr_8^0'=__disjvr_8^post37, tmp_34^0'=tmp_34^post37, x_176^0'=x_176^post37, __disjvr_18^0'=__disjvr_18^post37, i_30^0'=i_30^post37, __disjvr_28^0'=__disjvr_28^post37, result_11^0'=result_11^post37, __disjvr_10^0'=__disjvr_10^post37, a_289^0'=a_289^post37, y_18^0'=y_18^post37, __disjvr_22^0'=__disjvr_22^post37, __disjvr_5^0'=__disjvr_5^post37, temp0_16^0'=temp0_16^post37, __disjvr_15^0'=__disjvr_15^post37, head_32^0'=head_32^post37, __disjvr_25^0'=__disjvr_25^post37, r_39^0'=r_39^post37, a_118^0'=a_118^post37, a_188^0'=a_188^post37, x_26^0'=x_26^post37, __disjvr_1^0'=__disjvr_1^post37, len_134^0'=len_134^post37, __disjvr_2^0'=__disjvr_2^post37, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post37, __disjvr_12^0'=__disjvr_12^post37, a_343^0'=a_343^post37, nondet_12^0'=nondet_12^post37, __disjvr_7^0'=__disjvr_7^post37, temp_35^0'=temp_35^post37, x_131^0'=x_131^post37, __disjvr_17^0'=__disjvr_17^post37, i_110^0'=i_110^post37, __disjvr_27^0'=__disjvr_27^post37, rcd_89^0'=rcd_89^post37, (0 == 0 /\ __disjvr_8^0-__disjvr_8^post37 == 0 /\ -1+len_187^post37-len_134^0 <= 0 /\ -nondet_12^post37+nondet_12^0 == 0 /\ tail_14^0-tail_14^post37 == 0 /\ -r_39^post37+r_39^0 == 0 /\ a_149^0-a_149^post37 == 0 /\ -a_118^post37+a_118^0 == 0 /\ __disjvr_21^0-__disjvr_21^post37 == 0 /\ __disjvr_26^0-__disjvr_26^post37 == 0 /\ __disjvr_19^0-__disjvr_19^post37 == 0 /\ -__disjvr_6^post37+__disjvr_6^0 == 0 /\ tail_14^0-y_25^0 <= 0 /\ -i_110^post37+i_110^0 == 0 /\ __disjvr_9^0-__disjvr_9^post37 == 0 /\ -a_289^post37+a_289^0 == 0 /\ -__disjvr_27^post37+__disjvr_27^0 == 0 /\ -__disjvr_5^post37+__disjvr_5^0 == 0 /\ __disjvr_28^0-__disjvr_28^post37 == 0 /\ -x_26^post37+x_26^0 == 0 /\ __disjvr_10^0-__disjvr_10^post37 == 0 /\ len_134^0-len_134^post37 == 0 /\ -x_SLAM_f_17^post37+x_SLAM_f_17^0 == 0 /\ __disjvr_14^0-__disjvr_14^post37 == 0 /\ __disjvr_20^0-__disjvr_20^post37 == 0 /\ -__disjvr_25^post37+__disjvr_25^0 == 0 /\ -1+a_149^0-a_188^post37 <= 0 /\ i_30^0-i_30^post37 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post37+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -t_22^post37+t_22^0 == 0 /\ -rcd_59^post37+rcd_59^0 == 0 /\ -tail_14^0+y_25^0 <= 0 /\ -__disjvr_1^post37+__disjvr_1^0 == 0 /\ -tmp_34^post37+tmp_34^0 == 0 /\ y_25^0-y_25^post37 == 0 /\ -temp_35^post37+temp_35^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post37 == 0 /\ __disjvr_3^0-__disjvr_3^post37 == 0 /\ -x_SLAM_f_24^0+head_15^0 <= 0 /\ -__disjvr_15^post37+__disjvr_15^0 == 0 /\ f_171^0-x_26^0 <= 0 /\ 1-len_187^post37+len_134^0 <= 0 /\ r_126^0-r_126^post37 == 0 /\ __disjvr_24^0-__disjvr_24^post37 == 0 /\ __disjvr_0^0-__disjvr_0^post37 == 0 /\ i_95^0-i_95^post37 == 0 /\ head_32^0-head_32^post37 == 0 /\ a_342^0-a_342^post37 == 0 /\ a_225^0-a_225^post37 == 0 /\ __disjvr_13^0-__disjvr_13^post37 == 0 /\ -__disjvr_7^post37+__disjvr_7^0 == 0 /\ __disjvr_11^0-__disjvr_11^post37 == 0 /\ -result_11^post37+result_11^0 == 0 /\ -__disjvr_18^post37+__disjvr_18^0 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post37 == 0 /\ -__disjvr_17^post37+__disjvr_17^0 == 0 /\ -__disjvr_12^post37+__disjvr_12^0 == 0 /\ -x_131^post37+x_131^0 == 0 /\ __disjvr_16^0-__disjvr_16^post37 == 0 /\ __disjvr_22^0-__disjvr_22^post37 == 0 /\ x_19^0-x_19^post37 == 0 /\ __disjvr_4^0-__disjvr_4^post37 == 0 /\ -temp0_16^post37+temp0_16^0 == 0 /\ -x_176^post37+x_176^0 == 0 /\ x_SLAM_f_24^0-head_15^0 <= 0 /\ -f_171^0+x_26^0 <= 0 /\ r_165^0-r_165^post37 == 0 /\ -f_171^post37+f_171^0 == 0 /\ y_18^0-y_18^post37 == 0 /\ length_28^0-length_28^post37 == 0 /\ 1-a_149^0+a_188^post37 <= 0 /\ head_15^0-head_15^post37 == 0 /\ head_SLAM_f_29^0-head_SLAM_f_29^post37 == 0 /\ __disjvr_29^0-__disjvr_29^post37 == 0 /\ -__disjvr_23^post37+__disjvr_23^0 == 0 /\ a_281^0-a_281^post37 == 0 /\ -a_343^post37+a_343^0 == 0 /\ temp0_31^0-temp0_31^post37 == 0 /\ -__disjvr_2^post37+__disjvr_2^0 == 0 /\ -rcd_89^post37+rcd_89^0 == 0), cost: 1
New rule:
l36 -> l37 : len_187^0'=1+len_134^0, a_188^0'=-1+a_149^0, (tail_14^0-y_25^0 == 0 /\ -x_SLAM_f_24^0+head_15^0 == 0 /\ f_171^0-x_26^0 == 0), cost: 1

Applied preprocessing
Original rule:
l37 -> l38 : __disjvr_0^0'=__disjvr_0^post38, a_281^0'=a_281^post38, x_SLAM_f_24^0'=x_SLAM_f_24^post38, __disjvr_21^0'=__disjvr_21^post38, __disjvr_4^0'=__disjvr_4^post38, tail_14^0'=tail_14^post38, __disjvr_14^0'=__disjvr_14^post38, head_15^0'=head_15^post38, __disjvr_24^0'=__disjvr_24^post38, r_165^0'=r_165^post38, __disjvr_9^0'=__disjvr_9^post38, a_149^0'=a_149^post38, x_19^0'=x_19^post38, __disjvr_19^0'=__disjvr_19^post38, i_95^0'=i_95^post38, __disjvr_29^0'=__disjvr_29^post38, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post38, __disjvr_11^0'=__disjvr_11^post38, a_342^0'=a_342^post38, y_25^0'=y_25^post38, length_28^0'=length_28^post38, __disjvr_6^0'=__disjvr_6^post38, temp0_31^0'=temp0_31^post38, __disjvr_16^0'=__disjvr_16^post38, head_SLAM_f_29^0'=head_SLAM_f_29^post38, __disjvr_26^0'=__disjvr_26^post38, rcd_59^0'=rcd_59^post38, a_225^0'=a_225^post38, x_SLAM_f_17^0'=x_SLAM_f_17^post38, __disjvr_20^0'=__disjvr_20^post38, len_187^0'=len_187^post38, __disjvr_3^0'=__disjvr_3^post38, t_22^0'=t_22^post38, __disjvr_13^0'=__disjvr_13^post38, f_171^0'=f_171^post38, __disjvr_23^0'=__disjvr_23^post38, r_126^0'=r_126^post38, __disjvr_8^0'=__disjvr_8^post38, tmp_34^0'=tmp_34^post38, x_176^0'=x_176^post38, __disjvr_18^0'=__disjvr_18^post38, i_30^0'=i_30^post38, __disjvr_28^0'=__disjvr_28^post38, result_11^0'=result_11^post38, __disjvr_10^0'=__disjvr_10^post38, a_289^0'=a_289^post38, y_18^0'=y_18^post38, __disjvr_22^0'=__disjvr_22^post38, __disjvr_5^0'=__disjvr_5^post38, temp0_16^0'=temp0_16^post38, __disjvr_15^0'=__disjvr_15^post38, head_32^0'=head_32^post38, __disjvr_25^0'=__disjvr_25^post38, r_39^0'=r_39^post38, a_118^0'=a_118^post38, a_188^0'=a_188^post38, x_26^0'=x_26^post38, __disjvr_1^0'=__disjvr_1^post38, len_134^0'=len_134^post38, __disjvr_2^0'=__disjvr_2^post38, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post38, __disjvr_12^0'=__disjvr_12^post38, a_343^0'=a_343^post38, nondet_12^0'=nondet_12^post38, __disjvr_7^0'=__disjvr_7^post38, temp_35^0'=temp_35^post38, x_131^0'=x_131^post38, __disjvr_17^0'=__disjvr_17^post38, i_110^0'=i_110^post38, __disjvr_27^0'=__disjvr_27^post38, rcd_89^0'=rcd_89^post38, (a_118^0-a_118^post38 == 0 /\ -__disjvr_22^post38+__disjvr_22^0 == 0 /\ -temp0_16^post38+temp0_16^0 == 0 /\ -x_26^post38+x_26^0 == 0 /\ __disjvr_21^0-__disjvr_21^post38 == 0 /\ a_281^0-a_281^post38 == 0 /\ -f_171^post38+f_171^0 == 0 /\ a_188^0-a_188^post38 == 0 /\ __disjvr_10^0-__disjvr_10^post38 == 0 /\ x_19^0-x_19^post38 == 0 /\ -len_187^post38+len_187^0 == 0 /\ -__disjvr_1^post38+__disjvr_1^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post38+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ __disjvr_14^0-__disjvr_14^post38 == 0 /\ i_95^0-i_95^post38 == 0 /\ -rcd_59^post38+rcd_59^0 == 0 /\ -rcd_89^post38+rcd_89^0 == 0 /\ -tmp_34^post38+tmp_34^0 == 0 /\ __disjvr_12^0-__disjvr_12^post38 == 0 /\ __disjvr_2^0-__disjvr_2^post38 == 0 /\ a_225^0-a_225^post38 == 0 /\ -a_289^post38+a_289^0 == 0 /\ -r_39^post38+r_39^0 == 0 /\ __disjvr_4^0-__disjvr_4^post38 == 0 /\ __disjvr_16^0-__disjvr_16^post38 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post38 == 0 /\ -nondet_12^post38+nondet_12^0 == 0 /\ -__disjvr_5^post38+__disjvr_5^0 == 0 /\ len_134^0-len_134^post38 == 0 /\ __disjvr_8^0-__disjvr_8^post38 == 0 /\ __disjvr_28^0-__disjvr_28^post38 == 0 /\ -result_11^post38+result_11^0 == 0 /\ __disjvr_26^0-__disjvr_26^post38 == 0 /\ -i_110^post38+i_110^0 == 0 /\ -__disjvr_18^post38+__disjvr_18^0 == 0 /\ -__disjvr_27^post38+__disjvr_27^0 == 0 /\ __disjvr_24^0-__disjvr_24^post38 == 0 /\ head_32^0-head_32^post38 == 0 /\ tail_14^0-tail_14^post38 == 0 /\ __disjvr_3^0-__disjvr_3^post38 == 0 /\ -x_176^post38+x_176^0 == 0 /\ -a_149^post38+a_149^0 == 0 /\ head_SLAM_f_29^0-head_SLAM_f_29^post38 == 0 /\ __disjvr_11^0-__disjvr_11^post38 == 0 /\ __disjvr_29^0-__disjvr_29^post38 == 0 /\ __disjvr_13^0-__disjvr_13^post38 == 0 /\ __disjvr_15^post38-__disjvr_15^0 == 0 /\ -__disjvr_25^post38+__disjvr_25^0 == 0 /\ -__disjvr_9^post38+__disjvr_9^0 == 0 /\ __disjvr_19^0-__disjvr_19^post38 == 0 /\ -temp_35^post38+temp_35^0 == 0 /\ -x_SLAM_f_17^post38+x_SLAM_f_17^0 == 0 /\ __disjvr_20^0-__disjvr_20^post38 == 0 /\ __disjvr_0^0-__disjvr_0^post38 == 0 /\ r_126^0-r_126^post38 == 0 /\ a_342^0-a_342^post38 == 0 /\ head_15^0-head_15^post38 == 0 /\ t_22^0-t_22^post38 == 0 /\ -__disjvr_15^post38+__disjvr_15^0 == 0 /\ -a_343^post38+a_343^0 == 0 /\ -__disjvr_23^post38+__disjvr_23^0 == 0 /\ temp0_31^0-temp0_31^post38 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post38 == 0 /\ -__disjvr_6^post38+__disjvr_6^0 == 0 /\ -__disjvr_7^post38+__disjvr_7^0 == 0 /\ -y_25^post38+y_25^0 == 0 /\ r_165^0-r_165^post38 == 0 /\ i_30^0-i_30^post38 == 0 /\ y_18^0-y_18^post38 == 0 /\ -x_131^post38+x_131^0 == 0 /\ -__disjvr_17^post38+__disjvr_17^0 == 0 /\ length_28^0-length_28^post38 == 0), cost: 1
New rule:
l37 -> l38 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l38 -> l39 : __disjvr_0^0'=__disjvr_0^post39, a_281^0'=a_281^post39, x_SLAM_f_24^0'=x_SLAM_f_24^post39, __disjvr_21^0'=__disjvr_21^post39, __disjvr_4^0'=__disjvr_4^post39, tail_14^0'=tail_14^post39, __disjvr_14^0'=__disjvr_14^post39, head_15^0'=head_15^post39, __disjvr_24^0'=__disjvr_24^post39, r_165^0'=r_165^post39, __disjvr_9^0'=__disjvr_9^post39, a_149^0'=a_149^post39, x_19^0'=x_19^post39, __disjvr_19^0'=__disjvr_19^post39, i_95^0'=i_95^post39, __disjvr_29^0'=__disjvr_29^post39, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post39, __disjvr_11^0'=__disjvr_11^post39, a_342^0'=a_342^post39, y_25^0'=y_25^post39, length_28^0'=length_28^post39, __disjvr_6^0'=__disjvr_6^post39, temp0_31^0'=temp0_31^post39, __disjvr_16^0'=__disjvr_16^post39, head_SLAM_f_29^0'=head_SLAM_f_29^post39, __disjvr_26^0'=__disjvr_26^post39, rcd_59^0'=rcd_59^post39, a_225^0'=a_225^post39, x_SLAM_f_17^0'=x_SLAM_f_17^post39, __disjvr_20^0'=__disjvr_20^post39, len_187^0'=len_187^post39, __disjvr_3^0'=__disjvr_3^post39, t_22^0'=t_22^post39, __disjvr_13^0'=__disjvr_13^post39, f_171^0'=f_171^post39, __disjvr_23^0'=__disjvr_23^post39, r_126^0'=r_126^post39, __disjvr_8^0'=__disjvr_8^post39, tmp_34^0'=tmp_34^post39, x_176^0'=x_176^post39, __disjvr_18^0'=__disjvr_18^post39, i_30^0'=i_30^post39, __disjvr_28^0'=__disjvr_28^post39, result_11^0'=result_11^post39, __disjvr_10^0'=__disjvr_10^post39, a_289^0'=a_289^post39, y_18^0'=y_18^post39, __disjvr_22^0'=__disjvr_22^post39, __disjvr_5^0'=__disjvr_5^post39, temp0_16^0'=temp0_16^post39, __disjvr_15^0'=__disjvr_15^post39, head_32^0'=head_32^post39, __disjvr_25^0'=__disjvr_25^post39, r_39^0'=r_39^post39, a_118^0'=a_118^post39, a_188^0'=a_188^post39, x_26^0'=x_26^post39, __disjvr_1^0'=__disjvr_1^post39, len_134^0'=len_134^post39, __disjvr_2^0'=__disjvr_2^post39, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post39, __disjvr_12^0'=__disjvr_12^post39, a_343^0'=a_343^post39, nondet_12^0'=nondet_12^post39, __disjvr_7^0'=__disjvr_7^post39, temp_35^0'=temp_35^post39, x_131^0'=x_131^post39, __disjvr_17^0'=__disjvr_17^post39, i_110^0'=i_110^post39, __disjvr_27^0'=__disjvr_27^post39, rcd_89^0'=rcd_89^post39, (len_134^0-len_134^post39 == 0 /\ x_19^0-x_19^post39 == 0 /\ __disjvr_10^0-__disjvr_10^post39 == 0 /\ __disjvr_14^0-__disjvr_14^post39 == 0 /\ __disjvr_28^0-__disjvr_28^post39 == 0 /\ -__disjvr_23^post39+__disjvr_23^0 == 0 /\ y_18^0-y_18^post39 == 0 /\ -x_26^post39+x_26^0 == 0 /\ a_118^0-a_118^post39 == 0 /\ -__disjvr_7^post39+__disjvr_7^0 == 0 /\ a_281^0-a_281^post39 == 0 /\ -__disjvr_11^post39+__disjvr_11^0 == 0 /\ -result_11^post39+result_11^0 == 0 /\ -__disjvr_17^post39+__disjvr_17^0 == 0 /\ __disjvr_8^0-__disjvr_8^post39 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post39 == 0 /\ temp0_31^0-temp0_31^post39 == 0 /\ -x_131^post39+x_131^0 == 0 /\ -__disjvr_22^post39+__disjvr_22^0 == 0 /\ y_25^0-y_25^post39 == 0 /\ -temp0_16^post39+temp0_16^0 == 0 /\ __disjvr_15^0-__disjvr_15^post39 == 0 /\ __disjvr_18^0-__disjvr_18^post39 == 0 /\ -x_176^post39+x_176^0 == 0 /\ __disjvr_26^0-__disjvr_26^post39 == 0 /\ __disjvr_24^0-__disjvr_24^post39 == 0 /\ -f_171^post39+f_171^0 == 0 /\ -__disjvr_12^post39+__disjvr_12^0 == 0 /\ a_225^0-a_225^post39 == 0 /\ -len_187^post39+len_187^0 == 0 /\ __disjvr_2^0-__disjvr_2^post39 == 0 /\ __disjvr_13^0-__disjvr_13^post39 == 0 /\ a_342^0-a_342^post39 == 0 /\ -head_32^post39+head_32^0 == 0 /\ -rcd_89^post39+rcd_89^0 == 0 /\ -a_188^post39+a_188^0 == 0 /\ __disjvr_16^0-__disjvr_16^post39 == 0 /\ -tmp_34^post39+tmp_34^0 == 0 /\ -a_289^post39+a_289^0 == 0 /\ i_30^0-i_30^post39 == 0 /\ -a_343^post39+a_343^0 == 0 /\ -nondet_12^post39+nondet_12^0 == 0 /\ __disjvr_3^0-__disjvr_3^post39 == 0 /\ tail_14^0-tail_14^post39 == 0 /\ r_126^0-r_126^post39 == 0 /\ -__disjvr_5^post39+__disjvr_5^0 == 0 /\ __disjvr_29^0-__disjvr_29^post39 == 0 /\ head_SLAM_f_29^0-head_SLAM_f_29^post39 == 0 /\ length_28^0-length_28^post39 == 0 /\ -__disjvr_6^post39+__disjvr_6^0 == 0 /\ __disjvr_4^0-__disjvr_4^post39 == 0 /\ -r_39^post39+r_39^0 == 0 /\ -a_149^post39+a_149^0 == 0 /\ i_95^0-i_95^post39 == 0 /\ -__disjvr_16^0+__disjvr_16^post39 == 0 /\ i_110^0-i_110^post39 == 0 /\ -head_15^post39+head_15^0 == 0 /\ -__disjvr_1^post39+__disjvr_1^0 == 0 /\ __disjvr_0^0-__disjvr_0^post39 == 0 /\ -__disjvr_20^post39+__disjvr_20^0 == 0 /\ -__disjvr_9^post39+__disjvr_9^0 == 0 /\ -temp_35^post39+temp_35^0 == 0 /\ -x_SLAM_f_17^post39+x_SLAM_f_17^0 == 0 /\ __disjvr_19^0-__disjvr_19^post39 == 0 /\ __disjvr_21^0-__disjvr_21^post39 == 0 /\ t_22^0-t_22^post39 == 0 /\ r_165^0-r_165^post39 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post39+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ __disjvr_27^0-__disjvr_27^post39 == 0 /\ -rcd_59^post39+rcd_59^0 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post39 == 0 /\ -__disjvr_25^post39+__disjvr_25^0 == 0), cost: 1
New rule:
l38 -> l39 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l39 -> l34 : __disjvr_0^0'=__disjvr_0^post40, a_281^0'=a_281^post40, x_SLAM_f_24^0'=x_SLAM_f_24^post40, __disjvr_21^0'=__disjvr_21^post40, __disjvr_4^0'=__disjvr_4^post40, tail_14^0'=tail_14^post40, __disjvr_14^0'=__disjvr_14^post40, head_15^0'=head_15^post40, __disjvr_24^0'=__disjvr_24^post40, r_165^0'=r_165^post40, __disjvr_9^0'=__disjvr_9^post40, a_149^0'=a_149^post40, x_19^0'=x_19^post40, __disjvr_19^0'=__disjvr_19^post40, i_95^0'=i_95^post40, __disjvr_29^0'=__disjvr_29^post40, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post40, __disjvr_11^0'=__disjvr_11^post40, a_342^0'=a_342^post40, y_25^0'=y_25^post40, length_28^0'=length_28^post40, __disjvr_6^0'=__disjvr_6^post40, temp0_31^0'=temp0_31^post40, __disjvr_16^0'=__disjvr_16^post40, head_SLAM_f_29^0'=head_SLAM_f_29^post40, __disjvr_26^0'=__disjvr_26^post40, rcd_59^0'=rcd_59^post40, a_225^0'=a_225^post40, x_SLAM_f_17^0'=x_SLAM_f_17^post40, __disjvr_20^0'=__disjvr_20^post40, len_187^0'=len_187^post40, __disjvr_3^0'=__disjvr_3^post40, t_22^0'=t_22^post40, __disjvr_13^0'=__disjvr_13^post40, f_171^0'=f_171^post40, __disjvr_23^0'=__disjvr_23^post40, r_126^0'=r_126^post40, __disjvr_8^0'=__disjvr_8^post40, tmp_34^0'=tmp_34^post40, x_176^0'=x_176^post40, __disjvr_18^0'=__disjvr_18^post40, i_30^0'=i_30^post40, __disjvr_28^0'=__disjvr_28^post40, result_11^0'=result_11^post40, __disjvr_10^0'=__disjvr_10^post40, a_289^0'=a_289^post40, y_18^0'=y_18^post40, __disjvr_22^0'=__disjvr_22^post40, __disjvr_5^0'=__disjvr_5^post40, temp0_16^0'=temp0_16^post40, __disjvr_15^0'=__disjvr_15^post40, head_32^0'=head_32^post40, __disjvr_25^0'=__disjvr_25^post40, r_39^0'=r_39^post40, a_118^0'=a_118^post40, a_188^0'=a_188^post40, x_26^0'=x_26^post40, __disjvr_1^0'=__disjvr_1^post40, len_134^0'=len_134^post40, __disjvr_2^0'=__disjvr_2^post40, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post40, __disjvr_12^0'=__disjvr_12^post40, a_343^0'=a_343^post40, nondet_12^0'=nondet_12^post40, __disjvr_7^0'=__disjvr_7^post40, temp_35^0'=temp_35^post40, x_131^0'=x_131^post40, __disjvr_17^0'=__disjvr_17^post40, i_110^0'=i_110^post40, __disjvr_27^0'=__disjvr_27^post40, rcd_89^0'=rcd_89^post40, (0 == 0 /\ -temp_35^post40+temp_35^0 == 0 /\ -__disjvr_20^post40+__disjvr_20^0 == 0 /\ -t_22^post40+t_22^0 == 0 /\ r_165^0-r_165^post40 == 0 /\ __disjvr_2^0-__disjvr_2^post40 == 0 /\ -x_176^post40+x_176^0 == 0 /\ -__disjvr_12^post40+__disjvr_12^0 == 0 /\ __disjvr_8^0-__disjvr_8^post40 == 0 /\ -x_SLAM_f_17^post40+x_SLAM_f_17^0 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post40 == 0 /\ -a_149^post40+a_188^0 <= 0 /\ __disjvr_28^0-__disjvr_28^post40 == 0 /\ len_187^0-len_187^post40 == 0 /\ __disjvr_26^0-__disjvr_26^post40 == 0 /\ a_118^0-a_118^post40 == 0 /\ -a_188^post40+a_188^0 == 0 /\ tail_14^0-tail_14^post40 == 0 /\ __disjvr_3^0-__disjvr_3^post40 == 0 /\ -__disjvr_7^post40+__disjvr_7^0 == 0 /\ head_SLAM_f_29^0-head_SLAM_f_29^post40 == 0 /\ a_281^0-a_281^post40 == 0 /\ -tmp_34^post40+tmp_34^0 == 0 /\ __disjvr_13^0-__disjvr_13^post40 == 0 /\ __disjvr_14^0-__disjvr_14^post40 == 0 /\ -__disjvr_23^post40+__disjvr_23^0 == 0 /\ -a_343^post40+a_343^0 == 0 /\ y_25^0-y_25^post40 == 0 /\ __disjvr_6^0-__disjvr_6^post40 == 0 /\ -y_18^post40+y_18^0 == 0 /\ a_149^post40-a_188^0 <= 0 /\ __disjvr_18^0-__disjvr_18^post40 == 0 /\ -__disjvr_17^post40+__disjvr_17^0 == 0 /\ -__disjvr_15^post40+__disjvr_15^0 == 0 /\ -x_131^post40+x_131^0 == 0 /\ -__disjvr_22^post40+__disjvr_22^0 == 0 /\ a_225^0-a_225^post40 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post40 == 0 /\ __disjvr_9^0-__disjvr_9^post40 == 0 /\ __disjvr_24^0-__disjvr_24^post40 == 0 /\ a_342^0-a_342^post40 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -__disjvr_10^post40+__disjvr_10^0 == 0 /\ -__disjvr_1^post40+__disjvr_1^0 == 0 /\ __disjvr_4^0-__disjvr_4^post40 == 0 /\ -temp0_16^post40+temp0_16^0 == 0 /\ -len_187^0+len_134^post40 <= 0 /\ -i_30^post40+i_30^0 == 0 /\ __disjvr_16^0-__disjvr_16^post40 == 0 /\ -head_32^post40+head_32^0 == 0 /\ -rcd_89^post40+rcd_89^0 == 0 /\ -__disjvr_21^post40+__disjvr_21^0 == 0 /\ -rcd_59^post40+rcd_59^0 == 0 /\ __disjvr_19^0-__disjvr_19^post40 == 0 /\ a_289^0-a_289^post40 == 0 /\ r_126^0-r_126^post40 == 0 /\ length_28^0-length_28^post40 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post40+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ __disjvr_29^0-__disjvr_29^post40 == 0 /\ -nondet_12^post40+nondet_12^0 == 0 /\ -i_110^post40+i_110^0 == 0 /\ len_187^0-len_134^post40 <= 0 /\ __disjvr_11^0-__disjvr_11^post40 == 0 /\ -__disjvr_5^post40+__disjvr_5^0 == 0 /\ -x_26^post40+x_26^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ i_95^0-i_95^post40 == 0 /\ -result_11^post40+result_11^0 == 0 /\ -__disjvr_27^post40+__disjvr_27^0 == 0 /\ temp0_31^0-temp0_31^post40 == 0 /\ __disjvr_25^0-__disjvr_25^post40 == 0 /\ x_19^0-x_19^post40 == 0 /\ -r_39^post40+r_39^0 == 0 /\ head_15^0-head_15^post40 == 0 /\ __disjvr_0^0-__disjvr_0^post40 == 0 /\ f_171^0-f_171^post40 == 0), cost: 1
New rule:
l39 -> l34 : a_149^0'=a_188^0, len_134^0'=len_187^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1

Applied preprocessing
Original rule:
l34 -> l31 : __disjvr_0^0'=__disjvr_0^post41, a_281^0'=a_281^post41, x_SLAM_f_24^0'=x_SLAM_f_24^post41, __disjvr_21^0'=__disjvr_21^post41, __disjvr_4^0'=__disjvr_4^post41, tail_14^0'=tail_14^post41, __disjvr_14^0'=__disjvr_14^post41, head_15^0'=head_15^post41, __disjvr_24^0'=__disjvr_24^post41, r_165^0'=r_165^post41, __disjvr_9^0'=__disjvr_9^post41, a_149^0'=a_149^post41, x_19^0'=x_19^post41, __disjvr_19^0'=__disjvr_19^post41, i_95^0'=i_95^post41, __disjvr_29^0'=__disjvr_29^post41, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post41, __disjvr_11^0'=__disjvr_11^post41, a_342^0'=a_342^post41, y_25^0'=y_25^post41, length_28^0'=length_28^post41, __disjvr_6^0'=__disjvr_6^post41, temp0_31^0'=temp0_31^post41, __disjvr_16^0'=__disjvr_16^post41, head_SLAM_f_29^0'=head_SLAM_f_29^post41, __disjvr_26^0'=__disjvr_26^post41, rcd_59^0'=rcd_59^post41, a_225^0'=a_225^post41, x_SLAM_f_17^0'=x_SLAM_f_17^post41, __disjvr_20^0'=__disjvr_20^post41, len_187^0'=len_187^post41, __disjvr_3^0'=__disjvr_3^post41, t_22^0'=t_22^post41, __disjvr_13^0'=__disjvr_13^post41, f_171^0'=f_171^post41, __disjvr_23^0'=__disjvr_23^post41, r_126^0'=r_126^post41, __disjvr_8^0'=__disjvr_8^post41, tmp_34^0'=tmp_34^post41, x_176^0'=x_176^post41, __disjvr_18^0'=__disjvr_18^post41, i_30^0'=i_30^post41, __disjvr_28^0'=__disjvr_28^post41, result_11^0'=result_11^post41, __disjvr_10^0'=__disjvr_10^post41, a_289^0'=a_289^post41, y_18^0'=y_18^post41, __disjvr_22^0'=__disjvr_22^post41, __disjvr_5^0'=__disjvr_5^post41, temp0_16^0'=temp0_16^post41, __disjvr_15^0'=__disjvr_15^post41, head_32^0'=head_32^post41, __disjvr_25^0'=__disjvr_25^post41, r_39^0'=r_39^post41, a_118^0'=a_118^post41, a_188^0'=a_188^post41, x_26^0'=x_26^post41, __disjvr_1^0'=__disjvr_1^post41, len_134^0'=len_134^post41, __disjvr_2^0'=__disjvr_2^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, __disjvr_12^0'=__disjvr_12^post41, a_343^0'=a_343^post41, nondet_12^0'=nondet_12^post41, __disjvr_7^0'=__disjvr_7^post41, temp_35^0'=temp_35^post41, x_131^0'=x_131^post41, __disjvr_17^0'=__disjvr_17^post41, i_110^0'=i_110^post41, __disjvr_27^0'=__disjvr_27^post41, rcd_89^0'=rcd_89^post41, (-tmp_34^post41+tmp_34^0 == 0 /\ -a_188^post41+a_188^0 == 0 /\ -__disjvr_27^post41+__disjvr_27^0 == 0 /\ len_187^0-len_187^post41 == 0 /\ -a_343^post41+a_343^0 == 0 /\ x_176^0-x_176^post41 == 0 /\ __disjvr_18^0-__disjvr_18^post41 == 0 /\ a_149^0-a_149^post41 == 0 /\ -__disjvr_2^post41+__disjvr_2^0 == 0 /\ -i_110^post41+i_110^0 == 0 /\ __disjvr_26^0-__disjvr_26^post41 == 0 /\ result_11^0-result_11^post41 == 0 /\ __disjvr_19^0-__disjvr_19^post41 == 0 /\ __disjvr_13^0-__disjvr_13^post41 == 0 /\ -y_25^post41+y_25^0 == 0 /\ __disjvr_21^0-__disjvr_21^post41 == 0 /\ __disjvr_14^0-__disjvr_14^post41 == 0 /\ -r_39^post41+r_39^0 == 0 /\ -__disjvr_20^post41+__disjvr_20^0 == 0 /\ -temp_35^post41+temp_35^0 == 0 /\ __disjvr_16^0-__disjvr_16^post41 == 0 /\ len_134^0-len_134^post41 == 0 /\ -t_22^post41+t_22^0 == 0 /\ -__disjvr_10^post41+__disjvr_10^0 == 0 /\ -i_30^post41+i_30^0 == 0 /\ -x_SLAM_f_17^post41+x_SLAM_f_17^0 == 0 /\ __disjvr_24^0-__disjvr_24^post41 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post41 == 0 /\ __disjvr_3^0-__disjvr_3^post41 == 0 /\ tail_14^0-tail_14^post41 == 0 /\ __disjvr_8^0-__disjvr_8^post41 == 0 /\ -a_118^post41+a_118^0 == 0 /\ -rcd_59^post41+rcd_59^0 == 0 /\ -__disjvr_1^post41+__disjvr_1^0 == 0 /\ __disjvr_0^0-__disjvr_0^post41 == 0 /\ -r_126^post41+r_126^0 == 0 /\ i_95^0-i_95^post41 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post41+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -__disjvr_28^post41+__disjvr_28^0 == 0 /\ -y_18^post41+y_18^0 == 0 /\ a_225^0-a_225^post41 == 0 /\ -x_26^post41+x_26^0 == 0 /\ __disjvr_9^0-__disjvr_9^post41 == 0 /\ a_342^0-a_342^post41 == 0 /\ -__disjvr_17^post41+__disjvr_17^0 == 0 /\ -a_281^post41+a_281^0 == 0 /\ __disjvr_7^0-__disjvr_7^post41 == 0 /\ -__disjvr_15^post41+__disjvr_15^0 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post41 == 0 /\ -x_131^post41+x_131^0 == 0 /\ __disjvr_5^0-__disjvr_5^post41 == 0 /\ -__disjvr_22^post41+__disjvr_22^0 == 0 /\ __disjvr_11^0-__disjvr_11^post41 == 0 /\ -__disjvr_6^post41+__disjvr_6^0 == 0 /\ x_19^0-x_19^post41 == 0 /\ -rcd_89^post41+rcd_89^0 == 0 /\ temp0_31^0-temp0_31^post41 == 0 /\ -__disjvr_12^post41+__disjvr_12^0 == 0 /\ __disjvr_25^0-__disjvr_25^post41 == 0 /\ length_28^0-length_28^post41 == 0 /\ -head_SLAM_f_29^post41+head_SLAM_f_29^0 == 0 /\ r_165^0-r_165^post41 == 0 /\ -temp0_16^post41+temp0_16^0 == 0 /\ head_15^0-head_15^post41 == 0 /\ f_171^0-f_171^post41 == 0 /\ __disjvr_23^0-__disjvr_23^post41 == 0 /\ -nondet_12^post41+nondet_12^0 == 0 /\ a_289^0-a_289^post41 == 0 /\ -head_32^post41+head_32^0 == 0 /\ __disjvr_29^0-__disjvr_29^post41 == 0 /\ __disjvr_4^0-__disjvr_4^post41 == 0), cost: 1
New rule:
l34 -> l31 : TRUE, cost: 1

Applied preprocessing
Original rule:
l1 -> l61 : __disjvr_0^0'=__disjvr_0^post66, a_281^0'=a_281^post66, x_SLAM_f_24^0'=x_SLAM_f_24^post66, __disjvr_21^0'=__disjvr_21^post66, __disjvr_4^0'=__disjvr_4^post66, tail_14^0'=tail_14^post66, __disjvr_14^0'=__disjvr_14^post66, head_15^0'=head_15^post66, __disjvr_24^0'=__disjvr_24^post66, r_165^0'=r_165^post66, __disjvr_9^0'=__disjvr_9^post66, a_149^0'=a_149^post66, x_19^0'=x_19^post66, __disjvr_19^0'=__disjvr_19^post66, i_95^0'=i_95^post66, __disjvr_29^0'=__disjvr_29^post66, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post66, __disjvr_11^0'=__disjvr_11^post66, a_342^0'=a_342^post66, y_25^0'=y_25^post66, length_28^0'=length_28^post66, __disjvr_6^0'=__disjvr_6^post66, temp0_31^0'=temp0_31^post66, __disjvr_16^0'=__disjvr_16^post66, head_SLAM_f_29^0'=head_SLAM_f_29^post66, __disjvr_26^0'=__disjvr_26^post66, rcd_59^0'=rcd_59^post66, a_225^0'=a_225^post66, x_SLAM_f_17^0'=x_SLAM_f_17^post66, __disjvr_20^0'=__disjvr_20^post66, len_187^0'=len_187^post66, __disjvr_3^0'=__disjvr_3^post66, t_22^0'=t_22^post66, __disjvr_13^0'=__disjvr_13^post66, f_171^0'=f_171^post66, __disjvr_23^0'=__disjvr_23^post66, r_126^0'=r_126^post66, __disjvr_8^0'=__disjvr_8^post66, tmp_34^0'=tmp_34^post66, x_176^0'=x_176^post66, __disjvr_18^0'=__disjvr_18^post66, i_30^0'=i_30^post66, __disjvr_28^0'=__disjvr_28^post66, result_11^0'=result_11^post66, __disjvr_10^0'=__disjvr_10^post66, a_289^0'=a_289^post66, y_18^0'=y_18^post66, __disjvr_22^0'=__disjvr_22^post66, __disjvr_5^0'=__disjvr_5^post66, temp0_16^0'=temp0_16^post66, __disjvr_15^0'=__disjvr_15^post66, head_32^0'=head_32^post66, __disjvr_25^0'=__disjvr_25^post66, r_39^0'=r_39^post66, a_118^0'=a_118^post66, a_188^0'=a_188^post66, x_26^0'=x_26^post66, __disjvr_1^0'=__disjvr_1^post66, len_134^0'=len_134^post66, __disjvr_2^0'=__disjvr_2^post66, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post66, __disjvr_12^0'=__disjvr_12^post66, a_343^0'=a_343^post66, nondet_12^0'=nondet_12^post66, __disjvr_7^0'=__disjvr_7^post66, temp_35^0'=temp_35^post66, x_131^0'=x_131^post66, __disjvr_17^0'=__disjvr_17^post66, i_110^0'=i_110^post66, __disjvr_27^0'=__disjvr_27^post66, rcd_89^0'=rcd_89^post66, (0 == 0 /\ __disjvr_21^0-__disjvr_21^post66 == 0 /\ -__disjvr_10^post66+__disjvr_10^0 == 0 /\ a_289^0-a_289^post66 == 0 /\ __disjvr_13^0-__disjvr_13^post66 == 0 /\ result_11^0-result_11^post66 == 0 /\ __disjvr_19^0-__disjvr_19^post66 == 0 /\ -temp0_16^post66+temp0_16^0 == 0 /\ len_187^0-len_187^post66 == 0 /\ -a_225^post66+a_225^0 == 0 /\ __disjvr_3^0-__disjvr_3^post66 == 0 /\ -__disjvr_1^post66+__disjvr_1^0 == 0 /\ -i_30^post66+i_30^0 == 0 /\ -rcd_59^post66+rcd_59^0 == 0 /\ -rcd_89^post66+rcd_89^0 == 0 /\ -nondet_12^post66+nondet_12^0 == 0 /\ -a_118^post66+a_118^0 == 0 /\ __disjvr_14^0-__disjvr_14^post66 == 0 /\ x_19^0-x_19^post66 == 0 /\ __disjvr_0^0-__disjvr_0^post66 == 0 /\ -tmp_34^post66+tmp_34^0 == 0 /\ __disjvr_18^0-__disjvr_18^post66 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post66 == 0 /\ __disjvr_24^0-__disjvr_24^post66 == 0 /\ -x_26^post66+x_26^0 == 0 /\ -__disjvr_28^post66+__disjvr_28^0 == 0 /\ -__disjvr_27^post66+__disjvr_27^0 == 0 /\ __disjvr_16^0-__disjvr_16^post66 == 0 /\ len_134^0-len_134^post66 == 0 /\ __disjvr_8^0-__disjvr_8^post66 == 0 /\ head_SLAM_f_29^0-head_SLAM_f_29^post66 == 0 /\ -__disjvr_20^post66+__disjvr_20^0 == 0 /\ -i_30^0 <= 0 /\ -r_126^post66+r_126^0 == 0 /\ a_343^0-a_343^post66 == 0 /\ a_281^0-a_281^post66 == 0 /\ __disjvr_5^0-__disjvr_5^post66 == 0 /\ -temp_35^post66+temp_35^0 == 0 /\ -x_131^post66+x_131^0 == 0 /\ __disjvr_29^0-__disjvr_29^post66 == 0 /\ -a_149^post66+a_149^0 == 0 /\ -__disjvr_12^post66+__disjvr_12^0 == 0 /\ __disjvr_11^0-__disjvr_11^post66 == 0 /\ __disjvr_7^0-__disjvr_7^post66 == 0 /\ -y_18^post66+y_18^0 == 0 /\ -__disjvr_4^post66+__disjvr_4^0 == 0 /\ i_95^0-i_95^post66 == 0 /\ f_171^0-f_171^post66 == 0 /\ __disjvr_9^0-__disjvr_9^post66 == 0 /\ __disjvr_25^0-__disjvr_25^post66 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post66 == 0 /\ -__disjvr_23^post66+__disjvr_23^0 == 0 /\ a_342^0-a_342^post66 == 0 /\ -a_188^post66+a_188^0 == 0 /\ temp0_31^0-temp0_31^post66 == 0 /\ t_22^0-t_22^post66 == 0 /\ -head_32^post66+head_32^0 == 0 /\ -__disjvr_17^post66+__disjvr_17^0 == 0 /\ -y_25^post66+y_25^0 == 0 /\ -__disjvr_2^post66+__disjvr_2^0 == 0 /\ -__disjvr_22^post66+__disjvr_22^0 == 0 /\ -__disjvr_6^post66+__disjvr_6^0 == 0 /\ length_28^0-length_28^post66 == 0 /\ -__disjvr_15^post66+__disjvr_15^0 == 0 /\ __disjvr_26^0-__disjvr_26^post66 == 0 /\ -x_176^post66+x_176^0 == 0), cost: 1
New rule:
l1 -> l61 : x_SLAM_f_24^0'=x_SLAM_f_24^post66, tail_14^0'=tail_14^post66, head_15^0'=head_15^post66, r_165^0'=r_165^post66, r_39^0'=r_39^post66, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post66, i_110^0'=i_110^post66, i_30^0 >= 0, cost: 1

Applied preprocessing
Original rule:
l61 -> l62 : __disjvr_0^0'=__disjvr_0^post67, a_281^0'=a_281^post67, x_SLAM_f_24^0'=x_SLAM_f_24^post67, __disjvr_21^0'=__disjvr_21^post67, __disjvr_4^0'=__disjvr_4^post67, tail_14^0'=tail_14^post67, __disjvr_14^0'=__disjvr_14^post67, head_15^0'=head_15^post67, __disjvr_24^0'=__disjvr_24^post67, r_165^0'=r_165^post67, __disjvr_9^0'=__disjvr_9^post67, a_149^0'=a_149^post67, x_19^0'=x_19^post67, __disjvr_19^0'=__disjvr_19^post67, i_95^0'=i_95^post67, __disjvr_29^0'=__disjvr_29^post67, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post67, __disjvr_11^0'=__disjvr_11^post67, a_342^0'=a_342^post67, y_25^0'=y_25^post67, length_28^0'=length_28^post67, __disjvr_6^0'=__disjvr_6^post67, temp0_31^0'=temp0_31^post67, __disjvr_16^0'=__disjvr_16^post67, head_SLAM_f_29^0'=head_SLAM_f_29^post67, __disjvr_26^0'=__disjvr_26^post67, rcd_59^0'=rcd_59^post67, a_225^0'=a_225^post67, x_SLAM_f_17^0'=x_SLAM_f_17^post67, __disjvr_20^0'=__disjvr_20^post67, len_187^0'=len_187^post67, __disjvr_3^0'=__disjvr_3^post67, t_22^0'=t_22^post67, __disjvr_13^0'=__disjvr_13^post67, f_171^0'=f_171^post67, __disjvr_23^0'=__disjvr_23^post67, r_126^0'=r_126^post67, __disjvr_8^0'=__disjvr_8^post67, tmp_34^0'=tmp_34^post67, x_176^0'=x_176^post67, __disjvr_18^0'=__disjvr_18^post67, i_30^0'=i_30^post67, __disjvr_28^0'=__disjvr_28^post67, result_11^0'=result_11^post67, __disjvr_10^0'=__disjvr_10^post67, a_289^0'=a_289^post67, y_18^0'=y_18^post67, __disjvr_22^0'=__disjvr_22^post67, __disjvr_5^0'=__disjvr_5^post67, temp0_16^0'=temp0_16^post67, __disjvr_15^0'=__disjvr_15^post67, head_32^0'=head_32^post67, __disjvr_25^0'=__disjvr_25^post67, r_39^0'=r_39^post67, a_118^0'=a_118^post67, a_188^0'=a_188^post67, x_26^0'=x_26^post67, __disjvr_1^0'=__disjvr_1^post67, len_134^0'=len_134^post67, __disjvr_2^0'=__disjvr_2^post67, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post67, __disjvr_12^0'=__disjvr_12^post67, a_343^0'=a_343^post67, nondet_12^0'=nondet_12^post67, __disjvr_7^0'=__disjvr_7^post67, temp_35^0'=temp_35^post67, x_131^0'=x_131^post67, __disjvr_17^0'=__disjvr_17^post67, i_110^0'=i_110^post67, __disjvr_27^0'=__disjvr_27^post67, rcd_89^0'=rcd_89^post67, (f_171^0-f_171^post67 == 0 /\ -r_126^post67+r_126^0 == 0 /\ len_134^0-len_134^post67 == 0 /\ x_19^0-x_19^post67 == 0 /\ __disjvr_14^0-__disjvr_14^post67 == 0 /\ -__disjvr_11^post67+__disjvr_11^0 == 0 /\ length_28^0-length_28^post67 == 0 /\ -x_26^post67+x_26^0 == 0 /\ r_165^0-r_165^post67 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post67+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ __disjvr_4^0-__disjvr_4^post67 == 0 /\ -x_131^post67+x_131^0 == 0 /\ -__disjvr_28^post67+__disjvr_28^0 == 0 /\ __disjvr_24^0-__disjvr_24^post67 == 0 /\ tail_14^0-tail_14^post67 == 0 /\ a_289^0-a_289^post67 == 0 /\ -__disjvr_22^post67+__disjvr_22^0 == 0 /\ a_281^0-a_281^post67 == 0 /\ temp0_31^0-temp0_31^post67 == 0 /\ -__disjvr_17^post67+__disjvr_17^0 == 0 /\ -__disjvr_15^post67+__disjvr_15^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post67 == 0 /\ __disjvr_3^0-__disjvr_3^post67 == 0 /\ x_176^0-x_176^post67 == 0 /\ -__disjvr_12^post67+__disjvr_12^0 == 0 /\ __disjvr_8^0-__disjvr_8^post67 == 0 /\ i_95^0-i_95^post67 == 0 /\ -a_225^post67+a_225^0 == 0 /\ a_343^0-a_343^post67 == 0 /\ __disjvr_21^0-__disjvr_21^post67 == 0 /\ __disjvr_28^post67-__disjvr_28^0 == 0 /\ -head_SLAM_f_29^post67+head_SLAM_f_29^0 == 0 /\ rcd_59^0-rcd_59^post67 == 0 /\ -nondet_12^post67+nondet_12^0 == 0 /\ __disjvr_19^0-__disjvr_19^post67 == 0 /\ -temp0_16^post67+temp0_16^0 == 0 /\ len_187^0-len_187^post67 == 0 /\ -head_32^post67+head_32^0 == 0 /\ -rcd_89^post67+rcd_89^0 == 0 /\ __disjvr_16^0-__disjvr_16^post67 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post67 == 0 /\ -a_188^post67+a_188^0 == 0 /\ __disjvr_25^0-__disjvr_25^post67 == 0 /\ -__disjvr_13^post67+__disjvr_13^0 == 0 /\ __disjvr_20^0-__disjvr_20^post67 == 0 /\ -r_39^post67+r_39^0 == 0 /\ __disjvr_23^0-__disjvr_23^post67 == 0 /\ -__disjvr_2^post67+__disjvr_2^0 == 0 /\ __disjvr_29^0-__disjvr_29^post67 == 0 /\ -__disjvr_6^post67+__disjvr_6^0 == 0 /\ -temp_35^post67+temp_35^0 == 0 /\ -y_25^post67+y_25^0 == 0 /\ i_110^0-i_110^post67 == 0 /\ __disjvr_0^0-__disjvr_0^post67 == 0 /\ -__disjvr_10^post67+__disjvr_10^0 == 0 /\ -a_118^post67+a_118^0 == 0 /\ -a_149^post67+a_149^0 == 0 /\ __disjvr_9^0-__disjvr_9^post67 == 0 /\ __disjvr_26^0-__disjvr_26^post67 == 0 /\ -head_15^post67+head_15^0 == 0 /\ __disjvr_18^0-__disjvr_18^post67 == 0 /\ -i_30^post67+i_30^0 == 0 /\ -__disjvr_1^post67+__disjvr_1^0 == 0 /\ result_11^0-result_11^post67 == 0 /\ a_342^0-a_342^post67 == 0 /\ -y_18^post67+y_18^0 == 0 /\ __disjvr_5^0-__disjvr_5^post67 == 0 /\ t_22^0-t_22^post67 == 0 /\ -__disjvr_7^post67+__disjvr_7^0 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post67 == 0 /\ __disjvr_27^0-__disjvr_27^post67 == 0 /\ -tmp_34^post67+tmp_34^0 == 0), cost: 1
New rule:
l61 -> l62 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l62 -> l63 : __disjvr_0^0'=__disjvr_0^post68, a_281^0'=a_281^post68, x_SLAM_f_24^0'=x_SLAM_f_24^post68, __disjvr_21^0'=__disjvr_21^post68, __disjvr_4^0'=__disjvr_4^post68, tail_14^0'=tail_14^post68, __disjvr_14^0'=__disjvr_14^post68, head_15^0'=head_15^post68, __disjvr_24^0'=__disjvr_24^post68, r_165^0'=r_165^post68, __disjvr_9^0'=__disjvr_9^post68, a_149^0'=a_149^post68, x_19^0'=x_19^post68, __disjvr_19^0'=__disjvr_19^post68, i_95^0'=i_95^post68, __disjvr_29^0'=__disjvr_29^post68, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post68, __disjvr_11^0'=__disjvr_11^post68, a_342^0'=a_342^post68, y_25^0'=y_25^post68, length_28^0'=length_28^post68, __disjvr_6^0'=__disjvr_6^post68, temp0_31^0'=temp0_31^post68, __disjvr_16^0'=__disjvr_16^post68, head_SLAM_f_29^0'=head_SLAM_f_29^post68, __disjvr_26^0'=__disjvr_26^post68, rcd_59^0'=rcd_59^post68, a_225^0'=a_225^post68, x_SLAM_f_17^0'=x_SLAM_f_17^post68, __disjvr_20^0'=__disjvr_20^post68, len_187^0'=len_187^post68, __disjvr_3^0'=__disjvr_3^post68, t_22^0'=t_22^post68, __disjvr_13^0'=__disjvr_13^post68, f_171^0'=f_171^post68, __disjvr_23^0'=__disjvr_23^post68, r_126^0'=r_126^post68, __disjvr_8^0'=__disjvr_8^post68, tmp_34^0'=tmp_34^post68, x_176^0'=x_176^post68, __disjvr_18^0'=__disjvr_18^post68, i_30^0'=i_30^post68, __disjvr_28^0'=__disjvr_28^post68, result_11^0'=result_11^post68, __disjvr_10^0'=__disjvr_10^post68, a_289^0'=a_289^post68, y_18^0'=y_18^post68, __disjvr_22^0'=__disjvr_22^post68, __disjvr_5^0'=__disjvr_5^post68, temp0_16^0'=temp0_16^post68, __disjvr_15^0'=__disjvr_15^post68, head_32^0'=head_32^post68, __disjvr_25^0'=__disjvr_25^post68, r_39^0'=r_39^post68, a_118^0'=a_118^post68, a_188^0'=a_188^post68, x_26^0'=x_26^post68, __disjvr_1^0'=__disjvr_1^post68, len_134^0'=len_134^post68, __disjvr_2^0'=__disjvr_2^post68, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post68, __disjvr_12^0'=__disjvr_12^post68, a_343^0'=a_343^post68, nondet_12^0'=nondet_12^post68, __disjvr_7^0'=__disjvr_7^post68, temp_35^0'=temp_35^post68, x_131^0'=x_131^post68, __disjvr_17^0'=__disjvr_17^post68, i_110^0'=i_110^post68, __disjvr_27^0'=__disjvr_27^post68, rcd_89^0'=rcd_89^post68, (0 == 0 /\ a_342^0-a_342^post68 == 0 /\ -__disjvr_15^post68+__disjvr_15^0 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post68 == 0 /\ temp0_31^0-temp0_31^post68 == 0 /\ -__disjvr_12^post68+__disjvr_12^0 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post68 == 0 /\ -len_134^post68+len_134^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post68 == 0 /\ -head_SLAM_f_29^post68+head_SLAM_f_29^0 == 0 /\ -a_343^post68+a_343^0 == 0 /\ tail_14^0-y_25^0 <= 0 /\ -y_18^post68+y_18^0 == 0 /\ length_28^0-length_28^post68 == 0 /\ r_165^0-r_165^post68 == 0 /\ x_26^0-x_26^post68 == 0 /\ __disjvr_24^0-__disjvr_24^post68 == 0 /\ -__disjvr_7^post68+__disjvr_7^0 == 0 /\ -__disjvr_16^post68+__disjvr_16^0 == 0 /\ __disjvr_21^0-__disjvr_21^post68 == 0 /\ rcd_59^0-rcd_59^post68 == 0 /\ tail_14^0-tail_14^post68 == 0 /\ -__disjvr_11^post68+__disjvr_11^0 == 0 /\ __disjvr_29^0-__disjvr_29^post68 == 0 /\ -__disjvr_3^post68+__disjvr_3^0 == 0 /\ a_281^0-a_281^post68 == 0 /\ -a_188^post68+a_188^0 == 0 /\ len_187^0-len_187^post68 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post68 == 0 /\ -x_131^post68+x_131^0 == 0 /\ x_19^0-x_19^post68 == 0 /\ -__disjvr_2^post68+__disjvr_2^0 == 0 /\ -tail_14^0+y_25^0 <= 0 /\ -y_25^post68+y_25^0 == 0 /\ -a_225^post68+a_225^0 == 0 /\ -__disjvr_6^post68+__disjvr_6^0 == 0 /\ -__disjvr_17^post68+__disjvr_17^0 == 0 /\ __disjvr_25^0-__disjvr_25^post68 == 0 /\ -__disjvr_22^post68+__disjvr_22^0 == 0 /\ -x_SLAM_f_24^0+head_15^0 <= 0 /\ -__disjvr_10^post68+__disjvr_10^0 == 0 /\ __disjvr_23^0-__disjvr_23^post68 == 0 /\ __disjvr_20^0-__disjvr_20^post68 == 0 /\ t_22^0-t_22^post68 == 0 /\ __disjvr_9^0-__disjvr_9^post68 == 0 /\ __disjvr_4^0-__disjvr_4^post68 == 0 /\ -head_15^post68+head_15^0 == 0 /\ a_149^0-a_118^post68 <= 0 /\ x_176^0-x_176^post68 == 0 /\ __disjvr_8^0-__disjvr_8^post68 == 0 /\ -__disjvr_1^post68+__disjvr_1^0 == 0 /\ -i_30^post68+i_30^0 == 0 /\ -tmp_34^post68+tmp_34^0 == 0 /\ a_149^0-a_149^post68 == 0 /\ -__disjvr_5^post68+__disjvr_5^0 == 0 /\ -head_32^post68+head_32^0 == 0 /\ -rcd_89^post68+rcd_89^0 == 0 /\ -a_289^post68+a_289^0 == 0 /\ i_95^0-i_95^post68 == 0 /\ __disjvr_26^0-__disjvr_26^post68 == 0 /\ x_SLAM_f_24^0-head_15^0 <= 0 /\ -nondet_12^post68+nondet_12^0 == 0 /\ result_11^0-result_11^post68 == 0 /\ -r_126^post68+r_126^0 == 0 /\ -a_149^0+a_118^post68 <= 0 /\ -__disjvr_28^post68+__disjvr_28^0 == 0 /\ -__disjvr_13^post68+__disjvr_13^0 == 0 /\ f_171^0-f_171^post68 == 0 /\ -i_110^post68+i_110^0 == 0 /\ -r_39^post68+r_39^0 == 0 /\ 1-len_134^0 <= 0 /\ -1+len_134^0 <= 0 /\ temp0_16^0-temp0_16^post68 == 0 /\ __disjvr_14^0-__disjvr_14^post68 == 0 /\ __disjvr_18^0-__disjvr_18^post68 == 0 /\ -temp_35^post68+temp_35^0 == 0 /\ -__disjvr_27^post68+__disjvr_27^0 == 0 /\ __disjvr_19^0-__disjvr_19^post68 == 0 /\ __disjvr_0^0-__disjvr_0^post68 == 0), cost: 1
New rule:
l62 -> l63 : a_118^0'=a_149^0, (tail_14^0-y_25^0 == 0 /\ -x_SLAM_f_24^0+head_15^0 == 0 /\ -1+len_134^0 == 0), cost: 1

Applied preprocessing
Original rule:
l63 -> l64 : __disjvr_0^0'=__disjvr_0^post69, a_281^0'=a_281^post69, x_SLAM_f_24^0'=x_SLAM_f_24^post69, __disjvr_21^0'=__disjvr_21^post69, __disjvr_4^0'=__disjvr_4^post69, tail_14^0'=tail_14^post69, __disjvr_14^0'=__disjvr_14^post69, head_15^0'=head_15^post69, __disjvr_24^0'=__disjvr_24^post69, r_165^0'=r_165^post69, __disjvr_9^0'=__disjvr_9^post69, a_149^0'=a_149^post69, x_19^0'=x_19^post69, __disjvr_19^0'=__disjvr_19^post69, i_95^0'=i_95^post69, __disjvr_29^0'=__disjvr_29^post69, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post69, __disjvr_11^0'=__disjvr_11^post69, a_342^0'=a_342^post69, y_25^0'=y_25^post69, length_28^0'=length_28^post69, __disjvr_6^0'=__disjvr_6^post69, temp0_31^0'=temp0_31^post69, __disjvr_16^0'=__disjvr_16^post69, head_SLAM_f_29^0'=head_SLAM_f_29^post69, __disjvr_26^0'=__disjvr_26^post69, rcd_59^0'=rcd_59^post69, a_225^0'=a_225^post69, x_SLAM_f_17^0'=x_SLAM_f_17^post69, __disjvr_20^0'=__disjvr_20^post69, len_187^0'=len_187^post69, __disjvr_3^0'=__disjvr_3^post69, t_22^0'=t_22^post69, __disjvr_13^0'=__disjvr_13^post69, f_171^0'=f_171^post69, __disjvr_23^0'=__disjvr_23^post69, r_126^0'=r_126^post69, __disjvr_8^0'=__disjvr_8^post69, tmp_34^0'=tmp_34^post69, x_176^0'=x_176^post69, __disjvr_18^0'=__disjvr_18^post69, i_30^0'=i_30^post69, __disjvr_28^0'=__disjvr_28^post69, result_11^0'=result_11^post69, __disjvr_10^0'=__disjvr_10^post69, a_289^0'=a_289^post69, y_18^0'=y_18^post69, __disjvr_22^0'=__disjvr_22^post69, __disjvr_5^0'=__disjvr_5^post69, temp0_16^0'=temp0_16^post69, __disjvr_15^0'=__disjvr_15^post69, head_32^0'=head_32^post69, __disjvr_25^0'=__disjvr_25^post69, r_39^0'=r_39^post69, a_118^0'=a_118^post69, a_188^0'=a_188^post69, x_26^0'=x_26^post69, __disjvr_1^0'=__disjvr_1^post69, len_134^0'=len_134^post69, __disjvr_2^0'=__disjvr_2^post69, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post69, __disjvr_12^0'=__disjvr_12^post69, a_343^0'=a_343^post69, nondet_12^0'=nondet_12^post69, __disjvr_7^0'=__disjvr_7^post69, temp_35^0'=temp_35^post69, x_131^0'=x_131^post69, __disjvr_17^0'=__disjvr_17^post69, i_110^0'=i_110^post69, __disjvr_27^0'=__disjvr_27^post69, rcd_89^0'=rcd_89^post69, (-__disjvr_2^post69+__disjvr_2^0 == 0 /\ __disjvr_18^0-__disjvr_18^post69 == 0 /\ -r_39^post69+r_39^0 == 0 /\ -__disjvr_8^post69+__disjvr_8^0 == 0 /\ __disjvr_24^0-__disjvr_24^post69 == 0 /\ __disjvr_0^0-__disjvr_0^post69 == 0 /\ -nondet_12^post69+nondet_12^0 == 0 /\ a_342^0-a_342^post69 == 0 /\ -__disjvr_13^post69+__disjvr_13^0 == 0 /\ -__disjvr_16^post69+__disjvr_16^0 == 0 /\ -__disjvr_6^post69+__disjvr_6^0 == 0 /\ -i_110^post69+i_110^0 == 0 /\ __disjvr_29^post69-__disjvr_29^0 == 0 /\ -temp_35^post69+temp_35^0 == 0 /\ -__disjvr_27^post69+__disjvr_27^0 == 0 /\ -a_188^post69+a_188^0 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post69 == 0 /\ -__disjvr_15^post69+__disjvr_15^0 == 0 /\ x_19^0-x_19^post69 == 0 /\ -__disjvr_26^post69+__disjvr_26^0 == 0 /\ head_SLAM_f_29^0-head_SLAM_f_29^post69 == 0 /\ -__disjvr_10^post69+__disjvr_10^0 == 0 /\ -length_28^post69+length_28^0 == 0 /\ r_165^0-r_165^post69 == 0 /\ -i_30^post69+i_30^0 == 0 /\ -a_118^post69+a_118^0 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post69 == 0 /\ head_15^0-head_15^post69 == 0 /\ tail_14^0-tail_14^post69 == 0 /\ y_25^0-y_25^post69 == 0 /\ -__disjvr_1^post69+__disjvr_1^0 == 0 /\ a_343^0-a_343^post69 == 0 /\ -__disjvr_29^post69+__disjvr_29^0 == 0 /\ __disjvr_23^0-__disjvr_23^post69 == 0 /\ a_281^0-a_281^post69 == 0 /\ -y_18^post69+y_18^0 == 0 /\ temp0_31^0-temp0_31^post69 == 0 /\ -__disjvr_7^post69+__disjvr_7^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post69 == 0 /\ x_176^0-x_176^post69 == 0 /\ -__disjvr_3^post69+__disjvr_3^0 == 0 /\ temp0_16^0-temp0_16^post69 == 0 /\ a_149^0-a_149^post69 == 0 /\ a_225^0-a_225^post69 == 0 /\ -r_126^post69+r_126^0 == 0 /\ __disjvr_21^0-__disjvr_21^post69 == 0 /\ -__disjvr_28^post69+__disjvr_28^0 == 0 /\ -x_26^post69+x_26^0 == 0 /\ __disjvr_9^0-__disjvr_9^post69 == 0 /\ t_22^0-t_22^post69 == 0 /\ tmp_34^0-tmp_34^post69 == 0 /\ -__disjvr_11^post69+__disjvr_11^0 == 0 /\ len_187^0-len_187^post69 == 0 /\ -x_131^post69+x_131^0 == 0 /\ -__disjvr_17^post69+__disjvr_17^0 == 0 /\ -__disjvr_22^post69+__disjvr_22^0 == 0 /\ __disjvr_14^0-__disjvr_14^post69 == 0 /\ __disjvr_25^0-__disjvr_25^post69 == 0 /\ rcd_59^0-rcd_59^post69 == 0 /\ __disjvr_19^0-__disjvr_19^post69 == 0 /\ -len_134^post69+len_134^0 == 0 /\ -__disjvr_12^post69+__disjvr_12^0 == 0 /\ i_95^0-i_95^post69 == 0 /\ __disjvr_20^0-__disjvr_20^post69 == 0 /\ -f_171^post69+f_171^0 == 0 /\ -__disjvr_5^post69+__disjvr_5^0 == 0 /\ -a_289^post69+a_289^0 == 0 /\ -head_32^post69+head_32^0 == 0 /\ __disjvr_4^0-__disjvr_4^post69 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post69 == 0 /\ -rcd_89^post69+rcd_89^0 == 0 /\ -result_11^post69+result_11^0 == 0), cost: 1
New rule:
l63 -> l64 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l64 -> l31 : __disjvr_0^0'=__disjvr_0^post70, a_281^0'=a_281^post70, x_SLAM_f_24^0'=x_SLAM_f_24^post70, __disjvr_21^0'=__disjvr_21^post70, __disjvr_4^0'=__disjvr_4^post70, tail_14^0'=tail_14^post70, __disjvr_14^0'=__disjvr_14^post70, head_15^0'=head_15^post70, __disjvr_24^0'=__disjvr_24^post70, r_165^0'=r_165^post70, __disjvr_9^0'=__disjvr_9^post70, a_149^0'=a_149^post70, x_19^0'=x_19^post70, __disjvr_19^0'=__disjvr_19^post70, i_95^0'=i_95^post70, __disjvr_29^0'=__disjvr_29^post70, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post70, __disjvr_11^0'=__disjvr_11^post70, a_342^0'=a_342^post70, y_25^0'=y_25^post70, length_28^0'=length_28^post70, __disjvr_6^0'=__disjvr_6^post70, temp0_31^0'=temp0_31^post70, __disjvr_16^0'=__disjvr_16^post70, head_SLAM_f_29^0'=head_SLAM_f_29^post70, __disjvr_26^0'=__disjvr_26^post70, rcd_59^0'=rcd_59^post70, a_225^0'=a_225^post70, x_SLAM_f_17^0'=x_SLAM_f_17^post70, __disjvr_20^0'=__disjvr_20^post70, len_187^0'=len_187^post70, __disjvr_3^0'=__disjvr_3^post70, t_22^0'=t_22^post70, __disjvr_13^0'=__disjvr_13^post70, f_171^0'=f_171^post70, __disjvr_23^0'=__disjvr_23^post70, r_126^0'=r_126^post70, __disjvr_8^0'=__disjvr_8^post70, tmp_34^0'=tmp_34^post70, x_176^0'=x_176^post70, __disjvr_18^0'=__disjvr_18^post70, i_30^0'=i_30^post70, __disjvr_28^0'=__disjvr_28^post70, result_11^0'=result_11^post70, __disjvr_10^0'=__disjvr_10^post70, a_289^0'=a_289^post70, y_18^0'=y_18^post70, __disjvr_22^0'=__disjvr_22^post70, __disjvr_5^0'=__disjvr_5^post70, temp0_16^0'=temp0_16^post70, __disjvr_15^0'=__disjvr_15^post70, head_32^0'=head_32^post70, __disjvr_25^0'=__disjvr_25^post70, r_39^0'=r_39^post70, a_118^0'=a_118^post70, a_188^0'=a_188^post70, x_26^0'=x_26^post70, __disjvr_1^0'=__disjvr_1^post70, len_134^0'=len_134^post70, __disjvr_2^0'=__disjvr_2^post70, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post70, __disjvr_12^0'=__disjvr_12^post70, a_343^0'=a_343^post70, nondet_12^0'=nondet_12^post70, __disjvr_7^0'=__disjvr_7^post70, temp_35^0'=temp_35^post70, x_131^0'=x_131^post70, __disjvr_17^0'=__disjvr_17^post70, i_110^0'=i_110^post70, __disjvr_27^0'=__disjvr_27^post70, rcd_89^0'=rcd_89^post70, (0 == 0 /\ -__disjvr_22^post70+__disjvr_22^0 == 0 /\ tail_14^0-tail_14^post70 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post70 == 0 /\ -__disjvr_10^post70+__disjvr_10^0 == 0 /\ __disjvr_21^0-__disjvr_21^post70 == 0 /\ -i_30^post70+i_30^0 == 0 /\ -length_28^post70+length_28^0 == 0 /\ -a_118^post70+a_118^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post70+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -__disjvr_13^post70+__disjvr_13^0 == 0 /\ r_126^0-r_126^post70 == 0 /\ -temp0_31^post70+temp0_31^0 == 0 /\ __disjvr_18^0-__disjvr_18^post70 == 0 /\ __disjvr_6^0-__disjvr_6^post70 == 0 /\ -f_171^post70+f_171^0 == 0 /\ -__disjvr_1^post70+__disjvr_1^0 == 0 /\ -head_32^post70+head_32^0 == 0 /\ -rcd_89^post70+rcd_89^0 == 0 /\ __disjvr_19^0-__disjvr_19^post70 == 0 /\ __disjvr_0^0-__disjvr_0^post70 == 0 /\ -__disjvr_26^post70+__disjvr_26^0 == 0 /\ a_289^0-a_289^post70 == 0 /\ __disjvr_14^0-__disjvr_14^post70 == 0 /\ -__disjvr_5^post70+__disjvr_5^0 == 0 /\ t_22^0-t_22^post70 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post70 == 0 /\ __disjvr_16^0-__disjvr_16^post70 == 0 /\ __disjvr_23^0-__disjvr_23^post70 == 0 /\ -a_342^post70+a_342^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_110^0 <= 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post70 == 0 /\ -nondet_12^post70+nondet_12^0 == 0 /\ -x_26^post70+x_26^0 == 0 /\ head_SLAM_f_29^0-head_SLAM_f_29^post70 == 0 /\ __disjvr_24^0-__disjvr_24^post70 == 0 /\ len_187^0-len_187^post70 == 0 /\ -__disjvr_28^post70+__disjvr_28^0 == 0 /\ a_343^0-a_343^post70 == 0 /\ -__disjvr_27^post70+__disjvr_27^0 == 0 /\ -r_39^post70+r_39^0 == 0 /\ r_165^0-r_165^post70 == 0 /\ 1-i_110^post70+a_118^0 <= 0 /\ __disjvr_11^0-__disjvr_11^post70 == 0 /\ y_25^0-y_25^post70 == 0 /\ i_95^0-i_95^post70 == 0 /\ a_281^0-a_281^post70 == 0 /\ __disjvr_7^0-__disjvr_7^post70 == 0 /\ tmp_34^0-tmp_34^post70 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -temp_35^post70+temp_35^0 == 0 /\ -len_134^post70+len_134^0 == 0 /\ -__disjvr_12^post70+__disjvr_12^0 == 0 /\ x_19^0-x_19^post70 == 0 /\ temp0_16^0-temp0_16^post70 == 0 /\ __disjvr_25^0-__disjvr_25^post70 == 0 /\ rcd_59^0-rcd_59^post70 == 0 /\ -result_11^post70+result_11^0 == 0 /\ a_225^0-a_225^post70 == 0 /\ -__disjvr_4^post70+__disjvr_4^0 == 0 /\ __disjvr_20^0-__disjvr_20^post70 == 0 /\ -__disjvr_3^post70+__disjvr_3^0 == 0 /\ __disjvr_9^0-__disjvr_9^post70 == 0 /\ -__disjvr_8^post70+__disjvr_8^0 == 0 /\ head_15^0-head_15^post70 == 0 /\ -__disjvr_2^post70+__disjvr_2^0 == 0 /\ -y_18^post70+y_18^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -__disjvr_15^post70+__disjvr_15^0 == 0 /\ x_176^0-x_176^post70 == 0 /\ -__disjvr_17^post70+__disjvr_17^0 == 0 /\ a_149^0-a_149^post70 == 0 /\ __disjvr_29^0-__disjvr_29^post70 == 0 /\ -x_131^post70+x_131^0 == 0 /\ -1+i_110^post70-a_118^0 <= 0 /\ -a_188^post70+a_188^0 == 0), cost: 1
New rule:
l64 -> l31 : i_110^0'=1+a_118^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_110^0 <= 0), cost: 1

Applied preprocessing
Original rule:
l5 -> l0 : __disjvr_0^0'=__disjvr_0^post72, a_281^0'=a_281^post72, x_SLAM_f_24^0'=x_SLAM_f_24^post72, __disjvr_21^0'=__disjvr_21^post72, __disjvr_4^0'=__disjvr_4^post72, tail_14^0'=tail_14^post72, __disjvr_14^0'=__disjvr_14^post72, head_15^0'=head_15^post72, __disjvr_24^0'=__disjvr_24^post72, r_165^0'=r_165^post72, __disjvr_9^0'=__disjvr_9^post72, a_149^0'=a_149^post72, x_19^0'=x_19^post72, __disjvr_19^0'=__disjvr_19^post72, i_95^0'=i_95^post72, __disjvr_29^0'=__disjvr_29^post72, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post72, __disjvr_11^0'=__disjvr_11^post72, a_342^0'=a_342^post72, y_25^0'=y_25^post72, length_28^0'=length_28^post72, __disjvr_6^0'=__disjvr_6^post72, temp0_31^0'=temp0_31^post72, __disjvr_16^0'=__disjvr_16^post72, head_SLAM_f_29^0'=head_SLAM_f_29^post72, __disjvr_26^0'=__disjvr_26^post72, rcd_59^0'=rcd_59^post72, a_225^0'=a_225^post72, x_SLAM_f_17^0'=x_SLAM_f_17^post72, __disjvr_20^0'=__disjvr_20^post72, len_187^0'=len_187^post72, __disjvr_3^0'=__disjvr_3^post72, t_22^0'=t_22^post72, __disjvr_13^0'=__disjvr_13^post72, f_171^0'=f_171^post72, __disjvr_23^0'=__disjvr_23^post72, r_126^0'=r_126^post72, __disjvr_8^0'=__disjvr_8^post72, tmp_34^0'=tmp_34^post72, x_176^0'=x_176^post72, __disjvr_18^0'=__disjvr_18^post72, i_30^0'=i_30^post72, __disjvr_28^0'=__disjvr_28^post72, result_11^0'=result_11^post72, __disjvr_10^0'=__disjvr_10^post72, a_289^0'=a_289^post72, y_18^0'=y_18^post72, __disjvr_22^0'=__disjvr_22^post72, __disjvr_5^0'=__disjvr_5^post72, temp0_16^0'=temp0_16^post72, __disjvr_15^0'=__disjvr_15^post72, head_32^0'=head_32^post72, __disjvr_25^0'=__disjvr_25^post72, r_39^0'=r_39^post72, a_118^0'=a_118^post72, a_188^0'=a_188^post72, x_26^0'=x_26^post72, __disjvr_1^0'=__disjvr_1^post72, len_134^0'=len_134^post72, __disjvr_2^0'=__disjvr_2^post72, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post72, __disjvr_12^0'=__disjvr_12^post72, a_343^0'=a_343^post72, nondet_12^0'=nondet_12^post72, __disjvr_7^0'=__disjvr_7^post72, temp_35^0'=temp_35^post72, x_131^0'=x_131^post72, __disjvr_17^0'=__disjvr_17^post72, i_110^0'=i_110^post72, __disjvr_27^0'=__disjvr_27^post72, rcd_89^0'=rcd_89^post72, (0 == 0 /\ -__disjvr_2^post72+__disjvr_2^0 == 0 /\ -a_343^post72+a_343^0 == 0 /\ x_26^0-x_26^post72 == 0 /\ -a_289^post72+a_289^0 == 0 /\ __disjvr_0^0-__disjvr_0^post72 == 0 /\ __disjvr_24^0-__disjvr_24^post72 == 0 /\ -__disjvr_8^post72+__disjvr_8^0 == 0 /\ -head_32^post72+tmp_34^post72 <= 0 /\ a_225^0-a_225^post72 == 0 /\ -__disjvr_5^post72+__disjvr_5^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post72-tmp_34^post72 <= 0 /\ __disjvr_11^0-__disjvr_11^post72 == 0 /\ r_165^0-r_165^post72 == 0 /\ __disjvr_19^0-__disjvr_19^post72 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post72 == 0 /\ -__disjvr_10^post72+__disjvr_10^0 == 0 /\ __disjvr_16^0-__disjvr_16^post72 == 0 /\ length_28^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post72 <= 0 /\ a_342^0-a_342^post72 == 0 /\ -a_188^post72+a_188^0 == 0 /\ -__disjvr_13^post72+__disjvr_13^0 == 0 /\ -__disjvr_1^post72+__disjvr_1^0 == 0 /\ length_28^0-length_28^post72 == 0 /\ -x_131^post72+x_131^0 == 0 /\ -__disjvr_17^post72+__disjvr_17^0 == 0 /\ -__disjvr_26^post72+__disjvr_26^0 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post72 == 0 /\ head_32^post72-tmp_34^post72 <= 0 /\ head_32^post72-tmp_34^post72 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post72+tmp_34^post72 <= 0 /\ 2-i_30^post72 <= 0 /\ __disjvr_29^0-__disjvr_29^post72 == 0 /\ temp0_31^0-temp0_31^post72 == 0 /\ a_281^0-a_281^post72 == 0 /\ head_15^0-head_15^post72 == 0 /\ -a_118^post72+a_118^0 == 0 /\ -length_28^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post72 <= 0 /\ __disjvr_4^0-__disjvr_4^post72 == 0 /\ -__disjvr_25^post72+__disjvr_25^0 == 0 /\ -t_22^post72+t_22^0 == 0 /\ __disjvr_23^0-__disjvr_23^post72 == 0 /\ __disjvr_18^0-__disjvr_18^post72 == 0 /\ 1-length_28^0+i_30^0 <= 0 /\ -__disjvr_28^post72+__disjvr_28^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post72+head_32^post72 <= 0 /\ __disjvr_9^0-__disjvr_9^post72 == 0 /\ -y_18^post72+y_18^0 == 0 /\ i_95^0-i_95^post72 == 0 /\ x_176^0-x_176^post72 == 0 /\ -__disjvr_7^post72+__disjvr_7^0 == 0 /\ -rcd_89^post72+rcd_89^0 == 0 /\ a_149^0-a_149^post72 == 0 /\ -__disjvr_15^post72+__disjvr_15^0 == 0 /\ tail_14^post72-head_SLAM_f_29^post72 <= 0 /\ __disjvr_21^0-__disjvr_21^post72 == 0 /\ 2-length_28^0 <= 0 /\ -r_126^post72+r_126^0 == 0 /\ -x_19^post72+x_19^0 == 0 /\ temp0_16^0-temp0_16^post72 == 0 /\ -i_110^post72+i_110^0 == 0 /\ -__disjvr_12^post72+__disjvr_12^0 == 0 /\ 1-length_28^0 <= 0 /\ -f_171^post72+f_171^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post72-head_32^post72 <= 0 /\ tmp_34^post72-temp_35^0 == 0 /\ __disjvr_6^0-__disjvr_6^post72 == 0 /\ -result_11^post72+result_11^0 == 0 /\ __disjvr_20^0-__disjvr_20^post72 == 0 /\ -__disjvr_27^post72+__disjvr_27^0 == 0 /\ -2+i_30^post72 <= 0 /\ -1+i_30^post72-i_30^0 == 0 /\ __disjvr_14^0-__disjvr_14^post72 == 0 /\ -len_187^post72+len_187^0 == 0 /\ -len_134^post72+len_134^0 == 0 /\ -__disjvr_3^post72+__disjvr_3^0 == 0 /\ __disjvr_22^0-__disjvr_22^post72 == 0 /\ y_25^0-y_25^post72 == 0 /\ -tail_14^post72+head_SLAM_f_29^post72 <= 0 /\ -nondet_12^post72+nondet_12^0 == 0 /\ r_39^0-r_39^post72 == 0), cost: 1
New rule:
l5 -> l0 : tail_14^0'=head_SLAM_f_29^post72, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^0, head_SLAM_f_29^0'=head_SLAM_f_29^post72, rcd_59^0'=rcd_59^post72, tmp_34^0'=temp_35^0, i_30^0'=2, head_32^0'=temp_35^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=length_28^0, temp_35^0'=temp_35^post72, (-2+length_28^0 >= 0 /\ -1+i_30^0 == 0), cost: 1

Applied preprocessing
Original rule:
l65 -> l30 : __disjvr_0^0'=__disjvr_0^post73, a_281^0'=a_281^post73, x_SLAM_f_24^0'=x_SLAM_f_24^post73, __disjvr_21^0'=__disjvr_21^post73, __disjvr_4^0'=__disjvr_4^post73, tail_14^0'=tail_14^post73, __disjvr_14^0'=__disjvr_14^post73, head_15^0'=head_15^post73, __disjvr_24^0'=__disjvr_24^post73, r_165^0'=r_165^post73, __disjvr_9^0'=__disjvr_9^post73, a_149^0'=a_149^post73, x_19^0'=x_19^post73, __disjvr_19^0'=__disjvr_19^post73, i_95^0'=i_95^post73, __disjvr_29^0'=__disjvr_29^post73, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post73, __disjvr_11^0'=__disjvr_11^post73, a_342^0'=a_342^post73, y_25^0'=y_25^post73, length_28^0'=length_28^post73, __disjvr_6^0'=__disjvr_6^post73, temp0_31^0'=temp0_31^post73, __disjvr_16^0'=__disjvr_16^post73, head_SLAM_f_29^0'=head_SLAM_f_29^post73, __disjvr_26^0'=__disjvr_26^post73, rcd_59^0'=rcd_59^post73, a_225^0'=a_225^post73, x_SLAM_f_17^0'=x_SLAM_f_17^post73, __disjvr_20^0'=__disjvr_20^post73, len_187^0'=len_187^post73, __disjvr_3^0'=__disjvr_3^post73, t_22^0'=t_22^post73, __disjvr_13^0'=__disjvr_13^post73, f_171^0'=f_171^post73, __disjvr_23^0'=__disjvr_23^post73, r_126^0'=r_126^post73, __disjvr_8^0'=__disjvr_8^post73, tmp_34^0'=tmp_34^post73, x_176^0'=x_176^post73, __disjvr_18^0'=__disjvr_18^post73, i_30^0'=i_30^post73, __disjvr_28^0'=__disjvr_28^post73, result_11^0'=result_11^post73, __disjvr_10^0'=__disjvr_10^post73, a_289^0'=a_289^post73, y_18^0'=y_18^post73, __disjvr_22^0'=__disjvr_22^post73, __disjvr_5^0'=__disjvr_5^post73, temp0_16^0'=temp0_16^post73, __disjvr_15^0'=__disjvr_15^post73, head_32^0'=head_32^post73, __disjvr_25^0'=__disjvr_25^post73, r_39^0'=r_39^post73, a_118^0'=a_118^post73, a_188^0'=a_188^post73, x_26^0'=x_26^post73, __disjvr_1^0'=__disjvr_1^post73, len_134^0'=len_134^post73, __disjvr_2^0'=__disjvr_2^post73, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post73, __disjvr_12^0'=__disjvr_12^post73, a_343^0'=a_343^post73, nondet_12^0'=nondet_12^post73, __disjvr_7^0'=__disjvr_7^post73, temp_35^0'=temp_35^post73, x_131^0'=x_131^post73, __disjvr_17^0'=__disjvr_17^post73, i_110^0'=i_110^post73, __disjvr_27^0'=__disjvr_27^post73, rcd_89^0'=rcd_89^post73, (-len_187^post73+len_187^0 == 0 /\ __disjvr_11^0-__disjvr_11^post73 == 0 /\ y_25^0-y_25^post73 == 0 /\ -i_110^post73+i_110^0 == 0 /\ r_126^0-r_126^post73 == 0 /\ a_188^0-a_188^post73 == 0 /\ -__disjvr_1^post73+__disjvr_1^0 == 0 /\ -__disjvr_10^post73+__disjvr_10^0 == 0 /\ tail_14^0-tail_14^post73 == 0 /\ -__disjvr_27^post73+__disjvr_27^0 == 0 /\ -__disjvr_26^post73+__disjvr_26^0 == 0 /\ -__disjvr_3^post73+__disjvr_3^0 == 0 /\ -length_28^post73+length_28^0 == 0 /\ -nondet_12^post73+nondet_12^0 == 0 /\ -a_118^post73+a_118^0 == 0 /\ __disjvr_0^0-__disjvr_0^post73 == 0 /\ -f_171^post73+f_171^0 == 0 /\ __disjvr_6^0-__disjvr_6^post73 == 0 /\ __disjvr_20^0-__disjvr_20^post73 == 0 /\ temp0_31^0-temp0_31^post73 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post73+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -t_22^post73+t_22^0 == 0 /\ -x_26^post73+x_26^0 == 0 /\ -__disjvr_28^post73+__disjvr_28^0 == 0 /\ -__disjvr_19^post73+__disjvr_19^0 == 0 /\ x_SLAM_f_24^0-x_SLAM_f_24^post73 == 0 /\ a_342^0-a_342^post73 == 0 /\ head_15^0-head_15^post73 == 0 /\ -a_289^post73+a_289^0 == 0 /\ __disjvr_23^0-__disjvr_23^post73 == 0 /\ __disjvr_16^0-__disjvr_16^post73 == 0 /\ -__disjvr_5^post73+__disjvr_5^0 == 0 /\ temp0_16^0-temp0_16^post73 == 0 /\ i_30^0-i_30^post73 == 0 /\ -r_39^post73+r_39^0 == 0 /\ head_SLAM_f_29^0-head_SLAM_f_29^post73 == 0 /\ -__disjvr_13^post73+__disjvr_13^0 == 0 /\ __disjvr_29^0-__disjvr_29^post73 == 0 /\ a_149^0-a_149^post73 == 0 /\ -x_131^post73+x_131^0 == 0 /\ a_281^0-a_281^post73 == 0 /\ tmp_34^0-tmp_34^post73 == 0 /\ -__disjvr_12^post73+__disjvr_12^0 == 0 /\ __disjvr_21^0-__disjvr_21^post73 == 0 /\ -result_11^post73+result_11^0 == 0 /\ -__disjvr_17^post73+__disjvr_17^0 == 0 /\ temp_35^0-temp_35^post73 == 0 /\ x_SLAM_f_17^0-x_SLAM_f_17^post73 == 0 /\ -r_165^post73+r_165^0 == 0 /\ -__disjvr_18^post73+__disjvr_18^0 == 0 /\ rcd_59^0-rcd_59^post73 == 0 /\ -__disjvr_25^post73+__disjvr_25^0 == 0 /\ __disjvr_14^0-__disjvr_14^post73 == 0 /\ i_95^0-i_95^post73 == 0 /\ __disjvr_9^0-__disjvr_9^post73 == 0 /\ -len_134^post73+len_134^0 == 0 /\ __disjvr_4^0-__disjvr_4^post73 == 0 /\ __disjvr_22^0-__disjvr_22^post73 == 0 /\ a_225^0-a_225^post73 == 0 /\ -a_343^post73+a_343^0 == 0 /\ -__disjvr_7^post73+__disjvr_7^0 == 0 /\ -y_18^post73+y_18^0 == 0 /\ -head_32^post73+head_32^0 == 0 /\ -rcd_89^post73+rcd_89^0 == 0 /\ -__disjvr_2^post73+__disjvr_2^0 == 0 /\ -__disjvr_15^post73+__disjvr_15^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post73 == 0 /\ -__disjvr_8^post73+__disjvr_8^0 == 0 /\ __disjvr_24^0-__disjvr_24^post73 == 0 /\ -x_19^post73+x_19^0 == 0 /\ x_176^0-x_176^post73 == 0), cost: 1
New rule:
l65 -> l30 : TRUE, cost: 1

Simplified rules
Start location: l65
  74: l0 -> l1 : x_SLAM_f_24^0'=head_32^0, head_15^0'=head_32^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post0, y_25^0'=tail_14^0, length_28^0'=length_28^post0, temp0_31^0'=temp0_31^post0, head_SLAM_f_29^0'=head_SLAM_f_29^post0, tmp_34^0'=tmp_34^post0, i_30^0'=i_30^post0, result_11^0'=result_11^post0, head_32^0'=head_32^post0, x_26^0'=head_32^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post0, temp_35^0'=temp_35^post0, (-i_30^post0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 <= 0 /\ i_30^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 >= 0 /\ length_28^0-i_30^0 <= 0), cost: 1
  75: l0 -> l2 : i_95^0'=i_30^0, tmp_34^0'=temp_35^0, i_30^0'=1+i_30^0, head_32^0'=temp_35^0, temp_35^0'=temp_35^post1, rcd_89^0'=rcd_89^post1, (1-length_28^0+i_30^0 <= 0 /\ i_30^0 >= 0), cost: 1
 104: l1 -> l61 : x_SLAM_f_24^0'=x_SLAM_f_24^post66, tail_14^0'=tail_14^post66, head_15^0'=head_15^post66, r_165^0'=r_165^post66, r_39^0'=r_39^post66, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post66, i_110^0'=i_110^post66, i_30^0 >= 0, cost: 1
  76: l2 -> l0 : TRUE, cost: 1
  77: l3 -> l5 : tail_14^0'=head_SLAM_f_29^post4, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^0, head_SLAM_f_29^0'=head_SLAM_f_29^post4, tmp_34^0'=temp_35^0, i_30^0'=1, head_32^0'=temp_35^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=length_28^0, temp_35^0'=temp_35^post4, (i_30^0 == 0 /\ -1+length_28^0 >= 0), cost: 1
 109: l5 -> l0 : tail_14^0'=head_SLAM_f_29^post72, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^0, head_SLAM_f_29^0'=head_SLAM_f_29^post72, rcd_59^0'=rcd_59^post72, tmp_34^0'=temp_35^0, i_30^0'=2, head_32^0'=temp_35^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=length_28^0, temp_35^0'=temp_35^post72, (-2+length_28^0 >= 0 /\ -1+i_30^0 == 0), cost: 1
  78: l6 -> l8 : tail_14^0'=tail_14^post6, head_15^0'=head_15^post6, x_SLAM_f_17^0'=x_SLAM_f_17^post6, r_39^0'=r_39^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, (a_281^0 >= 0 /\ a_149^0 >= 0), cost: 1
  79: l8 -> l9 : 0 == 0, cost: 1
  80: l9 -> l10 : a_342^0'=0, t_22^0'=x_19^0, a_343^0'=-1+a_281^0+a_149^0, (-head_15^0+x_SLAM_f_17^0 == 0 /\ -tail_14^0+y_18^0 == 0), cost: 1
  81: l10 -> l11 : 0 == 0, cost: 1
  82: l11 -> l12 : 0 == 0, cost: 1
  83: l12 -> l13 : 0 == 0, cost: 1
  84: l13 -> l7 : a_281^0'=a_343^0, a_149^0'=a_342^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1
  85: l7 -> l6 : TRUE, cost: 1
  86: l23 -> l24 : tail_14^0'=tail_14^post24, head_15^0'=head_15^post24, x_SLAM_f_17^0'=x_SLAM_f_17^post24, a_289^0'=a_289^post24, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post24, (a_149^0 >= 0 /\ len_134^0 >= 0), cost: 1
  87: l24 -> l25 : 0 == 0, cost: 1
  88: l25 -> l26 : a_225^0'=a_281^0-a_149^0, t_22^0'=head_15^0, (-head_15^0+x_SLAM_f_17^0 == 0 /\ a_289^0 == 0 /\ -tail_14^0+y_18^0 == 0 /\ head_15^0-x_19^0 == 0), cost: 1
  89: l26 -> l27 : 0 == 0, cost: 1
  90: l27 -> l28 : 0 == 0, cost: 1
  91: l28 -> l29 : 0 == 0, cost: 1
  92: l29 -> l6 : len_134^0'=1+a_225^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1
  93: l30 -> l3 : length_28^0'=nondet_12^10, head_SLAM_f_29^0'=tail_14^0, i_30^0'=0, head_32^0'=tail_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post31, 0 == 0, cost: 1
  94: l31 -> l32 : x_SLAM_f_24^0'=x_SLAM_f_24^post32, x_19^0'=head_15^0, y_25^0'=y_25^post32, x_SLAM_f_17^0'=head_15^0, y_18^0'=tail_14^0, x_26^0'=x_26^post32, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post32, (a_149^0 >= 0 /\ -y_25^0+x_26^0 == 0 /\ len_134^0 >= 0), cost: 1
  97: l31 -> l35 : x_SLAM_f_24^0'=x_SLAM_f_24^post35, tail_14^0'=tail_14^post35, head_15^0'=head_15^post35, f_171^0'=f_171^post35, x_176^0'=x_176^post35, r_39^0'=r_39^post35, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post35, (a_149^0 >= 0 /\ len_134^0 >= 0), cost: 1
  95: l32 -> l33 : 0 == 0, cost: 1
  96: l33 -> l23 : -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1
  98: l35 -> l36 : 0 == 0, cost: 1
  99: l36 -> l37 : len_187^0'=1+len_134^0, a_188^0'=-1+a_149^0, (tail_14^0-y_25^0 == 0 /\ -x_SLAM_f_24^0+head_15^0 == 0 /\ f_171^0-x_26^0 == 0), cost: 1
 100: l37 -> l38 : 0 == 0, cost: 1
 101: l38 -> l39 : 0 == 0, cost: 1
 102: l39 -> l34 : a_149^0'=a_188^0, len_134^0'=len_187^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1
 103: l34 -> l31 : TRUE, cost: 1
 105: l61 -> l62 : 0 == 0, cost: 1
 106: l62 -> l63 : a_118^0'=a_149^0, (tail_14^0-y_25^0 == 0 /\ -x_SLAM_f_24^0+head_15^0 == 0 /\ -1+len_134^0 == 0), cost: 1
 107: l63 -> l64 : 0 == 0, cost: 1
 108: l64 -> l31 : i_110^0'=1+a_118^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_110^0 <= 0), cost: 1
 110: l65 -> l30 : TRUE, cost: 1


Eliminating location l30 by chaining:

Applied chaining
First rule:
l65 -> l30 : TRUE, cost: 1
Second rule:
l30 -> l3 : length_28^0'=nondet_12^10, head_SLAM_f_29^0'=tail_14^0, i_30^0'=0, head_32^0'=tail_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post31, 0 == 0, cost: 1
New rule:
l65 -> l3 : length_28^0'=nondet_12^10, head_SLAM_f_29^0'=tail_14^0, i_30^0'=0, head_32^0'=tail_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post31, 0 == 0, cost: 2

Applied deletion
Removed the following rules: 93 110

Eliminating location l3 by chaining:

Applied chaining
First rule:
l65 -> l3 : length_28^0'=nondet_12^10, head_SLAM_f_29^0'=tail_14^0, i_30^0'=0, head_32^0'=tail_14^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post31, 0 == 0, cost: 2
Second rule:
l3 -> l5 : tail_14^0'=head_SLAM_f_29^post4, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^0, head_SLAM_f_29^0'=head_SLAM_f_29^post4, tmp_34^0'=temp_35^0, i_30^0'=1, head_32^0'=temp_35^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=length_28^0, temp_35^0'=temp_35^post4, (i_30^0 == 0 /\ -1+length_28^0 >= 0), cost: 1
New rule:
l65 -> l5 : tail_14^0'=head_SLAM_f_29^post4, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^0, length_28^0'=nondet_12^10, head_SLAM_f_29^0'=head_SLAM_f_29^post4, tmp_34^0'=temp_35^0, i_30^0'=1, head_32^0'=temp_35^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post31, temp_35^0'=temp_35^post4, (0 == 0 /\ -1+nondet_12^10 >= 0), cost: 3

Applied simplification
Original rule:
l65 -> l5 : tail_14^0'=head_SLAM_f_29^post4, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^0, length_28^0'=nondet_12^10, head_SLAM_f_29^0'=head_SLAM_f_29^post4, tmp_34^0'=temp_35^0, i_30^0'=1, head_32^0'=temp_35^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post31, temp_35^0'=temp_35^post4, (0 == 0 /\ -1+nondet_12^10 >= 0), cost: 3
New rule:
l65 -> l5 : tail_14^0'=head_SLAM_f_29^post4, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^0, length_28^0'=nondet_12^10, head_SLAM_f_29^0'=head_SLAM_f_29^post4, tmp_34^0'=temp_35^0, i_30^0'=1, head_32^0'=temp_35^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post31, temp_35^0'=temp_35^post4, -1+nondet_12^10 >= 0, cost: 3

Applied deletion
Removed the following rules: 77 111

Eliminating location l5 by chaining:

Applied chaining
First rule:
l65 -> l5 : tail_14^0'=head_SLAM_f_29^post4, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^0, length_28^0'=nondet_12^10, head_SLAM_f_29^0'=head_SLAM_f_29^post4, tmp_34^0'=temp_35^0, i_30^0'=1, head_32^0'=temp_35^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post31, temp_35^0'=temp_35^post4, -1+nondet_12^10 >= 0, cost: 3
Second rule:
l5 -> l0 : tail_14^0'=head_SLAM_f_29^post72, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^0, head_SLAM_f_29^0'=head_SLAM_f_29^post72, rcd_59^0'=rcd_59^post72, tmp_34^0'=temp_35^0, i_30^0'=2, head_32^0'=temp_35^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=length_28^0, temp_35^0'=temp_35^post72, (-2+length_28^0 >= 0 /\ -1+i_30^0 == 0), cost: 1
New rule:
l65 -> l0 : tail_14^0'=head_SLAM_f_29^post72, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post4, length_28^0'=nondet_12^10, head_SLAM_f_29^0'=head_SLAM_f_29^post72, rcd_59^0'=rcd_59^post72, tmp_34^0'=temp_35^post4, i_30^0'=2, head_32^0'=temp_35^post4, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post31, temp_35^0'=temp_35^post72, (0 == 0 /\ -2+nondet_12^10 >= 0 /\ -1+nondet_12^10 >= 0), cost: 4

Applied simplification
Original rule:
l65 -> l0 : tail_14^0'=head_SLAM_f_29^post72, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post4, length_28^0'=nondet_12^10, head_SLAM_f_29^0'=head_SLAM_f_29^post72, rcd_59^0'=rcd_59^post72, tmp_34^0'=temp_35^post4, i_30^0'=2, head_32^0'=temp_35^post4, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post31, temp_35^0'=temp_35^post72, (0 == 0 /\ -2+nondet_12^10 >= 0 /\ -1+nondet_12^10 >= 0), cost: 4
New rule:
l65 -> l0 : tail_14^0'=head_SLAM_f_29^post72, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post4, length_28^0'=nondet_12^10, head_SLAM_f_29^0'=head_SLAM_f_29^post72, rcd_59^0'=rcd_59^post72, tmp_34^0'=temp_35^post4, i_30^0'=2, head_32^0'=temp_35^post4, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post31, temp_35^0'=temp_35^post72, -2+nondet_12^10 >= 0, cost: 4

Applied deletion
Removed the following rules: 109 112

Eliminating location l1 by chaining:

Applied chaining
First rule:
l0 -> l1 : x_SLAM_f_24^0'=head_32^0, head_15^0'=head_32^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post0, y_25^0'=tail_14^0, length_28^0'=length_28^post0, temp0_31^0'=temp0_31^post0, head_SLAM_f_29^0'=head_SLAM_f_29^post0, tmp_34^0'=tmp_34^post0, i_30^0'=i_30^post0, result_11^0'=result_11^post0, head_32^0'=head_32^post0, x_26^0'=head_32^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post0, temp_35^0'=temp_35^post0, (-i_30^post0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 <= 0 /\ i_30^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 >= 0 /\ length_28^0-i_30^0 <= 0), cost: 1
Second rule:
l1 -> l61 : x_SLAM_f_24^0'=x_SLAM_f_24^post66, tail_14^0'=tail_14^post66, head_15^0'=head_15^post66, r_165^0'=r_165^post66, r_39^0'=r_39^post66, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post66, i_110^0'=i_110^post66, i_30^0 >= 0, cost: 1
New rule:
l0 -> l61 : x_SLAM_f_24^0'=x_SLAM_f_24^post66, tail_14^0'=tail_14^post66, head_15^0'=head_15^post66, r_165^0'=r_165^post66, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post0, y_25^0'=tail_14^0, length_28^0'=length_28^post0, temp0_31^0'=temp0_31^post0, head_SLAM_f_29^0'=head_SLAM_f_29^post0, tmp_34^0'=tmp_34^post0, i_30^0'=i_30^post0, result_11^0'=result_11^post0, head_32^0'=head_32^post0, r_39^0'=r_39^post66, x_26^0'=head_32^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post66, temp_35^0'=temp_35^post0, i_110^0'=i_110^post66, (i_30^post0 >= 0 /\ -i_30^post0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 <= 0 /\ i_30^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 >= 0 /\ length_28^0-i_30^0 <= 0), cost: 2

Applied simplification
Original rule:
l0 -> l61 : x_SLAM_f_24^0'=x_SLAM_f_24^post66, tail_14^0'=tail_14^post66, head_15^0'=head_15^post66, r_165^0'=r_165^post66, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post0, y_25^0'=tail_14^0, length_28^0'=length_28^post0, temp0_31^0'=temp0_31^post0, head_SLAM_f_29^0'=head_SLAM_f_29^post0, tmp_34^0'=tmp_34^post0, i_30^0'=i_30^post0, result_11^0'=result_11^post0, head_32^0'=head_32^post0, r_39^0'=r_39^post66, x_26^0'=head_32^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post66, temp_35^0'=temp_35^post0, i_110^0'=i_110^post66, (i_30^post0 >= 0 /\ -i_30^post0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 <= 0 /\ i_30^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 >= 0 /\ length_28^0-i_30^0 <= 0), cost: 2
New rule:
l0 -> l61 : x_SLAM_f_24^0'=x_SLAM_f_24^post66, tail_14^0'=tail_14^post66, head_15^0'=head_15^post66, r_165^0'=r_165^post66, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post0, y_25^0'=tail_14^0, length_28^0'=length_28^post0, temp0_31^0'=temp0_31^post0, head_SLAM_f_29^0'=head_SLAM_f_29^post0, tmp_34^0'=tmp_34^post0, i_30^0'=i_30^post0, result_11^0'=result_11^post0, head_32^0'=head_32^post0, r_39^0'=r_39^post66, x_26^0'=head_32^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post66, temp_35^0'=temp_35^post0, i_110^0'=i_110^post66, (-i_30^post0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 <= 0 /\ i_30^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 >= 0 /\ length_28^0-i_30^0 <= 0), cost: 2

Applied deletion
Removed the following rules: 74 104

Eliminating location l2 by chaining:

Applied chaining
First rule:
l0 -> l2 : i_95^0'=i_30^0, tmp_34^0'=temp_35^0, i_30^0'=1+i_30^0, head_32^0'=temp_35^0, temp_35^0'=temp_35^post1, rcd_89^0'=rcd_89^post1, (1-length_28^0+i_30^0 <= 0 /\ i_30^0 >= 0), cost: 1
Second rule:
l2 -> l0 : TRUE, cost: 1
New rule:
l0 -> l0 : i_95^0'=i_30^0, tmp_34^0'=temp_35^0, i_30^0'=1+i_30^0, head_32^0'=temp_35^0, temp_35^0'=temp_35^post1, rcd_89^0'=rcd_89^post1, (1-length_28^0+i_30^0 <= 0 /\ i_30^0 >= 0), cost: 2

Applied deletion
Removed the following rules: 75 76

Eliminating location l61 by chaining:

Applied chaining
First rule:
l0 -> l61 : x_SLAM_f_24^0'=x_SLAM_f_24^post66, tail_14^0'=tail_14^post66, head_15^0'=head_15^post66, r_165^0'=r_165^post66, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post0, y_25^0'=tail_14^0, length_28^0'=length_28^post0, temp0_31^0'=temp0_31^post0, head_SLAM_f_29^0'=head_SLAM_f_29^post0, tmp_34^0'=tmp_34^post0, i_30^0'=i_30^post0, result_11^0'=result_11^post0, head_32^0'=head_32^post0, r_39^0'=r_39^post66, x_26^0'=head_32^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post66, temp_35^0'=temp_35^post0, i_110^0'=i_110^post66, (-i_30^post0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 <= 0 /\ i_30^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 >= 0 /\ length_28^0-i_30^0 <= 0), cost: 2
Second rule:
l61 -> l62 : 0 == 0, cost: 1
New rule:
l0 -> l62 : x_SLAM_f_24^0'=x_SLAM_f_24^post66, tail_14^0'=tail_14^post66, head_15^0'=head_15^post66, r_165^0'=r_165^post66, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post0, y_25^0'=tail_14^0, length_28^0'=length_28^post0, temp0_31^0'=temp0_31^post0, head_SLAM_f_29^0'=head_SLAM_f_29^post0, tmp_34^0'=tmp_34^post0, i_30^0'=i_30^post0, result_11^0'=result_11^post0, head_32^0'=head_32^post0, r_39^0'=r_39^post66, x_26^0'=head_32^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post66, temp_35^0'=temp_35^post0, i_110^0'=i_110^post66, (0 == 0 /\ -i_30^post0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 <= 0 /\ i_30^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 >= 0 /\ length_28^0-i_30^0 <= 0), cost: 3

Applied simplification
Original rule:
l0 -> l62 : x_SLAM_f_24^0'=x_SLAM_f_24^post66, tail_14^0'=tail_14^post66, head_15^0'=head_15^post66, r_165^0'=r_165^post66, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post0, y_25^0'=tail_14^0, length_28^0'=length_28^post0, temp0_31^0'=temp0_31^post0, head_SLAM_f_29^0'=head_SLAM_f_29^post0, tmp_34^0'=tmp_34^post0, i_30^0'=i_30^post0, result_11^0'=result_11^post0, head_32^0'=head_32^post0, r_39^0'=r_39^post66, x_26^0'=head_32^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post66, temp_35^0'=temp_35^post0, i_110^0'=i_110^post66, (0 == 0 /\ -i_30^post0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 <= 0 /\ i_30^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 >= 0 /\ length_28^0-i_30^0 <= 0), cost: 3
New rule:
l0 -> l62 : x_SLAM_f_24^0'=x_SLAM_f_24^post66, tail_14^0'=tail_14^post66, head_15^0'=head_15^post66, r_165^0'=r_165^post66, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post0, y_25^0'=tail_14^0, length_28^0'=length_28^post0, temp0_31^0'=temp0_31^post0, head_SLAM_f_29^0'=head_SLAM_f_29^post0, tmp_34^0'=tmp_34^post0, i_30^0'=i_30^post0, result_11^0'=result_11^post0, head_32^0'=head_32^post0, r_39^0'=r_39^post66, x_26^0'=head_32^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post66, temp_35^0'=temp_35^post0, i_110^0'=i_110^post66, (-i_30^post0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 <= 0 /\ i_30^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 >= 0 /\ length_28^0-i_30^0 <= 0), cost: 3

Applied deletion
Removed the following rules: 105 114

Eliminating location l62 by chaining:

Applied chaining
First rule:
l0 -> l62 : x_SLAM_f_24^0'=x_SLAM_f_24^post66, tail_14^0'=tail_14^post66, head_15^0'=head_15^post66, r_165^0'=r_165^post66, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post0, y_25^0'=tail_14^0, length_28^0'=length_28^post0, temp0_31^0'=temp0_31^post0, head_SLAM_f_29^0'=head_SLAM_f_29^post0, tmp_34^0'=tmp_34^post0, i_30^0'=i_30^post0, result_11^0'=result_11^post0, head_32^0'=head_32^post0, r_39^0'=r_39^post66, x_26^0'=head_32^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post66, temp_35^0'=temp_35^post0, i_110^0'=i_110^post66, (-i_30^post0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 <= 0 /\ i_30^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 >= 0 /\ length_28^0-i_30^0 <= 0), cost: 3
Second rule:
l62 -> l63 : a_118^0'=a_149^0, (tail_14^0-y_25^0 == 0 /\ -x_SLAM_f_24^0+head_15^0 == 0 /\ -1+len_134^0 == 0), cost: 1
New rule:
l0 -> l63 : x_SLAM_f_24^0'=x_SLAM_f_24^post66, tail_14^0'=tail_14^post66, head_15^0'=head_15^post66, r_165^0'=r_165^post66, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post0, y_25^0'=tail_14^0, length_28^0'=length_28^post0, temp0_31^0'=temp0_31^post0, head_SLAM_f_29^0'=head_SLAM_f_29^post0, tmp_34^0'=tmp_34^post0, i_30^0'=i_30^post0, result_11^0'=result_11^post0, head_32^0'=head_32^post0, r_39^0'=r_39^post66, a_118^0'=a_149^0, x_26^0'=head_32^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post66, temp_35^0'=temp_35^post0, i_110^0'=i_110^post66, (-i_30^post0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 <= 0 /\ -tail_14^0+tail_14^post66 == 0 /\ i_30^0 >= 0 /\ head_15^post66-x_SLAM_f_24^post66 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 >= 0 /\ length_28^0-i_30^0 <= 0 /\ -1+len_134^0 == 0), cost: 4

Applied deletion
Removed the following rules: 106 116

Eliminating location l63 by chaining:

Applied chaining
First rule:
l0 -> l63 : x_SLAM_f_24^0'=x_SLAM_f_24^post66, tail_14^0'=tail_14^post66, head_15^0'=head_15^post66, r_165^0'=r_165^post66, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post0, y_25^0'=tail_14^0, length_28^0'=length_28^post0, temp0_31^0'=temp0_31^post0, head_SLAM_f_29^0'=head_SLAM_f_29^post0, tmp_34^0'=tmp_34^post0, i_30^0'=i_30^post0, result_11^0'=result_11^post0, head_32^0'=head_32^post0, r_39^0'=r_39^post66, a_118^0'=a_149^0, x_26^0'=head_32^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post66, temp_35^0'=temp_35^post0, i_110^0'=i_110^post66, (-i_30^post0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 <= 0 /\ -tail_14^0+tail_14^post66 == 0 /\ i_30^0 >= 0 /\ head_15^post66-x_SLAM_f_24^post66 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 >= 0 /\ length_28^0-i_30^0 <= 0 /\ -1+len_134^0 == 0), cost: 4
Second rule:
l63 -> l64 : 0 == 0, cost: 1
New rule:
l0 -> l64 : x_SLAM_f_24^0'=x_SLAM_f_24^post66, tail_14^0'=tail_14^post66, head_15^0'=head_15^post66, r_165^0'=r_165^post66, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post0, y_25^0'=tail_14^0, length_28^0'=length_28^post0, temp0_31^0'=temp0_31^post0, head_SLAM_f_29^0'=head_SLAM_f_29^post0, tmp_34^0'=tmp_34^post0, i_30^0'=i_30^post0, result_11^0'=result_11^post0, head_32^0'=head_32^post0, r_39^0'=r_39^post66, a_118^0'=a_149^0, x_26^0'=head_32^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post66, temp_35^0'=temp_35^post0, i_110^0'=i_110^post66, (0 == 0 /\ -i_30^post0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 <= 0 /\ -tail_14^0+tail_14^post66 == 0 /\ i_30^0 >= 0 /\ head_15^post66-x_SLAM_f_24^post66 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 >= 0 /\ length_28^0-i_30^0 <= 0 /\ -1+len_134^0 == 0), cost: 5

Applied simplification
Original rule:
l0 -> l64 : x_SLAM_f_24^0'=x_SLAM_f_24^post66, tail_14^0'=tail_14^post66, head_15^0'=head_15^post66, r_165^0'=r_165^post66, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post0, y_25^0'=tail_14^0, length_28^0'=length_28^post0, temp0_31^0'=temp0_31^post0, head_SLAM_f_29^0'=head_SLAM_f_29^post0, tmp_34^0'=tmp_34^post0, i_30^0'=i_30^post0, result_11^0'=result_11^post0, head_32^0'=head_32^post0, r_39^0'=r_39^post66, a_118^0'=a_149^0, x_26^0'=head_32^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post66, temp_35^0'=temp_35^post0, i_110^0'=i_110^post66, (0 == 0 /\ -i_30^post0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 <= 0 /\ -tail_14^0+tail_14^post66 == 0 /\ i_30^0 >= 0 /\ head_15^post66-x_SLAM_f_24^post66 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 >= 0 /\ length_28^0-i_30^0 <= 0 /\ -1+len_134^0 == 0), cost: 5
New rule:
l0 -> l64 : x_SLAM_f_24^0'=x_SLAM_f_24^post66, tail_14^0'=tail_14^post66, head_15^0'=head_15^post66, r_165^0'=r_165^post66, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post0, y_25^0'=tail_14^0, length_28^0'=length_28^post0, temp0_31^0'=temp0_31^post0, head_SLAM_f_29^0'=head_SLAM_f_29^post0, tmp_34^0'=tmp_34^post0, i_30^0'=i_30^post0, result_11^0'=result_11^post0, head_32^0'=head_32^post0, r_39^0'=r_39^post66, a_118^0'=a_149^0, x_26^0'=head_32^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post66, temp_35^0'=temp_35^post0, i_110^0'=i_110^post66, (-i_30^post0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 <= 0 /\ -tail_14^0+tail_14^post66 == 0 /\ i_30^0 >= 0 /\ head_15^post66-x_SLAM_f_24^post66 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 >= 0 /\ length_28^0-i_30^0 <= 0 /\ -1+len_134^0 == 0), cost: 5

Applied deletion
Removed the following rules: 107 117

Eliminating location l64 by chaining:

Applied chaining
First rule:
l0 -> l64 : x_SLAM_f_24^0'=x_SLAM_f_24^post66, tail_14^0'=tail_14^post66, head_15^0'=head_15^post66, r_165^0'=r_165^post66, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post0, y_25^0'=tail_14^0, length_28^0'=length_28^post0, temp0_31^0'=temp0_31^post0, head_SLAM_f_29^0'=head_SLAM_f_29^post0, tmp_34^0'=tmp_34^post0, i_30^0'=i_30^post0, result_11^0'=result_11^post0, head_32^0'=head_32^post0, r_39^0'=r_39^post66, a_118^0'=a_149^0, x_26^0'=head_32^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post66, temp_35^0'=temp_35^post0, i_110^0'=i_110^post66, (-i_30^post0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 <= 0 /\ -tail_14^0+tail_14^post66 == 0 /\ i_30^0 >= 0 /\ head_15^post66-x_SLAM_f_24^post66 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 >= 0 /\ length_28^0-i_30^0 <= 0 /\ -1+len_134^0 == 0), cost: 5
Second rule:
l64 -> l31 : i_110^0'=1+a_118^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_110^0 <= 0), cost: 1
New rule:
l0 -> l31 : x_SLAM_f_24^0'=x_SLAM_f_24^post66, tail_14^0'=tail_14^post66, head_15^0'=head_15^post66, r_165^0'=r_165^post66, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post0, y_25^0'=tail_14^0, length_28^0'=length_28^post0, temp0_31^0'=temp0_31^post0, head_SLAM_f_29^0'=head_SLAM_f_29^post0, tmp_34^0'=tmp_34^post0, i_30^0'=i_30^post0, result_11^0'=result_11^post0, head_32^0'=head_32^post0, r_39^0'=r_39^post66, a_118^0'=a_149^0, x_26^0'=head_32^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post66, temp_35^0'=temp_35^post0, i_110^0'=1+a_149^0, (-i_30^post0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 <= 0 /\ -tail_14^0+tail_14^post66 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post66 >= 0 /\ i_30^0 >= 0 /\ -i_110^post66+result_dot_nondet_sdv_special_RETURN_VALUE_13^post66 <= 0 /\ head_15^post66-x_SLAM_f_24^post66 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 >= 0 /\ length_28^0-i_30^0 <= 0 /\ -1+len_134^0 == 0), cost: 6

Applied deletion
Removed the following rules: 108 118

Eliminating location l32 by chaining:

Applied chaining
First rule:
l31 -> l32 : x_SLAM_f_24^0'=x_SLAM_f_24^post32, x_19^0'=head_15^0, y_25^0'=y_25^post32, x_SLAM_f_17^0'=head_15^0, y_18^0'=tail_14^0, x_26^0'=x_26^post32, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post32, (a_149^0 >= 0 /\ -y_25^0+x_26^0 == 0 /\ len_134^0 >= 0), cost: 1
Second rule:
l32 -> l33 : 0 == 0, cost: 1
New rule:
l31 -> l33 : x_SLAM_f_24^0'=x_SLAM_f_24^post32, x_19^0'=head_15^0, y_25^0'=y_25^post32, x_SLAM_f_17^0'=head_15^0, y_18^0'=tail_14^0, x_26^0'=x_26^post32, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post32, (0 == 0 /\ a_149^0 >= 0 /\ -y_25^0+x_26^0 == 0 /\ len_134^0 >= 0), cost: 2

Applied simplification
Original rule:
l31 -> l33 : x_SLAM_f_24^0'=x_SLAM_f_24^post32, x_19^0'=head_15^0, y_25^0'=y_25^post32, x_SLAM_f_17^0'=head_15^0, y_18^0'=tail_14^0, x_26^0'=x_26^post32, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post32, (0 == 0 /\ a_149^0 >= 0 /\ -y_25^0+x_26^0 == 0 /\ len_134^0 >= 0), cost: 2
New rule:
l31 -> l33 : x_SLAM_f_24^0'=x_SLAM_f_24^post32, x_19^0'=head_15^0, y_25^0'=y_25^post32, x_SLAM_f_17^0'=head_15^0, y_18^0'=tail_14^0, x_26^0'=x_26^post32, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post32, (a_149^0 >= 0 /\ -y_25^0+x_26^0 == 0 /\ len_134^0 >= 0), cost: 2

Applied deletion
Removed the following rules: 94 95

Eliminating location l35 by chaining:

Applied chaining
First rule:
l31 -> l35 : x_SLAM_f_24^0'=x_SLAM_f_24^post35, tail_14^0'=tail_14^post35, head_15^0'=head_15^post35, f_171^0'=f_171^post35, x_176^0'=x_176^post35, r_39^0'=r_39^post35, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post35, (a_149^0 >= 0 /\ len_134^0 >= 0), cost: 1
Second rule:
l35 -> l36 : 0 == 0, cost: 1
New rule:
l31 -> l36 : x_SLAM_f_24^0'=x_SLAM_f_24^post35, tail_14^0'=tail_14^post35, head_15^0'=head_15^post35, f_171^0'=f_171^post35, x_176^0'=x_176^post35, r_39^0'=r_39^post35, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post35, (0 == 0 /\ a_149^0 >= 0 /\ len_134^0 >= 0), cost: 2

Applied simplification
Original rule:
l31 -> l36 : x_SLAM_f_24^0'=x_SLAM_f_24^post35, tail_14^0'=tail_14^post35, head_15^0'=head_15^post35, f_171^0'=f_171^post35, x_176^0'=x_176^post35, r_39^0'=r_39^post35, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post35, (0 == 0 /\ a_149^0 >= 0 /\ len_134^0 >= 0), cost: 2
New rule:
l31 -> l36 : x_SLAM_f_24^0'=x_SLAM_f_24^post35, tail_14^0'=tail_14^post35, head_15^0'=head_15^post35, f_171^0'=f_171^post35, x_176^0'=x_176^post35, r_39^0'=r_39^post35, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post35, (a_149^0 >= 0 /\ len_134^0 >= 0), cost: 2

Applied deletion
Removed the following rules: 97 98

Eliminating location l33 by chaining:

Applied chaining
First rule:
l31 -> l33 : x_SLAM_f_24^0'=x_SLAM_f_24^post32, x_19^0'=head_15^0, y_25^0'=y_25^post32, x_SLAM_f_17^0'=head_15^0, y_18^0'=tail_14^0, x_26^0'=x_26^post32, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post32, (a_149^0 >= 0 /\ -y_25^0+x_26^0 == 0 /\ len_134^0 >= 0), cost: 2
Second rule:
l33 -> l23 : -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1
New rule:
l31 -> l23 : x_SLAM_f_24^0'=x_SLAM_f_24^post32, x_19^0'=head_15^0, y_25^0'=y_25^post32, x_SLAM_f_17^0'=head_15^0, y_18^0'=tail_14^0, x_26^0'=x_26^post32, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post32, (a_149^0 >= 0 /\ -y_25^0+x_26^0 == 0 /\ len_134^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post32 >= 0), cost: 3

Applied deletion
Removed the following rules: 96 120

Eliminating location l36 by chaining:

Applied chaining
First rule:
l31 -> l36 : x_SLAM_f_24^0'=x_SLAM_f_24^post35, tail_14^0'=tail_14^post35, head_15^0'=head_15^post35, f_171^0'=f_171^post35, x_176^0'=x_176^post35, r_39^0'=r_39^post35, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post35, (a_149^0 >= 0 /\ len_134^0 >= 0), cost: 2
Second rule:
l36 -> l37 : len_187^0'=1+len_134^0, a_188^0'=-1+a_149^0, (tail_14^0-y_25^0 == 0 /\ -x_SLAM_f_24^0+head_15^0 == 0 /\ f_171^0-x_26^0 == 0), cost: 1
New rule:
l31 -> l37 : x_SLAM_f_24^0'=x_SLAM_f_24^post35, tail_14^0'=tail_14^post35, head_15^0'=head_15^post35, len_187^0'=1+len_134^0, f_171^0'=f_171^post35, x_176^0'=x_176^post35, r_39^0'=r_39^post35, a_188^0'=-1+a_149^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post35, (a_149^0 >= 0 /\ head_15^post35-x_SLAM_f_24^post35 == 0 /\ -y_25^0+tail_14^post35 == 0 /\ f_171^post35-x_26^0 == 0 /\ len_134^0 >= 0), cost: 3

Applied deletion
Removed the following rules: 99 121

Eliminating location l23 by chaining:

Applied chaining
First rule:
l31 -> l23 : x_SLAM_f_24^0'=x_SLAM_f_24^post32, x_19^0'=head_15^0, y_25^0'=y_25^post32, x_SLAM_f_17^0'=head_15^0, y_18^0'=tail_14^0, x_26^0'=x_26^post32, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post32, (a_149^0 >= 0 /\ -y_25^0+x_26^0 == 0 /\ len_134^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post32 >= 0), cost: 3
Second rule:
l23 -> l24 : tail_14^0'=tail_14^post24, head_15^0'=head_15^post24, x_SLAM_f_17^0'=x_SLAM_f_17^post24, a_289^0'=a_289^post24, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post24, (a_149^0 >= 0 /\ len_134^0 >= 0), cost: 1
New rule:
l31 -> l24 : x_SLAM_f_24^0'=x_SLAM_f_24^post32, tail_14^0'=tail_14^post24, head_15^0'=head_15^post24, x_19^0'=head_15^0, y_25^0'=y_25^post32, x_SLAM_f_17^0'=x_SLAM_f_17^post24, a_289^0'=a_289^post24, y_18^0'=tail_14^0, x_26^0'=x_26^post32, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post24, (a_149^0 >= 0 /\ -y_25^0+x_26^0 == 0 /\ len_134^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post32 >= 0), cost: 4

Applied deletion
Removed the following rules: 86 122

Eliminating location l37 by chaining:

Applied chaining
First rule:
l31 -> l37 : x_SLAM_f_24^0'=x_SLAM_f_24^post35, tail_14^0'=tail_14^post35, head_15^0'=head_15^post35, len_187^0'=1+len_134^0, f_171^0'=f_171^post35, x_176^0'=x_176^post35, r_39^0'=r_39^post35, a_188^0'=-1+a_149^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post35, (a_149^0 >= 0 /\ head_15^post35-x_SLAM_f_24^post35 == 0 /\ -y_25^0+tail_14^post35 == 0 /\ f_171^post35-x_26^0 == 0 /\ len_134^0 >= 0), cost: 3
Second rule:
l37 -> l38 : 0 == 0, cost: 1
New rule:
l31 -> l38 : x_SLAM_f_24^0'=x_SLAM_f_24^post35, tail_14^0'=tail_14^post35, head_15^0'=head_15^post35, len_187^0'=1+len_134^0, f_171^0'=f_171^post35, x_176^0'=x_176^post35, r_39^0'=r_39^post35, a_188^0'=-1+a_149^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post35, (0 == 0 /\ a_149^0 >= 0 /\ head_15^post35-x_SLAM_f_24^post35 == 0 /\ -y_25^0+tail_14^post35 == 0 /\ f_171^post35-x_26^0 == 0 /\ len_134^0 >= 0), cost: 4

Applied simplification
Original rule:
l31 -> l38 : x_SLAM_f_24^0'=x_SLAM_f_24^post35, tail_14^0'=tail_14^post35, head_15^0'=head_15^post35, len_187^0'=1+len_134^0, f_171^0'=f_171^post35, x_176^0'=x_176^post35, r_39^0'=r_39^post35, a_188^0'=-1+a_149^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post35, (0 == 0 /\ a_149^0 >= 0 /\ head_15^post35-x_SLAM_f_24^post35 == 0 /\ -y_25^0+tail_14^post35 == 0 /\ f_171^post35-x_26^0 == 0 /\ len_134^0 >= 0), cost: 4
New rule:
l31 -> l38 : x_SLAM_f_24^0'=x_SLAM_f_24^post35, tail_14^0'=tail_14^post35, head_15^0'=head_15^post35, len_187^0'=1+len_134^0, f_171^0'=f_171^post35, x_176^0'=x_176^post35, r_39^0'=r_39^post35, a_188^0'=-1+a_149^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post35, (a_149^0 >= 0 /\ head_15^post35-x_SLAM_f_24^post35 == 0 /\ -y_25^0+tail_14^post35 == 0 /\ f_171^post35-x_26^0 == 0 /\ len_134^0 >= 0), cost: 4

Applied deletion
Removed the following rules: 100 123

Eliminating location l24 by chaining:

Applied chaining
First rule:
l31 -> l24 : x_SLAM_f_24^0'=x_SLAM_f_24^post32, tail_14^0'=tail_14^post24, head_15^0'=head_15^post24, x_19^0'=head_15^0, y_25^0'=y_25^post32, x_SLAM_f_17^0'=x_SLAM_f_17^post24, a_289^0'=a_289^post24, y_18^0'=tail_14^0, x_26^0'=x_26^post32, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post24, (a_149^0 >= 0 /\ -y_25^0+x_26^0 == 0 /\ len_134^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post32 >= 0), cost: 4
Second rule:
l24 -> l25 : 0 == 0, cost: 1
New rule:
l31 -> l25 : x_SLAM_f_24^0'=x_SLAM_f_24^post32, tail_14^0'=tail_14^post24, head_15^0'=head_15^post24, x_19^0'=head_15^0, y_25^0'=y_25^post32, x_SLAM_f_17^0'=x_SLAM_f_17^post24, a_289^0'=a_289^post24, y_18^0'=tail_14^0, x_26^0'=x_26^post32, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post24, (0 == 0 /\ a_149^0 >= 0 /\ -y_25^0+x_26^0 == 0 /\ len_134^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post32 >= 0), cost: 5

Applied simplification
Original rule:
l31 -> l25 : x_SLAM_f_24^0'=x_SLAM_f_24^post32, tail_14^0'=tail_14^post24, head_15^0'=head_15^post24, x_19^0'=head_15^0, y_25^0'=y_25^post32, x_SLAM_f_17^0'=x_SLAM_f_17^post24, a_289^0'=a_289^post24, y_18^0'=tail_14^0, x_26^0'=x_26^post32, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post24, (0 == 0 /\ a_149^0 >= 0 /\ -y_25^0+x_26^0 == 0 /\ len_134^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post32 >= 0), cost: 5
New rule:
l31 -> l25 : x_SLAM_f_24^0'=x_SLAM_f_24^post32, tail_14^0'=tail_14^post24, head_15^0'=head_15^post24, x_19^0'=head_15^0, y_25^0'=y_25^post32, x_SLAM_f_17^0'=x_SLAM_f_17^post24, a_289^0'=a_289^post24, y_18^0'=tail_14^0, x_26^0'=x_26^post32, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post24, (a_149^0 >= 0 /\ -y_25^0+x_26^0 == 0 /\ len_134^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post32 >= 0), cost: 5

Applied deletion
Removed the following rules: 87 124

Eliminating location l38 by chaining:

Applied chaining
First rule:
l31 -> l38 : x_SLAM_f_24^0'=x_SLAM_f_24^post35, tail_14^0'=tail_14^post35, head_15^0'=head_15^post35, len_187^0'=1+len_134^0, f_171^0'=f_171^post35, x_176^0'=x_176^post35, r_39^0'=r_39^post35, a_188^0'=-1+a_149^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post35, (a_149^0 >= 0 /\ head_15^post35-x_SLAM_f_24^post35 == 0 /\ -y_25^0+tail_14^post35 == 0 /\ f_171^post35-x_26^0 == 0 /\ len_134^0 >= 0), cost: 4
Second rule:
l38 -> l39 : 0 == 0, cost: 1
New rule:
l31 -> l39 : x_SLAM_f_24^0'=x_SLAM_f_24^post35, tail_14^0'=tail_14^post35, head_15^0'=head_15^post35, len_187^0'=1+len_134^0, f_171^0'=f_171^post35, x_176^0'=x_176^post35, r_39^0'=r_39^post35, a_188^0'=-1+a_149^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post35, (0 == 0 /\ a_149^0 >= 0 /\ head_15^post35-x_SLAM_f_24^post35 == 0 /\ -y_25^0+tail_14^post35 == 0 /\ f_171^post35-x_26^0 == 0 /\ len_134^0 >= 0), cost: 5

Applied simplification
Original rule:
l31 -> l39 : x_SLAM_f_24^0'=x_SLAM_f_24^post35, tail_14^0'=tail_14^post35, head_15^0'=head_15^post35, len_187^0'=1+len_134^0, f_171^0'=f_171^post35, x_176^0'=x_176^post35, r_39^0'=r_39^post35, a_188^0'=-1+a_149^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post35, (0 == 0 /\ a_149^0 >= 0 /\ head_15^post35-x_SLAM_f_24^post35 == 0 /\ -y_25^0+tail_14^post35 == 0 /\ f_171^post35-x_26^0 == 0 /\ len_134^0 >= 0), cost: 5
New rule:
l31 -> l39 : x_SLAM_f_24^0'=x_SLAM_f_24^post35, tail_14^0'=tail_14^post35, head_15^0'=head_15^post35, len_187^0'=1+len_134^0, f_171^0'=f_171^post35, x_176^0'=x_176^post35, r_39^0'=r_39^post35, a_188^0'=-1+a_149^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post35, (a_149^0 >= 0 /\ head_15^post35-x_SLAM_f_24^post35 == 0 /\ -y_25^0+tail_14^post35 == 0 /\ f_171^post35-x_26^0 == 0 /\ len_134^0 >= 0), cost: 5

Applied deletion
Removed the following rules: 101 125

Eliminating location l25 by chaining:

Applied chaining
First rule:
l31 -> l25 : x_SLAM_f_24^0'=x_SLAM_f_24^post32, tail_14^0'=tail_14^post24, head_15^0'=head_15^post24, x_19^0'=head_15^0, y_25^0'=y_25^post32, x_SLAM_f_17^0'=x_SLAM_f_17^post24, a_289^0'=a_289^post24, y_18^0'=tail_14^0, x_26^0'=x_26^post32, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post24, (a_149^0 >= 0 /\ -y_25^0+x_26^0 == 0 /\ len_134^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post32 >= 0), cost: 5
Second rule:
l25 -> l26 : a_225^0'=a_281^0-a_149^0, t_22^0'=head_15^0, (-head_15^0+x_SLAM_f_17^0 == 0 /\ a_289^0 == 0 /\ -tail_14^0+y_18^0 == 0 /\ head_15^0-x_19^0 == 0), cost: 1
New rule:
l31 -> l26 : x_SLAM_f_24^0'=x_SLAM_f_24^post32, tail_14^0'=tail_14^post24, head_15^0'=head_15^post24, x_19^0'=head_15^0, y_25^0'=y_25^post32, a_225^0'=a_281^0-a_149^0, x_SLAM_f_17^0'=x_SLAM_f_17^post24, t_22^0'=head_15^post24, a_289^0'=a_289^post24, y_18^0'=tail_14^0, x_26^0'=x_26^post32, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post24, (-head_15^post24+x_SLAM_f_17^post24 == 0 /\ a_149^0 >= 0 /\ -y_25^0+x_26^0 == 0 /\ -head_15^0+head_15^post24 == 0 /\ tail_14^0-tail_14^post24 == 0 /\ len_134^0 >= 0 /\ a_289^post24 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post32 >= 0), cost: 6

Applied deletion
Removed the following rules: 88 126

Eliminating location l39 by chaining:

Applied chaining
First rule:
l31 -> l39 : x_SLAM_f_24^0'=x_SLAM_f_24^post35, tail_14^0'=tail_14^post35, head_15^0'=head_15^post35, len_187^0'=1+len_134^0, f_171^0'=f_171^post35, x_176^0'=x_176^post35, r_39^0'=r_39^post35, a_188^0'=-1+a_149^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post35, (a_149^0 >= 0 /\ head_15^post35-x_SLAM_f_24^post35 == 0 /\ -y_25^0+tail_14^post35 == 0 /\ f_171^post35-x_26^0 == 0 /\ len_134^0 >= 0), cost: 5
Second rule:
l39 -> l34 : a_149^0'=a_188^0, len_134^0'=len_187^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1
New rule:
l31 -> l34 : x_SLAM_f_24^0'=x_SLAM_f_24^post35, tail_14^0'=tail_14^post35, head_15^0'=head_15^post35, a_149^0'=-1+a_149^0, len_187^0'=1+len_134^0, f_171^0'=f_171^post35, x_176^0'=x_176^post35, r_39^0'=r_39^post35, a_188^0'=-1+a_149^0, len_134^0'=1+len_134^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post35, (a_149^0 >= 0 /\ head_15^post35-x_SLAM_f_24^post35 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post35 >= 0 /\ -y_25^0+tail_14^post35 == 0 /\ f_171^post35-x_26^0 == 0 /\ len_134^0 >= 0), cost: 6

Applied deletion
Removed the following rules: 102 127

Eliminating location l26 by chaining:

Applied chaining
First rule:
l31 -> l26 : x_SLAM_f_24^0'=x_SLAM_f_24^post32, tail_14^0'=tail_14^post24, head_15^0'=head_15^post24, x_19^0'=head_15^0, y_25^0'=y_25^post32, a_225^0'=a_281^0-a_149^0, x_SLAM_f_17^0'=x_SLAM_f_17^post24, t_22^0'=head_15^post24, a_289^0'=a_289^post24, y_18^0'=tail_14^0, x_26^0'=x_26^post32, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post24, (-head_15^post24+x_SLAM_f_17^post24 == 0 /\ a_149^0 >= 0 /\ -y_25^0+x_26^0 == 0 /\ -head_15^0+head_15^post24 == 0 /\ tail_14^0-tail_14^post24 == 0 /\ len_134^0 >= 0 /\ a_289^post24 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post32 >= 0), cost: 6
Second rule:
l26 -> l27 : 0 == 0, cost: 1
New rule:
l31 -> l27 : x_SLAM_f_24^0'=x_SLAM_f_24^post32, tail_14^0'=tail_14^post24, head_15^0'=head_15^post24, x_19^0'=head_15^0, y_25^0'=y_25^post32, a_225^0'=a_281^0-a_149^0, x_SLAM_f_17^0'=x_SLAM_f_17^post24, t_22^0'=head_15^post24, a_289^0'=a_289^post24, y_18^0'=tail_14^0, x_26^0'=x_26^post32, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post24, (0 == 0 /\ -head_15^post24+x_SLAM_f_17^post24 == 0 /\ a_149^0 >= 0 /\ -y_25^0+x_26^0 == 0 /\ -head_15^0+head_15^post24 == 0 /\ tail_14^0-tail_14^post24 == 0 /\ len_134^0 >= 0 /\ a_289^post24 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post32 >= 0), cost: 7

Applied simplification
Original rule:
l31 -> l27 : x_SLAM_f_24^0'=x_SLAM_f_24^post32, tail_14^0'=tail_14^post24, head_15^0'=head_15^post24, x_19^0'=head_15^0, y_25^0'=y_25^post32, a_225^0'=a_281^0-a_149^0, x_SLAM_f_17^0'=x_SLAM_f_17^post24, t_22^0'=head_15^post24, a_289^0'=a_289^post24, y_18^0'=tail_14^0, x_26^0'=x_26^post32, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post24, (0 == 0 /\ -head_15^post24+x_SLAM_f_17^post24 == 0 /\ a_149^0 >= 0 /\ -y_25^0+x_26^0 == 0 /\ -head_15^0+head_15^post24 == 0 /\ tail_14^0-tail_14^post24 == 0 /\ len_134^0 >= 0 /\ a_289^post24 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post32 >= 0), cost: 7
New rule:
l31 -> l27 : x_SLAM_f_24^0'=x_SLAM_f_24^post32, tail_14^0'=tail_14^post24, head_15^0'=head_15^post24, x_19^0'=head_15^0, y_25^0'=y_25^post32, a_225^0'=a_281^0-a_149^0, x_SLAM_f_17^0'=x_SLAM_f_17^post24, t_22^0'=head_15^post24, a_289^0'=a_289^post24, y_18^0'=tail_14^0, x_26^0'=x_26^post32, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post24, (-head_15^post24+x_SLAM_f_17^post24 == 0 /\ a_149^0 >= 0 /\ -y_25^0+x_26^0 == 0 /\ -head_15^0+head_15^post24 == 0 /\ tail_14^0-tail_14^post24 == 0 /\ len_134^0 >= 0 /\ a_289^post24 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post32 >= 0), cost: 7

Applied deletion
Removed the following rules: 89 128

Eliminating location l34 by chaining:

Applied chaining
First rule:
l31 -> l34 : x_SLAM_f_24^0'=x_SLAM_f_24^post35, tail_14^0'=tail_14^post35, head_15^0'=head_15^post35, a_149^0'=-1+a_149^0, len_187^0'=1+len_134^0, f_171^0'=f_171^post35, x_176^0'=x_176^post35, r_39^0'=r_39^post35, a_188^0'=-1+a_149^0, len_134^0'=1+len_134^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post35, (a_149^0 >= 0 /\ head_15^post35-x_SLAM_f_24^post35 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post35 >= 0 /\ -y_25^0+tail_14^post35 == 0 /\ f_171^post35-x_26^0 == 0 /\ len_134^0 >= 0), cost: 6
Second rule:
l34 -> l31 : TRUE, cost: 1
New rule:
l31 -> l31 : x_SLAM_f_24^0'=x_SLAM_f_24^post35, tail_14^0'=tail_14^post35, head_15^0'=head_15^post35, a_149^0'=-1+a_149^0, len_187^0'=1+len_134^0, f_171^0'=f_171^post35, x_176^0'=x_176^post35, r_39^0'=r_39^post35, a_188^0'=-1+a_149^0, len_134^0'=1+len_134^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post35, (a_149^0 >= 0 /\ head_15^post35-x_SLAM_f_24^post35 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post35 >= 0 /\ -y_25^0+tail_14^post35 == 0 /\ f_171^post35-x_26^0 == 0 /\ len_134^0 >= 0), cost: 7

Applied deletion
Removed the following rules: 103 129

Eliminating location l27 by chaining:

Applied chaining
First rule:
l31 -> l27 : x_SLAM_f_24^0'=x_SLAM_f_24^post32, tail_14^0'=tail_14^post24, head_15^0'=head_15^post24, x_19^0'=head_15^0, y_25^0'=y_25^post32, a_225^0'=a_281^0-a_149^0, x_SLAM_f_17^0'=x_SLAM_f_17^post24, t_22^0'=head_15^post24, a_289^0'=a_289^post24, y_18^0'=tail_14^0, x_26^0'=x_26^post32, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post24, (-head_15^post24+x_SLAM_f_17^post24 == 0 /\ a_149^0 >= 0 /\ -y_25^0+x_26^0 == 0 /\ -head_15^0+head_15^post24 == 0 /\ tail_14^0-tail_14^post24 == 0 /\ len_134^0 >= 0 /\ a_289^post24 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post32 >= 0), cost: 7
Second rule:
l27 -> l28 : 0 == 0, cost: 1
New rule:
l31 -> l28 : x_SLAM_f_24^0'=x_SLAM_f_24^post32, tail_14^0'=tail_14^post24, head_15^0'=head_15^post24, x_19^0'=head_15^0, y_25^0'=y_25^post32, a_225^0'=a_281^0-a_149^0, x_SLAM_f_17^0'=x_SLAM_f_17^post24, t_22^0'=head_15^post24, a_289^0'=a_289^post24, y_18^0'=tail_14^0, x_26^0'=x_26^post32, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post24, (0 == 0 /\ -head_15^post24+x_SLAM_f_17^post24 == 0 /\ a_149^0 >= 0 /\ -y_25^0+x_26^0 == 0 /\ -head_15^0+head_15^post24 == 0 /\ tail_14^0-tail_14^post24 == 0 /\ len_134^0 >= 0 /\ a_289^post24 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post32 >= 0), cost: 8

Applied simplification
Original rule:
l31 -> l28 : x_SLAM_f_24^0'=x_SLAM_f_24^post32, tail_14^0'=tail_14^post24, head_15^0'=head_15^post24, x_19^0'=head_15^0, y_25^0'=y_25^post32, a_225^0'=a_281^0-a_149^0, x_SLAM_f_17^0'=x_SLAM_f_17^post24, t_22^0'=head_15^post24, a_289^0'=a_289^post24, y_18^0'=tail_14^0, x_26^0'=x_26^post32, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post24, (0 == 0 /\ -head_15^post24+x_SLAM_f_17^post24 == 0 /\ a_149^0 >= 0 /\ -y_25^0+x_26^0 == 0 /\ -head_15^0+head_15^post24 == 0 /\ tail_14^0-tail_14^post24 == 0 /\ len_134^0 >= 0 /\ a_289^post24 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post32 >= 0), cost: 8
New rule:
l31 -> l28 : x_SLAM_f_24^0'=x_SLAM_f_24^post32, tail_14^0'=tail_14^post24, head_15^0'=head_15^post24, x_19^0'=head_15^0, y_25^0'=y_25^post32, a_225^0'=a_281^0-a_149^0, x_SLAM_f_17^0'=x_SLAM_f_17^post24, t_22^0'=head_15^post24, a_289^0'=a_289^post24, y_18^0'=tail_14^0, x_26^0'=x_26^post32, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post24, (-head_15^post24+x_SLAM_f_17^post24 == 0 /\ a_149^0 >= 0 /\ -y_25^0+x_26^0 == 0 /\ -head_15^0+head_15^post24 == 0 /\ tail_14^0-tail_14^post24 == 0 /\ len_134^0 >= 0 /\ a_289^post24 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post32 >= 0), cost: 8

Applied deletion
Removed the following rules: 90 130

Eliminating location l28 by chaining:

Applied chaining
First rule:
l31 -> l28 : x_SLAM_f_24^0'=x_SLAM_f_24^post32, tail_14^0'=tail_14^post24, head_15^0'=head_15^post24, x_19^0'=head_15^0, y_25^0'=y_25^post32, a_225^0'=a_281^0-a_149^0, x_SLAM_f_17^0'=x_SLAM_f_17^post24, t_22^0'=head_15^post24, a_289^0'=a_289^post24, y_18^0'=tail_14^0, x_26^0'=x_26^post32, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post24, (-head_15^post24+x_SLAM_f_17^post24 == 0 /\ a_149^0 >= 0 /\ -y_25^0+x_26^0 == 0 /\ -head_15^0+head_15^post24 == 0 /\ tail_14^0-tail_14^post24 == 0 /\ len_134^0 >= 0 /\ a_289^post24 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post32 >= 0), cost: 8
Second rule:
l28 -> l29 : 0 == 0, cost: 1
New rule:
l31 -> l29 : x_SLAM_f_24^0'=x_SLAM_f_24^post32, tail_14^0'=tail_14^post24, head_15^0'=head_15^post24, x_19^0'=head_15^0, y_25^0'=y_25^post32, a_225^0'=a_281^0-a_149^0, x_SLAM_f_17^0'=x_SLAM_f_17^post24, t_22^0'=head_15^post24, a_289^0'=a_289^post24, y_18^0'=tail_14^0, x_26^0'=x_26^post32, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post24, (0 == 0 /\ -head_15^post24+x_SLAM_f_17^post24 == 0 /\ a_149^0 >= 0 /\ -y_25^0+x_26^0 == 0 /\ -head_15^0+head_15^post24 == 0 /\ tail_14^0-tail_14^post24 == 0 /\ len_134^0 >= 0 /\ a_289^post24 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post32 >= 0), cost: 9

Applied simplification
Original rule:
l31 -> l29 : x_SLAM_f_24^0'=x_SLAM_f_24^post32, tail_14^0'=tail_14^post24, head_15^0'=head_15^post24, x_19^0'=head_15^0, y_25^0'=y_25^post32, a_225^0'=a_281^0-a_149^0, x_SLAM_f_17^0'=x_SLAM_f_17^post24, t_22^0'=head_15^post24, a_289^0'=a_289^post24, y_18^0'=tail_14^0, x_26^0'=x_26^post32, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post24, (0 == 0 /\ -head_15^post24+x_SLAM_f_17^post24 == 0 /\ a_149^0 >= 0 /\ -y_25^0+x_26^0 == 0 /\ -head_15^0+head_15^post24 == 0 /\ tail_14^0-tail_14^post24 == 0 /\ len_134^0 >= 0 /\ a_289^post24 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post32 >= 0), cost: 9
New rule:
l31 -> l29 : x_SLAM_f_24^0'=x_SLAM_f_24^post32, tail_14^0'=tail_14^post24, head_15^0'=head_15^post24, x_19^0'=head_15^0, y_25^0'=y_25^post32, a_225^0'=a_281^0-a_149^0, x_SLAM_f_17^0'=x_SLAM_f_17^post24, t_22^0'=head_15^post24, a_289^0'=a_289^post24, y_18^0'=tail_14^0, x_26^0'=x_26^post32, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post24, (-head_15^post24+x_SLAM_f_17^post24 == 0 /\ a_149^0 >= 0 /\ -y_25^0+x_26^0 == 0 /\ -head_15^0+head_15^post24 == 0 /\ tail_14^0-tail_14^post24 == 0 /\ len_134^0 >= 0 /\ a_289^post24 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post32 >= 0), cost: 9

Applied deletion
Removed the following rules: 91 132

Eliminating location l29 by chaining:

Applied chaining
First rule:
l31 -> l29 : x_SLAM_f_24^0'=x_SLAM_f_24^post32, tail_14^0'=tail_14^post24, head_15^0'=head_15^post24, x_19^0'=head_15^0, y_25^0'=y_25^post32, a_225^0'=a_281^0-a_149^0, x_SLAM_f_17^0'=x_SLAM_f_17^post24, t_22^0'=head_15^post24, a_289^0'=a_289^post24, y_18^0'=tail_14^0, x_26^0'=x_26^post32, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post24, (-head_15^post24+x_SLAM_f_17^post24 == 0 /\ a_149^0 >= 0 /\ -y_25^0+x_26^0 == 0 /\ -head_15^0+head_15^post24 == 0 /\ tail_14^0-tail_14^post24 == 0 /\ len_134^0 >= 0 /\ a_289^post24 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post32 >= 0), cost: 9
Second rule:
l29 -> l6 : len_134^0'=1+a_225^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1
New rule:
l31 -> l6 : x_SLAM_f_24^0'=x_SLAM_f_24^post32, tail_14^0'=tail_14^post24, head_15^0'=head_15^post24, x_19^0'=head_15^0, y_25^0'=y_25^post32, a_225^0'=a_281^0-a_149^0, x_SLAM_f_17^0'=x_SLAM_f_17^post24, t_22^0'=head_15^post24, a_289^0'=a_289^post24, y_18^0'=tail_14^0, x_26^0'=x_26^post32, len_134^0'=1+a_281^0-a_149^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post24, (-head_15^post24+x_SLAM_f_17^post24 == 0 /\ a_149^0 >= 0 /\ -y_25^0+x_26^0 == 0 /\ -head_15^0+head_15^post24 == 0 /\ tail_14^0-tail_14^post24 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post24 >= 0 /\ len_134^0 >= 0 /\ a_289^post24 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post32 >= 0), cost: 10

Applied deletion
Removed the following rules: 92 133

Eliminating location l8 by chaining:

Applied chaining
First rule:
l6 -> l8 : tail_14^0'=tail_14^post6, head_15^0'=head_15^post6, x_SLAM_f_17^0'=x_SLAM_f_17^post6, r_39^0'=r_39^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, (a_281^0 >= 0 /\ a_149^0 >= 0), cost: 1
Second rule:
l8 -> l9 : 0 == 0, cost: 1
New rule:
l6 -> l9 : tail_14^0'=tail_14^post6, head_15^0'=head_15^post6, x_SLAM_f_17^0'=x_SLAM_f_17^post6, r_39^0'=r_39^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, (0 == 0 /\ a_281^0 >= 0 /\ a_149^0 >= 0), cost: 2

Applied simplification
Original rule:
l6 -> l9 : tail_14^0'=tail_14^post6, head_15^0'=head_15^post6, x_SLAM_f_17^0'=x_SLAM_f_17^post6, r_39^0'=r_39^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, (0 == 0 /\ a_281^0 >= 0 /\ a_149^0 >= 0), cost: 2
New rule:
l6 -> l9 : tail_14^0'=tail_14^post6, head_15^0'=head_15^post6, x_SLAM_f_17^0'=x_SLAM_f_17^post6, r_39^0'=r_39^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, (a_281^0 >= 0 /\ a_149^0 >= 0), cost: 2

Applied deletion
Removed the following rules: 78 79

Eliminating location l9 by chaining:

Applied chaining
First rule:
l6 -> l9 : tail_14^0'=tail_14^post6, head_15^0'=head_15^post6, x_SLAM_f_17^0'=x_SLAM_f_17^post6, r_39^0'=r_39^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, (a_281^0 >= 0 /\ a_149^0 >= 0), cost: 2
Second rule:
l9 -> l10 : a_342^0'=0, t_22^0'=x_19^0, a_343^0'=-1+a_281^0+a_149^0, (-head_15^0+x_SLAM_f_17^0 == 0 /\ -tail_14^0+y_18^0 == 0), cost: 1
New rule:
l6 -> l10 : tail_14^0'=tail_14^post6, head_15^0'=head_15^post6, a_342^0'=0, x_SLAM_f_17^0'=x_SLAM_f_17^post6, t_22^0'=x_19^0, r_39^0'=r_39^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, a_343^0'=-1+a_281^0+a_149^0, (a_281^0 >= 0 /\ a_149^0 >= 0 /\ -head_15^post6+x_SLAM_f_17^post6 == 0 /\ -tail_14^post6+y_18^0 == 0), cost: 3

Applied deletion
Removed the following rules: 80 135

Eliminating location l10 by chaining:

Applied chaining
First rule:
l6 -> l10 : tail_14^0'=tail_14^post6, head_15^0'=head_15^post6, a_342^0'=0, x_SLAM_f_17^0'=x_SLAM_f_17^post6, t_22^0'=x_19^0, r_39^0'=r_39^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, a_343^0'=-1+a_281^0+a_149^0, (a_281^0 >= 0 /\ a_149^0 >= 0 /\ -head_15^post6+x_SLAM_f_17^post6 == 0 /\ -tail_14^post6+y_18^0 == 0), cost: 3
Second rule:
l10 -> l11 : 0 == 0, cost: 1
New rule:
l6 -> l11 : tail_14^0'=tail_14^post6, head_15^0'=head_15^post6, a_342^0'=0, x_SLAM_f_17^0'=x_SLAM_f_17^post6, t_22^0'=x_19^0, r_39^0'=r_39^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, a_343^0'=-1+a_281^0+a_149^0, (0 == 0 /\ a_281^0 >= 0 /\ a_149^0 >= 0 /\ -head_15^post6+x_SLAM_f_17^post6 == 0 /\ -tail_14^post6+y_18^0 == 0), cost: 4

Applied simplification
Original rule:
l6 -> l11 : tail_14^0'=tail_14^post6, head_15^0'=head_15^post6, a_342^0'=0, x_SLAM_f_17^0'=x_SLAM_f_17^post6, t_22^0'=x_19^0, r_39^0'=r_39^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, a_343^0'=-1+a_281^0+a_149^0, (0 == 0 /\ a_281^0 >= 0 /\ a_149^0 >= 0 /\ -head_15^post6+x_SLAM_f_17^post6 == 0 /\ -tail_14^post6+y_18^0 == 0), cost: 4
New rule:
l6 -> l11 : tail_14^0'=tail_14^post6, head_15^0'=head_15^post6, a_342^0'=0, x_SLAM_f_17^0'=x_SLAM_f_17^post6, t_22^0'=x_19^0, r_39^0'=r_39^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, a_343^0'=-1+a_281^0+a_149^0, (a_281^0 >= 0 /\ a_149^0 >= 0 /\ -head_15^post6+x_SLAM_f_17^post6 == 0 /\ -tail_14^post6+y_18^0 == 0), cost: 4

Applied deletion
Removed the following rules: 81 136

Eliminating location l11 by chaining:

Applied chaining
First rule:
l6 -> l11 : tail_14^0'=tail_14^post6, head_15^0'=head_15^post6, a_342^0'=0, x_SLAM_f_17^0'=x_SLAM_f_17^post6, t_22^0'=x_19^0, r_39^0'=r_39^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, a_343^0'=-1+a_281^0+a_149^0, (a_281^0 >= 0 /\ a_149^0 >= 0 /\ -head_15^post6+x_SLAM_f_17^post6 == 0 /\ -tail_14^post6+y_18^0 == 0), cost: 4
Second rule:
l11 -> l12 : 0 == 0, cost: 1
New rule:
l6 -> l12 : tail_14^0'=tail_14^post6, head_15^0'=head_15^post6, a_342^0'=0, x_SLAM_f_17^0'=x_SLAM_f_17^post6, t_22^0'=x_19^0, r_39^0'=r_39^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, a_343^0'=-1+a_281^0+a_149^0, (0 == 0 /\ a_281^0 >= 0 /\ a_149^0 >= 0 /\ -head_15^post6+x_SLAM_f_17^post6 == 0 /\ -tail_14^post6+y_18^0 == 0), cost: 5

Applied simplification
Original rule:
l6 -> l12 : tail_14^0'=tail_14^post6, head_15^0'=head_15^post6, a_342^0'=0, x_SLAM_f_17^0'=x_SLAM_f_17^post6, t_22^0'=x_19^0, r_39^0'=r_39^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, a_343^0'=-1+a_281^0+a_149^0, (0 == 0 /\ a_281^0 >= 0 /\ a_149^0 >= 0 /\ -head_15^post6+x_SLAM_f_17^post6 == 0 /\ -tail_14^post6+y_18^0 == 0), cost: 5
New rule:
l6 -> l12 : tail_14^0'=tail_14^post6, head_15^0'=head_15^post6, a_342^0'=0, x_SLAM_f_17^0'=x_SLAM_f_17^post6, t_22^0'=x_19^0, r_39^0'=r_39^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, a_343^0'=-1+a_281^0+a_149^0, (a_281^0 >= 0 /\ a_149^0 >= 0 /\ -head_15^post6+x_SLAM_f_17^post6 == 0 /\ -tail_14^post6+y_18^0 == 0), cost: 5

Applied deletion
Removed the following rules: 82 137

Eliminating location l12 by chaining:

Applied chaining
First rule:
l6 -> l12 : tail_14^0'=tail_14^post6, head_15^0'=head_15^post6, a_342^0'=0, x_SLAM_f_17^0'=x_SLAM_f_17^post6, t_22^0'=x_19^0, r_39^0'=r_39^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, a_343^0'=-1+a_281^0+a_149^0, (a_281^0 >= 0 /\ a_149^0 >= 0 /\ -head_15^post6+x_SLAM_f_17^post6 == 0 /\ -tail_14^post6+y_18^0 == 0), cost: 5
Second rule:
l12 -> l13 : 0 == 0, cost: 1
New rule:
l6 -> l13 : tail_14^0'=tail_14^post6, head_15^0'=head_15^post6, a_342^0'=0, x_SLAM_f_17^0'=x_SLAM_f_17^post6, t_22^0'=x_19^0, r_39^0'=r_39^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, a_343^0'=-1+a_281^0+a_149^0, (0 == 0 /\ a_281^0 >= 0 /\ a_149^0 >= 0 /\ -head_15^post6+x_SLAM_f_17^post6 == 0 /\ -tail_14^post6+y_18^0 == 0), cost: 6

Applied simplification
Original rule:
l6 -> l13 : tail_14^0'=tail_14^post6, head_15^0'=head_15^post6, a_342^0'=0, x_SLAM_f_17^0'=x_SLAM_f_17^post6, t_22^0'=x_19^0, r_39^0'=r_39^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, a_343^0'=-1+a_281^0+a_149^0, (0 == 0 /\ a_281^0 >= 0 /\ a_149^0 >= 0 /\ -head_15^post6+x_SLAM_f_17^post6 == 0 /\ -tail_14^post6+y_18^0 == 0), cost: 6
New rule:
l6 -> l13 : tail_14^0'=tail_14^post6, head_15^0'=head_15^post6, a_342^0'=0, x_SLAM_f_17^0'=x_SLAM_f_17^post6, t_22^0'=x_19^0, r_39^0'=r_39^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, a_343^0'=-1+a_281^0+a_149^0, (a_281^0 >= 0 /\ a_149^0 >= 0 /\ -head_15^post6+x_SLAM_f_17^post6 == 0 /\ -tail_14^post6+y_18^0 == 0), cost: 6

Applied deletion
Removed the following rules: 83 138

Eliminating location l13 by chaining:

Applied chaining
First rule:
l6 -> l13 : tail_14^0'=tail_14^post6, head_15^0'=head_15^post6, a_342^0'=0, x_SLAM_f_17^0'=x_SLAM_f_17^post6, t_22^0'=x_19^0, r_39^0'=r_39^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, a_343^0'=-1+a_281^0+a_149^0, (a_281^0 >= 0 /\ a_149^0 >= 0 /\ -head_15^post6+x_SLAM_f_17^post6 == 0 /\ -tail_14^post6+y_18^0 == 0), cost: 6
Second rule:
l13 -> l7 : a_281^0'=a_343^0, a_149^0'=a_342^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1
New rule:
l6 -> l7 : a_281^0'=-1+a_281^0+a_149^0, tail_14^0'=tail_14^post6, head_15^0'=head_15^post6, a_149^0'=0, a_342^0'=0, x_SLAM_f_17^0'=x_SLAM_f_17^post6, t_22^0'=x_19^0, r_39^0'=r_39^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, a_343^0'=-1+a_281^0+a_149^0, (a_281^0 >= 0 /\ a_149^0 >= 0 /\ -head_15^post6+x_SLAM_f_17^post6 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post6 >= 0 /\ -tail_14^post6+y_18^0 == 0), cost: 7

Applied deletion
Removed the following rules: 84 139

Eliminating location l7 by chaining:

Applied chaining
First rule:
l6 -> l7 : a_281^0'=-1+a_281^0+a_149^0, tail_14^0'=tail_14^post6, head_15^0'=head_15^post6, a_149^0'=0, a_342^0'=0, x_SLAM_f_17^0'=x_SLAM_f_17^post6, t_22^0'=x_19^0, r_39^0'=r_39^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, a_343^0'=-1+a_281^0+a_149^0, (a_281^0 >= 0 /\ a_149^0 >= 0 /\ -head_15^post6+x_SLAM_f_17^post6 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post6 >= 0 /\ -tail_14^post6+y_18^0 == 0), cost: 7
Second rule:
l7 -> l6 : TRUE, cost: 1
New rule:
l6 -> l6 : a_281^0'=-1+a_281^0+a_149^0, tail_14^0'=tail_14^post6, head_15^0'=head_15^post6, a_149^0'=0, a_342^0'=0, x_SLAM_f_17^0'=x_SLAM_f_17^post6, t_22^0'=x_19^0, r_39^0'=r_39^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, a_343^0'=-1+a_281^0+a_149^0, (a_281^0 >= 0 /\ a_149^0 >= 0 /\ -head_15^post6+x_SLAM_f_17^post6 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post6 >= 0 /\ -tail_14^post6+y_18^0 == 0), cost: 8

Applied deletion
Removed the following rules: 85 140

Eliminated locations on linear paths
Start location: l65
 115: l0 -> l0 : i_95^0'=i_30^0, tmp_34^0'=temp_35^0, i_30^0'=1+i_30^0, head_32^0'=temp_35^0, temp_35^0'=temp_35^post1, rcd_89^0'=rcd_89^post1, (1-length_28^0+i_30^0 <= 0 /\ i_30^0 >= 0), cost: 2
 119: l0 -> l31 : x_SLAM_f_24^0'=x_SLAM_f_24^post66, tail_14^0'=tail_14^post66, head_15^0'=head_15^post66, r_165^0'=r_165^post66, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post0, y_25^0'=tail_14^0, length_28^0'=length_28^post0, temp0_31^0'=temp0_31^post0, head_SLAM_f_29^0'=head_SLAM_f_29^post0, tmp_34^0'=tmp_34^post0, i_30^0'=i_30^post0, result_11^0'=result_11^post0, head_32^0'=head_32^post0, r_39^0'=r_39^post66, a_118^0'=a_149^0, x_26^0'=head_32^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post66, temp_35^0'=temp_35^post0, i_110^0'=1+a_149^0, (-i_30^post0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 <= 0 /\ -tail_14^0+tail_14^post66 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post66 >= 0 /\ i_30^0 >= 0 /\ -i_110^post66+result_dot_nondet_sdv_special_RETURN_VALUE_13^post66 <= 0 /\ head_15^post66-x_SLAM_f_24^post66 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 >= 0 /\ length_28^0-i_30^0 <= 0 /\ -1+len_134^0 == 0), cost: 6
 141: l6 -> l6 : a_281^0'=-1+a_281^0+a_149^0, tail_14^0'=tail_14^post6, head_15^0'=head_15^post6, a_149^0'=0, a_342^0'=0, x_SLAM_f_17^0'=x_SLAM_f_17^post6, t_22^0'=x_19^0, r_39^0'=r_39^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, a_343^0'=-1+a_281^0+a_149^0, (a_281^0 >= 0 /\ a_149^0 >= 0 /\ -head_15^post6+x_SLAM_f_17^post6 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post6 >= 0 /\ -tail_14^post6+y_18^0 == 0), cost: 8
 131: l31 -> l31 : x_SLAM_f_24^0'=x_SLAM_f_24^post35, tail_14^0'=tail_14^post35, head_15^0'=head_15^post35, a_149^0'=-1+a_149^0, len_187^0'=1+len_134^0, f_171^0'=f_171^post35, x_176^0'=x_176^post35, r_39^0'=r_39^post35, a_188^0'=-1+a_149^0, len_134^0'=1+len_134^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post35, (a_149^0 >= 0 /\ head_15^post35-x_SLAM_f_24^post35 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post35 >= 0 /\ -y_25^0+tail_14^post35 == 0 /\ f_171^post35-x_26^0 == 0 /\ len_134^0 >= 0), cost: 7
 134: l31 -> l6 : x_SLAM_f_24^0'=x_SLAM_f_24^post32, tail_14^0'=tail_14^post24, head_15^0'=head_15^post24, x_19^0'=head_15^0, y_25^0'=y_25^post32, a_225^0'=a_281^0-a_149^0, x_SLAM_f_17^0'=x_SLAM_f_17^post24, t_22^0'=head_15^post24, a_289^0'=a_289^post24, y_18^0'=tail_14^0, x_26^0'=x_26^post32, len_134^0'=1+a_281^0-a_149^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post24, (-head_15^post24+x_SLAM_f_17^post24 == 0 /\ a_149^0 >= 0 /\ -y_25^0+x_26^0 == 0 /\ -head_15^0+head_15^post24 == 0 /\ tail_14^0-tail_14^post24 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post24 >= 0 /\ len_134^0 >= 0 /\ a_289^post24 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post32 >= 0), cost: 10
 113: l65 -> l0 : tail_14^0'=head_SLAM_f_29^post72, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post4, length_28^0'=nondet_12^10, head_SLAM_f_29^0'=head_SLAM_f_29^post72, rcd_59^0'=rcd_59^post72, tmp_34^0'=temp_35^post4, i_30^0'=2, head_32^0'=temp_35^post4, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post31, temp_35^0'=temp_35^post72, -2+nondet_12^10 >= 0, cost: 4


Applied acceleration
Original rule:
l0 -> l0 : i_95^0'=i_30^0, tmp_34^0'=temp_35^0, i_30^0'=1+i_30^0, head_32^0'=temp_35^0, temp_35^0'=temp_35^post1, rcd_89^0'=rcd_89^post1, (1-length_28^0+i_30^0 <= 0 /\ i_30^0 >= 0), cost: 2
New rule:
l0 -> l0 : i_95^0'=-1+i_30^0+n0, tmp_34^0'=temp_35^post1, i_30^0'=i_30^0+n0, head_32^0'=temp_35^post1, temp_35^0'=temp_35^post1, rcd_89^0'=rcd_89^post1, (-2+n0 >= 0 /\ i_30^0 >= 0 /\ length_28^0-i_30^0-n0 >= 0), cost: 2*n0

Applied instantiation
Original rule:
l0 -> l0 : i_95^0'=-1+i_30^0+n0, tmp_34^0'=temp_35^post1, i_30^0'=i_30^0+n0, head_32^0'=temp_35^post1, temp_35^0'=temp_35^post1, rcd_89^0'=rcd_89^post1, (-2+n0 >= 0 /\ i_30^0 >= 0 /\ length_28^0-i_30^0-n0 >= 0), cost: 2*n0
New rule:
l0 -> l0 : i_95^0'=-1+length_28^0, tmp_34^0'=temp_35^post1, i_30^0'=length_28^0, head_32^0'=temp_35^post1, temp_35^0'=temp_35^post1, rcd_89^0'=rcd_89^post1, (0 >= 0 /\ i_30^0 >= 0 /\ -2+length_28^0-i_30^0 >= 0), cost: 2*length_28^0-2*i_30^0

Applied simplification
Original rule:
l0 -> l0 : i_95^0'=-1+length_28^0, tmp_34^0'=temp_35^post1, i_30^0'=length_28^0, head_32^0'=temp_35^post1, temp_35^0'=temp_35^post1, rcd_89^0'=rcd_89^post1, (0 >= 0 /\ i_30^0 >= 0 /\ -2+length_28^0-i_30^0 >= 0), cost: 2*length_28^0-2*i_30^0
New rule:
l0 -> l0 : i_95^0'=-1+length_28^0, tmp_34^0'=temp_35^post1, i_30^0'=length_28^0, head_32^0'=temp_35^post1, temp_35^0'=temp_35^post1, rcd_89^0'=rcd_89^post1, (i_30^0 >= 0 /\ -2+length_28^0-i_30^0 >= 0), cost: 2*length_28^0-2*i_30^0

Applied deletion
Removed the following rules: 115

Applied simplification
Original rule:
l6 -> l6 : a_281^0'=-1+a_281^0+a_149^0, tail_14^0'=tail_14^post6, head_15^0'=head_15^post6, a_149^0'=0, a_342^0'=0, x_SLAM_f_17^0'=x_SLAM_f_17^post6, t_22^0'=x_19^0, r_39^0'=r_39^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, a_343^0'=-1+a_281^0+a_149^0, (a_281^0 >= 0 /\ a_149^0 >= 0 /\ -head_15^post6+x_SLAM_f_17^post6 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post6 >= 0 /\ -tail_14^post6+y_18^0 == 0), cost: 8
New rule:
l6 -> l6 : a_281^0'=-1+a_281^0+a_149^0, tail_14^0'=y_18^0, head_15^0'=x_SLAM_f_17^post6, a_149^0'=0, a_342^0'=0, x_SLAM_f_17^0'=x_SLAM_f_17^post6, t_22^0'=x_19^0, r_39^0'=r_39^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, a_343^0'=-1+a_281^0+a_149^0, (a_281^0 >= 0 /\ a_149^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post6 >= 0), cost: 8

Simplified simple loops
Start location: l65
 119: l0 -> l31 : x_SLAM_f_24^0'=x_SLAM_f_24^post66, tail_14^0'=tail_14^post66, head_15^0'=head_15^post66, r_165^0'=r_165^post66, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post0, y_25^0'=tail_14^0, length_28^0'=length_28^post0, temp0_31^0'=temp0_31^post0, head_SLAM_f_29^0'=head_SLAM_f_29^post0, tmp_34^0'=tmp_34^post0, i_30^0'=i_30^post0, result_11^0'=result_11^post0, head_32^0'=head_32^post0, r_39^0'=r_39^post66, a_118^0'=a_149^0, x_26^0'=head_32^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post66, temp_35^0'=temp_35^post0, i_110^0'=1+a_149^0, (-i_30^post0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 <= 0 /\ -tail_14^0+tail_14^post66 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post66 >= 0 /\ i_30^0 >= 0 /\ -i_110^post66+result_dot_nondet_sdv_special_RETURN_VALUE_13^post66 <= 0 /\ head_15^post66-x_SLAM_f_24^post66 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 >= 0 /\ length_28^0-i_30^0 <= 0 /\ -1+len_134^0 == 0), cost: 6
 143: l0 -> l0 : i_95^0'=-1+length_28^0, tmp_34^0'=temp_35^post1, i_30^0'=length_28^0, head_32^0'=temp_35^post1, temp_35^0'=temp_35^post1, rcd_89^0'=rcd_89^post1, (i_30^0 >= 0 /\ -2+length_28^0-i_30^0 >= 0), cost: 2*length_28^0-2*i_30^0
 144: l6 -> l6 : a_281^0'=-1+a_281^0+a_149^0, tail_14^0'=y_18^0, head_15^0'=x_SLAM_f_17^post6, a_149^0'=0, a_342^0'=0, x_SLAM_f_17^0'=x_SLAM_f_17^post6, t_22^0'=x_19^0, r_39^0'=r_39^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, a_343^0'=-1+a_281^0+a_149^0, (a_281^0 >= 0 /\ a_149^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post6 >= 0), cost: 8
 131: l31 -> l31 : x_SLAM_f_24^0'=x_SLAM_f_24^post35, tail_14^0'=tail_14^post35, head_15^0'=head_15^post35, a_149^0'=-1+a_149^0, len_187^0'=1+len_134^0, f_171^0'=f_171^post35, x_176^0'=x_176^post35, r_39^0'=r_39^post35, a_188^0'=-1+a_149^0, len_134^0'=1+len_134^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post35, (a_149^0 >= 0 /\ head_15^post35-x_SLAM_f_24^post35 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post35 >= 0 /\ -y_25^0+tail_14^post35 == 0 /\ f_171^post35-x_26^0 == 0 /\ len_134^0 >= 0), cost: 7
 134: l31 -> l6 : x_SLAM_f_24^0'=x_SLAM_f_24^post32, tail_14^0'=tail_14^post24, head_15^0'=head_15^post24, x_19^0'=head_15^0, y_25^0'=y_25^post32, a_225^0'=a_281^0-a_149^0, x_SLAM_f_17^0'=x_SLAM_f_17^post24, t_22^0'=head_15^post24, a_289^0'=a_289^post24, y_18^0'=tail_14^0, x_26^0'=x_26^post32, len_134^0'=1+a_281^0-a_149^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post24, (-head_15^post24+x_SLAM_f_17^post24 == 0 /\ a_149^0 >= 0 /\ -y_25^0+x_26^0 == 0 /\ -head_15^0+head_15^post24 == 0 /\ tail_14^0-tail_14^post24 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post24 >= 0 /\ len_134^0 >= 0 /\ a_289^post24 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post32 >= 0), cost: 10
 113: l65 -> l0 : tail_14^0'=head_SLAM_f_29^post72, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post4, length_28^0'=nondet_12^10, head_SLAM_f_29^0'=head_SLAM_f_29^post72, rcd_59^0'=rcd_59^post72, tmp_34^0'=temp_35^post4, i_30^0'=2, head_32^0'=temp_35^post4, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post31, temp_35^0'=temp_35^post72, -2+nondet_12^10 >= 0, cost: 4


Applied acceleration
Original rule:
l6 -> l6 : a_281^0'=-1+a_281^0+a_149^0, tail_14^0'=y_18^0, head_15^0'=x_SLAM_f_17^post6, a_149^0'=0, a_342^0'=0, x_SLAM_f_17^0'=x_SLAM_f_17^post6, t_22^0'=x_19^0, r_39^0'=r_39^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, a_343^0'=-1+a_281^0+a_149^0, (a_281^0 >= 0 /\ a_149^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post6 >= 0), cost: 8
New rule:
l6 -> l6 : a_281^0'=a_281^0-n3, tail_14^0'=y_18^0, head_15^0'=x_SLAM_f_17^post6, a_149^0'=0, a_342^0'=0, x_SLAM_f_17^0'=x_SLAM_f_17^post6, t_22^0'=x_19^0, r_39^0'=r_39^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, a_343^0'=a_281^0-n3, (a_281^0 >= 0 /\ -2+n3 >= 0 /\ a_149^0 >= 0 /\ 1+a_281^0-n3 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post6 >= 0), cost: 8*n3

Applied instantiation
Original rule:
l6 -> l6 : a_281^0'=a_281^0-n3, tail_14^0'=y_18^0, head_15^0'=x_SLAM_f_17^post6, a_149^0'=0, a_342^0'=0, x_SLAM_f_17^0'=x_SLAM_f_17^post6, t_22^0'=x_19^0, r_39^0'=r_39^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, a_343^0'=a_281^0-n3, (a_281^0 >= 0 /\ -2+n3 >= 0 /\ a_149^0 >= 0 /\ 1+a_281^0-n3 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post6 >= 0), cost: 8*n3
New rule:
l6 -> l6 : a_281^0'=-1, tail_14^0'=y_18^0, head_15^0'=x_SLAM_f_17^post6, a_149^0'=0, a_342^0'=0, x_SLAM_f_17^0'=x_SLAM_f_17^post6, t_22^0'=x_19^0, r_39^0'=r_39^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, a_343^0'=-1, (0 >= 0 /\ a_281^0 >= 0 /\ a_149^0 >= 0 /\ -1+a_281^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post6 >= 0), cost: 8+8*a_281^0

Applied simplification
Original rule:
l6 -> l6 : a_281^0'=-1, tail_14^0'=y_18^0, head_15^0'=x_SLAM_f_17^post6, a_149^0'=0, a_342^0'=0, x_SLAM_f_17^0'=x_SLAM_f_17^post6, t_22^0'=x_19^0, r_39^0'=r_39^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, a_343^0'=-1, (0 >= 0 /\ a_281^0 >= 0 /\ a_149^0 >= 0 /\ -1+a_281^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post6 >= 0), cost: 8+8*a_281^0
New rule:
l6 -> l6 : a_281^0'=-1, tail_14^0'=y_18^0, head_15^0'=x_SLAM_f_17^post6, a_149^0'=0, a_342^0'=0, x_SLAM_f_17^0'=x_SLAM_f_17^post6, t_22^0'=x_19^0, r_39^0'=r_39^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, a_343^0'=-1, (a_149^0 >= 0 /\ -1+a_281^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post6 >= 0), cost: 8+8*a_281^0

Applied deletion
Removed the following rules: 144

Applied simplification
Original rule:
l31 -> l31 : x_SLAM_f_24^0'=x_SLAM_f_24^post35, tail_14^0'=tail_14^post35, head_15^0'=head_15^post35, a_149^0'=-1+a_149^0, len_187^0'=1+len_134^0, f_171^0'=f_171^post35, x_176^0'=x_176^post35, r_39^0'=r_39^post35, a_188^0'=-1+a_149^0, len_134^0'=1+len_134^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post35, (a_149^0 >= 0 /\ head_15^post35-x_SLAM_f_24^post35 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post35 >= 0 /\ -y_25^0+tail_14^post35 == 0 /\ f_171^post35-x_26^0 == 0 /\ len_134^0 >= 0), cost: 7
New rule:
l31 -> l31 : x_SLAM_f_24^0'=x_SLAM_f_24^post35, tail_14^0'=y_25^0, head_15^0'=x_SLAM_f_24^post35, a_149^0'=-1+a_149^0, len_187^0'=1+len_134^0, f_171^0'=x_26^0, x_176^0'=x_176^post35, r_39^0'=r_39^post35, a_188^0'=-1+a_149^0, len_134^0'=1+len_134^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post35, (a_149^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post35 >= 0 /\ len_134^0 >= 0), cost: 7

Simplified simple loops
Start location: l65
 119: l0 -> l31 : x_SLAM_f_24^0'=x_SLAM_f_24^post66, tail_14^0'=tail_14^post66, head_15^0'=head_15^post66, r_165^0'=r_165^post66, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post0, y_25^0'=tail_14^0, length_28^0'=length_28^post0, temp0_31^0'=temp0_31^post0, head_SLAM_f_29^0'=head_SLAM_f_29^post0, tmp_34^0'=tmp_34^post0, i_30^0'=i_30^post0, result_11^0'=result_11^post0, head_32^0'=head_32^post0, r_39^0'=r_39^post66, a_118^0'=a_149^0, x_26^0'=head_32^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post66, temp_35^0'=temp_35^post0, i_110^0'=1+a_149^0, (-i_30^post0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 <= 0 /\ -tail_14^0+tail_14^post66 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post66 >= 0 /\ i_30^0 >= 0 /\ -i_110^post66+result_dot_nondet_sdv_special_RETURN_VALUE_13^post66 <= 0 /\ head_15^post66-x_SLAM_f_24^post66 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 >= 0 /\ length_28^0-i_30^0 <= 0 /\ -1+len_134^0 == 0), cost: 6
 143: l0 -> l0 : i_95^0'=-1+length_28^0, tmp_34^0'=temp_35^post1, i_30^0'=length_28^0, head_32^0'=temp_35^post1, temp_35^0'=temp_35^post1, rcd_89^0'=rcd_89^post1, (i_30^0 >= 0 /\ -2+length_28^0-i_30^0 >= 0), cost: 2*length_28^0-2*i_30^0
 146: l6 -> l6 : a_281^0'=-1, tail_14^0'=y_18^0, head_15^0'=x_SLAM_f_17^post6, a_149^0'=0, a_342^0'=0, x_SLAM_f_17^0'=x_SLAM_f_17^post6, t_22^0'=x_19^0, r_39^0'=r_39^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, a_343^0'=-1, (a_149^0 >= 0 /\ -1+a_281^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post6 >= 0), cost: 8+8*a_281^0
 134: l31 -> l6 : x_SLAM_f_24^0'=x_SLAM_f_24^post32, tail_14^0'=tail_14^post24, head_15^0'=head_15^post24, x_19^0'=head_15^0, y_25^0'=y_25^post32, a_225^0'=a_281^0-a_149^0, x_SLAM_f_17^0'=x_SLAM_f_17^post24, t_22^0'=head_15^post24, a_289^0'=a_289^post24, y_18^0'=tail_14^0, x_26^0'=x_26^post32, len_134^0'=1+a_281^0-a_149^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post24, (-head_15^post24+x_SLAM_f_17^post24 == 0 /\ a_149^0 >= 0 /\ -y_25^0+x_26^0 == 0 /\ -head_15^0+head_15^post24 == 0 /\ tail_14^0-tail_14^post24 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post24 >= 0 /\ len_134^0 >= 0 /\ a_289^post24 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post32 >= 0), cost: 10
 147: l31 -> l31 : x_SLAM_f_24^0'=x_SLAM_f_24^post35, tail_14^0'=y_25^0, head_15^0'=x_SLAM_f_24^post35, a_149^0'=-1+a_149^0, len_187^0'=1+len_134^0, f_171^0'=x_26^0, x_176^0'=x_176^post35, r_39^0'=r_39^post35, a_188^0'=-1+a_149^0, len_134^0'=1+len_134^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post35, (a_149^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post35 >= 0 /\ len_134^0 >= 0), cost: 7
 113: l65 -> l0 : tail_14^0'=head_SLAM_f_29^post72, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post4, length_28^0'=nondet_12^10, head_SLAM_f_29^0'=head_SLAM_f_29^post72, rcd_59^0'=rcd_59^post72, tmp_34^0'=temp_35^post4, i_30^0'=2, head_32^0'=temp_35^post4, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post31, temp_35^0'=temp_35^post72, -2+nondet_12^10 >= 0, cost: 4


Applied acceleration
Original rule:
l31 -> l31 : x_SLAM_f_24^0'=x_SLAM_f_24^post35, tail_14^0'=y_25^0, head_15^0'=x_SLAM_f_24^post35, a_149^0'=-1+a_149^0, len_187^0'=1+len_134^0, f_171^0'=x_26^0, x_176^0'=x_176^post35, r_39^0'=r_39^post35, a_188^0'=-1+a_149^0, len_134^0'=1+len_134^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post35, (a_149^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post35 >= 0 /\ len_134^0 >= 0), cost: 7
New rule:
l31 -> l31 : x_SLAM_f_24^0'=x_SLAM_f_24^post35, tail_14^0'=y_25^0, head_15^0'=x_SLAM_f_24^post35, a_149^0'=a_149^0-n6, len_187^0'=n6+len_134^0, f_171^0'=x_26^0, x_176^0'=x_176^post35, r_39^0'=r_39^post35, a_188^0'=a_149^0-n6, len_134^0'=n6+len_134^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post35, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post35 >= 0 /\ -1+n6 >= 0 /\ len_134^0 >= 0 /\ 1+a_149^0-n6 >= 0), cost: 7*n6

Applied instantiation
Original rule:
l31 -> l31 : x_SLAM_f_24^0'=x_SLAM_f_24^post35, tail_14^0'=y_25^0, head_15^0'=x_SLAM_f_24^post35, a_149^0'=a_149^0-n6, len_187^0'=n6+len_134^0, f_171^0'=x_26^0, x_176^0'=x_176^post35, r_39^0'=r_39^post35, a_188^0'=a_149^0-n6, len_134^0'=n6+len_134^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post35, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post35 >= 0 /\ -1+n6 >= 0 /\ len_134^0 >= 0 /\ 1+a_149^0-n6 >= 0), cost: 7*n6
New rule:
l31 -> l31 : x_SLAM_f_24^0'=x_SLAM_f_24^post35, tail_14^0'=y_25^0, head_15^0'=x_SLAM_f_24^post35, a_149^0'=-1, len_187^0'=1+a_149^0+len_134^0, f_171^0'=x_26^0, x_176^0'=x_176^post35, r_39^0'=r_39^post35, a_188^0'=-1, len_134^0'=1+a_149^0+len_134^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post35, (0 >= 0 /\ a_149^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post35 >= 0 /\ len_134^0 >= 0), cost: 7+7*a_149^0

Applied simplification
Original rule:
l31 -> l31 : x_SLAM_f_24^0'=x_SLAM_f_24^post35, tail_14^0'=y_25^0, head_15^0'=x_SLAM_f_24^post35, a_149^0'=-1, len_187^0'=1+a_149^0+len_134^0, f_171^0'=x_26^0, x_176^0'=x_176^post35, r_39^0'=r_39^post35, a_188^0'=-1, len_134^0'=1+a_149^0+len_134^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post35, (0 >= 0 /\ a_149^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post35 >= 0 /\ len_134^0 >= 0), cost: 7+7*a_149^0
New rule:
l31 -> l31 : x_SLAM_f_24^0'=x_SLAM_f_24^post35, tail_14^0'=y_25^0, head_15^0'=x_SLAM_f_24^post35, a_149^0'=-1, len_187^0'=1+a_149^0+len_134^0, f_171^0'=x_26^0, x_176^0'=x_176^post35, r_39^0'=r_39^post35, a_188^0'=-1, len_134^0'=1+a_149^0+len_134^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post35, (a_149^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post35 >= 0 /\ len_134^0 >= 0), cost: 7+7*a_149^0

Applied deletion
Removed the following rules: 147

Accelerated simple loops
Start location: l65
 119: l0 -> l31 : x_SLAM_f_24^0'=x_SLAM_f_24^post66, tail_14^0'=tail_14^post66, head_15^0'=head_15^post66, r_165^0'=r_165^post66, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post0, y_25^0'=tail_14^0, length_28^0'=length_28^post0, temp0_31^0'=temp0_31^post0, head_SLAM_f_29^0'=head_SLAM_f_29^post0, tmp_34^0'=tmp_34^post0, i_30^0'=i_30^post0, result_11^0'=result_11^post0, head_32^0'=head_32^post0, r_39^0'=r_39^post66, a_118^0'=a_149^0, x_26^0'=head_32^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post66, temp_35^0'=temp_35^post0, i_110^0'=1+a_149^0, (-i_30^post0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 <= 0 /\ -tail_14^0+tail_14^post66 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post66 >= 0 /\ i_30^0 >= 0 /\ -i_110^post66+result_dot_nondet_sdv_special_RETURN_VALUE_13^post66 <= 0 /\ head_15^post66-x_SLAM_f_24^post66 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 >= 0 /\ length_28^0-i_30^0 <= 0 /\ -1+len_134^0 == 0), cost: 6
 143: l0 -> l0 : i_95^0'=-1+length_28^0, tmp_34^0'=temp_35^post1, i_30^0'=length_28^0, head_32^0'=temp_35^post1, temp_35^0'=temp_35^post1, rcd_89^0'=rcd_89^post1, (i_30^0 >= 0 /\ -2+length_28^0-i_30^0 >= 0), cost: 2*length_28^0-2*i_30^0
 146: l6 -> l6 : a_281^0'=-1, tail_14^0'=y_18^0, head_15^0'=x_SLAM_f_17^post6, a_149^0'=0, a_342^0'=0, x_SLAM_f_17^0'=x_SLAM_f_17^post6, t_22^0'=x_19^0, r_39^0'=r_39^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, a_343^0'=-1, (a_149^0 >= 0 /\ -1+a_281^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post6 >= 0), cost: 8+8*a_281^0
 134: l31 -> l6 : x_SLAM_f_24^0'=x_SLAM_f_24^post32, tail_14^0'=tail_14^post24, head_15^0'=head_15^post24, x_19^0'=head_15^0, y_25^0'=y_25^post32, a_225^0'=a_281^0-a_149^0, x_SLAM_f_17^0'=x_SLAM_f_17^post24, t_22^0'=head_15^post24, a_289^0'=a_289^post24, y_18^0'=tail_14^0, x_26^0'=x_26^post32, len_134^0'=1+a_281^0-a_149^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post24, (-head_15^post24+x_SLAM_f_17^post24 == 0 /\ a_149^0 >= 0 /\ -y_25^0+x_26^0 == 0 /\ -head_15^0+head_15^post24 == 0 /\ tail_14^0-tail_14^post24 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post24 >= 0 /\ len_134^0 >= 0 /\ a_289^post24 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post32 >= 0), cost: 10
 149: l31 -> l31 : x_SLAM_f_24^0'=x_SLAM_f_24^post35, tail_14^0'=y_25^0, head_15^0'=x_SLAM_f_24^post35, a_149^0'=-1, len_187^0'=1+a_149^0+len_134^0, f_171^0'=x_26^0, x_176^0'=x_176^post35, r_39^0'=r_39^post35, a_188^0'=-1, len_134^0'=1+a_149^0+len_134^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post35, (a_149^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post35 >= 0 /\ len_134^0 >= 0), cost: 7+7*a_149^0
 113: l65 -> l0 : tail_14^0'=head_SLAM_f_29^post72, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post4, length_28^0'=nondet_12^10, head_SLAM_f_29^0'=head_SLAM_f_29^post72, rcd_59^0'=rcd_59^post72, tmp_34^0'=temp_35^post4, i_30^0'=2, head_32^0'=temp_35^post4, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post31, temp_35^0'=temp_35^post72, -2+nondet_12^10 >= 0, cost: 4


Applied chaining
First rule:
l65 -> l0 : tail_14^0'=head_SLAM_f_29^post72, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post4, length_28^0'=nondet_12^10, head_SLAM_f_29^0'=head_SLAM_f_29^post72, rcd_59^0'=rcd_59^post72, tmp_34^0'=temp_35^post4, i_30^0'=2, head_32^0'=temp_35^post4, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post31, temp_35^0'=temp_35^post72, -2+nondet_12^10 >= 0, cost: 4
Second rule:
l0 -> l0 : i_95^0'=-1+length_28^0, tmp_34^0'=temp_35^post1, i_30^0'=length_28^0, head_32^0'=temp_35^post1, temp_35^0'=temp_35^post1, rcd_89^0'=rcd_89^post1, (i_30^0 >= 0 /\ -2+length_28^0-i_30^0 >= 0), cost: 2*length_28^0-2*i_30^0
New rule:
l65 -> l0 : tail_14^0'=head_SLAM_f_29^post72, i_95^0'=-1+nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post4, length_28^0'=nondet_12^10, head_SLAM_f_29^0'=head_SLAM_f_29^post72, rcd_59^0'=rcd_59^post72, tmp_34^0'=temp_35^post1, i_30^0'=nondet_12^10, head_32^0'=temp_35^post1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post31, temp_35^0'=temp_35^post1, rcd_89^0'=rcd_89^post1, -4+nondet_12^10 >= 0, cost: 2*nondet_12^10

Applied deletion
Removed the following rules: 143

Applied chaining
First rule:
l31 -> l6 : x_SLAM_f_24^0'=x_SLAM_f_24^post32, tail_14^0'=tail_14^post24, head_15^0'=head_15^post24, x_19^0'=head_15^0, y_25^0'=y_25^post32, a_225^0'=a_281^0-a_149^0, x_SLAM_f_17^0'=x_SLAM_f_17^post24, t_22^0'=head_15^post24, a_289^0'=a_289^post24, y_18^0'=tail_14^0, x_26^0'=x_26^post32, len_134^0'=1+a_281^0-a_149^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post24, (-head_15^post24+x_SLAM_f_17^post24 == 0 /\ a_149^0 >= 0 /\ -y_25^0+x_26^0 == 0 /\ -head_15^0+head_15^post24 == 0 /\ tail_14^0-tail_14^post24 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post24 >= 0 /\ len_134^0 >= 0 /\ a_289^post24 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post32 >= 0), cost: 10
Second rule:
l6 -> l6 : a_281^0'=-1, tail_14^0'=y_18^0, head_15^0'=x_SLAM_f_17^post6, a_149^0'=0, a_342^0'=0, x_SLAM_f_17^0'=x_SLAM_f_17^post6, t_22^0'=x_19^0, r_39^0'=r_39^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, a_343^0'=-1, (a_149^0 >= 0 /\ -1+a_281^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post6 >= 0), cost: 8+8*a_281^0
New rule:
l31 -> l6 : a_281^0'=-1, x_SLAM_f_24^0'=x_SLAM_f_24^post32, head_15^0'=x_SLAM_f_17^post6, a_149^0'=0, x_19^0'=head_15^0, a_342^0'=0, y_25^0'=y_25^post32, a_225^0'=a_281^0-a_149^0, x_SLAM_f_17^0'=x_SLAM_f_17^post6, t_22^0'=head_15^0, a_289^0'=0, y_18^0'=tail_14^0, r_39^0'=r_39^post6, x_26^0'=x_26^post32, len_134^0'=1+a_281^0-a_149^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, a_343^0'=-1, (a_149^0 >= 0 /\ -y_25^0+x_26^0 == 0 /\ -1+a_281^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post6 >= 0 /\ len_134^0 >= 0), cost: 18+8*a_281^0

Applied deletion
Removed the following rules: 146

Applied chaining
First rule:
l0 -> l31 : x_SLAM_f_24^0'=x_SLAM_f_24^post66, tail_14^0'=tail_14^post66, head_15^0'=head_15^post66, r_165^0'=r_165^post66, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post0, y_25^0'=tail_14^0, length_28^0'=length_28^post0, temp0_31^0'=temp0_31^post0, head_SLAM_f_29^0'=head_SLAM_f_29^post0, tmp_34^0'=tmp_34^post0, i_30^0'=i_30^post0, result_11^0'=result_11^post0, head_32^0'=head_32^post0, r_39^0'=r_39^post66, a_118^0'=a_149^0, x_26^0'=head_32^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post66, temp_35^0'=temp_35^post0, i_110^0'=1+a_149^0, (-i_30^post0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 <= 0 /\ -tail_14^0+tail_14^post66 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post66 >= 0 /\ i_30^0 >= 0 /\ -i_110^post66+result_dot_nondet_sdv_special_RETURN_VALUE_13^post66 <= 0 /\ head_15^post66-x_SLAM_f_24^post66 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 >= 0 /\ length_28^0-i_30^0 <= 0 /\ -1+len_134^0 == 0), cost: 6
Second rule:
l31 -> l31 : x_SLAM_f_24^0'=x_SLAM_f_24^post35, tail_14^0'=y_25^0, head_15^0'=x_SLAM_f_24^post35, a_149^0'=-1, len_187^0'=1+a_149^0+len_134^0, f_171^0'=x_26^0, x_176^0'=x_176^post35, r_39^0'=r_39^post35, a_188^0'=-1, len_134^0'=1+a_149^0+len_134^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post35, (a_149^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post35 >= 0 /\ len_134^0 >= 0), cost: 7+7*a_149^0
New rule:
l0 -> l31 : x_SLAM_f_24^0'=x_SLAM_f_24^post35, head_15^0'=x_SLAM_f_24^post35, r_165^0'=r_165^post66, a_149^0'=-1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post0, y_25^0'=tail_14^0, length_28^0'=length_28^post0, temp0_31^0'=temp0_31^post0, head_SLAM_f_29^0'=head_SLAM_f_29^post0, len_187^0'=1+a_149^0+len_134^0, f_171^0'=head_32^0, tmp_34^0'=tmp_34^post0, x_176^0'=x_176^post35, i_30^0'=i_30^post0, result_11^0'=result_11^post0, head_32^0'=head_32^post0, r_39^0'=r_39^post35, a_118^0'=a_149^0, a_188^0'=-1, x_26^0'=head_32^0, len_134^0'=1+a_149^0+len_134^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post35, temp_35^0'=temp_35^post0, i_110^0'=1+a_149^0, (a_149^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post35 >= 0 /\ i_30^0 >= 0 /\ length_28^0-i_30^0 <= 0 /\ -1+len_134^0 == 0 /\ -2+i_30^post0 >= 0), cost: 13+7*a_149^0

Applied deletion
Removed the following rules: 149

Chained accelerated rules with incoming rules
Start location: l65
 119: l0 -> l31 : x_SLAM_f_24^0'=x_SLAM_f_24^post66, tail_14^0'=tail_14^post66, head_15^0'=head_15^post66, r_165^0'=r_165^post66, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post0, y_25^0'=tail_14^0, length_28^0'=length_28^post0, temp0_31^0'=temp0_31^post0, head_SLAM_f_29^0'=head_SLAM_f_29^post0, tmp_34^0'=tmp_34^post0, i_30^0'=i_30^post0, result_11^0'=result_11^post0, head_32^0'=head_32^post0, r_39^0'=r_39^post66, a_118^0'=a_149^0, x_26^0'=head_32^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post66, temp_35^0'=temp_35^post0, i_110^0'=1+a_149^0, (-i_30^post0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 <= 0 /\ -tail_14^0+tail_14^post66 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post66 >= 0 /\ i_30^0 >= 0 /\ -i_110^post66+result_dot_nondet_sdv_special_RETURN_VALUE_13^post66 <= 0 /\ head_15^post66-x_SLAM_f_24^post66 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 >= 0 /\ length_28^0-i_30^0 <= 0 /\ -1+len_134^0 == 0), cost: 6
 152: l0 -> l31 : x_SLAM_f_24^0'=x_SLAM_f_24^post35, head_15^0'=x_SLAM_f_24^post35, r_165^0'=r_165^post66, a_149^0'=-1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post0, y_25^0'=tail_14^0, length_28^0'=length_28^post0, temp0_31^0'=temp0_31^post0, head_SLAM_f_29^0'=head_SLAM_f_29^post0, len_187^0'=1+a_149^0+len_134^0, f_171^0'=head_32^0, tmp_34^0'=tmp_34^post0, x_176^0'=x_176^post35, i_30^0'=i_30^post0, result_11^0'=result_11^post0, head_32^0'=head_32^post0, r_39^0'=r_39^post35, a_118^0'=a_149^0, a_188^0'=-1, x_26^0'=head_32^0, len_134^0'=1+a_149^0+len_134^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post35, temp_35^0'=temp_35^post0, i_110^0'=1+a_149^0, (a_149^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post35 >= 0 /\ i_30^0 >= 0 /\ length_28^0-i_30^0 <= 0 /\ -1+len_134^0 == 0 /\ -2+i_30^post0 >= 0), cost: 13+7*a_149^0
 134: l31 -> l6 : x_SLAM_f_24^0'=x_SLAM_f_24^post32, tail_14^0'=tail_14^post24, head_15^0'=head_15^post24, x_19^0'=head_15^0, y_25^0'=y_25^post32, a_225^0'=a_281^0-a_149^0, x_SLAM_f_17^0'=x_SLAM_f_17^post24, t_22^0'=head_15^post24, a_289^0'=a_289^post24, y_18^0'=tail_14^0, x_26^0'=x_26^post32, len_134^0'=1+a_281^0-a_149^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post24, (-head_15^post24+x_SLAM_f_17^post24 == 0 /\ a_149^0 >= 0 /\ -y_25^0+x_26^0 == 0 /\ -head_15^0+head_15^post24 == 0 /\ tail_14^0-tail_14^post24 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post24 >= 0 /\ len_134^0 >= 0 /\ a_289^post24 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post32 >= 0), cost: 10
 151: l31 -> l6 : a_281^0'=-1, x_SLAM_f_24^0'=x_SLAM_f_24^post32, head_15^0'=x_SLAM_f_17^post6, a_149^0'=0, x_19^0'=head_15^0, a_342^0'=0, y_25^0'=y_25^post32, a_225^0'=a_281^0-a_149^0, x_SLAM_f_17^0'=x_SLAM_f_17^post6, t_22^0'=head_15^0, a_289^0'=0, y_18^0'=tail_14^0, r_39^0'=r_39^post6, x_26^0'=x_26^post32, len_134^0'=1+a_281^0-a_149^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, a_343^0'=-1, (a_149^0 >= 0 /\ -y_25^0+x_26^0 == 0 /\ -1+a_281^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post6 >= 0 /\ len_134^0 >= 0), cost: 18+8*a_281^0
 113: l65 -> l0 : tail_14^0'=head_SLAM_f_29^post72, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post4, length_28^0'=nondet_12^10, head_SLAM_f_29^0'=head_SLAM_f_29^post72, rcd_59^0'=rcd_59^post72, tmp_34^0'=temp_35^post4, i_30^0'=2, head_32^0'=temp_35^post4, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post31, temp_35^0'=temp_35^post72, -2+nondet_12^10 >= 0, cost: 4
 150: l65 -> l0 : tail_14^0'=head_SLAM_f_29^post72, i_95^0'=-1+nondet_12^10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post4, length_28^0'=nondet_12^10, head_SLAM_f_29^0'=head_SLAM_f_29^post72, rcd_59^0'=rcd_59^post72, tmp_34^0'=temp_35^post1, i_30^0'=nondet_12^10, head_32^0'=temp_35^post1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post31, temp_35^0'=temp_35^post1, rcd_89^0'=rcd_89^post1, -4+nondet_12^10 >= 0, cost: 2*nondet_12^10


Removed unreachable locations and irrelevant leafs
Start location: l65
  <empty>


Computing asymptotic complexity

Proved the following lower bound
Complexity:  Unknown
Cpx degree: ?

Solved cost: 0
Rule cost:   0